Mitsubishi Electric A173UHCPU Specifications

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Mitsubishi Electric A173UHCPU Specifications | Manualzz

Transition from A17nSHCPUN/A173UHCPU Series to Q Series Handbook

Safety Warning

To ensure proper use of the products list ed in thi s catalog, please be sure to read the in struction manual prior to use.

Country/Region Sales office

USA MITSUBISHI ELECTRIC AUTOMATION, INC.

500 Corporate Woods Parkway, Vernon Hills, IL 60061, U.S.A.

Mexico

Brazil

MITSUBISHI ELECTRIC AUTOMATION, INC. Mexico Branch

Mariano Escobedo #69, Col. Zona Industrial, Tlalnepantla Edo, C.P.54030, Mexico

MITSUBISHI ELECTRIC DO BRASIL COMÉRCIO E SERVIÇOS LTDA.

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Dubai Silicon Oasis, P.O.BOX 341241, Dubai, U.A.E.

ADROIT TECHNOLOGIES

20 Waterford Office Park, 189 Witkoppen Road, Fourways, Johannesburg, South Africa

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No.1386 Hongqiao Road, Mitsubishi Electric Automation Center, Shanghai, China

Taiwan SETSUYO ENTERPRISE CO., LTD.

6F, No.105, Wugong 3rd Road, Wugu District, New Taipei City 24889, Taiwan, R.O.C.

MITSUBISHI ELECTRIC AUTOMATION KOREA CO., LTD.

7F-9F, Gangseo Hangang Xi-tower A, 401, Yangcheon-ro, Gangseo-Gu, Seoul 157-801, Korea

MITSUBISHI ELECTRIC ASIA PTE. LTD.

307, Alexandra Road, Mitsubishi Electric Building, Singapore 159943

MITSUBISHI ELECTRIC FACTORY AUTOMATION (THAILAND) CO., LTD.

12th Floor, SV.City Building, Office Tower 1, No. 896/19 and 20 Rama 3 Road, Kwaeng

Bangpongpang, Khet Yannawa, Bangkok 10120, Thailand

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Gedung Jaya 11th Floor, JL. MH. Thamrin No.12, Jakarta Pusat 10340, Indonesia

MITSUBISHI ELECTRIC VIETNAM COMPANY LIMITED

Unit 01-04, 10th Floor, Vincom Center, 72 Le Thanh Ton Street, District 1, Ho Chi Minh City,

Vietnam

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Emerald House, EL -3, J Block, M.I.D.C Bhosari, Pune - 411026, Maharashtra, India

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348 Victoria Road, P.O. Box 11, Rydalmere, N.S.W 2116, Australia

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L(NA)03104ENG-C

New publication, effective October 2014.

Specifications are subject to change without notice.

Transition from A17nSHCPUN/A173UHCPU

Series to Q Series Handbook

C

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 Users manual of the QCPU module to use for a description of the PLC system safety precautions.

In this manual, the safety instructions are ranked as "DANGER" and "CAUTION".

Indicates that incorrect handling may cause hazardous DANGER conditions, resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous CAUTION conditions, resulting in medium or slight personal injury or physical damage.

Depending on circumstances, procedures indicated by CAUTION may also be linked to serious 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.

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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.

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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.

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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.

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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.

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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.

Conditions

Environment

Motion controller/Servo amplifier Servomotor

Ambient temperature

Ambient humidity

According to each instruction manual.

According to each instruction manual.

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)

Storage temperature

According to each instruction manual.

Atmosphere

Indoors (where not subject to direct sunlight).

No corrosive gases, flammable gases, oil mist or dust must exist

Altitude 1000m (3280.84ft.) or less above sea level

Vibration 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.

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(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

24VDC

Servo amplifier

DOCOM

24VDC

Control output signal

DICOM

RA

Control output signal

DICOM

RA

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 combing 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.

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(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 this 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

Input power

Input frequency

Tolerable momentary power failure

(7) Corrective actions for errors

Conditions

According to each instruction manual.

According to each instruction manual.

According to each instruction manual.

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.

Shut off with the emergency stop signal (EMG).

Servomotor

RA1 EMG

Electromagnetic brakes

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.)

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(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.

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(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.

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REVISIONS

Print Date * Manual Number

* The manual number is given on the bottom left of the back cover.

Revision

Based on L(NA)03079-C(Japanese)

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.

 2013 MITSUBISHI ELECTRIC CORPORATION

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<

GUIDEBOOK

CONFIGURATION >

The guidebook is consist of the documents as follows.

Contents

Safety Precautions

Guidebook Configuration (Contents)

1. OVERVIEW OF A-MOTION REPLACEMENT

This overview is beginning with the case study about the system replacement used A-Motion. And it will discuss the most suitable method according to the user’s system and conditions. After replacement policy have been decided, it is recommended to replace refer to the corresponding parts after section 2 and the relevant catalogs, relevant manuals.

2. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION

This part describes the replacement from A173UHCPU/A172SHCPUN/A171SHCPUN to

Q173DSCPU/Q172DSCPU (operating system software is SV13/SV22).

3. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION

This part describes the replacement from A173UHCPU/A172SHCPUN/A171SHCPUN to Q170MCPU-

S1 (operating system software is SV13/SV22).

4. REPLACEMENT FROM A-MOTION TO QN-MOTION

This part describes the replacement from A173UHCPU/A172SHCPUN/A171SHCPUN to

Q173CPUN/Q172CPUN (QN-Motion) (operating system software is SV13/SV22). However, replacing A-

Motion with QN-Motion is not recommended since QN-Motion is not the latest model. In order to use a system for a long time after the replacement, it is recommended to replace A-Motion with QDS-Motion or

Stand-alone Motion.

5. APPENDIX

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CONTENTS

Safety Precautions ····················································································································· A-1

Revisions ································································································································ A-11

Guidebook Configuration ··········································································································· A-12

Contents ································································································································· A-13

1. OVERVIEW OF A-MOTION REPLACEMENT .................................................................................................... 1

1.

OVERVIEW OF A-MOTION REPLACEMENT HANDBOOK ...................................................................... 2

2.

MAIN REPLACEMENT TARGET MODEL ................................................................................................... 2

3.

MERITS OF REPLACEMENT ...................................................................................................................... 3

3.1

Multiple CPU System (QDS-Motion) with Q Series PLC Module ............................................................ 3

3.2

High-speed and High Performance of Motion CPU.................................................................................. 3

3.3

High-speed, Noise Free Communication by SSCNET III(/H)................................................................... 3

3.4

MR-J4 Amplifier + HG Servo Motor (QDS-Motion) .................................................................................. 3

3.5

Space Economization (Stand-alone Motion) ............................................................................................ 3

3.6

Decrease of Maintenance Cost ................................................................................................................. 4

4.

CASE AND STUDY OF A-MOTION REPLACEMENT ................................................................................ 5

4.1

1): Update at once to QDS-Motion/Stand-alone Motion + MR-J4-B ........................................................ 6

4.2

2): When only Controllers and Servo Amplifiers are Changed ................................................................ 7

4.3

3): Partial Update from MR-J2S-B to MR-J4-B ......................................................................................... 8

4.4

4): Individual Replacement Support .......................................................................................................... 9

4.5

Others ....................................................................................................................................................... 10

4.5.1

Combination before/after controller replacement ............................................................................ 10

4.5.2

Combination of controller and servo amplifier ................................................................................. 11

5.

SYSTEM TRANSITION ............................................................................................................................... 12

5.1

Configuration of the System Using A-Motion (before transition) ............................................................ 12

5.2

Configuration of the System Using QDS-Motion (after transition) ......................................................... 13

5.3

Replace to Stand-alone Motion ............................................................................................................... 14

5.4

Transition of Other Configurations .......................................................................................................... 15

5.4.1

Combination of servo amplifier and servo motor ............................................................................ 15

5.4.2

Specification comparison of servo system network ........................................................................ 15

5.4.3

Support of operating system software ............................................................................................. 16

5.4.4

Correspondence of peripheral software .......................................................................................... 16

5.4.5

Outline of the motion data replacement flow ................................................................................... 17

5.4.6

Precautions for replacing motion data saved with DOS-version peripheral software .................... 17

5.4.7

Dimensions ....................................................................................................................................... 17

6.

TRANSITION OF THE PROGRAM ............................................................................................................ 18

6.1

Motion Project Diversion Function in MT Works2................................................................................... 19

6.1.1

Data list available for diversion or not .............................................................................................. 19

6.1.2

Motion program diversion procedure in MT Works2 ....................................................................... 20

6.2

Ladder Program Diversion Function in GX Works2 ............................................................................... 22

6.2.1

Ladder program diversion procedure in GX Works2 ...................................................................... 22

6.2.2

The process after diverting the ladder program in GX Works2 ...................................................... 24

6.3

Precautions of Program Transition .......................................................................................................... 25

6.3.1

Precautions of shared device memory transition between SCPU (PLC) and PCPU (Motion CPU)

.......................................................................................................................................................... 25

7.

RELEVANT DOCUMENTS ......................................................................................................................... 26

7.1

Relevant Catalogs.................................................................................................................................... 26

7.2

Relevant Manuals .................................................................................................................................... 27

A

- 13

2. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION .............................................................. 1

1.

OVERVIEW ................................................................................................................................................... 3

2.

EQUIPMENT CONFIGURATION, AVAILABLE SOFTWARE ..................................................................... 3

2.1

Equipment Correspondence ...................................................................................................................... 3

2.2

Servo Amplifier Correspondence .............................................................................................................. 4

2.3

Operating System Software Correspondence .......................................................................................... 5

2.4

Engineering Environment .......................................................................................................................... 5

3.

DIFFERENCES BETWEEN Q173DSCPU/Q172DSCPU AND A173UHCPU/

A172SHCPUN/A171SHCPUN ...................................................................................................................... 6

3.1

Differences between Q173DSCPU/Q172DSCPU and A173UHCPU/A172SHCPUN/A171SHCPUN .. 6

3.1.1

Differences list .................................................................................................................................... 6

3.1.2

Difference between self diagnosis error and Motion (SFC) error history ......................................... 9

3.1.3

Item that is necessary to change/revise with the change of servo system network ...................... 10

3.2

Device Comparison ................................................................................................................................. 11

3.2.1

I/O device .......................................................................................................................................... 11

3.2.2

Internal relay ..................................................................................................................................... 11

3.2.3

Data register ..................................................................................................................................... 14

3.2.4

Motion register .................................................................................................................................. 17

3.2.5

Special relay ..................................................................................................................................... 18

3.2.6

Special register ................................................................................................................................. 20

3.2.7

Other devices ................................................................................................................................... 23

4.

DIVERSION OF PROJECT CREATED BY A173CPUN/A172CPUN ....................................................... 25

4.1

Data List Available for Diversion or Not (SV13/SV22) ............................................................................ 25

4.2

Program Diversion Procedure in Motion CPU Side ................................................................................ 27

4.2.1

Diversion procedure using MT Developer2 ..................................................................................... 27

4.2.2

Without using SFC ........................................................................................................................... 30

4.2.3

Precautions for diverting cam data .................................................................................................. 31

4.3

Program Diversion Procedure in PLC CPU Side ................................................................................... 32

4.3.1

Conversion procedure of a sequence project for QnUD(E)(H)CPU using GX Works2/

GX Developer ................................................................................................................................... 32

5.

USING A/QnA->Q CONVERSION SUPPORT TOOL IN SEQUENCE PROGRAM ................................ 37

5.1

Preparation for Using Support Tool ......................................................................................................... 37

5.2

Using Procedure of Support Tool ............................................................................................................ 38

5.3

Sequence Program Correction in Created Embedding File ................................................................... 40

5.3.1

Correction of special relay/special register ...................................................................................... 40

5.3.2

Correction of motion dedicated instructions .................................................................................... 40

5.3.3

Others ............................................................................................................................................... 40

6.

POINTS AND PRECAUTIONS OF REPLACEMENT ................................................................................ 41

6.1

Difference of Motion CPU Configuration ................................................................................................. 41

6.1.1

System configuration ........................................................................................................................ 41

6.1.2

Shared device................................................................................................................................... 42

6.2

Precautions about Replacement ............................................................................................................. 43

6.2.1

Slot position (system setting) ........................................................................................................... 43

6.2.2

Communication data device between PLC CPU and Motion CPU ................................................ 44

6.2.3

Block number of refresh setting and total points number restriction .............................................. 46

6.2.4

Timer devices and counter devices ................................................................................................. 50

6.2.5

Indirect designation of servo program ............................................................................................. 50

6.2.6

Parameter block ............................................................................................................................... 51

A

- 14

3. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION ...................................................... 1

1.

OVERVIEW ....................................................................................................................................................... 3

2.

EQUIPMENT CONFIGURATION, AVAILABLE SOFTWARE ......................................................................... 3

2.1

Equipment Correspondence ...................................................................................................................... 3

2.2

Servo Amplifier Correspondence .............................................................................................................. 4

2.3

Operating System Software Correspondence .......................................................................................... 5

2.4

Engineering Environment .......................................................................................................................... 5

3.

DIFFERENCES BETWEEN Q170MSCPU(-S1) AND A173UHCPU/A172SHCPUN/A171SHCPUN ........... 6

3.1

Differences between Q170MSCPU(-S1) and A173UHCPU/A172SHCPUN/A171SHCPUN ................. 6

Differences list ................................................................................................................................................... 6

Difference between self diagnosis error and Motion (SFC) error history ...................................................... 10

Item that is necessary to change/revise with the change of servo system network ..................................... 11

3.2

Device Comparison ................................................................................................................................. 12

3.2.1

I/O device .......................................................................................................................................... 12

3.2.2

Internal relay ..................................................................................................................................... 12

3.2.3

Data register ..................................................................................................................................... 16

3.2.4

Motion register .................................................................................................................................. 19

3.2.5

Special relay ..................................................................................................................................... 20

3.2.6

Special register ................................................................................................................................. 22

3.2.7

Other devices ................................................................................................................................... 25

4.

DIVERSION OF PROJECT CREATED BY A173UHCPU/A172SHCPUN/A171SHCPUN.......................... 27

4.1

Data List Available for Diversion or Not (SV13/SV22) ............................................................................ 27

4.2

Program Diversion Procedure in Motion CPU Side ................................................................................ 29

4.2.1

Diversion procedure using MT Developer2 ..................................................................................... 29

4.2.2

Without using SFC ........................................................................................................................... 32

4.2.3

Precautions for diverting cam data .................................................................................................. 33

4.3

Program Diversion Procedure in PLC CPU Side ................................................................................... 34

4.3.1

Conversion procedure of ladder program for QnUD(H)CPU using GX Works2/GX Developer ... 34

5.

USING A/QnA->Q CONVERSION SUPPORT TOOL IN LADDER PROGRAM .......................................... 39

6.

POINTS AND PRECAUTIONS OF REPLACEMENT ................................................................................... 39

6.1

Difference of Motion CPU Configuration ................................................................................................. 39

6.1.1

System configuration ........................................................................................................................ 39

6.2

Precautions about Replacement ............................................................................................................. 40

6.2.1

Slot position (system configuration) ................................................................................................. 40

7.

DIFFERENCE BETWEEN Q170MSCPU AND Q170MSCPU-S1 ................................................................ 42

7.1

Difference between Q170MSCPU and Q170MSCPU-S1 ...................................................................... 42

7.1.1

(1) Motion control specification ........................................................................................................ 42

7.1.2

(2) Motion SFC performance specification ...................................................................................... 42

7.1.3

(3) PLC CPU part control specification ............................................................................................ 42

7.1.4

(4) Power supply specification ......................................................................................................... 42

7.1.5

(5) Battery life specification .............................................................................................................. 42

A

- 15

4. REPLACEMENT FROM A-MOTION TO QN-MOTION .................................................................................................... 1

1.

OVERVIEW ....................................................................................................................................................... 3

2.

EQUIPMENT CONFIGURATION, AVAILABLE SOFTWARE ......................................................................... 3

2.1

Equipment Correspondence ...................................................................................................................... 3

2.2

Equipment Configuration of Q173CPUN/Q172CPUN Motion ................................................................. 5

2.3

Operating System Software Correspondence .......................................................................................... 7

2.4

Engineering Environment .......................................................................................................................... 7

3.

DIFFERENCES BETWEEN Q173CPUN/Q172CPUN AND A173UHCPU/A172SHCPUN/A171SHCPUN . 8

3.1

Differences between Q173CPUN/Q172CPUN and A173UHCPU/A172SHCPUN/A171SHCPUN ....... 8

3.1.1

Differences list .................................................................................................................................... 8

3.1.2

Differences between self diagnosis error and Motion (SFC) error history ..................................... 11

3.1.3

Items required to be changed/revised with the servo system network change ............................. 12

3.2

Device Comparison ................................................................................................................................. 13

3.2.1

I/O device .......................................................................................................................................... 13

3.2.2

Internal relay ..................................................................................................................................... 13

3.2.3

Data register ..................................................................................................................................... 16

3.2.4

Motion register .................................................................................................................................. 19

3.2.5

Special relay ..................................................................................................................................... 20

3.2.6

Special register ................................................................................................................................. 22

3.2.7

Other devices ................................................................................................................................... 25

4.

DIVERSION OF PROJECT CREATED WITH A173CPUN/A172CPUN ...................................................... 27

4.1

List of Available Data for Diversion (SV13/SV22) ................................................................................... 27

4.2

Program Diversion Procedure in Motion CPU Side ................................................................................ 29

4.2.1

Diversion procedure using MT Developer2 ..................................................................................... 29

4.2.2

When SFC is not used ..................................................................................................................... 32

4.2.3

Precautions for diverting cam data .................................................................................................. 32

4.3

Program Diversion Procedure in PLC CPU Side ................................................................................... 33

4.3.1

Conversion procedure of sequence program for Qn(H)CPU using GX Works2/ GX Developer .. 33

5.

USING A/QnA->Q CONVERSION SUPPORT TOOL FOR SEQUENCE PROGRAMS ............................. 38

5.1

Preparation for Using Support Tool ......................................................................................................... 38

5.2

Using Procedure of Support Tool ............................................................................................................ 39

5.3

Correction of the Sequence Program in Created Embedded File ......................................................... 41

5.3.1

Correction of special relay/special register ...................................................................................... 41

5.3.2

Correction of motion-dedicated instructions .................................................................................... 41

5.3.3

Others ............................................................................................................................................... 41

6.

POINTS AND PRECAUTIONS OF REPLACEMENT ................................................................................... 42

6.1

Difference of Motion CPU Configuration ................................................................................................. 42

6.1.1

System configuration ........................................................................................................................ 42

6.1.2

Shared device................................................................................................................................... 43

6.2

Precautions on Replacement .................................................................................................................. 44

6.2.1

Slot position (system setting) ........................................................................................................... 44

6.2.2

Restrictions on the number of blocks and total points in the refresh setting .................................. 45

6.2.3

Timer counter ................................................................................................................................... 45

6.2.4

Parameter block ............................................................................................................................... 45

A

- 16

5. APPENDIX ······························································································································· 1

1.

OUTLINE DIMENSIONS ................................................................................................................................... 2

1.1

Outline Dimensions of A Series (small type) ··········································································· 2

1.1.1

A17nSHCPUN .................................................................................................................................... 2

1.1.2

A173UHCPU(-S1) .............................................................................................................................. 2

1.1.3

A172SENC ......................................................................................................................................... 3

1.1.4

A172B ................................................................................................................................................. 3

1.1.5

A175B ................................................................................................................................................. 4

1.1.6

A178B(-S□) ......................................................................................................................................... 4

1.1.7

A168B ................................................................................................................................................. 4

1.1.8

A1S65B ............................................................................................................................................... 5

1.1.9

A1S68B ............................................................................................................................................... 5

1.2

Outline Dimensions of QD(S) Series ····················································································· 6

1.2.1

Q17nDSCPU ...................................................................................................................................... 6

1.2.2

Q17nDCPU ......................................................................................................................................... 6

1.2.3

Q17nDCPU-S1 ................................................................................................................................... 7

1.2.4

Q170DBATC ...................................................................................................................................... 7

1.2.5

Q172DLX ............................................................................................................................................ 8

1.2.6

Q172DEX ........................................................................................................................................... 8

1.2.7

Q173DPX ........................................................................................................................................... 9

1.2.8

Q61P/Q62P/Q63P .............................................................................................................................. 9

1.2.9

QnHCPU ........................................................................................................................................... 10

1.2.10

QnUDE(H)CPU ................................................................................................................................ 10

1.2.11

Q38DB .............................................................................................................................................. 11

1.2.12

Q312DB ............................................................................................................................................ 11

1.2.13

Q55B ................................................................................................................................................. 11

1.2.14

Q63B ................................................................................................................................................. 12

1.2.15

Q65B ................................................................................................................................................. 12

1.2.16

Q68B [Base unit mounting hole: 5 holes] ........................................................................................ 12

1.2.17

Q68B [Base unit mounting hole: 4 holes] ........................................................................................ 13

1.2.18

Q612B [Base unit mounting hole: 5 holes] ...................................................................................... 13

1.2.19

Q612B [Base unit mounting hole: 4 holes] ..................................................................................... 13

1.3

Outline Dimensions of Stand-alone Motion ·········································································· 14

1.3.1

Q170MSCPU(-S1) ........................................................................................................................... 14

1.3.2

Q170MCPU ...................................................................................................................................... 14

A

- 17

Memo

A

- 18

1

. OVERVIEW OF A-MOTION REPLACEMENT

1. OVERVIEW OF A-MOTION REPLACEMENT

1. OVERVIEW OF A-MOTION REPLACEMENT .................................................................................................... 1

1.

OVERVIEW OF A-MOTION REPLACEMENT HANDBOOK ...................................................................... 2

2.

MAIN REPLACEMENT TARGET MODEL ................................................................................................... 2

3.

MERITS OF REPLACEMENT ...................................................................................................................... 3

3.1

Multiple CPU System (QDS-Motion) with Q Series PLC Module ............................................................ 3

3.2

High-speed and High Performance of Motion CPU .................................................................................. 3

3.3

High-speed, Noise Free Communication by SSCNET III(/H) ................................................................... 3

3.4

MR-J4 Amplifier + HG Servo Motor (QDS-Motion) ................................................................................... 3

3.5

Space Economization (Stand-alone Motion) ............................................................................................ 3

3.6

Decrease of Maintenance Cost ................................................................................................................. 4

4.

CASE AND STUDY OF A-MOTION REPLACEMENT ................................................................................ 5

4.1

1): Update at once to QDS-Motion/Stand-alone Motion + MR-J4-B ........................................................ 6

4.2

2): When only Controllers and Servo Amplifiers are Changed ................................................................ 7

4.3

3): Partial Update from MR-J2S-B to MR-J4-B ......................................................................................... 8

4.4

4): Individual Replacement Support .......................................................................................................... 9

4.5

Others ....................................................................................................................................................... 10

4.5.1

Combination before/after controller replacement ............................................................................ 10

4.5.2

Combination of controller and servo amplifier ................................................................................. 11

5.

SYSTEM TRANSITION ............................................................................................................................... 12

5.1

Configuration of the System Using A-Motion (before transition) ............................................................ 12

5.2

Configuration of the System Using QDS-Motion (after transition) ......................................................... 13

5.3

Replace to Stand-alone Motion ............................................................................................................... 14

5.4

Transition of Other Configurations .......................................................................................................... 15

5.4.1

Combination of servo amplifier and servo motor ............................................................................ 15

5.4.2

Specification comparison of servo system network ........................................................................ 15

5.4.3

Support of operating system software ............................................................................................. 16

5.4.4

Correspondence of peripheral software .......................................................................................... 16

5.4.5

Outline of the motion data replacement flow ................................................................................... 17

5.4.6

Precautions for replacing motion data saved with DOS-version peripheral software .................... 17

5.4.7

Dimensions ....................................................................................................................................... 17

6.

TRANSITION OF THE PROGRAM ............................................................................................................ 18

6.1

Motion Project Diversion Function in MT Works2 ................................................................................... 19

6.1.1

Data list available for diversion or not .............................................................................................. 19

6.1.2

Motion program diversion procedure in MT Works2 ....................................................................... 20

6.2

Ladder Program Diversion Function in GX Works2 ............................................................................... 22

6.2.1

Ladder program diversion procedure in GX Works2 ...................................................................... 22

6.2.2

The process after diverting the ladder program in GX Works2 ...................................................... 24

6.3

Precautions of Program Transition .......................................................................................................... 25

6.3.1

Precautions of shared device memory transition between SCPU (PLC) and PCPU (Motion CPU)

.......................................................................................................................................................... 25

7.

RELEVANT DOCUMENTS ......................................................................................................................... 26

7.1

Relevant Catalogs .................................................................................................................................... 26

7.2

Relevant Manuals .................................................................................................................................... 27

1

- 1

1

. OVERVIEW OF A-MOTION REPLACEMENT

1. OVERVIEW OF A-MOTION REPLACEMENT HANDBOOK

The following shows the essential replacement overview to renew or lengthen the working life for the system which used A-Motion.

After replacement policy have been decided, it is recommended to replace refer to the corresponding part of continuous replacement handbook, technical sheet and the manual for each model.

Mitsubishi Motion Controller

A series (small type) ("A-Motion")

2. MAIN REPLACEMENT TARGET MODEL

The main replacement target model is A series (small type) motion controllers and these options.

The motion controllers and related models that displayed in the following table have switched to the production to the order already, it is recommended to replace (transit) to the new model.

CPU module

Main base unit

Product

PLC extension base unit

Pulse generator/synchronous encoder interface module

Cable for SSCNET I/F board

Cable for SSCNET I/F card

Model name Product Model name

A171SHCPUN A30TU

A172SHCPUN A30TU-E

A173UHCPU

(Note-1)

A30TU-S1

A30TU-SV42

A172B A30TU-SV51

A175B A31TU

A178B A31TU-E

Teaching unit

A178B-S1 A31TU-KE

A178B-S2 A31TU-R

A178B-S3 A31TU-RE

A168B A31TU-RT

A171SENC A31TU-RTE

A172SENC A31TU-D3KE51

A270BDCBL□M A31TU-D3RKE51

A270CDCBL□M Teaching unit connection cable

A31TUCBL03M

A31TUCBL using short circuit connector

A31SHORTCON

(Note-1): A173UHCPU-S1 also be shown as A173UHCPU in the article.

*

In addition, the targets are controller OS package used in above products, software tool packages and the customized products which were derived from these products.

1

- 2

1

. OVERVIEW OF A-MOTION REPLACEMENT

3. MERITS OF REPLACEMENT

It is recommended to replace A-Motion to the latest iQ Platform Motion CPU Q173DSCPU/Q172DSCPU

(the following QDS-Motion) or Stand-alone Motion CPU Q170MSCPU-S1.

As the merits shown below, it is strongly recommended to use the latest module, QDS-Motion and

MR-J4 amplifier.

When a servo network cannot be replaced and A-Motion is replaced with Q173CPUN/Q172CPUN

(hereafter called QN-Motion), refer to "4. REPLACEMENT FROM A-MOTION TO QN-MOTION". However, replacing A-Motion with QN-Motion is not recommended since QN-Motion is not the latest model. In addition, the production of MR-J2S series servo amplifiers and HC series servo motors will stop in August,

2015. If these products need to be continuously used after the production stoppage, changing the system used to an alternative system will be required. (For details, refer to Section 4.2 to 4.3.)

In order to use a system for a long time with no system modification after the replacement, it is recommended to replace A-Motion with QDS-Motion or Stand-alone Motion.

3.1 Multiple CPU System (QDS-Motion) with Q Series PLC Module

A system with high flexibility and extensibility can be constructed using various iQ Platform-compatible modules. An equipment that match the varied request by extensive products can be selected.

--> Takt time of Production line will be shorten by the equipment capability of expansion and high performance.

3.2 High-speed and High Performance of Motion CPU

The operation speed of a Motion CPU can be significantly improved: a Motion CPU has an operation cycle of up to 0.22ms/4 axes (QDS-Motion SV22) or 0.44ms/4 axes (Stand-alone Motion SV22). And as there are extremely abundant motion control functions, it can support the advanced motion control.

--> Takt time of Production line will be shorten by the high-speed motion control capability and high performance.

3.3 High-speed, Noise Free Communication by SSCNET III(/H)

SSCNET III(/H) Servo network communication realizes high-speed response (Communication speed:

150Mbps (simplex)/300Mbps (duplex)) and eliminates the influence of noise by utilizing an optical communication system.

--> The influence of noise by wiring can be suppressed, and the operation of equipment will be stabilized.

3.4 MR-J4 Amplifier + HG Servo Motor (QDS-Motion)

The latest MR-J4 series includes various functions such as one-touch tuning and realizes the high performance with speed response frequency of 2.5 kHz and encoder resolution of 22 bits (4194304 pulses/rev). The quantity of rare earth metals is reduced for HG series, the servo motor series appropriate for QDS-Motion.

--> The influence of noise by wiring can be suppressed, and the operation of equipment will be stabilized.

3.5 Space Economization (Stand-alone Motion)

A power supply module, a PLC, and a motion controller are integrated without degrading the high performance of iQ Platform, and this contributes cost reduction and downsizing the equipment. Built the mark detection and the synchronous encoder I/F in, and it will support the packing machine system without using special module.

--> Small-size equipment and cost performance will be compatible.

1

- 3

1

. OVERVIEW OF A-MOTION REPLACEMENT

3.6 Decrease of Maintenance Cost

Once the product has been used for more than 5 years, it is necessary to maintain the machine such as partly replacement according to the lifespan, and the maintenance cost for power supply module replacing, electrolytic capacitor and the whole board replacing will be charged. In order to use the system for a long time, and consider the factors like performance and quality, it is recommended to replace to the latest model at early stage.

--> Extend the lifespan of the equipment.

1

- 4

1

. OVERVIEW OF A-MOTION REPLACEMENT

4. CASE AND STUDY OF A-MOTION REPLACEMENT

The following shows the replacement case study of the system which used standard A-Motion. Although it will need some major maintenance, it is recommended to carry out the system batch update of 1) to use a system for a long time with no system modification after the maintenance.

If the batch update including the change of servo amplifiers, servo motors, and servo networks is difficult to carry out due to the period and cost of the maintenance, carry out 2) or 3). If any update will not be done, refer to 4) Individual replacement support.

A171SHCPUN

A172SHCPUN

A173UHCPU

HC/HA motor

YES

MR-J2S-B

* Production will be stopped in August, 2015.

System update at once

Case 1) to 4) will be explained on the next page and later.

NO

* Production will be stopped in August, 2015.

1) Update at once to

QDS-Motion + MR-J4-B or

Stand-alone Motion +

MR-J4-B

YES

2) Drive HC/HA motors using 1).

Change controllers and servo amplifiers

*1. Although it will cost a lot and take a long period for maintenance, once a system is upgraded, the system can be used for a long time after that.

YES

Change servo amplifiers and servo motors

3) Partially change to to the latest motion controllers finally.

NO

MR-J4-B and change

Only when equipment is completely replaced.

4) Individual replacement support

• Servo amplifier

• Motor

1

- 5

1

. OVERVIEW OF A-MOTION REPLACEMENT

4.1 1): Update at once to QDS-Motion/Stand-alone Motion + MR-J4-B

The following shows the systems for the system batch update.

[QDS-Motion + MR-J4-B + HG motor] [Stand-alone Motion + MR-J4-B + HG motor]

QnUD PLC + QDS-Motion + Q3□DB base

Q170MSCPU(-S1)

MR-J4-B

HG motor

"QDS-Motion" is point to the following modules.

Q172DSCPU, Q173DSCPU

MR-J4-B

HG motor

"Stand-alone Motion" is point to the following modules.

Q170MSCPU, Q170MSCPU -S1

1

- 6

1

. OVERVIEW OF A-MOTION REPLACEMENT

4.2 2): When only Controllers and Servo Amplifiers are Changed

The following shows the procedure for updating a system when only controllers and servo amplifiers are changed.

[QDS-Motion + MR-J4-B + HC/HA motor]

QnUD PLC + QDS-Motion + Q3□DB base

[Stand-alone Motion + MR-J4-B

+ HC/HA motor]

Q170MSCPU(-S1)

MR-J4-B

MR-J4-B

HC/HA motor

"QDS-Motion" indicates the following modules.

Q172DSCPU, Q173DSCPU

"Stand-alone Motion" indicates the following modules.

Q170MSCPU, Q170MSCPU-S1

* Although HC/HA motors can be used without any change, the encoder resolution of the servo amplifier becomes 17 bits.

For the applicable servo motors and servo amplifiers, contact your local sales office.

POINT

● When the following HC/HA motors are used, changing the motors with HG motors and servo amplifiers with MR-J4-_B_ in a batch is recommended.

(To use HG motors, the capacity of servo amplifiers may need to be changed.)

Existing model Example of replacement models for batch change

Servo motor

HC-LFS52

HC-LFS102

HC-LFS152

Servo amplifier Servo motor Servo amplifier

MR-J2S-60B HG-JR73 MR-J4-70B

MR-J2S-100B HG-JR153 MR-J4-200B

MR-J2S-200B HG-JR353 MR-J4-350B

HA-LFS15K2(4)(B)

HA-LFS22K2(4)(B)

HA-LFS30K2(4)

HC-KFS46

MR-J2S-30KB(4) HG-JR22K1M(4) MR-J4-22KB(4)

MR-J2S-70B HG-KR43

HC-KFS410 MR-J2S-70B

HC-RFS103(B)G2 1/_ MR-J2S-200B

MR-J4-40B

HG-KR43 MR-J4-40B

HG-SR102(B)G7 1/_ MR-J4-100B

HC-RFS203(B)G2 1/_ MR-J2S-350B HG-SR202(B)G7 1/_ MR-J4-200B

HC-RFS353(B)G2 1/_ MR-J2S-500B HG-SR352(B)G7 1/_ MR-J4-350B

HC-RFS103(B)G5 1/_ MR-J2S-200B HG-SR102(B)G5 1/_ MR-J4-100B

HC-RFS203(B)G5 1/_ MR-J2S-350B HG-SR202(B)G5 1/_ MR-J4-200B

HC-RFS353(B)G5 1/_ MR-J2S-500B HG-SR352(B)G5 1/_ MR-J4-350B

HC-RFS103(B)G7 1/_ MR-J2S-200B HG-SR102(B)G7 1/_ MR-J4-100B

HC-RFS203(B)G7 1/_ MR-J2S-350B HG-SR202(B)G7 1/_ MR-J4-200B

HC-RFS353(B)G7 1/_ MR-J2S-500B HG-SR352(B)G7 1/_ MR-J4-350B

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4.3 3): Partial Update from MR-J2S-B to MR-J4-B

The following shows the procedure for updating a system partially.

MR-J2S-B

* Production will be stopped in August, 2015.

HC/HA motor

* Production will be stopped in August, 2015.

HG motor * MR-J2S-B cannot drive HG motors.

MR-J4-B-RJ020 (Conversion unit for SSCNET of MR-J2S-B compatible servo amplifier)

+ MR-J4-T20 (Conversion unit for SSCNET of MR-J2S-B)

QnUD PLC + QDS-Motion + Q3□DB base

MR-J4-B-RJ020

* When the network used is changed, change

MR-J4-B-RJ020 from the J2S mode to the J4 mode.

Remove MR-J4-T20.

MR-J4-B-RJ020 (Conversion unit for SSCNET of MR-J2S-B compatible servo amplifier)

+ MR-J4-T20 (Conversion unit for SSCNET of MR-J2S-B)

→ The MR-J4-B-RJ020 to which MR-J4-T20 is connected operates as MR-J2S-B.

In addition, MR-J4-B-RJ020 can drive MR-J4-compatible HG motors and

MR-J2S-compatible HC/HA motors.

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4.4 4): Individual Replacement Support

The following shows the system update procedure for the individual replacement.

When a servo amplifier (MR-J2S-B) failed When a servo motor failed

Change to

MR-J4-B-RJ020 +

MR-J4-T20.

Change to

MR-J4-B-RJ020 +

MR-J4-T20.

HC/HA motor

* Production will be stopped in August, 2015.

Drive the HC/HA motor using MR-J4-B-RJ020

+ MR-J4-T20.

Change to an HG motor.

Drive the HG motor using MR-J4-B-RJ020 +

MR-J4-T20.

* In addition to the failed servo motor, the servo amplifier connected with the servo motor needs to be changed in this case.

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4.5 Others

4.5.1 Combination before/after controller replacement

The following table shows combination before/after controller replacement.

Please refer to the table when transiting.

QN-Motion

(Q17nCPUN)

SSCNET

QH-Motion

(Q17nHCPU)

SSCNET III

QD-Motion

(Q17nDCPU)

SSCNET III

A-Motion

• A17nSHCPUN

• A173UHCPU

Q-Motion

• Q17nCPUN

It is recommended to transit to

QDS-Motion.

*1

It is recommended to transit to

QDS-Motion.

It is recommended to transit to

QDS-Motion.

Refer to

Section 2 in this document.

Refer to

Technical sheet:

S0014CB

QDS-Motion

(Q17nDSCPU)

SSCNET III/H

Refer to

Section 2 in this document.

Refer to

Technical sheet:

S0014CB

QH-Motion

• Q17nHCPU

Refer to

Technical sheet:

S0013CB

Refer to

Technical sheet:

S0013CB

Stand-alone

Motion

(Q170MSCPU)

SSCNET III/H

Refer to

Section 3 in this document.

← Same as

QDS-Motion

← Same as

QDS-Motion

*1 Refer to "4. REPLACEMENT FROM A-MOTION TO QN-MOTION" in this document.

However, replacing A-Motion with QN-Motion is not recommended since QN-Motion is not the latest model.

In order to use a system for a long time with no system modification after the replacement, it is recommended to replace A-Motion with QDS-Motion or Stand-alone Motion.

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4.5.2 Combination of controller and servo amplifier

The following table shows combination of controller and servo amplifier.

Please refer to the table when transiting.

Controller

Servo amplifier

MR-H-BN

Production stopped in December, 2005.

MR-J2-B

Production stopped in December, 2005.

MR-J2S-B

MR-J2M-B

Production will be stopped in

August, 2015.

MR-J3-B

QN-Motion

(Q17nCPUN)

QH-Motion

(Q17nHCPU)

QD-Motion

(Q17nDCPU)

QDS-Motion

(Q17nDSCPU)

(Controller:

J3 mode)

MR-J4-B

(MR-J4-B-RJ020

+MR-J4-T20)

(MR-J3 compatible mode)

(MR-J3 compatible mode)

Stand-alone

Motion

(Q170MSCPU)

(Controller:

J3 mode)

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. OVERVIEW OF A-MOTION REPLACEMENT

TRANSITION

5.1 Configuration of the System Using A-Motion (before transition)

The following shows the general system chart used A-Motion.

A171SHCPUN

A172SHCPUN

A173UHCPU

(Servo external signal input)

Serial ABS synchronous encoder cable

MR-HSCBL□M

Main base unit

A172B

A175B

A178B(-S□)

Motion signal input module

A172SENC

SSCNET cable

MR-J2HBUS□M(-A)

Manual pulse

MR-HDP01

Serial ABS synchronous encoder

MR-HENC

RS-422 communication cable

SSCNET board

A30BD-PCF

SSCNET communication cable

A270BDCBL□M

Servo amplifier

MR-J2S-□B

* Production will be stopped in

August, 2015.

Servo motor

HC motor

* Production will be stopped in August, 2015.

[SSCNET cable]

For A171/172SHCPUN,

••• Up to 1

For A173UHCPU(-S1),

••• Up to 4

Desktop PC

SSCNET communication cable

A270CDCBL□M

SSCNET card

A30CD-PCF

Note PC

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5.2 Configuration of the System Using QDS-Motion (after transition)

The following shows the system chart used QDS-Motion after transiting.

Encoder input module

Q172DEX

Serial ABS synchronous encoder cable

Q170ENCCBL□M

Power supply module

Q6□P

+

PLC CPU

QnUD(E)(H) CPU

+

Motion controller

Q172DSCPU

Q173DSCPU

Pulse input module

Q173DPX

Manual pulse generator

(cannot be used with Q173DPX)

External signal input module

Q172DLX

Manual pulse

MR-HDP01

(External signal input)

Serial ABS synchronous encoder

Q171ENC-W8

Input: 4 points

Main base unit

Q3□DB SSCNET III cable:

MR-J3BUS□M

[SSCNET III cable]

For Q172DSCPU,

••• Up to 1

For Q173DSCPU,

••• Up to 2

Ethernet communication cable

USB communication cable

Servo amplifier

MR-J4-□B

MR-J4W2-□B

MR-J4W3-□B

Servo motor

HG motor

Serial ABS synchronous encoder

Q171ENC-W8

* Ethernet is a trademark of Xerox Corporation in the United States.

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5.3 Replace to Stand-alone Motion

The following shows the system chart used Stand-alone Motion after transiting.

SSCNET III/H

Stand-alone Motion:

Q170MSCPU

Q170MSCPU-S1

Input: 4 points

Output: 2 points

Manual pulse

MR-HDP01

Extension cable

QC□B

Extension base

Q52B/Q55B

SSCNET III cable

MR-J3BUS□M

(External signal input)

I/O module/Intelligent function module (Up to 512 points)

(External signal input)

External signal input module

Q172DLX

Note)

Pulse input module

Q173DPX also can be used

Serial ABS synchronous encoder

Q171ENC-W8

Servo amplifier

MR-J4-□B

MR-J4W2-□B

MR-J4W3-□B

Servo motor

HG motor

Ethernet communication cable

USB communication cable

/RS-232C cable

* Ethernet is a trademark of Xerox Corporation in the United States.

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5.4 Transition of Other Configurations

5.4.1 Combination of servo amplifier and servo motor

The following table shows the combination of servo amplifier and servo motor.

Please refer to the table when transiting.

A17nSHCPUN/A173UHCPU(-S1)

Q17nDSCPU/Q170MSCPU

Q17nDCPU/Q170MCPU

Series Series Series Servo Servo amplifier motor

MR-J2S

Series

MR-J2S-□B HC-KFS□

HC-MFS□

HC-SFS□

HC-LFS□

HC-RFS□

HA-LFS□

HC-UFS□

MR-J2M

Series

MR-J2M-□DU HC-KFS□

HC-MFS□

HC-UFS□

MR-J4

Series

Servo amplifier

MR-J4-□B

MR-J4W2-□B

MR-J4W3-□B

Servo motor

HG-KR□

HG-MR□

HG-SR□

HG-RR□

HG-UR□

HG-JR□

MR-J3

Series

Servo amplifier

MR-J3-□B

MR-J3W-□B

MR-J3-□B-RJ006

MR-J3-□B-RJ004

MR-J3-□BS

Servo motor

HF-KP□

HF-MP□

HF-SP□

HF-JP□

HC-LP□

HC-RP□

HC-UP□

HA-LP□

5.4.2 Specification comparison of servo system network

The following table shows the specification comparison of servo system network.

Please refer to the table when transiting.

Item SSCNET

(A-Motion)

SSCNETIII SSCNETIII/H

Communication cable

Communication speed

Cycle Send

Receive

The maximum number of axes of each system

Communication

Distance

Metal cable

5,6Mbps

3.55ms

8axes/system

Overall length 30m

Optical fibre cable

50Mbps

0.44ms/0.88ms

150Mbps

0.22ms/0.44ms/0.88ms

0.44ms/0.88ms

0.22ms/0.44ms/0.88ms

16 axes/system

Standard code for inside panel or Standard cable for outside panel

Up to 20m between stations

Maximum overall length is 320m

(20m × 16 axes)

[Long-distance cable]

Up to 50m between stations

Maximum overall length is 800m

(50m×16axes)

[Long-distance cable]

Up to 100m between stations

Maximum overall length is 1600m

(100m×16axes)

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5.4.3 Support of operating system software

The following table shows the support of operating system software.

Please refer to the table when transiting.

CPU model

OS

Type

OS model CPU model

OS

Type

OS model CPU model

OS

Type

OS model

A173UHCPU

(-S1)

A172SHCPUN

A171SHCPUN

SV13

SV22

SV43

SV13

SV22

SV43

SV13

SV22

SV43

SW2SRX-SV13B

SW2NX-SV13B

SW3RN-SV13B

SW2SRX-SV22A

SW2NX-SV22A

SW3RN-SV22A

SW2SRX-SV43A

SW2NX-SV43A

SW0SRX-SV13D

SW0NX-SV13D

SW3RN-SV13D

SW0SRX-SV22C

SW0NX-SV22C

SW3RN-SV22C

SW0SRX-SV43C

SW0NX-SV43C

SW0SRX-SV13G

SW0NX-SV13G

SW0SRX-SV22F

SW0NX-SV22F

SW0SRX-SV43F

SW0NX-SV43F

Q173DSCPU

Q172DSCPU

Q170MSCPU

SV13 SW8DNC-SV13QJ

SV22 SW8DNC-SV22QJ

SV13 SW8DNC-SV13QL

SV22 SW8DNC-SV22QL

SV13 SW8DNC-SV13QN

SV22 SW8DNC-SV22QN

Q173DCPU

(-S1)

Q172DCPU

(-S1)

Q170MCPU

SV13 SW8DNC-SV13QB

SV22 SW8DNC-SV22QA

SV43 SV43 SW7DNC-SV43QA

SV13 SW8DNC-SV13QD

SV22 SW8DNC-SV22QC

SV43 SV43 SW7DNC-SV43QC

SV13 SW8DNC-SV13QG

SV22 SW8DNC-SV22QF

SV43 SV43 SW7DNC-SV43QF

*1 For A-Motion controllers, "Motion SFC-compatible OS" and "Motion SFC non-compatible OS" are different OSs. For the motion controllers of the Q series or later, whether to use the Motion SFC or not can be selected for the same OS.

5.4.4 Correspondence of peripheral software

The following table shows the correspondence of peripheral software.

Please refer to the table when transiting.

A17nSHCPUN/A173UHCPU(-S1)

Class Type

Motion program

SW2SRX-GSV□

SW2NX-GSV□

SW3RNC-GSV□

PLC program

Servo amplifier

GX Developer

<MR Configurator>

SETUP161□

Q series Motion CPU

Type Comment

<MELSOFT MT Works2>

SW1DNC-MTW2-□

<MELSOFT GX Works2>

<MR Configurator2>

(note-3)

SW1DNC-MRC2-□

(note-1)

Please use the latest version

Please use the latest version

Please use the latest version

(note-2)

(note-2)

(Note-1) GX Developer is bundled in GX Works2.

(Note-2) As the latest versions of MT Works2 and GX Works2 have been released in Mitsubishi Electric

FA Site, update your software to the latest version.

(Note-3) MR Configurator2 is bundled in MT Works2.

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5.4.5 Outline of the motion data replacement flow

The following flowchart describes the motion data replacement procedure when the data can be diverted.

Start

Does the motion data file exist?

YES

Is the motion data saved in the computer where Windows-version peripheral software

(MT Works2) is installed?

YES

Convert the CPU using Windows-version peripheral software (MT Works2) and save the data.

Divert parameters and programs.

Create a program and perform debugging.

NO

Read the motion data from the Motion

CPU by using Windows-version peripheral software (SW3RN) or

DOS-version peripheral software

(SW2SRX(NX)), and save the data.

NO

Move the motion data to the computer where Windows-version peripheral software (MT Works2) is installed.

(Caution)

Windows-version peripheral software (SW3RN)

: A-Motion-compatible Windows-version peripheral software

SW3RN-GSV13P/GSV22P

DOS-version peripheral software (SW2SRX(NX))

: A-Motion-compatible DOS-version peripheral software

SW2SRX(NX)-GSV13P/GSV22P

Windows-version peripheral software (MTWorks2)

: Q-Motion-compatible Windows-version peripheral software "MTWorks2"

SW1DNC-MTW2-J

5.4.6 Precautions for replacing motion data saved with DOS-version peripheral software

The motion data saved with DOS-version peripheral software (SW2SRX/SW2NX-GSV13P/GSV22P) is stored in "C:\GPP\USR\System name\Machine name". Extract the data from the folder.

5.4.7 Dimensions

Refer to "5. APPENDIX".

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6. TRANSITION OF THE PROGRAM

The section shows the content which converts A-Motion to Q17nDS (virtual mode switching type).

Motion part

(SFC/not SFC)

Use the project diversion function in MT Works2.

It can also be used without SFC.

Transition of A-Motion program

PLC part

(Ladder)

Use the PLC type change function in GX Works2.

"A/QnA->Q conversion support tool" can be used to confirm the modified content of ladder program.

When the ladder program A/QnA->Q conversion support tool used

"A/QnA->Q conversion support tool" can be used to confirm the modified content of ladder program.

Please download and install A/QnA->Q conversion support tool from Mitsubishi FA Site.

For details, please refer to the A/QnA->Q conversion support tool guidebook in the same page.

Although the ladder program has been converted following the procedure, it may not be operated correctly. For the program modifications, please refer to “2. REPLACEMENT PROPOSAL FROM A-MOTION TO

QDS-MOTION”.

Before conversion

A-Motion

Program

After conversion

QDS-Motion

Program

Before conversion

Ladder Program for A

After conversion

Ladder Program for Q

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6.1 Motion

6.1.1 Data list available for diversion or not

The following table shows the overview whether the data can be diverted or not for the diversion function of motion project in MT Works2. The data may not be diverted for the case, but more than half can be diverted.

For details, please refer to “2. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION”.

A171SHCPUN, A172SHCPUN A173UHCPU

Data list available for diversion or not

SV13 SV22 SV13 SV22

System setting

System setting data

High speed reading data

(Servo amplifier has been converted to MR-J3-B/MR-J4-B after diverting)

Basic setting (Multiple CPU etc. must be set)

Servo data setting

Motion

SFC program

Fixed parameter

Home position return data

JOG operation data

Servo parameter

Parameter block

Limit output data

Motion SFC parameter

Motion SFC program

Operation control program

Transition program

Conversion data

Automatic numbering setting

Servo program

(Change electronic gear)

Besides MR-J2S: , MR-J2S:

: Not use Motion SFC

: Use Motion SFC

(Device must be revised)

(Device must be revised)

(Device must be revised)

(Data must be converted again)

(Device must be reviewed)

- -

Mechanical system program

Mechanical edit data

Mechanical conversion data

Cam conversion data -

(Data must be converted again)

-

Cam data

Device memory

SW3RNC-GSVE only

(# device only)

: Can be diverted (can be used directly)

: Data must be revised

: Must be set again

- : Data does not exist because it has not been used in diversion source (A-Motion).

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6.1.2 Motion program diversion procedure in MT Works2

The following describes the procedure for diverting an A173UHCPU/A17nSHCPUN project using MT

Works2. For details, refer to "2. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION". For details, please refer to “2. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION”

1) Start MT Developer2, and select "Divert File" --> "Diversion of Other Format Project" from the "Project" tab.

2) Specify the CPU type, OS type, and operation method after the replacement in the "Diversion of Other

Format Project" dialog box, and select "Browse".

Omitted below

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10) Input "Workspace Name", "Project Name", and "Title", and select "Save".

11) Select "Yes".

Please refer to "4.1 Data list available for diversion or not (SV13/SV22)", and set the data that cannot be diverted if necessary. And for the multiple-CPU parameter setting, please refer to “2. REPLACEMENT

PROPOSAL FROM A-MOTION TO QDS-MOTION” and the user's manual for the using module.

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6.2 Ladder Program Diversion Function in GX Works2

6.2.1 Ladder program diversion procedure in GX Works2

This section explains the conversion overview of a ladder program for A-Motion controller (SCPU). For details of ladder program created by GX Developer, please refer to “2. REPLACEMENT PROPOSAL

FROM A-MOTION TO QDS-MOTION”.

1) After starting GX Works2, select "Start GX Developer" from the "Project" tab.

2) The following shows the conversion of ladder program created by SW3RNC-GSVE. (GPPA file format)

After GX Works2/GX Developer is started, select "Import file" --> "Import from GPPA format file" from the "Project" tab.

Omitted below

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9) Select "Change PLC type" from the "Project" tab in GX Developer.

10) Specify the PLC series (QCPU(Qmode)) and PLC type (QnUD(E)(H)CPU) after the replacement in the "Change PLC type" dialog box, and select "OK".

Omitted below

14) When "Save as" is selected from the "Project" tab, the following dialog box appears. Input "Project name" and "Title", and select "Save".

15) The new project creation dialog box appears. Select "Yes".

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6.2.2 The process after diverting the ladder program in GX Works2

Although the ladder program has been diverted by GX Works2, the dedicated instructions and dedicated devices for A-Motion may not be converted automatically, please correct it manually as follows. And, there is also a tool called" A/QnA->Q conversion support tool" to support the process.

For details, please refer to “2. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION”.

1) Motion dedicated instructions

(SVST, CHGA, CHGV, CHGT, SFCS, ITP)

--> Convert to SM1255.

2) A-Motion dedicated (not included in QDS-Motion)

• Special relay

• Special register

--> Convert to SM1255 and SD1255.

As it has been converted as above, please remember using content of these devices in the pre-converted program (A-Motion ladder), and change the converted content in SM1255, SD1255 to

Q17nDSCPU Motion dedicated instructions and other bit device after converting. (Please refer to the user's manual of each CPU module and the programming manual)

• A-Motion (Ladder)

1) Motion dedicated instructions

(SVST, CHGA, CHGV, CHGT, SFCS, ITP)

2) A-Motion dedicated (not included in QDS-Motion)

• Special relay

• Special register

As it has been converted as above, please remember using content of these devices in the pre-converted program (A-Motion ladder), and change the converted content in SM1255,

SD1255 to Q17nDSCPU Motion dedicated instructions and other bit device after converting.

Convert

• QDS-Motion (Ladder)

SM1255

SD1255

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6.3 Precautions of Program Transition

6.3.1 Precautions of shared device memory transition between SCPU (PLC) and PCPU (Motion

CPU)

PLC CPU and Motion CPU are integrated in A-Motion, while these are not integrated in QDS-Motion.

And the shared device memory can be used by the Multiple CPU high speed transmission (+ automatic refresh). Therefore it is necessary to execute the automatic refresh setting and allocate to the Motion CPU device which used PLC CPU after the project diversion. Pay attention to the number of automatic refresh block because the limit is 32 in Q173DSCPU/Q172DSCPU.

A-Motion

QDS-Motion

Q Bus

Automatic Refresh

(per scan time)

High

Speed Bus

(0.88ms

cyclical transition)

Automatic Refresh

(per main cycle/ per operation cycle )

[Advantage]

- 0.88ms cyclical transition can be done in high speed transmission area

- Automatic refresh per operation cycle is possible

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DOCUMENTS

Please refer to the following documents. And it can be downloaded from Mitsubishi Electric FA Site whenever you want.

7.1 Relevant

Motion Controller Q17nDSCPU/Q170MSCPU, Motion Controller

Simple Motion Module QD77MS/QD77GF Q17nDCPU

L(NA) 03062 L(NA)03036

MELSERVO-J4 MELSERVO-J2-Super Transition Guide

L(NA) 03058 L(NA)03091

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Manuals

Q170M(S) Series User's Manual

Q170MSCPU User's Manual

IB-0300212

Q173D(S)/Q172D(S) Series User's Manual

Q173D(S)CPU/Q172D(S)CPU User's Manual

IB-0300133

Q173D(S)/Q172D(S) Series Programming Manual

Programming Manual (COMMON) [type Q173D(S)/Q172D(S)]

IB-0300134

Q173D(S)/Q172D(S) Series Programming Manual

SV13/22Programming Manual (Motion SFC) [type Q173D(S)/Q172D(S)]

IB-0300135

Q173D(S)/Q172D(S) Series Programming Manual

SV13/22Programming Manual (REAL MODE) [type Q173D(S)/Q172D(S)]

IB-0300136

Q173D(S)/Q172D(S) Series Programming Manual

SV22Programming Manual (VIRTUAL MODE) [type Q173D(S)/Q172D(S)]

IB-0300137

Q173D(S)/Q172D(S) Series Programming Manual

SV22Programming Manual (Advanced Synchronous Control) [type Q173DS/Q172DS]

IB-0300198

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MR-J4 Series

Transition from MELSERVO-J2-Super/J2M Series to J4 Series Handbook

L(NA)03093

MR-J4 Series

MR-J4-_B(-RJ) SERVO AMPLIFIER INSTRUCTION MANUAL

SH-030106

MR-J4 Series

MR-J4 Servo amplifier Instructions and Cautions for Safe Use of AC Servos

IB-0300175E

MR-J4 Series

MELSERVO-J4 Servo amplifier INSTRUCTION MANUAL TROUBLE SHOOTING

SH-030109

MR-J4 Series

MR-J4W2-_B/MR-J4W3-_B SERVO AMPLIFIER INSTRUCTION MAMUAL

SH-030105

MR-J4 Series

Conversion Unit for SSCNET of MR-J2S-B Compatible AC Servo

MR-J4_B_-RJ020/MR-J4-T20 SERVO AMPLIFIER INSTRUCTION MANUAL

SH-030125

MR-J4 Series

Instructions and Cautions for Drive of HC/HA Series Servo Motor with

MR-J4-_B_-RJ020 Servo Amplifier

SH-030127

MR-J4 Series

Conversion unit for SSCNET of MR-J2S-B MR-J4-T20 Installation Guide

IB-0300204E

MR-J3 Series

MR-J3-_B SERVO AMPLIFIER INSTRUCTION MANUAL

SH-030051

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2

. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION

2. REPLACEMENT PROPOSAL FROM

A-MOTION TO QDS-MOTION

2. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION .............................................................. 1

1.

OVERVIEW .................................................................................................................................................... 3

2.

EQUIPMENT CONFIGURATION, AVAILABLE SOFTWARE ..................................................................... 3

2.1

Equipment Correspondence ...................................................................................................................... 3

2.2

Servo Amplifier Correspondence .............................................................................................................. 4

2.3

Operating System Software Correspondence .......................................................................................... 5

2.4

Engineering Environment .......................................................................................................................... 5

3.

DIFFERENCES BETWEEN Q173DSCPU/Q172DSCPU AND A173UHCPU/

A172SHCPUN/A171SHCPUN ...................................................................................................................... 6

3.1

Differences between Q173DSCPU/Q172DSCPU and A173UHCPU/A172SHCPUN/A171SHCPUN ... 6

3.1.1

Differences list .................................................................................................................................... 6

3.1.2

Difference between self diagnosis error and Motion (SFC) error history ......................................... 9

3.1.3

Item that is necessary to change/revise with the change of servo system network ...................... 10

3.2

Device Comparison ................................................................................................................................. 11

3.2.1

I/O device .......................................................................................................................................... 11

3.2.2

Internal relay ..................................................................................................................................... 11

3.2.3

Data register ..................................................................................................................................... 14

3.2.4

Motion register .................................................................................................................................. 17

3.2.5

Special relay ..................................................................................................................................... 18

3.2.6

Special register ................................................................................................................................. 20

3.2.7

Other devices ................................................................................................................................... 23

4.

DIVERSION OF PROJECT CREATED BY A173CPUN/A172CPUN ....................................................... 25

4.1

Data List Available for Diversion or Not (SV13/SV22) ............................................................................ 25

4.2

Program Diversion Procedure in Motion CPU Side ................................................................................ 27

4.2.1

Diversion procedure using MT Developer2 ..................................................................................... 27

4.2.2

Without using SFC ........................................................................................................................... 30

4.2.3

Precautions for diverting cam data .................................................................................................. 31

4.3

Program Diversion Procedure in PLC CPU Side .................................................................................... 32

4.3.1

Conversion procedure of a sequence project for QnUD(E)(H)CPU using GX Works2/

GX

5.

USING A/QnA->Q CONVERSION SUPPORT TOOL IN SEQUENCE PROGRAM ................................ 37

5.1

Preparation for Using Support Tool ......................................................................................................... 37

5.2

Using Procedure of Support Tool ............................................................................................................ 38

5.3

Sequence Program Correction in Created Embedding File ................................................................... 40

5.3.1

Correction of special relay/special register ...................................................................................... 40

5.3.2

Correction of motion dedicated instructions .................................................................................... 40

5.3.3

Others ............................................................................................................................................... 40

6.

POINTS AND PRECAUTIONS OF REPLACEMENT ................................................................................ 41

6.1

Difference of Motion CPU Configuration ................................................................................................. 41

6.1.1

System configuration ........................................................................................................................ 41

6.1.2

Shared device ................................................................................................................................... 42

6.2

Precautions about Replacement ............................................................................................................. 43

6.2.1

Slot position (system setting) ........................................................................................................... 43

6.2.2

Communication data device between PLC CPU and Motion CPU ................................................ 44

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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION

6.2.3

Block number of refresh setting and total points number restriction .............................................. 46

6.2.4

Timer devices and counter devices ................................................................................................. 50

6.2.5

Indirect designation of servo program ............................................................................................. 50

6.2.6

Parameter block ............................................................................................................................... 51

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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION

1. OVERVIEW

This article explains the change content when replace the system using

A173UHCPU/A172SHCPUN/A171SHCPUN with the system using Q173DSCPU/Q172DSCPU. Please read A173UHCPU as A173UHCPU-S1.

2. EQUIPMENT CONFIGURATION, AVAILABLE SOFTWARE

Please prepare module, servo amplifier, operating system software and engineering environment according to the table in this article.

It is necessary to use the supported product in iQ Platform, when using Q173DSCPU/Q172DSCPU.

PLC CPU module

Motion CPU module

Main base unit

Product

Forced stop input cable

Connector for forced stop input cable

Servo external signals interface module

Synchronous encoder interface module

Manual pulse generator interface module

Use A17nSHCPUN/A173UHCPU

Model name

-

-

• A173UHCPU

• A172SHCPUN

• A171SHCPUN

• A173UHCPU

• A172SHCPUN

• A171SHCPUN

• A172B

• A175B

• A178B(-S□)

A171SENC

A172SENC

-->

Use Q17nDSCPU

Model name

QnUD(E)(H)CPU

Q173DSCPU

Q172DSCPU

Q3□DB

(high speed main base unit)

Q170DEMICON

Q172DLX (Note-1)

Q172DEX

Q173DPX (Note-2) necessary

Use If necessary

Serial ABS synchronous encoder

Serial ABS synchronous encoder cable

For MR-HENC

For Q171ENC

Battery

For CPU module

For synchronous encoder

Manual pulse generator

SSCNET(III) cable

- Q171ENC-W8

MR-HSCBL□M MR-JHSCBL□M

-

A6BAT is built in CPU module

MR-HDP01

Q170ENCCBL□M

Q6BAT is built in CPU module

A6BAT is built in Q172DEX

<--(same as left)

• MR-HBUS□M

• MR-J2HBUS□M-A

(cable for SSCNET)

• MR-J3BUS□M

• MR-J3BUS□M-A

• MR-J3BUS□M-B

(cable for SSCNET III)

(Note-1): Motion CPU built-in I/F (input 4 points) can be used.

(Note-2): Manual pulse/INC synchronous encoder (1 module) in Motion CPU built-in I/F can be used.

<Precautions>

• Main base unit can use Multiple CPU high speed main base unit (Q3□DB) only.

• SSCNET communication between personal computer using SSC I/F servo (A10BD-PCF/A30BD-PCF) and

SSC I/F card (A30CD-PCF) and Motion CPU module is not corresponding in Q173DSCPU/Q172DSCPU.

• Q173DSCPU/Q172DSCPU cannot be used to combine with

Q173HCPU(-T)/Q172HCPU(-T)/Q173CPUN(-T)/Q172CPUN(-T).

• Q173DSCPU/Q172DSCPU are not compatible with teaching units.

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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION

Amplifier

The servo system network is changed from SSCNET to SSCNET III or SSCNET III/H. Use a servo amplifier compatible with SSCNET III or SSCNET III/H. Select a servo motor that can be connected with an

SSCNET III or SSCNET III/H-compatible servo amplifier.

<Amplifier correspondence>

Use A17nSHCPUN/A173UHCPU

Product Model name

MR-H series MR-H-□BN

Product

Use Q17nDSCPU

Model name

MR-J3 series • MR-J3(W)-□B(S)

MR-J2S series MR-J2S-□B -->

MR-J2 series

MR-J2-Jr series

MR-J2-□B

MR-J2-03B5

MR-J4 series

• MR-J4(W□)-□B

* It will operate in MR-J3 compatibility mode when mixed with MR-J3.

<Specification compare of servo system network>

SSCNET III

Optical fiber cable

SSCNET III/H

50Mbps 150Mbps

Communication media

Communication speed

Communication cycle

Metal cable

5.6Mbps

Sending 3.55ms

Receiving 3.55ms

Maximum number of control axes per system

8 axes/system 16 axes/system

Transmission distance Overall length is 30m

-->

[Standard code for inside panel/standard cable for outside panel]

Up to 20m between stations

Maximum overall length is 320m

(20m x 16 axes)

[Long distance cable]

Up to 50m between stations

Maximum overall length is

800m

(50m x 16 axes)

[Long distance cable]

Up to 100m between stations

Maximum overall length is

1600m

(100m x 16 axes)

For the communication with servo amplifiers, "SSCNET III" or "SSCNET III/H" must be set for each system in the SSCNET setting of the system setting. For details, refer to MR-J4 SERVO AMPLIFIER

INSTRUCTION MANUAL.

2

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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION

2.3 Operating System Software Correspondence

Use operating system for Q173DSCPU/Q172DSCPU.

The latest version of SV22 has been installed in Q173DSCPU/Q172DSCPU with shipment.

Download the latest version of operating system besides SV22 from Mitsubishi Electric FA Site for use.

Application

Use Q17nDSCPU

Model name

For conveyor assembly

(SV13)

For automatic machinery

(SV22)

Use A17nSHCPUN/A173UHCPU

Model name

For A173UHCPU

For A172SHCPUN

For A171SHCPUN

For A173UHCPU

For A172SHCPUN

For A171SHCPUN

SW2SRX-SV13B

SW2NX-SV13B

SW3RN-SV13B

SW0SRX-SV13D

SW0NX-SV13D

SW3RN-SV13D

SW0SRX-SV13G

SW0NX-SV13G

SW2SRX-SV22A

SW2NX-SV22A

SW3RN-SV22A

SW0SRX-SV22C

SW0NX-SV22C

SW3RN-SV22C

SW0SRX-SV22F

SW0NX-SV22F

-->

For Q173DSCPU

For Q172DSCPU

For Q173DSCPU

For Q172DSCPU

SW8DNC-SV13QJ

SW8DNC-SV13QL

SW8DNC-SV22QJ

SW8DNC-SV22QL

Environment

The following shows the engineering environment supported in Q173DSCPU/Q172DSCPU.

For the following purchase software, the latest version of which can download from Mitsubishi Electric FA

Site and update.

MELSOFT MT Works2 SW1DNC-MTW2-□

MR Configurator2 (Note-1) (Note-2) SW1DNC-MRC2-□

MELSOFT GX Works2 (Note-3) SW1DNC-GXW2-□

Ver.1.53F or later

Ver.1.12N or later

Ver.1.53F or later

Execute the installation of GX Developer when installing GX Works2.

(Note-1): MR Configurator2 is bundled in MT Works2.

(Note-2): MR Configurator2 can be installed after downloading from Mitsubishi Electric FA Site in the personal computer in which GX

Works2 or MT Works2 is installed.

(Note-3): GX Developer also can be installed together when install MELSOFT GX Works2.

In “2.4.3 Diversion procedure in PLC CPU side”, GX Developer is necessary to convert sequence program.

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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION

3. DIFFERENCES BETWEEN Q173DSCPU/Q172DSCPU AND A173UHCPU/

A172SHCPUN/A171SHCPUN

3.1 Differences between Q173DSCPU/Q172DSCPU and

A173UHCPU/A172SHCPUN/A171SHCPUN list

Item Q17nDSCPU

A17nSHCPUN/A173UHCPU

A171SH A172SH A173UH

Points of replacement

Peripheral I/F

• USB/RS-232/Ethernet

(Via PLC CPU)

• PERIPHERAL I/F

(Motion CPU manager)

RS422/SSCNET

Communicate with peripheral by corresponding I/F.

Battery Q6BAT is built in (3.0V) A6BAT is built in (3.6V)

Pay attention to the using battery is different.

Forced stop input

• Use EMI terminal of Motion

CPU module

• Use device specified by forced stop input setting in the system setting

Use EMG terminal of main base unit

Multiple CPU high speed transmission memory for data transfer between

CPU modules

I/O points

Internal relays (M)

Latch relays (L)

Step relays (S)

Link relays (B)

Timer s (T)

Counters (C)

Data registers (D)

Link registers (W)

Annunciators (F)

Included -

8192 points

-

-

8192 points

12288 points

None(M latch can be set in latchsetting)

-

8192 points

8192 points

2048 points

File registers (R)

Special relays (M)

Special relays (SM)

-

-

2256 points

Special registers (D) -

Special registers (SD) 2256 points

2048 points

Total point is 2048 in shared M,L,S

1024 points

256 points

256 points

1024 points

1024 points

256 points

Up to 8192 points

256 points

-

256 points

-

8192 points

Total point is

8192 in shared M,L,S

8192 points

2048 points

2048 points

8192 points

8192 points

2048 points

Always use a forced stop input cable

(Please fabricate it by customers.).

-

-

Left described devices is shared in

A-Motion but not shared in

QDS-Motion.

Execute automatic refresh setting if necessary.

Refer to Section 2.5 for details.

Motion registers (#) 12288 points -

8192 points

(Motion SFC OS only)

Multiple CPU shared devices (U□\G)

Up to 14336 points (Note-1) - -

Coasting timers (FT) 1point(888μs) -

Motion dedicated

PLC instruction

SV13

D(P).DDRD, D(P).DDWR,

D(P).SFCS, D(P).SVST,

D(P).CHGT, D(P).CHGT2,

D(P).CHGV, D(P).CHGVS

(Note-2) ,

D(P).CHGA, D(P).CHGAS

(Note-2) ,

D(P).GINT

Q172DLX, Q173DPX

CHGT, CHGV, CHGA

SVST

(Non Motion SFC OS only)

-

SFCS, ITP

(Motion SFC OS only)

A171SENC, A172SENC

Motion module

SV22

Installation position

Q172DLX, Q172DEX

Q173DPX

(Note-3)

Motion module cannot be installed in I/O slot 0 to 2

,

-

Replace motion dedicated PLC instruction with D(P).*** instruction.

(Refer to SV13/22 Programming

Manual (Motion SFC) [type

Q173D(S)/Q172D(S)].)

A171SENC, A172SENC

Please use Q172DLX, Q172DEX,

Q173DPX for motion module in the system which used

Q173DSCPU/Q172DSCPU.

Motion module can be installed in motion I/O slot only

In the system using

Q173DSCPU/Q172DSCPU, please install motion modules on the I/O slot

3 and later.

* Synchronous encoders can be used via MR-J4-□B-RJ.

(Note-1): The maximum number of devices varies depending on the system setting.

(Note-2): Only for SV22 advanced synchronous control

(Note-3): It can be mounted main base unit only

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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION

(Continued)

Item Q17nDSCPU

A17nSHCPUN/A173UHCPU

A171SH A172SH A173UH

Points of replacement

System setting

Servo system network

Teaching unit

CPU Multiple CPU shared memory high speed transmission area

• QnUD(E)(H)CPU will be No.1

• Use multiple CPU high-speed main base units (Q35DB,

Q38DB, Q312DB).

SSCNET III/H, SSCNET III

Unusable

Provided

• Multiple CPU is unsupported

• Use normal main base units

(A172B, A175B, A178B, A178B-S1,

A178B-S2, A178B-S3).

Use the system combining with available unit.

SSCNET

Usable -

Use memory

Automatic refresh

Automatic refresh setting

LED display

Multiple CPU high speed refresh function

Multiple CPU high speed transmission area of CPU shared memory Device shared between SCPU and

PCPU

Assign the device which used in PLC

CPU by automatic refresh setting manually to Motion CPU device after project diversion.

Latch range setting

Latch (1)

Latch (2)

All clear function

7-segment LED status display Each LED of RUN, ERR

Latch clear (1) of remote latch clear can clear in latch clear (1) Latch range setting is 1 setting

(2) only.

Can be cleared by latch clear Clear by L.CLR switch.

(1) (2) of remote latch clear

Execute it by installation mode None

Self diagnosis error

When the error of Motion CPU occurs independently, set it in the range of 10000 to 10999 according to the classification of error in diagnosis error (SD0).

At this moment, self diagnosis error flag (SM1) and diagnosis error flag (SM0) are also ON.

Motion error detection flag

(M2039)

No matter which error occurs,

M2039 will be ON in Motion

Even if the error of PCPU occurs, self diagnosis error will not occur.

Depending on the type of an error that

-

Please execute latch clear in MT

Works2.

-

Correct the program if necessary.

Correct the program if necessary.

Latch clear

Can be set in the range of 32

Provided turned ON. (Only when

SFC is used)

L.CLR switch -

RUN/STOP

ROM writing

ROM operation mode

Remote operation

Remote operation, RUN/STOP switch

• Execute in RAM operation mode/ROM operation mode

(installation switch operation of Motion CPU module is not necessary)

• Data of MT Works2 can be wrote to ROM directly

Select by rotary switch

RUN/STOP switch

None -

None

-

-

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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION

(Continued)

Item Q17nDSCPU

A17nSHCPUN/A173UHCPU

A171SH A172SH A173UH

Select by dip switch

Points of replacement

Installation mode Select by rotary switch

-

Mechanical system program (SV22)

Operation cycle

(default value)

SV13

SV22

Ball screw and electronic gear setting of rotary table can be automatically calculated from the setting value of "Number of

Pulses/Rev." and "Travel

Value/Rev." of fixed parameter.

0.22ms/1 to 4 axes

0.44ms/5 to 10 axes

0.88ms/11 to 24 axes

1.77ms/25 to 32 axes

0.44ms/1 to 6 axes

0.88ms/7 to 16 axes

1.77ms/17 to 32 axes

The operation cycle setting (0.2

[ms]/0.4 [ms]) can be configured. (Note-1) (Note-2)

Ball screw and electronic gear setting of rotary table are set respectively in mechanical system program.

3.5ms/1 to

4 axes

3.5ms/1 to

4 axes

3.5ms/1 to

8 axes

3.5ms/1 to

8 axes

3.5ms/1 to

20 axes

7.1ms/21 to 32 axes

3.5ms/1 to

12 axes

7.1ms/13 to 24 axes

14.2ms/25 to 32 axes

-

When the operation cycle is set as default (automatic), the operation cycle will change. Operation cycle changes as left describing, and the program execution timing will change, so set the fixed operation cycle if necessary.

(Note-1): The following restrictions are applied when the communication method is "SSCNET III".

• When the operation cycle is 0.2 [ms], set "0 to 3" for the axis select switch setting of the servo amplifier, and configure the system setting.

• When the operation cycle is 0.4 [ms], set "0 to 7" for the axis select switch setting of the servo amplifier, and configure the system setting.

For details, refer to the instruction manual of the servo amplifier.

(Note-2): When MR-J4W3-□B (Software version: A2 or earlier) or MR-J3W-□B is used, set 0.4 [ms] or more for the operation cycle.

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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION

3.1.2 Difference between self diagnosis error and Motion (SFC) error history

Self diagnosis error code

Self diagnosis error flag

Error flag state : ON : OFF

Motion (SFC) error history

Motion error detection flag

Q17nDSCPU

(SD0)

A17nSHCPN/

A173UHCPU

(D9008)

Description

Q17nDSCPU

(SM1)

A17nSHCPU

N/A173UHCP

U (M9008)

Q17nDSCPU

(#8640 + 12n)

*

(SFC version only)

A172SHCP

UN/A173U

HCPU

(#8000 + 8n)

*

Q17nDSCPU

(M2039)

(SFC version only)

A172SHCP

UN/

A173UHCP

U (M2039)

1 to 9999 10 to 84

10002 -

Self diagnosis error besides Motion CPU independent error

Minor/major error

(command generation axis)

10003 -

10004 -

10005 -

Minor/major error

(virtual servo motor axis)

Minor/major error

(synchronous encoder axis)

10006 -

10006 -

10007 -

10008 -

-

Servo program setting error

Mode switching error

10009 -

10010 -

10015 -

10016 -

10020 -

10021 -

10022 -

10023 -

10030 -

10042

10050

-

-

Manual pulse axis setting error

Test mode requirement error

10011 -

- -

Personal computer link communication error

10014 -

Servo amplifier

(MR-J4-□B) servo error

Motion slot error

Motion SFC control error (F/FS)

Motion SFC control error (G)

Motion SFC control error (K or others (not F,

FS, G))

Motion SFC control error

(Motion SFC chart)

Motion CPU internal bus error

SSCNET III/H head unit error

Safety observation error

(alarm) occurrence

10051 Safety observation error

(warning) occurrence

○ ×

○ ×

×

×

*

: n shows the value (n=0 to 7) corresponding to motion error history.

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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION

3.1.3 Item that is necessary to change/revise with the change of servo system network

Difference

Item Change/Revise content

Q17nDSCPU

A17nSHCPUN/

A173UHCPU

System setting/SSCNET configuration

Electronic gear

Connect/disconnect of

SSCNET communication when servo amplifier power supply is OFF

Battery break warning/ battery warning

Q172DSCPU: 1 system

Q173DSCPU: 2 systems

(up to 16 axes/system)

Number of pulses per revolution:

1 to 2147483647[pulse]

Travel value per revolution:

1 to 2147483647[pulse]

When an SSCNET III cable or a servo amplifier in the middle of the

SSCNET system is replaced while the multiple

CPU system is on, use the connect/disconnect function of the SSCNET communication.

Servo error code

2102(92): Battery break warning

2116(9F): Battery warning

A171SHCPUN: 1 system

A172SHCPUN: 1 system

A173UHCPU: 4 systems

(up to 8 axes/system)

Number of pulses per revolution:

1 to 65535[pulse]

Travel value per revolution:

1 to 65535[pulse]

SSCNET cables or servo amplifiers in the middle of the SSCNET system can be replaced while the system is on.

Servo error code

2102(9F): Battery warning

2103(92): Battery break warning

Configure the rotary switch setting of the servo amplifier according to the SSCNET configuration.

Change the number of pulses per revolution and the travel value per revolution of the fixed parameter according to the resolution per revolution of the connected servo motor.

When the power supply servo amplifier is

OFF/ON in SSCNET system, use connect/disconnect function of SSCNET communication.

For details, refer to Motion controller Q series programming manual (common)

(Q173D(S)CPU/Q172D(S)CPU)

(IB-0300126) and "4.11.1 Connect/disconnect function of SSCNET communication".

Correct the program using the left servo error code.

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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION

Comparison

X/Y0

X/Y7FF

X/Y800

X/Y1FFF

User device

(8192 points)

3.2.2 Internal

(1) SV13

Q173DSCPU Q172DSCPU

User device

(8192 points)

A173UHCPU

M0

User device

(2048 points)

M1600

M1680

M1680

M1760

M1800

M1880

M1960

M2000

M2047

M2048

M2320

M2400

M2720

M3040

M3072

M3136

M3200

User device

(2000 points)

Common device (320 points)

Unusable (80 points)

Status of each axis

(20 points x 32 axes)

Status of each axis

(20 points x 16 axes)

User device

(320 points)

Unusable (32 points)

Common device (command signal)

(64 points)

Unusable (64 points)

Command signal of each axis

(20 points x 32 axes)

Command signal of each axis

(20 points x 16 axes)

User device

(2000 points)

Common device

(320 points)

Unusable

(80 points)

Status of each axis

(20 points x

32 axes)

Unusable

(160 points)

Command signal of each axis

(20 points x

32 axes)

A172SHCPUN A171SHCPUN

User device

(1600 points)

Status of each axis

(20 points x 8 axes)

Status of each axis

(20 points x 4 axes)

Unusable

(40 points)

Unusable

(120 points)

Command signal of each axis

(20 points x 8 axes)

Command signal of each axis

(20 points x 4 axes)

Unusable

(80 points)

Common device (88 points)

M3520

M3840

M8191

User device

(4351 points)

User device

(4671 points)

User device

(4351 points)

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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION

M0

(2) SV22 Real mode

M1360

M1364

M1600

M1680

M1760

M1800

M1880

User device

(2000 points)

User device

(2000 points)

M1960

M2000

M2047

M2048

M2320

Common device

(320 points)

M2400

M2720

Unusable (80 points)

Status of each axis

Status of each axis

(20 points x 32 axes)

(20 points x 16 axes)

User device

(320 points)

M3040

M3072

M3136

M3200

M3520

Unusable (32 points)

Common device (command signal) (64 points) axis

Unusable (64 points)

Command signal of

Command signal of each

(20 points x 32 axes) each axis

(20 points x 16 axes)

User device

(320 points)

Common device

(320 points)

Unusable (80 points)

Status of each axis

(20 points x 32 axes)

Unusable (160 points)

Command signal of each axis

(20 points x 32 axes)

M4000

M4320

Virtual servo motor axis status (Note-1)

(20 points x 32 axes)

Virtual servo motor axis status (Note-1)

(20 points x 16 axes)

User device

(320 points)

User device

(800 points)

M4640 Synchronous encoder axis status

(4 points x 12 axes)

M4656

M4688 Unusable (Note-1) (112 points)

M4800

M5120

Virtual servo motor axis command signal (Note-1)

(20 points x 32 axes)

Virtual servo motor axis command signal (Note-1)

(20 points x 16 axes)

User device

(320 points)

M5440

Synchronous encoder axis command signal

(4 points x 12 axes)

M5488

M8191

User device (2704 points)

Synchronous encoder axis status

(4 points x 4 axes)

User device

(3536 points)

(Note-1): This device can be used as a user device when used only in the SV22 real mode.

User device (1360 points)

Synchronous encoder axis status

(4 points x 1 axis)

User device (236 points)

Status of each axis

(20 points x 8 axes)

Status of each axis

(20 points x

4 axes)

Unusable

(40 points)

Command signal of each axis

(20 points x 8 axes)

Unusable

(120 points)

Command signal of each axis

(20 points x

4 axes)

Unusable

(80 points)

Common device (88 points)

2

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2

. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION

M0

(3) SV22 Virtual mode

Q173DSCPU

M1200

M1280

M1360

M1364

M1400

M1480

M1560

M1564

M1600

M1680

M1760

M1800

M1880

M1960

M2000

M2048

M2320

M2400

M2720

M3040

M3072

M3136

M3200

M3520

M3840

User device

(2000 points)

User device

(2000 points)

Common device (320 points)

Unusable (80 points)

Status of each axis

(20 points x 32 axes)

Status of each axis

(20 points x 16 axes)

User device

(320 points)

Unusable (32 points)

Common device (command signal) (64 points)

Unusable (64 points)

Command signal of each axis

(20 points x 32 axes)

Command signal of each axis

(20 points x 16 axes)

User device

(320 points)

Unusable (160 points)

Common device

(320 points)

Unusable

(80 points)

Status of each axis

(20 points x 32 axes)

Unusable

(160 points)

Command signal of each axis

(20 points x 32 axes)

Unusable (160 points)

User device (1360 points)

Virtual servo motor axis status (Note-1)(Note-2) Virtual servo motor axis status

(20 points x 8 axes)

(20 points x

4 axes)

User device (Note-2)

(80 points)

Synchronous encoder axis status

(4 points x 1 axis) (Note-2)

Unusable (Note-2) (36 points)

Virtual servo motor axis command signal

(20 points x 8 axes)

Virtual servo motor axis command signal (Note-1)(Note-2)

(20 points x

4 axes)

User device (Note-2)

(80 points)

Synchronous encoder axis command signal (4 points x 1 axis) (Note-2)

Unusable (36 points)

Status of each

Status of each axis

(20 points x 8 axes) axis (20 points x

4 axes)

Unusable (40 points)

Unusable

(120 points)

Command signal of each axis

(20 points x 8 axes)

Command signal of each axis

(20 points x

4 axes)

Unusable

(80 points)

Common device (88 points)

2

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2

. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION

(Continued)

Q173DSCPU

M4000 Virtual servo motor axis status

(Note-1)(Note-3)

M4320

(20 points x 32 axes)

Virtual servo motor axis status (Note-1)(Note-3)

(20 points x 16 axes)

User device (Note-3)

(320 points)

Virtual servo motor axis status (Note-1)(Note-3)

(20 points x 32 axes)

M4640 Synchronous encoder axis status

(4 points x 12 axes) (Note-3)

M4656

M4688 Unusable

Virtual servo motor axis

M4800

M5120

Virtual servo motor axis command signal (Note-1), (Note-3)

(20 points x 32 axes) command signal

(Note-1), (Note-3)

(20 points x 16 axes)

User device (Note-3)

(320 points)

Synchronous encoder axis status (Note-3)

(4 points x 4 axes)

Unusable (Note-3)

(144 points)

Virtual servo motor axis command signal

(Note-1)(Note-3)

(20 points x 32 axes)

M5440

M5456

Synchronous encoder axis command signal (Note-3)

(4 points x 12 axes)

M5488

M8191

D0

D320

D640

D672

D704

D758

User device (Note-4) (2704 points)

Monitor device of each axis

(20 points x 32 axes)

Monitor device of each axis

(20 points x 16 axes)

User device

(320 points)

Control change register

Control change register

(2 points x 32 axes)

(2 points x 16 axes)

User device (32 points)

Common device (command signal) (54 points)

Unusable (42 points)

User device (Note-4)

(2704 points)

(Note-1): Only the area of axis set by mechanical system program is occupied. The area of unused axis set by mechanical system program can be used by user.

(Note-2): When using virtual mode, do not set latch range as M1200 to M1599.

(Note-3): When using virtual mode, do not set latch range as M4000 to M5487.

(Note-4): Cam axis command signal and smoothing clutch completion signal can be set to any device by parameter. register

(1) SV13

Q173DSCPU

Monitor device of each axis

(20 points x 32 axes)

Control change register

(2 points x 32 axes)

Common device

(96 points)

User device

(800 points)

D800

D880

D960

D984

User device

(7392 points)

Synchronous encoder axis command signal (Note-3)

(4 points x 4 axes)

Unusable (Note-3)

(32 points)

User device

(7392 points)

Monitor device of each axis (20 points x 8 axes)

Monitor device of each axis (20 points x 4 axes)

Unusable

Control change register

(6 points x

8 axes)

(80 points)

Control change register

(6 points x

4 axes)

Unusable

(24 points)

Common device (16 points) D1008

D1024

D8191

2

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2

. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION

D672

D704

D748

D752

D758

D800

D0

(2) SV22 Real mode

Q173DSCPU

D320

D640

Monitor device of each axis

(20 points x 32 axes)

Control change register

(2 points x 32 axes)

Monitor device of each axis

(20 points x 16 axes)

User device

(320 points)

Control change register

(2 points x 16 axes)

User device

(32 points)

Monitor device of each axis

(20 points x 32 axes)

Control change register

(2 points x 32 axes)

D880

Common device (command signal)

(54 points)

Unusable (42 points)

Virtual servo motor axis monitor device

(10 points x 16 axes)

Common device

(96 points)

D960

D984

D1008

D1024

Virtual servo motor axis monitor device

(10 points x 32 axes)

User device

(160 points)

User device

(320 points)

User device (748 points)

Synchronous encoder axis monitor device

(4 points x 1 axis)

User device (48 points)

Monitor device of each axis

(20 points x 8 axes)

Monitor device of each axis

(20 points x 4 axes)

Control change register

(6 points x

8 axes)

Unusable

(80 points)

Control change register

(6 points x

4 axes)

Unusable

(24 points)

Common device (16 points)

D1120 Synchronous encoder axis monitor device

(10 points x 12 axes)

Synchronous encoder monitor device

(6 points x 4 axes)

D1144

D1240 Cam axis monitor device

(10 points x 32 axes)

Cam axis monitor device

(10 points x 16 axes) User device

(7048 points) D1400

D1560

D8191

User device (6632 points)

User device

(6792 points)

2

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2

. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION

D0

D320

D640

D672

(3) SV22 Virtual mode

Q173DSCPU

Monitor device of each axis

(20 points x 32 axes)

Monitor device of each axis

(20 points x 16 axes)

User device (320 points)

Control change register

(2 points x 16 axes)

Monitor device of each axis

(20 points x 32 axes)

(670 points)

D670

D678

D686

D688

D700

D704

D724

D748

D752

D758

D760

Control change register

(2 points x 32 axes) User device

(32 points)

Common device (command signal)

(54 points)

Unusable (42 points)

D780

D800

D880

D960

Virtual servo motor axis monitor device (Note-1)

(6 points x 32 axes)

Current value after differential gear of virtual servo motor axis main shaft

(4 points x 32 axes) (Note-1)

Virtual servo motor axis monitor device (Note-1)

(6 points x 16 axes)

Current value after differential gear of virtual servo motor axis main shaft

(4 points x 16 axes) (Note-1)

User device

(160 points)

D984

D1008

D1024

Control change register

(2 points x 32 axes)

Common device

(96 points)

Current value after differential gear of virtual servo motor axis main shaft (Note-1)

Current value after differential gear of virtual servo motor axis main shaft

(Note-1)

(2 points x 4 axes)

(2 points x 8 axes)

User device

(8 points)

Current value of differential gear of synchronous encoder axis main shaft (Note-1)

(2 points x 1 axis)

Unusable

(12 points)

Virtual servo motor axis monitor device

(Note-1)

(6 points x 8 axes)

Virtual servo motor axis monitor device

(Note-1)

(6 points x 4 axes)

User device

(24 points)

Synchronous encoder axis monitor device (4 points x1 axis) (Note-1)

Unusable (8 points)

Cam axis monitor device (Note-1)

(5 points x 8 axes)

Cam axis monitor device

(Note-1)

(5 points x 4 axes)

User device

(20 points)

Monitor device of each axis (20 points x 4 axes)

Monitor device of each axis (Note-1)

(20 points x 8 axes)

Unusable

(80 points)

Virtual servo motor axis monitor device (Note-1)

(6 points x 32 axes)

Current value after differential gear of virtual servo motor axis main shaft

(4 points x 32 axes) (Note-1)

Control change register

(6 points x 8 axes)

Control change register

(6 points x 4 axes)

Unusable

(24 points)

Common device

(16 points)

2

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2

. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION

#8008

#8016

#8024

#8032

#8040

#8048

#8056

#8064

#8191

#8192

#8640

#8736

#8752

#12287

(Continued)

Q173DSCPU

A171SHC

PUN

D1120

Synchronous encoder axis monitor device

(6 points x 12 axes)

Current value after differential gear of synchronous encoder axis main shaft

(4 points x 12 axes)

Synchronous encoder axis monitor device (Note-1)

(6 points x 4 axes)

Current value after differential gear of virtual servo motor axis main shaft

(4 points x 4 axes)

D1160 Unusable (80 points)

D1240 Cam axis monitor device (Note-1)

D1400

(10 points x 32 axes)

D1560

D8191

User device

(6632 points)

Cam axis monitor device (Note-1)

(10 points x 16 axes)

User device

(6792 points)

Cam axis monitor device (Note-1)

(10 points x 32 axes)

User device

(6632 points)

(Note-1): Only the areas of axes set with the mechanical system program are occupied. The areas of the axes not used by the mechanical system program can be used by users.

#0

#8000

Q17nDSCPU

User device (8000 points)

Monitor device

(640 points)

(SFC version only)

A173UHCPU/A172SHCPUN

User device (8000 points)

Past 7 times error information

(oldest error information)

Past 6 times error information

SFC error history

(8 times)

(64 points)

Past 5 times error information

Past 4 times error information

Past 3 times error information

Past 2 times error information

Past 1 times error information

Latest errors information

Unusable

(128 points)

(SFC version only)

A171SHCPUN

Motion error history device

(96 points)

Product information list device

(16 points)

System area

(3536 points)

2

- 17

-

-

-

-

-

-

-

-

-

-

-

-

-

-

2

. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION

Device number

Q17nDSCPU

A17nSHCPUN/

A173UHCPU

Name Remark

SM60

-

-

SM53

M9000

M9002

M9004

M9005

Fuse blown detection

I/O module verification error

MINI link error

AC DOWN detection

SM51 M9007 Low battery latch

SM1 M9008 error

-

-

-

-

-

-

M9016

M9017

M9020

M9021

M9022

M9023

Data memory clear flag (all data)

Data memory clear flag (non-latch data)

User timing clock No.0

User timing clock No.1

User timing clock No.2

User timing clock No.3

-

-

M9024

M9025

User timing clock No.4

Clock data set requirement Clock data of CPU No.1 is operating.

- M9027 display

SM801

-

-

-

M9028

M9029

M9030

M9031

Clock data reading requirement

Data communication requirement batch processing A173UHCPU only

0.1 second clock

0.2 seconds clock

-

-

-

M9032

M9033

M9034

1 second clock

2 seconds clock

1 minute clock

A173UHCPU only

Q17nDSCPU: AC/DC DOWN detection

M9038

M9039

M9041

M9042

M9043

M9045

M9046

M9047

M9049

M9051

M9052

M9053

M9054

M9055

Only 1 scan is ON after RUN

RUN flag (only 1 scan is OFF after RUN)

PAUSE status contact

Stop status contact

Sampling trace completion

Reset watchdog timer (WDT)

Sampling trace

Sampling trace preparation

Switch output characters number

CHG command execution inhibition

Switch SEG command

Switch EI/DI command

STEP RUN flag

Status latch completion

A173UHCPU only

A173UHCPU only

A173UHCPU only

2

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2

. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION

(Continued)

Device number

Q17nDSCPU

A17nSHCPUN/

A173UHCPU

-

-

-

-

-

-

-

SM512

SM501

SM502

SM513

SM510

SM516

-

-

-

-

-

-

M9056

M9057

M9058

M9059

M9065

M9066

M9070

M9073

M9075

M9076

M9077

M9078

M9079

M9094

M9100

M9101

M9102

M9103

M9104

Name Remark

Main side P, I setting requirement

Sub side P, I setting requirement

Main side P, I setting completion

Sub side P, I setting completion

Partition processing execution detection

Partition processing requirement flag

Required search time of A8UPU/A8PUJ

Motion CPU WDT error

Test mode requirement error

Forced stop input flag

Manual pulse axis setting error flag

Test mode requirement error

Servo program setting error flag

I/O exchange flag

SFC program existence

Start/stop SFC program

Start status of SFC program

Continuous transition existence

Continuous transition prevention flag

-

-

-

-

M9180

M9181

M9182

M9196

Active step sampling trace completion flag

Active step sampling trace execution flag

Enable active step sampling trace

Operation output of block stop

- M9197

- M9198

- M9199 Data return of online sampling trace status latch

*

The special relay of Q17nDSCPU is in Motion CPU side.

Refer to the manual of PLC CPU for the special relay in PLC CPU side.

2

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2

. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION

Device number

Q17nDSCPU

A17nSHCPUN/

A173UHCPU

Name Remark

-

-

D9002

D9004

I/O module verification error

MINI link error

SD53 D9005 counter

SD0 D9008 error

- D9009 Detection of annunciator

-

SD203

-

-

-

-

-

-

SD210

SD211

SD212

-

-

D9014

D9015

D9017

D9018

D9019

D9020

D9021

D9022

D9025

D9026

D9027

D9035

D9036

I/O control method

CPU operation status

Minimum scan time (10ms unit)

Scan time (10ms unit)

Maximum scan time (10ms unit)

Constant scan (10ms unit)

Scan time (1ms unit)

Time (1 second unit)

Clock data (calendar, month)

Clock data (date, hour)

Clock data (minute, second)

Expansion file register

For specifying extended file register device

A173UHCPU only

SD1: Diagnosis error occurrence time

(calendar, month)

SD2: Diagnosis error occurrence time

(date, hour)

SD5: Error common information

SD520: Current main cycle (1ms unit)

SD521: Maximum main cycle (1ms unit)

SD524: Maximum operation cycle

(1µs unit)

A173UHCPU only

SD523: Motion setting operation cycle

(1µs unit)

A173UHCPU only

SD522: Motion operation cycle

(1µs unit)

A173UHCPU only

A173UHCPU only

A173UHCPU only

LED display priority order

- D9039

-

-

-

D9044

D9049

D9050

For sampling trace

Work area for SFC

SFC program error number

A173UHCPU only

A173UHCPU only

A173UHCPU only

- D9052 Error step A173UHCPU only

-

-

-

D9054

D9055

D9072

Error sequence step

Status latch

PLC communication check

A173UHCPU only

A173UHCPU only

A173UHCPU only

A173UHCPU only

-

-

D9085

D9090

Setting register of time check value A173UHCPU only

Number of boards in special function module over A173UHCPU only

Detailed error number

- D9092

- D9094 Exchange I/O start I/O number

2

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2

. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION

(Continued)

Device number

Q17nDSCPU

A17nSHCPUN/

A173UHCPU

- D9100

- D9101

- D9102

- D9103

- D9104

- D9105

- D9106

- D9107

- D9116

- D9117

- D9118

Name Remark

A173UHCPU only

I/O module verification error

- D9120

- D9121

- D9122

- D9123

- D9124 Number of annunciator detection

- D9125

- D9126

- D9127

- D9128

Annunciator detection number

- D9129

- D9130

- D9131

- D9132

- D9196

A173UHCPU only

A173UHCPU: Unusable

- D9181

SD510 D9182

A17nSHCPU:

Limit switch output status

A173UHCPU: storage area error

SD512 D9184 P CPU error cause

SD513 D9185

A173UHCPU: Manual

A17nSHCPU:

Servo amplifier classification

A17nSHCPU:

Manual pulse axis setting error information

Q17Ndscpu: PCPU WDT error cause

SD516

SD517

D9189

D9190

Error program No.

Error item information

A173UHCPU:

Servo amplifier

A17nSHCPU:

Servo amplifier installation information

A17nSHCPU:

Area for manual pulse (P1) smoothing magnification setting

Personal computer link communication error code

2

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2

. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION

(Continued)

Device number

Q17nDSCPU

A17nSHCPUN/

A173UHCPU

Q17nDSCPU, A173UHCPU: smoothing magnification setting

Q17nDSCPU, A173UHCPU: smoothing magnification setting

Q17nDSCPU, A173UHCPU: smoothing magnification setting

- D760

- D761

- D762

- D763

- D764

- D765

- D766

A173UHCPU:

Name Remark

A17nSHCPU:

Unusable for Axis 1 to 32

- D769

- D770

- D771

- D772

- D773

- D774

- D775

- D776

- D777

- D778

- D779

- D780

- D781

- D782

A173UHCPU: for Axis 1 to 32

- D785

- D786

- D787

- D788

- D789

- D790

- D791

- D792

- D793

- D794

A17nSHCPU:

Cam axis monitor device

• A172SHCPUN:

5 points x 8 axes

• A171SHCPUN:

5 points x 4 axes

Q17nDSCPU:

#8000 + 20n (1 axis/word)

A173UHCPU:

D792 to (4 axes/word) - D797

- D798

- D799

*

The special register of Q17nDSCPU is in Motion CPU side.

About the special register of PLC CPU side, refer to the manual of PLC CPU.

2

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2

. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION

Item

Personal computer link communication error flag

PCPU preparation completion flag

- M2034

SM500 M9074

Home position return re-travel value

Travel value change register

Indirectly designated device

(word device)

D9 + 20n (Note-1)

(data abbreviated to 1 word)

#8006 + 20n, #8007 + 20n (Note-1)

(Referred to at monitoring)

Any device

(enable set D16 + 20n, D17 + 20n) (Note-1)

D0 to D8191

W0 to W1FFF

#0 to #7999

D9 + 20n (Note-1)

D16 + 20n (Note-1) ,

D17 + 20n (Note-1)

D800 to D8191

W0 to W1FFF

#0 to #7999

(Motion SFC

(real mode) only)

D815 (Note-1) + 20n

D0 to D799

W0 to W3FF

#0 to #7999

(Motion SFC of A172SH

(real mode) only)

U□\G10000 to

U□\G(10000 + p - 1) (Note-2)(Note-4)

X0 to X1FFF (Note-3)

- -

X0 to X1FFF X0 to X7FF

Indirectly designated device

(bit device)

Y0 to Y1FFF

M0 to M8191

-

B0 to B1FFF

F0 to F2047

U□\G10000.0 to

U□\G(10000 + p - 1).F

(Note-2)(Note-4)

Y0 to Y1FFF

M/L0 to M/L8191

M9000 to M9255

B0 to B1FFF

F0 to F2047

Y0 to Y7FF

M/L0 to M/L2047

M9000 to M9255

B0 to B3FF

F0 to F255

- -

Enable specified device in high speed reading function

D0 to D8191

D800 to D3069, D3080 to

D8191

W0 to W1FFF

D0 to D799

W0 to W1FFF W0 to W3FF

U□\G10000 to

U□\G(10000 + p - 1) (Note-2)(Note-4)

(Note-1): n shows the value (axis No.1 to 32: n=0 to 31) corresponding to axis No.

- -

(Note-2): p is the user free area points of the Multiple CPU high speed transmission area in each CPU.

□: First I/O number of CPU module

(Note-3): In PXn + 0 to PXn + F, the input devices assigned to the motion CPU built-in I/F (DI), PXn + 4 to PXn + F are fixed to 0 and cannot be used.

(Note-4): Setting is available only for the devices of the own CPU.

2

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2

. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION

(Continued)

Item

Output device

X0 to X1FFF

Y0 to Y1FFF

M0 to M8191

-

B0 to B1FFF

U□\G10000.0 to

U□\G(10000 + p - 1).F

(Note-2)(Note-5)

D0 to D8191

W0 to W1FFF

X0 to X1FFF

Y0 to Y1FFF

M0 to M8191

L0 to L8191

B0 to B1FFF

X0 to X7FF

Y0 to Y7FF

M0 to M2047

L0 to L2047

B0 to B3FF

- -

D0 to D8191

W0 to W1FFF

D0 to D1023

W0 to W3FF

Watch data

#0 to #9215

U□\G10000 to

U□\G(10000 + p - 1) (Note-2)(Note-5)

#0 to #8191 #0 to #8191

- -

ON section setting

Output enable/disable bit

Forced output bit

-

D0 to D8191

W0 to W1FFF

#0 to #9215

Constant (Hn/Kn) (Note4)

U□\G10000 to

U□\G(10000 + p - 1) (Note-2)(Note-5)

X0 to X1FFF (Note-3)

Y0 to Y1FFF

M0 to M8191

-

B0 to B1FFF

F0 to F2047

SM0 to SM1999

-

-

-

-

U□\G10000.0 to

U□\G(10000 + p - 1).F

(Note-2)(Note-5)

Absolute address (H0 to

HFFFFFFFF)

D0 to D8191

W0 to W1FFF

Absolute address (H0 to

HFFFFFFFF)

D0 to D1023

W0 to W3FF

#0 to #8191 #0 to #8191

Constant (Hn/Kn) (Note-4) Constant

- -

X0 to X1FFF

Y0 to Y1FFF

M0 to M8191

L0 to L8191

B0 to B1FFF

F0 to F2047

M9000 to M9255

TT0 to TT2047

TC0 to TC2047

CT0 to CT1023

CC0 to CC1023

X0 to X7FF

Y0 to Y7FF

M0 to M2047

L0 to L2047

B0 to B3FF

F0 to F255

M9000 to M9255

TT0 to TT255

TC0 to TC255

CT0 to CT255

CC0 to CC255

- -

Clutch status

Any device

(M2160 to M2223 can also be set)

M2160 to M2223

(unnecessary to set in mechanical system program)

A171SHCPUN:

M1984 to M1991

A172SHCPUN:

M1984 to M1999

(unnecessary to set in mechanical system program)

Cam axis command signal

(cam/ball screw switch command)

Any device

(M5488 to M5519 can also be set.)

-

Smoothing clutch Any device completion signal (M5520 to M5583 can also be set.)

(Note-1): n indicates a value corresponding to an axis No. (Axis No.1 to 32: n = 0 to 31)

-

(Note-2): p is the user free area points of the Multiple CPU high speed transmission area in each CPU.

□: Start I/O number of CPU module

(Note-3): In PXn + 0 to PXn + F, the input devices assigned to the motion CPU built-in I/F (DI), PXn + 4 to PXn + F are fixed to 0 and cannot be used.

(Note-4): The setting range depending on setting unit.

(Note-5): Setting is available only for the devices of the own CPU.

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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION

4. DIVERSION OF PROJECT CREATED BY A173CPUN/A172CPUN

4.1 Data List Available for Diversion or Not (SV13/SV22)

Motion SFC is not compatible Motion SFC is compatible

A17nSHCPUN A173UHCPU A172SHCPUN A173UHCPU

SV13 SV22 SV13 SV22 SV13 SV22 SV13 SV22

Remark

System setting

System setting data

High speed reading data

Basic setting data

Fixed parameter

Home position return data

JOG operation data

Servo data setting Servo parameter

Parameter block

Limit output data

Servo program

Motion SFC parameter

Motion

SFC program

Mechanical system program

Motion SFC program

Operation control program

Transition program

Conversion data

Automatic numbering setting

Mechanical edit data

Mechanical conversion data

Cam data

Device memory

Backup data

Cam conversion data

Real mode axis information

Note-1

Note-2

Note-3

Note-3

Note-4

Note-5, Note-6

Note-5

Note-5

Note-5

Note-8

Note-5, Note-7

Note-8

(SW3RNC-GSVE only)

Note-8

Communication setting

: Can be diverted

: Data must be revised

: Must be set again

Note-8

(Note-1) System setting data

• Motion dedicated module of slot 0 to 1

Motion dedicated module cannot be attached to slot 0 to 1 in Q17nDSCPU. Move it slot 3 or later.

• Pulse/synchronous encoder I/F module A172SENC

A172SENC module is converted to Q172DLX. Manual pulse/synchronous encoder setting are deleted.

Set Q172DEX, Q172DLX, or Q173DPX if necessary.

• Limit output module A1SY42 (when Motion SFC is not compatible with OS)

Limit output module A1SY42 is not diverted.

• Axis No. setting of external input signal module

Axis No. setting of external input signal module in Q17nDSCPU is moved to servo external signal parameter in servo data.

• Servo amplifier setting

The servo amplifier is converted to MR-J4-B when SSCNET III/H is selected, or converted to MR-J3-B when SSCNET

III is selected.

Others besides servo amplifier (inverter etc.) are deleted.

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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION

(Note-2) Basic setting data

It is necessary to set Multiple CPU in QDS-Motion. Set according to system.

(Note-3) Fixed parameter, servo parameter (servo amplifier besides MR-J2S)

Fixed parameter (Number of Pulses/Rev. and Travel Value/Rev.) is not converted. Servo parameter is initialized.

Revise parameter with servo amplifier after changing.

(Note-4) Limit output data (when Motion SFC is not compatible with OS)

Data is deleted because of incompatibility. Revise the data.

(Note-5) Servo program, Motion SFC program, mechanical system program

• Motion dedicated device

Assignment of Motion dedicated device is different between A17nSHCPUN/A173UHCPU and QDS-Motion.

Change Motion dedicated device.

(Note-6) Servo program

• Word points of indirect device

There are changes of word points between A17nSHCPUN/A173UHCPU and QDS-Motion.

Execute conversion check and revise if necessary.

(Note-7) Mechanical system program

• Unit setting of output axis

Unit settings of fixed parameter and output axis are set respectively in A-Motion, but fixed parameter is set only in

Q17nDSCPU. Revise the unit settings when unit settings of fixed parameter and output axis are different.

(Note-8) Conversion data, setting data

It cannot be diverted because CPU is different. Convert/set the data again.

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4.2 Program Diversion Procedure in Motion CPU Side procedure using MT Developer2

The following shows an example of procedures for replacing an A-Motion CPU side project with a

QDS-Motion CPU project using MT Developer2. Always backup the project before the program replacement.

1) Start MT Developer2, and select "Divert File" --> "Diversion of Other Format Project" from the "Project" tab.

2) Specify the CPU type, OS type, and operation method after the replacement in the "Diversion of Other

Format Project" dialog box, and select "Browse".

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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION

3) Select "Browse" in Save Folder Path and the source project from "Folder List", and click "Open".

4) Select data to be converted in "File Selection".

5) Select "Divert".

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6) Convert the series of the servo amplifier. Select the servo amplifier series and servo system network specification after the replacement, and select "OK".

7) The servo parameter initialization dialog box appears. To initialize the servo parameters, select "Yes".

8) The conversion of the project is completed. Select "OK".

After the project conversion, make the cross comparison or check the data on each screen.

9) Select "Save As" from the "Project" tab to save the project after the conversion.

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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION

10) Input "Workspace Name", "Project Name", and "Title", and select "Save".

11) The new project creation dialog box appears. Select "Yes".

When no SFC program is used in the A-Motion CPU side program (Diversion source) and servo parameters other than SFC programs are diverted, perform the following procedure after the operation of

11).

1) Select "Motion SFC Program Manager".

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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION

2) Select "Unused" for "Motion SFC Program", and select "OK".

About the file converted by MT Woks2, refer to "2.4.1 Data list available for diversion or not (SV13/SV22)", and then set the data which can not be diverted if necessary. About the setting of Multiple CPU parameter, refer to "2.3 Differences between Q173DSCPU/Q172DSCPU and

A173UHCPU/A172SHCPUN/A171SHCPUN", "QCPU User's Manual (Multiple CPU System) Model Name:

SH-080475", "Programming Manual (COMMON) [compatible with Q173D(S)/Q172D(S)] Model Name:

1XB921" and then set.

4.2.3 Precautions for diverting cam data

To edit cam data, read the data directly using "Read Other Type Cam Data".

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4.3 Program Diversion Procedure in PLC CPU Side

4.3.1 Conversion procedure of a sequence project for QnUD(E)(H)CPU using GX Works2/

GX Developer

The following describes an example of the procedure for replacing a sequence project using

GX Developer. Always backup the project before the replacement.

(1) Conversion of sequence program created by SW3RNC-GSVE/SW2□-GSVE

1) After starting GX Works2, select "Start GX Developer" from the "Project" tab.

2) The following shows the conversion of a sequence program created by

SW3RNC-GSV/SW2□-GSV (GPPA file format).

After GX Developer is started, select "Import file" --> "Import from GPPA format file" from the

"Project" tab.

Caution 1: Storage location of an execution file

The execution file in the GPPA format is usually stored in the following folder.

• Folder structure

"C drive (route drive)" --> "GPP" --> "USR" --> "System name" --> "Machine name (folder which includes the gppa.cnf file)"

Caution 2: Name of diversion source project

When name of diversion source project exceeds 8 characters, it can not be read.

Change the name so that the number of characters is within the limit and execute the conversion operation.

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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION

3) Select "Browse".

4) Select the conversion target file and select "OK".

5) Check the conversion targets (Program/Device comment/Parameter), and select "Execute".

Note) Either "Comment 1" or "Comment 2" will be selected for device comment.

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6) The conversion completion dialog box appears. Select "OK".

7) Select "Close".

8) Select "Change PLC type" from the "Project" tab in GX Developer.

9) Specify the PLC series (QCPU(Qmode)) and PLC type (QnUD(E)(H)CPU) after the replacement in the "Change PLC type" dialog box, and select "OK".

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10) The "Change PLC type" dialog box appears. Select "Yes".

Note) In this replacement handbook, "Yes" is selected because the changes will be checked later by using a support tool.

When the supporting tool is not used, select "Confirm change".

11) The following dialog box appears. Select "OK".

Some devices cannot be replaced properly and are forcibly converted to

"SM1255" or "SD1255".

Refer to the explanation about the usage of the A/QnA->Q conversion support tool described later and replace those devices with appropriate ones.

12) When "Save as" is selected from the "Project" tab, the following dialog box appears. Input "Project name" and "Title", and select "Save".

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13) The new project creation dialog box appears. Select "Yes".

Although the sequence program has been converted following this procedure, it may not be operated correctly.

Be sure to refer to the manual after Section 5 for program correction.

(2) Conversion of sequence program for A-Motion created by GX Developer

The following describes an example of the procedure for replacing a sequence project using GX

Developer. Always backup the project before the replacement.

1) After starting GX Works2, select "Start GX Developer" from the "Project" tab.

2) The following shows the conversion of a sequence program for A-Motion created by GX Developer

(GPPW file format).

3) After GX Developer is started, select "Open project" from the "Project" tab.

4) Select the file to be converted, and select "Open".

For the following conversion operations, refer to (1) SW3RNC-GSVE/SW2□-GSVE sequence program

conversion procedure after 8).

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5. USING A/QnA->Q CONVERSION SUPPORT TOOL IN SEQUENCE PROGRAM

To confirm the converted content of the sequence program, use "A/QnA->Q conversion support tool".

Please download and install the A/QnA->Q conversion support tool from Mitsubishi Electric FA Site.

For details, refer to A/QnA->Q conversion support tool guidebook in the same page.

To download the tool, access the Mitsubishi Electric FA Site

(http://www.mitsubishielectric.co.jp/fa/index.html) and as follows. http://www.mitsubishielectric.co.jp/fa/download/software/search.do?mode=software&kisyu=%2Fplca&lan g=2&select=0&softid=0

5.1 Preparation for Using Support Tool

To use the support tool, prepare the following.

1) Source sequence program (for compare)

2) Target sequence program (converted program in QnUD(E)(H)CPU)

3) "A/QnA->Q conversion support tool" (please get it from Mitsubishi Electric FA Site)

4) "A/QnA->Q conversion support tool guidebook" (please get it from Mitsubishi Electric FA Site)

5) GX Developer (GX Works2)

Caution

Convert 1) into a project whose CPU type is changed to A2SH or A3U and save the project using GX

Developer as follows. The conversion method is same as "Section 2.4.3 Program diversion procedure in

PLC CPU side"

• A171SHCPUN and A172SHCPUN

Select "ACPU" for PLC series and "A2SH" for PLC type in the "Change PLC type" dialog box, and select "OK".

• A173UHCPU

Select "ACPU" for PLC series and "A3U" for PLC type in the "Change PLC type" dialog box, and select

"OK".

* This operation is necessary to use A/QnA->Q program conversion support tool.

File before conversion

File after conversion

A/QnA->Q conversion support tool

Analysis result Index file

Add statement to file after conversion in GX

Developer file

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5.2 Using Procedure of Support Tool

1) Click "Start" --> "MELSOFT Application" --> "AQCnvSupport" to start the support tool.

Then select "A/QnA->Q program conversion support tool execute".

2) The "A/QnA->Q program conversion support tool" dialog box appears. Specify a source file in the

GPPA format, A2SH file, or A3U file for "Project for A/QnA series before PLC type changing". Specify the file converted to the QnUD(E)(H)CPU type file for "Project for Q series after PLC type changed", and select "Next".

File for compare (A2SH) is above, and file converted to Q26UDEHCPU is below

Then execute the operation according to A/QnA->Q conversion support tool guidebook.

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3) Created file

Once the operation is completed by following the description in A/QnA->Q Conversion Support Tool

Operation Guide, an analysis result Index file (HTML document) and a GX Developer file in which statements of the modifications are embedded are created in the specified folder.

4) Display

• Index file of analysis result

The following shows an example of the execution results of the analysis result index file.

• Statement is embedded in GX Developer file

The following shows an example of the execution results of the GX Developer file in which statements are embedded.

"Statement display" or "Ctrl + F7" displays the contents that need to be modified.

* In the case described above, the device M9074 has been replaced with the device SM1255. Correct the device to an appropriate one.

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5.3 Sequence Program Correction in Created Embedding File

5.3.1 Correction of special relay/special register

The special relay that cannot be converted from A-Motion is converted to "SM1255", and the special register that cannot be converted from A-Motion is converted to "SD1255". Modify the devices according to a between-the-lines statement.

5.3.2 Correction of motion dedicated instructions

A-Motion-dedicated instructions (SVST, CHGA, CHGV, CHGT, SFCS, ITP) are converted to "SM1255".

Modify the devices according to a between-the-lines statement.

5.3.3 Others

Confirm the details of user's manual and programming manual in each CPU module and then correct. Or, for use method of GX Developer etc., refer to each product manual.

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6. POINTS AND PRECAUTIONS OF REPLACEMENT

6.1 Difference of Motion CPU Configuration configuration

The differences between basic system of A-Motion and basic system of QDS-Motion are shown in the following chart.

• The PLC function and the motion function are integrated in one A-motion CPU. However, in

QDS-motion, they are in different CPUs.

• A-Motion is compatible with SSCNET as a servo system network, but QDS-Motion is compatible with

SSCNET III or SSCNET III/H. Servo amplifiers connectable to each motion are also different.

• A motion module A172SENC (Pulse generator/synchronous encoder interface module) is replaced with a motion module Q172DLX (Servo external signal interface module), Q172DEX (Synchronous encoder interface module), or Q173DPX (Manual pulse generator interface module).

• A base unit is changed to a Q series multiple CPU high speed base unit. As a result, motion modules

(Q172DLX, Q173DEX, and Q172DPX) cannot be installed in the CPU slot and Slot 0 to 2.

• For the connection between QDS-Motion and a personal computer, RS-422 and SSCNET cannot be used. Connect them with Ethernet (Direct connection to QDS-Motion), USB, RS-232, or Ethernet

(Connection via PLC).

(Servo external signals input)

Main base unit

A17□B

+

Motion controller

A171SHCPUN/A172SHCPUN

A173UHCPU

Pulse generator/synchronous encoder interface module

A172SENC

Manual pulse

MR-HDP01

Serial ABS synchronous encoder

MR-HENC

(Servo external signals input)

Main base unit

Q3□DB

+

Power supply module

Q6□P

+

PLC CPU

QnUD(E)(H)CPU

+

Motion controller

Q172DSCPU

Q173DSCPU

Servo external signals interface module

Q172DLX

Synchronous encoder module

Q172DEX

Manual pulse input module

Q173DPX

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Manual pulse

MR-HDP01

Serial ABS synchronous encoder

MR-HENC, Q171ENC-W8

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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION

In A-motion, the PLC and Motion functions are integrated in an A-motion CPU. Thus, the both function shares the memory. In QDS-Motion, a PLC CPU and a Motion CPU are divided as different modules. Thus, configuring some settings (assignment to the multiple CPU shared devices/automatic refresh setting) is required to share the memory.

For details, refer to "QCPU User's Manual (Multiple CPU System) Model Code SH-080475",

"Programming Manual (COMMON) [compatible with Q173D(S)/Q172D(S)] Model Code: 1XB921".

A-Motion QDS-Motion

About shared device memory, after diverting the project, execute the automatic refresh setting. It is necessary to distribute the device being used by PLC CPU to the device of Motion CPU.

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. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION about

6.2.1 Slot position (system setting)

When the motion module (A172SENC) used in A-Motion is replaced with a QDS-Motion controller, the slot position for installing the motion module will change as follows. (For the QDS-Motion, motion modules

(Q172DLX, Q172DEX, Q173DPX) cannot be installed on the CPU slot and the I/O slot 0 to 2.)

Example) Place A172SENC in slot 0 in A-Motion

A172SENC is arranged in Slot 0.

↓ Convert A172SHCPU to Q173DSCPU

A172SHCPU to Q173DSCPU (Slot 0), A172SENC to Q172DLX (Slot 1)

Q172DLX is arranged in Slot 1.

If executing relative check in above screen, the following error will occur.

To clear errors, install motion modules (Q172DLX, Q172DEX, Q173DPX) on Slot 3 or later of the main base unit.

When an A program is converted to a Q program, A172SENC is automatically converted to Q172DLX.

When Q172DEX or Q173DPX is used with QDS-Motion, change and add modules.

Arrange motion modules to be used on Slot 3 or later of the main base unit.

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6.2.2 Communication data device between PLC CPU and Motion CPU

(1) Shared devices between PLC CPU (SCPU) and Motion CPU (PCPU)

• A-Motion

Example) Since both SCPU and PCPU share the same devices, PCPU (SCPU) can use the data that SCPU (PCPU) stored in the devices for some processing.

A-Motion system

SCPU Shared device

PCPU

SCPU and PCPU share the same devices and data in the devices.

• QDS-Motion

Example)

Since a PLC CPU and a Motion CPU operate as different CPUs, some settings

(assignment to multiple CPU shared device/automatic refresh setting) are required to share the same devices.

By configuring these settings, both CPUs can share the same data for some processing.

QDS-Motion S

C

P

U

PLC CPU

Device memory

Automatic refresh area

Multiple CPU shared device

Automatic refresh area

Multiple CPU shared device

Motion CPU

Device memory

P

C

P

U

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(2) Obtain synchrony between SCPU and PCPU

Since QDS-Motion has a PLC CPU and a Motion CPU as different modules, the task processing time differs. To synchronize the start timing of task processing, configure some settings

(assignment to multiple CPU shared device/automatic refresh setting) for the task start trigger

(device).

PLC

CPU

SCPU processing start

SCPU processing start

SCPU processing start

PLC

CPU

SCPU processing start

SCPU wait

SCPU processing start

SCPU wait

Motion

CPU

PCPU processing start

PCPU processing start

: Task start trigger (device)

Processing times differ depending on the

CPU type, and the start timing of task processing cannot be synchronized.

Motion

CPU

PCPU processing start

PCPU processing start

: Task start trigger (device)

By sharing the task start trigger (device)

(assignment to multiple CPU shared device/ automatic refresh setting), the start timing of task processing can be synchronized.

For details of (1) and (2), refer to "QCPU User's Manual (Multiple CPU System) Model code:

SH-080485ENG" and "Programming Manual (COMMON) [type Q173D(S)/Q172D(S)] Model

Code: 1XB928", and set common devices.

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6.2.3 Block number of refresh setting and total points number restriction

In QDS-Motion, the automatic refresh function is added as a new function that A-motion does not have.

Automatic refresh settings of 32 ranges (total 14K points) can be configured for each CPU.

Device memory

(D, M etc.)

PCPU

Shared memory

No.1

No.2

* 32 ranges can be set for each CPU.

The following explains the replacement method of devices.

Example)

The following shows the replacement procedure for when devices 1) to 4) are assigned.

1) M128 to M767 (640 points) and M1088 to M1215 (320 points): Device ranges to be shared

2) M768 to M1087 (320 points): Device range not to be shared

3) M3840 to M4159 (320 points): Device range to be shared

4) M4160 to M4479 (320 points): Free device range

Procedure: Replace 2) devices with 4) devices. --> Replace 3) devices with 2) free devices.

M128 to M767

(Devices to be shared)

M768 to M1087

(Devices not to be shared)

M1088 to M1215

(Devices to be shared)

•••

M3840 to M4159

(Devices to be shared)

M4160 to M4479

(Free devices)

M128 to M767

(Devices to be shared)

M768 to M1087

(Free devices)

M128 to M767

(Devices to be shared)

M768 to M1087

(Devices to be shared)

Replace

M1088 to M1215

(Devices to be shared)

Replace

M1088 to M1215

(Devices to be shared)

•••

•••

M3840 to M4159

(Devices to be shared)

M4160 to M4479

(Devices not to be shared)

M3840 to M4159

(Free device)

M4160 to M4479

(Devices not to be shared)

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Device number batch replacement procedure

The following shows the procedure for replacing devices in a PLC side project using GX Works2.

Always backup the project before the replacement of devices.

1) Start GX Works2, and select "Device Batch Replace" from the "Find/Replace" tab.

2) Select the "Device" tab, and input "Find Device", "Replace Device", and "Device Point". Select "All

Replace".

1)

3)

2)

4)

1) Input the start device before the replacement in Find Device.

2) Input the start device after the replacement in Replace Device.

3) Input device points to replace.

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3) Replace "M3840 to M4159" with device numbers of "M768 to M1087" by the same method as 2).

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The following shows the procedure for replacing devices in a motion side project using MT Developer2.

Always backup the project before the replacement of devices.

1) Start MT Developer2, and select "Replace Device Number Batch" from the "Find/Replace" tab.

2) Select "Replacing with specified K/F/G program range" and input "Replace From:/To:" and "Replace

With:" in "Device No.". Select "Check >> Execute".

1)

2)

1) Specify the end device from start device before conversion.

2) Specify start device after conversion.

3) Replace "M3840 to M4159" with device numbers of "M768 to M1087" by the same method as 2).

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6.2.4 Timer devices and counter devices

In A-Motion, a PLC CPU and a motion PU share T (Timer device) and C (Counter device). However, after the transition to QDS-Motion, T/C cannot be referred to from the Motion CPU. Instead, when the same function is used with the QDS-Motion CPU, the TIME instruction can be used.

When the PLC CPU is synchronized with the Motion CPU using T/C of the PLC CPU, set an interlock by configuring some settings (T/C assignment to multiple CPU shared devices/automatic refresh setting).

6.2.5 Indirect designation of servo program

About indirect designation of servo program, because word length is changed from 16 bit to 32 bit by replacement, use word number should be 2 (even number).

• Indirect designation of servo program in A-Motion

Odd device

• After the conversion from A-Motion to QDS-Motion

The project is converted with the odd device.

• Error content and measures when execute program conversion in QDS-Motion

• Change the device number to an even number and modify all the related devices.

Replace the odd device with an even device.

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Since QDS-Motion's error check function is improved, errors and warnings may be displayed to the parameter to which A-Motion does not display errors and warnings. Correct the errors according to the content of the errors and warnings.

Example) A-Motion

• After the conversion from A-Motion to QDS-Motion

• Error contents and measures

In the above case, set the sudden stop deceleration time to be equal to the deceleration time setting value (500ms or shorter).

Note that the error check becomes stricter than before the replacement as the above case.

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Memo

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. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION

3. REPLACEMENT PROPOSAL FROM

A-MOTION TO STAND-ALONE MOTION

3. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION ...................................................... 1

1. OVERVIEW ....................................................................................................................................................... 3

2. EQUIPMENT CONFIGURATION, AVAILABLE SOFTWARE ......................................................................... 3

2.1 Equipment Correspondence ...................................................................................................................... 3

2.2 Servo Amplifier Correspondence .............................................................................................................. 4

2.3 Operating System Software Correspondence .......................................................................................... 5

2.4 Engineering Environment .......................................................................................................................... 5

3. DIFFERENCES BETWEEN Q170MSCPU(-S1) AND A173UHCPU/A172SHCPUN/A171SHCPUN ........... 6

3.1 Differences between Q170MSCPU(-S1) and A173UHCPU/A172SHCPUN/A171SHCPUN ................. 6

Differences list ................................................................................................................................................... 6

Difference between self diagnosis error and Motion (SFC) error history ...................................................... 10

Item that is necessary to change/revise with the change of servo system network ..................................... 11

3.2 Device Comparison ................................................................................................................................. 12

3.2.1 I/O device .......................................................................................................................................... 12

3.2.2 Internal relay ..................................................................................................................................... 12

3.2.3 Data register ..................................................................................................................................... 16

3.2.4 Motion register .................................................................................................................................. 19

3.2.5 Special relay ..................................................................................................................................... 20

3.2.6 Special register ................................................................................................................................. 22

3.2.7 Other devices ................................................................................................................................... 25

4. DIVERSION OF PROJECT CREATED BY A173UHCPU/A172SHCPUN/A171SHCPUN .......................... 27

4.1 Data List Available for Diversion or Not (SV13/SV22) ............................................................................ 27

4.2 Program Diversion Procedure in Motion CPU Side ................................................................................ 29

4.2.1 Diversion procedure using MT Developer2 ..................................................................................... 29

4.2.2 Without using SFC ........................................................................................................................... 32

4.2.3 Precautions for diverting cam data .................................................................................................. 33

4.3 Program Diversion Procedure in PLC CPU Side .................................................................................... 34

4.3.1 Conversion procedure of ladder program for QnUD(H)CPU using GX Works2/GX Developer .... 34

5. USING A/QnA->Q CONVERSION SUPPORT TOOL IN LADDER PROGRAM .......................................... 39

6. POINTS AND PRECAUTIONS OF REPLACEMENT .................................................................................... 39

6.1 Difference of Motion CPU Configuration ................................................................................................. 39

6.1.1 System configuration ........................................................................................................................ 39

6.2 Precautions about Replacement ............................................................................................................. 40

6.2.1 Slot position (system configuration) ................................................................................................. 40

7. DIFFERENCE BETWEEN Q170MSCPU AND Q170MSCPU-S1 ................................................................ 42

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7.1 Difference between Q170MSCPU and Q170MSCPU-S1 ...................................................................... 42

7.1.1 (1) Motion control specification ........................................................................................................ 42

7.1.2 (2) Motion SFC performance specification ...................................................................................... 42

7.1.3 (3) PLC CPU part control specification ............................................................................................ 42

7.1.4 (4) Power supply specification ......................................................................................................... 42

7.1.5 (5) Battery life specification .............................................................................................................. 42

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1. OVERVIEW

This article explains the change content when replace the system using

A173UHCPU/A172SHCPUN/A171SHCPUN with the system using Q170MSCPU(-S1). Besides, about

A173UHCPU-S1, it can be read as A173UHCPU in another way. Q170MSCPU-S1 is the capacity expansion version of Q170MSCPU. Refer to the 7th section about the main differences with Q170MSCPU.

2. EQUIPMENT CONFIGURATION, AVAILABLE SOFTWARE

Please prepare module, servo amplifier, operating system software and engineering environment according to the table in this article.

2.1 Equipment Correspondence

It is necessary to use the supported product in iQ Platform, when using Q170MSCPU(-S1).

Product

Motion CPU module

PLC CPU section

Use A173UHCPU, A17nSHCPUN

Model name

• A173UHCPU

• A172SHCPUN

• A171SHCPUN

Use Q170MSCPU(-S1)

Model name

Q170MSCPU

(recognized as Q03UDCPU)

Q170MSCPU-S1

(recognized as Q06UDHCPU)

Motion CPU module

Motion CPU section

Main base unit

Extension base unit

• A173UHCPU

• A172SHCPUN

• A171SHCPUN

• A172B

• A175B

• A178B(-S□)

• A1S6□B

• A168B

• A6□B

Q170MSCPU(-S1)

-

Q5□B, Q6□B

7 units (up to 64 slots) (Note-1)

Power supply module (when an extension base unit Q6□B is used)

Forced stop input cable

Connector for forced stop input cable

Servo external signal interface module

Manual pulse interface module

Serial ABS synchronous encoder

Serial ABS synchronous encoder cable

Battery

For CPU module

For synchronous encoder

Manual pulse generator

SSCNET(III) cable

-

-

-

A171SENC

A172SENC

MR-HENC

MR-HSCBL□M

(between A-Motion and MR-HENC)

Connect A6BAT to the CPU module

MR-HDP01

• MR-HBUS□M

• MR-J2HBUS□M-A

(cable for SSCNET)

-->

Q61P, Q62P, Q63P, Q64PN

Fabricate this cable by customers.

FK-MCP1.5/3-ST-3.81 (standard accessory)

Q172DLX (Note-2)

Q173DPX (Note-3)

Use if necessary (Note-2)

Q171ENC-W8 (Note-4)

Q170ENCCBL□M-A (Note-4)

(between MR-J4-□B-RJ and

Q171ENC-W8)

Connect Q6BAT to the CPU module

Connect MR-BAT6V1SET to

MR-J4-□B-RJ (Note-4)

<-- (same as left)

• MR-J3BUS□M

• MR-J3BUS□M-A

• MR-J3BUS□M-B

(cable for SSCNET III)

(Note-1): Use 8 slots as free slots of the main base unit.

(Note-2): Motion CPU built-in I/F (input 4 points) can be used.

(Note-3): Manual pulse/INC synchronous encoder (1 module) in Motion CPU built-in I/F can be used.

(Note-4): When a serial ABS synchronous encoder is used with Q170MSCPU(-S1), connect the encoder to the servo amplifier

MR-J4-□B-RJ.

<Precautions>

• Q170MSCPU(-S1) is not compatible with teaching units.

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2.2 Servo Amplifier Correspondence

The applicable servo system network is changed from SSCNET to SSCNET III or SSCNET III/H. Use servo amplifiers compatible with SSCNET III or SSCNET III/H. Select a servo motor that can be connected with an SSCNET III or SSCNET III/H-compatible servo amplifier.

<Amplifier correspondence>

Use A17nSHCPUN/A173UHCPU

Product Model name

Use Q17nDSCPU

Product Model name

MR-H series MR-H-□BN

MR-J3 series • MR-J3(W)-□B(S)

MR-J2S series

MR-J2 series

MR-J2-Jr series

MR-J2S-□B

MR-J2-□B

MR-J2-03B5

-->

MR-J4 series

• MR-J4(W□)-□B

* Operates in the MR-J3 compatibility mode when mixed with

MR-J3.

<Specification compare of servo system network>

SSCNET III

Communication media

Communication speed

Metal cable

5.6Mbps

Communicati on cycle

Sending 3.55ms

Receiving 3.55ms

Maximum number of control axes per system

8 axes/system

50Mbps

Optical fiber cable

16 axes/system

150Mbps

0.44ms/0.88ms 0.22ms/0.44ms/0.88ms

Transmission distance Overall length is 30m

-->

[Standard cord for inside panel/Standard cable for outside panel]

Up to 20m between stations

Maximum overall length is 320m

(20m x 16 axes)

[Long-distance cable]

Up to 50m between stations

Maximum overall length is

800m

(50m x 16 axes)

[Long-distance cable]

Up to 100m between stations

Maximum overall length is

1600m

(100m x 16 axes)

For the communication with servo amplifiers, "SSCNET III" or "SSCNET III/H" must be set for each system in the SSCNET setting of the system setting.

When "SSCNET III/H" is set, MR-J4(W)-□B can be used. When "SSCNET III" is set, MR-J3(W)-□B can be used.

When MR-J4(W) (MR-J3 compatibility mode compatible product) is connected to the system where "SSCNET

III" is set, the servo amplifier operates in the MR-J3 compatibility mode (SSCNET III). However, if the

MR-J4(W) that was once connected to "SSCNET III/H" is connected to "SSCNET III", an alarm may occur. For details, refer to MR-J4 SERVO AMPLIFIER INSTRUCTION MANUAL.

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2.3 Operating System Software Correspondence

Use operating system for Q170MSCPU(-S1).

The latest version of SV22 has been installed in Q170MSCPU(-S1) with shipment.

Download the latest version of operating system besides SV22 from Mitsubishi Electric FA Site for use.

Application

Use A17nSHCPUN/A173UHCPU

Model name

SW2SRX-SV13B

Use Q170MSCPU(-S1)

Model name

For conveyor assembly

(SV13)

For A173UHCPU

For A172SHCPUN

For A171SHCPUN

SW2NX-SV13B

SW3RN-SV13B

SW0SRX-SV13D

SW0NX-SV13D

SW3RN-SV13D

SW2SRX-SV13G

SW0NX-SV13G

SW2SRX-SV22A

-->

For Q170MSCPU(-S1) SW8DNC-SV13QN

For automatic machinery

(SV22)

For A173UHCPU

For A172SHCPUN

SW2NX-SV22A

SW3RN-SV22A

SW0SRX-SV22C

SW0NX-SV22C

For Q170MSCPU(-S1) SW8DNC-SV22QN

For A171SHCPUN

SW3RN-SV22C

SW0SRX-SV22F

SW0NX-SV22F

2.4 Engineering Environment

The following shows the engineering environment supported in Q170MSCPU(-S1).

For the following purchase software, the latest version of which can download from Mitsubishi Electric FA

Site and update.

MELSOFT MT Works2

MR Configurator2 (Note-1) (Note-2)

MELSOFT GX Works2 (Note-3) name Remark

SW1DNC-MTW2-□

SW1DNC-MRC2-□

Ver.1.56J or later

Ver.1.18U or later

SW1DNC-GXW2-□ Ver.1.77F or later

Execute the installation of GX

Developer when installing GX

Works2.

(Note-1): MR Configurator2 is bundled in MT Works2.

(Note-2): MR Configurator2 can be installed after downloading from Mitsubishi Electric FA Site in the personal computer in which GX

Works2 or MT Works2 is installed.

(Note-3): GX Developer also can be installed together when install MELSOFT GX Works2.

In "3.4.3, Diversion procedure in PLC CPU side", GX Developer is necessary to convert sequence program.

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3. DIFFERENCES BETWEEN Q170MSCPU(-S1) AND A173UHCPU/A172SHCPUN/A171SHCPUN

3.1 Differences between Q170MSCPU(-S1) and A173UHCPU/A172SHCPUN/A171SHCPUN

Differences list

A17nSHCPUN/A173UHCPU

Item Q170MSCPU(-S1) Points of replacement

A171SH A172SH A173UH

Peripheral I/F

• USB/RS-232

(Via PLC CPU)

• PERIPHERAL I/F

(Motion CPU manager)

RS422/SSCNET

Communicate with peripheral by corresponding I/F.

Battery Q6BAT is built in (3.0V) A6BAT is built in (3.6V)

Pay attention to the using battery is different.

Forced stop input

Always use a forced stop input cable (Please fabricate it by customers).The forced stop cannot be released without using it.

Multiple CPU high speed transmission memory for data transfer between CPU modules

I/O points

Internal relays (M)

Included -

Latch relays (L)

8192 points

12288 points

None (M latch can be set in latchsetting)

Step relays (S)

Link relays (B)

Timers (T)

Counters (C)

Data registers (D)

Link registers (W)

Annunciators (F)

File registers (R)

-

8192 points

-

-

8192 points

8192 points

2048 points

-

Special relays (M)

Special relays (SM)

-

2256 points

Special registers (D) -

Special registers (SD) 2256 points

Motion registers (#) 12288 points

2048 points

Total point is 2048 in shared M,L,S

1024 points

256 points

256 points

1024 points

1024 points

256 points

Up to 8192 points

8192 points

Total point is 8192 in shared

M,L,S

8192 points

2048 points

2048 points

8192 points

8192 points

2048 points

256 points

-

256 points

-

-

8192 points

(Motion SFC OS only)

-

-

The devices on the left are shared in A-Motion but not shared in

Stand-alone Motion.

Execute automatic refresh setting if necessary.

Refer to Section 3.5 for details.

-

Multiple CPU shared devices (U□\G)

• Use EMI connector of

Motion CPU module

• Use device specified by forced stop input setting in the system setting

Up to 14336 points (Note-1)

Use EMG terminal of main base unit

- -

Coasting timers(FT)

Motion dedicated sequence instruction

1point(888 μ s)

D(P).DDRD, D(P).DDWR,

D(P).SFCS, D(P).SVST,

D(P).CHGT, D(P).CHGT2,

D(P).CVGV,

D(P).CHGVS

(Note-2) ,

D(P).CHGA,

D(P).CHGAS

(Note-2) ,

D(P).GINT

CHGT, CHGV, CHGA

SVST

(Non Motion SFC OS only)

-

SFCS, ITP

(Motion SFC OS only)

Replace motion dedicated PLC instruction with D(P).

*** instruction.

Refer to (Q173D(S) CPU/Q172

D(S) CPU Motion controller

(SV13/SV22) programming manual (Motion SFC).)

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(Continued)

A17nSHCPUN/A173UHCPU

Item Q170MSCPU(-S1)

A173UH

Points of replacement

Motion module

SV13

Loading position

Q172DLX, Q173DPX

Used in extension base

A171SH A172SH

A171SENC, A172SENC

Only in motion I/O slot can motion module be installed

Please use Q172DLX or

Q173DPX for motion module in the system which used

Q170MSCPU(-S1).

(Note-3)

Used in extension base.

Refer to Section 3.2.1 Equipment correspondence.

(Note-1): The number of available points differs depending on the system setting.

(Note-2): Only for SV22 advanced synchronous control.

(Note-3): When a serial ABS synchronous encoder is used with Q170MSCPU(-S1), connect the encoder to the servo amplifier MR-J4□

B-RJ.

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(Continued)

Item Q170MSCPU(-S1)

System setting

• PLC section is Q03UD (when

Q170MSCPU is used) or

Q06UDH (when

Q170MSCPU-S1 is used)

• Use Q5□B, Q6□B when it is extension base unit.

SSCNET III/H, SSCNET III

Unusable

Servo system network

Teaching unit

CPU shared memory

Multiple CPU high speed transmission area

Provided

Automatic refresh

LED display

Latch range setting

Use memory

Multiple CPU high speed refresh function

Multiple CPU high speed transmission area of CPU shared memory

Automatic refresh setting

Settable in 32 range

Provided

Latch (1)

Latch (2)

Clear all function

Self diagnosis error

7-segment LED display

Latch clear (1) of remote latch clear can clear in latch clear (1)

(2)

Can be cleared by latch clear

(1) (2) of remote latch clear

Execute by installation mode

When the error occurs in the

Motion CPU itself, set 10000 to

10999 according to the error type in the diagnosis error

(SD0). Both self diagnosis error flag (SM1) and diagnosis error flag (SM0) are ON.

A17nSHCPUN/A173UHCPU

A171SH A172SH

A178B-S1, A178B-S2,

A178B-S3)

SSCNET

Usable

Assign the device which used in

Device shared between SCPU and PLC CPU by automatic refresh

PCPU setting manually to Motion CPU device after project diversion.

Each LED of RUN, ERR

None

A173UH

• Not corresponding to Multiple

CPU

• Main base unit is A17□B

(A172B, A175B, A178B,

Latch range setting is 1 setting only.

Clear by L.CLR switch.

Even if the error of PCPU occurs, self diagnosis error does not occur.

-

-

-

-

Points of replacement

Use the system combining with available unit.

Please execute latch clear in MT

Works2.

Correct the program if necessary.

Motion error detection flag

(M2039)

Latch clear

No matter which error occurs,

M2039 is ON in Motion CPU.

-

Errors will not occur but

M2039 is ON according to the classification of errors when using SFC.

L.CLR switch

Correct the program if necessary.

-

RUN/STOP

ROM write

Mode operated by ROM

Installation mode

Remote operation

Remote operation, RUN/STOP switch

• Execute in RAM operation mode/ROM operation mode

(installation switch operation of Motion CPU module is not necessary)

• Data of MT Works2 can be wrote to ROM directly

Select by rotary switch

Select by rotary switch

RUN/STOP switch

None -

None

Select by dip switch

-

-

-

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(Continued)

A17nSHCPUN

Item Q170MSCPU(-S1)

A171SH A172SH A173UH

Mechanical system program

(SV22)

Operation cycle

(default value)

SV13

SV22

Ball screw and electronic gear setting of rotary table can be automatically calculated from the setting value of "Number of

Pulses/Rev." and "Travel

Value/Rev." of fixed parameter.

0.22ms/1 to 4 axes

0.44ms/5 to 10 axes

0.88ms/11 to 16 axes

Possible to set 0.2

[ms] in operation cycle setting (Note-1)

0.44ms/1 to 6 axes

0.88ms/7 to 16 axes

Possible to set 0.2

[ms] in operation cycle setting (Note-2)

Ball screw and electronic gear setting of rotary table are set respectively in mechanical system program.

3.5ms

/1 to 4 axes

3.5ms

/1 to 4 axes

3.5ms

/1 to 8 axes

3.5ms

/1 to 8 axes

3.5ms

/1 to 20 axes

7.1ms

/21 to 32 axes

3.5ms

/1 to 12 axes

7.1ms

/13 to 24 axes

14.2ms

/25 to 32 axes

(Note-1): The following restrictions are applied when the communication method is "SSCNET III"

-

Points of replacement

When the operation cycle is set as default (automatic), the operation cycle will change. Operation cycle changes as left describing, and the program execution timing will change, so set the fixed operation cycle if necessary.

• When the operation cycle is 0.2 [ms], set "0 to 3" for the axis select switch setting of the servo amplifier, and configure the system setting.

• When the operation cycle is 0.4 [ms], set "0 to 7" for the axis select switch setting of the servo amplifier, and configure the system setting.

For details, refer to the instruction manual of the servo amplifier.

(Note-2): When MR-J4W3-□B (Software version: A2 or earlier) or MR-J3W-□B is used, set 0.4 [ms] or more for the operation cycle.

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Difference between self diagnosis error and Motion (SFC) error history

Self diagnosis error code

Q170MSCP

U(-S1)

(SD0)

A17nSHCP

UN/

A173UHCP

U (D9008)

Description

Error flag status : ON : OFF

Self diagnosis error flag

Q170MSCP

U(-S1)

(SM1)

A17nSHCP

UN/

A173UHCP

U(M9008)

Motion (SFC) error history

Q170MSCP

U(-S1)

(#8640 +

12n) *

(SFC version only]

A172SHCP

UN/

A173UHCP

U

(#8000 +

8n) *

Motion error detection

Flag

Q170MSCP

U(-S1)

(M2039)

(SFC version only]

A172SHCP

UN/

A173UHCP

U(M2039)

1 to 9999 10 to 84

Self diagnosis error besides

Motion CPU independent error

10007

10008

10009

10010

10020

10021

10030

10042

-

-

-

-

-

-

-

-

Servo program setting error

Mode switching error

Manual pulse axis setting error

Test mode requirement error

Motion SFC control error (F/FS)

Motion SFC control error (G)

Motion CPU internal bus error

SSCNET III/H head unit error

* : n shows the value (n= 0 to 7) corresponding to motion error history.

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Item that is necessary to change/revise with the change of servo system network

Difference

Item Change/Revise content

Q170MSCPU(-S1)

A17nSHCPUN/

A173UHCPU

System setting/SSCNET configuration

Electronic gear

Q170MSCPU(-S1): 1 system

(up to 16 axes/system)

Number of pulses per revolution:

1 to 2147483647[pulse]

Travel value per revolution:

1 to 2147483647[pulse]

A171SHCPUN: 1 system

A172SHCPUN: 1 system

A173UHCPU: 4 system

(up to 8 axes/system)

Number of pulses per revolution: 1 to

65535[pulse]

Travel value per revolution: 1 to

65535[pulse]

Execute rotary switch setting of amplifier and the connection of amplifier combining with SSCNET configuration.

Change the "Number of Pulses/Rev." and

"Travel Value/Rev." of fixed parameter combining with resolution per revolution of the connecting servo motor.

Connect/disconnect of

SSCNET communication when servo amplifier power supply is

OFF

When an SSCNET III cable or a servo amplifier in the middle of the

SSCNET system is replaced while the multiple

CPU system is on, use the connect/disconnect function of the SSCNET communication.

SSCNET cables or servo amplifiers in the middle of the SSCNET system can be replaced while the system is on.

When the power supply servo amplifier is

OFF/ON in SSCNET system, use connect/disconnect function of SSCNET communication.

For details, refer to Motion controller Q series programming manual (common)

(Q173D(S)CPU/Q172D(S)CPU)

(IB-0300126) and "Connect/disconnect function of SSCNET communication".

Battery break warning/ battery warning

Servo error code

2102(92): Battery break warning

2116(9F): Battery warning

Servo error code

2102(9F): Battery warning

2103(92): Battery break warning

Correct the program using the left servo error code.

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3.2 Device Comparison

3.2.1 I/O device

Q170MSCPU(-S1) A173UHCPU A172SHCPUN A171SHCPUN

X/Y0

X/Y7FF

X/Y800

X/Y1FFF

User device

(8192 points)

User device

(8192 points)

User device

(2048 points)

3.2.2 Internal relay

(1) SV13

Q170MSCPU(-S1) A173UHCPU A172SHCPUN A171SHCPUN

M0

M1600

M1680

M1760

M1800

M1880

User device

(2000 points)

User device

(2000 points)

Status of each axis

(20 points x 8 axes)

User device

(1600 points)

Status of each axis

(20 points x 4 axes)

Unusable

(40 points)

Unusable

(120 points)

Command signal of each axis

(20 points x 8 axes)

Command signal of each axis

(20 points x 4 axes)

Unusable

(80 points)

M1960

M2000

M2047

M2048

Common device

(320 points)

Common device

(320 points)

Common device (88 points)

M2320

M2400

M2720

M3040

M3072

M3136

M3200

Unusable

(80 points)

Status of each axis

(20 points x 16 axes)

User device

(320 points)

Unusable

(32 points)

Common device (command signal)

(64 points)

Unusable

(64 points)

Command signal of each axis

(20 points x 16 axes)

Unusable

(80 points)

Status of each axis

(20 points x 32 axes)

Unusable

(160 points)

Command signal of each axis

(20 points x 32 axes)

M3520

M3840

M8191

User device

(4672 points)

User device

(4351 points)

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(2) SV22 Real mode

Q170MSCPU(-S1) A173UHCPU A172SHCPUN A171SHCPUN

M0

M1360

M1364

M1600

M1680

M1760

M1800

M1880

M1960

M2000

M2048

M2320

User device

(2000 points)

Common device

(320 points)

Unusable (80 points)

User device

(2000 points)

Common device

(320 points)

Unusable (80 points)

User device

(1360 points)

Synchronous encoder axis status (4 points x 1 axis)

User device (236 points)

Status of each axis

Status of each axis

(20 points x 8 axes)

(20 points x 4 axes)

Unusable

(40 points)

Unusable

(120 points)

Command signal of each axis

(20 points x 8 axes)

Command signal of each axis

(20 points x 4 axes)

Unusable

(40 points)

Common device

(88 points)

M2400

M2720

M3040

M3072

M3136

M3200

M3520

M3840

Status of each axis

(20 points x16 axes)

User device

(320 points)

Unusable

(32 points)

Common device (command signal)

(64 points)

Unusable

(64 points)

Command signal of each axis

(20 points x 16 axes)

User device

(320 points)

Unusable

(160 points)

Status of each axis

(20 points x 32 axes)

Unusable

(160 points)

Command signal of each axis

(20 points x 32 axes)

M4000

M4320

Virtual servo motor axis status (Note-1)

(20 points x 16 axes)

User device

(320 points)

User device

(800 points)

M4640

Synchronous encoder axis status

(4 points x 12 axes)

Synchronous encoder axis status

(4 points x 4 axes)

M4656

M4688

M4800

Unusable (Note-1)

(112 points)

Virtual servo motor axis status (Note-1)

(20 points x 16 axes)

User device

(3536 points)

M5120

User device

(320 points)

(Note-1): This device can be used as a user device when used only in the SV22 real mode.

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(Continued)

M5440

M5488

M8191

Q170MSCPU(-S1) A173UHCPU A172SHCPUN A171SHCPUN

Synchronous encoder axis command signal

(4 points x 12 axes) User device

(3536 points)

User device (2704 points)

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(3) SV22 Virtual mode

M0

M1200

M1280

M1360

M1364

M1400

M1480

M1560

M1564

M1600

M1680

M1760

M1800

M1880

M1960

M2000

M2048

User device

(2000 points)

Common device

(320 points)

User device

(2000 points)

Common device

(320 points)

User device

(1360 points)

Virtual servo motor axis status

(20 points x 8 axes)

Virtual servo motor axis status (Note-1) (Note-2)

(20 points x 4 axes)

User device (Note-2)

(80 points)

Synchronous encoder axis status

(4 points x 1 axis) (Note-2)

Unusable (Note-2)

(36 points)

Virtual servo motor axis command signal

(20 points x 8 axes)

Virtual servo motor axis command signal (Note-1)

(Note-2)

(20 points x 4 axes)

User device (Note-2)

(80 points)

Synchronous encoder axis command signal

(4 points x 1 axis)

Unusable (36 points)

Status of each axis

(20 points x 8 axes)

Unusable (40 points)

Status of each axis

(20 points x 4 axes)

Unusable

(120 points)

Command signal of each axis

(20 points x 8 axes)

Command signal of each axis

(20 points x 4 axes)

Unusable

(80 points)

Common device

(88 points)

M2320

Unusable

(80 points)

Unusable

(80 points)

M2400

M2720

M3040

M3072

M3136

M3200

M3520

M3840

M4000

M4320

Status of each axis

(20 points x 16 axes)

User device

(320 points)

Unusable

(32 points)

Common device (command signal)

(64 points)

Unusable

(64 points)

Command signal of each axis

(20 points x 16 axes)

User device

(320 points)

Unusable

(160 points)

Virtual servo motor axis status

(20 points x 16 axes) (Note-1)(Note-3)

User device (320 points) (Note-1)

(Note-3)

Status of each axis

(20 points x 32 axes)

Unusable

(160 points)

Command signal of each axis

(20 points x 32 axes)

Unusable

(160 points)

Virtual servo motor axis status (Note-1)(Note-3)

(20 points x 32 axes)

3

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(Continued)

M4640 Synchronous encoder axis status

(4 points x 12 axes) (Note-3)

Synchronous encoder axis status (Note-3)

(4 points x 4 axes)

M4656

M4800

M5120

Virtual servo motor axis command signal (Note-1) (Note-3)

(20 points x 32 axes)

M5440

M5456

Synchronous encoder axis command signal

(4 points x 12 axes) (Note-3)

Synchronous encoder axis command signal (Note-3)

(4 points x 4 axes)

Unusable

(32 points) (Note-3)

M5488

User device (2704 points) (Note-4)

User device

(2704 points) (Note-4)

M8191

(Note-1): Only the area of axis set by mechanical system program is occupied. The area of unused axis set by mechanical system program can be used by user.

(Note-2): When using virtual mode, do not set latch range as M1200 to M1599.

(Note-3): When using virtual mode, do not set latch range as M4000 to M5487.

(Note-4): Cam axis command signal and smoothing clutch completion signal can be set to any device by parameter.

3.2.3 Data register

(1) SV13

D0

D320

D640

D672

D704

D758

Virtual servo motor axis command signal

(20 points x 16 axes) (Note-1)(Note-3)

User device (320 points) (Note-3)

Monitor device of each axis

(20 points x 16 axes)

User device

(320 points)

Control change register

(2 points x 16 axes)

User device

(32 points)

Common device (command signal)

(54 points)

Unusable

(42 points)

Unusable

(144 points) (Note-3)

Monitor device of each axis

(20 points x 32 axes)

Control change register

(2 points x 32 axes)

Common device

(96 points)

User device

(800 points)

D800

D880

D960

D984

D1008

D1023

D1024

D8191

User device

(7392 points)

User device

(7392 points)

Monitor device of each axis

(20 points x 8 axes)

Monitor device of each axis

(20 points x 4 axes)

Unusable

(80 points)

Control change register

(6 points x 4 axes) Control change register

(6 points x 8 axes)

Common device

(16 points)

Unusable

(24 points)

3

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. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION

(2) SV22 Real mode

D0

D320

D640

D672

Monitor device of each axis

(20 points x 16 axes)

User device

(320 points)

Control change register

(2 points x 16 axes)

User device

(32 points)

Monitor device of each axis

(20 points x 32 axes)

Control change register

(2 points x 32 axes)

User device

(748 points)

D704

D748

D752

D758

Common device

(54 points)

Unusable

(42 points)

Common device

(96 points)

Synchronous encoder axis monitor device

(4 points x 1 axis)

User device

(48 points)

D800

D880

D960

D984

D1008

Virtual servo motor axis monitor device (Note-1)

(10 points x 16 axes)

User device

(160 points)

User device

(320 points)

Monitor device of each axis

(20 points x 8 axes)

Monitor device of each axis

(20 points x 4 axes)

Control change register

(6 points x 8 axes)

Unusable

(80 points)

Control change register

(6 points x 4 axes)

Unusable

(24 points)

Common device

(16 points)

D1024

D1120

Synchronous encoder axis monitor device (Note-1)

(10 points x 12 axes)

Synchronous encoder axis monitor device (6 points x 4 axes) (Note-1)

D1144

D1240

D1400

Cam axis monitor device (Note-1)

(10 points x 16 axes)

User device

User device

(7048 points)

D8191

(6792 points)

(Note-1): Only the area of axis set by mechanical system program is occupied. The area of unused axis set by mechanical system can be used by user.

3

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(3) SV22 Virtual mode

D0

D320

Monitor device of each axis

(20 points x 16 axes)

User device

(320 points)

Monitor device of each axis

(20 points x 32 axes)

User device

(670 points)

D640

D670

D678

D686

D688

D700

D704

D724

D748

D752

D758

D760

D780

D800

D880

D960

D984

D992

D1008

Control change register

(2 points x 16 axes)

User device

(32 points)

Common device (command signal)

(54 points)

Unusable

(42 points)

Virtual servo motor axis monitor device (Note-1)

(6 points x 16 axes)

Current value after differential gear of virtual servo motor axis main shaft

(4 points x 16 axes) (Note-1)

User device

(160 points)

Control change register

(2 points x 32 axes)

Common device

(96 points)

Virtual servo motor axis monitor device (Note-1)

(6 points x 32 axes)

Current value after differential gear of virtual servo motor axis main shaft (Note-1)

(4 points x 32 axes)

Current value after differential gear of virtual servo motor axis main shaft (Note-1)

(2 points x 8 axes)

Current value after differential gear of virtual servo motor axis main shaft (Note-1)

(2 points x 4 axes)

User device

(8 points)

Current value after differential gear of synchronous encoder axis main shaft (Note-1)

(2 points x 1 axis)

Unusable

(12 points)

Virtual servo motor axis monitor device (Note-1)

(6 points x 8 axes)

Virtual servo motor axis monitor device (Note-1)

(6 points x 4 axes)

User device

(24 points)

Synchronous encoder axis monitor device

(4 points x 1 axis)

Unusable

(8 points)

Cam axis monitor device (Note-1)

(5 points x 8 axes)

Cam axis monitor device (Note-1)

(5 points x 4 axes)

User device

(20 points)

Monitor device of each axis

(20 points x 4 axes)

Monitor device of each axis

(20 points x 8 axes) Unusable

(80 points)

Control change register

(6 points x 8 axes)

Control change register

(6 points x 4 axes)

Unusable

(24 points)

Common device

(16 points)

D1024

3

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(Continued)

D1120

Synchronous encoder axis monitor device

(6 points x 12 axes)

Current value after differential gear of synchronous encoder axis main shaft

(4 points x 12 axes)

Synchronous encoder axis monitor device (Note-1)

(6 points x 4 axes)

Current value after differential gear of synchronous encoder axis main shaft

(4 points x 4 axes)

D1160

Unusable

(80 points)

Cam axis monitor device (Note-1)

D1240

(10 points x 16 axes)

Cam axis monitor device (Note-1)

(10 points x 32 axes)

D1400

D1560

User device

(6792 points)

User device

D8191 (6632 points)

(Note-1): Only the areas of axes set with the mechanical system program are occupied. The areas of the axes not used by the mechanical system program can be used by users.

3.2.4 Motion register

#0

#7999

User device

(8000 points)

User device

(8000 points)

#8000

#8008

#8016

#8024

#8032

#8040

#8048

#8056

#8064

Monitor device

(640 points)

Past 7 times error information

(oldest error information)

Past 6 times error information

Past 5 times error information

Past 4 times error information

Past 3 times error information

Past 2 times error information

Past 1 time error information

Latest error information

Unusable

(128 points)

#8192

#8640

#8736

Motion error history device

(96 points)

Product information list device

(16 points)

#8752

#12287

System area

(3536 points)

3

- 19

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

3

. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION

3.2.5 Special relay

Q170MSCPU

(-S1)

Device number

A17nSHCPUN/

A173UHCPU

Name Remark

SM60

-

-

SM53

M9000

M9002

M9004

M9005

Fuse blown detection flag

I/O module verification error

MINI link error

AC DOWN detection flag

SM51

SM1

M9007

M9008

Low battery latch flag

Self diagnosis error flag

-

-

-

-

-

-

M9016

M9017

M9020

M9021

M9022

M9023

Data memory clear flag (all data)

Data memory clear flag (not latch data)

User timing clock No.0

User timing clock No.1

User timing clock No.2

User timing clock No.3

-

-

M9024

M9025

User timing clock No.4

Clock data set requirement Clock data of CPU No.1 is operating.

- M9027 display

SM801

-

-

-

M9028

M9029

M9030

M9031

Clock data reading requirement

Data communication requirement batch processing A173UHCPU only

0.1 second clock

0.2 second clock

-

-

-

M9032

M9033

M9034

1 second clock

2 seconds clock

1 minute clock

A173UHCPU only

Q170MSCPU (-S1):

AC/DC DOWN detection

M9038

M9039

M9040

M9041

M9042

M9043

M9045

M9046

M9047

M9049

M9051

M9052

M9053

M9054

M9055

Only 1 scan is ON after RUN

RUN flag (only 1 scan is OFF after RUN)

PAUSE enable coil

PAUSE status contact

Stop status contact

Sampling trace completion

Reset watchdog timer (WDT)

Sampling trace

Sampling trace preparation

Switch output characters number

CHG command execution inhibition

Switch SEG command

Switch EI/DI command

STEP RUN flag

Status latch completion flag

A173UHCPU only

A173UHCPU only

A173UHCPU only

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(Continued)

Q170MSCPU

(-S1)

Device number

A17nSHCPUN/

A173UHCPU

-

-

-

-

-

-

-

SM512

SM500

M9056

M9057

M9058

M9059

M9065

M9066

M9070

M9073

M9074

Name Remark

Main side P, I setting requirement

Sub side P, I setting requirement

Main side P, I setting completion

Sub side P, I setting completion

Partition processing execution detection

Partition processing requirement flag

Needed search time of A8UPU/A8PUJ

Motion CPU WDT error flag

PCPU preparation completion flag

SM502

SM513

SM510

SM516

M9076

M9077

M9078

M9079

Forced stop input flag

Manual pulse axis setting error flag

Test mode requirement error flag

Servo program setting error flag

-

-

-

-

-

-

M9094

M9100

M9101

M9102

M9103

M9104

I/O exchange flag

SFC program existence

Start/stop SFC program

Start status of SFC program

Continuous transition existence

Continuous transition prevention flag

-

-

-

-

M9180

M9181

M9182

M9196

Active step sampling trace completion flag

Active step sampling trace execution flag

Enable active step sampling trace

Operation output of block stop

- M9197

- M9198

- M9199 Data return of online sampling trace status latch

*

The special relay of Q170MSCPU(-S1) is in Motion CPU side.

Refer to the manual of PLC CPU for the special relay in PLC CPU side.

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3.2.6 Special register

Q170MSCPU

(-S1)

Device number

A17nSHCPUN/

A173UHCPU

Name Remark

-

-

D9002

D9004

I/O module verification error

MINI link error

SD53 D9005 counter

SD0 D9008 error

- D9009 Detection of annunciator

SD203 D9015 CPU operation status

A173UHCPU only

SD1: Diagnosis error occurrence time

(calendar, month)

SD2: Diagnosis error occurrence time

(date, hour)

-

-

-

-

-

D9017

D9018

D9019

D9020

D9021

Minimum scan time (10ms unit)

Scan time (10ms unit)

Maximum scan time (10ms unit)

Constant scan (10ms unit)

Scan time (1ms unit)

-

SD210

SD211

SD212

SD213

-

D9022

D9025

D9026

D9027

D9028

D9035

Time (1 second unit)

Clock data (calendar, month)

Clock data (date, hour)

Clock data (minute, second)

Clock data (0, week)

Expansion file register

- D9036 For specifying extended file register device number

- D9037

SD520: Current main cycle (1ms unit)

SD521: Maximum main cycle (1ms unit)

SD524: Maximum operation cycle

(1µs unit)

A173UHCPU only

SD523: Motion setting operation cycle

(1µs unit)

A173UHCPU only

SD522: Motion operation cycle

(1µs unit)

A173UHCPU only

A173UHCPU only

-

-

LED display priority order

- D9039

- D9044 For sampling trace

D9049

D9050

Work area for SFC

SFC program error number

A173UHCPU only

A173UHCPU only

A173UHCPU only

- D9052 Error step A173UHCPU only

-

-

-

D9054

D9055

D9072

Error sequence step

Status latch

PLC communication check

A173UHCPU only

A173UHCPU only

A173UHCPU only

-

-

D9085

D9090

Detail error number

- D9092

- D9094 Exchange I/O start I/O number

A173UHCPU only

Setting register of time check value A173UHCPU only

Number of boards in special function module over A173UHCPU only

3

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(Continued)

Q170MSCPU

(-S1)

Device number

A17nSHCPUN/

A173UHCPU

- D9100

- D9101

- D9102

- D9103

- D9104

- D9105

- D9106

- D9107

- D9116

- D9117

- D9118

Name Remark

A173UHCPU only

I/O module verification error

- D9120

- D9121

- D9122

- D9123

- D9124 Number of annunciator detection

- D9125

- D9126

- D9127

- D9128

- D9129

- D9130

- D9131

A173UHCPU only

- D9132

- D9180

- D9181 A17nSHCPUN: Limit

SD510 D9182 storage area mode requirement error

SD513 D9185

Q170MSCPU(-S1), pulse axis setting error information

A17nSHCPUN: Servo amplifier classification

A17nSHCPUN: Manual pulse axis setting error information

A17nSHCPUN: Test information

SD516

SD517

D9189

D9190

Error program No.

Error item information

SD502 D9191

- D9196

Q170MSCPU(-S1),

A173UHCPU: Servo amplifier installation

A17nSHCPUN: Servo amplifier installation information

A17nSHCPUN: Area for manual pulse (P1) smoothing magnification setting

Personal computer link communication error code

3

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(Continued)

Device number

Q170MSCPU

(-S1)

A17nSHCPUN/

A173UHCPU

Q170MSCPU(-S1), A173UHCPU:

Name Remark smoothing magnification setting

Q170MSCPU(-S1), A173UHCPU:

A17nSHCPUN:

Unusable smoothing magnification setting

Q170MSCPU(-S1), A173UHCPU: smoothing magnification setting

- D760

- D761

- D762

- D763

- D764

- D765

- D766

A173UHCPU:

Limit switch output disable setting area for Axis 1 to 32

- D769

- D770

- D771

- D772

- D773

- D774

- D775

- D776

- D777

- D778

- D779

- D780

- D781

- D782

A173UHCPU:

A17nSHCPUN:

Cam axis monitor device

• A172SHCPUN: 5 points x 8 axes

• A171SHCPUN: 5 points x 4 axes area for Axis 1 to 32

- D785

- D786

- D787

- D788

- D789

- D790

- D791

- D792

- D793

- D794

- D797

- D798

- D799

* The special register of Q170MSCPU(-S1) is in Motion CPU side.

About the special register of PLC CPU side, refer to the manual of PLC CPU.

Q170MSCPU(-S1):

#8000 + 20n (1 axis/word)

A17nSHCPUN:

D792 to (4 axes/word)

A173UHCPU:

D792 to (4 axes/word)

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3.2.7 Other devices

Item

Personal computer link communication error flag

PCPU preparation completion flag

- M2034

SM500 M9074

Home position return re-travel value

Travel value change register

D9 + 20n (Note-1)

(data abbreviated to 1 word)

#8006 + 20n, #8007 + 20n (Note-1)

(Referred to at monitoring)

Any device

(enable set D16 + 20n and D17 +

20n) (Note-1)

D0 to D8191

W0 to W1FFF

D9 + 20n (Note-1)

D16 + 20n, D17 + 20n (Note-1)

D811 + 20n (Note-1)

D815 (Note-1) + 20n

Indirectly designated device

(word device)

#0 to #7999

D800 to D8191

W0 to W1FFF

#0 to #7999

(Motion SFC

(real mode) only)

D0 to D799

W0 to W3FF

#0 to #7999

(Motion SFC of A172SH

(real mode) only)

U□\G10000 to

U□\G(10000 + p - 1) (Note-2) (Note-4)

X0 to X1FFF (Note-3)

- -

X0 to X1FFF X0 to X7FF

Indirectly designated device

(bit device)

Y0 to Y1FFF

M0 to M8191

-

B0 to B1FFF

F0 to F2047

U□\G10000.0 to

U□\G(10000 + p - 1).F

(Note-2) (Note-4)

D0 to D8191

Y0 to Y1FFF

M/L0 to M/L8191

M9000 to M9255

B0 to B1FFF

F0 to F2047

Y0 to Y7FF

M/L0 to M/L2047

M9000 to M9255

B0 to B3FF

F0 to F255

- -

D800 to D3069, D3080 to D8191 D0 to D799

Enable specified device in W0 to W1FFF high speed reading function U□\G10000 to

U□\G(10000 + p - 1) (Note-2) (Note-4)

(Note-1): n shows the value (axis No.1 to 16: n= 0 to 15) corresponding to axis No.

W0 to W1FFF W0 to W3FF

- -

(Note-2): p is the user free area points of the Multiple CPU high speed transmission area of each CPU.

□: First I/O number of CPU module

(Note-3): In PXn + 0 to PXn + F, the input devices assigned to the motion CPU built-in I/F (DI), PXn + 4 to PXn + F are fixed to 0 and cannot be used. (n = Start input number)

(Note-4): Setting is available only for the devices of the own CPU.

3

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(Continued)

Item

Output device

Watch data

ON section setting

Output enable/disable bit

Forced output bit

Clutch status

Q170MSCPU(-S1) A173UHCPU A17nSHCPUN

X0 to X1FFF

Y0 to Y1FFF

M0 to M8191

-

B0 to B1FFF

U□\G10000.0 to

U□\G(10000 + p - 1).F

(Note-2) (Note-5)

D0 to D8191

W0 to W1FFF

#0 to #9215

U□\G10000 to

U□\G(10000 + p - 1) (Note-2) (Note-5)

X0 to X1FFF

Y0 to Y1FFF

M0 to M8191

L0 to L8191

B0 to B1FFF

- -

D0 to D8191

W0 to W1FFF

#0 to #8191

X0 to X7FF

Y0 to Y7FF

M0 to M2047

L0 to L2047

B0 to B3FF

D0 to D1023

W0 to W3FF

#0 to #8191

- -

-

Absolute address (H0 to

HFFFFFFFF)

D0 to D8191

W0 to W1FFF

#0 to #8191

Constant (Hn/Kn) (Note-4)

Absolute address (H0 to

HFFFFFFFF)

D0 to D1023

W0 to W3FF

#0 to #8191

Constant (Hn/Kn) (Note-4)

D0 to D8191

W0 to W1FFF

#0 to #9215

Constant (Hn/Kn) (Note-4)

U□\G10000 to

U□\G(10000 + p - 1) (Note-2) (Note-5)

X0 to X1FFF (Note-3)

Y0 to Y1FFF

M0 to M8191

-

B0 to B1FFF

F0 to F2047

SM0 to SM1999

-

-

-

-

U□\G10000.0 to

U□\G(10000 + p - 1).F

(Note-2) (Note-5)

- -

X0 to X1FFF

Y0 to Y1FFF

M0 to M8191

L0 to L8191

B0 to B1FFF

F0 to F2047

M9000 to M9255

TT0 to TT2047

TC0 to TC2047

CT0 to CT1023

CC0 to CC1023

X0 to X7FF

Y0 to Y7FF

M0 to M2047

L0 to L2047

B0 to B3FF

F0 to F255

M9000 to M9255

TT0 to TT255

TC0 to TC255

CT0 to CT255

CC0 to CC255

- -

Any device

(M2160 to M2223 can also be set.)

M2160 to M2223

(unnecessary to set in mechanical system program)

A171SHCPU: M1984 to M1991

A172SHCPU: M1984 to M1999

(unnecessary to set in mechanical system program)

Cam axis command signal

(cam/ball screw switching instruction)

Smoothing clutch completion signal

Any device

(M5488 to M5519 can also be set.)

Any device

(M5520 to M5583 can also be set.)

-

-

(Note-1): n shows the value (axis No.1 to 16: n= 0 to 15) corresponding to axis No.

(Note-2): p is the user free area points of the Multiple CPU high speed transmission area of each CPU.

□: Start I/O number of CPU module

(Note-3): In PXn + 0 to PXn + F, the input devices assigned to the motion CPU built-in I/F (DI), PXn + 4 to PXn + F are fixed to 0 and cannot be used.

(Note-4): The setting range depending on setting unit.

(Note-5): Setting is available only for the devices of the own CPU.

Confirm use status for "cross reference" etc. in MT Works2, and change to the device number of Q170MSCPU(-S1).

3

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4. DIVERSION OF PROJECT CREATED BY A173UHCPU/A172SHCPUN/A171SHCPUN

4.1 Data List Available for Diversion or Not (SV13/SV22)

Motion SFC is not compatible Motion SFC is compatible

A17nSHCPUN A173UHCPU A172SHCPUN A173UHCPU

SV13 SV22 SV13 SV22 SV13 SV22 SV13 SV22

System setting

System setting data

High speed reading data

Basic setting data

Fixed parameter

Home position return data Servo data setting

JOG operation data

Servo parameter

Parameter block

Limit output data

Servo program

Motion

Operation control program Motion

SFC program

Remark

Note-1

Note-2

Note-3

Note-3

Note-4

Note-5, Note-6

Note-5

Note-5

Note-5

Note-8

Mechanical system program

Automatic numbering setting

Mechanical edit data

Mechanical conversion data

Cam conversion data

Real mode axis information

Cam data

Device memory (SW3RNC-GSVE only)

Note-5, Note-7

Note-8

Note-8

Note-8

Backup data

Communication setting

: Can be diverted

: Data must be revised

: Must be set again

(Note-1) System setting data

• About PLC/motion module

When Q170MSCPU(-S1) is used with PLCs or motion modules, an extension base unit is required.

• Pulse/synchronous encoder I/F module A172SENC

A172SENC module is converted to Q172DLX. The manual pulse generator/synchronous encoder setting is deleted.

Set Q172DLX module or Q173DPX module if necessary.

(manual pulse can also be used in internal I/F)

• Limit output module A1SY42 (when Motion SFC is not compatible with OS)

Limit output module A1SY42 is not diverted.

• Axis No. setting of external input signal module

Axis No. setting of external input signal module in Q170MSCPU(-S1) is moved to servo external signal parameter in servo data.

• Servo amplifier setting

The servo amplifier is converted to MR-J4-B when SSCNET III/H is selected, or converted to MR-J3-B when SSCNET

III is selected.

Others beside servo amplifier (inverter etc.) are deleted.

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(Note-2) Basic setting data

Stand-alone Motion requires the multiple CPU setting. Set according to system.

(Note-3) Fixed parameter, servo parameter (servo amplifier besides MR-J2S)

Fixed parameter (Number of Pulses/Rev. and Travel Value/Rev.) is not converted. Servo parameter is initialized.

Revise parameter with servo amplifier after changing.

(Note-4) Limit output data (when Motion SFC is not compatible with OS)

Data are deleted because of incompatibility. Revise the data.

(Note-5) Servo program, Motion SFC program, mechanical system program

• Motion dedicated device

The allocation of the motion dedicated device is different between A17nSHCPUN/A173UHCPU and Q-Motion.

Change the motion dedicated device.

(Note-6) Servo program

• Word point of indirect device

There are changes of word point between A17nSHCPUN/A173UHCPU and Q-Motion.

Execute conversion check and revise if necessary.

(Note-7) Mechanical system program

• Unit setting of output axis

Unit settings of fixed parameter and output axis are set respectively in A-Motion, but fixed parameter is set only in

Q170MSCPU(-S1). Revise the unit settings when unit settings of fixed parameter and output axis are different.

(Note-8) Conversion data, setting data

It can not be diverted because CPU is different. Convert/set the data again.

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. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION

4.2 Program Diversion Procedure in Motion CPU Side

4.2.1 Diversion procedure using MT Developer2

The following shows an example of procedures for replacing an A-Motion CPU side project with a

Stand-alone Motion CPU project using MT Developer2. Always backup the project before the program replacement.

1) Start MT Developer2, and select "Divert File" --> "Diversion of Other Format Project" from the

"Project" tab.

2) Select the "Browse" button in the "Diversion of Other Format Project" dialog box.

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. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION

3) Select "Browse" in Save Folder Path and the source project from "Folder List", and click "Open".

4) Select the CPU type and OS type in "CPU/OS Selection".

5) Click the "Divert" button.

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6) Select "Divert".

7) Execute the series conversion of the servo amplifier. Select the servo amplifier series and servo system network specification after the replacement, and select "OK".

8) The conversion of the project is completed. Select "OK".

After the project conversion, make the cross comparison or check the data on each screen.

9) Select "Save As" from the "Project" tab to save the project after the conversion.

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10) Input "Workspace Name", "Project Name", and "Title", and select "Save".

11) The new project creation dialog box appears. Select "Yes".

4.2.2 Without using SFC

When no SFC program is used in the A-Motion CPU side program (Diversion source) and servo parameters other than SFC programs are diverted, perform the following procedure after the operation of

11).

1) Select "Motion SFC Program Manager".

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. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION

2) Select "Unused" for "Motion SFC Program", and select "OK".

About the file converted by MT Woks2, refer to "Section 3.4.1 Data list available for diversion or not

(SV13/SV22)", and then set the data which can not be diverted if necessary. Besides, about the setting of

Multiple CPU parameter, refer to " Section 3.3.Difference between Q170MSCPU(-S1) and

A173UHCPU/A172SHCPUN/A171SHCPUN", "QCPU User's Manual (Multiple CPU System) Model Name

SH-080475", "Programming Manual (COMMOM) [corresponding to Q173D(S)/Q172D(S)] Model Name:

1XB921" and then set.

4.2.3 Precautions for diverting cam data

To edit cam data, read the data directly using "Read Other Type Cam Data".

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4.3 Program Diversion Procedure in PLC CPU Side

4.3.1 Conversion procedure of ladder program for QnUD(H)CPU using GX Works2/GX

Developer

The following describes an example of the procedure for replacing a sequence project using GX

Developer. Always backup the project before the replacement.

(1) Conversion of ladder program created by SW3RNC-GSVE/SW2□-GSVE

1) After starting GX Works2, select "Start GX Developer" from the "Project" tab.

2) The following shows the conversion of a sequence program created by

SW3RNC-GSV/SW2□-GSV (GPPA file format).

After GX Developer is started, select "Import file" --> "Import from GPPA format file" from the

"Project" tab.

Caution 1: Storage location of an execution file

The execution file in the GPPA format is usually stored in the following folder.

• Folder structure

"C drive (route drive)" --> "GPP" --> "USR" --> "System name" --> "Machine name (folder which includes the gppa.cnf file)"

Caution 2: Name of diversion source project

When name of diversion source project exceeds 9 characters, it can not be read.

Change the name so that the number of characters is within the limit and execute the conversion operation.

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3) Select "Browse".

4) Select the conversion target file and select "OK".

5) Check the conversion targets (Program/Device comment/Parameter), and select "Execute".

Note) Only one of "Comment1" and "Comment2" can be selected for Device comment.

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6) The conversion completion dialog box appears. Select "OK".

7) Select "Close".

8) Select "Change PLC type" from the "Project" tab in GX Developer.

9) Specify the PLC series (QCPU(Qmode)) and PLC type (Q03UD) after the replacement in the

"Change PLC type" dialog box, and select "OK". (For Q170MSCPU-S1, specify "Q06UDH" for the

PLC type.)

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10) The "Change PLC type" dialog box appears. Select "Yes".

Note) In this replacement handbook, "Yes" is selected because the changes will be checked later by using a support tool.

When the supporting tool is not used, select "Confirm change".

11) The following confirmation dialog box appears. Select "OK".

12) Select "Save as" from the "Project" tab.

Input "Project name" and "Title", and select "Save".

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13) The new project creation dialog box appears. Select "Yes".

Although the sequence program has been converted by following this procedure, it may not be operated correctly. For the program modifications, refer to Section 5 and later.

To open the file in which CPU has been changed with GX Developer2 again, select "Open Other Data"

--> "Open Other Project" from the "Project" tab.

(2) Conversion of ladder program for A-Motion created by GX Developer

The following describes an example of the procedure for replacing a sequence project using GX

Developer. Always backup the project before the replacement.

1) After starting GX Works2, select "Start GX Developer" from the "Project" tab.

2) The following shows the conversion of a sequence program for A-Motion created by GX Developer

(GPPW file format).

3) After GX Developer is started, select "Open project" from the "Project" tab.

4) Select the file to be converted, and select "Open".

For the following conversion operations, refer to (1) SW3RNC-GSVE/SW2□-GSVE ladder program

conversion procedure after 8).

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5. USING A/QnA->Q CONVERSION SUPPORT TOOL IN LADDER PROGRAM

To confirm the modified content of ladder program, use "A/QnA->Q conversion support tool".

About the explanation, refer to "2. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION".

6. POINTS AND PRECAUTIONS OF REPLACEMENT

6.1 Difference of Motion CPU Configuration

6.1.1 System configuration

In the following chart, the difference between basic system of A-Motion and Q170MSCPU(-S1) is shown.

A-Motion corresponds to SSCNET as servo network, but Q170MSCPU(-S1) corresponds to SSCNET

III. Accordingly, connectable servo amplifier will be changed.

The system configuration of A-Motion is initialized.

When Q170MSCPU(-S1) is used with PLCs or motion modules, an extension base unit (Q5□B or

Q6□B) is required.

For the connection between Q170MSCPU(-S1) and a personal computer, RS-422 and SSCNET cannot be used. Connect them with USB, RS232, or Ethernet.

(Servo external signal input)

Main base unit

A17□B

+

Motion Controller

A171SHCPUN/A172SHCPUN

A173UHCPU

Pulse generator/synchronous encoder interface module

A172SENC

Manual pulse

MR-HDP01

(Servo external signal input)

External signal interface module

Q172DLX (use extension base)

Q170MSCPU(-S1)

Power supply module

+

PLC CPU

+

Motion controller integration structure

Input: 4 points

Output: 2 points

Serial ABS synchronous encoder

MR-HENC

Manual pulse

MR-HDP01

Extension base unit

Q5□B, Q6□B

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. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION

6.2 Precautions about Replacement

6.2.1 Slot position (system configuration)

When the motion module (A172SENC) used in A-motion is replaced with Q170MSCPU(-S1), the system configuration of the motion module is initialized as follows. Configure the setting again..

Example) When A172SENC is arranged in Slot 0 of A-Motion

A172SENC is arranged in Slot 0.

↓ A172SHCPUN is converted to Q170MSCPU(-S1)

The main base unit of A-Motion management is deleted and is converted in initialization status as follows.

After converting A172SHCPUN to Q170MSCPU(-S1), execute as follows.

Execute the setting of extension base by "Basic Setting" --> "Base Setting" as follows.

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Next, execute the setting of motion module.

The chart of arranging the motion module is as follows.

About other precautions, refer to "2. REPLACEMENT PROPOSAL FROM A-MOTION TO

QDS-MOTION".

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7. DIFFERENCE BETWEEN Q170MSCPU AND Q170MSCPU-S1

About the specification of Q170MSCPU-S1, the difference with Q170MSCPU is showed as center. About the content not described in this section, it has the same specification as Q170MSCPU.

Operating system software and peripheral software package use the same thing as Q170MSCPU.

7.1 Difference between Q170MSCPU and Q170MSCPU-S1

7.1.1 (1) Motion control specification

Q170MSCPU and Q170MSCPU-S1 have the same specification.

7.1.2 (2) Motion SFC performance specification

Q170MSCPU and Q170MSCPU-S1 have the same specification.

7.1.3 (3) PLC CPU part control specification

Specification

Item

Q170MSCPU Q170MSCPU-S1

PLC CPU part Q03UDCPU or equivalent Q06UDHCPU or equivalent

Program capacity

PLC type in creating program

Model name displayed by system monitor

Processing speed (PLC

LD instruction instruction)

MOV instruction

30k step

Q03UD

Q03UDCPU

60k step

Q06UDH

Q06UDHCPU

0.02μs 0.0095μs

0.04μs 0.019μs

File registers (R, ZR) 98304 points 393216 points

7.1.4 (4) Power supply specification

Q170MSCPU and Q170MSCPU-S1 have the same specification.

7.1.5 (5) Battery life specification

As the program capacity increases and the processing speed is improved, the data-holding time while the power of Q170MSCPU-S1 is off is about one tenth of the data-holding time of Q170MSCPU. (The data-holding time varies greatly depending on the energization rate and ambient temperature of when data is held. For details, refer to Q170MSCPU/Q170MSCPU-S1 User's Manual.)

Select an appropriate battery for the usage environment.

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. REPLACEMENT FROM A-MOTION TO QN-MOTION

4. REPLACEMENT FROM A-MOTION TO

QN-MOTION

4. REPLACEMENT FROM A-MOTION TO QN-MOTION .................................................................................................... 1

1.

OVERVIEW ....................................................................................................................................................... 2

2.

EQUIPMENT CONFIGURATION, AVAILABLE SOFTWARE ......................................................................... 2

2.1

Equipment Correspondence ...................................................................................................................... 2

2.2

Equipment Configuration of Q173CPUN/Q172CPUN Motion ................................................................. 4

2.3

Operating System Software Correspondence .......................................................................................... 6

2.4

Engineering Environment .......................................................................................................................... 6

3.

DIFFERENCES BETWEEN Q173CPUN/Q172CPUN AND A173UHCPU/A172SHCPUN/A171SHCPUN . 7

3.1

Differences between Q173CPUN/Q172CPUN and A173UHCPU/A172SHCPUN/A171SHCPUN ........ 7

3.1.1

Differences list .................................................................................................................................... 7

3.1.2

Differences between self diagnosis error and Motion (SFC) error history ..................................... 10

3.1.3

Items required to be changed/revised with the servo system network change ............................. 11

3.2

Device Comparison ................................................................................................................................. 12

3.2.1

I/O device .......................................................................................................................................... 12

3.2.2

Internal relay ..................................................................................................................................... 12

3.2.3

Data register ..................................................................................................................................... 15

3.2.4

Motion register .................................................................................................................................. 18

3.2.5

Special relay ..................................................................................................................................... 19

3.2.6

Special register ................................................................................................................................. 21

3.2.7

Other devices ................................................................................................................................... 24

4.

DIVERSION OF PROJECT CREATED WITH A173CPUN/A172CPUN ...................................................... 26

4.1

List of Available Data for Diversion (SV13/SV22) ................................................................................... 26

4.2

Program Diversion Procedure in Motion CPU Side ................................................................................ 28

4.2.1

Diversion procedure using MT Developer2 ..................................................................................... 28

4.2.2

When SFC is not used ..................................................................................................................... 31

4.2.3

Precautions for diverting cam data .................................................................................................. 31

4.3

Program Diversion Procedure in PLC CPU Side .................................................................................... 32

4.3.1

Conversion procedure of sequence program for Qn(H)CPU using GX Works2/ GX Developer .. 32

5.

USING A/QnA->Q CONVERSION SUPPORT TOOL FOR SEQUENCE PROGRAMS ............................. 37

5.1

Preparation for Using Support Tool ......................................................................................................... 37

5.2

Using Procedure of Support Tool ............................................................................................................ 38

5.3

Correction of the Sequence Program in Created Embedded File ......................................................... 40

5.3.1

Correction of special relay/special register ...................................................................................... 40

5.3.2

Correction of motion-dedicated instructions .................................................................................... 40

5.3.3

Others ............................................................................................................................................... 40

6.

POINTS AND PRECAUTIONS OF REPLACEMENT .................................................................................... 41

6.1

Difference of Motion CPU Configuration ................................................................................................. 41

6.1.1

System configuration ........................................................................................................................ 41

6.1.2

Shared device ................................................................................................................................... 42

6.2

Precautions on Replacement .................................................................................................................. 43

6.2.1

Slot position (system setting) ........................................................................................................... 43

6.2.2

Restrictions on the number of blocks and total points in the refresh setting .................................. 44

6.2.3

Timer counter ................................................................................................................................... 44

6.2.4

Parameter block ............................................................................................................................... 44

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. REPLACEMENT FROM A-MOTION TO QN-MOTION

1. OVERVIEW

This article explains the changes when a system using A173UHCPU/A172SHCPUN/A171SHCPUN

(A-Motion) is replaced with a system using Q173CPUN/Q172CPUN (QN-Motion). For A173UHCPU-S1,

A173UHCPU should be read as A173UHCPU-S1.

2. EQUIPMENT CONFIGURATION, AVAILABLE SOFTWARE

Please prepare modules, operating system software, and engineering environment according to the table in this article.

Correspondence

When Q173CPUN/Q172CPUN is used, use the products that support Q series.

When Q17nCPUN is used

Product

When

A17nSHCPUN/A173UHCPU is used

Q172CPUN Q173CPUN

PLC CPU module

Motion CPU module

Main base unit

• A173UHCPU

• A172SHCPUN

• A171SHCPUN

• A172B

• A175B

• A178B(-S□)

QnHCPU

Q173CPUN(-T)

Q172CPUN(-T)

Q3□B

Servo external signals interface module

Synchronous encoder interface module

Manual pulse generator interface module

A171SENC

A172SENC

Q172LX

Q172EX

Q172EX-S2

Q173PX

Serial ABS synchronous encoder

Serial ABS synchronous encoder cable

Battery

For MR-HENC

For Q170ENC

For CPU module

- Q170ENC

MR-HSCBL□M MR-JHSCBL□M

-

A6BAT is built in CPU module.

Q170ENCCBL□M

Connect a built-in rechargeable battery or

A6BAT from the external battery module

(Note-1) .

MR-HDP01

A6BAT is built in Q172EX(-S2).

<-- (same as left)

For synchronous encoder

Manual pulse generator

SSCNET cable (Note-2)

When MR-H servo amplifier is used

MR-HBUS□M

With external battery

• Q172HBCBL□M-B

Without external battery

• Q172HBCBL□M

With external battery

• Q172J2BCBL□M-B

With external battery

• Q173DVCBL□M

+ MR-J2HBUS□M

Without external battery

• Q173HB △CBL□M

With external battery

• Q173DVCBL□M

When MR-J2S servo amplifier is used

MR-J2HBUS□M-A

Without external battery

+

MR-J2HBUS□M-A

Without external battery

• Q172J2BCBL□M • Q173J2B △CBL□M

(Note-1): For QN-Motion, the long-term backup is available by using an external battery (A6BAT) in addition to the short-term backup with a built-in rechargeable battery.

When the external battery (A6BAT) is used, use the battery with Q173DV (when Q173CPUN is used) or Q170BAT (when

Q172CPUN is used).

(Note-2): The models of SSCNET cables and others to be used differ depending on whether the external battery is used or not.

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. REPLACEMENT FROM A-MOTION TO QN-MOTION

<Precautions>

• In addition to USB and RS-232C, SSCNET can also be used for the communication between

Q173CPUN/Q172CPUN and a personal computer by using an SSCNET I/F board

(A10BD-PCF/A30BD-PCF) or SSCNET I/F card (A30CD-PCF).

• iQ Platform modules cannot be used in the combination of the multiple CPU modules.

• Q173CPUN-T and Q172CPUN-T are compatible with teaching units (A31TU-D3□/A31TU-DN□).

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. REPLACEMENT FROM A-MOTION TO QN-MOTION

2.2 Equipment Configuration of Q173CPUN/Q172CPUN Motion

Connection method with servo amplifiers

With Dividing unit Without Dividing unit/External unit

C

P

U

N

Q

1

7

3

T

PULL

POWER

MODE

RUN

ERR

USER

MODE

RUN

ERR

USER

PULL

USB

PULL

USB

RS-232 RS-232

CN1

1)

Q173CPUN(-T)

SSCNET LINE 1

5)

Dividing unit (Note-1)

(Q173DV)

CN1A CN1B

5)

CN1A CN1B

Amplifier Amplifier

SSCNET LINE 2

6)

5)

CN1A CN1B

5)

CN1A CN1B

6)

PULL

POWER

MODE

RUN

ERR

USER

MODE

RUN

ERR

USER

PULL

USB

PULL

USB

RS-232 RS-232

CN1

2)

Q173CPUN(-T)

SSCNET LINE 1

CN1A CN1B

Amplifier Amplifier

SSCNET LINE 2

CN1A CN1B

5)

5)

CN1A CN1B

CN1A CN1B

6)

6)

Amplifier Amplifier

(Note-1) When using the external battery, install the Battery (A6BAT/MR-BAT) to the Dividing unit (Q173DV).

Amplifier Amplifier

C

P

U

N

Q

1

7

2

T

PULL

POWER RUN

ERR

USER

BAT

BOOT

RUN

ERR

USER

BAT

BOOT

PULL

USB

PULL

USB

RS-232 RS-232

CN1

4)

Q172CPUN(-T)

CN1A CN1B

5)

CN1A CN1B

6)

Battery unit (Note-2)

(Q170BAT)

Amplifier Amplifier

(Note-2) When using the external battery, install the Battery (A6BAT/MR-BAT) to the Battery unit (Q170BAT).

PULL

POWER RUN

ERR

USER

BAT

BOOT

RUN

ERR

USER

BAT

BOOT

PULL

USB

PULL

USB

RS-232 RS-232

CN1

3)

Q172CPUN(-T)

CN1A CN1B

5)

CN1A CN1B

6)

Amplifier Amplifier

SSCNET cable model

1) Q173CPUN(-T) ↔ Distribution unit Q173DVCBL□M 0.5m, 1m

2) Q173CPUN(-T) ↔ Servo amplifier (Note-1) Q173J2B CBL□M (Note-3) 0.5m, 1m, 5m

3)

4)

5)

Application

Q172CPUN(-T) ↔ Servo amplifier

Q172CPUN(-T) ↔ Servo amplifier

↔ Battery module

Servo amplifier ↔ Servo amplifier

Distribution unit ↔ Servo amplifier

Cable model

Q172J2BCBL□M

FR-V5NSCBL□

Q172J2BCBL□M-B

MR-J2HBUS□M-A

Q172J2BCBL□M

Cable length

0.5m, 1m, 5m

0.5m, 1m, 5m, 10m, 20m

0.5m, 1m, 5m

0.5m, 1m, 5m

0.5m, 1m, 5m

Connection details

• Q173CPUN(-T) ↔ Distribution unit (Q173DV)

• Q173CPUN(-T) ↔ Servo amplifier (MR-J2□-B (Note-4) )

• Q172CPUN(-T) ↔ Servo amplifier (MR-J2□-B (Note-4) )

• Q172CPUN(-T) ↔ FR-V5NS (Note-5)

• Q172CPUN(-T) ↔ Servo amplifier (MR-J2□-B (Note-4) )

↔ Battery module (Q170BAT)

• Servo amplifier (MR-J2□-B (Note-4) ) ↔ Servo amplifier

(MR-J2□-B (Note-4) )

• Distribution unit Q173DV ↔ Servo amplifier

(MR-J2□-B (Note-4) )

• Servo amplifier (MR-J2□-B (Note-4) ) ↔ FR-V5NS (Note-5)

• Distribution unit (Q173DV) ↔ FR-V5NS (Note-5)

• FR-V5NS (Note-5) ↔ FR-V5NS (Note-5) FR-V5NSCBL□ 0.5m, 1m, 5m, 10m, 20m

6) Termination resistor MR-A-TM -

• Connect to the SSCNET last servo amplifier

(MR-J2□-B (Note-4) ).

(Note-1) Separated into the number of systems from the connector on the Q173CPUN(-T) side.

(Note-2) □: Cable length. When the cable length is 0.5m, specify 0.5 in □.

(Note-3) : Number of separated SSCNET systems (None: 1 system, 2: 2 systems, 4: 4 systems)

(Note-4) MR-J2□-B: MR-J2S-□B/MR-J2M-P8B/MR-J2-03B5

(Note-5) SSCNET communication option for the vector inverter FREQROL-V500 series

Precautions for use:

When Q173DV (External battery-mountable) is used with Q173CPUN, up to four systems (eight axes per system) can be used.

When Q173J2B CBL□M is used with Q173CPUN, up to four systems (eight axes per system) can be used.

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. REPLACEMENT FROM A-MOTION TO QN-MOTION

Connection with personal computers

Q170BDCBL□M

A30BD-PCF/A10BDPCF

• Desktop computer

ISA-compatible: A30BD-PCF

PCI-compatible: A10BD-PCF

Q173CPUN/Q172CPU

Q170CD

CBL□M

A30CD-PCF

1) USB

2) RS-232C

3) SSCNET

• Laptop computer

PCMCIA-compatible:

A30CD-PCF

When 1) USB or 2) RS-232C is used

Although RS422 is used for A-Motion, RS-232C or USB is used for Q173CPUN/Q172CPUN.

Use an appropriate cable for the desktop or laptop computer that is being used.

When 3) SSCNET is used

Although A270BDCBL□M and A270CDCBL□M cables are used for A-Motion, use Q170BDCBL□M and

Q170CDCBL□M cables.

(Caution)

Using A30BD-PCF, A10BD-PCF, and A30CD-PCF are not recommended because the number of personal computers with ISA, PCI, or PCMCIA, the interfaces appropriate for them, is decreasing and these models cannot used on Windows7 (64bit) and Windows8.

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2.3 Operating System Software Correspondence

Use an operating system for Q173CPUN/Q172CPUN.

Application

When A17nSHCPUN/A173UHCPU is used When Q17nCPUN is used

Model Model

SW2SRX-SV13B

For A173UHCPU For Q173CPUN SW6RN-SV13QB

For conveyor assembly

(SV13)

For automatic machinery

(SV22)

For automatic machinery

(SV43)

For A172SHCPUN

For A171SHCPUN

For A173UHCPU

For A172SHCPUN

For A171SHCPUN

For A173UHCPU

For A172SHCPUN

For A171SHCPUN

SW2NX-SV13B

SW3RN-SV13B

SW0SRX-SV13D

SW0NX-SV13D

SW3RN-SV13D

SW2SRX-SV13G

SW0NX-SV13G

SW2SRX-SV22A

SW2NX-SV22A

SW3RN-SV22A

SW0SRX-SV22C

SW0NX-SV22C

SW3RN-SV22C

SW0SRX-SV22F

SW0NX-SV22F

SW2SRX-SV43A

SW2NX-SV43A

SW0SRX-SV43C

SW0NX-SV43C

SW0SRX-SV43F

SW0NX-SV43F

For Q172CPUN

For Q173CPUN

For Q172CPUN

For Q173CPUN

For Q172CPUN

SW6RN-SV13QD

SW6RN-SV22QA

SW6RN-SV22QC

SW5RN-SV43QA

SW5RN-SV43QC

The following shows the engineering environment that support Q173CPUN/Q172CPUN.

After the purchase of the following software, download and update to the latest version of them from the

Mitsubishi Electric FA Site.

Remarks

MELSOFT MT Works2

MELSOFT GX Works2

SW1DNC-MTW2-E

SW1DNC-GXW2-E

Ver.1.52E or later

Ver.1.50C or later

Install GX Developer as well when installing GX

Works2 (Note-1) .

(Note-1): Install GX Developer together when installing MELSOFT GX Works2.

In "Section 2.4.3 Program Diversion Procedure in PLC CPU Side", GX Developer will be required to convert a sequence program.

4

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. REPLACEMENT FROM A-MOTION TO QN-MOTION

3. DIFFERENCES BETWEEN Q173CPUN/Q172CPUN AND

A173UHCPU/A172SHCPUN/A171SHCPUN

3.1 Differences between Q173CPUN/Q172CPUN and A173UHCPU/A172SHCPUN/A171SHCPUN list

Item Q17nCPUN

A17nSHCPUN/A173UHCPU

A171SH A172SH A173UH

Points of replacement

Peripheral I/F • USB/RS-232/SSCNET RS422/SSCNET

Communicate with peripheral equipment using appropriate I/Fs.

Battery

Forced stop input

I/O points

Internal relays (M)

Latch relays (L)

Step relays (S)

Link relays (B)

Timers (T)

Counters (C)

Data registers (D)

Link registers (W)

Annunciators (F)

Built-in rechargeable battery

(If a power failure lasts for one month or longer, add an external battery A6BAT/

MR-BAT.)

Specify a bit device (PX, M) with a parameter (Forced stop terminals of the servo amplifier can be used).

8192 points

8192 points in total of M and L

-

8192 points

-

-

8192 points

8192 points

2048 points

A6BAT is built in. (3.6 V)

Use EMG terminals of the main base unit.

2048 points

2048 points in total

(shared use of M, L, S)

1024 points

256 points

256 points

1024 points

1024 points

256 points

File registers (R)

Special relays (M)

Special registers (D) 256 points

Coasting timers

(FT)

256 points

1 point (888μs) -

Motion registers (#)

-

256 points

8192 points

Up to 8192 points

256 points

-

8192 points

(Motion SFC OS only)

Always use a forced stop input cable

(sold separately). Otherwise, the forced stop cannot be canceled.

8192 points -

8192 points in total

(shared use of M, L, S)

8192 points

2048 points

2048 points

8192 points

8192 points

2048 points

The devices on the left are shared in

A-Motion but not shared in

Q-Motion.

Configure the automatic refresh setting if necessary.

For details, refer to Chapter 5.

Multiple CPU shared devices (U□\G)

Up to 4096 points - -

Motion dedicated sequence instruction

Motion module

SV13

SV22

S(P).SFCS, S(P).SVST,

S(P).CHGA, S(P).CHGV,

S(P).CHGT, S(P).DDRD,

S(P).DDWD, S(P).GINT

Q172LX, Q172EX-S2

Q173PX

(Note-1) ,

CHGT, CHGV, CHGA

SVST

(Non Motion SFC OS only)

-

SFCS, ITP

(Motion SFC OS only)

A171SENC, A172SENC

Replace motion dedicated PLC instructions with S(P).*** instructions.

(Refer to Chapter 3 of SV13/22

Programming Manual (Motion SFC)

[type Q173D(S)/Q172D(S)].)

Use motion modules Q172LX,

Q172EX-S2, and Q173PX in the system using

Q173CPUN/Q172CPUN.

Installation position

Motion modules can be installed in a free slot of CPU.

Motion modules can be installed in motion I/O slots only.

-

(Note-1) : Can be installed to main base units only.

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. REPLACEMENT FROM A-MOTION TO QN-MOTION

(Continued)

Item Q17nCPUN

A17nSHCPUN/A173UHCPU

A171SH A172SH A173UH

Points of replacement

System setting

• Qn(H)CPU will be CPU No.1.

• Use main base units Q33B,

Q35B, Q38B, and Q312B.

• Multiple CPU system is not supported.

• Main base unit is A17□B.

(A172B, A175B, A178B, A178B-S1,

A178B-S2, and A178B-S3)

Use appropriate units in combination.

SSCNET

Usable

Refer to Section 3.1.3.

Use A31TU-D□ series.

Servo system network

Teaching unit

Memory to be used

Automatic refresh

Automatic refresh setting

LED display

Latch range setting

Latch (1)

Latch (2)

All clear function

SSCNET

Usable

Multiple CPU transmission area in CPU shared memory

For the setting 1 to 4, devices

(D/W/#/M/Y/B) of up to 2k words can be set per CPU.

Each LED of RUN, ERR

Range that can be cleared with the latch clear key

Range that cannot be cleared with the latch clear key

All user data and password settings are deleted.

SCPU and PCPU share the same devices.

Each LED of RUN, ERR

Latch range setting is 1 setting only.

The range is cleared with the L.CLR switch.

After the project diversion, manually assign the devices used by the PLC

CPU to devices in the Motion CPU in the automatic refresh setting.

-

-

None -

Self diagnosis error

Motion SFC error detection flag

(M2039) turns on when an error is detected. Self diagnosis error flag (M9008) and Diagnosis error flag (M9010) does not turn on when an error is detected.

When a Motion CPU-specific error occurs, the error details are set to D9008.

Even though a PCPU error occurs, a self diagnosis error will not occur.

Correct the program if necessary.

Motion error detection flag

(M2039)

Latch clear

No matter which error occurs,

M2039 will be ON in Motion

CPU.

-

Depending on the type of the error that occurred, M2039 is turned ON (only when

SFC is used).

Correct the program if necessary.

RESET/L.CLR switch (Note-1) - switch RUN/STOP -

ROM writing

Execute in the installation/ROM writing mode.

None -

ROM operation mode

Select with the DIP switch.

None -

Installation mode Select with the DIP switch. -

(Note-1) : In the multiple CPU system, PLC CPUs/Motion CPUs of No.2 to No.4 cannot be reset individually. The whole multiple CPU system stops. To reset the whole system, reset the PLC CPU of No.1.

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. REPLACEMENT FROM A-MOTION TO QN-MOTION

(Continued)

Item

Operation cycle

(Default value)

SV13

SV22

Q17nCPUN A17nSHCPUN/A173UHCPU

Q172CPUN Q173CPUN A171SH A172SH A173UH

Points of replacement

0.88ms/

1 to 8 axes

0.88ms/

1 to 4 axes

1.77ms/5 to 8 axes

0.88ms/

1 to 8 axes

1.77ms/

9 to 16 axes

3.55ms/

17 to 32 axes

0.88ms/

1 to 4 axes

1.77ms/

5 to 12 axes

3.55ms/

13 to 24 axes

7.11ms/

25 to 32 axes

3.55ms/

1 to 4 axes

3.55ms/

1 to 4 axes

3.55ms/

1 to 8 axes

3.55ms/

1 to 8 axes

3.55ms/

1 to 20 axes

7.11ms/

21 to 32 axes

3.55ms/

1 to 12 axes

7.11ms/

13 to 24 axes

14.22ms/

25 to 32 axes

When the operation cycle is set as default (automatic), the operation cycle will change. The operation cycle may change as shown on the left, and the program execution timing will change. Set a fixed operation cycle if necessary.

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. REPLACEMENT FROM A-MOTION TO QN-MOTION

3.1.2 Differences between self diagnosis error and Motion (SFC) error history

Self diagnosis error code

Q17nCPUN

(D9008)

A17nSHCPUN/

A173UHCPU

(D9008)

Description

Error flag state : ON : OFF

Self diagnosis error flag

Q17nCPUN

(M2324/M9008)

A17nSHCPUN/

A173UHCPU

(M9008)

Motion error detection flag

Q17nCPUN

(M2039)

A172SHCPUN/

A173UHCPU

(M2039)

10 INSTRCT CODE ERR.

-

3001 to

3013

- 12 MISSING END INS.

1105 20

- 24 END NOT EXECUTE

FUSE BREAK OFF 1300

1413 to

1416

32

1401 41

2121 to

2126

- 46 SP.UNIT

1600 to

1601

1500 -

7000 to

7003

7010 -

7020 -

10000 -

MULTI EXE. ERROR

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. REPLACEMENT FROM A-MOTION TO QN-MOTION

3.1.3 Items required to be changed/revised with the servo system network change

Differences

Item Change/Revise content

Q17nCPUN

A17nSHCPUN/

A173UHCPU

System setting/

SSCNET configuration

Q172CPUN: 1 system

Q173CPUN: 4 systems

(up to 8 axes/system)

A171SHCPUN: 1 system

A172SHCPUN: 1 system

A173UHCPU: 4 system

(up to 8 axes/system)

Configure the rotary switch setting of servo amplifiers and connect the servo amplifiers considering the SSCNET configuration.

Home position return function

Poximity dog type (2 types),

Count type (3 types),

Data set type (2 types),

Dog cradle type,

Stopper type (2 types),

Limit switch combined type

(with the home position return retry function and home position shift function)

Proximity dog type,

Count type,

Data set type

Review this item according to the SSCNET configuration.

Manual pulse generator operation function

Synchronous encoder operation function

3 modules can be connected.

Q172CPUN: 8 modules

Q173CPUN: 12 modules

A171SHCPUN: 1 module

A172SHCPUN: 1 module

A173UHCPU(-S1):

3 modules

A171SHCPUN: 1 module

A172SHCPUN: 1 module

A173UHCPU(-S1):

4 modules

Review this item according to the SSCNET configuration.

Review this item according to the SSCNET configuration.

Electronic gear

Forced stop input

Number of pulses per revolution:

1 to 2147483647

Travel value per revolution:

1 to 2147483647

Unit magnification:

None (x1)

Specify a bit device (PX, M) with a parameter (Forced stop terminals of the servo amplifier can be used).

Number of pulses per revolution: 1 to 65535

Travel value per revolution: 1 to 65535

Unit magnification: x1, x10, x100, x1000

Emergency stop of basic units (Forced stop terminals of the servo amplifier cannot be used)

Change the number of pulses per revolution and the travel value per revolution of the fixed parameter according to the resolution per revolution of the connected servo motor.

Review this item because the forced stop method changes.

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. REPLACEMENT FROM A-MOTION TO QN-MOTION

Comparison

X/Y0

X/Y7FF

X/Y800

X/Y1FFF

3.2.2 Internal

(1) SV13

User device

(8192 points)

Q17nCPUN

M0

User device

(8192 points)

M1600

M1680

M1760

M1800

User device

(2000 points)

User device

(2000 points)

User device

(2048 points)

User device

(1600 points)

Status of each axis

(20 points x 8 axes)

Status of each axis

(20 points x 4 axes)

Unusable

(40 points)

Unusable

(120 points)

Command signal of each axis

(20 points x 8 axes)

Command signal of each axis

(20 points x 4 axes)

Unusable

(80 points)

M1880

M1960

M2000

M2047

M2048

M2320

M2400

Common device

(320 points)

Common device

(320 points)

Unusable

(80 points)

Status of each axis

(20 points x 32 axes)

Common device (88 points)

M3040

M3072

M3136

M3200

Special relay allocation device

(80 points)

Status of each axis

(20 points x 32 axes)

Unusable

(32 points)

Common device

(command signal)

(64 points)

Special relay allocation device

(64 points)

Command signal of each axis

(20 points x 32 axes)

Unusable

(160 points)

Command signal of each axis

(20 points x 32 axes)

M3840

M8191

User device

(4352 points)

User device

(4352 points)

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. REPLACEMENT FROM A-MOTION TO QN-MOTION

(2) SV22 Real mode

M0

M1360

M1364

M1600

M1680

M1760

M1800

User device

(2000 points)

User device

(2000 points)

M1880

M1960

M2000

M2047

M2048

M2320

Common device

(320 points)

Common device

(320 points)

M2400

M3040

M3072

M3136

Special relay allocation device

(80 points)

Status of each axis

(20 points x 32 axes)

Unusable

(32 points)

Common device (command signal)

(64 points)

Special relay allocation device

(64 points)

Command signal of each axis

(20 points x 32 axes)

Unusable

(80 points)

Status of each axis

(20 points x 32 axes)

Unusable

(160 points)

M3200

M3840

M4640

User device

(800 points)

Synchronous encoder axis status

(4 points x 12 axes)

Command signal of each axis

(20 points x 32 axes)

User device

(800 points)

Synchronous encoder axis status

(4 points x 4 axes)

M4656

M4688

User device

(752 points)

M5440

Synchronous encoder axis command signal

(4 points x 12 axes)

User device

(3536 points)

M5488

User device (2704 points)

M8191

When the virtual mode is used, do not set the latch range as M4000 to M5599.

User device

(1360 points)

Synchronous encoder axis status (4 points x 1 axis)

User device (236 points)

Status of each axis

(20 points x 8 axes)

Status of each axis

(20 points x 4 axes)

Unusable

(40 points)

Unusable

(120 points)

Command signal of each axis

(20 points x 8 axes)

Command signal of each axis

(20 points x 4 axes)

Unusable

(80 points)

Common device

(88 points)

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. REPLACEMENT FROM A-MOTION TO QN-MOTION

(3) SV22 Virtual mode

M0

M1200

M1280

M1360

M1364

M1400

M1480

M1560

M1564

M1600

M1680

M1760

M1800

M1880

M1960

M2000

M2048

M2320

M2400

M3040

M3072

M3136

M3200

M3840

User device

(2000 points)

User device

(2000 points)

Common device

(320 points)

Special relay allocation device

(80 points)

Status of each axis

(20 points x 32 axes)

Unusable

(32 points)

Common device (command signal)

(64 points)

Special relay allocation device

(64 points)

Command signal of each axis

(20 points x 32 axes)

Unusable

(160 points)

Common device

(320 points)

Unusable

(80 points)

Status of each axis

(20 points x 32 axes)

Unusable

(160 points)

Command signal of each axis

(20 points x 32 axes)

Unusable

(60 points)

Virtual servo motor axis status

User device

(1360 points)

Virtual servo motor axis status (Note-1)(Note-2)

(20 points x 8 axes)

(20 points x 4 axes)

User device (Note-2)

(80 points)

Synchronous encoder axis status

(4 points x 1 axis) (Note-2)

Unusable (Note-2)

(36 points)

Virtual servo motor

Virtual servo motor axis command signal

(20 points x 8 axes) axis command signal (Note-1)(Note-2)

(20 points x 4 axes)

User device (Note-2)

(80 points)

Synchronous encoder axis command signal

(4 points x 1 axis) (Note-2)

Unusable

(36 points)

Status of each axis

(20 points x 8 axes)

Status of each axis

(20 points x 4 axes)

Unusable

(40 points)

Unusable

(120 points)

Command signal of each axis

(20 points x 8 axes)

Command signal of each axis

(20 points x 4 axes)

Unusable

(80 points)

Common device

(88 points)

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. REPLACEMENT FROM A-MOTION TO QN-MOTION

(Continued)

M4000

M4640

Virtual servo motor axis status

(20 points x 32 axes)

(Only mechanical system setting axes uses)

Synchronous encoder axis status

(4 points x 12 axes)

Virtual servo motor axis status (Note-1)(Note-3)

(20 points x 32 axes)

Synchronous encoder axis status (Note-3)

(4 points x 4 axes)

Unusable (Note-3)

(144 points)

M4656

M4688

M4800

M5440

M5456

M5488

M5520

M5584

Unusable

(112 points)

Virtual servo motor axis command signal

(20 points x 32 axes)

(Only mechanical system setting axes uses)

Synchronous encoder axis command signal

(4 points x 12 axes)

Cam axis command signal

(1 points x 32 axes)

(Only mechanical system setting axes uses)

Smoothing clutch completion signal

(2 points x 32 axes)

Unusable

(16 points)

Virtual servo motor axis command signal (Note-1)(Note-3)

(20 points x 32 axes)

Synchronous encoder axis command signal (Note-3)

(4 points x 4 axes)

Unusable (Note-3)

(32 points)

M5600

M8191

User device

(2592 points)

(Note-1): Only the areas of axes set with the mechanical system program are occupied. The areas of the axes not used by the mechanical system program can be used by users.

(Note-2): When using virtual mode, do not set latch range as M1200 to M1599.

(Note-3): When using virtual mode, do not set latch range as M4000 to M5487.

(Note-4): Cam axis command signal and smoothing clutch completion signal can be set to any device using parameters. register

(1) SV13

D0

D640

Monitor device of each axis

(20 points x 32 axes)

Control change register

(2 points x 32 axes)

Monitor device of each axis

(20 points x 32 axes)

Control change register

(2 points x 32 axes)

User device

(800 points)

D704 Common device (96 points) Common device (96 points)

D800

D880

D960

User device

(7392 points)

User device

(7392 points)

Monitor device of each axis

(20 points x 8 axes)

Control change register

(6 points x 8 axes)

Monitor device of each axis

(20 points x 4 axes)

Unusable (80 points)

Control change register

(6 points x 4 axes)

Unusable (24 points) D984

D1008

D1023

D1024

D8191

Common device

(16 points)

4

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4

. REPLACEMENT FROM A-MOTION TO QN-MOTION

(2) SV22 Real mode

D0

D640

Monitor device of each axis

(20 points x 32 axes)

Control change register

(2 points x 32 axes)

Monitor device of each axis

(20 points x 32 axes)

Control change register

(2 points x 32 axes)

User device

(748 points)

D704

D748

D752

D800

D880

D960

D984

Common device

(96 points)

User device

(320 points)

Common device

(96 points)

User device

(320 points)

D1008

D1023

D1024

D1120

Synchronous encoder axis monitor device

(10 points x 12 axes)

Synchronous encoder axis monitor device (Note-1)

(6 points x 4 axes)

D1144

D1240

D8191

User device

(6952 points)

User device

(7048 points)

(Note-1): This device can be used as a user device when used only in the SV22 real mode.

Synchronous encoder axis monitor device

(4 points x 1 axis)

User device

(48 points)

Monitor device of each axis (Note-1)

(20 points x 8 axes)

Control change register

(6 points x 8 axes)

Monitor device of each axis

(20 points x 4 axes)

Unusable

(80 points)

Control change register

(6 points x 4 axes)

Unusable

(24 points)

Common device

(16 points)

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. REPLACEMENT FROM A-MOTION TO QN-MOTION

(3) SV22 Virtual mode

D0

D640

D670

D678

D686

D688

D700

D704

D724

D748

D752

D758

D760

D780

D800

Monitor device of each axis

(20 points x 32 axes)

Control change register

(2 points x 32 axes)

Common device

(command signal)

(96 points)

D880

D960

D984

D1008

D1023

D1024

D1119

Virtual servo motor axis monitor devices

(6 points x 32 axes)

Current value after differential gear of virtual servo motor axis main shaft

(4 points x 32 axes)

Monitor device of each axis

(20 points x 32 axes)

Control change register

(2 points x 32 axes)

Common device

(96 points)

Virtual servo motor axis monitor device (Note-1)

(6 points x 32 axes)

Current value after differential gear of virtual servo motor axis main shaft (Note-1)

(4 points x 32 axes)

User device

(670 points)

Current value of differential gear of virtual servo motor axis main shaft (Note-1)

(2 points x 8 axes)

Current value of differential gear of virtual servo motor axis main shaft (Note-1)

(2 points x 4 axes)

User device

(8 points)

Current value of differential gear of synchronous encoder axis main shaft (Note-1)

(2 points x 1 axis)

Unusable

(12 points)

Virtual servo motor axis monitor device (Note-1)

(6 points x 8 axes)

Virtual servo motor axis monitor device (Note-1)

(6 points x 4 axes)

User device

(24 points)

Synchronous encoder axis monitor device

(4 points x 1 axis) (Note-1)

Cam axis monitor device (Note-1)

(5 points x 8 axes)

Unusable

(8 points)

Cam axis monitor device (Note-1)

(5 points x 4 axes)

Monitor device of each axis (Note-1)

(20 points x 8 axes)

User device

(20 points)

Monitor device of each axis

(20 points x 4 axes)

Unusable

(80 points)

Control change register

(6 points x 8 axes)

Control change register

(6 points x 4 axes)

Unusable

(24 points)

Common device

(16 points)

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#0

#7999

#8000

#8008

#8016

#8024

#8032

#8040

#8048

#8056

#8064

#8191

(Continued)

D1120

D1160

D1192

Synchronous encoder axis monitor device

(6 points x 12 axes)

Current value after differential gear of synchronous encoder axis main shaft

(4 points x 12 axes)

Synchronous encoder axis monitor device (Note-1)

(6 points x 4 axes)

Current value after differential gear of synchronous encoder axis main shaft

(4 points x 4 axes)

D1240

D1560

D8191

Cam axis monitor device (Note-1)

(10 points x 32 axes)

User device

(6632 points)

Unusable

(80 points)

Cam axis monitor device (Note-1)

(10 points x 32 axes)

User device

(6632 points)

(Note-1): Only the areas of axes set with the mechanical system program are occupied. The areas of the axes not used by the mechanical system program can be used by users.

Q17nCPUN

User device

(8000 points)

Past 7 times error information

(oldest error information)

Past 6 times error information

Past 5 times error information

Past 4 times error information

Past 3 times error information

Past 2 times error information

Past 1 times error information

Latest error information

Servo monitor device

(128 points)

(SFC version only)

A173UHCPU

(SFC version only)

A172SHCPUN

SFC

Error history

(8 times)

(64 points)

User device

(8000 points)

Past 7 times error information

(oldest error information)

Past 6 times error information

Past 5 times error information

Past 4 times error information

Past 3 times error information

Past 2 times error information

Past 1 times error information

Latest error information

Unusable

(128 points)

(SFC version only)

A171SHCPUN

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Device number

Q17nCPUN

A17nSHCPUN/

A173UHCPU

Name Remarks

M2320

-

-

M9000 M9000

M9002

M9004

Fuse blown detection flag

I/O module verification error

MINI link error

M2321 M9005 M9005 AC DOWN detection flag

M2322 M9006 M9006 Low flag

M2323

M2324

M9007

M9008

M9007

M9008

Low battery latch flag

Self diagnosis error flag

M2325 M9010 M9010 Diagnosis flag

- M9011 flag

-

-

-

-

-

-

M9016

M9017

M9020

M9021

M9022

M9023

Data memory clear flag (all data)

Data memory clear flag (non-latch data)

User timing clock No.0

User timing clock No.1

User timing clock No.2

User timing clock No.3

M3136

-

M9025

M9024

M9025

User timing clock No.4

Clock data set requirement

M2328 M9026 M9026 Clock error

M3137

-

-

-

-

-

M9028 M9028

M9029

M9030

M9031

M9032

M9033

Clock data reading requirement

Data communication requirement batch processing

0.1 second clock

0.2 second clock

1 second clock

2 second clock

- M9034 1 minute clock

M2326 M9036 M9036 Always

M2327 M9037 M9037 Always

-

-

M9038

M9039

Only 1 scan is ON after RUN

RUN flag (only 1 scan is OFF after RUN)

-

-

-

-

-

-

-

-

-

-

-

M9041

M9042

M9043

M9045

M9046

M9047

M9049

M9051

M9052

M9053

M9054

PAUSE status contact

Stop status contact

Sampling trace completion

Reset watchdog timer (WDT)

Sampling trace

Sampling trace preparation

Switch output characters number

CHG command execution inhibition

Switch SEG command

Switch EI/DI command

STEP RUN flag

A173UHCPU only

Q17nCPUN: AC/DC DOWN detection

A173UHCPU only

A173UHCPU only

A173UHCPU only

- M9055 Status latch completion flag

* Q17nCPUN has only four blocks for automatic refresh. If the number of blocks is insufficient, change the device numbers of special relays to M2000s and use them.

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. REPLACEMENT FROM A-MOTION TO QN-MOTION

(Continued)

Device number

Q17nCPUN

A17nSHCPUN/

A173UHCPU

Name Remarks

M2329

M2330

M2332

M2333

M2334

M2335

-

-

-

-

-

-

-

M9073

M9074

M9056

M9057

M9058

M9059

M9065

M9066

M9070

M9073

M9074

Main side P, I setting requirement

Sub side P, I setting requirement

Main side P, I setting completion

Sub side P, I setting completion

Partition processing execution detection

Partition processing requirement flag

Required search time of A8UPU/A8PUJ

Motion CPU WDT error flag

PCPU preparation completion flag

-

-

-

-

-

M9076

M9077

M9078

M9079

M9076

M9077

M9078

M9079

M9081

Forced stop input flag

Manual pulse axis setting error flag

Test mode requirement error flag

Servo program setting error flag

- Communication requirement register area BUSY signal

- M9091 flag

- M9094 I/O exchange flag

M9100

M9101

M9102

M9103

M9104

SFC program existence

Start/stop SFC program

Start status of SFC program

Continuous transition existence

Continuous transition prevention flag

-

-

-

-

M9180

M9181

M9182

M9196

Active step sampling trace completion flag

Active step sampling trace execution flag

Enable active step sampling trace

Operation output of block stop

- M9197

- M9198

- M9199 Data return of online sampling trace status latch

* Q17nCPUN has only four blocks for automatic refresh. If the number of blocks is insufficient, change the device numbers of special relays to M2000s and use them.

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. REPLACEMENT FROM A-MOTION TO QN-MOTION

Device number

Q17nCPUN

A17nSHCPUN/

A173UHCPU

Name Remarks

-

-

D9002

D9004

I/O module verification error

MINI link error

D9005 D9005 counter

-

D9015

D9014

D9015

I/O control method

CPU operation status

A173UHCPU only

D9010: Diagnosis error occurrence time

(calendar, month)

D9011: Diagnosis error occurrence time

(date, hour)

D9014: Error information

-

-

-

-

-

-

D9025

D9026

D9027

D9028

-

D9017

D9018

D9019

D9020

D9021

D9022

D9025

D9026

D9027

D9028

D9035

Minimum scan time (10ms unit)

Scan time (10ms unit)

Maximum scan time (10ms unit)

Constant scan (10ms unit)

Scan time (1ms unit)

Time (1 second unit)

Clock data (calendar, month)

Clock data (date, hour)

Clock data (minute, second)

Clock data (0, week)

Expansion file register

SD520: Current main cycle (1ms unit)

SD521: Maximum main cycle (1ms unit)

SD524: Maximum operation cycle (1µs unit)

A173UHCPU only

SD523: Motion setting operation cycle

(1µs unit)

A173UHCPU only

SD522: Motion operation cycle (1µs unit)

A173UHCPU only

A173UHCPU only

For specifying extended file register device number A173UHCPU only

- D9037

-

-

LED display priority order

- D9039

- D9044 For sampling trace

D9049

D9050

Work area for SFC

SFC program error number

-

-

D9054

- D9055

D9072

Error sequence step latch

PLC communication check

A173UHCPU only

A173UHCPU only

A173UHCPU only

A173UHCPU only

A173UHCPU only

A173UHCPU only

A173UHCPU only

A173UHCPU only

A173UHCPU only

A173UHCPU only

-

-

D9085

D9090

Detailed error number

- D9092

- D9094 Exchange I/O start I/O number

(Continued)

Setting register of time check value A173UHCPU only

Number of boards in special function module over A173UHCPU only

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. REPLACEMENT FROM A-MOTION TO QN-MOTION

Device number

Q17nCPUN

A17nSHCPUN/

A173UHCPU

- D9100

- D9101

- D9102

- D9103

Name Remarks

Fuse blown module

A173UHCPU only

- D9105

- D9106

- D9107

- D9116

- D9117

- D9118

- D9121

- D9122

- D9123

- D9124 Number of annunciator detection

- D9125

- D9126

- D9127

A173UHCPU only

- D9130

- D9131

- D9132

A17nSHCPUN:

Limit switch output status storage area information

D9184 D9184 PCPU WDT error cause

D9185 D9185 A17nSHCPUN:

Servo amplifier classification

Manual pulse axis setting error

A17nSHCPUN:

Manual pulse axis setting error information

A17nSHCPUN:

Test mode requirement error information

A173UHCPU: Unusable

D9189

D9190

D9189

D9190

Error program No.

Error item information

D9191 D9191

Q17nCPUN, A173UHCPU:

Servo amplifier installation

A17nSHCPUN:

Servo amplifier installation information

D9193-D9195 D9193-D9195

D9196 D9196

Q17nCPUN:

Real/virtual mode switching error

A17nSHCPUN:

Area for manual pulse 1

(P1) smoothing magnification setting

A173UHCPU,

A17nSHCPU:

REAL/VIRTUAL mode switching error information

Personal computer link communication error code

A173UHCPU only

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. REPLACEMENT FROM A-MOTION TO QN-MOTION

(Continued)

Device number

Q17nCPUN

A17nSHCPUN/

A173UHCPU

Q17nCPUN, A173UHCPU: smoothing magnification setting

Q17nCPUN, A173UHCPU: smoothing magnification setting

Q17nCPUN, A173UHCPU: smoothing magnification setting

- D760

- D761

- D762

- D763

- D764

- D765

- D766

A173UHCPU: area for Axis 1 to 32

- D769

- D770

- D771

- D772

- D773

- D774

- D775

- D776

- D777

- D778

- D779

- D780

- D781

- D782

A173UHCPU: area for Axis 1 to 32

- D785

- D786

- D787

- D788

- D789

- D790

- D791

D792 D792

D793 D793

D794 D794

Name Remarks

A17nSHCPUN:

Unusable

A17nSHCPUN:

Cam axis monitor device

• A172SHCPUN:

5 points x 8 axes

• A171SHCPUN:

5 points x 4 axes

D797 D797

D798 D798

D799 D799

For the special registers on the PLC CPU side, refer to the manual of the PLC CPU.

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. REPLACEMENT FROM A-MOTION TO QN-MOTION

Item

Personal computer link communication error flag

PCPU preparation completion flag

Home position return re-travel value

Travel value change register

Indirectly designated device

(word device)

M2034 M2034

M9074 M9074

D9 + 20n (Note-1)

D16 + 20n, D17 + 20n (Note-1)

D0 to D8191

W0 to W1FFF

#0 to #7999

D9 + 20n (Note-1)

D16 + 20n (Note-1) , D17 + 20n (Note-1)

D800 to D8191

W0 to W1FFF

#0 to #7999

(Motion SFC (real mode) only)

Indirectly designated device

(bit device)

X0 to X1FFF

Y0 to Y1FFF

M/L0 to M/L8191

M9000 to M9255

B0 to B1FFF

F0 to F2047

X0 to X1FFF

Y0 to Y1FFF

M/L0 to M/L8191

M9000 to M9255

B0 to B1FFF

F0 to F2047

Enable specified device in D800 to D3069, D3080 to D8191 D800 to D3069, D3080 to D8191 high speed reading function W0 to W1FFF W0 to W1FFF

(Note-1): n indicates a value corresponding to an axis No. (Axis No.1 to 32: n = 0 to 31)

D815 (Note-1) + 20n

D0 to D799

W0 to W3FF

#0 to #7999

(Motion SFC of A172SH (real mode) only)

X0 to X7FF

Y0 to Y7FF

M/L0 to M/L2047

M9000 to M9255

B0 to B3FF

F0 to F255

D0 to D799

W0 to W3FF

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. REPLACEMENT FROM A-MOTION TO QN-MOTION

(Continued)

Item

Output device

Watch data

ON section setting

Output enable/disable bit

Forced output bit

X0 to X1FFF

Y0 to Y1FFF

M0 to M8191

L0 to L8191

B0 to B1FFF

D0 to D8191

W0 to W1FFF

#0 to #8191

Absolute address

(H0 to HFFFFFFFF)

D0 to D8191

W0 to W1FFF

#0 to #8191

Constant (Hn/Kn) (Note-3)

X0 to X1FFF

Y0 to Y1FFF

M0 to M8191

L0 to L8191

B0 to B1FFF

F0 to F2047

M9000 to M9255

-

-

-

-

X0 to X1FFF

Y0 to Y1FFF

M0 to M8191

L0 to L8191

B0 to B1FFF

D0 to D8191

W0 to W1FFF

#0 to #8191

Absolute address

(H0 to HFFFFFFFF)

D0 to D8191

W0 to W1FFF

#0 to #8191

X0 to X1FFF

Y0 to Y1FFF

M0 to M8191

L0 to L8191

B0 to B1FFF

F0 to F2047

M9000 to M9255

TT0 to TT2047

TC0 to TC2047

CT0 to CT1023

CC0 to CC1023

Clutch status

M2160 to M2223

(Setting in mechanical system program is not required)

M2160 to M2223

(Setting in mechanical system program is not required)

A171SHCPUN: M1984 to

M1991

A172SHCPUN: M1984 to

M1999

(Setting in mechanical system program is not required)

Cam axis command signal

(cam/ball screw switch command)

M5488 to M5519 -

Smoothing clutch

M5520 to M5583 completion signal

(Note-1): n indicates a value corresponding to an axis No. (Axis No.1 to 32: n = 0 to 31)

Confirm the usage conditions using "Cross reference" or others in MT Works2, and change the device numbers to the ones of Q173CPUN/Q172CPUN.

-

(Note-2): p indicates the number of the user free area points in the multiple CPU high speed transmission area of each CPU.

□: Start I/O number of CPU module

(Note-3): The setting range differs depending on the setting unit.

(Note-4): Setting is available only for the devices of the own CPU.

X0 to X7FF

Y0 to Y7FF

M0 to M2047

L0 to L2047

B0 to B3FF

D0 to D1023

W0 to W3FF

#0 to #8191

Absolute address

(H0 to HFFFFFFFF)

D0 to D1023

W0 to W3FF

#0 to #8191

(Note-3)

X0 to X7FF

Y0 to Y7FF

M0 to M2047

L0 to L2047

B0 to B3FF

F0 to F255

M9000 to M9255

TT0 to TT255

TC0 to TC255

CT0 to CT255

CC0 to CC255

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. REPLACEMENT FROM A-MOTION TO QN-MOTION

4. DIVERSION OF PROJECT CREATED WITH A173CPUN/A172CPUN

4.1 List of Available Data for Diversion (SV13/SV22)

Motion SFC not compatible Motion SFC compatible

A17nSHCPUN A173UHCPU A172SHCPUN A173UHCPU

SV13 SV22 SV13 SV22 SV13 SV22 SV13 SV22

System setting

System setting data

High speed reading data

Basic setting data

Fixed parameter

Home position return data

Servo data setting

JOG operation data

Servo parameter

Parameter block

Limit output data

Servo program

Motion

Operation control program Motion

SFC program

Remarks

Note-1

Note-2

Note-3

Note-4, Note-5

Note-4

Note-4

Note-4

Note-6

Mechanical system program

Automatic numbering setting

Mechanical edit data

Mechanical conversion data

Cam conversion data

Real mode axis information

Cam data

Device memory

Backup data

Communication setting

: Can be diverted

: Data must be revised

: Must be set again

(SW3RNC-GSVE only)

Note-4

Note-6

Note-6

Note-6

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. REPLACEMENT FROM A-MOTION TO QN-MOTION

(Note-1) System setting data

• Pulse generator/synchronous encoder I/F module, A172SENCA172SENC module is converted to Q172LX.

Manual pulse generator/synchronous encoder setting is deleted.

Set Q172EX-S2 or Q173PX modules if necessary.

• Limit output module A1SY42 (when a motion SFC non-compatible OS is used)

The limit output module A1SY42 is not diverted.

• Amplifier setting other than the one for servo amplifiers

Any items other than MR-J-B and servo amplifiers (including inverters) are deleted.

(Note-2) Basic setting data

Q-Motion requires the multiple CPU setting. Configure the setting according to the system.

(Note-3) Limit output data (when a motion SFC non-compatible OS is used)

This data is deleted because of its incompatibility. Revise the data.

(Note-4) Servo program, Motion SFC program, mechanical system program

• Motion-dedicated devices

Assignment of motion-dedicated devices is different between A17nSHCPUN/A173UHCPU and Q-Motion.

Change the motion-dedicated devices.

(Note-5) Servo program

• Number of words in indirect device

There are some areas where the number of words has changed between A17nSHCPUN/A173UHCPU and

Q-Motion.

Execute a conversion check and revise the program if necessary.

(Note-6) Conversion data, setting data

These data cannot be diverted because CPUs are different. Convert and set the data again.

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. REPLACEMENT FROM A-MOTION TO QN-MOTION

4.2 Program Diversion Procedure in Motion CPU Side procedure using MT Developer2

The following shows an example of procedures for replacing an A-Motion CPU side project with a

QDS-Motion CPU project using MT Developer2. Always backup the project before the program replacement.

1) Start MT Developer2, and select "Divert File" from the "Project" tab.

2) Specify the CPU type and OS type after the replacement in the "Diversion of the MT Developer2

Format Project" dialog box, and select "Browse".

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. REPLACEMENT FROM A-MOTION TO QN-MOTION

3) Select "Browse" in Save Folder Path and the source project from "Folder List", and click "Open".

4) Select data to be converted in "File Selection".

5) Select "Divert".

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. REPLACEMENT FROM A-MOTION TO QN-MOTION

6) The conversion of the project is completed. Select "OK".

After the project conversion, make the cross comparison or check the data on each screen.

7) Select "Save As" from the "Project" tab to save the project after the conversion.

8) Input "Workspace Name", "Project Name", and "Title", and select "Save".

9) The new project creation dialog box appears. Select "Yes".

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. REPLACEMENT FROM A-MOTION TO QN-MOTION

4.2.2 When SFC is not used

When no SFC program is used in the A-Motion CPU side program (Diversion source) and servo parameters and others are diverted, perform the following procedure after the operation of 9).

1) Select "Motion SFC Program Manager".

2) Select "Unused" for "Motion SFC Program", and select "OK".

For the file converted using MT Works2, refer to "4.1 List of Available Data for Diversion (SV13/SV22)", and set the data that cannot be diverted if necessary. For the multiple CPU parameter setting, refer to

"3.Differences between Q173CPUN/Q172CPUN and A173UHCPU/A172SHCPUN/A171SHCPUN",

"QCPU User's Manual (Multiple CPU System) Model code: SH-080485ENG", and

"Q173CPU(N)/Q172CPU(N) User's Manual Model code: 1XB780".

4.2.3 Precautions for diverting cam data

To edit cam data, read the data directly using "Read Other Type Cam Data".

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. REPLACEMENT FROM A-MOTION TO QN-MOTION

4.3 Program Diversion Procedure in PLC CPU Side

4.3.1 Conversion procedure of sequence program for Qn(H)CPU using GX Works2/

GX Developer

The following describes an example of the procedure for replacing a sequence project using

GX Developer.

Always backup the project before the replacement.

(1) Conversion of a sequence program created by SW3RNC-GSV/SW2□-GSV

1) After starting GX Works2, select "Start GX Developer" from the "Project" tab.

2) The following shows the conversion of a sequence program created by SW3RNC-GSV/

SW2□-GSV (GPPA file format).

After GX Developer is started, select "Import file" --> "Import from GPPA format file" from the

"Project" tab.

Caution 1: Storage location of an execution file

The execution file in the GPPA format is usually stored in the following folder.

• Folder structure

"C drive (route drive)" --> "GPP" --> "USR" --> "System name" --> "Machine name (folder which includes the gppa.cnf file)"

Caution 2: Name of diversion source project

When the diversion source project name is 9 characters or more, the project cannot be read.

Change the name so that the number of characters is within the limit and execute the conversion operation.

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. REPLACEMENT FROM A-MOTION TO QN-MOTION

3) Select "Browse".

4) Select the conversion target file and select "OK".

5) Check the conversion targets (Program/Device comment/Parameter), and select "Execute".

Note) Only one of "Comment1" and "Comment2" can be selected for Device comment.

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. REPLACEMENT FROM A-MOTION TO QN-MOTION

6) The conversion completion dialog box appears. Select "OK".

7) Select "Close".

8) Select "Change PLC type" from the "Project" tab in GX Developer.

9) Specify the PLC series (QCPU(Qmode)) and PLC type (QnUD(E)(H)CPU) after the replacement in the "Change PLC type" dialog box, and select "OK".

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. REPLACEMENT FROM A-MOTION TO QN-MOTION

10) The "Change PLC type" dialog box appears. Select "Yes".

Note) In this replacement handbook, "Yes" is selected because the changes will be checked later by using a support tool.

When the supporting tool is not used, select "Confirm change".

11) The following dialog box appears. Select "OK".

Some devices cannot be replaced properly and are forcibly converted to

"SM1255" or "SD1255".

Refer to the explanation about the usage of the A/QnA->Q conversion support tool described later and replace those devices with appropriate ones.

12) When "Save as" is selected from the "Project" tab, the following dialog box appears. Input "Project name" and "Title", and select "Save".

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. REPLACEMENT FROM A-MOTION TO QN-MOTION

13) The new project creation dialog box appears. Select "Yes".

Although the sequence program has been converted by following this procedure, it may not be performed correctly. For the program modifications, refer to Section 5 and later.

(2) Conversion of a sequence program for A-Motion created by GX Developer

The following describes an example of the procedure for replacing a sequence project using GX

Developer. Always backup the project before the replacement.

1) After starting GX Works2, select "Start GX Developer" from the "Project" tab.

2) The following shows the conversion of a sequence program for A-Motion that created by GX

Developer (GPPW file format).

3) After GX Developer is started, select "Open project" from the "Project" tab.

4) Select the file to be converted, and select "Open".

For the following conversion operations, refer to Step 8) and later of (1) Conversion of a sequence

program created by SW3RNC-GSV/SW2□-GSV.

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. REPLACEMENT FROM A-MOTION TO QN-MOTION

5. USING A/QnA->Q CONVERSION SUPPORT TOOL FOR SEQUENCE PROGRAMS

To confirm the converted content of the sequence program, use "A/QnA->Q conversion support tool".

Please download and install the A/QnA->Q conversion support tool from Mitsubishi Electric FA Site.

For details, refer to A/QnA->Q Conversion Support Tool Operation Guide on the same page.

To download the tool, access the Mitsubishi Electric FA Site

(http://www.mitsubishielectric.co.jp/fa/index.html) and as follows. http://www.mitsubishielectric.co.jp/fa/download/software/search.do?mode=software&kisyu=%2Fplca&lan g=2&select=0&softid=0

5.1 Preparation for Using Support Tool

To use the support tool, prepare the following.

1) Diversion source sequence program (for comparison)

2) Target sequence program (program converted for Qn(H)CPU)

3) A/QnA->Q conversion support tool (Obtain this tool from Mitsubishi Electric FA Site.)

4) A/QnA->Q Conversion Support Tool Operation Guide (Obtain this guidebook from Mitsubishi

Electric FA Site.)

5) GX Developer (GX Works2)

Caution

Convert 1) into a project whose CPU type is changed to A2SH or A3U and save the project using GX

Developer as follows. The conversion method is the same as the one described in "2.4.3 Program

Diversion Procedure in PLC CPU Side".

• For A171SHCPUN and A172SHCPUN

Select "ACPU" for PLC series and "A2SH" for PLC type in the "Change PLC type" dialog box, and select "OK".

• For A173UHCPU

Select "ACPU" for PLC series and "A3U" for PLC type in the "Change PLC type" dialog box, and select "OK".

* This operation is necessary to use the A/QnA->Q program conversion support tool.

File before conversion File after conversion

A/QnA->Q conversion support tool

Analysis result Index file

File for GX Developer

Statements are added in the file after conversion.

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. REPLACEMENT FROM A-MOTION TO QN-MOTION

5.2 Using Procedure of Support Tool

1) Click "Start" --> "MELSOFT Application" --> "AQCnvSupport" to start the support tool.

Then select "A/QnA->Q program conversion support tool execute".

2) The "A/QnA->Q program conversion support tool" dialog box appears. Specify a source file in the

GPPA format, A2SH file, or A3U file for "Project for A/QnA series before PLC type changing".

Specify the file converted to the QnUD(E)(H)CPU type file for "Project for Q series after PLC type changed", and select "Next".

Above: File for comparison (A2SH)

Below: File converted to the one for

Q26HCPU

After this procedure, follow the description in A/QnA->Q Conversion Support Tool Operation

Guide.

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3) Created file

Once the operation is completed by following the description in A/QnA->Q Conversion Support

Tool Operation Guide, an analysis result Index file (HTML document) and a GX Developer file in which statements of the modifications are embedded are created in the specified folder.

4) Display

• Analysis result index file

The following shows an example of the execution results of the analysis result index file.

• GX Developer file in which statements are embedded

The following shows an example of the execution results of the GX Developer file in which statements are embedded.

"Statement display" or "Ctrl + F7" displays the contents that need to be modified.

* In the case described above, the device M9074 has been replaced with the device SM1255. Correct the device to an appropriate one.

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. REPLACEMENT FROM A-MOTION TO QN-MOTION

5.3 Correction of the Sequence Program in Created Embedded File

5.3.1 Correction of special relay/special register

The special relay that cannot be converted from A-Motion is converted to "SM1255", and the special register that cannot be converted from A-Motion is converted to "SD1255". Modify the devices according to a between-the-lines statement.

5.3.2 Correction of motion-dedicated instructions

A-Motion-dedicated instructions (SVST, CHGA, CHGV, CHGT, SFCS, ITP) are converted to "SM1255".

Modify the devices according to a between-the-lines statement.

5.3.3 Others

Confirm the details of user's manual and programming manual for each CPU module and correct required items. For the usage of GX Developer and others, refer to manuals of each product.

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. REPLACEMENT FROM A-MOTION TO QN-MOTION

6. POINTS AND PRECAUTIONS OF REPLACEMENT

6.1 Difference of Motion CPU Configuration configuration

The following figure shows the differences between the basic system of A-Motion and basic system of

QDS-Motion.

• The PLC function and the motion function are integrated in one A-motion CPU. However, in

QDS-motion, they are in different CPUs.

• A-Motion is compatible with SSCNET as a servo system network, but QDS-Motion is compatible with

SSCNET III or SSCNET III/H. Servo amplifiers connectable to each motion are also different.

• A motion module A172SENC (Pulse generator/synchronous encoder interface module) is replaced with a motion module Q172DLX (Servo external signal interface module), Q172DEX (Synchronous encoder interface module), or Q173DPX (Manual pulse generator interface module).

• A base unit is changed to a Q series multiple CPU high speed base unit. As a result, motion modules

(Q172DLX, Q173DEX, and Q172DPX) cannot be installed in the CPU slot and Slot 0 to 2.

(Servo external signals input)

Motion controller

A171SHCPUN

A172SHCPUN

A173UHCPU

A173UHCPU-S1

Main base unit

A17□B

Motion I/O module

A172SENC

Manual pulse generator

MR-HDP01

Serial ABS synchronous encoder

MR-HENC

(Servo external signals input)

Input module

Q172LX

Encoder input module

Q172EX-S2

Power supply module Main base unit

Q6□P

+

Q3□B

PLC CPU

Qn(H)CPU

+

Motion controller

Q172CPUN

Q173CPUN

Pulse input module

Q173PX

Serial ABS synchronous encoder

Q170ENC, MR-HENC

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4

. REPLACEMENT FROM A-MOTION TO QN-MOTION

In A-motion, the PLC and Motion functions are integrated in an A-motion CPU. Thus, the both function shares the memory. In QDS-Motion, a PLC CPU and a Motion CPU are divided as different modules. Thus, configuring various settings (Assignment to the multiple CPU shared devices/automatic refresh setting) is required to share the memory.

For details, refer to "QCPU User's Manual (Multiple CPU System) Model code: SH-080485ENG",

"Programming Manual (COMMON) [type Q173D(S)/Q172D(S)] Model Code: 1XB928".

A-Motion QDS-Motion

After diverting the project, execute the automatic refresh setting to share the device memory. It is necessary to assign the devices being used by the PLC CPU to the devices of the Motion CPU.

4

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4

. REPLACEMENT FROM A-MOTION TO QN-MOTION

6.2 Precautions on Replacement

6.2.1 Slot position (system setting)

When a motion module used in A-Motion is replaced with a Q-Motion module, the slot position will change.

Example) When A172SENC is arranged in Slot 0 in A-Motion

A172SENC is arranged in Slot 0.

↓ A172SHCPU is converted to Q172CPUN.

The conversion is executed as follows.

A172SHCPU → Q172CPUN (Slot 0)

A172SENC → Q172LX (Slot 1)

Q172LX is arranged in Slot 1.

4

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4

. REPLACEMENT FROM A-MOTION TO QN-MOTION

6.2.2 Restrictions on the number of blocks and total points in the refresh setting

In Q-Motion, an automatic refresh function is one of the specifications added from A-Motion.

The number of blocks for the automatic refresh is limited to 4 blocks in Q173CPUN/Q172CPUN.

PCPU

Device

memory

(D, M)

Shared

memory

No.1

No.2

* The number of blocks for automatic refresh is 32.

T (Timer device) and C (Counter device) can be used in A-Motion, but they cannot be used in Q-Motion.

When T and C are used on the motion SFC side, use the TIME instruction as an alternative method.

Since the error check function is improved in Q-Motion, errors and warnings will be displayed in the parameter in which errors and warnings were not displayed in A-Motion after the replacement. Correct the errors according to the content of the errors and warnings.

Example) A-Motion

• CPU module is changed from A-Motion to Q-Motion using MT2

• Error contents and measures

In the above case, set the sudden stop deceleration time to be equal to the deceleration time setting value (500ms or shorter).

Note that the error check becomes stricter than before the replacement as the above case.

4

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5. APPENDIX

5. APPENDIX

5. APPENDIX ............................................................................................................................................................ 1

1.

OUTLINE DIMENSIONS ................................................................................................................................... 2

1.1

Outline Dimensions of A Series (small type) ............................................................................................ 2

1.1.1

A17nSHCPUN .................................................................................................................................... 2

1.1.2

A173UHCPU(-S1) .............................................................................................................................. 2

1.1.3

A172SENC ......................................................................................................................................... 3

1.1.4

A172B ................................................................................................................................................. 3

1.1.5

A175B ................................................................................................................................................. 4

1.1.6

A178B(-S□) ......................................................................................................................................... 4

1.1.7

A168B ................................................................................................................................................. 4

1.1.8

A1S65B ............................................................................................................................................... 5

1.1.9

A1S68B ............................................................................................................................................... 5

1.2

Outline Dimensions of QD(S) Series ......................................................................................................... 6

1.2.1

Q17nDSCPU ...................................................................................................................................... 6

1.2.2

Q17nDCPU ......................................................................................................................................... 6

1.2.3

Q17nDCPU-S1 ................................................................................................................................... 7

1.2.4

Q170DBATC ....................................................................................................................................... 7

1.2.5

Q172DLX ............................................................................................................................................ 8

1.2.6

Q172DEX............................................................................................................................................ 8

1.2.7

Q173DPX............................................................................................................................................ 9

1.2.8

Q61P/Q62P/Q63P .............................................................................................................................. 9

1.2.9

QnHCPU ........................................................................................................................................... 10

1.2.10

QnUDE(H)CPU ................................................................................................................................ 10

1.2.11

Q38DB .............................................................................................................................................. 11

1.2.12

Q312DB ............................................................................................................................................ 11

1.2.13

Q55B ................................................................................................................................................. 11

1.2.14

Q63B ................................................................................................................................................. 12

1.2.15

Q65B ................................................................................................................................................. 12

1.2.16

Q68B [Base unit mounting hole: 5 holes] ........................................................................................ 12

1.2.17

Q68B [Base unit mounting hole: 4 holes] ........................................................................................ 13

1.2.18

Q612B [Base unit mounting hole: 5 holes] ...................................................................................... 13

1.2.19

Q612B [Base unit mounting hole: 4 holes] .................................................................................... 13

1.3

Outline Dimensions of Stand-alone Motion ............................................................................................ 14

1.3.1

Q170MSCPU(-S1) ........................................................................................................................... 14

1.3.2

Q170MCPU ...................................................................................................................................... 14

5

- 1

5. APPENDIX

DIMENSIONS

1.1 Outline Dimensions of A Series (small type)

1.1.1 A17nSHCPUN

1.1.2 A173UHCPU(-S1)

5

- 2

5. APPENDIX

1.1.3 A172SENC

1.1.4 A172B

5

- 3

4 mounting screws

5. APPENDIX

1.1.5 A175B

1.1.6 A178B(-S□)

1.1.7 A168B

5

- 4

4 mounting screws

4 mounting screws

4 mounting screws

5. APPENDIX

1.1.8 A1S65B

1.1.9 A1S68B

4 mounting screws

4 mounting screws

5

- 5

5. APPENDIX

1.2 Outline Dimensions of QD(S) Series

1.2.1 Q17nDSCPU

1.2.2 Q17nDCPU

[Unit: mm]

[Unit: mm]

5

- 6

5. APPENDIX

1.2.3 Q17nDCPU-S1

1.2.4 Q170DBATC

2-φ5.3 (Mounting screw M5×14)

5

- 7

[Unit: mm]

5. APPENDIX

1.2.5 Q172DLX

1.2.6 Q172DEX

5

- 8

[Unit: mm]

[Unit: mm]

5. APPENDIX

1.2.7 Q173DPX

1.2.8 Q61P/Q62P/Q63P

5

- 9

[Unit: mm]

[Unit: mm]

5. APPENDIX

1.2.9 QnHCPU

1.2.10 QnUDE(H)CPU

5

- 10

5. APPENDIX

1.2.11 Q38DB

5 mounting screws

1.2.12 Q312DB

5 mounting screws

1.2.13 Q55B

4 mounting screws (M4×14)

5

- 11

5. APPENDIX

1.2.14 Q63B

4 mounting screws (M4×14)

1.2.15 Q65B

4 mounting screws (M4×14)

1.2.16 Q68B [Base unit mounting hole: 5 holes]

5 mounting screws

5

- 12

5. APPENDIX

1.2.17 Q68B [Base unit mounting hole: 4 holes]

4 mounting screws (M4×14)

1.2.18 Q612B [Base unit mounting hole: 5 holes]

5 mounting screws

1.2.19 Q612B [Base unit mounting hole: 4 holes]

4 mounting screws (M4×14)

5

- 13

5. APPENDIX

1.3 Outline Dimensions of Stand-alone Motion

1.3.1 Q170MSCPU(-S1)

1.3.2 Q170MCPU

With the battery holder removed

5

- 14

With the battery holder removed

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.

Transition from A17nSHCPUN/A173UHCPU Series to Q Series Handbook

Safety Warning

To ensure proper use of the products list ed in thi s catalog, please be sure to read the in struction manual prior to use.

Country/Region Sales office

USA MITSUBISHI ELECTRIC AUTOMATION, INC.

500 Corporate Woods Parkway, Vernon Hills, IL 60061, U.S.A.

Mexico

Brazil

MITSUBISHI ELECTRIC AUTOMATION, INC. Mexico Branch

Mariano Escobedo #69, Col. Zona Industrial, Tlalnepantla Edo, C.P.54030, Mexico

MITSUBISHI ELECTRIC DO BRASIL COMÉRCIO E SERVIÇOS LTDA.

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Germany

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Italy

Korea

Singapore

Thailand

Indonesia

Vietnam

India

Australia

MITSUBISHI ELECTRIC EUROPE B.V. German Branch

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MITSUBISHI ELECTRIC EUROPE B.V. UK Branch

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Centro Direzionale Colleoni - Palazzo Sirio Viale Colleoni 7, 20864 Agrate

Brianza(Milano) Italy

Spain

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Carretera de Rubí, 76-80-Apdo. 420, 08173 Sant Cugat del Vallés (Barcelona), Spain

MITSUBISHI ELECTRIC EUROPE B.V. French Branch

25, Boulevard des Bouvets, F-92741 Nanterre Cedex, France

Czech Republic MITSUBISHI ELECTRIC EUROPE B.V. Czech Branch

Avenir Business Park, Radlicka 751/113e, 158 00 Praha5, Czech Republic

Poland MITSUBISHI ELECTRIC EUROPE B.V. Polish Branch ul. Krakowska 50, 32-083 Balice, Poland

Russia

Sweden

Turkey

UAE

South Africa

China

MITSUBISHI ELECTRIC EUROPE B.V. Russian Branch St. Petersburg office

Piskarevsky pr. 2, bld 2, lit “Sch”, BC “Benua”, office 720; RU-195027

St. Petersburg, Russia

MITSUBISHI ELECTRIC EUROPE B.V. (Scandinavia)

Fjelievägen 8, SE-22736 Lund, Sweden

MITSUBISHI ELECTRIC TURKEY A.Ş Ümraniye Branch

Şerifali Mahallesi Nutuk Sokak No:5, TR-34775 Ümraniye, İstanbul, Türkey

MITSUBISHI ELECTRIC EUROPE B.V. Dubai Branch

Dubai Silicon Oasis, P.O.BOX 341241, Dubai, U.A.E.

ADROIT TECHNOLOGIES

20 Waterford Office Park, 189 Witkoppen Road, Fourways, Johannesburg, South Africa

MITSUBISHI ELECTRIC AUTOMATION (CHINA) LTD.

No.1386 Hongqiao Road, Mitsubishi Electric Automation Center, Shanghai, China

Taiwan SETSUYO ENTERPRISE CO., LTD.

6F, No.105, Wugong 3rd Road, Wugu District, New Taipei City 24889, Taiwan, R.O.C.

MITSUBISHI ELECTRIC AUTOMATION KOREA CO., LTD.

7F-9F, Gangseo Hangang Xi-tower A, 401, Yangcheon-ro, Gangseo-Gu, Seoul 157-801, Korea

MITSUBISHI ELECTRIC ASIA PTE. LTD.

307, Alexandra Road, Mitsubishi Electric Building, Singapore 159943

MITSUBISHI ELECTRIC FACTORY AUTOMATION (THAILAND) CO., LTD.

12th Floor, SV.City Building, Office Tower 1, No. 896/19 and 20 Rama 3 Road, Kwaeng

Bangpongpang, Khet Yannawa, Bangkok 10120, Thailand

PT. MITSUBISHI ELECTRIC INDONESIA

Gedung Jaya 11th Floor, JL. MH. Thamrin No.12, Jakarta Pusat 10340, Indonesia

MITSUBISHI ELECTRIC VIETNAM COMPANY LIMITED

Unit 01-04, 10th Floor, Vincom Center, 72 Le Thanh Ton Street, District 1, Ho Chi Minh City,

Vietnam

MITSUBISHI ELECTRIC INDIA PVT. LTD. Pune Branch

Emerald House, EL -3, J Block, M.I.D.C Bhosari, Pune - 411026, Maharashtra, India

MITSUBISHI ELECTRIC AUSTRALIA PTY. LTD.

348 Victoria Road, P.O. Box 11, Rydalmere, N.S.W 2116, Australia

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Tel : +66-2682-6522 to 6531

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Tel : +91-20-2710-2000

Fax : +91-20-2710-2100

Tel : +61-2-9684-7777

Fax : +61-2-9684-7245

L(NA)03104ENG-C

New publication, effective October 2014.

Specifications are subject to change without notice.

Transition from A17nSHCPUN/A173UHCPU

Series to Q Series Handbook

C

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