Mitsubishi Electronics Video Gaming Accessories Q170MCPU User manual

SAFETY PRECAUTIONS
(Please read these instructions before using this equipment.)
Before using this product, please read this manual and the relevant manuals introduced in this manual
carefully and pay full attention to safety to handle the product correctly.
These precautions apply only to this product. Refer to the 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".
DANGER
Indicates that incorrect handling may cause hazardous
conditions, resulting in death or severe injury.
CAUTION
Indicates that incorrect handling may cause hazardous
conditions, resulting in medium or slight personal injury or
physical damage.
CAUTION may also be linked to serious
Depending on circumstances, procedures indicated by
results.
In any case, it is important to follow the directions for usage.
Please save this manual to make it accessible when required and always forward it to the end user.
A-1
For Safe Operations
1. Prevention of electric shocks
DANGER
Never open the front case or terminal covers while the power is ON or the unit is running, as this
may lead to electric shocks.
Never run the unit with the front case or terminal cover removed. The high voltage terminal and
charged sections will be exposed and may lead to electric shocks.
Never open the front case or terminal cover at times other than wiring work or periodic
inspections even if the power is OFF. The insides of the Motion controller and servo amplifier are
charged and may lead to electric shocks.
Completely turn off the externally supplied power used in the system before mounting or
removing the module, performing wiring work, or inspections. Failing to do so may lead to electric
shocks.
When performing wiring work or inspections, turn the power OFF, wait at least ten minutes, and
then check the voltage with a tester, etc.. Failing to do so may lead to electric shocks.
Be sure to ground the Motion controller, servo amplifier and servomotor. (Ground resistance :
100 or less) Do not ground commonly with other devices.
The wiring work and inspections must be done by a qualified technician.
Wire the units after installing the Motion controller, servo amplifier and servomotor. Failing to do
so may lead to electric shocks or damage.
Never operate the switches with wet hands, as this may lead to electric shocks.
Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this
may lead to electric shocks.
Do not touch the Motion controller, servo amplifier or servomotor terminal blocks while the power
is ON, as this may lead to electric shocks.
Do not touch the built-in power supply, built-in grounding or signal wires of the Motion controller
and servo amplifier, as this may lead to electric shocks.
2. For fire prevention
CAUTION
Install the Motion controller, servo amplifier, servomotor and regenerative resistor on
incombustible. Installing them directly or close to combustibles will lead to fire.
If a fault occurs in the Motion controller or servo amplifier, shut the power OFF at the servo
amplifier’s power source. If a large current continues to flow, fire may occur.
When using a regenerative resistor, shut the power OFF with an error signal. The regenerative
resistor may abnormally overheat due to a fault in the regenerative transistor, etc., and may lead
to fire.
Always take heat measures such as flame proofing for the inside of the control panel where the
servo amplifier or regenerative resistor is installed and for the wires used. Failing to do so may
lead to fire.
Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this
may lead to fire.
A-2
3. For injury prevention
CAUTION
Do not apply a voltage other than that specified in the instruction manual on any terminal.
Doing so may lead to destruction or damage.
Do not mistake the terminal connections, as this may lead to destruction or damage.
Do not mistake the polarity ( + / - ), as this may lead to destruction or damage.
Do not touch the heat radiating fins of controller or servo amplifier, regenerative resistor and
servomotor, etc., while the power is ON and for a short time after the power is turned OFF. In this
timing, these parts become very hot and may lead to burns.
Always turn the power OFF before touching the servomotor shaft or coupled machines, as these
parts may lead to injuries.
Do not go near the machine during test operations or during operations such as teaching.
Doing so may lead to injuries.
4. Various precautions
Strictly observe the following precautions.
Mistaken handling of the unit may lead to faults, injuries or electric shocks.
(1) System structure
CAUTION
Always install a leakage breaker on the Motion controller and servo amplifier power source.
If installation of an electromagnetic contactor for power shut off during an error, etc., is specified in
the instruction manual for the servo amplifier, etc., always install the electromagnetic contactor.
Install the emergency stop circuit externally so that the operation can be stopped immediately and
the power shut off.
Use the Motion controller, servo amplifier, servomotor and regenerative resistor with the correct
combinations listed in the instruction manual. Other combinations may lead to fire or faults.
Use the Motion controller, base unit and motion module with the correct combinations listed in the
instruction manual. Other combinations may lead to faults.
If safety standards (ex., robot safety rules, etc.,) apply to the system using the Motion controller,
servo amplifier and servomotor, make sure that the safety standards are satisfied.
Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal
operation of the Motion controller or servo amplifier differ from the safety directive operation in the
system.
In systems where coasting of the servomotor will be a problem during the forced stop, emergency
stop, servo OFF or power supply OFF, use dynamic brakes.
Make sure that the system considers the coasting amount even when using dynamic brakes.
In systems where perpendicular shaft dropping may be a problem during the forced stop,
emergency stop, servo OFF or power supply OFF, use both dynamic brakes and electromagnetic
brakes.
A-3
CAUTION
The dynamic brakes must be used only on errors that cause the forced stop, emergency stop, or
servo OFF. These brakes must not be used for normal braking.
The brakes (electromagnetic brakes) assembled into the servomotor are for holding applications,
and must not be used for normal braking.
The system must have a mechanical allowance so that the machine itself can stop even if the
stroke limits switch is passed through at the max. speed.
Use wires and cables that have a wire diameter, heat resistance and bending resistance
compatible with the system.
Use wires and cables within the length of the range described in the instruction manual.
The ratings and characteristics of the parts (other than Motion controller, servo amplifier and
servomotor) used in a system must be compatible with the Motion controller, servo amplifier and
servomotor.
Install a cover on the shaft so that the rotary parts of the servomotor are not touched during
operation.
There may be some cases where holding by the electromagnetic brakes is not possible due to the
life or mechanical structure (when the ball screw and servomotor are connected with a timing belt,
etc.). Install a stopping device to ensure safety on the machine side.
(2) Parameter settings and programming
CAUTION
Set the parameter values to those that are compatible with the Motion controller, servo amplifier,
servomotor and regenerative resistor model and the system application. The protective functions
may not function if the settings are incorrect.
The regenerative resistor model and capacity parameters must be set to values that conform to
the operation mode, servo amplifier and servo power supply module. The protective functions
may not function if the settings are incorrect.
Set the mechanical brake output and dynamic brake output validity parameters to values that are
compatible with the system application. The protective functions may not function if the settings
are incorrect.
Set the stroke limit input validity parameter to a value that is compatible with the system
application. The protective functions may not function if the setting is incorrect.
Set the servomotor encoder type (increment, absolute position type, etc.) parameter to a value
that is compatible with the system application. The protective functions may not function if the
setting is incorrect.
Set the servomotor capacity and type (standard, low-inertia, flat, etc.) parameter to values that
are compatible with the system application. The protective functions may not function if the
settings are incorrect.
Set the servo amplifier capacity and type parameters to values that are compatible with the
system application. The protective functions may not function if the settings are incorrect.
Use the program commands for the program with the conditions specified in the instruction
manual.
A-4
CAUTION
Set the sequence function program capacity setting, device capacity, latch validity range, I/O
assignment setting, and validity of continuous operation during error detection to values that are
compatible with the system application. The protective functions may not function if the settings
are incorrect.
Some devices used in the program have fixed applications, so use these with the conditions
specified in the instruction manual.
The input devices and data registers assigned to the link will hold the data previous to when
communication is terminated by an error, etc. Thus, an error correspondence interlock program
specified in the instruction manual must be used.
Use the interlock program specified in the intelligent function module's instruction manual for the
program corresponding to the intelligent function module.
(3) Transportation and installation
CAUTION
Transport the product with the correct method according to the mass.
Use the servomotor suspension bolts only for the transportation of the servomotor. Do not
transport the servomotor with machine installed on it.
Do not stack products past the limit.
When transporting the Motion controller or servo amplifier, never hold the connected wires or
cables.
When transporting the servomotor, never hold the cables, shaft or detector.
When transporting the Motion controller or servo amplifier, never hold the front case as it may fall
off.
When transporting, installing or removing the Motion controller or servo amplifier, never hold the
edges.
Install the unit according to the instruction manual in a place where the mass can be withstood.
Do not get on or place heavy objects on the product.
Always observe the installation direction.
Keep the designated clearance between the Motion controller or servo amplifier and control panel
inner surface or the Motion controller and servo amplifier, Motion controller or servo amplifier and
other devices.
Do not install or operate Motion controller, servo amplifiers or servomotors that are damaged or
that have missing parts.
Do not block the intake/outtake ports of the Motion controller, servo amplifier and servomotor with
cooling fan.
Do not allow conductive matter such as screw or cutting chips or combustible matter such as oil
enter the Motion controller, servo amplifier or servomotor.
The Motion controller, servo amplifier and servomotor are precision machines, so do not drop or
apply strong impacts on them.
Securely fix the Motion controller, servo amplifier and servomotor to the machine according to
the instruction manual. If the fixing is insufficient, these may come off during operation.
A-5
CAUTION
Always install the servomotor with reduction gears in the designated direction. Failing to do so
may lead to oil leaks.
Store and use the unit in the following environmental conditions.
Environment
Ambient
temperature
Ambient humidity
Storage
temperature
Atmosphere
Conditions
Motion controller/Servo amplifier
According to each instruction manual.
According to each instruction manual.
According to each instruction manual.
Servomotor
0°C to +40°C (With no freezing)
(32°F to +104°F)
80% RH or less
(With no dew condensation)
-20°C to +65°C
(-4°F to +149°F)
Indoors (where not subject to direct sunlight).
No corrosive gases, flammable gases, oil mist or dust must exist
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.
A-6
(4) Wiring
CAUTION
Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal
screws for tightness after wiring. Failing to do so may lead to run away of the servomotor.
After wiring, install the protective covers such as the terminal covers to the original positions.
Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF)
on the output side of the servo amplifier.
Correctly connect the output side (terminal U, V, W) and ground. Incorrect connections will lead
the servomotor to operate abnormally.
Do not connect a commercial power supply to the servomotor, as this may lead to trouble.
Do not mistake the direction of the surge absorbing diode installed on the DC relay for the control
signal output of brake signals, etc. Incorrect installation may lead to signals not being output
when trouble occurs or the protective functions not functioning.
Servo amplifier
DOCOM
Control output
signal
Servo amplifier
24VDC
DOCOM
Control output
signal
RA
DICOM
24VDC
RA
DICOM
For the sink output interface
For the source output interface
Do not connect or disconnect the connection cables between each unit, the encoder cable or
PLC expansion cable while the power is ON.
Securely tighten the cable connector fixing screws and fixing mechanisms. Insufficient fixing may
lead to the cables 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.
A-7
(6) Usage methods
CAUTION
Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the
Motion controller, servo amplifier or servomotor.
Always execute a test operation before starting actual operations after the program or
parameters have been changed or after maintenance and inspection.
Do not attempt to disassemble and repair the units excluding a qualified technician whom our
company recognized.
Do not make any modifications to the unit.
Keep the effect or electromagnetic obstacles to a minimum by installing a noise filter or by using
wire shields, etc. Electromagnetic obstacles may affect the electronic devices used near the
Motion controller or servo amplifier.
When using the CE Mark-compliant equipment, refer to 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
Conditions
Input power
According to each instruction manual.
Input frequency
According to each instruction manual.
Tolerable momentary power failure
According to each instruction manual.
(7) Corrective actions for errors
CAUTION
If an error occurs in the self diagnosis of the Motion controller or servo amplifier, confirm the
check details according to the instruction manual, and restore the operation.
If a dangerous state is predicted in case of a power failure or product failure, use a servomotor
with electromagnetic brakes or install a brake mechanism externally.
Use a double circuit construction so that the electromagnetic brake operation circuit can be
operated by emergency stop signals set externally.
Shut off with servo ON signal OFF,
alarm, electromagnetic brake signal.
Servomotor
RA1
Electromagnetic
brakes
Shut off with the
emergency stop
signal (EMG).
EMG
24VDC
If an error occurs, remove the cause, secure the safety and then resume operation after alarm
release.
The unit may suddenly resume operation after a power failure is restored, so do not go near the
machine. (Design the machine so that personal safety can be ensured even if the machine
restarts suddenly.)
A-8
(8) Maintenance, inspection and part replacement
CAUTION
Perform the daily and periodic inspections according to the instruction manual.
Perform maintenance and inspection after backing up the program and parameters for the Motion
controller and servo amplifier.
Do not place fingers or hands in the clearance when opening or closing any opening.
Periodically replace consumable parts such as batteries according to the instruction manual.
Do not touch the lead sections such as ICs or the connector contacts.
Before touching the module, always touch grounded metal, etc. to discharge static electricity from
human body. Failure to do so may cause the module to fail or malfunction.
Do not directly touch the module's conductive parts and electronic components.
Touching them could cause an operation failure or give damage to the module.
Do not place the Motion controller or servo amplifier on metal that may cause a power leakage
or wood, plastic or vinyl that may cause static electricity buildup.
Do not perform a megger test (insulation resistance measurement) during inspection.
When replacing the Motion controller or servo amplifier, always set the new module settings
correctly.
When the Motion controller or absolute value motor has been replaced, carry out a home
position return operation using one of the following methods, otherwise position displacement
could occur.
1) After writing the servo data to the Motion controller using programming software, switch on the
power again, then perform a home position return operation.
2) Using the backup function of the programming software, load the data backed up before
replacement.
After maintenance and inspections are completed, confirm that the position detection of the
absolute position detector function is correct.
Do not drop or impact the battery installed to the module.
Doing so may damage the battery, causing battery liquid to leak in the battery. Do not use the
dropped or impacted battery, but dispose of it.
Do not short circuit, charge, overheat, incinerate or disassemble the batteries.
The electrolytic capacitor will generate gas during a fault, so do not place your face near the
Motion controller or servo amplifier.
The electrolytic capacitor and fan will deteriorate. Periodically replace these to prevent secondary
damage from faults. Replacements can be made by our sales representative.
Lock the control panel and prevent access to those who are not certified to handle or install
electric equipment.
Do not burn or break a module and servo amplifier. Doing so may cause a toxic gas.
A-9
(9) About processing of waste
When you discard Motion controller, servo amplifier, a battery (primary battery) and other option
articles, please follow the law of each country (area).
CAUTION
This product is not designed or manufactured to be used in equipment or systems in situations
that can affect or endanger human life.
When considering this product for operation in special applications such as machinery or systems
used in passenger transportation, medical, aerospace, atomic power, electric power, or
submarine repeating applications, please contact your nearest Mitsubishi sales representative.
Although this product was manufactured under conditions of strict quality control, you are strongly
advised to install safety devices to forestall serious accidents when it is used in facilities where a
breakdown in the product is likely to cause a serious accident.
(10) General cautions
All drawings provided in the instruction manual show the state with the covers and safety
partitions removed to explain detailed sections. When operating the product, always return the
covers and partitions to the designated positions, and operate according to the instruction
manual.
A - 10
REVISIONS
The manual number is given on the bottom left of the back cover.
Print Date
Feb., 2009
Jul., 2009
Manual Number
Revision
IB(NA)-0300156-A First edition
IB(NA)-0300156-B [Additional model]
QH40H, QX70H, QX80H, QX90H, Q170MICON, Q170MPWCON,
Q170MPWCBL2M-E
[Additional correction/partial correction]
Safety precautions, About manuals, Internal I/F, EMC directive,
Battery transportation, Symbol for the new EU battery directive,
Internal IO circuit troubleshooting, MC protocol communication, Mark
detection function, Synchronous encoder current value monitor in real
mode, Processing times, Troubleshooting
Dec., 2011
IB(NA)-0300156-C [Partial correction]
Safety Precautions, Section 4.2.1 Partial change of sentence
Japanese Manual Number IB(NA)-0300154
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.
© 2009 MITSUBISHI ELECTRIC CORPORATION
A - 11
INTRODUCTION
Thank you for choosing the Mitsubishi Motion controller Q170MCPU.
Before using the equipment, please read this manual carefully to develop full familiarity with the functions
and performance of the Motion controller you have purchased, so as to ensure correct use.
CONTENTS
Safety Precautions .........................................................................................................................................A- 1
Revisions ........................................................................................................................................................A-11
Contents .........................................................................................................................................................A-12
About Manuals ...............................................................................................................................................A-15
1. OVERVIEW
1- 1 to 1-10
1.1 Overview................................................................................................................................................... 1- 1
1.2 Comparison between Q170MCPU and Q173DCPU/Q172DCPU ......................................................... 1- 3
1.3 Restrictions by the software's version or serial number ......................................................................... 1-10
2. SYSTEM CONFIGURATION
2- 1 to 2-64
2.1 Motion System Configuration .................................................................................................................. 2- 1
2.1.1 Q170MCPU System overall configuration........................................................................................ 2- 3
2.1.2 Q170MCPU System internal configuration ...................................................................................... 2- 4
2.1.3 Function explanation of the Q170MCPU Motion controller ............................................................. 2- 5
2.1.4 Restrictions on Motion controller ...................................................................................................... 2- 7
2.2 Checking Serial Number and Operating System Software Version....................................................... 2- 9
2.2.1 Checking serial number .................................................................................................................... 2- 9
2.2.2 Checking operating system software version .................................................................................. 2-11
2.3 System Configuration Equipment............................................................................................................ 2-12
2.4 General Specifications ............................................................................................................................. 2-18
2.5 Specifications of Equipment .................................................................................................................... 2-19
2.5.1 Q170MCPU Motion controller........................................................................................................... 2-19
2.5.2. Extension base unit and extension cable........................................................................................ 2-41
2.5.3 Q172DLX Servo external signals interface module ......................................................................... 2-44
2.5.4 Q173DPX Manual pulse generator interface module ...................................................................... 2-49
2.5.5 Manual pulse generator .................................................................................................................... 2-57
2.5.6 SSCNET cables ............................................................................................................................. 2-58
2.5.7 Battery ............................................................................................................................................... 2-60
2.5.8 Forced stop input terminal ................................................................................................................ 2-63
3. DESIGN
3- 1 to 3-16
3.1 System Designing Procedure .................................................................................................................. 3- 1
3.2 External Circuit Design ............................................................................................................................ 3- 4
3.2.1 Power supply circuit design .............................................................................................................. 3- 7
3.2.2 Safety circuit design .......................................................................................................................... 3- 9
3.3 Layout Design within The Control Panel ................................................................................................. 3-11
3.3.1 Mounting environment....................................................................................................................... 3-11
3.3.2 Calculating heat generation by Motion controller............................................................................. 3-12
3.4 Design Checklist ...................................................................................................................................... 3-16
A - 12
4. INSTALLATION AND WIRING
4- 1 to 4-28
4.1 Module Installation ................................................................................................................................... 4- 1
4.1.1 Instructions for handling .................................................................................................................... 4- 1
4.1.2 Instructions for mounting the modules ............................................................................................. 4- 3
4.1.3 Installation and removal of module to the base unit......................................................................... 4- 9
4.1.4 Mounting and removal of the battery holder..................................................................................... 4-12
4.2 Connection and Disconnection of Cable ................................................................................................. 4-17
4.2.1 SSCNET cable ............................................................................................................................... 4-17
4.2.2 Forced stop input cable..................................................................................................................... 4-23
4.2.3 24VDC power supply cable .............................................................................................................. 4-24
4.3 Wiring........................................................................................................................................................ 4-25
4.3.1 Instructions for wiring ........................................................................................................................ 4-25
4.3.2 Connecting to the power supply ....................................................................................................... 4-28
5. START-UP PROCEDURES
5- 1 to 5-10
5.1 Check Items before Start-up.................................................................................................................... 55.2 Start-up Adjustment Procedure ............................................................................................................... 55.3 Operating System Software Installation Procedure................................................................................ 55.4 Trial Operation and Adjustment Checklist............................................................................................... 56. INSPECTION AND MAINTENANCE
1
3
7
9
6- 1 to 6-32
6.1 Maintenance Works ................................................................................................................................. 6- 2
6.1.1 Instruction of inspection works.......................................................................................................... 6- 2
6.2 Daily Inspection ........................................................................................................................................ 6- 4
6.3 Periodic Inspection................................................................................................................................... 6- 5
6.4 Life ............................................................................................................................................................ 6- 6
6.5 Battery ...................................................................................................................................................... 6- 7
6.5.1 Battery life.......................................................................................................................................... 6- 8
6.5.2 Battery replacement procedure ........................................................................................................ 6- 9
6.5.3 Resuming operation after storing the Motion controller ................................................................... 6-12
6.5.4 Symbol for the new EU Battery Directive ......................................................................................... 6-12
6.6 Troubleshooting ....................................................................................................................................... 6-13
6.6.1 Troubleshooting basics ..................................................................................................................... 6-13
6.6.2 Troubleshooting of Motion controller ................................................................................................ 6-14
6.6.3 Confirming error code ....................................................................................................................... 6-30
6.6.4 Internal I/O circuit troubleshooting .................................................................................................... 6-31
7. POSITIONING DEDICATED SIGNALS
7- 1 to 7- 6
7.1 Device List ................................................................................................................................................ 77.2 Positioning Dedicated Signals ...........................................................................................................77.2.1 Internal Relays................................................................................................................................... 77.2.2 Data Registers................................................................................................................................... 77.2.3 Motion Registers ............................................................................................................................... 77.2.4 Special Relays................................................................................................................................... 77.2.5 Special Registers .............................................................................................................................. 7A - 13
1
2
2
4
5
5
5
8. EMC DIRECTIVES
8- 1 to 8- 8
8.1 Requirements for Compliance with the EMC Directive .......................................................................... 88.1.1 Standards relevant to the EMC Directive ......................................................................................... 88.1.2 Installation instructions for EMC Directive........................................................................................ 88.1.3 Parts of measure against noise ........................................................................................................ 88.1.4 Example of measure against noise .................................................................................................. 8APPENDICES
1
2
3
5
7
APP- 1 to APP-78
APPENDIX 1 Differences Between Q170MCPU and Q173DCPU/Q172DCPU ....................................APP- 1
APPENDIX 1.1 Differences of devices .................................................................................................APP- 2
APPENDIX 1.2 Differences of parameters...........................................................................................APP- 3
APPENDIX 1.3 Differences of programs..............................................................................................APP- 3
APPENDIX 1.4 Differences of error codes...........................................................................................APP- 5
APPENDIX 1.5 Differences of peripheral device interface ..................................................................APP- 7
APPENDIX 1.6 MC Protocol Communication ......................................................................................APP-16
APPENDIX 1.7 Differences of CPU display and I/O assignment ........................................................APP-23
APPENDIX 1.8 Differences of I/O signals ............................................................................................APP-25
APPENDIX 1.9 Differences of synchronous encoder ..........................................................................APP-27
APPENDIX 1.10 Mark detection function .............................................................................................APP-29
APPENDIX 2 Creation of project ..............................................................................................................APP-38
APPENDIX 2.1 Sample data.................................................................................................................APP-39
APPENDIX 3 Processing Times...............................................................................................................APP-53
APPENDIX 3.1 Processing time of operation control/Transition instruction .......................................APP-53
APPENDIX 3.2 Processing time of Motion dedicated PLC instruction................................................APP-65
APPENDIX 4 Cables.................................................................................................................................APP-66
APPENDIX 4.1 SSCNET cables........................................................................................................APP-66
APPENDIX 4.2 Forced stop input cable ...............................................................................................APP-69
APPENDIX 4.3 24VDC power supply cable.........................................................................................APP-70
APPENDIX 4.4 Internal I/F connector cable.........................................................................................APP-71
APPENDIX 5 Exterior Dimensions ...........................................................................................................APP-73
APPENDIX 5.1 Motion controller (Q170MCPU)...................................................................................APP-73
APPENDIX 5.2 Servo external signals interface module (Q172DLX).................................................APP-74
APPENDIX 5.3 Manual pulse generator interface module (Q173DPX)..............................................APP-74
APPENDIX 5.4 Battery holder ..............................................................................................................APP-75
APPENDIX 5.5 Connector ....................................................................................................................APP-76
APPENDIX 5.6 Manual pulse generator (MR-HDP01) ........................................................................APP-78
A - 14
About Manuals
The following manuals are also related to this product.
In necessary, order them by quoting the details in the tables below.
Related Manuals
(1) Motion controller
Manual Number
(Model Code)
Manual Name
Q170MCPU Motion controller User's Manual
This manual explains specifications of the Q170MCPU Motion controller, Q172DLX Servo external signal
interface module, Q173DPX Manual pulse generator interface module, Servo amplifiers, SSCNET
IB-0300156
(1XB941)
cables, and the maintenance/inspection for the system, trouble shooting and others.
(Optional)
Q173DCPU/Q172DCPU Motion controller Programming Manual (COMMON)
This manual explains the Multiple CPU system configuration, performance specifications, common
parameters, auxiliary/applied functions, error lists and others.
IB-0300134
(1XB928)
(Optional)
Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)
This manual explains the functions, programming, debugging, error lists for Motion SFC and others.
IB-0300135
(1XB929)
(Optional)
Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)
This manual explains the servo parameters, positioning instructions, device lists, error lists and others.
IB-0300136
(1XB930)
(Optional)
Q173DCPU/Q172DCPU Motion controller (SV22) Programming Manual (VIRTUAL MODE)
This manual explains the dedicated instructions to use the synchronous control by virtual main shaft,
mechanical system program create mechanical module, servo parameters, positioning instructions, device
IB-0300137
(1XB931)
lists, error lists and others.
(Optional)
Motion controller Setup Guidance (MT Developer2 Version1)
This manual explains the items related to the setup of the Motion controller programming software
MT Developer2.
A - 15
IB-0300142
( — )
(2) PLC
Manual Number
(Model Code)
Manual Name
QCPU User's Manual (Hardware Design, Maintenance and Inspection)
This manual explains the specifications of the QCPU modules, power supply modules, base units,
extension cables, memory card battery, and the maintenance/inspection for the system, trouble shooting,
SH-080483ENG
(13JR73)
error codes and others.
(Optional)
QnUCPU User's Manual (Function Explanation, Program Fundamentals)
This manual explains the functions, programming methods and devices and others to create programs
with the QCPU.
SH-080807ENG
(13JZ27)
(Optional)
QCPU User's Manual (Multiple CPU System)
This manual explains the Multiple CPU system overview, system configuration, I/O modules,
communication between CPU modules and communication with the I/O modules or intelligent function
modules.
SH-080485ENG
(13JR75)
(Optional)
QnUCPU User's Manual (Communication via Built-in Ethernet Port)
This manual explains functions for the communication via built-in Ethernet port of the CPU module.
SH-080811ENG
(13JZ29)
(Optional)
MELSEC-Q/L Programming Manual (Common Instruction)
This manual explains how to use the sequence instructions, basic instructions, application instructions and
micro computer program.
SH-080809ENG
(13JW10)
(Optional)
MELSEC-Q/L/QnA Programming Manual (PID Control Instructions)
SH-080040
(13JF59)
This manual explains the dedicated instructions used to exercise PID control.
(Optional)
MELSEC-Q/L/QnA Programming Manual (SFC)
This manual explains the system configuration, performance specifications, functions, programming,
debugging, error codes and others of MELSAP3.
SH-080041
(13JF60)
(Optional)
I/O Module Type Building Block User's Manual
This manual explains the specifications of the I/O modules, connector, connector/terminal block
conversion modules and others.
(Optional)
A - 16
SH-080042
(13JL99)
(3) Servo amplifier
Manual Number
(Model Code)
Manual Name
SSCNET Compatible MR-J3- B Servo amplifier Instruction Manual
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for
MR-J3- B Servo amplifier.
SH-030051
(1CW202)
(Optional)
SSCNET interface 2-axis AC Servo Amplifier MR-J3W- B Servo amplifier Instruction
Manual
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for 2-axis
SH-030073
(1CW604)
AC Servo Amplifier MR-J3W- B Servo amplifier.
(Optional)
SSCNET Compatible Linear Servo MR-J3- B-RJ004 Instruction Manual
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Linear
Servo MR-J3- B-RJ004 Servo amplifier.
SH-030054
(1CW943)
(Optional)
SSCNET Compatible Fully Closed Loop Control MR-J3- B-RJ006 Servo amplifier
Instruction Manual
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Fully
SH-030056
(1CW304)
Closed Loop Control MR-J3- B-RJ006 Servo amplifier.
(Optional)
SSCNET interface Drive Safety integrated MR-J3- B Safety Servo amplifier Instruction
Manual
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for safety
integrated MR-J3- B Safety Servo amplifier.
(Optional)
A - 17
SH-030084
(1CW205)
MEMO
A - 18
1 OVERVIEW
1. OVERVIEW
1
1.1 Overview
This User's Manual describes the hardware specifications and handling methods of the
Motion Controller Q170MCPU for the Q series PLC Multiple CPU system.
The Manual also describes those items related to the specifications of the option
module for the Motion controller, Manual pulse generator and cables.
In this manual, the following abbreviations are used.
Generic term/Abbreviation
Q170MCPU or Motion controller
Description
Q170MCPU Motion controller
Q172DLX/Q173DPX or
Motion module
Q172DLX Servo external signals interface module/
Q173DPX Manual pulse generator interface module
MR-J3(W)- B
Servo amplifier model MR-J3- B/MR-J3W- B
AMP or Servo amplifier
General name for "Servo amplifier model MR-J3- B/MR-J3W- B"
Multiple CPU system or Motion system
Abbreviation for "Multiple PLC system of the Q series"
PLC CPU area
PLC control area (CPU No.1) of Q170MCPU Motion controller
Motion CPU area
Motion control area (CPU No.2) of Q170MCPU Motion controller
Abbreviation for "CPU No.n (n= 1 to 4) of the CPU module for the Multiple
CPU system"
CPUn
Operating system software
General name for "SW DNC-SV Q "
Operating system software for conveyor assembly use (Motion SFC) :
SW8DNC-SV13Q
Operating system software for automatic machinery use (Motion SFC) :
SW8DNC-SV22Q
SV13
SV22
Programming software package
General name for MT Developer2/GX Developer/MR Configurator
MELSOFT MT Works2
Abbreviation for "Motion controller engineering environment
MELSOFT MT Works2"
Abbreviation for "Motion controller programming software MT Developer2
(Version 1.05F or later)"
(Note-1)
MT Developer2
Abbreviation for "MELSEC PLC programming software package
GX Developer (Version 8.74C or later)"
Abbreviation for "Servo setup software package
MR Configurator (Version C2 or later)"
GX Developer
MR Configurator
Manual pulse generator or MR-HDP01
SSCNET
(Note-2)
Absolute position system
Intelligent function module
Abbreviation for "Manual pulse generator (MR-HDP01)"
High speed synchronous network between Motion controller and servo
amplifier
General name for "system using the servomotor and servo amplifier for
absolute position"
Abbreviation for "CC-Link IE module/CC-Link module/MELSECNET/10(H)
module/Ethernet module/Serial communication module"
(Note-1) : This software is included in Motion controller engineering environment "MELSOFT MT Works2".
(Note-2) : SSCNET: Servo System Controller NETwork
1-1
1 OVERVIEW
REMARK
For information about each module, design method for program and parameter, refer
to the following manuals.
Item
Reference Manual
PLC CPU area, peripheral devices for PLC program design,
MELSEC-Q series PLC Manuals,
I/O modules and intelligent function module
Manual relevant to each module
Operation method for MT Developer2
Help of each software
• Multiple CPU system configuration
• Performance specification
Q173DCPU/Q172DCPU Motion controller
• Design method for common parameter
Programming Manual (COMMON)
• Auxiliary and applied functions (common)
• Design method for Motion SFC program
SV13/SV22
• Design method for Motion SFC parameter
• Motion dedicated PLC instruction
Q173DCPU/Q172DCPU Motion controller (SV13/SV22)
Programming Manual (Motion SFC)
• Design method for positioning control
program in the real mode
Q173DCPU/Q172DCPU Motion controller (SV13/SV22)
• Design method for positioning control
Programming Manual (REAL MODE)
parameter
SV22
(Virtual mode)
• Design method for mechanical system
program
Q173DCPU/Q172DCPU Motion controller (SV22)
Programming Manual (VIRTUAL MODE)
1-2
1 OVERVIEW
1.2 Comparison between Q170MCPU and Q173DCPU/Q172DCPU
(1) Comparison of hardware
Item
Q170MCPU
Power supply
Q173DCPU
Built-in (24VDC)
PLC CPU area
Program capacity
LD instruction processing speed
Motion CPU area
Q03UDCPU or equivalent (20k steps)
QnUD(E)(H)CPU
20k steps
30k to 260k steps
0.02µs
0.0095 to 0.02µs
Q172DCPU or equivalent (16 axes)
Forced stop input
Multiple CPU high speed main base unit
(Q38DB/Q312DB)
Extension base unit
1 extension (Q52B/Q55B usable)
7 extensions
GOT bus
connection
• Extension base unit use:
Connection after the extension base
unit of stage 1
• Extension base unit not use:
Direct bus connection to Motion
controller
Bus connection on main base unit or extension base unit
Q172DLX
2 modules
4 modules
1 module
Q172DEX
Unusable
6 modules
4 modules
3 modules
4 modules
3 modules
Q173DPX
(Note-1)
Base unit for
installation
Main base unit, Extension base unit
(Impossible to install on I/O slots of 0 to 2 main base unit)
Extension base unit
Battery
Demand
Q6BAT
Packed together with Motion controller
Q7BAT (Large capacity)
Usable (sold separately)
Unusable
2 modules
2 to 4 modules
CPU No.1
PLC CPU area
PLC CPU module, C controller module
CPU No.2
Motion CPU area
CPU No.3
—
Number of CPUs
CPU No.4
—
Be sure to mount Motion controller on
control panel by fixing screws
Mounting method
Exterior dimensions [mm(inch)]
178 (7.01)(H) 52 (2.05)(W)
135 (5.31)(D)
Medium of operating system
software
SV13
Model of
operating system SV22
software
SV43
Programming
tool
Q172DCPU
None
Base unit
Multiple CPU
system
Q173DCPU
Use forced stop input terminal
Main base unit
Motion
module
Q172DCPU
Power supply module (24VDC, 100VAC, 200VAC)
PLC CPU module, Motion CPU module,
C controller module
Be sure to install Motion CPU modules on main base unit
by fixing screws
98 (3.85)(H)
27.4 (1.08)(W)
119.3 (4.69)(D)
CD-ROM (1 disk)
SW8DNC-SV13QG
SW8DNC-SV13QB
SW8DNC-SV13QD
SW8DNC-SV22QF
SW8DNC-SV22QA
SW8DNC-SV22QC
—
SW7DNC-SV43QA
SW7DNC-SV43QC
PLC CPU area
GX Developer
Motion CPU area
MT Developer2
(Note-1): When using the incremental synchronous encoder (SV22 use), you can use above number of modules.
When connecting the manual pulse generator, you can use only 1 module.
1-3
1 OVERVIEW
(2) Comparison of Motion control specifications
Item
Q170MCPU
Q173DCPU
Q172DCPU
Up to 16 axes
Up to 32 axes
Up to 8 axes
SV13
0.44ms/ 1 to 6 axes
0.88ms/ 7 to 16 axes
0.44ms/ 1 to 6 axes
0.88ms/ 7 to 18 axes
1.77ms/19 to 32 axes
0.44ms/ 1 to 6 axes
0.88ms/ 7 to 8 axes
SV22
0.44ms/ 1 to 4 axes
0.88ms/ 5 to 12 axes
1.77ms/13 to 16 axes
0.44ms/ 1 to 4 axes
0.88ms/ 5 to 12 axes
1.77ms/13 to 28 axes
3.55ms/29 to 32 axes
0.44ms/ 1 to 4 axes
0.88ms/ 5 to 8 axes
Number of control axes
Operation cycle
(default)
SV43
Interpolation functions
—
Linear interpolation (Up to 4 axes), Circular interpolation (2 axes), Helical interpolation (3 axes)
PTP(Point to Point) control, Speed control, Fixed-pitch feed, Constant speed control,
Position follow-up control, Speed control with fixed position stop, Speed switching control,
High-speed oscillation control, Synchronous control (SV22)
Control modes
Speed-position control
(External input signal (DOG) of servo
amplifier usable)
Acceleration/deceleration control
Compensation
Automatic trapezoidal acceleration/deceleration, S-curve acceleration/deceleration
Backlash compensation, Electronic gear, Phase compensation (SV22)
Programming language
Motion SFC, Dedicated instruction, Mechanical support language (SV22)
Servo program capacity
Number of positioning points
Peripheral I/F
Speed-position control
USB/RS-232
PERIPHERAL I/F
16k steps
3200 points (Positioning data can be designated indirectly)
PLC CPU area control
PLC CPU module control
Motion CPU area control
None
Proximity dog type (2 types), Data set type (2 types), Dog cradle type,
Stopper type (2 types), Limit switch combined type
Home position return function
Count type (3 types)
(External input signal (DOG) of servo
amplifier usable)
Count type (3 types)
Home position return re-try function provided, home position shift function provided
JOG operation function
Manual pulse generator
operation function
Synchronous encoder operation
function
Provided
• Possible to connect 3 channels
(Q173DPX use)
• Possible to connect 1 channel
(Note-1)
(Q170MCPU's internal I/F use)
Possible to connect 8 channels
(Note-2)
(SV22 use)
,
ABS synchronous encoder unusable
ROM operation function
Forced stop
Number of I/O points
Mark detection function
Possible to connect 8
channels (SV22 use)
Number of output points 32 points
Watch data: Motion control data/Word device
Limit switch output function
High-speed reading function
Possible to connect 12
channels (SV22 use)
M-code output function provided,
M-code completion wait function provided
M-code function
External input signal
Possible to connect 3 channels (Q173DPX use)
Provided
Q172DLX or External input signals (FLS/RLS/DOG) of servo amplifier
Via internal I/F/input module,
Via tracking of Q173DPX
Via input module, Via tracking of Q172DEX/Q173DPX
EMI connector of Motion controller, Forced stop input setting in the system setting,
Forced stop signal (EM1) of the servo amplifier
Total 256 points
(Internal I/F (Input 4 points, Output 2
points) + I/O module)
Total 256 points
Provided
Not provided
1-4
1 OVERVIEW
Comparison of Motion control specifications (continued)
Item
Q170MCPU
Clock data setting
Absolute position system
Number of SSCNET
(Note-3)
Q173DCPU
Q172DCPU
Clock synchronization between Multiple CPU
systems
PLC module which can be control
by Motion CPU (area)
Made compatible by setting battery to servo amplifier.
(Possible to select the absolute data method or incremental method for each axis)
1 system
2 systems
1 system
Interrupt module, Input module, Output module, Input/Output composite module,
Analogue input module, Analogue output module
(Note-1) : When the manual pulse generator is used with the Q170MCPU's internal I/F, do not set the Q173DPX in the System Settings.
(Note-2) : Any incremental synchronous encoder connected to the Q170MCPU's internal I/F will automatically be assigned an Axis No.
one integer greater than the number of encoders connected to any Q173DPX modules.
(Note-3) : The servo amplifiers for SSCNET cannot be used.
1-5
1 OVERVIEW
(3) Comparison of Motion SFC performance specifications
Item
Motion SFC program
capacity
Q170MCPU
543k bytes
Text total
(Operation control + Transition)
484k bytes
Number of Motion SFC programs
256 (No.0 to 255)
Motion SFC chart size/program
Motion SFC program
Q173DCPU/Q172DCPU
Code total
(Motion SFC chart + Operation control +
Transition)
Up to 64k bytes (Included Motion SFC chart comments)
Number of Motion SFC steps/program
Up to 4094 steps
Number of selective branches/branch
255
Number of parallel branches/branch
255
Parallel branch nesting
Up to 4 levels
4096 with F(Once execution type) and FS(Scan execution type)
combined. (F/FS0 to F/FS4095)
Number of operation control programs
Number of transition programs
Operation control
program (F/FS)
/
Transition program
(G)
4096(G0 to G4095)
Code size/program
Up to approx. 64k bytes (32766 steps)
Number of blocks(line)/program
Up to 8192 blocks (in the case of 4 steps(min)/blocks)
Number of characters/block
Up to 128 (comment included)
Number of operand/block
Up to 64 (operand: constants, word device, bit devices)
( ) nesting/block
Descriptive
expression
Up to 32 levels
Operation control program
Calculation expression/bit conditional expression
Transition program
Calculation expression/bit conditional expression/
comparison conditional expression
Number of multi execute programs
Up to 256
Number of multi active steps
Up to 256 steps/all programs
Normal task
Execute specification
Executed
task
Execute in main cycle of Motion controller
Execute in fixed cycle
(0.44ms, 0.88ms, 1.77ms,
3.55ms, 7.11ms, 14.2ms)
Event task Fixed cycle
(Execution
can be
External interrupt
masked.)
Execute when input ON is set among interrupt module QI60
(16 points).
PLC interrupt
Execute with interrupt instruction (D(P).GINT) from PLC.
Execute when input ON is set among interrupt module QI60
(16 points).
NMI task
Number of I/O points (X/Y)
Number of real I/O points (PX/PY)
8192 points
Total 256 points
(Internal I/F (Input 4 points,
Output 2 points) + I/O module)
Internal relays (M)
Number of devices
(Device In the Motion
CPU (area) only)
(Included the
positioning dedicated
device)
Execute in fixed cycle
(0.88ms, 1.77ms, 3.55ms,
7.11ms, 14.2ms)
256 points
12288 points
Link relays (B)
8192 points
Annunciators (F)
2048 points
Special relays (SM)
2256 points
Data registers (D)
8192 points
Link registers (W)
8192 points
Special registers (SD)
2256 points
Motion registers (#)
12288 points
Coasting timers (FT)
1 point (888μs)
Up to 14336 points usable
Multiple CPU area devices (U \G)
(Note)
(Note): Usable number of points changes according to the system settings.
1-6
1 OVERVIEW
(4) Comparison of Mechanical system program specifications
Item
Drive module
Control units
Q170MCPU
Q173DCPU
Virtual servomotor
PLS
Synchronous encoder
Roller
Output
module
mm, inch
Ball screw
Rotary table
degree
Cam
mm, inch, PLS
Program language
Drive module
Virtual axis
Dedicated instructions (Servo program + mechanical system program)
Virtual servomotor
16
Synchronous encoder
8
Virtual main shaft
16
Virtual auxiliary input
axis
Direct clutch
Smoothing clutch
Transmission
Speed change gear
module
Differential gear
Differential gear to
main shaft
Output
module
32
Total 24
Total 16
8
32
8
Total 64
32
Total 16
8
32
64
16
32
64
16
32
64
16
16
32
8
16
32
8
Roller
16
32
Ball screw
16
32
Rotary table
16
Cam
16
Total 16
8
32
Up to 256
Memory capacity
8
8
(Note-1)
256 • 512 • 1024 • 2048
Resolution per cycle
8
Total 32
32
Types
Cam
8
Total 44
32
Total 32
16
Gear
Number of
modules
which can be
set per CPU
Q172DCPU
(Note-1)
132k bytes
Storage memory for
cam data
CPU internal RAM memory
Stroke resolution
32767
Control mode
Two-way cam/feed cam
(Note-1): Relation between a resolution per cycle of cam and type are shown below.
Resolution per cycle
256
512
1024
2048
Type
256
128
64
32
1-7
Total 8
1 OVERVIEW
(5) Comparison of PLC CPU area control and performance
Item
PLC CPU area
Q170MCPU
Q173DCPU/Q172DCPU
Q03UDCPU or equivalent (20k steps)
QnUD(E)(H)CPU
Control method
Sequence program control method
I/O control mode
Refresh mode
Relay symbol language (ladder), logic symbolic language (list),
MELSAP3 (SFC), MELSAP-L, Structured text (ST)
Sequence control language
Processing speed
(sequence instruction)
LD instruction
0.02 μs
0.0095 to 0.02 μs
MOV instruction
0.04 μs
0.019 to 0.04 μs
PC MIX value (instruction/μs)
Floating point addition
28
28 to 60
0.12 μs
0.057 to 0.12 μs
Total number of instructions
858
Operation (floating point operation) instruction
Yes
Character string processing instruction
Yes
PID instruction
Yes
Special function instruction (Trigonometric function,
square root, exponential operation, etc.)
Yes
Constant scan
0.5 to 2000ms (Setting available in 0.5ms unit.)
Program capacity
CPU shared memory
20k steps
30k to 260k steps
QCPU standard memory
8k bytes
Multiple CPU high speed
transmission area
32k bytes
No. of I/O device points (X/Y)
No. of I/O points (X/Y)
8192 points
512 points
(Up to 320 points (64 points 5
modules) is usable with I/O module.)
Internal relay (M)
8192 points
Latch relay (L)
8192 points
Link relay (B)
8192 points
Timer (T)
2048 points
Retentive timer (ST)
Counter (C)
Data register (D)
4096 points
0 points
1024 points
Points by default
(changeable by parameters)
12288 points
Link register (W)
8192 points
Annunciator (F)
2048 points
Edge relay (V)
2048 points
Link special relay (SB)
2048 points
Link special register (SW)
2048 points
File register (R, ZR)
98304 points
Step relay (S)
98304 to 655360 points
8192 points
Index register/Standard devise register (Z)
20 points
Index register (Z)
(32-bit modification specification of ZR device)
Up to 10 points (Z0 to Z18)
(Index register (Z) is used in double words.)
Pointer (P)
4096 points
Interrupt pointer (I)
256 points
Special relay (SM)
2048 points
Special register (SD)
2048 points
Function input (FX)
16 points
Function output (FY)
16 points
Function register (FD)
5 points
Local device
Yes
1-8
1 OVERVIEW
Comparison of PLC CPU area control and performance (continued)
Item
Q170MCPU
Device initial values
Extension base unit
Q173DCPU/Q172DCPU
Yes
Number of extension
1 extension (Q52B/Q55B usable)
7 extensions
GOT bus connection
• Extension base unit use:
Connection after the extension base
unit of stage 1
• Extension base unit not use:
Direct bus connection to Motion
controller
Bus connection on main base unit or
extension base unit
Q03UDCPU
QnUD(E)(H)CPU
PC type when program is made by GX Developer
1-9
1 OVERVIEW
1.3 Restrictions by the software's version or serial number
There are restrictions in the function that can be used by the version of the operating
system software and programming software, or the serial number of Motion controller.
The combination of each version and a function is shown below.
Function
Mark detection function
Operating system
software version
(Note-1), (Note-2)
Programming software version
(MELSOFT MT Works2)
00H
1.06G
Serial number of
Section of reference
Motion controller
F********
(Note-3)
(Note-3)
APPENDIX 1.10
Q170MCPU's internal I/F
(I/O signals (DI/DO))
00H
1.06G
F********
Q170MCPU's internal I/F
(Manual pulse generator, Incremental
synchronous encoder)
00H
1.06G
—
MC protocol communication
00H
1.06G
—
APPENDIX 1.6
Incremental synchronous encoder
current value in real mode
00H
—
—
APPENDIX 1.9
Section 2.5.1
—: There is no restriction by the version.
(Note-1): SV13/SV22 is the completely same version.
(Note-2): The operating system software version can be confirmed in the operating system software (CD-ROM), installation display of
MT Developer2 or system monitor of GX Developer. (Refer to Section 2.2 or 2.3.)
(Note-3): Be sure to use the Motion controller since the first digit "F" of serial number. The serial number can be confirmed with the rated
plate, or on the front of Motion controller. (Refer to Section 2.2.)
1 - 10
2 SYSTEM CONFIGURATION
2. SYSTEM CONFIGURATION
This section describes the Motion controller (Q170MCPU) system configuration,
precautions on use of system and configured equipments.
2.1 Motion System Configuration
2
(1) Equipment configuration in Q170MCPU system
Extension of the Q series module
Motion module
(Q172DLX, Q173DPX)
Forced stop input cable
(Q170DEMICBL M)
(Note-1)
M IT S U B IS H I
L IT H IU M
B A T T E R Y
PROGRAMMABLE CONTROLLER
TYPE Q6BAT
Battery
(Q6BAT)
Extension cable
(QC B)
Motion controller
(Q170MCPU)
Q5 B extension base unit
(Q52B, Q55B)
(Note-2)
M
IT S U
L I T H I U
M
B
IS H
B A T T E R
Y
I
PROGRAMMABLE CONTROLLER PUSH
TYPE
Q7BAT
Large capacity battery holder
(Q170MBAT-SET)
I/O module/Intelligent
function module of the
Q series
SSCNET cable
(MR-J3BUS M(-A/-B))
Servo amplifier
(MR-J3(W)- B)
It is possible to select the best according to the system.
(Note-1): Be sure to install the Battery (Q6BAT) to the Battery holder.
(It is packed together with Q170MCPU.)
(Note-2): Large capacity battery use (Q7BAT is included), sold separately.
2-1
2 SYSTEM CONFIGURATION
(2) Peripheral device configuration for the Q170MCPU
The following (a)(b)(c) can be used.
(a) USB configuration
(b) RS-232 configuration
(c) Ethernet configuration
Motion controller
(Q170MCPU)
Motion controller
(Q170MCPU)
Motion controller
(Q170MCPU)
USB cable
RS-232 communication cable
(QC30R2)
Personal computer
Personal computer
Ethernet cable (Note-1)
Personal computer
(Note-1): Corresponding Ethernet cables
Part name
Connection type
Connection with HUB
Cable type
Straight cable
Ethernet cable
Direct connection
Crossover cable
Ethernet standard
Module name
10BASE-T
100BASE-TX
10BASE-T
Compliant with Ethernet standards, category 5 or higher.
• Shielded twisted pair cable (STP cable)
100BASE-TX
[Selection criterion of cable]
• Category
: 5 or higher
• Diameter of lead : AWG26 or higher
• Shield
: Copper braid shield and drain wire
Copper braid shield and aluminium layered type shield
2-2
2 SYSTEM CONFIGURATION
2.1.1 Q170MCPU System overall configuration
Motion controller
Q170MCPU
USB/RS-232
PERIPHERAL I/F
Panel personal computer
Personal computer
IBM PC/AT
SSCNET cable
(MR-J3BUS M(-A/-B))
Forced stop input cable
(Q170DEMICBL M)
24VDC
d01
SSCNET
d02
d03
d16
Forced stop input (24VDC)
M
M
M
M
E
E
E
E
MR-J3- B model Servo amplifier, Up to 16 axes
P
Extension cable
(QC B)
Manual pulse generator/
Incremental synchronous encoder
1 module
External input signals of servo amplifier
Input signal/Mark detection input signal (4 points)
Output signal (2 points)
PLC CPU area
control module
Manual pulse
generator
interface module
Servo external
signals
interface module
Motion CPU area (Note)
control module
Proximity dog/Speed-position switching
Upper stroke limit
Lower stroke limit
Q172DLX Q173DPX QX
/
QY
I/O module/
Intelligent function
module
(Up to 512 points)
(Note): Interrupt module (QI60) and analog I/O
module (Q6 AD/Q6 DA) can also be
used as the Motion CPU area control
module.
GOT
Extension base unit
(Q52B/Q55B)
Up to 1 extension
Input/output (Up to 256 points)
P
Manual pulse generator/Incremental synchronous encoder 3/module
(MR-HDP01)
External input signals
FLS
RLS
STOP
DOG/CHANGE
: Upper stroke limit
: Lower stroke limit
: Stop signal
: Proximity dog/Speed-position switching
Number of Inputs
8 axes/module
CAUTION
Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal
operation of the Motion controller or servo amplifier differ from the safety directive operation in the
system.
The ratings and characteristics of the parts (other than Motion controller, servo amplifier and
servomotor) used in a system must be compatible with the Motion controller, servo amplifier and
servomotor.
Set the parameter values to those that are compatible with the Motion controller, servo amplifier,
servomotor and regenerative resistor model and the system application. The protective functions
may not function if the settings are incorrect.
2-3
2 SYSTEM CONFIGURATION
2.1.2 Q170MCPU System internal configuration
(1) What is Multiple CPU system for Q170MCPU ?
A Multiple CPU system for Q170MCPU is a system in which between the PLC
CPU area and Motion CPU area are connected with the Multiple CPU high speed
bus in order to control the I/O modules and intelligent function modules.
PLC CPU area is fixed as CPU No.1, and Motion CPU area is fixed as CPU
No.2.
And, the Motion CPU area controls the servo amplifiers connected by SSCNET
cable.
Motion controller
PLC CPU area (CPU No.1 fixed)
Motion CPU area (CPU No.2 fixed)
Device memory
Power supply
PLC control
processor
Multiple CPU
high speed
transmission
memory
Device memory
Multiple CPU
high speed
bus
Motion control
processor
Multiple CPU
high speed
transmission
memory
Q series PLC system bus
24VDC
PLC I/O module
(DI/O)
Personal computer
GX Developer
MT Developer2
PLC intelligent
function module
(A/D, D/A, Network etc.)
Motion module
(Proximity dog signal, manual
pulse generator input)
Forced stop input (24VDC)
Manual pulse generator/Incremental
synchronous encoder 1 module
SSCNET
P
Servo
amplifier
Input signal/Mark detection input signal (4 points)
Output signal (2 points)
PERIPHERAL I/F
Personal computer
MT Developer2
M
M Servomotor
Servo external
input signals
(FLS, RLS, DOG)
(a) The device memory is the memory area for the bit devices (X, Y, M, etc.)
and word devices (D, W, etc.).
(b) The Multiple CPU high speed transmission memory between the PLC CPU
area and Motion CPU area can be communicated at 0.88ms cycles.
2-4
2 SYSTEM CONFIGURATION
2.1.3 Function explanation of the Q170MCPU Motion controller
(1) Whole
(a) The Multiple CPU high speed bus is equipped with between the PLC CPU
area and Motion CPU area. With this reserved Multiple CPU high speed bus,
data transfer of 0.88ms period is possible for up to 14k words.
(b) Data transfer between the PLC CPU area and Motion CPU area is possible
by Multiple CPU high speed transmission memory or automatic refresh.
(c) The Multiple CPU high speed transmission cycle is synchronized with the
motion control cycle thus optimizing the control system.
(2) PLC CPU area
(a) The I/O modules, analog I/O modules, pulse I/O modules, positioning
modules, information modules and network can be controlled with the
sequence program.
(b) The device data access and program start of the Motion CPU area can be
executed by the Motion dedicated PLC instructions.
(c) The real-time processing can be realized by the Multiple CPU synchronous
interrupt program.
(3) Motion CPU area
(a) Up to 16 axes servo amplifiers per 1 system can be controlled in
Q170MCPU.
(b) It is possible to set the program which synchronized with the motion
operation cycle and executed at fixed cycle (0.44[ms], 0.88[ms], 1.77[ms],
3.55[ms], 7.11[ms], 14.2[ms]).
(c) It is possible to execute a download of servo parameters to servo amplifier,
servo ON/OFF to servo amplifier and position commands, etc. by connecting
between the Q170MCPU and servo amplifier with SSCNET cable.
(d) It is possible to select the servo control functions/programming languages by
installing the corresponding operating system software in the Q170MCPU.
(e) Motion modules (Q172DLX/Q173DPX) are controlled with the Motion CPU
area, and the signals such as stroke limit signals connected to Motion
modules and incremental synchronous encoder can be used as motion
control.
(f) The synchronous control can be executed by using the incremental
synchronous encoder (up to 8 axes). The incremental synchronous encoder
(1 axis) built-in Q170MCPU can also be used.
(g) The stroke limit signals and proximity dog signals connected to the servo
amplifiers can be used for the motion control.
(h) I/O controls (DI 4 points, DO 2 points) built-in Q170MCPU (Motion CPU
area) can be realized.
2-5
2 SYSTEM CONFIGURATION
(i) PLC I/O modules can be controlled with the Motion CPU area.
(Refer to Section 2.3(2).)
(j) Wiring is reduced by issuing the external signal (upper/lower stroke limit
signal, proximity dog signal) via the servo amplifier.
2-6
2 SYSTEM CONFIGURATION
2.1.4 Restrictions on Motion controller
(1) Only extension base unit (Q52B/Q55B) of type not requiring power supply module
can be used.
(2) Q170MCPU Multiple CPU system is composed of the PLC CPU area (CPU No.1
fixed) and Motion CPU area (CPU No.2 fixed). Other CPU (CPU No.3, CPU No.4)
cannot be set.
(3) It takes about 10 seconds to startup (state that can be controlled) of Motion
controller. Make a Multiple CPU synchronous startup setting suitable for the
system.
(4) Execute the automatic refresh of the Motion CPU area and PLC CPU area by
using the automatic refresh of Multiple CPU high speed transmission area setting.
(5) The Motion modules, I/O modules and intelligent function modules, etc. can be
installed on the extension base unit only.
(6) The CPU modules cannot be installed on the extension base unit.
(7) When using the GOT with bus connection, connect the GOT after the extension
base unit of stage 1 in the case with the extension base unit use, and connect
directly to the Motion controller in the case with the extension base unit unused.
(8) The synchronous encoder interface module Q172DEX/Q172EX(-S1/-S2/-S3)
cannot be used.
(9) Be sure to control the Motion modules (Q172DLX, Q173DPX) with the Motion
CPU area. They will not operate correctly if PLC CPU area is set by mistake.
(10) Q172LX/Q173PX(-S1) for Q173HCPU(-T)/ Q172HCPU(-T)/Q173CPUN(-T)/
Q172CPUN(-T)/Q173CPU/Q172CPU cannot be used.
(11) Motion CPU area cannot be set as the control CPU of intelligent function module
(except some modules) or Graphic Operation Terminal(GOT).
(12) Be sure to set the battery.
(13) There are following methods to execute the forced stop input.
• Use a EMI connector of Q170MCPU.
• Use a device set in the forced stop input setting of system setting
(14) Forced stop input for EMI connector of Q170MCPU cannot be invalidated by the
parameter.
When the device set in the forced stop input setting is used without use of EMI
connector of Q170MCPU, apply 24VDC voltage on EMI connector and invalidate
the forced stop input of EMI connector.
2-7
2 SYSTEM CONFIGURATION
(15) Be sure to use the cable for forced stop input. The forced stop cannot be
released without using it. Fabricate the cable for forced stop input on the
customer side or purchase our products (sold separately).
(16) When the operation cycle is 0.4[ms], set the system setting as the axis select
rotary switch of servo amplifier "0 to 7".
If the axis select rotary switch of servo amplifier "8 to F" is set, the servo
amplifiers are not recognized.
(Note): The setting of axis select rotary switch differs according to the servo
amplifier. Refer to the "Servo amplifier Instruction Manual" for details.
(17) When the extension base units are used, make sure to configure the modules so
that the total current consumption of the Q170MCPU and individual modules on
the extension base do not exceed the 5VDC output capacity of Q170MCPU
power supply.
(18) The module name displayed by "System monitor" - "Product information list" of
GX Developer is different depending on the function version of Motion modules
(Q172DLX, Q173DPX).
(Note): Even if the function version "C" is displayed, it does not correspond to
the online module change.
Model display
Module name
Function version "B"
Function version "C"
Q172DLX
Q172LX
Q172DLX
Q173DPX
MOTION-UNIT
Q173DPX
2-8
2 SYSTEM CONFIGURATION
2.2 Checking Serial Number and Operating System Software Version
Checking for the serial number of Motion controller and Motion module, and the
operating system software version are shown below.
2.2.1 Checking serial number
(1) Motion controller (Q170MCPU)
(a) Rating plate
The rating plate is situated on the side face of the Motion controller.
(b) Front of Motion controller
The serial number is printed in the projection parts forward of the lower side
of Motion controller.
MITSUBISHI
MODE
RUN
ERR.
USER
BAT.
PULL
BOOT
Q170MCPU
POWER
USB
PERIPHERAL I/F
RESET STOP RUN
RS-232
EMI
MOTION CONTROLLER
MODEL
SERIAL
C
UL
CN1
PASSED
Q170MCPU
EJECT
B8Y054306
80M1
US LISTED
IND. CONT. EQ
MITSUBISHI ELECTRIC JAPAN
EXT.IO
CARD
Rating plate
Serial number
MITSUBISHI
FRONT
OUT
24VDC
B8Y054306
Serial number
PUSH
(c) System monitor (product information list)
The serial number can be checked on the system monitor screen in
GX Developer. (Refer to Section 2.2.2.)
2-9
2 SYSTEM CONFIGURATION
(2) Motion module (Q172DLX/Q173DPX)
(a) Rating plate
The rating plate is situated on the side face of the Motion module.
(b) Front of Motion module
The serial No. is printed in the projection parts forward of the lower side of
Motion module.
Q172DLX
MITSUBISHI
MOTION I/F UNIT
MODEL
PASSED
12/24VDC 2/4mA
SERIAL
B86054999
C
UL
80M1
IND. CONT. EQ.
US LISTED CLASS2 ONLY
MITSUBISHI ELECTRIC
CTRL
JAPAN
Q172DLX
Serial number
B86054999
REMARK
The serial number display was corresponded from the Motion modules
manufactured in early April 2008.
2 - 10
Rating plate
Q172DLX
Serial number
2 SYSTEM CONFIGURATION
2.2.2 Checking operating system software version
The operating system software version can be checked on the system monitor screen
in GX Developer.
Select [Product Inf. List] button on the system monitor screen displayed on
[Diagnostics] – [System monitor] of GX Developer.
Serial number of
Motion controller
Operating system software version
2 - 11
2 SYSTEM CONFIGURATION
2.3 System Configuration Equipment
(1) Motion controller related module
Part name
Model name (Note-1)
Description
Current
consumption Remark
5VDC[A]
Motion controller
Q170MCPU
Power supply, PLC CPU, Motion CPU, all-in-one type
(Attachment battery (Q6BAT), Internal I/F connector, 24VDC power
supply connector and connector for forced stop input cable)
• Motion CPU area
Up to 16 axes control, Operation cycle 0.44[ms] or more, Servo
program capacity 16k steps, Internal I/F (Incremental synchronous
encoder interface 1ch, Input signal/Mark detection input signal 4
points, Output signal 2 points)
• PLC CPU area
Program capacity 20k steps, LD instruction processing speed 0.02μs
Servo external
signals interface
module
Q172DLX
Servo external signal input 8 axes
(FLS, RLS, STOP, DOG/CHANGE×8)
0.06
Manual pulse
generator interface Q173DPX
module
Manual pulse generator MR-HDP01/Incremental synchronous encoder
interface ×3, Tracking input 3 points
0.38
Manual pulse
generator
MR-HDP01
Pulse resolution: 25PLS/rev(100PLS/rev after magnification by 4)
Permitted axial loads Radial load: Up to 19.6N
Thrust load: Up to 9.8N
Permitted speed: 200r/min(Normal rotation), Voltage-output
0.06
Battery
Q6BAT
For memory data backup of RAM built-in Motion controller
Nominal current: 1800mAh
Large capacity
battery
Q7BAT
For memory data backup of RAM built-in Motion controller
Nominal current: 5000mAh
Large capacity
battery holder
Q170BAT-SET
Battery holder for Q7BAT (Attachment Q7BAT)
——
Internal I/F
connector set
Q170MIOCON
Incremental synchronous encoder/Mark detection signal interface
connector (Packed together Q170MCPU)
——
Cable for forced
stop input (Note-3)
Q170DEMICBL M
Length 0.5m(1.64ft), 1m(3.28ft), 3m(9.84ft), 5m(16.40ft), 10m(32.81ft),
15m(49.21ft), 20m(65.62ft), 25m(82.02ft), 30m(98.43ft)
——
Connector for
forced stop input
cable
Q170DEMICON
Connector for forced stop input cable production
(Packed together Q170MCPU)
——
Q170MPWCBL2M
Length 2m(6.56ft.), With solderless terminal R1.25-3.5
——
Length 2m(6.56ft.), With solderless terminal R1.25-3.5,
Q170MPWCBL2M-E
With EMI connector
——
24VDC power
supply cable
24VDC power
supply connector
set (Note-3)
Extension base
unit (Note-4)
2.0 (Note-2)
——
Q170MPWCON
Connector for 24VDC power supply cable
(Packed together Q170MCPU)
——
Q52B
Number of I/O modules installed 2 slots, type not requiring power supply
module
0.08
Q55B
Number of I/O modules installed 5 slots, type not requiring power supply
module
0.10
2 - 12
2 SYSTEM CONFIGURATION
Motion controller related module (continued)
Part name
Extension cable
SSCNET
cable
Model name (Note-1)
Current
consumption Remark
5VDC[A]
Description
QC05B
Length 0.45m(1.48ft.)
QC06B
Length 0.6m(1.97ft.)
QC12B
Length 1.2m(3.94ft.)
QC30B
Length 3m(9.84ft.)
——
QC50B
Length 5m(16.40ft.)
QC100B
Length 10m(32.81ft.)
MR-J3BUS M
MR-J3(W)- B/MR-J3(W)- B
MR-J3(W)- B
• Q170MCPU
• Standard cord for inside panel
0.15m(0.49ft.), 0.3m(0.98ft.), 0.5m(1.64ft.), 1m(3,28ft.), 3m(9.84ft.)
——
MR-J3(W)- B/MR-J3(W)- B
• Q170MCPU
• Standard cable for outside panel
5m(16.40ft.), 10m(32.81ft.), 20m(65.62ft.)
MR-J3(W)- B
MR-J3BUS M-A
——
• Q170MCPU
MR-J3(W)- B/MR-J3(W)- B
• Long distance cable
30m(98.43ft.), 40m(131.23ft.), 50m(164.04ft.)
MR-J3(W)- B
MR-J3BUS M-B
(Note-5)
(Note-1) :
——
=Cable length (015: 0.15m(0.49ft.), 03: 0.3m(0.98ft.), 05: 0.5m(1.64ft.), 1: 1m(3.28ft.), 2: 2m(6.56ft.),
3: 3m(9.84ft.), 5: 5m(16.40ft.), 10: 10m(32.81ft.), 20: 20m(65.62ft.), 25: 25m(82.02ft.),
30: 30m(98.43ft.), 40: 40m(131.23ft.), 50:50m(164.04ft.)
(Note-2) : The manual pulse generator or incremental synchronous encoder that consumes less than 0.2[A] of
current can be connected to the internal I/F connector.
(Note-3) : Be sure to use the cable for forced stop input (sold separately). The forced stop cannot be released
without using it.
Cable for forced stop input is not attached to the Motion controller. Please purchase the cable for length
according to system separately.
(Note-4) : 5VDC internal current consumption of shared equipments with PLC might be changed.
Be sure to refer to the MELSEC-Q series PLC Manuals.
(Note-5) : Please contact your nearest Mitsubishi sales representative for the cable of less than 30m(98.43ft.).
2 - 13
2 SYSTEM CONFIGURATION
(2) PLC module which can be controlled by Motion CPU area
Part name
AC
Input
module
Model name
QX40
24VDC/4mA, Positive common, 16 points, Terminal block
QX40-S1
High response, 24VDC/6mA, Positive common, 16 points,
Terminal block
0.06
(TYP, All points ON)
QX40H
High speed, 24VDC/6mA, Positive common, 16 points,
Terminal block
QX41
24VDC/4mA, Positive common, 32 points, Connector
QX41-S1
High response, 24VDC/4mA, Positive common, 32 points,
Connector
0.08
(TYP, All points ON)
0.075
(TYP, All points ON)
0.075
(TYP, All points ON)
QX42
24VDC/4mA, Positive common, 64 points, Connector
QX42-S1
High response, 24VDC/4mA, Positive common, 64 points,
Connector
0.09
(TYP, All points ON)
0.09
(TYP, All points ON)
QX70
12VDC/5V, Positive common/Negative common shared,
16 points, Terminal block
0.055
(TYP, All points ON)
High speed, 5VDC/6mA, Positive common, 16 points,
Terminal block
12VDC/5V, Positive common/Negative common shared,
32 points, Terminal block
12VDC/5V, Positive common/Negative common shared,
64 points, Terminal block
0.08
(TYP, All points ON)
0.07
(TYP, All points ON)
0.085
(TYP, All points ON)
0.05
(TYP, All points ON)
QX71
QX72
QX80
24VDC/4mA, Negative common, 16 points, Terminal block
QX80H
High speed, 24VDC/6mA, Negative common, 16 points,
Terminal block
QX81
24VDC/4mA, Negative common, 32 points, Connector
High response, 24VDC/4mA, Negative common, 64 points,
Connector
High speed, 5VDC/6mA, Negative common, 16 points,
Terminal block
240VAC/24VDC, 2A/point, 8A/common,
16 points/common, Terminal block
0.08
(TYP, All points ON)
0.075
(TYP, All points ON)
0.09
(TYP, All points ON)
0.08
(TYP, All points ON)
0.43
(TYP, All points ON)
QY40P
12V/24VDC, 0.1A/point, 1.6A/common, 16 points/common,
Terminal block
0.065
(TYP, All points ON)
QY41P
12V/24VDC, 0.1A/point, 2A/common, 32 points/common,
Connector
0.105
(TYP, All points ON)
QY42P
12V/24VDC, 0.1A/point, 2A/common,
64 points(32 points/common), Connector
0.15
(TYP, All points ON)
QY50
12V/24VDC, 0.5A/point, 4A/common,
16 points(16 points/common), Terminal block
0.08
(TYP, All points ON)
QY80
12V/24VDC, 0.5A/point, 4A/common,
16 points(16 points/common), Terminal block
0.08
(TYP, All points ON)
QY81P
12V/24VDC, 0.1A/point, 2A/common,
32 points(32 points/common), Connector
0.095
(TYP, All points ON)
QY70
5/12VDC, 16mA/point, 16 points(16 points/common),
Terminal block
0.095
(TYP, All points ON)
QY71
5/12VDC, 16mA/point, 32 points(32 points/common),
Connector
0.15
(TYP, All points ON)
QX82-S1
QX90H
Transistor
Contact output
QY10
module
Source
Type
TTL•CMOS
(Sink)
2 - 14
Remark
0.05
(TYP, All points ON)
0.05
(TYP, All points ON)
100-120VAC, 7-8mA, 16 points, Terminal block
QX70H
Output
module
Current consumption
5VDC[A] (Note-1)
QX10
DC
Sink
Type
Description
(Note-2)
(Note-2)
(Note-2)
(Note-2)
(Note-2)
(Note-2)
(Note-2)
(Note-2)
(Note-2)
(Note-2)
2 SYSTEM CONFIGURATION
PLC module which can be controlled by Motion CPU area(continued)
Part name
Model name
QH42P
24VDC Positive common: 32 points
12-24VDC/0.1A Output Sink type: 32 points, Connector,
Provided (Thermal protectors, protector against short
circuit)
0.13
(TYP, All points ON)
QX48Y57
24VDC Positive common: 8 points
12-24VDC/0.5A Output Sink type: 7 points, Terminal block,
Provided (When face is broken, LED lights and signal is
output to CPU)
0.08
(TYP, All points ON)
QI60
24VDC/4mA, Positive common, 16 points, Terminal block
0.06
(TYP, All points ON)
Q62AD-DGH
2ch, A/D conversion,
Current input (Channel-isolated • High resolution)
0.33
Q64AD
4ch, A/D conversion, Voltage • Current input
0.63
Q64AD-GH
4ch, A/D conversion,
Voltage • Current input (Channel-isolated • High resolution)
0.89
Q68ADV
8ch, A/D conversion, Voltage input
0.64
Q68ADI
8ch, A/D conversion, Current input
0.64
Q62DA
2ch, D/A conversion, Voltage • Current output
0.33
Q62DA-FG
2ch, D/A conversion,
Voltage • Current output (Channel-isolated)
0.37
Q64DA
4ch, D/A conversion, Voltage • Current output
0.34
Q68DAV
8ch, D/A conversion, Voltage output
0.39
Q68DAI
8ch, D/A conversion, Current output
0.38
Input/Output DC Input/
Transistor
composite
output
module
Interrupt module
Analogue module
Current consumption
5VDC[A] (Note-1)
Description
Remark
(Note-2)
(Note-1) : 5VDC internal current consumption of shared equipments with PLC might be changed.
Be sure to refer to the MELSEC-Q series PLC Manuals.
(Note-2) : Connectors are not provided.
(3) PLC module which can be controlled by PLC CPU area
They are the same modules as the PLC modules which can be controlled by the
universal model QCPU "Q03UDCPU".
Refer to the MELSEC-Q series PLC Manuals.
(4) Servo amplifier
Part name
Model name
Description
Remarks
MR-J3- B
MR-J3W- B
MR-J3 series
servo amplifier
Battery
For 2-axis type
MR-J3- B-RJ006
For fully closed control
MR-J3- B-RJ004
For linear servo motor
MR-J3- B-RJ080W
For direct drive motor
MR-J3- BS
For safety servo
MR-J3BAT
Back-up for the absolute
position detection
2 - 15
Refer to the servo amplifier instruction
manuals.
2 SYSTEM CONFIGURATION
(5) Operating system software
Application
Software package
Conveyor assembly use SV13
SW8DNC-SV13QG
Automatic machinery use SV22
SW8DNC-SV22QF
(a) Operating system type/version
1) Confirmation method in the operating system (CD-ROM)
a)
b)
c)
a) OS software type
b) OS software version
c) Serial number
Example) When using Q170MCPU, SV22 and OS version 00G.
a) SW8DNC-SV22QF
b) 00G
(b) Confirmation method in MT Developer2
The operating system(OS) type/version of connected Motion controller is
displayed on the installation screen of MT Developer2.
(OS software)
S
V
2
2
F or G: Q170MCPU
Q
F
V
E
R
3
0
0
G
OS version
3: Motion SFC compatibility
. : Motion SFC not compatibility
2 - 16
2 SYSTEM CONFIGURATION
(6) Programming software packages
(a) Motion controller engineering environment
Part name
Model name
MELSOFT MT Works2
(Note-1)
)
(MT Developer2
SW1DNC-MTW2-E
(Note-1) : This software is included in Motion controller engineering environment "MELSOFT MT Works2".
(b) PLC software package
Model name
Software package
GX Developer
SW8D5C-GPPW-E
(c) Servo set up software package
Model name
Software package
MR Configurator
MRZJW3-SETUP221E
POINTS
When the operation of Windows is not unclear in the operation of this software,
R
refer to the manual of Windows or guide-book from the other supplier.
R
(Note): Windows is either registered trademarks or trademarks of Microsoft
Corporation in the United States and/or other countries.
R
2 - 17
2 SYSTEM CONFIGURATION
2.4 General Specifications
General specifications of the Motion controller are shown below.
Item
Specification
Operating ambient temperature
0 to 55°C (32 to 131°F)
-25 to 75°C (-13 to 167°F) (Note-3)
Storage ambient temperature
Operating ambient humidity
5 to 95% RH, non-condensing
Storage ambient humidity
5 to 95% RH, non-condensing
Under intermittent
vibration
Vibration resistance
Acceleration
5 to 9Hz
——
9 to 150Hz
Under continuous
vibration
Frequency
5 to 9Hz
Sweep count
3.5mm
(0.138inch)
2
9.8m/s
——
9 to 150Hz
Amplitude
2
4.9m/s
10 times each
——
in X, Y, Z
1.75mm
directions
(0.069inch)
(For 80 min.)
——
2
Shock resistance
147m/s , 3 times in each of 3 directions X, Y, Z
Operating ambience
No corrosive gases
Operating altitude
2000m(6561.68ft.) or less
Mounting location
Inside control panel
Overvoltage category (Note-1)
II or less
Pollution level (Note-2)
2 or less
(Note-1) : This indicates the section of the power supply to which the equipment is assumed to be connected between the
public electrical power distribution network and the machinery within premises.
Category
applies to equipment for which electrical power is supplied from fixed facilities.
The surge voltage withstand level for up to the rated voltage of 300V is 2500V.
(Note-2) : This index indicates the degree to which conductive material is generated in terms of the environment in which
the equipment is used.
Pollution level 2 is when only non-conductive pollution occurs. A temporary conductivity caused by condensing
must be expected occasionally.
(Note-3) : Do not use or store the Motion controller under pressure higher than the atmospheric pressure of altitude 0m.
Doing so can cause an operation failure.
CAUTION
The Motion controller must be stored and used under the conditions listed in the table of
specifications above.
When not using the module for a long time, disconnect the power line from the Motion controller
or servo amplifier.
Place the Motion controller and servo amplifier in static electricity preventing vinyl bags and store.
When storing for a long time, please contact with our sales representative.
Also, execute a trial operation.
2 - 18
2 SYSTEM CONFIGURATION
2.5 Specifications of Equipment
2.5.1 Q170MCPU Motion controller
This section describes the specification of the Motion controller.
(1) Basic specifications of Q170MCPU
Item
Specification
Input voltage
(Note-1), (Note-2)
24VDC power supply Inrush current
(Note-3)
21.6 to 26.4VDC
(24VDC +/ -10%, ripple ratio 5% or less)
100A 1ms or less (at 24VDC input)
Max. input current
Max. supplied current
5VDC internal power
Q170MCPU current
supply
consumption
1.36A
4.0A (Included Q170MCPU current consumption)
2.0A
(Manual pulse generator/Incremental synchronous
encoder: 0.2A)
Efficiency
80% (TYP)
Input method
Connector
Allowable momentary power failure immunity
(Note-4), (Note-5)
10ms (at 24VDC input)
Mass [kg]
0.9
Exterior dimensions [mm(inch)]
178 (7.01)(H)
52 (2.05)(W)
135 (5.31)(D)
POINTS
(Note-1) : Input power supply
Q170MCPU is rated for use with a 24VDC input power only. The
Q170MCPU breaks down when 28VDC or more input.
(Note-2) : Select 24VDC power supply and electric wire within the range of 21.6 to
26.4VDC including any input ripple or spike voltage measured at the
input connector of the Q170MCPU.
(Note-3) : Inrush current
Take care that the inrush current of several amperes may flow when the
sharp square voltage is applied, or the power supply is turned ON with
the mechanical switch.
When selecting a fuse and breaker in the external circuit, take account of
the blow out, detection characteristics and above matters.
(Note-4) : Allowable momentary power failure period
(Note)
will cause
(1) An instantaneous power failure lasting less than 10ms
24VDC down to be detected, but operation will continue.
(Note)
may
(2) An instantaneous power failure lasting in excess of 10ms
cause the operation to continue or initial start to take place
depending on the power supply load.
(Note) : This is for a 24VDC input. This is 10ms or less for less than
24VDC.
(Note-5) : Select 24VDC power supply with allowable momentary power failure
period of 20ms or more.
2 - 19
2 SYSTEM CONFIGURATION
(2) Motion control specifications/performance specifications
(a) Motion control specifications
Item
Specification
Number of control axes
Up to 16 axes
0.44ms/ 1 to 6 axes
SV13
0.88ms/ 7 to 16 axes
Operation cycle
(default)
0.44ms/ 1 to 4 axes
SV22
0.88ms/ 5 to 12 axes
1.77ms/13 to 16 axes
Interpolation functions
Linear interpolation (Up to 4 axes), Circular interpolation (2 axes),
Helical interpolation (3 axes)
PTP (Point to Point) control, Speed control, Speed-position control (External input signal
Control modes
(DOG) of servo amplifier usable), Fixed-pitch feed, Constant speed control,
Position follow-up control, Speed control with fixed position stop, Speed switching control,
High-speed oscillation control, Synchronous control (SV22)
Acceleration/
deceleration control
Compensation
Automatic trapezoidal acceleration/deceleration,
S-curve acceleration/deceleration
Backlash compensation, Electronic gear, Phase compensation (SV22)
Programming language
Motion SFC, Dedicated instruction, Mechanical support language (SV22)
Servo program capacity
16k steps
Number of positioning
points
Peripheral I/F
3200 points
(Positioning data can be designated indirectly)
USB/RS-232 (PLC CPU area), PERIPHERAL I/F (Motion CPU area)
Proximity dog type (2 types), Count type (3 types, External input signal (DOG) of servo
Home position return
function
amplifier usable), Data set type (2 types), Dog cradle type, Stopper type (2 types),
Limit switch combined type
Home position return re-try function provided, home position shift function provided
JOG operation function
Manual pulse generator
operation function
Synchronous encoder
operation function
M-code function
Limit switch output
function
Provided
Possible to connect 3 channels (Q173DPX use)
Possible to connect 1 channel (Q170MCPU's internal I/F use)
(Note-1)
Possible to connect 8 channels (SV22 use, Incremental only)
(Note-2)
M-code output function provided,
M-code completion wait function provided
Number of output points 32 points
Watch data: Motion control data/Word device
ROM operation function
External input signal
Provided
Q172DLX or External input signals (FLS/RLS/DOG) of servo amplifier
High-speed reading
function
Forced stop
Number of I/O points
Provided
(Via internal I/F/input module, Via tracking of Q173DPX)
Motion controller forced stop (EMI connector, System setting),
Forced stop terminal of servo amplifier
Total 256 points (Internal I/F (Input 4 points, output 2 points) + I/O module)
Mark detection function
Provided
Clock function
Provided
2 - 20
2 SYSTEM CONFIGURATION
Motion control specifications (continued)
Item
Specification
Security function
Provided
All clear function
Remote operation
Provided
Remote RUN/STOP, Remote latch clear
Digital oscillation function
Absolute position system
Provided
Made compatible by setting battery to servo amplifier.
(Possible to select the absolute data method or incremental method for each axis)
Number of SSCNET
(Note-3)
1 system
Motion related interface
Q172DLX : 2 module usable
module
Q173DPX : 3 modules usable
systems
(Note-4)
(Note-1) : When the manual pulse generator is used with the Q170MCPU's internal I/F, do not set the Q173DPX in the
System Settings.
(Note-2) : Any incremental synchronous encoder connected to the Q170MCPU's internal I/F will automatically be assigned
an Axis No. one integer greater than the number of encoders connected to any Q173DPX modules.
(Note-3) : The servo amplifiers for SSCNET cannot be used.
(Note-4) : When using the incremental synchronous encoder (SV22 use), you can use above number of modules.
When connecting the manual pulse generator, you can use only 1 module.
2 - 21
2 SYSTEM CONFIGURATION
(b) Motion SFC performance specifications
Item
Specification
Code total
(Motion SFC chart + Operation control +
Motion SFC program capacity Transition)
543k bytes
Text total
(Operation control + Transition)
484k bytes
Number of Motion SFC programs
Motion SFC chart size/program
Motion SFC program
Number of Motion SFC steps/program
Number of selective branches/branch
Number of parallel branches/branch
Parallel branch nesting
Number of transition programs
Number of blocks(line)/program
4096 with F(Once execution type) and FS(Scan execution type)
combined. (F/FS0 to F/FS4095)
Up to 8192 blocks (in the case of 4 steps(min)/blocks)
Number of characters/block
Up to 128 (comment included)
Number of operand/block
Up to 64 (operand: constants, word device, bit devices)
( ) nesting/block
Up to 32 levels
Descriptive
expression Transition program
Calculation expression/bit conditional expression
Calculation expression/bit conditional expression/
comparison conditional expression
Number of multi execute programs
Number of multi active steps
Up to 256
Up to 256 steps/all programs
Normal task
Execute in main cycle of Motion controller
Fixed cycle
External
interrupt
Execute in fixed cycle
(0.44ms, 0.88ms, 1.77ms, 3.55ms, 7.11ms, 14.2ms)
Execute when input ON is set among interrupt module QI60
(16 points).
PLC interrupt
Execute with interrupt instruction (D(P).GINT) from PLC.
Execute when input ON is set among interrupt module QI60
(16 points).
NMI task
Number of I/O points (X/Y)
8192 points
Total 256 points
(Internal I/F (Input 4 points, Output 2 points) + I/O module)
Number of real I/O points (X/Y)
Internal relays (M)
Number of devices
(Device In the Motion CPU
area only)
(Included the positioning
dedicated device)
255
Up to approx. 64k bytes (32766 steps)
Operation control program
Execute specification
255
4096(G0 to G4095)
Code size/program
Event task
(Execution
Executed
can be
task
masked.)
Up to 4094 steps
Up to 4 levels
Number of operation control programs
Operation control program
(F/FS)
/
Transition program
(G)
256 (No.0 to 255)
Up to 64k bytes (Included Motion SFC chart comments)
12288 points
Link relays (B)
8192 points
Annunciators (F)
2048 points
Special relays (SM)
2256 points
Data registers (D)
8192 points
Link registers (W)
8192 points
Special registers (SD)
2256 points
Motion registers (#)
12288 points
1 point (888µs)
Coasting timers (FT)
Multiple CPU area devices (U \G)
Up to 14336 points
(Note)
(Note): Usable number of points differs according to the system settings.
2 - 22
2 SYSTEM CONFIGURATION
(3) PLC control specifications
Item
Specification
PLC CPU area
Program capacity, number of I/O points and number of extensions
were limited to Q03UDCPU
Control method
Sequence program control method
I/O control mode
Refresh mode
Relay symbol language (ladder), logic symbolic language (list),
MELSAP3 (SFC), MELSAP-L, Structured text (ST)
Sequence control language
Processing speed
(sequence instruction)
LD instruction
0.02 μs
MOV instruction
0.04 μs
PC MIX value (instruction/μs)
28
Floating point addition
0.12 μs
Total number of instructions
858
Operation (floating point operation) instruction
Yes
Character string processing instruction
Yes
PID instruction
Yes
Special function instruction (Trigonometric function,
square root, exponential operation, etc.)
Yes
Constant scan
0.5 to 2000ms (Setting available in 0.5ms unit.)
Program capacity
CPU shared memory
20k steps (80k byte)
QCPU standard memory
8k bytes
Multiple CPU high speed
transmission area
32k bytes
No. of I/O device points (X/Y)
No. of I/O points (X/Y)
8192 points
(Up to 320 points (64 points
512 points
5 modules) is usable with I/O module.)
Internal relay (M)
8192 points
Latch relay (L)
8192 points
Link relay (B)
8192 points
Timer (T)
2048 points
Retentive timer (ST)
Counter (C)
Data register (D)
0 points
1024 points
Points by default
(changeable by parameters)
12288 points
Link register (W)
8192 points
Annunciator (F)
2048 points
Edge relay (V)
2048 points
Link special relay (SB)
2048 points
Link special register (SW)
2048 points
File register (R, ZR)
98304 points
Step relay (S)
8192 points
Index register/Standard devise register (Z)
20 points
Index register (Z)
(32-bit modification specification of ZR device)
Up to 10 points (Z0 to Z18)
(Index register (Z) is used in double words.)
Pointer (P)
4096 points
Interrupt pointer (I)
256 points
Special relay (SM)
2048 points
Special register (SD)
2048 points
Function input (FX)
16 points
Function output (FY)
16 points
Function register (FD)
5 points
Local device
Yes
Device initial values
Yes
2 - 23
2 SYSTEM CONFIGURATION
PLC control specifications (continued)
Item
Specification
Number of extensions
Extension base unit
1 extension (Q52B/Q55B usable)
• Extension base unit use
: Connection after the extension base unit of
stage 1
• Extension base unit not use : Direct bus connection to Motion controller
GOT bus connection
PC type when program is made by GX Developer
Q03UDCPU
(4) Q170MCPU names of parts
PERIPHERAL I/F
RESET STOP RUN
RS-232
EMI
19)
CN1
1)
SW1
CD
AB E
F01
SW2
POWER
USB
RESET STOP RUN
6)
EMI
7)
CN1
EJECT
EJECT
20)
EXT.IO
CARD
21)
8)
CARD
EXT.IO
FRONT
FRONT
OUT
OUT
24VDC
(Note)
RIO
PUSH
24)
25)
22)
(Note): Unusable
Bottom face
2 - 24
24VDC
9)
10)
F01
PERIPHERAL I/F
USB
13)
14)
15)
4) 16)
5)
18)
45
23 6
POWER
17)
MODE
RUN
ERR.
USER
BAT.
BOOT
1)
CD
AB E
11)
12)
Q170MCPU
45
23 6
MITSUBISHI
MODE
RUN
ERR.
USER
BAT.
PULL
BOOT
789
23)
With front cover open,
and battery holder remove
2)
Front face
789
Side face
3)
2 SYSTEM CONFIGURATION
No.
Name
Application
1) 7-segment LED
Indicates the operating status and error information.
Rotary function select 1 switch
2)
(SW1)
• Set the operation mode.
(Normal operation mode, Installation mode, Mode operated by ROM, etc)
• Each switch setting is 0 to F.
(Factory default in SW1 "A", SW2 "0" position)
3)
Rotary function select 2 switch
(SW2)
4) "POWER" LED
• ON (red) : The internal power (5VDC) is ON.
• OFF
: The internal power (5VDC) is OFF.
5) RUN/STOP/RESET switch
• Move to RUN/STOP
RUN : Sequence program/Motion SFC program is started.
STOP : Sequence program/Motion SFC program is stopped.
• RESET (Momentary switch)
Set the switch to the "RESET" position 1 second or more to reset the hardware.
6) PERIPHERAL I/F connector
For communication I/F with peripheral devices
• Upper LED
Remains flashing : It communicates with the personal computer.
ON
: It does not communicate with the personal computer.
• Lower LED
Data transmission speed
ON : 100Mbps
OFF : 10Mbps
7) SSCNET CN1 connector (Note-1) Connector to connect the servo amplifier
8) Internal I/F connector
Connector to connect the manual pulse generator/incremental synchronous
encoder, or to input/output the signals.
(Voltage-output/open-collector type, Differential-output type)
9) 24VDC power supply connector
The DC power of 24VDC is connected.
10) Serial number display
Displays the serial number described on the rating plate.
11) "MODE" LED
Indicates the mode of the PLC CPU area.
• ON (green) : Q mode
12) "RUN" LED
Indicates the operating status of the PLC CPU area.
• ON : During operation with the RUN/STOP/RESET switch set to "RUN".
• OFF : During stop with the RUN/STOP/RESET switch set to "STOP".
When an error is detected and operation must be halted due to the error.
• Remains flashing : Parameters or programs are written with the RUN/STOP/
RESET switch set to "STOP", and then the RUN/STOP/
RESET switch is turned from "STOP" to "RUN".
• To turn ON the "RUN" LED after writing the program, carry
out the following steps.
1) Set the RUN/STOP/RESET switch in the order of "RUN"
to "STOP" to "RUN".
2) Reset with the RUN/STOP/RESET switch.
3) Power ON the Motion controller again.
• To turn ON the "RUN" LED after writing the parameters,
carry out the following steps.
1) Reset with the RUN/STOP/RESET switch.
2) Power ON the Motion controller again.
(If the RUN/STOP/RESET is set in the order of "RUN" to
"STOP" to "RUN" after changing the parameters, network
parameters and intelligent function module parameters
will not be updated.
2 - 25
2 SYSTEM CONFIGURATION
No.
Name
Application
13) "ERR." LED
Indicates the operating status of the PLC CPU area.
• ON : Detection of self-diagnosis error which will not stop operation, except
battery error. (When operation continued at error detection is set in the
parameter setting.)
• OFF : Normal
• Remains flashing :Detection of error whose occurrence stops operation.
Resetting with the RUN/STOP/RESET switch becomes valid.
14) "USER" LED
Indicates the operating status of the PLC CPU area.
• ON : Annunciator (F) turned ON
• OFF : Normal
15) "BAT." LED
Indicates the operating status of the PLC CPU area.
• ON (yellow) : Occurrence of battery error due to reduction in battery voltage of the
memory card.
• ON (green) : Turned ON for 5 seconds after restoring of data backup to the
standard ROM by the latch data backup is completed.
• Remains flashing (green): Backup of data to the standard ROM by latch data
backup is completed.
• OFF : Normal
16) "BOOT" LED
Indicates the operating status of the PLC CPU area.
• ON : Start of boot operation
• OFF : Non-execution of boot operation
17) USB connector
• Connector to connect the peripheral devices for USB connection
(Connector type mini B)
• Connect with the dedicated cable for USB
18) RS-232 connector
• Connector to connect the peripheral devices for RS-232 connection
• Connect with the dedicated cable (QC30R2) for RS-232
19)
Forced stop input connector (EMI) Input to stop all axes of servo amplifier in a lump
(Note-2)
EMI ON (opened)
: Forced stop
EMI OFF (24VDC input) : Forced stop release
20) Memory card EJECT button
Used to eject the memory card from the Motion controller
21) Memory card loading connector
Connector used to load the memory card to the Motion controller
22) Battery holder (Note-3)
Battery holder to set the Q6BAT/Q7BAT
23) Module fixing screw hole (Note-4)
Hole for screw used to fix to the control panel
24) FG terminal
Ground terminal connected with the shield pattern of the printed circuit board
25) Extension cable connector
Connector for transfer of signals to/from the extension base unit.
(Note-1) : Put the SSCNET cable in the duct or fix the cable at the closest part to the Motion controller with bundle
material in order to prevent SSCNET cable from putting its own weight on SSCNET connector.
(Note-2) : Be sure to use the cable for forced stop input (sold separately). The forced stop cannot be released without
using it.
If the cable for forced stop input is fabricated on the customer side, make it within 30m(98.43ft.).
(Note-3) : Be sure to set the battery. The data (Refer to Section 6.5.) of RAM built-in Motion controller are not backed up if
the battery cable is not set correctly.
(Note-4) : Purchase the M5 screws.
2 - 26
2 SYSTEM CONFIGURATION
(5) 7-segment LED display
The LED displays/flashes in the combination with errors.
Item
7-segment LED
Remark
Start
Initializing
It takes about 10 seconds to initialize
(RUN/STOP display).
Execute the power cycle of the Motion controller
if the operation stopped at initializing. It may be
Motion controller's hardware fault when it is not
improved.
Explain the error symptom (LED display) and get
advice from our sales representative for the
modules with failure.
Normal
"
Normal operation
Installation mode
Steady "INS" display,
" " remains flashing
Mode to install the operating system software via
personal computer.
Mode operated by
RAM
"
Mode to operate based on the user programs
and parameters stored in the RAM built-in Motion
controller.
Mode operated by
ROM
Steady " . " display,
" " remains flashing
Mode to operate after the user programs and
parameters stored in the FLASH ROM built-in
Motion controller are read to the RAM built-in
Motion controller.
STOP
Steady "STP" display
Stopped the Motion SFC program with the PLC
READY flag (M2000) OFF.
RUN
Steady "RUN" display
Executed the Motion SFC with the PLC READY
flag (M2000) ON.
Early stage warning
(2.7V or less)
Steady "BT1" display
Displayed at battery voltage 2.7V or less.
Refer to Section "6.5 Battery".
Final stage warning
(2.5V or less)
Steady "BT2" display
Displayed at battery voltage 2.5V or less.
Refer to Section "6.5 Battery".
"A00" remains flashing
It becomes the status of installation mode when
the operating system software is not installed.
Operation
mode
Battery
error
Operating system software
not installed
" remains flashing
" remains flashing
" AL" flashes 3 times
System setting error
Steady " L01" display
" AL" flashes 3 times
Servo error
Steady " S01" display
WDT error
Steady "..." display
2 - 27
System setting error of the Motion controller
Refer to the "Q173DCPU/Q172DCPU Motion
controller Programming Manual (COMMON)" for
details.
Servo error of the Motion controller
Refer to the Programming Manual of the
operating system software used for details.
Hardware fault or software fault
Refer to the Programming Manual of the
operating system software used for details.
2 SYSTEM CONFIGURATION
Item
7-segment LED
Remark
" AL" flashes 3 times
Steady " A1" display
(Self-diagnosis error)
Self diagnostic error
(Error related for Multiple CPU)
4-digits error code is
displayed in two sequential
flashes of 2-digits each.
(ex. error code [3012])
Setting error of the Multiple CPU system
Refer to the "Q173DCPU/Q172DCPU Motion
controller Programming Manual (COMMON)" for
details.
POINTS
(1) An error is displayed at the 7-segment LED, confirm the error code etc. using
MT Developer2.
(2) Refer to the Motion CPU error batch monitor of MT Developer2 or error list of
Programming Manual for error details.
(6) Rotary switch assignment
(a) Rotary function select 1 switch (SW1)
Rotary switch
4 56
CD
AB E
23
F0 1
Setting
(Note)
Mode
0
Normal mode
A
Installation mode
Description
Normal operation mode
Installed the operating system software using
MT Developer2
789
(Note): Not to be set except above setting.
(b) Rotary function select 2 switch (SW2)
Rotary switch
Setting
(Note)
Mode
Description
Normal operation mode
0
Mode operated by RAM
(Operation by the setting data and parameters
stored in the RAM built-in Motion controller.)
Mode to operate based on the setting data and
23
4 56
CD
AB E
F0 1
6
Mode operated by ROM
parameters wrote to the FLASH ROM built-in
Motion controller.
78 9
8
C
Ethernet IP address
display mode
SRAM clear
Mode to display the Ethernet IP address.
SRAM "0" clear
(Note): Not to be set except above setting.
CAUTION
Be sure to turn OFF the Motion controller's power supply before the rotary switch setting change.
2 - 28
2 SYSTEM CONFIGURATION
(7) Operation mode
(a) Rotary switch setting and operation mode
Rotary switch setting
SW1
A
Operation mode
SW2
Any setting (Except C) Installation mode
0
0
Mode operated by RAM
0
6
Mode operated by ROM
0
8
Ethernet IP address display mode
Any setting
C
SRAM clear
(Note)
(Note) : The data (Refer to Section 6.5) of RAM built-in Motion controller are cleared.
(b) Operation mode overview
Operation mode
7-segment LED
Operation overview
• Steady "INS" display at the 7-segment LED.
• Operating system software can be installed.
Installation mode
• It is STOP status regardless of the RUN/STOP/RESET switch position at the
front side of Motion controller.
• Digital oscilloscope function cannot be used.
• " . " remains flashing in the first digit of 7-segment LED.
Mode operated by
• It operates based on the user programs and parameters stored in the RAM
RAM
built-in Motion controller.
• " . " remains flashing in the first digit and steady" . "display in the second digit
of 7-segment LED.
• Operation starts after the user programs and parameters stored in the FLASH
ROM built-in Motion controller are read to the RAM built-in Motion controller at
power supply on or reset of the Motion controller.
If the ROM writing is not executed, even if the user programs and parameters
Mode operated by
are changed using the MT Developer2 during mode operated by ROM,
ROM
operation starts with the contents of the FLASH ROM built-in Motion controller
at next power supply on or reset.
Also, If the ROM writing is not executed, even if the auto tuning data are
reflected on the servo parameter of Motion controller by operation in the autotuning setting, operation starts with the contents of the FLASH ROM built-in
Motion controller at next power supply on or reset.
Ethernet IP address
display mode
Refer to next
page (c)
• Refer to next page "(c) Ethernet IP address display mode overview".
• Digital oscilloscope function cannot be used.
• " . " remains flashing in the first digit of 7-segment LED.
• The data (Refer to Section 6.5) of RAM built-in Motion controller are cleared by
SRAM clear
turning ON the Motion controller’s power supply after the rotary switch2 is set to
"C".
POINTS
Be sure to turn OFF the Motion controller's power supply before the rotary switch
setting change.
2 - 29
2 SYSTEM CONFIGURATION
(c) Ethernet IP address display mode overview
7-segment LED
Operation overview
(Note)
IP address
(ex. 192.168.3.39)
Subnet mask pattern
(Note)
(ex. 255.255.255.0)
Default router IP
(Note)
address
(ex. 192.168.3.1)
Link status
Disconnect
Connect
(10Mbps)
Full duplex
Connect
(100Mbps)
Half duplex
(Note): When the Ethernet parameters are not written in the Motion controller, the addresses
are displayed as follows.
• IP address
: 192.168.3.39
• Subnet mask pattern
: 255.255.255.0
• Default router IP address : 192.168.3.1
2 - 30
2 SYSTEM CONFIGURATION
(8) Internal I/F connector
(a) The pin layout of the Q170MCPU's internal I/F connector
Use the internal I/F connector on the front of the Q170MCPU to connect to
manual pulse signals and incremental synchronous encoder signals.
The following is the pin layout of the internal I/F connector as viewed from
the front.
Internal I/F connector
Pin No. Signal Name Pin No. Signal Name
(Note-1)
(Note-6)
(Note-5)
(Note-4)
(Note-6)
50
49
48
47
46
45
44
43
42
41
40
39
38
37
36
35
34
33
32
31
30
29
28
27
26
SG
SEL
SG
SG
5V
5V
No connect
No connect
No connect
No connect
No connect
No connect
No connect
No connect
No connect
No connect
No connect
No connect
COM2
DO2
COM1
DI4
DI2
No connect
No connect
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
HBL
HBH
HAL
HAH
HB
HA
No connect
No connect
No connect
No connect
No connect
No connect
No connect
No connect
No connect
No connect
No connect
No connect
COM2
DO1
COM1
DI3
DI1
No connect
No connect
(Note-3)
(Note-2)
(Note-6)
(Note-5)
(Note-4)
(Note-6)
Applicable connector model name
HDR type connector (HONDA TSUSHIN KOGYO CO., LTD.)
HDR-E50MSG1+ connector
(Attachment)
HDR-E50LPH connector case
(Note-1): Input type from manual pulse generator/Incremental synchronous encoder
switched by SEL .
Not connected: Voltage-output/open-collector type
SEL-SG connection: Differential-output type
(Note-2): Voltage-output/open-collector type
Connect the A-phase signal to HA, and the B-phase signal to HB.
(Note-3): Differential-output type
Connect the A-phase signal to HAH, and the A-phase inverse signal to HAL.
Connect the B-phase signal to HBH, and the B-phase inverse signal to HBL.
(Note-4): "COM1" is the common terminal of DI1, DI2, DI3 and DI4.
(Note-5): "COM2" is the common terminal of DO1 and Do2.
(Note-6): Do not connect to any of the terminal is explained as "No connect".
REMARK
Be sure to use the Motion controller since the first digit "F" of serial number to use
the mark detection function. Refer to Section 2.2 for the serial number.
2 - 31
2 SYSTEM CONFIGURATION
(b) Input signal/Mark detection
1) Specifications of input signal/mark detection input signal
Item
Specifications
Number of input points
4 points
Input method
Positive common/Negative common shared
Isolation method
Photocoupler
Rated input voltage
24VDC
Rated input current (IIN)
Approx. 5mA
21.6 to 26.4VDC
Operating voltage range
(24VDC
10%, ripple ratio 5% or less)
ON voltage/current
17.5VDC or more/3.5mA or more
OFF voltage/current
5VDC or less/0.9mA or less
Input resistance
Approx. 5.6k
OFF to ON
Response time
1ms or less
ON to OFF
Common terminal arrangement
4 points/common (Common contact: COM1)
Indicates to display
None
2) Interface between input signal/mark detection input signal
Input or
output
Input/
Input
DI
(Note-1)
1
2
3
4
3
28
4
29
Mark detection
signal input
Wiring
Pin No.
Signal name
5
COM1
30
example
Internal circuit
Description
Signal input,
+
-
24VDC(Note-2)
Mark detection
signal input
(Note-1): =1 to 4
(Note-2): As for the 24VDC sign, both "+" and "-" are possible.
2 - 32
2 SYSTEM CONFIGURATION
(c) Output signal
1) Specifications of output signal
Item
Specifications
Number of output points
2 points
Output method
Sink/Source type
Isolation method
Photocoupler
Rated load voltage
24VDC
Maximum load current (Iout)
10%
40mA/point, 80mA/common
21.6 to 26.4VDC
External power supply
(24VDC
Maximum voltage drop at ON (Vdorp)
10%, ripple ratio 5% or less)
2.75VDC or less
OFF voltage/current
11VDC or less/1.7mA or less
Input resistance
Approx. 5.6k
1ms or less
OFF to ON
Response time
ON to OFF
1ms or less (Rated load, resistance load)
Common terminal arrangement
2 points/common(Common contact: COM2)
Indicates to display
None
2) Interface between output signal
Input or
output
DO
Output
Wiring
Pin No.
Signal name
(Note-1)
1
2
example
6
31
load
Output
7
COM2
32
+
-
Internal circuit
Description
Signal output
24VDC(Note-2)
(Note-1): =1 to 2
(Note-2): As for the 24VDC sign, both "+" and "-" are possible.
2 - 33
2 SYSTEM CONFIGURATION
(d) Manual pulse generator/Incremental synchronous encoder input
1) Specifications of manual pulse generator/incremental synchronous
encoder
Item
Specifications
Signal input form
Phase A/Phase B
Maximum input pulse
frequency
1Mpps (After magnification by 4, up to 4Mpps)
Pulse width
1µs or more
Leading edge/trailing edge
0.25µs or less
time
Phase difference
0.25µs or more
High-voltage
2.0 to 5.25VDC
Differential-output Low-voltage
type
Differential voltage
(26LS31 or
equivalent )
0 to 0.8VDC
0.2V
Cable length
30m (98.43ft.)
1 s
0.5 s
Phase A
0.5 s
0.25 s
Example of waveform
Phase B
0.25 s
0.25 s
(Note): Duty ratio 50%
Maximum input pulse
frequency
200kpps
(After magnification by 4, up to 800kpps)
Pulse width
5µs or more
Leading edge/trailing edge
1.2µs or less
time
Phase difference
Voltage-output/
Open-collector
type
1.2µs or more
High-voltage
3.0 to 5.25 VDC
Low-voltage
0 to1.0VDC
Cable length
10m (32.81ft.)
5 s
2.5 s
2.5 s
Phase A
1.2 s
Example of waveform
Phase B
1.2 s
1.2 s
(Note): Duty ratio 50%
POINT
Use a manual pulse generator or an incremental synchronous encoder that
consumes less than 0.2[A] of current.
2 - 34
2 SYSTEM CONFIGURATION
2) Interface between manual pulse generator (differential-output type)/
incremental synchronous encoder
Input or
Output
Signal name
A+
Manual
HAH
pulse
generator,
Aphase A
HAL
Input
Manual
pulse
generator,
phase B
B+
HBH
BHBL
Pin No.
Wiring example
22
Internal circuit
A
24
Manual pulse
generator/
Incremental
synchronous
encoder
Rated input voltage
5.5VDC or less
For connection manual
pulse generator/
incremental
synchronous encoder
Phases A, B
Pulse width
1 s or more
LOW level
0.8VDC or less
B
0.5 s
or more
0.5 s
or more
(Duty ratio: 50%)
B
25
Description
HIGH level
2.0 to 5.25VDC
A
23
Specification
26LS31 or
equivalent
Leading edge, Trailing
edge time 0.25 s or less
Phase difference
Phase A
Select type
signal SEL
P5(Note-1)
Power
supply
SG
49
45
46
47
48
50
Phase B
(Note-2)
5V
Power supply
5VDC
2.5 s or
more
(1) Positioning address
increases if Phase A
leads Phase B.
(2) Positioning address
decreases if Phase B
leads Phase A.
SG
(Note-1): The 5V(P5)DC power supply from the Q170MCPU must not be used if a separate power supply
is applied to the manual pulse generator/incremental synchronous encoder.
If a separate power supply is used, be sure it is 5V voltage.
Anything else may cause a failure.
(Note-2): Connect SEL to the SG terminal if the manual pulse generator (differential-output type)
/incremental synchronous encoder is used.
2 - 35
2 SYSTEM CONFIGURATION
3) Interface between manual pulse generator (voltage-output/opencollector type)/incremental synchronous encoder
Input or
Signal name
Output
Manual
pulse
generator,
phase A
HA
Input
Manual
pulse
generator,
phase B
HB
Pin No.
Wiring example
Internal circuit
A
20
Manual pulse
generator/
Incremental
synchronous
encoder
Specification
Description
Rated input voltage
5.5VDC or less
For connection manual
pulse generator/
incremental
synchronous encoder
Phases A, B
HIGH level
3 to 5.25VDC/
2mA or less
LOW level
1VDC or less/
5mA or more
B
21
Pulse width
5 s or more
2.5 s
or more
2.5 s
or more
(Duty ratio: 50%)
Leading edge, Trailing
edge time 1.2 s or less
Phase difference
Phase A
Select type
signal
SEL
49
2.5 s or
more
(1) Positioning address
increases if Phase A
leads Phase B.
P5(Note-1)
45
46
SG
47
48
50
Power
supply
Phase B
No connect
5V
Power supply
5VDC
(2) Positioning address
decreases if Phase B
leads Phase A.
SG
(Note-1): The 5V(P5)DC power supply from the Q170MCPU must not be used if a separate power supply
is applied to the manual pulse generator/incremental synchronous encoder.
If a separate power supply is used, be sure it is 5V voltage.
Anything else may cause a failure.
2 - 36
2 SYSTEM CONFIGURATION
4) Connection examples of manual pulse generator/incremental
synchronous encoder
Q170MCPU
Signal name
Differential-output type
Manual pulse generator/
Incremental synchronous
encoder side
Voltage-output/Open-collector type
Manual pulse generator/
Incremental synchronous
Q170MCPU
encoder side
Signal name
HAH
A
HA
A
HAL
A
HB
B
HBH
B
SG
0V
HBL
B
SG
5V
SG
0V
SG
5V
5V
5V
SG
(Note-2)
SEL
(Note-1)
SEL
Shell
(Note-1)
Shield
Shell
: Twist pair cable
Shield
: Twist pair cable
(Note-1): The 5V(P5)DC power supply from the Q170MCPU must not be used if a separate power
supply is applied to the manual pulse generator/incremental synchronous encoder.
If a separate power supply is used, be sure it is 5V voltage. Anything else may cause a failure.
(Note-2): Input type from manual pulse generator/incremental synchronous encoder switched by SEL.
Not connected: Voltage-output/open-collector type
SEL-SG connection: Difference-output type
CAUTION
If a separate power supply is applied to the manual pulse generator/incremental synchronous
encoder, be sure it is 5V voltage. Anything else may cause a failure.
Always wire the cables when power is off. Not doing so may damage the circuit of modules.
Wire the cable correctly. Wrong wiring may damage the internal circuit.
(e) Connection of manual pulse generator/incremental synchronous encoder
Manual pulse generators/incremental synchronous encoders of the voltageoutput/open-collector type and differential-output type can be connected.
Both connection methods are different. (Refer to this section (8)(a).)
Motion controller
Q170MCPU (Internal I/F)
2 - 37
Connectable manual pulse generator/
incremental synchronous encoder
Up to 1 module
2 SYSTEM CONFIGURATION
(f) Axis No. of manual pulse generator/incremental synchronous encoder
Any incremental synchronous encoder connected to the Q170MCPU's
internal I/F will automatically be assigned an axis No. one integer greater
than the number of encoders connected to any Q173DPX modules.
The setting for the axis No. of manual pulse generator/incremental
synchronous encoder used by the internal I/F and Q173DPX.
Q170M
CPU
Internal I/F
P
1st
(Note-3)
(Note-1)
2nd
3rd
(Note-2)
Q173D Q173D Q173D
PX
PX
PX
(Note-1):
P7 to P8
P4 to P6
P1 to P3
(Note-3)
= Axis No.
The following Axis No.s are automatically set
depending on the number of Q173DPX modules.
0: P1
1: P4
2: P7
(Note-2): Q173DPX installed to the smallest slot number
of the extension base unit is the 1st.
(Note-3): Axis No. P1 to P3 of the manual pulse generator
can be used.
(Note): When the manual pulse generator is used with the internal I/F, do not set the Q173DPX in the
System Settings.
Number of Q173DPXs
Axis No.
0
1
2
3
1
1
1
2
2
P1
P2
P3
P4
—
P5
P6
—
P7
P8
—
3
: Usable by internal I/F.
1 : Usable only by the 1st Q173DPX
2 : Usable only by the 2nd Q173DPX
3 : Usable only by the 3rd Q173DPX
—: Unusable
(9) PERIPHERAL I/F connector
Item
Data transmission speed
Transmission
Specification
100Mbps/10Mbps
Communication mode
Full-duplex/Half-duplex
Transmission method
Base band
Cable length [m(ft.)]
2 - 38
Up to 30 (98.43)
2 SYSTEM CONFIGURATION
(10) 24VDC power supply connector
24VDC power supply is supplied from the 24VDC power supply connector of
the front face of the Motion controller.
The pins layout (from front view) and connection of the 24VDC power supply
connector is shown below.
1A
Pin No.
1B
(Note)
1A
(Note)
2A
2A
Signal name
Pin No.
Signal name
24V(+)
1B
24V(+)
24G
2B
24G
(Note): Use "1A" and "2A" when the 24VDC voltage is applied
on EMI connector and the forced stop input of EMI
connector is invalidated.
2B
• Applicable connector model name
24VDC power supply connector set (Q170MPWCON) (Attachment)
1-1827864-2 connector (Tyco Electronics AMP K.K. make)
1827587-2 terminal
• Crimping tool
Tool type
: 1762846-1
Maker name
: Tyco Electronics AMP K.K.
• Conductor size for power line
2
0.34 to 0.37mm
CAUTION
24V(+) pin is upper side and 24G pin is lower side of 24VDC power supply connector (from front
view) of Motion controller. If the polarity is wrong, the unit may be damaged.
Recommend the use of twisted pair cabling for 24VDC power line
Power off the Motion controller before wiring 24VDC power supply.
Use proper size wire for 24VDC power line.
2 - 39
2 SYSTEM CONFIGURATION
(11) Selection of the modules used in the extension base unit
The modules used in the extension base unit are selected according to the total
of current consumption of the modules, and peripheral devices (Manual pulse
generator, Incremental synchronous encoder, etc.) supplied by the Motion
controller and Motion controller internal power supply.
5VDC internal current consumption of shared equipments with PLC might be
changed. Be sure to refer to the MELSEC-Q series PLC Manuals.
(a) Calculation example of module selection
<System configuration>
Q170M
CPU
Incremental synchronous encoder
QX40
Q173D QY40P QJ71
Q62DA
PX
LP21-25
Q55B
MR-HDP01
MR-HDP01
• 5VDC current consumption of each module
Q170MCPU
: 2.00 [A]
Incremental synchronous encoder: 0.20 [A]
QX40
: 0.05 [A]
Q173DPX
: 0.38 [A]
MR-HDP01
: 0.06 [A]
QY40P
QJ71LP21-25
Q62DA
Q55B
: 0.065 [A]
: 0.55 [A]
: 0.33 [A]
: 0.10 [A]
• Power consumption of overall modules
I5V = 2.00 + 0.20 + 0.05 + 0.38 + 0.06 2 + 0.065 + 0.55 + 0.33 + 0.10
= 3.795 [A]
System configuration is possible because of the total of current
consumption 3.795 [A] is the allowable value 4[A] or less.
POINT
Configure the system in such a way that the total current consumption at 5VDC of
all the modules is the allowable value 4 [A] or less.
2 - 40
2 SYSTEM CONFIGURATION
2.5.2. Extension base unit and extension cable
This section describes the specifications of the extension cables for the base units
(Extension base unit), and the specification standards of the extension base unit.
5VDC internal current consumption of base unit might be changed. Be sure to refer to
the MELSEC-Q series PLC Manuals.
(1) Extension base unit specifications
Type
Q52B
Item
Number of I/O modules
Q55B
2
5
Possibility of extension
Extendable
Applicable module
Q series modules
5VDC internal current
0.08
consumption [A]
Fixing hole size
0.10
M4 screw hole or
Exterior dimensions
106(W) 98(H)
(4.17(W) 3.86(H)
[mm(inch)]
Mass [kg]
4.5 hole (for M4 screw)
44.1(D)
1.74(D) )
189(W) 98(H)
(7.44(W) 3.86(H)
0.14
Attachment
44.1(D)
1.74(D) )
0.23
Fixing screw M4 14 4 pieces
(2) Extension cable specifications
The list below describes the specifications of the extension cables which can
be used.
Type
Item
Cable length[m(ft.)]
QC05B
QC06B
QC12B
QC30B
QC50B
QC100B
0.45(1.48)
0.6(1.97)
1.2(3.94)
3.0(9.84)
5.0(16.40)
10.0(32.81)
Application
Mass [kg]
Connection between the Motion controller and extension base unit
0.15
0.16
0.22
0.40
POINT
Use the extension cable of 10m (32.8ft.) or less.
2 - 41
0.60
1.11
2 SYSTEM CONFIGURATION
(3) Names of parts of the extension base unit
Names of parts of the extension base unit are described below.
(a) Extension base unit (Q52B, Q55B)
6)
IN
5)
OUT
3)
2)
I/O0
I/O1
I/O2
I/O3
I/O4
1)
4)
No.
1)
2)
3)
Name
Application
Extension cable
Connector for connecting an extension cable (for signal communications with the extension
connector
base unit)
Base cover
Protective cover of extension cable connector. Before the GOT is connected, the area
under the word "OUT" on the base cover must be removed with a tool such as nippers.
Stage No. setting
Connector for setting the number of stages of extension base units. (Used for setting in
connector
stage 1.)
Connector for installing the Motion modules, I/O modules, and intelligent function module.
4)
Module connector
To the connectors located in the spare space where these modules are not installed,
attach the supplied connector cover or the blank cover module (QG60) to prevent entry of
dirt.
5)
Module fixing screw hole Screw hole for fixing the module to the extension base unit. Screw size: M3
6)
Base mounting hole
12
Hole for mounting this base unit onto the panel of the control panel (for M4 screw)
2 - 42
2 SYSTEM CONFIGURATION
(4) I/O allocations
It is possible to allocate unique I/O No.s for each Motion CPU area independently
of the PLC CPU area’s I/O No.s.
,
ON/OFF data input to the Motion CPU area is handled via input devices PX
while ON/OFF data output from the Motion CPU area is handled via output
.
devices PY
It is not mandatory to match the I/O device PX/PY No.s used in the Motion
program with the PLC I/O No.s; but it is recommended to make them match as
much as possible.
The following figure shows an example of I/O allocation.
Q170MCPU
0
1
2
3
4
QX41
Q62DA
QY41
QX41
QY41
X0 to X1F
20 to 3F
Y80 to Y9F
PX0 to PX1F PY20 to PY3F
(X40 to X5F) (Y60 to Y7F)
PLC CPU area
control module
Motion CPU area
control module
(Note-1): When the number of modules to be installed is 32 points.
(Note-2): When the PX/PY No. does not match the PLC I/O No.
Refer to the Q173DCPU/Q172DCPU Motion Controller Programming Manual
(COMMON) about the I/O allocation setting method of the Motion CPU area, and refer
to APPENDIX 1.7 and the "QnUCPU User's Manual (Function Explanation, Program
Fundamentals)" about the I/O allocation setting method of the PLC CPU area.
POINT
I/O device of the Motion CPU area can be set in the range PX/PY000 to PX/PYFFF.
The real I/O points must be 256 points or less. (As for the I/O No., it is possible not
to continue.)
2 - 43
2 SYSTEM CONFIGURATION
2.5.3 Q172DLX Servo external signals interface module
Q172DLX receives external signals (servo external signals) required for positioning
control.
(1) Q172DLX name of parts
1)
Q172DLX
5)
2)
CTRL
6)
3)
Q172DLX
7)
4)
No.
1)
Name
Module fixing hook
Application
Hook used to fix the module to the base unit.
(Single-motion installation)
Display the servo external input status from the external
equipment.
LED
2)
Input indicator LED
0 to 1F
Details
Display for servo external signal input status of
each axis.
The proximity dog/speed-position switching signal (DOG/
CHANGE) does not turn ON without setting Q172DLX in the
system setting.
3)
CTRL connector
The servo external signal input connector of each axis.
4)
Module mounting lever
Used to install the module to the base unit.
Module fixing screw
Hole for the screw used to fix to the base unit.
hole
(M3×12 screw : Purchase from the other supplier)
5)
6)
Module fixing projection Projection used to fix to the base unit.
7)
Serial number display
Display the serial number described on the rating plate.
POINT
Input indicator LED of the proximity dog/speed-position switching signal (DOG/
CHANGE) turns ON at the following conditions.
• Q172DLX is set on the system setting of MT Developer2.
• The proximity dog/speed-position switching signal (DOG/CHANGE) is input.
2 - 44
2 SYSTEM CONFIGURATION
(2) Performance specifications
(a) Module specifications
Item
Specifications
Number of I/O occupying points
32 points(I/O allocation: Intelligent, 32 points)
Internal current consumption(5VDC) [A]
0.06
98(H)
Exterior dimensions [mm(inch)]
27.4(W) 90(D)
(3.86(H) 1.08(W) 3.54(D) )
Mass [kg]
0.15
(b) Input
Item
Specifications
Servo external signals : 32 points
(Upper stroke limit, Lower stroke limit, Stop input,
Number of input points
Proximity dog/Speed-position switching signal)
(4 points
Input method
8 axes)
Sink/Source type
Isolation method
Photocoupler
Rated input voltage
12/24VDC
Rated input current
12VDC 2mA/24VDC 4mA
10.2 to 26.4VDC
Operating voltage range
(12/24VDC +10/ -15%, ripple ratio 5% or less)
ON voltage/current
10VDC or more/2.0mA or more
OFF voltage/current
1.8VDC or less/0.18mA or less
Input resistance
Response time of the
Upper/Lower stroke limit and
STOP signal
Response time of the
proximity dog, Speedposition switching signal
Approx. 5.6k
OFF to ON
ON to OFF
OFF to ON
ON to OFF
Common terminal arrangement
1ms
0.4ms/0.6ms/1ms
(CPU parameter setting, Default 0.4ms)
32 points/common (common terminal: B1, B2)
Indicates to display
ON indication (LED)
External connector type
40 pin connector
2
0.3mm
Applicable wire size
Applicable connector for the external
A6CON1 (Attachment),
connection
A6CON2, A6CON3, A6CON4 (Optional)
Applicable connector/
A6TBXY36, A6TBXY54, A6TBX70 (Optional)
Terminal block converter module
2 - 45
2 SYSTEM CONFIGURATION
(3) Connection of servo external signals interface module
(a) Servo external signals
There are the following servo external signals.
(Upper stroke limit is limit value of address increase direction/lower stroke
limit is limit value of an address decrease direction.)
The Q172DLX is assigned a set of input No.s per axis. Make the system
setting of MT Developer2 to determine the I/O No.s corresponding to the
axis No.s.
Servo external signal
Upper stroke limit input (FLS)
Lower stroke limit input (RLS)
Stop signal input (STOP)
Proximity dog/
Application
on one Q172DLX
For detection of upper and lower stroke limits.
For stopping under speed or positioning control.
For detection of proximity dog at proximity dog or count
Speed-position switching input type home position return of for switching from speed to
(DOG/CHANGE)
Number of points
position switching control.
2 - 46
32 points
(4 points/8 axes)
2 SYSTEM CONFIGURATION
(b) The pin layout of the CTRL connector
Use the CTRL connector on the front of the Q172DLX module to connect to
servo external signals.
The following is the pin layout of the Q172DLX CTRL connector as viewed
from the front.
CTRL connector
Signal No.
1
2
3
4
Pin No.
Signal Name
Pin No.
Signal Name
B20
FLS1
A20
FLS5
B19
RLS1
A19
RLS5
B18
STOP1
A18
STOP5
B17
DOG1/CHANGE1
A17
DOG5/CHANGE5
B16
FLS2
A16
FLS6
B15
RLS2
A15
RLS6
B14
STOP2
A14
STOP6
B13
DOG2/CHANGE2
A13
DOG6/CHANGE6
B12
FLS3
A12
FLS7
B11
RLS3
A11
RLS7
B10
STOP3
A10
STOP7
B9
DOG3/CHANGE3
A9
DOG7/CHANGE7
B8
FLS4
A8
FLS8
B7
RLS4
A7
RLS8
B6
STOP4
A6
STOP8
B5
DOG4/CHANGE4
A5
B4
No connect
A4
No connect
B3
No connect
A3
No connect
B2
COM
A2
No connect
B1
COM
A1
No connect
Signal No.
5
6
7
8
DOG8/CHANGE8
Applicable connector model name
A6CON1 type soldering type connector
FCN-361J040-AU connector (FUJITSU COMPONENT LIMITED)
FCN-360C040-B connector cover
A6CON2 type Crimp-contact type connector
A6CON3 type Pressure-displacement type connector
A6CON4 type soldering type connector
DOG/CHANGE, STOP, RLS, FLS functions of each axis(1 to 8)
DOG/CHANGE
STOP
RLS
FLS
Proximity dog/Speed-position
switching signal
Stop signal
Lower stroke limit
Upper stroke limit
(Attachment)
(Optional)
For information about
signal details, refer to
the programming manual.
(Note) : Connector/terminal block conversion modules and cables can be
used at the wiring of CTRL connector.
A6TBXY36/A6TBXY54/A6TBX70 : Connector/terminal block
converter module
: Connector/terminal block
AC TB ( :Length [m])
converter module cable
POINT
Signal No. 1 to 8 can be assigned to the specified axis. Make the assignment in the
system settings of MT Developer2.
2 - 47
2 SYSTEM CONFIGURATION
(4) Interface between CTRL connector and servo external signal
Input or
Output
Input
Signal name
Pin No.
LED
FLS1
FLS2
FLS3
FLS4
FLS5
FLS6
FLS7
FLS8
B20
B16
B12
B8
A20
A16
A12
A8
0
4
8
C
10
14
18
1C
RLS1
RLS2
RLS3
RLS4
RLS5
RLS6
RLS7
RLS8
B19
B15
B11
B7
A19
A15
A11
A7
1
5
9
D
11
15
19
1D
STOP1
STOP2
STOP3
STOP4
STOP5
STOP6
STOP7
STOP8
B18
B14
B10
B6
A18
A14
A10
A6
B17
B13
B9
B5
A17
A13
A9
A5
2
6
A
E
12
16
1A
1E
3
7
B
F
13
17
1B
1F
DOG/CHANGE1
DOG/CHANGE2
DOG/CHANGE3
DOG/CHANGE4
DOG/CHANGE5
DOG/CHANGE6
DOG/CHANGE7
DOG/CHANGE8
Power supply
(Note)
Wiring example
Internal circuit
Upper stroke
limit input
5.6k
Lower stroke
limit input
5.6k
Specification
Description
Supply voltage
12 to 24 VDC
(10.2 to 26.4 VDC,
stabilized power
FLS
supply)
RLS
High level
10.0 VDC or more/
2.0mA or more
Stop signal
input
STOP
5.6k
Low level
1.8 VDC or less/
0.18mA or less
Proximity dog/
Speed-position
switching signal
DOG/CHANGE
5.6k
B1 B2
12VDC to 24VDC
Common terminals
for servo external
input signal.
(Note): As for the connection to power line (B1, B2), both "+" and "–" are possible.
CAUTION
Always use a shield cable for connection of the CTRL connector and external equipment, and
avoid running it close to or bundling it with the power and main circuit cables to minimize the
influence of electromagnetic interface. (Separate them more than 200mm (0.66ft.) away.)
Connect the shield wire of the connection cable to the FG terminal of the external equipment.
Make parameter setting correctly. Incorrect setting may disable the protective functions such
as stroke limit protection.
Always wire the cables when power is off. Not doing so may damage the circuit of modules.
Wire the cable correctly. Wrong wiring may damage the internal circuit.
2 - 48
2 SYSTEM CONFIGURATION
2.5.4 Q173DPX Manual pulse generator interface module
Q173DPX receive signals required for Manual pulse and Incremental synchronous
encoder (Voltage-output/Open-collector type/Differential-output type) input.
(1) Q173DPX name of parts
1)
Q173DPX
5)
PLS.A
1
2
3
PLS.B
1
2
3
TREN
1
2
3
PULSER
3)
1 2 3 4 5 6
ON
6)
2)
7)
Q173DPX
8)
4)
No.
1)
Name
Module fixing hook
Application
Hook used to fix the module to the base unit.
(Single-motion installation)
Display the input status from the external equipment.
LED
PLS.A 1 to 3
PLS.B 1 to 3
2)
Input indicator LED
TREN 1 to 3
Details
Display for input signal status of manual
pulse generator/incremental synchronous
encoder phases A, B
Display for signal status of tracking
enable.
The manual pulse generator/incremental synchronous
encoder phases A, B and tracking enable signal does not
turn ON without setting Q173DPX in the system setting.
3)
PULSER connector
4)
Module mounting lever
5)
Module fixing screw hole
Input connector of the Manual pulse generator/Incremental
synchronous encoder.
Used to install the module to the base unit.
Hole for the screw used to fix to the base unit
(M3×12 screw : Purchase from the other supplier)
2 - 49
2 SYSTEM CONFIGURATION
No.
Name
Application
Detection setting of TREN1 signal
Dip switch 1
Dip switch 2
Dip switches
SW2
OFF
OFF
ON
ON
ON
OFF
OFF
ON
TREN is detected at leading
edge of TREN signal.
TREN is detected at trailing edge
of TREN signal.
Detection setting of TREN2 signal
ON
1 2 3 4 5 6
6)
(Note-1)
SW1
Dip switch 3
Dip switch 4
(Factory default in OFF
SW3
SW4
OFF
OFF
ON
ON
ON
OFF
OFF
ON
TREN is detected at leading
edge of TREN signal.
TREN is detected at trailing edge
of TREN signal.
Detection setting of TREN3 signal
position)
Dip switch 5
Dip switch 6
SW5
SW6
OFF
OFF
ON
ON
ON
OFF
OFF
ON
TREN is detected at leading
edge of TREN signal.
TREN is detected at trailing edge
of TREN signal.
7)
Module fixing projection
Projection used to fix to the base unit.
8)
Serial number display
Display the serial number described on the rating plate.
(Note-1) : The function is different according to the operating system software installed.
CAUTION
Before touching the DIP switches, always touch grounded metal, etc. to discharge static
electricity from human body. Failure to do so may cause the module to fail or malfunction.
Do not directly touch the module's conductive parts and electronic components. Touching them
could cause an operation failure or give damage to the module.
POINTS
Input indicator LED of the manual pulse generator/incremental synchronous
encoder phases A, B and tracking enable signal turns ON at the following
conditions.
(1) PLS.A 1 to 3, PLS.B 1 to 3
• Q173DPX is set in the system setting of MT Developer2.
• All axes servo ON command (M2042) turned on.
• Manual pulse generator enable flag (M2051, M2052, M2053) turned on.
• Manual pulse generator signal is input.
(2) TREN 1 to 3
• Q173DPX is set in the system setting of MT Developer2.
• The tracking enable signal is input.
2 - 50
2 SYSTEM CONFIGURATION
(2) Performance specifications
(a) Module specifications
Item
Specifications
Number of I/O occupying points
32 points(I/O allocation: Intelligent, 32 points)
Internal current consumption(5VDC)[A]
Exterior dimensions [mm(inch)]
0.38
98(H) 27.4(W) 90(D) (3.86(H) 1.08(W) 3.54(D) )
Mass [kg]
0.15
(b) Tracking enable signal input
Item
Specifications
Number of input points
Tracking enable signal : 3 points
Input method
Sink/Source type
Isolation method
Photocoupler
Rated input voltage
12/24VDC
Rated input current
12VDC 2mA/24VDC 4mA
10.2 to 26.4VDC
Operating voltage range
(12/24VDC +10/ -15%, ripple ratio 5% or less)
ON voltage/current
10VDC or more/2.0mA or more
OFF voltage/current
1.8VDC or less/0.18mA or less
Input resistance
Approx. 5.6k
OFF to ON
Response time
0.4ms/0.6ms/1ms
(CPU parameter setting, Default 0.4ms)
ON to OFF
Common terminal arrangement
1 point/common(Common contact: TREN.COM)
Indicates to display
ON indication(LED)
(Note): Functions are different depending on the operating system software installed.
(c) Manual pulse generator/Incremental synchronous encoder
input
Item
Specifications
Number of modules
3/module
Voltage-output/
High-voltage
3.0 to 5.25VDC
Open-collector type
Low-voltage
0 to 1.0VDC
Differential-output type
High-voltage
2.0 to 5.25VDC
(26LS31 or equivalent)
Low-voltage
0 to 0.8VDC
Input frequency
Up to 200kpps (After magnification by 4)
Applicable types
Voltage-output type/Open-collector type (5VDC),
Recommended product: MR-HDP01,
Differential-output type: (26LS31 or equivalent)
External connector type
40 pin connector
2
0.3mm
Applicable wire size
Applicable connector for the external
connection
Cable length
A6CON1(Attachment)
A6CON2, A6CON3, A6CON4 (Optional)
Voltage-output/
Open-collector type
30m (98.43ft.)
(Open-collector type: 10m (32.81ft.) )
Differential-output type
2 - 51
2 SYSTEM CONFIGURATION
(3) Connection of manual pulse generator
Manual pulse generators of the voltage-output/open-collector type and
differential-output type can be connected. Both connection methods are different.
(Refer to this section (5).)
When the manual pulse generator is connected to the Q173DPX, it cannot be
connected to the internal I/F.
Motion controller
Connectable manual pulse generator
Up to 3 modules
Q170MCPU
(Q173DPX: Up to 1 module)
(4) Connection of incremental synchronous encoder
Incremental synchronous encoders of the voltage-output/Open-collector type and
differential-output type can be connected. Both connection methods are different.
(Refer to this section (5).)
Motion controller
Connectable synchronous encoder
Up to 8 modules
Q170MCPU
(Q173DPX: Up to 3 modules)
Q170MCPU
(Combination of Q173DPX
and internal I/F)
Up to 7 modules
(Q173DPX: Up to 2 modules)
(Note): Refer to Section 2.5.1 for details of the internal I/F.
• Tracking enable signal
Tracking enable signal of Q173DPX is used to start the input from incremental
synchronous encoders.
The external input signal of the incremental synchronous encoder is indicated
below.
This signal is used as the input start signal or high-speed reading function from
incremental synchronous encoder.
External input signal of the
Application
incremental synchronous encoder
Tracking enable signal input
Number of points on
one Q173DPX
Input start function from incremental
Each 1 point
synchronous encoder
( Total 3 points )
2 - 52
2 SYSTEM CONFIGURATION
(5) Connection of manual pulse generator interface module
(a) The pin layout of the PULSER connector
Use the PULSER connector on the front of the Q173DPX module to
connect to manual pulse signals and incremental synchronous encoder
signals.
The following is the pin layout of the Q173DPX PULSER connector as
viewed from the front.
PULSER connector
Pin No.
2)
3)
2)
3)
2)
Pin No.
Signal Name
B20
HB1
A20
HA1
B19
SG
A19
SG
B18
5V
A18
HPSEL1
B17
HA1N
A17
HA1P
B16
HB1N
A16
HB1P
B15
HB2
A15
HA2
B14
SG
A14
SG
B13
5V
A13
HPSEL2
B12
HA2N
HA2P
B11
HB2N
A12
A11
B10
HB3
SG
A10
HA3
A9
SG
B8
5V
A8
HPSEL3
1)
B7
A7
B6
HA3N
HB3N
A6
HA3P
HB3P
3)
B5
No connect
B9
3)
4)
Signal Name
HB2P
A5
No connect
B4
TREN1
A4
TREN1
B3
TREN2
A3
TREN2
B2
TREN3
A2
TREN3
B1
FG
A1
FG
2)
1)
3)
2)
1)
3)
2)
4)
Applicable connector model name
A6CON1 type soldering type connector
FCN-361J040-AU connector (FUJITSU COMPONENT LIMITED)
FCN-360C040-B connector cover
A6CON2 type Crimp-contact type connector
A6CON3 type Pressure-displacement type connector
A6CON4 type soldering type connector
1) : Input type from manual pulse generator/incremental synchronous
encoder switched by HPSEL .
Not connected : Voltage-output/open-collector type
HPSEL -SG connection : Differential-output type
(Switching is possible for each input 1 to 3)
2) : Voltage-output/open-collector type
Connect the A-phase signal to HA1/HA2/HA3, and the B-phase signal
to HB1/HB2/HB3.
3) : Differential-output type
Connect the A-phase signal to HA1P/HA2P/HA3P, and the A-phase
inverse signal to HA1N/HA2N/HA3N.
Connect the B-phase signal to HB1P/HB2P/HB3P, and the B-phase
inverse signal to HB1N/HB2N/HB3N.
4) : Connect the shield cable between manual pulse generator/incremental
synchronous encoder and Q173DPX at the FG signal.
5) : Connector/terminal block conversion modules cannot be used.
2 - 53
(Attachment)
(Optional)
2 SYSTEM CONFIGURATION
(b) Interface between PULSER connector and manual pulse
generator (Differential-output type)/Incremental synchronous
encoder
Input or
Signal name
Output
1
A
Manual
A17
HA P
pulse
generator,
A
B17
phase A
HA N
B
Input
Manual
A16
HB P
pulse
generator,
B
phase B
B16
HB N
Pin No.
2
3
A12
A7
B12
B7
Wiring example Internal circuit
Rated input voltage
5.5VDC or less
A
HIGH level
2.0 to 5.25VDC
A
A11
A6
Manual pulse
generator/
Incremental
synchronous
encoder
Specification
Description
For connection
manual pulse
generator
Phases A, B
Pulse width
20 s or more
LOW level
0.8VDC or less
B
5 s
or more
5 s
or more
(Duty ratio: 50% 25%)
B11
B
B6
26LS31 or
equivalent
Leading edge, Trailing
edge time
1 s or less.
Phase difference
Phase A
Select type
signal HPSEL
(Note-1)
P5
Power
supply
SG
A18
A13
A8
Phase B
(Note-2)
2.5 s or
more
(1) Positioning address
increases if Phase A
leads Phase B.
B18
B13
B8
5V
A19
A14
A9
B19
B14
B9
Power supply
5VDC
(2) Positioning address
decreases if Phase B
leads Phase A.
SG
(Note-1) : The 5V(P5)DC power supply from the Q173DPX must not be used if a separate power supply is
applied to the manual pulse generator/incremental synchronous encoder.
If a separate power supply is used, be sure it is 5V voltage. Anything else may cause a failure.
(Note-2) : Connect HPSEL to the SG terminal if the manual pulse generator (differential-output type)
/incremental synchronous encoder is used.
2 - 54
2 SYSTEM CONFIGURATION
(c) Interface between PULSER connector and manual pulse
generator (Voltage-output/Open-collector type)/
Incremental synchronous encoder.
Pin No.
Input or
Signal name
Wiring example Internal circuit
Output
1
2
3
Manual
pulse
A
generator, A20 A15 A10
phase A
HA
Input
Manual
pulse
generator,
phase B
Manual pulse
generator/
Incremental
synchronous
encoder
B20 B15
Specification
Rated input voltage
5.5VDC or less
HIGH level
3 to 5.25VDC/
2mA or less
LOW level
1VDC or less/
5mA or more
B
B10
HB
Description
For connection
manual pulse
generator
Phases A, B
Pulse width
20 s or more
5 s
or more
5 s
or more
(Duty ratio: 50% 25%)
Leading edge, Trailing
edge time
1 s or less.
Phase difference
Phase A
Select type
signal
A18 A13
HPSEL
(Note)
P5
Power
supply
SG
B18 B13
B8
A19 A14
A9
B19 B14
B9
Phase B
2.5 s or
more
(1) Positioning address
increases if Phase A
leads Phase B.
(2) Positioning address
decreases if Phase B
leads Phase A.
No connect
A8
5V
Power supply
5VDC
SG
(Note) : The 5V(P5)DC power supply from the Q170MCPU must not be used if a separate power supply is
applied to the manual pulse generator/incremental synchronous encoder.
If a separate power supply is used, be sure it is 5V voltage. Anything else may cause a failure.
(d) Interface between PULSER connector and tracking enable
signal
Input or
Output
Input
Signal name
1
Pin No.
2
3
TREN
A4
A3
A2
TREN
B4
B3
B2
Wiring example Internal circuit
Specification
Description
Tracking enable
signal input.
Tracking
enable
12V to 24VDC
(Note) : As for the connection to tracking enable (TREN +, TREN –), both "+" and "–" are possible.
2 - 55
2 SYSTEM CONFIGURATION
(6) Connection examples of manual pulse generator
Manual pulse generator
(Voltage-output/Open-collector type)
Manual pulse generator
(Differential-output type)
Q173DPX
Manual pulse
generator side Signal name
A
HA P
Q173DPX
Signal name
HA
Manual pulse
generator side
A
HB
B
HA N
A
SG
SG
0V
5V
HB P
HB N
B
SG
(Note-1)
SG
0V
P5
FG
5V
P5
Shield
FG
: 1 to 3
:Twisted pair cable
B
Shield
SG
HPSEL
: 1 to 3
(Note-1)
(Note-2)
:Twisted pair cable
(Note-1) : The 5V(P5)DC power supply from the Q173DPX must not be used if a separate power supply is
applied to the manual pulse generator/incremental synchronous encoder.
If a separate power supply is used, be sure it is 5V voltage. Anything else may cause a failure.
(Note-2) : Connect HPSEL† to the SG terminal if the manual pulse generator (differential-output
type)/incremental synchronous encoder is used.
CAUTION
If a separate power supply is applied to the manual pulse generator/incremental synchronous
encoder, be sure it is 5V voltage. Anything else may cause a failure.
Always wire the cables when power is off. Not doing so may damage the circuit of modules.
Wire the cable correctly. Wrong wiring may damage the internal circuit.
2 - 56
2 SYSTEM CONFIGURATION
2.5.5 Manual pulse generator
(1) Manual pulse generator specifications
Item
Specifications
Model name
MR-HDP01
Ambient temperature
(Note-1)
-10 to 60°C(14 to 140°F)
Pulse resolution
25PLS/rev(100 PLS/rev after magnification by 4)
Output method
Voltage-output/Output current : Up to 20mA
Power supply voltage
4.5 to 13.2VDC
Current consumption [mA]
(Note-2)
60
Life time
1,000,000 revolutions or more (at 200r/min)
Permitted axial loads
Radial load : Up to 19.6N, Thrust load : Up to 9.8N
Mass [kg]
0.4
Number of max. revolution
Instantaneous Up to 600r/min. normal 200r/min
Pulse signal status
2 signals : A phase, B : phase, 90° phase difference
Start friction torque
0.06N•m (20°C (68°F) )
(Note-1) : Use MR-HDP01 by connecting with internal I/F or Q173DPX.
(Note-2) : If a separate power supply is used, be sure it is 5VDC ± 0.25V voltage.
2 - 57
2 SYSTEM CONFIGURATION
2.5.6 SSCNET
cables
Between the Motion controller and servo amplifiers, or servo amplifier and servo
amplifier connected by SSCNET cable. Up to 16 servo amplifies can be connected.
(1) SSCNET
cable specifications
Model name
MR-J3BUS M
MR-J3BUS M-A
MR-J3BUS M-B
Cable length [m(ft.)]
MR-J3BUS015M
0.15 (0.49)
MR-J3BUS03M
0.3 (0.98)
MR-J3BUS05M
0.5 (1.64)
MR-J3BUS1M
1 (3.28)
MR-J3BUS3M
3 (9.84)
MR-J3BUS5M-A
5 (16.40)
MR-J3BUS10M-A
10 (32.81)
MR-J3BUS20M-A
20 (65.62)
MR-J3BUS30M-B
30 (98.43)
MR-J3BUS40M-B
40 (131.23)
MR-J3BUS50M-B
50 (164.04)
Description
MR-J3(W)- B
• Q170MCPU
• MR-J3(W)- B
MR-J3(W)- B
(2) Connection between the Q170MCPU and servo amplifiers
Connect the SSCNET cables to the following connectors.
Refer to Section 4.2.1 for the connection and disconnection of SSCNET
cable.
Q170MCPU
SSCNET cable length
MR-J3BUS M use
1) < 3m(9.84ft.)
MR-J3BUS M-A use
1) < 20m(65.62ft.)
MR-J3BUS M-B use
1) < 50m(164.04ft.)
1)
CN1A
CN1A
1)
CN1B
Servo amplifier
Cap
CN1B
Servo amplifier
(Note): It cannot communicate with that the connection of
CN1A and CN1B is mistaken.
2 - 58
2 SYSTEM CONFIGURATION
(3) Setting of the axis No. and axis select rotary switch of servo
amplifier
Axis No. is used to set the axis numbers of servo amplifiers connected to
SSCNET connector in the program. Axis No. of 1 to 16 can be set.
Axis No. is set in the system setting of MT Developer2. Axis No. (1 to 16) is
allocated and set for the setting axis number (d01 to d16) of servo amplifier.
Since the axis number (d01 to d16) of servo amplifier on the system setting
screen corresponds to axis select rotary switch (0 to F) of servo amplifier, set the
axis select rotary switch referring to the table below.
• Axis select rotary switch
• Setting display of axis No.
(Servo amplifier)
B C DE
2
A
3 4 5 6
7 8 9
F 0 1
Set the axis No. relative to axis number (dno.).
(Note) : Correspondence between dno. and axis select rotary switch of servo amplifiers is shown below.
Correspondence between dno.s and axis select switches of servo amplifier
dno. (Note)
SSCNET
system
Axis select rotary switch
of servo amplifier
dno. (Note)
SSCNET
system
1
Axis select rotary switch
of servo amplifier
d01
1
"0"
d09
"8"
d02
1
"1"
d10
1
"9"
d03
1
"2"
d11
1
"A"
d04
1
"3"
d12
1
"B"
d05
1
"4"
d13
1
"C"
d06
1
"5"
d14
1
"D"
d07
1
"6"
d15
1
"E"
d08
1
"7"
d16
1
"F"
(Note) : The dno. is number of servo amplifier axis displayed with the system setting of MT Developer2.
Axis No. is set relative to dno. in the system settings.
REMARK
The setting of axis select rotary switch is different depending on the servo amplifier.
Refer to the "Servo amplifier Instruction Manual" for details.
2 - 59
2 SYSTEM CONFIGURATION
2.5.7 Battery
This section describes the battery specifications and, handling precautions used in the
Motion controller.
(1) Battery specifications
Model name
Q6BAT
Item
Classification
Q7BAT
Manganese dioxide lithium primary battery
Initial voltage [V]
3.0
Nominal current [mAh]
1800
Storage life
5000
Actually 5 years (Room temperature)
Lithium content [g]
0.49
Applications
1.52
For memory data backup of RAM built-in Motion controller
16(0.63)×32(1.26)
Exterior dimensions [mm(inch)]
24(0.94)×52(2.05)
(Note) : The following points are changed for lithium metal batteries transportation by sea or air
due to Recommendations of the United Nations Rev. 15 and ICAO-TI 2009-2010 edition.
1) A package containing 24 cells or 12 batteries or less that are not contained in
equipment are no longer exempt from the following: attachment of a handling label,
submission of the Shipper's Declaration for Dangerous Goods, and a 1.2m drop test.
2) A battery handling label (size: 120 x 110mm) is required. Emergency telephone
number must be filled out in the additional handling information of the Shipper's
Declaration for Dangerous Goods.
3) New label design containing battery illustration must be used (in air transportation
only).
CAUTION!
IF DAMAGED
Lithium Metal batteries
DO NOT LOAD OR TRANSPORT
PACKAGE IF DAMAGED
For more information,call
+81-3-3218-3639
International
Fig.2.1 Example of Label with Battery Illustration
• Transportation precaution for customers
Documentations like the handling label in the specified design and the Shipper's
Declaration for Dangerous Goods are required for air and sea transportation. Please
attach documentations like the handling label in the specified design and the Shipper's
Declaration for Dangerous Goods to the package.
If you need the self-certification form for the battery safety test, contact Mitsubishi.
For more information, contact Mitsubishi.
2 - 60
2 SYSTEM CONFIGURATION
(2) Data back-up of Motion controller by the battery
Be sure to set the battery to the Motion controller.
Set the battery (Q6BAT/Q7BAT) to battery holder.
The data (Refer to Section 6.5.) of RAM built-in Motion controller are backed up
without using the battery.
In the following status, the backup time after power OFF is 3 minutes.
• The Q6BAT/Q7BAT lead connector is disconnected.
• The lead wire of Q6BAT/Q7BAT is broken.
Battery life (Total power failure time) [h] (Note-1)
Battery type
Power-on time ratio
Guaranteed value
Guaranteed value
(Note-3)
(Note-4)
(Note-2)
(MIN) (75°C (167°F))
Q6BAT
Q7BAT
(Large capacity)
0%
13000
30%
18000
50%
21000
70%
24000
100%
43800
0%
39000
(TYP) (40°C (104°F))
Actual service value
(Note-5)
(Reference value)
(TYP) (25°C (77°F))
40000
43800
43800
90
(After
SM51/SM52 ON)
30%
50%
70%
Backup time after
alarm
43800
43800
43800
100%
(Note-1) : The actual service value indicates the average value, and the guaranteed value indicates the minimum value.
(Note-2) : The power-on time ratio indicates the ratio of Motion controller power-on time to one day (24 hours).
(When the total power-on time is 17 hours and the total power-off time is 7 hours, the power-on time ratio is 70%.)
(Note-3) : The guaranteed value (MIN) ; equivalent to the total power failure time that is calculated based on the characteristics value of
the memory (SRAM) supplied by the manufacturer and under the storage ambient temperature range of -25°C to 75°C (-13 to
167°F) (operating ambient temperature of 0°C to 55°C (32 to 131°F)).
(Note-4) : The guaranteed value (TYP) ; equivalent to the total power failure time that is calculated based on the normal air-conditioned
environment (40°C (104°F)).
(Note-5) : The actual service value (Reference value) ; equivalent to the total power failure time that is calculated based on the measured
value and under the storage ambient temperature of 25°C (77°F). This value is intended for reference only, as it varies with
characteristics of the memory.
POINTS
The self-discharge influences the life of battery without the connection to Motion
controller. The battery should be exchanged approximately every 4 or 5 years.
And, exchange the battery with a new one in 4 to 5 years even if a total power
failure time is guaranteed value or less.
2 - 61
2 SYSTEM CONFIGURATION
CAUTION
Do not short a battery.
Do not charge a battery.
Do not disassemble a battery.
Do not burn a battery.
Do not overheat a battery.
Do not solder the battery terminal.
The data (Refer to Section 6.5.) of RAM built-in Motion controller are backed up without using
the battery.
(3) Connection procedure with Motion controller
Set the battery (Q6BAT/Q7BAT) to the battery holder, and connect between the
lead connector of battery and connector of Motion controller.
Put the lead wire in the battery holder, and set it to the Motion controller.
Motion controller
PROGRAMMABLE CONTROLLER
TYPE Q6BAT
PUSH
Battery holder
Refer to Section 4.1.4 for the mounting and removal of the battery holder and the
connection of the battery lead wire.
2 - 62
2 SYSTEM CONFIGURATION
2.5.8 Forced stop input terminal
(1) Table of the forced stop input terminal specifications
Item
Specifications
Number of input points
Forced stop signal : 1 point
Input method
Sink/Source type
Rated input current
2.4mA
Isolation method
Photocoupler
20.4 to 26.4VDC
Operating voltage range
(+10/ -15%, ripple ratio 5% or less)
ON voltage/current
17.5VDC or more/2.0mA or more
OFF voltage/current
1.8VDC or less/0.18mA or less
Input resistance
Response time
Approx. 10k
OFF to ON
ON
1ms or less
to OFF
External connector type
2 pin connector
2
0.3mm (AWG22)
Applicable wire size
2 - 63
2 SYSTEM CONFIGURATION
MEMO
2 - 64
3 DESIGN
3. DESIGN
3.1 System Designing Procedure
System designing procedure is shown below.
Motion control system design
Select the operating system software to be installed according
to the machinery and equipment to be controlled.
Select the number of Q172DLX's and design according to the
each axis control system and whether servo external signals are
required or not.
When there is mechanical home position and home position
return is made: Proximity dog required
For speed control: Speed-position switching control signal
required
When overrun prevention is necessary: Stroke limit required
When each axis stop is necessary: STOP signal required
Select whether the manual pulse generators, incremental
synchronous encoders or I/O signals built-in Motion controller
are required or not.
Select Q173DPX and design according to whether manual pulse
generators and incremental synchronous encoders are required
or not.
Refer to section 2.5.3
Refer to section 2.5.1
Refer to section 2.5.4
Select interrupt module QI60 according to whether interrupt
input are required or not.
Select I/O modules/intelligent function modules according to the
specifications of the external equipment to be controlled.
Select the extension base units/extension cables, and make
I/O assignment according to necessary number of Q172DLXs,
Q173DPXs, I/O modules, intelligent function modules.
Select the servo amplifier and servo motor according to the
motor capacity and number of revolution from the machine
mechanism to be controlled each axis.
Set the servo amplifier connection by SSCNET
numbers (dno.) and axis No..
3-1
and axis
Refer to MELSEC-Q
series manual.
Refer to section 2.5.3
Refer to section 2.5.4
Refer to MELSEC-Q
series manual.
Refer to the servo
amplifier manual.
Refer to section 2.5.6
3
3 DESIGN
Refer to section 3.2
External circuit design
Power supply circuit design
Design the power supply circuit which supplies power to such
system components as the Motion controller, I/O equipment and
servo amplifiers, etc., taking into consideration the protective
coordination and noise suppression techniques.
Refer to section 3.2.1
Safety circuit design
Design the operation-ready circuit which stops the system at
occurrence of any alarm such as a Motion controller or servo
amplifier alarm or the emergency stop, the circuit which avoids
a malfunction while power is unstable at power-on, and the
electromagnetic brake circuit for servomotors.
Refer to section 3.2.2
Layout design within control panel
Layout design based on the design environment such as
temperatures and vibrations in consideration of heat generated
from modules and handling of module installation.
Refer to section 3.3
CAUTION
Provide appropriate circuits external to the Motion controller to prevent cases where danger may
result from abnormal operation of the overall system in the event of an external power supply fault
or Motion controller failure.
Mount the Motion controller, servo amplifier, servomotor and regenerative resistor on
incombustible. Mounting them directly or close to combustibles will lead to fire.
If a fault occurs in the Motion controller or servo amplifier, shut the power OFF at the servo
amplifier’s power source. If a large current continues to flow, fire may occur.
When using a regenerative resistor, shut the power OFF with an error signal. The regenerative
resistor may abnormally overheat due to a fault in the regenerative transistor, etc., and may lead
to fire.
Always take heat measures such as flame proofing for the inside of the control panel where the
servo amplifier or regenerative resistor is mounted and for the wires used. Failing to do so may
lead to fire.
Do not apply a voltage other than that specified in the instruction manual on any terminal. Doing
so may lead to destruction or damage.
Do not mistake the polarity ( + / - ), as this may lead to destruction or damage.
3-2
3 DESIGN
CAUTION
Do not touch the heat radiating fins of controller or servo amplifier, regenerative resistor and
servomotor, etc. while the power is ON and for a short time after the power is turned OFF. In this
timing, these parts become very hot and may lead to burns.
Always turn the power OFF before touching the servomotor shaft or coupled machines, as these
parts may lead to injuries.
Do not go near the machine during test operations or during operations such as teaching.
Doing so may lead to injuries.
Always mount a leakage breaker on the Motion controller and servo amplifier power source.
If mounting of an electromagnetic contactor for power shut off during an error, etc., is specified in
the instruction manual for the servo amplifier, etc., always mount the electromagnetic contactor.
Mount an emergency stop circuit externally so that the operation can be stopped immediately and
the power shut off.
Use the Motion controller, servo amplifier, servomotor and regenerative resistor with the correct
combinations listed in the instruction manual. Other combinations may lead to fire or faults.
If safety standards (ex., robot safety rules, etc.,) apply to the system using the Motion controller,
servo amplifier and servomotor, make sure that the safety standards are satisfied.
Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal
operation of the Motion controller or servo amplifier differ from the safety directive operation in
the system.
In systems where coasting of the servomotor will be a problem during the forced stop, the
emergency stop, servo OFF or when the power is shut OFF, use dynamic brakes.
Make sure that the system considers the coasting amount even when using dynamic brakes.
In systems where perpendicular shaft dropping may be a problem during the forced stop, the
emergency stop, servo OFF or when the power is shut OFF, use both dynamic brakes and
electromagnetic brakes.
The dynamic brakes must be used only during the forced stop, the emergency stop and errors
where servo OFF occurs. These brakes must not be used for normal braking.
The brakes (electromagnetic brakes) assembled into the servomotor are for holding applications,
and must not be used for normal braking.
The system must have a mechanical allowance so that the machine itself can stop even if the
stroke limits switch is passed through at the max. speed.
Use wires and cables that have a wire diameter, heat resistance and bending resistance
compatible with the system.
Use wires and cables within the length of the range described in the instruction manual.
The ratings and characteristics of the parts (other than Motion controller, servo amplifier,
servomotor) used in a system must be compatible with the Motion controller, servo amplifier and
servomotor.
Install a cover on the shaft so that the rotary parts of the servomotor are not touched during
operation.
There may be some cases where holding by the electromagnetic brakes is not possible due to
the life or mechanical structure (when the ball screw and servomotor are connected with a
timing belt, etc.). Mount a stopping device to ensure safety on the machine side.
3-3
3 DESIGN
3.2 External Circuit Design
As to the ways to design the external circuits of the Motion system, this section
describes the method and instructions for designing the power supply circuits and
safety circuits, etc.
(1) Sample system circuit design for Motion CPU area
3-phase
200 to 230VAC
Q170MCPU
NFB1
R S
Forced stop (Note-1)
T
EMI.
COM
Q5 B
Output module
QY10
EMI
QC B
CP1
24VDC +24V
Power
supply 24G
PYm
(Note-2)
Ra1
Servo normal
output
(Servo normal: ON,
Alarm: OFF)
Power supply for Q170MCPU
+24V
24G
COM
FG
SSCNET
CP2
Power supply for I/O
EMG
24VDC +24V
Power
supply 24G
24G
Emergency Stop
EMG
CP3
Operation Ready
OFF
ON
Ra1
MC
MC
SK
CP4
+24V
Power supply for
electromagnetic brake
24VDC +24V
Power
supply 24G
3-4
3 DESIGN
POINT
<Example> For control axis 1 and axis 2
(1) (Note-1) : Make the forced stop input cable within 30m(98.43ft.).
The forced stop by the forced stop terminal of input module is also
possible.
(2) (Note-2) : Motion SFC program example is shown in the right record.
(3) (Note-3) : It is also possible to use a full wave rectified power supply as the
power supply for the electromagnetic brake.
(4) (Note-4) : It is also possible to use forced stop signal of the servo amplifier.
(5) (Note-5) : When using the leakage breaker, it recommends using one leakage
breaker for one servo amplifier.
When electric power is supplied to multiple servo amplifiers for one
leakage breaker, select the wire connected to the servo amplifier
according to the capacity of the leakage breaker.
NFB2
(Note-5)
L1 MR-J3-B
L2
A
L3
L21
PYm ON with initial
(ON : normal)
[G 1]
M2408+M2428
[F 2]
RST PYm
W
OFF : abnormal (error)
SM
Ra2
ElectroGround magnetic
brake
(Note-3)
Ra2
ALM
+24V
EM1
CN1B
DOCOM
Servo error detection
of the axis 1, axis 2
END
V
V
W
DICOM
CN1A
[F 1]
SET PYm
U
U
L11
SSCNET
Servo error detection
24G
(Note-4)
NFB3
(Note-5)
L1 MR-J3-B
L2
B
L3
U
U
V
V
W
W
DICOM
CN1A
Ra3
ElectroGround magnetic
brake
L11
L21
SM
(Note-3)
Ra3
ALM
EM1
CN1B
DOCOM
(Note-4)
NFB4
(Note-5)
L1 MR-J3-B
L2
C
L3
MC
V
V
W
W
L21
CN1B
SM
Ra4
ElectroGround magnetic
brake
L11
CN1A
CP5
U
U
DICOM
(Note-3)
Ra4
ALM
EM1
DOCOM
(Note-4)
(Note-1) : When the control power supply of servo amplifier is shut off, it is not possible to communicate with the servo amplifier after that.
Example) When the control power supply L11/L21 of servo amplifier in above B figure is shut off, it is also not possible to
communicate with the servo amplifier C .
If only a specific servo amplifier power supply is shut off, be sure to shut off the main circuit power supply L1/L2/L3, and do not
shut off the control power supply L11/L21.
(Note-2) : Be sure to shut off the both of main circuit power supply L1/L2/L3 and control power supply L11/L21 at the time of exchange of
servo amplifier. At this time, it is not possible to communicate between the servo amplifier and Motion controller. Therefore, be
sure to exchange the servo amplifier after stopping the operating of machine beforehand.
3-5
3 DESIGN
(2) System design circuit example of the PLC CPU area
Power supply
Transformer
Transformer
Input switched when
power supply established
Fuse
Fuse
PLC CPU area
SM52
DC power
Ym
RUN/STOP circuit
(-) (+)
SM403
interlocked with RA1
(run monitor relay)
Yn
Fuse
XM
Set time for
DC power
supply to be
established
TM
TM
MC1 N0 M10
N0
M10
Program
START SW
MC
RA1
MC
STOP SW
RA2
RA2
Voltage relay is
recommended
XM
Low battery alarm
(Lamp or buzzer)
Output module
Ym
L
ON when run
by SM403
Yn
RA1
Output module
Interlock circuits as necessary.
Provide external interlock
circuits for conflicting
operations, such as forward
rotation and reverse rotation,
and for parts that could
damage the machine or cause
accidents if no interlock were
used.
MC
MC
Power to output
equipment switched
OFF when the STOP
signal is given.
MC2
MC1
MC1
MC2
In the case of an
emergency stop or
a stop caused by
a limit switch.
The start-up procedure is as follows
1) Switch the Motion controller power ON.
2) Set the Motion controller to RUN.
3) When DC power is established, RA2 goes ON.
4) Timer (TM) times out after the DC power reaches 100[%]. (The TM set value
should be the period of time from when RA2 goes ON to the establishment of
100[%] DC voltage. Set this value to approximately 0.5 seconds.)
5) Turn ON the start switch.
6) When the electromagnetic contactor (MC) comes on, the output equipment is
powered and may be driven by the program. (If a voltage relay is used at RA2,
no timer (TM) is required in the program.)
3-6
3 DESIGN
3.2.1 Power supply circuit design
This section describes the protective coordination and noise suppression techniques of
the power supply circuit.
(1) Separation and protective coordination (leakage current protection,
over current protection) of power supply lines
Separate the lines for Motion controller's power supplies from the lines for I/O
devices and servo amplifiers as shown below.
When there is much noise, connect an insulation transformer.
The Motion controller may malfunction as it is affected by various noises such as
electric path noises from the power supply systems, and electromagnetic noises
from conductors. To avoid such troubles, set the 24VDC power supply according
to application.
Main power
supply
100/200VAC
NFB
Motion
Isolation
controller
power supply transformer
CP
I/O power
supply
T1
CP
Motor
power supply
CP
Main circuit power supply
for servo amplifier
100/200/400VAC
NFB
Control power supply
for servo amplifier
CP
3-7
24VDC
power
supply
Motion
controller
I/O equipment
Motor equipment
Servo amplifier
3 DESIGN
(2) Grounding
The Motion controller may malfunction as it is affected by various noises such as
electric path noises from the power supply systems, radiated and induced noises
from other equipment, servo amplifiers and their cables, and electromagnetic
noises from conductors. To avoid such troubles, connect the earthing ground of
each equipment and the shield grounds of the shielded cables to the earth.
For grounding, use the exclusive ground terminal wire of each equipment or a
single-point earth method to avoid grounding by common wiring, where possible,
since noises may sneak from other equipment due to common impedances.
100/200VAC
Line noise filter
24VDC
power
supply
Motion
controller
SSCNET
Servo amplifier
Servomotor
(Note): Be sure to ground the line noise filter, Motion controller, servo amplifier and
servomotor. (Ground resistance : 100 or less)
3-8
3 DESIGN
3.2.2 Safety circuit design
(1) Concept of safety circuits
When the Motion controller is powered on and off, normal control output may not
be done momentarily due to a delay or a startup time difference between the
Motion controller power supply and the external power supply (DC in particular)
for the control target.
Also, an abnormal operation may be performed if an external power supply fault
or Motion controller failure takes place.
To prevent any of these abnormal operations from leading to the abnormal
operation of the whole system and in a fail-safe viewpoint, areas which can result
in machine breakdown and accidents due to abnormal operations
(e.g. emergency stop, protective and interlock circuits) should be constructed
outside the Motion controller.
(2) Emergency stop circuit
The circuit should be constructed outside of the Motion controller or servo
amplifier. Shut off the power supply to the external servo amplifier by this circuit,
make the electromagnetic brakes of the servomotor operated.
(3) Forced stop circuit
(a) The forced stop of all servo amplifiers is possible in a lump by using the
forced stop input of Motion controller. After forced stop, the forced stop
factor is removed and the forced stop canceled.
(The servo error detection signal does not turn on with the forced stop.)
The forced stop input cannot be invalidated in the parameter setting of
system setting.
Make the forced stop input cable within 30[m](98.43[ft.]).
The wiring example for the forced stop input of Motion controller is shown
below.
Q170M
CPU
EMI
Forced stop
24VDC
EMI.COM
<Motion controller>
24VDC (Note-1)
EMI.COM
R
R
EMI
Forced stop
(Note): The forced stop input can not be invalidated in the system
settings.
(Note-1): As for the connection, both "+" and "-" are possible.
3-9
3 DESIGN
(b) The forced stop of all servo amplifiers is possible in a lump by using the
forced stop input of input modules. After forced stop, the forced stop factor is
removed and the forced stop canceled.
(The servo error detection signal does not turn on with the forced stop.)
The forced stop input can be set by allocation of the device number in the
parameter setting of system setting. When the device is used, apply 24VDC
voltage on EMI connector and invalidate the forced stop input of EMI
connector.
The wiring example that uses the forced stop input of input module (QX10)
is shown below.
Q170M
CPU
EMI.COM
EMI
+24V
24VDC
power supply
QX10
24G
Xn
COM
Forced stop
100VAC
<Input module QX10>
100VAC
TB17
QX10
TB16
LED
TB1
Forced stop
Internal
circuit
R
R
R
(Note): The forced stop input can be set in the system settings.
(c) It is also possible to use the forced stop signal of the servo amplifier.
Refer to manual of the servo amplifier about servomotor capacity.
Operation status of the emergency stop and the forced stop are as follows.
Item
Operation of
the signal ON
Remark
Shut off the power supply to the external servo amplifier
Emergency stop
Servo OFF
Forced stop
by external circuit, make the servomotor stopped.
The servomotor is stopped according to the stop
instruction from Motion controller to the servo amplifier.
3 - 10
3 DESIGN
3.3 Layout Design within The Control Panel
3.3.1 Mounting environment
Mount the Motion controller system in the following environment conditions.
(1) Ambient temperature is within the range of 0 to 55[°C] (32 to 131[°F]).
(2) Ambient humidity is within the range of 5 to 95[%]RH.
(3) No condensing from sudden temperature changes
(4) No corrosive or inflammable gas
(5) There must not be a lot of conductible dust, iron filings, oil mist, or salt, organic
solvents.
(6) No direct sunlight
(7) No strong electrical or magnetic fields
(8) No direct vibrations or shocks on the Motion controller
3 - 11
3 DESIGN
3.3.2 Calculating heat generation by Motion controller
The ambient temperature inside the panel storing the Motion controller must be
suppressed to an ambient temperature of 55°C(131°F) or less, which is specified for
the Motion controller.
For the design of a heat releasing panel, it is necessary to know the average power
consumption (heating value) of the devices and instruments stored inside.
Here the method of obtaining the average power consumption of system is described.
From the power consumption, calculate a rise in ambient temperature inside the
control panel.
How to calculate average power consumption
The power consuming parts of the Motion controller are roughly classified into six
blocks as shown below.
(1) Total power consumption for logic 5VDC circuits of all modules
(including Motion controller)
This is a power to which each module consumes the current supplied by the
5VDC output circuit of the internal power supply.
(including the current consumption of the base unit.)
W5V = I5V
5 [W]
I5V: Current consumption of logic 5VDC circuit of each module
(2) Power consumption of internal power supply
The power conversion efficiency of the internal power supply is approx. 80[%],
while 20 [%] of the output power is consumed as heat. As a result, 1/4 of the
output power is the power consumption.
Therefore the calculation formula is as follows.
1
WPW = 4
W 5V [W]
I5V: Current consumption of logic 5VDC circuit of each module
(3) A total of 24VDC average power consumption of the internal output
circuit and output module
The average power of the external 24VDC power is the total power consumption
of the internal output circuit and each output module.
W24V = I24V 24 Simultaneous ON rate [W]
I24V: Average current consumption of external 24VDC power supply [A]
(Power consumption for simultaneous ON points)
(4) Average power consumption due to voltage drop in the output
section of the internal output circuit and output module
(Power consumption for simultaneous ON points)
WOUT = IOUT
Vdrop
Number of outputs
Simultaneous ON rate [W]
IOUT : Output current (Current in actual use) [A]
Vdrop : Voltage drop in the internal output circuit and each output module [V]
3 - 12
3 DESIGN
(5) Average power consumption of the input section of the internal
input circuit and input module (Power consumption for
simultaneous ON points)
WIN = IIN
E
Number of input points
Simultaneous ON rate [W]
IIN : Input current (Effective value for AC) [A]
E : Input voltage (Voltage in actual use) [V]
(6) Power consumption of the external power supply section of the
intelligent function module
WS = I+15V
15 + I-15V
15 + I24V
24[W]
I+15V: Power consumption of the +15VDC external power supply section of
the intelligent function module
I-15V : Power consumption of the -15VDC external power supply section of the
intelligent function module
I24V : Power consumption of the 24VDC external power supply section of the
intelligent function module
The total of the power consumption values calculated for each block is the power
consumption of the overall Motion system
W = W 5V + WPW + W 24V + WOUT + WIN + WS [W]
From this overall power consumption [W], calculate the heating value and a rise
in ambient temperature inside the panel.
The outline of the calculation formula for a rise in ambient temperature inside the
panel is shown below.
W
T=
[C]
UA
W : Power consumption of overall Motion system (value obtained above)
2
A : Surface area inside the panel [m ]
U : When the ambient temperature inside the panel is uniformed by a fan ....... 6
When air inside the panel is not circulated.............................................. 4
POINT
If the temperature inside the panel has exceeded the specified range, it is
recommended to mount a heat exchanger to the panel to lower the temperature.
If a normal ventilating fan is used, dust will be sucked into the Motion controller
together with the external air, and it may affect the performance of the Motion
controller.
3 - 13
3 DESIGN
(7) Example of average power consumption calculation
(a) System configuration
Q170M
CPU
Incremental synchronous encoder
QX40
Q173D QY40P QJ71
Q62DA
PX
LP21-25
Q55B
MR-HDP01
MR-HDP01
(b) 5VDC/24VDC current consumption of each module
Model name
5VDC
Q170MCPU
2.00 [A]
Incremental synchronous
encoder
QX40
(Note)
Q173DPX
MR-HDP01
QY40P
(Note)
QJ71LP21-25
Q62DA
Q55B
(Note)
(Note)
(Note)
24VDC
0.08 [A]
(Internal output circuit)
0.20 [A]
—
0.05 [A]
—
0.38 [A]
—
0.06 [A]
—
0.065 [A]
1.60 [A]
0.55 [A]
—
0.33 [A]
0.12 [A]
0.10 [A]
—
(Note) : 5VDC internal current consumption of shared equipments with PLC might be
changed. Be sure to refer to the MELSEC-Q series PLC Manuals.
(c) Total power consumption for logic 5VDC circuits of all modules
W5V = (2.00 + 0.20 + 0.05 + 0.38 + 0.06 2 + 0.065 + 0.55 + 0.33 + 0.10)
= 18.975 [W]
5
(d) Power consumption of internal power supply
1
WPW = 4 18.975 = 4.744 [W]
(e) A total of 24VDC average power consumption of the internal output circuit
and output module
W24V = (0.08 + 1.60) 24 1 = 40.32 [W]
(f) Average power consumption due to voltage drop in the output section of the
internal output circuit and output module
WOUT = 0.04 2.75 2 1 + 0.1 0.2 16 1 = 0.54 [W]
3 - 14
3 DESIGN
(g) Average power consumption of the input section of the internal input circuit
and input module
WIN = 0.005 24 4 1 + 0.004 24 16 1 = 2.016 [W]
(h) Power consumption of the external power supply section of the intelligent
function module.
WS = 0.12 24 = 2.88 [W]
(i) Power consumption of overall system
W = 18.975 + 4.744 + 40.32 + 0.54 + 2.016 + 2.88 = 69.475 [W]
3 - 15
3 DESIGN
3.4 Design Checklist
At the worksite, copy the following table for use as a check sheet.
Item
Sub Item
Design confirmation
Check
Number of axes
axes
Motion controller
Manual pulse generator
pcs.
selection
Incremental synchronous encoder
pcs.
Number of I/O points
Module
points
Manual pulse generator
pcs.
Incremental synchronous encoder
pcs.
Upper limit point
points
Lower limit point
points
Motion module
STOP input point
points
selection
Proximity dog input point
points
selection
Speed switching input point
points
Tracking enable signal point
points
Q172DLX
modules
Q173DPX
modules
Number of I/O modules/intelligent function
Extension base unit
and extension cable
selection
modules installed to extension base unit
modules
Distance between Motion controller and
extension base unit
mm
Extension base unit selection
Extension cable selection
External
circuit design
Fail-safe circuit design
Avoidance of operation failure at power-on
Avoidance of hazard at Motion controller failure
Conformance with general specifications such as ambient
temperature, humidity, dust, etc.
Layout
design
Total power consumption of base unit
Module layout design
(Calculate the heating value)
Layout in consideration of clearances between enclosure's inside
walls, other structures and modules and heats generated by
modules within the control panel.
3 - 16
W
4 INSTALLATION AND WIRING
4. INSTALLATION AND WIRING
4.1 Module Installation
4.1.1 Instructions for handling
CAUTION
Use the Motion controller in an environment that meets the general specifications contained in this
manual. Using this Motion controller in an environment outside the range of the general specifications
could result in electric shock, fire, operation failure, and damage to or deterioration of the product.
When the modules are installed to the base unit while pressing the installation lever located at the
bottom of module, insert the module fixing projection into the fixing hole in the base unit until it stops.
Then, securely install the module with the fixing hole as a supporting point. Incorrect installation of the
module can cause an operation failure, damage or drop.
When using the Motion controller in the environment of much vibration, tighten the module with a
screw. Tighten the screw in the specified torque range. Under tightening may cause a drop, short
circuit or operation failure. Over tightening may cause a drop, short circuit or operation failure due to
damage to the screw or module.
Be sure to connect the extension cable to connectors of the base unit correctly. After connecting,
check them for looseness. Poor connections could cause an input or output failure.
Completely turn off the externally supplied power used in the system before installation or removing
the module. Not doing so could result in electric shock or damage to the product.
Do not install/remove the module onto/from base unit or terminal block more than 50 times, after the
first use of the product. Failure to do so may cause the module to malfunction due to poor contact of
connector.
Do not directly touch the module's conductive parts and electronic components. Doing so may cause
an operation failure or give damage to the module.
Lock the control panel and prevent access to those who are not certified to handle or install electric
equipment.
Do not touch the heat radiating fins of controller or servo amplifier's, regenerative resistor and servo
motor, etc. while the power is ON and for a short time after the power is turned OFF. In this timing,
these parts become very hot and may lead to burns.
Remove the modules while paying attention.
This section describes instructions for handling the Motion controller, motion, I/O and
intelligent function modules, base units and so on.
(1) Module, terminal block connectors and pin connectors are made of resin; do not
drop them or subject them to strong impact.
(2) Do not remove modules' printed circuit boards from the enclosure in order to avoid
changes in operation.
4-1
4
4 INSTALLATION AND WIRING
(3) Tighten the module fixing screws and terminal block screws within the tightening
torque range specified below.
Location of screw
Tightening torque range [N•m]
Motion controller fixing screw (M5 screw)
Motion controller FG fixing screw (M4
Module fixing screw (M3
12 screw)
12 screw)
2.75 to 3.63
(Note-1)
0.82 to 1.11
0.36 to 0.48
I/O module terminal block screw (M3 screw)
0.42 to 0.58
I/O module terminal block fixing screw (M3.5 screw)
0.68 to 0.92
Base unit fixing screw (M4
14 screw)
1.40 to 1.89
(Note-1)
(Note-1): Torque range applies when the mounting panel is 2mm(0.88inch) thick and a fastening nut is
used to secure the screw from the back side of the panel.
(4) When using an extension cable, keep it away from the main circuit cable (high
voltage and large current).
Keep a distance of 100mm or more from the main circuit.
(5) Be sure to fix a Motion controller or base unit to the panel using mounting screws.
Not doing so could result in vibration that may cause erroneous operation.
4-2
4 INSTALLATION AND WIRING
4.1.2 Instructions for mounting the modules
When mounting the Motion controller, base unit to an enclosure or similar, fully
consider its operability, maintainability and environmental resistance.
(1) Fitting dimensions
(a) Motion controller
[Unit: mm (inch)]
7(0.28)
8
(0.31)
38(1.50)
3-fixing screw (M5)
Q170MCPU
MITSUBISHI
MODE
RUN
ERR.
USER
BAT.
PULL
BOOT
POWER
USB
PERIPHERAL I/F
RESET STOP RUN
RS-232
154(6.06)
CN1
CARD
EXT.IO
178(7.01)
EMI
EJECT
FRONT
OUT
24VDC
7(0.28)
52(2.05)
(b) Base unit
4-fixing screw (M4 14)
Ws1
I/O1
I/O2
I/O3
I/O4
H
I/O0
Hs2
OUT
Hs1
IN
Ws2
W
W
Ws1
Ws2
Q52B
Q55B
106 (4.17)
189 (7.44)
15.5 (0.61)
83.5 ± 0.3
167 ± 0.3
(3.29 ± 0.01)
(6.57 ± 0.01)
H
98 (3.86)
Hs1
7 (0.28)
Hs2
80 ± 0.3 (3.15 ± 0.01)
[Unit: mm (inch)]
4-3
4 INSTALLATION AND WIRING
(2) Module mounting position
Keep the clearances shown below between the top/bottom faces of the module
and other structures or parts to ensure good ventilation and facilitate module
replacement.
(a) Motion controller
Top of panel or wiring duct
40mm(1.58inch)
or more
100mm
(3.94inch)
or more
Motion
controller
Servo amplifier
Door
(Note-1)
Panel
135mm(5.31inch)
90mm(3.54inch)
or more
30mm(1.18inch)
or more
30mm(1.18inch)
or more
10mm(0.39inch)
or more
(Note-1) : Fit the Motion controller at the left side of the servo amplifier.
(b) Base unit
Top of panel or wiring duct
Base unit
30mm(1.18inch)
or more (Note-3)
OUT
Door
IN
Panel
30mm(1.18inch)
or more
5mm(0.20inch)
or more (Note-1)
20mm(0.79inch)
or more (Note-2)
98mm(3.86inch)
5mm(0.20inch)
or more
(Note-1) : 20mm(0.79inch) or more when the adjacent module is not removed and the extension cable is connected.
(Note-2) : 80mm(3.15inch) or more for the connector type.
(Note-3) : For wiring duct with 50mm(1.97inch) or less height. 40mm(1.57inch) or more for other cases.
4-4
4 INSTALLATION AND WIRING
(3) Module mounting orientation
(a) Mount the Motion controller in the orientation shown below to ensure good
ventilation for heat release.
(b) Do not use it in either of the orientations shown below.
Vertical
Flat
Upside down
(4) Mounting surface
Mount the Motion controller and base unit on a flat surface. If the mounting
surface is not even, this may strain the printed circuit boards and cause
malfunctions.
(5) Mounting of unit in an area where the other devices are mounted
Avoid mounting base unit in proximity to vibration sources such as large
magnetic contractors and no-fuse circuit breakers; mount those on a separate
panel or at a distance).
4-5
4 INSTALLATION AND WIRING
(6) Distances from the other devices
In order to avoid the effects of radiated noise and heat, provide the clearances
indicated below between the Motion controller/base unit and devices that
generate noise or heat (contactors and relays, etc.).
• In front of Motion controller/base unit:
100mm (3.94inch) or more
• On the right and left of Motion controller/base unit: 50mm (1.97inch) or more
100mm(3.94inch)
or more
50mm(1.97inch)
or more
100mm(3.94inch)
or more
Contactor, relay, etc.
4-6
50mm(1.97inch)
or more
4 INSTALLATION AND WIRING
(7) Mounting method for the modules
(a) Motion controller
Mount a Motion controller in the following procedure.
1) Fit the one Motion controller bottom mounting screws into the enclosure.
Panel
2) Place the bottom side notch of the Motion controller onto the bottom side
screw.
Panel
3) Fit the mounting screws into the holes at the top of the Motion controller
and then retighten the all mounting screws.
Panel
POINT
Screw the Motion controller to the panel.
4-7
4 INSTALLATION AND WIRING
CAUTION
Do not touch the heat radiating fins of controller or servo amplifier's, regenerative resistor and
servomotor, etc. while the power is ON and for a short time after the power is turned OFF. In
this timing, these parts become very hot and may lead to burns.
Remove the modules while paying attention.
(b) Base unit
Mount a base unit in the following procedure.
1) Fit the two base unit top mounting screws into the enclosure.
Panel
2) Place the right-hand side pear-shaped hole of the base unit onto the
right-hand side screw.
Panel
3) Place the left-hand side pear-shaped hole of the base unit onto the lefthand side screw.
Panel
4) Fit the mounting screws into the holes at the bottom of the base unit,
and then retighten the all mounting screws.
(Note): Mount a base unit to a panel, with no module installed in the right-end slot.
Remove the base unit after removing the module from the right-end slot.
4-8
4 INSTALLATION AND WIRING
4.1.3 Installation and removal of module to the base unit
This section describes how to install and remove a Motion module, I/O module,
intelligent function module or another module to and from the base unit.
(1) Installation and removal of the module from base unit
(a) Installation
Securely insert the module
fixing projection into the
module fixing hole so that the
latch is not misaligned.
Using the module fixing hole
as a fulcrum, push the module
in the direction of arrow to
install it into the base unit.
Make sure that the module is
installed in the base unit
securely.
Base unit
Base unit
Module
connector
Module
fixing
projection
Module
mounting lever
Module
Module fixing hole
Module
fixing
projection
Module
fixing
projection
Module
mounting
lever
Module fixing hole
Module fixing hole
When using module in a place
where there is large vibration
or impact, install them by the
unit fixing screws.
Base unit
Base unit
END
Module fixing
hook
Module
fixing
projection
Module fixing hole
4-9
4 INSTALLATION AND WIRING
POINTS
(1) When installing the module, always insert the module fixing projection into the
module fixing hole of the base unit.
At that time, securely insert the module fixing projection so that it does not
come off from the module fixing hole.
If the module is forcibly installed without the latch being inserted, the module
connector and module will be damaged.
(2) When using the modules in a place where there is large vibration or impact,
screw the module to the base unit.
Module fixing screw : M3 12 (user-prepared)
(3) Do not install/remove the module onto/from base unit or terminal block more
than 50 times, after the first use of the product. Failure to do so may cause the
module to malfunction due to poor contact of connector.
CAUTION
When the modules are installed to the base unit while pressing the installation lever located at the
bottom of module, insert the module fixing projection into the fixing hole in the base unit until it
stops. Then, securely install the module with the fixing hole as a supporting point. Incorrect
installation of the module can cause an operation failure, damage or drop.
When using the Motion controller in the environment of much vibration, tighten the module with a
screw.
Tighten the screw in the specified torque range. Under tightening may cause a drop, short circuit
or operation failure. Over tightening may cause a drop, short circuit or operation failure due to
damage to the screw or module.
4 - 10
4 INSTALLATION AND WIRING
(b) Removal
Push
When using the module fixing
screws, remove them.
Module fixing hook
Support the module with both
hands and securely press the
module fixing hook with your
finger.
Base unit
Pull the module based on the
supporting point of module
bottom while pressing the
module fixing hook.
Module
Module
connector
Module fixing hole
While lifting a module, take off
the module fixing projection
from the module fixing hole.
Lifting
Pull
END
POINT
When the module fixing screw is used, always remove the module by removing the
module fixing screw and then taking the module fixing projection off the module
fixing hole of the base unit.
Attempting to remove the module by force may damage the module fixing
projection.
4 - 11
4 INSTALLATION AND WIRING
4.1.4 Mounting and removal of the battery holder
Mounting and removal procedure of the battery holder to the Motion controller is shown
below.
(1) Handling the battery lead wire
(a) Precautions for handling the battery lead wire
• For connection or removal of the battery lead wire, do it surely while
holding a battery lead connector.
Motion controller
Connector for Q170MCPU side
Do not hold lead wire
Battery lead connector
Battery lead wire
Battery holder
PROGRAMMABLE CONTROLLER
TYPE Q6BAT
PUSH
(b) Connection of the battery lead wire
• For connection of a battery (Q6BAT/Q7BAT) to the Motion controller,
connect it surely to a battery connector of Motion controller side while
holding a battery lead connector. Be sure to insert it until it clicks.
(c) Removal of the battery lead wire
• For removal of the battery lead wire, pull out it while holding a battery lead
connector and a battery connector of Motion controller side.
POINT
(1) Forcibly removal a connector while holding the battery lead wire will damage
the battery connector or battery lead wire.
(2) The data (Refer to Section 6.5) of RAM built-in Motion controller are backed up
if the battery connector is not connect correctly.
4 - 12
4 INSTALLATION AND WIRING
(2) Battery holder (For Q6BAT)
(a) Mounting
Connect the battery lead connector
to the battery connector for Motion
controller.
1)
Motion
controller
1)
Secure the connector beneath the
battery disconnection prevention
hook.
2)
Battery connector
(Q170MCPU side)
Battery lead
connector
(Battery side)
2)
Neatly place the lead wires into the
battery holder.
Battery disconnection
prevention hook
Battery holder
Adjust the battery holder to the
installation grooves, and slide the
battery holder in the direction of
the arrow, taking care to not
damage the lead wires.
(Be sure to insert it until it clicks.)
3)
Installation grooves
Make sure that the battery holder
is installed in the Motion controller
securely.
Battery holder
END
3)
Push
4 - 13
4 INSTALLATION AND WIRING
(b) Removal
Pull the battery holder while
pushing the battery holder fixing
tab, and remove the holder from
the Motion controller.
1), 2)
Move the connector away from the
battery disconnection prevention
hook, and then remove it by pulling
straight out. (Note)
3)
Motion controller
Push
Remove the battery lead connector
and battery connector for Motion
controller.
Battery holder fixing tab
2)
4)
1)
Pull
Battery holder
END
4)
Battery connector
(Q170MCPU side)
Battery lead
connector
(Battery side)
3)
Battery disconnection
prevention hook
LITHIUM BATTERY
M IT SU B IS H I
3)
Top face of battery holder
(Note): Do not pull on the lead wire forcibly to remove the connector.
4 - 14
4 INSTALLATION AND WIRING
(3) Battery holder (For Q7BAT)
(a) Mounting
Connect the battery lead connector
to the battery connector for Motion
controller.
1)
Neatly place the lead wires and
connector into the battery holder.
2)
Adjust the battery holder to the
installation grooves, and slide the
battery holder in the direction of
the arrow, taking care to not
damage the lead wires.
(Be sure to insert it until it clicks.)
3)
Motion
controller
1)
Battery connector
(Q170MCPU side)
Battery lead
connector
(Battery side)
2)
Battery holder
Make sure that the battery holder
is installed in the Motion controller
securely.
Installation grooves
END
3)
Push
4 - 15
Battery holder
4 INSTALLATION AND WIRING
(b) Removal
Pull the battery holder while
pushing the battery holder fixing
tab, and remove the holder from
the Motion controller.
1), 2)
Motion controller
Remove the connector from the
battery holder by pulling straight
out. (Note)
3)
Remove the battery lead connector
and battery connector for Motion
controller.
4)
2)
Push
1)
Battery holder fixing tab
Pull
Battery holder
END
4)
3)
Battery connector
(Q170MCPU side)
Battery lead
connector
(Battery side)
(Note): Do not pull on the lead wire forcibly to remove the connector.
4 - 16
4 INSTALLATION AND WIRING
4.2 Connection and Disconnection of Cable
4.2.1 SSCNET
cable
(1) Precautions for handling the SSCNET
cable
• Do not stamp the SSCNET cable.
• When laying the SSCNET cable, be sure to secure the minimum cable bend
radius or more. If the bend radius is less than the minimum cable bend radius, it
may cause malfunctions due to characteristic deterioration, wire breakage, etc.
• For connection and disconnection of SSCNET cable, hold surely a tab of
cable connector.
Motion controller
CN1
(2) Connection of SSCNET
cable
• For connection of SSCNET cable to the Motion controller, connect it to the
SSCNET connector CN1 of Motion controller while holding a tab of
SSCNET cable connector. Be sure to insert it until it clicks.
• If the cord tip for the SSCNET cable is dirty, optical transmission is interrupted
and it may cause malfunctions. If it becomes dirty, wipe with a bonded textile,
etc. Do not use solvent such as alcohol.
(3) Disconnection of SSCNET
cable
• For disconnection of SSCNET cable, pull out it while holding a tab of
SSCNET cable connector or the connector.
• After disconnection of SSCNET cable, be sure to put a cap (attached to
Motion controller or servo amplifier) to the Motion controller and servo amplifier.
• For SSCNET cable, attach the tube for protection optical cord's end face on
the end of connector.
4 - 17
4 INSTALLATION AND WIRING
(4) Precautions of SSCNET
cable wiring
SSCNET cable is made from optical fiber. If optical fiber is added a power such
as a major shock, lateral pressure, haul, sudden bending or twist, its inside
distorts or breaks, and optical transmission will not be available. Especially, as
optical fiber for MR-J3BUS M and MR-J3BUS M-A is made of synthetic resin,
it melts down if being left near the fire or high temperature. Therefore, do not
make it touched the part, which becomes high temperature, such as radiator or
regenerative option of servo amplifier, or servo motor.
Be sure to use optical fiber within the range of operating temperature described
in this manual.
Read described item of this section carefully and handle it with caution.
(a) Minimum bend radius
Make sure to lay the cable with greater radius than the minimum bend
radius. Do not press the cable to edges of equipment or others. For
SSCNET cable, the appropriate length should be selected with due
consideration for the dimensions and arrangement of Motion controller and
servo amplifier. When closing the door of control panel, pay careful
attention for avoiding the case that SSCNET cable is hold down by the
door and the cable bend becomes smaller than the minimum bend radius.
Model name of SSCNET
MR-J3BUS M
cable
Minimum bend radius[mm(inch)]
25(0.98)
Enforced covering cord : 50 (1.97)
MR-J3BUS M-A
Cord : 25 (0.98)
Enforced covering cord : 50 (1.97)
MR-J3BUS M-B
Cord : 30 (1.18)
(b) Tension
If tension is added on the SSCNET cable, the increase of transmission
loss occurs because of external force which concentrates on the fixing part
of SSCNET cable or the connecting part of SSCNET connector. At
worst, the breakage of SSCNET cable or damage of SSCNET
connector may occur. For cable laying, handle without putting forced
tension. (Refer to "APPENDIX 4.1 SSCNET cables" for the tension
strength.)
(c) Lateral pressure
If lateral pressure is added on the SSCNET cable, the cable itself distorts,
internal optical fiber gets stressed, and then transmission loss will increase.
At worst, the breakage of SSCNET cable may occur. As the same
condition also occurs at cable laying, do not tighten up SSCNET cable
with a thing such as nylon band (TY-RAP).
Do not trample it down or tuck it down with the door of control panel or
others.
4 - 18
4 INSTALLATION AND WIRING
(d) Twisting
If SSCNET cable is twisted, it will become the same stress added
condition as when local lateral pressure or bend is added. Consequently,
transmission loss increases, and the breakage of SSCNET cable may
occur at worst.
(e) Disposal
When incinerating optical cable (cord) used for SSCNET cable, hydrogen
fluoride gas or hydrogen chloride gas which is corrosive and harmful may
be generated. For disposal of SSCNET cable, request for specialized
industrial waste disposal services who has incineration facility for disposing
hydrogen fluoride gas or hydrogen chloride gas.
(f) Wiring process of SSCNET
cable
Put the SSCNET cable in the duct or fix the cable at the closest part to
the Motion controller with bundle material in order to prevent SSCNET
cable from putting its own weight on SSCNET connector.
Leave the following space for wiring.
• Putting in the duct
Top of panel or wiring duct
40mm(1.58inch)
or more
100mm
(3.94inch)
or more
Motion
controller
Servo amplifier
Door
(Note-1)
Panel
135mm(5.31inch)
90mm(3.54inch)
or more
30mm(1.18inch)
or more
30mm(1.18inch)
or more
10mm(0.39inch)
or more
(Note-1) : Fit the Motion controller at the left side of the servo amplifier.
4 - 19
4 INSTALLATION AND WIRING
• Bundle fixing
Optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius, and
it should not be twisted. When bundling the cable, fix and hold it in position by using cushioning such as
sponge or rubber which does not contain migratable plasticizing.
If using adhesive tape for bundling the cable, fire resistant acetate cloth adhesive tape 570F (Teraoka
Seisakusho Co., Ltd) is recommended.
Motion controller
Panel
Cord
Loose slack
PUSH
Bundle material
Recommended product
NK clamp SP type (NIX,INC.)
4 - 20
Cable
4 INSTALLATION AND WIRING
POINTS
(1) Be sure to connect SSCNET cable with the above connector. If the
connection is mistaken, between the Motion controller and servo amplifier
cannot be communicated.
(2) Forcibly removal the SSCNET cable from the Motion controller will damage
the Motion controller and SSCNET cables.
(3) After removal of the SSCNET cable, be sure to put a cap on the SSCNET
connector. Otherwise, adhesion of dirt deteriorates in characteristic and it may
cause malfunctions.
(4) Do not remove the SSCNET cable while turning on the power supply of
Motion controller and servo amplifier.
Do not see directly the light generated from SSCNET connector of Motion
controller or servo amplifier and the end of SSCNET cable. When the light
gets into eye, may feel something is wrong for eye. (The light source of
SSCNET cable complies with class1 defined in JISC6802 or IEC60825-1.)
(5) If the SSCNET cable is added a power such as a major shock, lateral
pressure, haul, sudden bending or twist, its inside distorts or brakes, and
optical transmission will not be available.
Be sure to take care enough so that the short SSCNET cable is added a
twist easily.
(6) Be sure to use the SSCNET cable within the range of operating temperature
described in this manual. Especially, as optical fiber for MR-J3BUS M and
MR-J3BUS M-A are made of synthetic resin, it melts down if being left near
the fire or high temperature. Therefore, do not make it touched the part which
becomes high temperature, such as radiator or regenerative option of servo
amplifier, or servomotor.
(7) When laying the SSCNET
radius or more.
cable, be sure to secure the minimum cable bend
(8) Put the SSCNET cable in the duct or fix the cable at the closest part to the
Motion controller with bundle material in order to prevent SSCNET cable
from putting its own weight on SSCNET connector.
When laying cable, the optical cord should be given loose slack to avoid from
becoming smaller than the minimum bend radius, and it should not be twisted.
When bundling the cable, fix and hold it in position by using cushioning such
as sponge or rubber which does not contain migratable plasticizing.
If using adhesive tape for bundling the cable, fire resistant acetate cloth
adhesive tape 570F (Teraoka Seisakusho Co., Ltd) is recommended.
4 - 21
4 INSTALLATION AND WIRING
POINTS
(9) Migrating plasticizer is used for vinyl tape. Keep the MR-J3BUS M, and
MR-J3BUS M-A cables away from vinyl tape because the optical
characteristic may be affected.
Optical cord
SSCNET cable
Cord
Cable
Cable
MR-J3BUS M
MR-J3BUS M-A
MR-J3BUS M-B
: Normally, cable is not affected by plasticizer.
: Phthalate ester plasticizer such as DBP and DOP may affect optical
characteristic of cable.
Generally, soft polyvinyl chloride (PVC), polyethylene resin (PE) and fluorine
resin contain non-migrating plasticizer and they do not affect the optical
characteristic of SSCNET cable. However, some wire sheaths and cable
ties, which contain migrating plasticizer (phthalate ester), may affect
MR-J3BUS M and MR-J3BUS M-A cables (made of plastic). In addition,
MR-J3BUS M-B cable (made of quartz glass) is not affected by plasticizer.
(10) If the adhesion of solvent and oil to the cord part of SSCNET cable may
lower the optical characteristic and machine characteristic. If it is used such
an environment, be sure to do the protection measures to the cord part.
(11) When keeping the Motion controller or servo amplifier, be sure to put on a
cap to connector part so that a dirt should not adhere to the end of SSCNET
connector.
(12) SSCNET connector to connect the SSCNET cable is put a cap to protect
light device inside connector from dust. For this reason, do not remove a cap
until just before connecting SSCNET cable. Then, when removing
SSCNET cable, make sure to put a cap.
(13) Keep the cap and the tube for protecting light cord end of SSCNET cable in
a plastic bag with a zipper of SSCNET cable to prevent them from
becoming dirty.
(14) When exchanging the Motion controller or servo amplifier, make sure to put a
cap on SSCNET connector. When asking repair of Motion controller or
servo amplifier for some troubles, make also sure to put a cap on SSCNET
connector. When the connector is not put a cap, the light device may be
damaged at the transit. In this case, exchange and repair of light device is
required.
4 - 22
4 INSTALLATION AND WIRING
4.2.2 Forced stop input cable
(1) Precautions for handling the forced stop input cable
• For connection or removal of the forced stop input cable, do it surely while
holding a connector of forced stop input cable.
Motion controller
Tab
(2) Connection of the forced stop input cable
• For connection of a forced stop input cable to the Motion controller, connect it
surely to a EMI connector of Motion controller while holding a connector. Be
sure to insert it until it clicks.
(3) Removal of the forced stop input cable
• For removal of the forced stop input cable, push a tab and pull out the cable
while holding a connector.
POINTS
Forcibly removal the forced stop input cable from the Motion controller will damage
the Motion controller or forced stop input cable.
4 - 23
4 INSTALLATION AND WIRING
4.2.3 24VDC power supply cable
(1) Precautions for handling the 24VDC power supply cable
• For connection or removal of the 24VDC power supply cable, do it surely while
holding a connector of 24VDC power supply cable.
Motion controller
Tab
24VDC
(2) Connection of the 24VDC power supply cable
• For connection of a 24VDC power supply cable to the Motion controller,
connect it surely to a 24VDC power supply connector of Motion controller while
holding a connector. Be sure to insert it until it clicks.
(3) Removal of the 24VDC power supply cable
• For removal of the 24VDC power supply cable, push a tab and pull out the
cable while holding a connector.
POINTS
Forcibly removal the 24VDC power supply cable from the Motion controller will
damage the Motion controller or 24VDC power supply cable.
4 - 24
4 INSTALLATION AND WIRING
4.3 Wiring
4.3.1 Instructions for wiring
DANGER
Completely turn off the externally supplied power used in the system before installation or placing
wiring. Not doing so could result in electric shock or damage to the product.
When turning on the power supply or operating the module after wiring, be sure that the module's
terminal covers are correctly attached. Not attaching the terminal cover could result in electric shock.
CAUTION
Be sure to ground of the earth terminal FG and LG. Not doing so could result in electric shock or
operation failure. (Ground resistance: 100 or less)
When wiring in the Motion controller, be sure that it is done correctly by checking the product's rated
voltage and the terminal layout. Connecting a power supply that is different from the rating or
incorrectly wiring the product could result in fire or damage.
External connections shall be crimped or pressure welded with the specified tools, or correctly
soldered. Imperfect connections could result in short circuit, fire, or operation failure.
Tighten the terminal screws within the specified torque range. If the terminal screws are loose, it could
result in short circuit, fire, or operation failure. Tightening the terminal screws too far may cause
damages to the screws and/or the module, resulting in drop, short circuit, or operation failure.
Be sure there are no foreign matters such as sawdust or wiring debris inside the module. Such debris
could cause fire, damage, or operation failure.
The module has an ingress prevention label on its top to prevent foreign matter, such as wiring debris,
from entering the module during wiring.
Do not remove this label during wiring.
Before starting system operation, be sure to remove this label because of heat dissipation.
This section describes instructions for the wiring of the power supply.
Refer to the "8 EMC directives" for grounding method and measure against noise.
(1) Power supply wiring
(a) 24VDC power supply wires should be twisted as dense as possible. Connect
them with the shortest distance.
Also, to reduce the voltage drop to the minimum, use the thickest wires (Up
2
to 2.0mm ) possible.
Use the wires of the following core size for wiring.
Application
Recommended core size
2
24VDC power supply wires
0.34 to 0.37mm
(Note-1)
AWG
AWG22
2
I/O equipment
0.3 to 0.75mm
(Outside diameter 2.8mm (0.11inch) or less)
2
Ground wire
2.0mm or more
AWG18 to AWG22
AWG14 or less
(Note-1): AWG stands for "American Wire Gauge". AWG is a unit of the thickness of conducting wire.
4 - 25
4 INSTALLATION AND WIRING
(b) Do not bundle the 24VDC power supply wires with, or run them close to, the
main circuit (high voltage, large current) and I/O signal lines (including
common line).
Reserve a distance of at least 100mm (3.94inch) from adjacent wires.
(c) Momentary power failure may be detected or the Motion controller may be
reset due to surge caused by lightening.
As measures against surge caused by lightening, connect a surge absorber
for lightening as shown below.
Using the surge absorber for lightening can reduce the influence of
lightening.
24VDC
power supply
AC
Motion
controller
E2
E3
Surge absorber for lightening
E1
POINTS
(1) Separate the ground of the surge absorber for lighting (E1), 24VDC power
supply (E2) and Motion controller (E3).
(2) Select a surge absorber for lighting whose power supply voltage does no
exceed the maximum allowable circuit voltage even at the time of maximum
power supply voltage elevation.
(2) Wiring of I/O equipment
(a) Insulation-sleeved crimping terminals cannot be used with the terminal
block.
It is recommended to cover the wire connections of the crimping terminals
with mark or insulation tubes.
(b) The wires used for connection to the terminal block should be 0.3 to
2
0.75mm in core and 2.8mm (0.11inch) or less in outside diameter.
(c) Run the input and output lines away from each other.
(d) When the wiring cannot be run away from the main circuit and power lines,
use a batch-shielded cable and ground it on the Motion controller side.
In some cases, ground it in the opposite side.
Motion controller
Shield cable
Input
RA
Output
Shield
DC
4 - 26
4 INSTALLATION AND WIRING
(e) Where wiring runs through piping, ground the piping without fail.
(f) Run the 24VDC input line away from the 100VAC and 200VAC lines.
(g) Wiring of 200m (656.17ft.) or longer distance will give rise to leakage
currents due to the line capacity, resulting in a fault.
Refer to the troubleshooting chapter of the I/O Module User's Manual.
(h) As a countermeasure against the power surge due to lightning, separate the
AC wiring and DC wiring and connect a surge absorber for lightning (Refer
to Section 4.3.1(1)).
Failure to do so increases the risk of I/O device failure due to lightning.
(3) Grounding
For grounding, follow the steps (a) to (c) shown below.
(a) Use a dedicated grounding wire as far as possible.
(Ground resistance: 100 or less)
(b) When a dedicated grounding cannot be performed, use (2) Common
Grounding shown below.
Motion
controller
Another
equipment
Motion
controller
grounding
(1) Independent grounding.....Best
Another
equipment
Motion
controller
Another
equipment
grounding
(2) Common grounding.....Good
(3) Joint grounding.....Not allowed
2
(c) For grounding a cable, use the cable of 2 mm or more.
Position the ground-contact point as nearly to the Motion controller as
possible, and reduce the length of the grounding cable as much as possible.
4 - 27
4 INSTALLATION AND WIRING
4.3.2 Connecting to the power supply
The following diagram shows the wiring example of power lines, grounding lines, etc.
to the Motion controller.
100/200VAC
AC
24VDC
AC
DC
Fuse
AC
DC
24VDC
24VDC
+
-
Connect to power input terminals of I/O
signals that require 24VDC.
FG
POINT
(1) Use a different 24VDC power supply for the Motion controller and for I/O
signals.
(2) Use a different 24VDC power supplies for the Motion controller and the
electromagnetic brake of the servo motor.
(3) Refer to Section 2.5.1(10) for the pin layout of 24VDC power supply connector,
and refer to APPENDIX 4.3 for the connection diagram of 24VDC power
supply cable.
(4) Motion controller and 24VDC power supply are an open type device and must
be installed in a control panel for use.
This not only ensures safety but also ensures effective shielding for Motion
controller and 24VDC power supply generated electromagnetic noise.
4 - 28
5 START-UP PROCEDURES
5. START-UP PROCEDURES
5.1 Check Items before Start-up
Table 5.1 Check items before start-up
Part name
Confirmation Items
Check
Reference
(1) Check for looseness, rattling or distorted installation.
4.1.2
(2) Check that the module fixing screw tightening torque is as specified.
4.1.1
(3) Check that the wire sizes of cables are correct.
(4) Check that the power line is wired correctly.
(5) Check that FG is wired correctly.
4.3.1
4.3.2
(6) Check that the FG terminal screws are tightened correctly.
(7) Check that the FG terminal screws are tightening torque is as
specified.
Q170MCPU
Motion controller
(8) Check that the 24VDC wires are twisted as closely as possible and
run in the shortest distance.
(9) Check that the 24VDC wires are not bind the cable together with
and run close to the power wires.
4.1.1
4.3.1
(10) Check that grounding of the earth terminal FG.
4.3
(11) Check that the forced stop input is wired correctly.
3.2
(12) Check that the battery is installed.
(13) Check that the battery lead connecter is connected correctly.
4.1.4
(14) Check that the internal I/F is wired correctly.
(15) Check that the manual pulse generator/incremental synchronous
encoder is wired correctly.
(1) Check that the extension base unit is Q52B or Q55B (type not
requiring power supply module).
(2) Check that the model name of module is correct.
2.5.1
2.5.2
2.3
(3) Check that the damage for installed modules.
(4) Check that the modules are installed correctly.
4.1.3
(5) Check for looseness, rattling or distorted installation.
4.1.2
(6) Check that the module fixing screw tightening torque is as specified.
4.1.1
(7) Check that the total I/O points of I/O modules and intelligent function
modules do not exceed the I/O points of the Motion controller.
Refer to the "Q173DCPU/
Q172DCPU Motion
controller Programming
Manual(COMMON)", or
"QCPU User's Manual
(Hardware Design,
Maintenance and
Inspection).
Q172DLX Servo external
signals interface module/
(1).Check that the installation position of modules correspond to the
system setting.
Q173DPX Manual pulse
generator interface module
Refer to the "Q173DCPU/
Q172DCPU Motion
controller Programming
Manual(COMMON).
(2) Check that the connection with external equipments is correct.
Extension base unit
5-1
2.5.3
2.5.4
5
5 START-UP PROCEDURES
Part name
Confirmation Items
Check
Reference
(1) Check that the wire size of cable is correct.
(2) Check that the terminal block screws are tightened correctly.
(3) Check that the cables connected to each terminal of terminal block
correspond to the signal names.
(4) Check that the external power supply are connected correctly.
(24VDC, 5VDC)
I/O module
Refer to the I/O Module
Type Building Block
User's Manual
(5) Check that the 100VAC, 200VAC and 24VDC wires are twisted as
closely as possible respectively and run in the shortest distance.
(6) Check that the 100VAC, 200VAC and 24VDC wires are not bind the
cable together with and run close to the I/O wires.
4.3.1
(7) Check that the I/O wires are wired correctly.
(1) Check that the model name of SSCNET
cables is correct.
(2) Check that the connecting position for connector of SSCNET
cables are correct.
(3) Check that the SSCNET
SSCNET
cable
2.5.6
cables are connected correctly.
(4) Check for looseness, rattling or distorted connection.
(5) Check that the minimum bend radius or more secured.
(6) Check that the MR-J3BUS M or MR-J3BUS M-A do not come in
contact with wires/cables that use materials where the plasticizing
material is contained.
5-2
4.2.1
5 START-UP PROCEDURES
5.2 Start-up Adjustment Procedure
The mode indicated in the brackets [ ] at top left of
each step is the mode for checking or setting using
MT Developer2/GX Developer.
START
Turn OFF Motion controller's power supply
Check that the power supply of Motion
controller is OFF.
Check wiring and module installation
Refer to Section 4.1.3 for installation of module.
(1) Check the installation position and
condition of each modules.
(2) Check the connecting condition of
connectors.
(3) Check that all terminal screws are tight.
(4) Check the ground wires of servo
amplifier, etc.
(5) Check the servo motor wiring (U, V, W).
(6) Check the regenerative option wiring.
(7) Check the circuit of emergency stop or
forced stop.
DANGER
Be sure to ground the Motion controllers, servo
amplifiers and servo motors.
(Ground resistance: 100 or less)
Do not ground commonly with other devices.
CAUTION
Check that the combination of modules are correct.
Wrong combination may damage the modules.
[Installation mode]
Motion CPU
area
Servo amplifier
Install operating system software (Note-1)
Install the operating system software to the
Motion controller using MT Developer2.
Servo amplifier setting
Refer to Section 2.5.6(3)
Set the axis number of servo amplifier.
CAUTION
Turn ON power supply
Set the RUN/STOP/RESET switch of Motion
controller to STOP, and turn ON the Motion
controller's power supply.
[System setting]
Parameters setting
Motion CPU
area
Refer to Section 5.3
(Note-1): The operating system software is not installed
at the time of Motion controller purchase.
Be sure to install the operating system
software to be used before a system start.
When using a regenerative resistor, shut the
power OFF with an error signal. The regenerative
resistor may abnormally overheat due to a fault in
the regenerative transistor, etc., and may lead to
fires.
Always take heat measure such as flame proofing
for the inside of the control panel where the servo
amplifier or regenerative resistor is mounted and
for the wires used. Failing to do so may lead to
fires.
Set the following parameters using
MT Developer2.
(1) Multiple CPU setting
(2) Automatic refresh setting
(3) System setting
(4) Q170M I/O setting
[Parameter setting]
PLC CPU
area
Parameter setting
Set the PLC parameter using GX Developer.
(Note): An error may occur if the power is turned on
before system setting. In the case, reset the
Motion controller after system setting.
Refer to the "Q173DCPU/Q172DCPU Motion
controller Programming Manual (COMMON)"
at the system setting error occurrence.
Turn ON power supply again
Turn ON again the power supply or reset
of Motion controller.
1)
5-3
5 START-UP PROCEDURES
1)
Check pulse input signal of internal I/F
Refer to Section 2.5.1
Check the wiring of pulse input signals of
internal I/F by monitoring of MT Developer2.
(1) Check that the current value storage
register (D1120, D1121) counts when
a manual pulse generator or
incremental synchronous encoder is
used.
Check I/O signal of internal I/F
Refer to Section 2.5.1
Check the wiring of I/O signals of internal
I/F.
Check external inputs to Q172DLX
Refer to Section 2.5.3
Check the wiring of following external inputs
by monitoring of MT Developer2.
(1) FLS (Upper stroke limit input)
(2) RLS (Lower stroke limit input)
(3) STOP (Stop signal)
(4) DOG (Proximity dog)
Check servo external inputs signal
Motion CPU
area
Check the wiring of servo external input
signals by monitoring of MT Developer2.
(1) FLS (Upper stroke limit input)
(2) RLS (Lower stroke limit input)
(3) DOG (Proximity dog)
Check external inputs to Q173DPX
Refer to Section 2.5.4
Check the wiring of following external inputs
by monitoring of MT Developer2 or LED
indicators.
(1) Manual pulse generator/incremental
synchronous encoder setting
CAUTION
Check I/O module
Check the wiring of I/O modules.
Do not mount a phase advancing capacitor, surge
absorber or radio noise filter (option FR-BIF) on
the output side of the servo amplifier.
Correctly connect the output side (terminal U, V,
W). Incorrect connections will lead the servo motor
to operate abnormally.
[Servo data setting]
Positioning parameters setting
Set the following positioning parameters
using MT Developer2.
(1) Fixed parameters
(2) Home position return data
(3) JOG operation data
(4) Servo parameters
(5) Parameter block
(6) Limit output data
CAUTION
Set parameter values to those that are compatible
with the Motion controller, servo amplifier,
servo motor and regenerative resistor model name
and the system name application.
The protective functions may not function if the
settings are incorrect.
2)
5-4
5 START-UP PROCEDURES
2)
[Programming]
Motion CPU
area
DANGER
Create Motion programs
Create the Motion programs using
MT Developer2.
When performing wiring work or inspections, turn
the power OFF, wait at least ten minutes, and
then check the voltage with a tester, etc.
Failing to do so may lead to electric shocks.
Wire the units after mounting the Motion controller,
servo amplifier and servo motor.
Failing to do so may lead to electric shocks or
damage.
[Programming]
Create PLC programs
Create the PLC programs to start of
Motion programs using GX Developer.
PLC CPU
area
CAUTION
Write PLC programs
Write the PLC programs created to the PLC
CPU area (CPU No.1 fixed).
Write Motion programs
Motion CPU
area
Write the positioning data and Motion
programs created to the Motion CPU area
(CPU No.2 fixed).
Always mount a leakage breaker on the Motion
controller and servo amplifier power source.
Install emergency stop circuit externally so that
operation can be stopped immediately and the
power shut off.
Use the program commands for the program with
the conditions specified in the instruction manual.
Some devices used in the program have fixed
applications, so use these with the conditions
specified in the programming manual.
CAUTION
Turn ON power supply again
If safety standards (ex., robot safety rules, etc., )
apply to the system using the Motion controller,
servo amplifier and servo motor, make sure that
the safety standards are satisfied.
Construct a safety circuit externally of the Motion
controller or servo amplifier if the abnormal
operation of the Motion controller or servo
amplifier differ from the safety directive operation
in the system.
Turn ON again or reset the Motion
controller's power supply .
Turn ON servo amplifiers power supply
Check the emergency stop ON and forced
stop ON, and turn ON the power supply of
servo amplifiers.
[Test mode
servo start-up
(Initial check) ]
Check servo amplifier
Axis No. and error description of servo amplifier which
detected errors are displayed on initial check screen.
Check that the mounted servo amplifiers
operate correctly.
Motion CPU
area
[Test mode
servo start-up
(Upper/lower stroke
limit check) ]
Check upper/lower stroke limits
Check that the upper/lower stroke limits
operate correctly.
3)
5-5
5 START-UP PROCEDURES
3)
[Test mode
JOG operation ]
CAUTION
Check machine operation
Check the followings by making the
machine operate with the JOG operation of
MT Developer2.
(1) Machine operates correctly
(no vibration, hunting, etc. )
(2) Stroke limits operate correctly
(3) Machine stops by the emergency stop
or forced stop.
The system must have a mechanical allowance so
that the machine itself can stop even if the stroke
limits switch is passed through at the max. speed.
Execute the test operation in the system that it is
low-speed as much as possible and put forced
stop, and confirm the operation and safety.
[Test mode
home position return ]
Motion CPU
area
Check home position return
Check the followings by executing the home
position return.
(1) Home position return direction
(2) Home position return data
(3) Proximity dog position
[Programming]
Check Motion program
Set the RUN/STOP/RESET switch of Motion
controller to RUN, and check that all
positioning controls by Motion programs are
correct.
[Monitor]
Check by automatic operation
PLC CPU
area
Check the sequence operation by executing
the PLC program using an actual external
input.
END
POINTS
(1) Make note of servo motor module names before the servo motor is mounted
on a machine. The servo motor rating plate may not be visible after the servo
motor is mounted.
(2) When the servo amplifier, servo motor is first turned on, check the operation
before the servo motor is mounted on a machine to avoid an unexpected
accidents such as machine breakage.
5-6
5 START-UP PROCEDURES
5.3 Operating System Software Installation Procedure
The operating system software must be installed to the Motion controller by using the
peripheral device and MT Developer2.
The installation procedure is shown below.
START
Set a rotary switch1 (SW1) of Motion
controller to "A".
(Rotary switch 2 (SW2) is optional.)
Set to installation mode.
Refer to Section 2.5.1(6) for rotary switch.
Factory default in SW1 "A",
SW2 "0" position.
Turn ON the Motion controller's power
supply.
Steady "INS" display.
RUN/STOP is ignored.
Start the install of MT Developer2.
Set the connection method between
the personal computer and Motion
controller in the Transfer Setup.
Operation in
MT Developer2
(Note)
Select the operating system software
installed, and install it in the Motion
controller.
Dialog "Installation is completed" is
displayed.
The operating system software can be
installed normally by dialog display.
Turn OFF the Motion controller's
power supply.
Set a rotary switch1 (SW1) and
switch2 (SW2) of Motion controller to
"0".
Set to mode operated by RAM.
END
(Note): Install the operating system software by screen of MT Developer2.
Refer to help of MT Developer2 for details.
5-7
5 START-UP PROCEDURES
POINTS
(1) The operating system software was not installed at the time of Motion
controller purchase. Be sure to install the operating system software to be
used before a system start.
(2) The operating system software is installed to the Motion CPU area. It has
already been installed to the PLC CPU area.
The PLC CPU area is never rewritten.
(3) Be sure to change a rotary switch after turning off the power supply.
(4) Even if the operating system software is installed, the programs, parameters
and absolute position data written in the Motion controller do not be rewritten.
(5) Do not do any of the following while installing operation system software.
Doing so could result damage the Motion controller.
• Turn OFF the Motion controller's power supply.
• Change the RUN/STOP/RESET switch of Motion controller to RESET.
• Turn OFF the power supply of the personal computer.
• Pull out the personal computer's communication's cable.
5-8
5 START-UP PROCEDURES
5.4 Trial Operation and Adjustment Checklist
At the worksite, copy the following table for use as a check sheet.
Work Step
Item
Check Items
Check
Check that each module is installed correctly.
Check that each connector is connected correctly.
Check each terminal screw for looseness.
Before power supply
ON
Installation of
unit/module
and basic wiring
Check that the earth wires of Motion controller or servo amplifiers, etc. are correct.
Check that the servomotor wiring is correct.
Check that the regenerative option wiring is correct.
Check that the circuit of emergency stop and forced stop are correct.
Check that the wiring of each power supply and I/O are correct.
Check that the rotary switch setting is correct.
Installation of OS
Power supply ON/
Check that the operating system software is compatible.
System setting
Check that the system setting is correct.
Q172DLX/Servo
amplifier external
signal
Check that the upper/lower stroke limit inputs are correct.
Program/
positioning data
Check that the Motion program, PLC program and positioning data are stored in the
Motion controller correctly.
Check that the STOP signal input is correct. (Q172DLX only)
Check that the proximity dog and speed/position switching signal input are correct.
Check the communications with servo amplifiers.
Motion controller in
STOP status
Check that the rotation direction for JOG operation is correct.
Check that the upper/lower limit switches operate correctly.
Check that the rotation at maximum command speed is motor rating or less.
Basic axis
operations (Check Check that the machine operates correctly by the JOG operation.
each axis)
Check that the machine stops by the upper/lower stroke limit.
Check that the machine stops by the emergency stop or forced stop.
Check that the home position return is executed correctly.
Check that each positioning control of Motion program is operates correctly.
Check each operation in manual operation mode of system during Motion program execution.
Manual operation
Check that the machine operation stops immediately by the emergency stop or forced
stop.
Check the operation of each actuator and confirmation limit switch.
Check that the emergency stop, forced stop and equipment alarm signals are correct.
Checks in compliance with control specifications specific to system and equipment.
Check each operation in automatic operation mode of system during Motion program
execution.
Motion controller
in RUN status
Check that the automatic operation motions.
Automatic
operation
Check that the machine operation stops immediately by the emergency stop or forced
stop.
Check that the module or equipment alarm causes an immediate stop or cycle stop.
Check that the restoring operation can be performed after an alarm stop.
Make other checks in compliance with control specifications specific to system and
equipment.
Torque check
Check that the acceleration/deceleration torque is maximum torque or less.
Check that the continuous effective load torque is rated torque or less.
5-9
5 START-UP PROCEDURES
MEMO
5 - 10
6 INSPECTION AND MAINTENANCE
6. INSPECTION AND MAINTENANCE
DANGER
Do not touch the terminals while power is on. Doing so could cause electric shock.
Correctly connect the battery. Also, do not charge, disassemble, heat, place in fire, short circuit, or
solder the battery.
Mishandling of a battery may cause overheating, cracks or ignition which could result in injury and fire.
Switch off all phases of the externally supplied power used in the system when cleaning the module or
retightening the terminal or module mounting screws.
Not doing so could result in electric shock.
Under tightening of terminal screws can cause a short circuit or malfunction.
Over tightening of screws can cause damages to the screws and/or the module, resulting in fallout,
short circuits, or malfunction.
The capacitor is mounted to the modules. Do not incinerate the modules so that the incineration of
capacitor may cause burst.
For disposal of the modules, request for specialized industrial waste disposal services who has
incineration facility.
CAUTION
Read the manual carefully and pay careful attention to safety for the on-line operation (especially
program change, forced stop or operation change) performed by connecting peripheral devices to the
Motion controller during operation.
Erroneous operation may cause machine breakage or accident.
Never try to disassemble or modify module. It may cause product failure, operation failure, injury or fire.
Use any radio communication device such as a cellular phone or a PHS phone more than 25cm (9.84
inch) away in all directions of the Motion controller.
Failure to do so may cause a malfunction.
Completely turn off the externally supplied power used in the system before installation or removing
the module. Not doing so could result in electric shock, damage to the module or operation failure.
Do not install/remove the module on to/from base unit or terminal block more than 50 times, after the
first use of the product. Failure to do so may cause the module to malfunction due to poor contact of
connector.
Do not drop or impact the battery installed to the module. Doing so may damage the battery, causing
battery liquid to leak in the battery.
Do not use the dropped or impacted battery, but dispose of it.
Before touching the module, always touch grounded metal, etc. to discharge static electricity from
human body. Failure to do so may cause the module to fail or malfunction.
Do not directly touch the module's conductive parts and electronic components. Touching them could
cause an operation failure or give damage to the module.
In order that you can use the Motion controller in normal and optimal condition at all
times, this section describes those items that must be maintained or inspected daily or
at regular intervals.
6-1
6
6 INSPECTION AND MAINTENANCE
6.1 Maintenance Works
6.1.1 Instruction of inspection works
In order that can use the Motion controller in safety and normal, those items that must
be inspected list below.
DANGER
Never open the front case or terminal covers while the power is ON or the unit is running, as this may
lead to electric shocks.
Never run the unit with the front case or terminal cover removed. The high voltage terminal and
charged sections will be exposed and may lead to electric shocks.
Never remove the front case or terminal cover at times other than wiring work or periodic inspections
even if the power is OFF. The insides of the Motion controller and servo amplifier are charged and
may lead to electric shocks.
When performing wiring work or inspections, turn the power OFF, wait at least ten minutes, and then
check the voltage with a tester, etc. Failing to do so may lead to electric shocks.
Never operate the switches with wet hands, as this may lead to electric shocks.
Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this may
lead to electric shocks or fire.
Do not touch the Motion controller, servo amplifier or servomotor terminal blocks while the power is
ON, as this may lead to electric shocks or fire.
Do not touch the built-in power supply, built-in grounding or signal wires of the Motion controller and
servo amplifier, as this may lead to electric shocks.
CAUTION
Be sure to ground the Motion controller, servo amplifier and servomotor. Do not ground commonly
with other devices. (Ground resistance : 100
or less)
The wiring work and inspections must be done by a qualified technician.
Wire the units after mounting the Motion controller, servo amplifier and servomotor. Failing to do so
may lead to electric shocks or damage.
Perform the daily and periodic inspections according to the instruction manual.
Perform maintenance and inspection after backing up the program and parameters for the Motion
controller and servo amplifier.
Do not place fingers or hands in the clearance when opening or closing any opening.
Periodically replace consumable parts such as batteries according to the instruction manual.
Do not touch the lead sections such as ICs or the connector contacts.
Do not place the Motion controller or servo amplifier on metal that may cause a power leakage or
wood, plastic or vinyl that may cause static electricity buildup.
Do not perform a megger test (insulation resistance measurement) during inspection.
When replacing the Motion controller or servo amplifier, always set the new unit settings correctly.
After maintenance and inspections are completed, confirm that the position detection of the absolute
position detector function is correct.
6-2
6 INSPECTION AND MAINTENANCE
CAUTION
Do not short circuit, charge, overheat, incinerate or disassemble the batteries.
The electrolytic capacitor will generate gas during a fault, so do not place your face near the Motion
controller or servo amplifier.
The electrolytic capacitor and fan will deteriorate. Periodically change these to prevent secondary
damage from faults. Replacements can be made by our sales representative.
If an error occurs in the self diagnosis of the Motion controller or servo amplifier, confirm the check
details according to the instruction manual, and restore the operation.
If a dangerous state is predicted in case of a power failure or product failure, in order to prevent that
state, use a servomotor with electromagnetic brakes for maintenance or mount a brake mechanism
externally.
Use a double circuit construction so that the electromagnetic brake operation circuit can be operated
by emergency stop signals set externally.
Shut off with servo ON signal OFF,
alarm, electromagnetic brake signal.
Servo motor
RA1
Electromagnetic
brakes
Shut off with the
emergency stop
signal (EMG).
EMG
24VDC
If an error occurs, remove the cause, secure the safety and then resume operation after alarm
release.
The unit may suddenly restart after a power failure is restored, so do not go near the machine. (Design
the machine so that personal safety can be ensured even if the machine restarts suddenly.)
Confirm and adjust the program and each parameter before operation. Unpredictable movements may
occur depending on the machine.
Extreme adjustments and changes may lead to unstable operation, so never make them.
Do not apply a voltage other than that specified in the instruction manual on any terminal.
Doing so may lead to destruction or damage.
Do not mistake the terminal connections, as this may lead to destruction or damage.
Do not mistake the polarity ( + / - ), as this may lead to destruction or damage.
Do not touch the heat radiating fins of controller or servo amplifier, regenerative resistor and
servomotor, etc., while the power is ON and for a short time after the power is turned OFF. In this
timing, these parts become very hot and may lead to burns.
Always turn the power OFF before touching the servomotor shaft or coupled machines, as these parts
may lead to injuries.
Do not go near the machine during test operations or during operations such as teaching. Doing so
may lead to injuries.
Do not bunch the control wires or communication cables with the main circuit or power wires, or lay
them closely. They should be installed 100mm (3.94inch) or more from each other.
Trying to bunch or install could result in noise that would cause operation failure.
6-3
6 INSPECTION AND MAINTENANCE
6.2 Daily Inspection
The items that must be inspected daily are shown below.
Table 6.1 Daily Inspection
Item
Inspection item
1
Mounting of Motion
controller
2
Mounting of base unit
3
Installation of Motion
modules and I/O
modules
4
Connecting conditions
Inspection
Criterion
Retighten the
screws.
Check that the module is
not dislocated and the unit
fixing hook is engaged
securely.
The module fixing hook must be engaged and installed
correctly.
Securely
engaged the
module fixing
hook.
Check for loose terminal
screws.
Screws should not be loose.
Retighten the
terminal screws.
Check for distance between The proper clearance should be provided between solderless
Correct.
solderless terminals.
terminals.
Motion controller
I/O module
Module indication LED
Check the connector part of
Connections should not be loose.
the cable.
5
Action
Check that the fixing
The screws and cover must be mounted securely.
screws are not loose and
the cover is not dislocated.
[POWER] LED Check that the LED is ON.
The LED must be ON.
(Abnormal if the LED is OFF.).
[MODE] LED
Check that the LED is ON.
The LED must be ON.
(Abnormal if the LED is OFF or flickering.)
[RUN] LED
Check that the LED is ON
in RUN status.
The LED must be ON.
(Abnormal if the LED is OFF.)
[ERR.] LED
Check that the LED is OFF.
The LED must be OFF.
(Abnormal if the LED is ON or flickering.)
[BAT.] LED
Check that the LED is OFF.
The LED must be OFF.
(Abnormal if the LED is ON (yellow).)
Retighten the
connector fixing
screws.
Refer to Section
2.5.1
Steady "RUN" display.
(Abnormal if "RUN" does not display or incorrect display.)
Normal
Steady "STP" display.
(Abnormal if "STP" does not display or incorrect display.)
Battery error
warning
(2.7V or less)
"BT1" does not display.
(Abnormal if steady "BT1" display.)
Battery error
warning
(2.5V or less)
"BT2" does not display.
(Abnormal if steady "BT2" display.)
WDT error
" . . . " does not display.
(Abnormal if steady " . . ." display.)
Others
" AL" does not flash.
(Abnormal if " . . ." flashes.)
Input LED
Check that the LED is
ON/OFF.
Output LED
Check that the LED is
ON/OFF.
The LED must be ON when the input power is turned ON.
The LED must be OFF when the input power is turned OFF.
(Abnormal if the LED does not turn ON or turn OFF as
indicated above.)
Refer to Section
6.5
Refer to Section
2.5.1
Refer to
"I/O Module
Type Building
The LED must be ON when the output power is turned ON.
Block User's
The LED must be OFF when the output power is turned OFF.
Manual".
(Abnormal if the LED does not turn ON or turn OFF as
indicated above.)
6-4
6 INSPECTION AND MAINTENANCE
6.3 Periodic Inspection
The items that must be inspected one or two times every 6 months to 1 year are listed
below. When the equipment is moved or modified, or layout of the wiring is changed,
also implement this inspection.
Table 6.2 Periodic Inspection
3
4
5
Inspection
Criterion
Ambient temperature
Ambient humidity
0 to 55 °C (32 to 131 °F)
Measure with a thermometer and a
hygrometer.
5 to 95 % RH
Measure corrosive gas.
No corrosive gases
Atmosphere
Action
When the controller is used in
the board, the ambient
temperature in the board
becomes the ambient
temperature.
Measure a voltage across the
terminals of 24VDC.
21.6 to 26.4
Change the power supply.
Looseness, rattling
Move the module to check for
looseness and rattling.
The module must be installed
solidly.
Retighten the screws.
If the Motion controller, Motion,
or I/O, module is loose, fix it with
screws.
Adhesion of dirt and
foreign matter
Check visually.
Dirt and foreign matter must not
be present.
Remove and clean.
Looseness of terminal
screws
Try to further tighten screws with a
Screws must not be loose.
screwdriver.
Power voltage
Installation
2
Connection
1
Inspection item
Ambient environment
Item
Retighten the terminal screws.
Proximity of solderless
Check visually.
terminals to each other
Solderless terminals must be
positioned at proper intervals.
Correct.
Looseness of
connectors
Check visually.
Connectors must not be loose.
Retighten the connector fixing
screws.
Check the 7-segment LED at the
front side of Motion controller.
Must be turned OFF "BT1" or
"BT2" display.
Check the length of term after
purchasing the battery
Must not be used more than 5
years.
Check that SM51 or SM58 is
turned OFF using MT Developer2
in monitor.
Must be turned OFF.
Battery
6-5
Even if the lowering of a battery
capacity is not shown, replace
the battery with a new one if a
service life time of the battery is
exceeded.
Replace the battery with a new
one when SM51 or SM58 is ON.
6 INSPECTION AND MAINTENANCE
6.4 Life
The following parts must be changed periodically as listed below.
However, if any part is found faulty, it must be changed immediately even when it has
not yet reached the end of its life, which depends on the operating method and
environmental conditions.
For parts replacement, please contact your sales representative.
Table 6.3 Life
Module name
Part name
Life guideline
Remark
Life guideline is reference time.
Motion controller
Electrolytic capacitor
Motion module
10 years
It must be changed immediately
even when it has not yet
reached the life guideline.
(1) Capacitor
The life of the capacitor greatly depends on ambient temperature and operating
conditions. The capacitor will reach the end of its in 10 years of continuous
operation in normal air-conditioned environment.
6-6
6 INSPECTION AND MAINTENANCE
6.5 Battery
The battery installed in the Motion controller is used for data retention during the
power failure of the program memory and latch device.
The data stored in the RAM built-in Motion controller are shown below.
• PLC CPU area : Clock data, Latch devices (L), Devices of latch range, Error history
and Data in standard RAM
• Motion CPU area : Programs, Parameters, Motion devices (#), Devices of latch
range, and Absolute position data
Special relays (SM51, SM52, SM58 or SM59) turn on due to the decrease of battery
voltage. Even if the special relays turn on, the program and retained data are not
erased immediately.
However, if these relays are overlooked, the contents may be erased.
After relay SM51 or SM58 turns on, replace the battery quickly within the data
retention time for power failure (3 minutes).
POINT
(1) SM51 or SM58 turns on when the battery voltage falls below the specified
value, and remains ON even after the battery voltage is recovered to the
normal value. SM51 or SM58 turns off by power supply on again or reset.
(2) After SM51, SM52, SM58 or SM59 turns on, replace the battery quickly.
• SM51 or SM52 turns on at the battery voltage 2.5V or less.
• SM58 or SM59 turns on at the battery voltage 2.7V or less.
(3) If SM51 turns on, the details for the data of RAM built-in Motion controller
cannot be guaranteed.
It is recommended to back-up the data periodically.
6-7
6 INSPECTION AND MAINTENANCE
6.5.1 Battery life
The battery life is shown below.
Battery type
Q6BAT
(Note-7)
Q7BAT
(Large-capacity battery)
(Note-7)
Power-on time
ratio (Note-2)
Battery life (Total power failure time) [h] (Note-1)
Actual service value
Guaranteed value
Guaranteed value
(Note-5)
(Note-3)
(Note-4)
(MIN) (75°C (167°F)) (TYP) (40°C (104°F))
0%
13000
30%
18000
50%
21000
70%
24000
100%
43800
0%
39000
(Reference value)
(TYP) (25°C (77°F))
Backup time after alarm
40000
43800
43800
90
(After SM51/SM52 ON)
30%
50%
70%
43800
43800
100%
(Note-1) : The actual service value indicates the average value, and the guaranteed time indicates the minimum time.
(Note-2) : The power-on time ratio indicates the ratio of Motion controller power-on time to one day (24 hours).
(When the total power-on time is 17 hours and the total power-off time is 7 hours, the power-on time ratio is 70%.)
(Note-3) : The guaranteed value (MIN) ; equivalent to the total power failure time that is calculated based on the characteristics value of the
memory (SRAM) supplied by the manufacturer and under the storage ambient temperature range of -25°C to 75°C (-13 to
167°F) (operating ambient temperature of 0°C to 55°C (32 to 131°F)).
(Note-4) : The guaranteed value (TYP) ; equivalent to the total power failure time that is calculated based on the normal air-conditioned
environment (40°C (104°F)).
(Note-5) : The actual service value (Reference value) ; equivalent to the total power failure time that is calculated based on the measured
value and under the storage ambient temperature of 25°C (77°F). This value is intended for reference only, as it varies with
characteristics of the memory.
(Note-6) : In the following status, the backup time after power OFF is 3 minutes.
• Q6BAT/Q7BAT lead connector is disconnected.
• Lead wire of Q6BAT/Q7BAT is broken.
(Note-7) : Set the battery (Q6BAT/Q7BAT) to battery holder.
POINT
(1) Do not use the battery exceeding its guaranteed life.
(2) When the battery hours (total power failure time) may exceed its guaranteed
value, take the following measure.
• Perform ROM operation to protect a program even if the battery dies at the
Motion controller's power-OFF.
• If SM51 turns on, the contents for the data (Refer to Section 6.5) of RAM
built-in Motion controller cannot be guaranteed.
It is recommended to back-up the data periodically.
(3) When the total power failure time exceeds its guaranteed value, and SM51,
SM52, SM58 and SM59 turns on, immediately change the battery. Even if the
alarm has not yet occurred, it is recommended to replace the battery
periodically according to the operating condition
(4) The self-discharge influences the life of battery without the connection to the
Motion controller. The battery should be exchanged approximately every 4 or 5
years. And, exchange the battery with a new one in 4 to 5 years even if a total
power failure time is guaranteed value or less.
6-8
6 INSPECTION AND MAINTENANCE
6.5.2 Battery replacement procedure
When the battery has been exhausted, replace the battery with a new one in
accordance with the procedure shown below.
POINTS
When replacing the battery, pay attention to the following.
(1) Back up the data using MT Developer2 before starting replacement.
(2) Firstly back up the data stored in the Motion controller to the personal
computer which is installed MT Developer2 then replace the battery with a new
one. After setting the battery in the Battery holder, verify the backing up the
data to the personal computer which is installed MT Developer2 and the data
in the Motion controller, confirm the data is not changing.
In the following status, the backup time after power OFF is 3 minutes.
• The lead connector of Q6BAT/Q7BAT is disconnected.
• The lead wire of Q6BAT/Q7BAT is broken.
6-9
6 INSPECTION AND MAINTENANCE
(1) Q6BAT
Replacing Battery
Motion controller
Turn off the Motion controller's power
supply.
1), 2)
Battery holder fixing tab
2)
Push 1)
3)
Remove the battery lead connector
and battery connector. (Note)
4)
Battery connector
(Q170MCPU side)
4)
Battery
(Q6BAT)
Remove the old battery from the
battery holder.
5)
Set the new battery to the battery
holder correctly after confirming "+"
side and "-" side for the battery.
6)
(Note)
Remove
Battery lead
connector
(Battery side)
5)
3)
Battery disconnection
prevention hook
"-"
side
"+"
side
M IT S U BIS H I
Move the connector away from the
battery disconnection prevention
hook, and then remove it by pulling
straight out. (Note)
Pull
Battery holder
LITHIUM BATTERY
Pull the battery holder while pushing
the battery holder fixing tab, and
remove the holder from the Motion
controller.
3)
6)
Connect the battery lead connector
to the battery connector for Motion
controller.
" - " side
Top face of battery holder
" + " side
Secure the connector beneath the
battery disconnection prevention
hook, and neatly place the battery
lead wires into the battery holder.
Installation grooves
Adjust the battery holder to the
installation grooves, and slide the
battery holder in the direction of the
arrow, taking care to not damage the
lead wires.
(Be sure to insert it until it clicks.)
7)
Battery holder
Turn on the Motion controller's power
supply.
7)
Push
END
(Note): Do not pull on the lead wire forcibly to remove the connector.
6 - 10
6 INSPECTION AND MAINTENANCE
(2) Q7BAT
Replacing Battery
Motion controller
Turn off the Motion controller's power
supply.
Pull the battery holder while pushing
the battery holder fixing tab, and
remove the holder from the Motion
controller.
Remove the connector from the
battery holder by pulling straight out.
1), 2)
2)
Push
3)
1)
Battery holder
fixing tab
Pull
Battery holder
(Note-1)
Remove the battery lead connector
and battery connector. (Note-1)
4)
Remove the lead wire from the
pass-through slot. (Note-1)
5)
Remove the old battery from the
battery holder while pushing a tab.
6)
Have "-" side of new battery forward
and align the lead wire to the passthrough slot (Note-2) , and then set it to
the battery holder.
(Be sure to insert it until it clicks.)
7)
Remove the lead wire
5)
Passthrough
slot
Battery connector
(Q170MCPU side)
4)
(Note)
3)
Battery lead
connector
(Battery side)
Battery(Q7BAT)
6)
Pull
Anchor the lead wire to the passthrough slot.
Push
8)
Tab
Connect the battery lead connector
to the battery connector for Motion
controller.
Lead wire
(Note-2)
8)
Neatly place the lead wires and
connector into the battery holder.
Adjust the battery holder to the
installation grooves, and slide the
battery holder in the direction of the
arrow, taking care to not damage the
lead wires.
(Be sure to insert it until it clicks.)
7)
Push
" - " side
9)
Installation grooves
Turn on the Motion controller's power
supply.
9)
END
Battery holder
Push
(Note-1): Do not pull on the lead wire forcibly to remove the connector.
(Note-2): Tilt the battery not to hitch the lead wire to the battery holder.
6 - 11
6 INSPECTION AND MAINTENANCE
6.5.3 Resuming operation after storing the Motion controller
When the operation is to be resumed after being stored with the battery removed or
the battery has gone flat during storage, the contents for the data (Refer to Section
6.5) of RAM built-in Motion controller cannot be guaranteed.
Before resuming operation, write the contents for the data backed up prior to storage to
RAM built-in Motion controller.
POINT
Before storing the Motion controller, always back up the contents for the data to
RAM built-in Motion controller.
6.5.4 Symbol for the new EU Battery Directive
This section describes a symbol for the new EU Battery Directive (2006/66/EC) that is
labeled batteries.
Note: This symbol mark is for EU countries only.
This symbol mark is according to the directive 2006/66/EC Article 20 Information for
end-users and Annex II.
Your MITSUBISHI ELECTRIC product is designed and manufactured with high quality
materials and components which can be recycled and/or reused.
This symbol means that batteries and accumulators, at their end-of-life, should be
disposed of separately from your household waste.
If a chemical symbol is printed beneath the symbol shown above, this chemical symbol
means that the battery or accumulator contains a heavy metal at a certain
concentration. This will be indicated as follows:
Hg: mercury (0.0005%), Cd: cadmium (0.002%), Pb: lead (0.004%)
In the European Union there are separate collection systems for used batteries and
accumulators.
Please, dispose of batteries and accumulators correctly at your local community waste
collection/recycling centre.
Please, help us to conserve the environment we live in!
6 - 12
6 INSPECTION AND MAINTENANCE
6.6 Troubleshooting
This section describes the various types of trouble that occur when the system is
operated, and causes and corrective actions of these troubles.
6.6.1 Troubleshooting basics
The basic three points that must be followed in the troubleshooting are as follows.
(1) Visual inspection
Visually check the following.
(a) Movement of machine (stopped condition, operating condition)
(b) Power supply on/off
(c) Status of input/output devices
(d) Installation condition of the Motion controller, I/O module, Motion module,
intelligent function module, SSCNET cable, Synchronous encoder cable.
(e) State of wiring (I/O cables, cables)
(f) Display states of various types of indicators
• MODE LED, RUN LED, ERR. LED, BAT LED, 7-segment LED (Installation
mode, Operation mode, Battery error, STOP/RUN, etc.), etc.
(g) Status of setting of various types of switches (Setting of No. of stages of
extension base, power interrupt hold-on status).
After checking (a) to (g), monitor the operating conditions of servomotors and
error code using MT Developer2 and GX Developer.
(2) Check of trouble
Check to see how the operating condition varies while the Motion controller is
operated as follows.
(a) Set the RUN/STOP/RESET switch of Motion controller to STOP.
(b) Reset the trouble with the RUN/STOP/RESET switch of Motion controller.
(c) Turn ON and OFF the Motion controller’s power supply.
(3) Narrowing down the range of trouble occurrence causes
Estimate the troubled part in accordance with items (1) and (2) above.
(a) Motion controller or external devices
(b) Motion CPU area or PLC CPU area
(c) I/O module or others
(d) Servo program or Motion SFC program
(e) Sequence program
6 - 13
6 INSPECTION AND MAINTENANCE
6.6.2 Troubleshooting of Motion controller
This section describes the contents of troubles for the error codes and corrective
actions of the troubles.
As for troubleshooting of PLC CPU area, refer to the QCPU User's Manual (Hardware
Design, Maintenance and Inspection) of their respective modules.
As for troubleshooting of I/O modules, refer to the "I/O Module Type Building Block
User's Manual" of their respective modules.
POINT
Check that the operating system software is installed before starting the Motion
controller.
6 - 14
6 INSPECTION AND MAINTENANCE
(1) Troubleshooting flowchart
The followings show the contents of the troubles classified into a variety of
groups according to the types of events.
Error-occurrence description
Motion
CPU area
PLC
CPU area
"POWER" LED turns off
(a) "Flowchart for when "POWER" LED turns off"
" ." does not flash in the first digit of
7-segment LED
(b) "Flowchart for when "
7-segment LED"
"A00" displays on 7-segment LED
(c) "Flowchart for when "A00" displays on 7-segment LED"
"AL"
"L01" displays on 7-segment LED
(d) "Flowchart for when "AL"
LED"
"L01" displays on 7-segment
"AL"
LED
"A1"
(e) "Flowchart for when "AL"
7-segment LED"
"A1"
"
" displays on 7-segment
." does not flash in the first digit of
"
" displays on
"BT " displays on 7-segment LED
(f) "Flowchart for when "BT " displays on 7-segment LED"
" . . ." displays on 7-segment LED
(g) "Flowchart for when " . . ." displays on 7-segment LED"
Servo amplifier does not start
(h) "Flowchart for when servo amplifier does not start"
"AL"
(i) "Flowchart for when "AL"
LED"
"S01" displays on 7-segment LED
"S01" displays on 7-segment
"MODE" LED does not turn on
(j) "Flowchart for when "MODE" LED does not turn on."
"MODE" LED is flickering
(k) "Flowchart for when "MODE" LED is flickering."
"RUN" LED turns off
(l) "Flowchart for when "RUN" LED turns off."
"RUN" LED is flickering
(m) "When "RUN" LED is flickering."
"ERR." LED turns on/is flickering
(n) "Flowchart for when "ERR." LED turns on/is flickering."
"USER" LED turns on
(o) "When "USER" LED turns on."
"BAT. " LED (Yellow) turns on
(p) "When "BAT. LED turns on (yellow)."
."
6 - 15
6 INSPECTION AND MAINTENANCE
(a) Flowchart for when "POWER" LED turns off
The following shows the flowchart for when "POWER" LED turns off at the
power supply ON or during operation.
"POWER" LED turns off
NO
Is there a power supply?
Supply power.
YES
NO
Is the wiring/
terminal connection
correct?
NO
YES
Does "POWER"
LED turn on?
Connect wiring and fix terminal
connection correctly.
YES
NO
Is the power
supply voltage within the
rated range?
NO
YES
Does "POWER"
LED turn on?
The supply voltage should be within
the rated range.
YES
NO
YES
Does "POWER"
LED turn on?
Remove the internal I/F connector
from the Motion controller.
1)
END
6 - 16
6 INSPECTION AND MAINTENANCE
1)
NO
Does "POWER"
LED turn on?
YES
The manual pulse generator,
incremental synchronous encoder or
connection cable is faulty.
(Replace it with a normal manual
pulse generator, incremental
synchronous encoder or connection
cable.)
YES
Does "POWER"
LED turn on?
NO
Remove all modules from the
extension base unit.
A hardware fault
If the module will not work, explain
the error symptom and get advice
from our sales representative for the
modules with failure.
NO
Does "POWER"
LED turn on?
The extension base unit or extension
cable is faulty.
(Replace it with a normal extension
base unit or extension cable.)
YES
YES
Does "POWER"
LED turn on?
Install all modules that removed from
the extension base unit to the
extension base unit.
NO
A hardware fault
Explain the error symptom and get
advice from our sales representative.
Check the sum of internal current
consumption of the modules that
comprise the system.
Does the total
current exceed the rated
output current?
YES
Reexamine the system configuration
to make the total current less than the
rated output current.
NO
NO
A hardware fault
Check operation in the order starting
with the minimum system.
If the module will not work, explain
the error symptom and get advice
from our sales representative for the
modules with failure.
6 - 17
YES
Does "POWER"
LED turn on?
END
6 INSPECTION AND MAINTENANCE
(b) Flowchart for when " ." does not flash in the first digit of
7-segment LED
" ." does not flash in the first digit of
7-segment LED.
NO
Does "POWER"
LED turn on?
(a)
"Flowchart for when "POWER" LED
turns off"
YES
Is the
connecting direction
of extension cable correctly?
(Isn't IN-IN or OUT-OUT
connection?)
NO
Connect the extension cable correctly.
YES
NO
"RESET"
Is the
RUN/STOP/RESET switch
set to STOP?
Does " . " flash
in the first digit of 7-segment
LED?
YES
Set the RUN/STOP/RESET switch to
"STOP".
"STOP"
NO
A hardware fault
Check operation in the order starting
with the minimum system.
If the module will not work, explain
the error symptom and get advice
from our sales representative for the
modules with failure.
6 - 18
Does " . " flash
in the first digit of 7-segment
LED?
YES
END
(Note) : Normally, " . " flashes in the first digit of
7-segment LED.
6 INSPECTION AND MAINTENANCE
(c) Flowchart for when "A00" displays on 7-segment LED
"A00" displays when the operating system software is not installed.
The following shows the flowchart for when "A00" displays on 7-segment
LED at the power supply ON or operation start.
"A00" displays on 7-segment LED
Is the
operating system
software installed to Motion
controller?
NO
Install the operating system software.
YES
Reset the Motion controller.
Does "A00" disappear
on 7-segment LED?
NO
YES
END
6 - 19
Explain the error symptom and get
advice from our sales representative.
6 INSPECTION AND MAINTENANCE
(d) Flowchart for when "AL"
"L01" displays on 7-segment LED
Steady "L01" display" displays at the system
""AL" (flashes 3 times)
setting error occurrence.
The following shows the flowchart for when ""AL" (flashes 3 times)
Steady "L01" display" displays during operation.
"AL"
LED.
"L01" displays on 7-segment
Confirm details of error by Motion
CPU error batch monitor of
MT Developer2.
Does a ROM ERROR
occur?
YES
NO
Is ROM operation executed?
NO
YES
Set a rotary switch1 (SW1) to "0", a
rotary switch2 (SW2) to "6" of Motion
controller, and then execute ROM
writing.
Does a LAY ERROR
(SL**) occur?
YES
Check that the installed modules
correspond to system setting and
correct details of error.
NO
Set by relative check of the system
setting not to occur a error, and write
the setting to the Motion CPU area
(CPU No.2 fixed).
Reset the Motion controller.
Does "A00"
"L01"
disappear on 7-segment
LED?
NO
YES
END
6 - 20
Set a rotary switch1 (SW1) to "0", a
rotary switch2 (SW2) to "0" of Motion
controller.
(Mode operated by RAM)
6 INSPECTION AND MAINTENANCE
(e) Flowchart for when "AL"
LED.
"A1"
" " displays on 7-segment
""AL" (flashes 3 times)
Steady "A1" display
" "" displays at the selfdiagnosis error occurrence.
The following shows the flowchart for when ""AL" (flashes 3 times)
" "" displays during operation.
Steady "A1" display
: 4-digits error code is displayed in two sequential flashes of 2-digits each.
"AL"
"A1"
" " displays
on 7-segment LED.
Confirm details of error by Motion
CPU error batch monitor of
MT Developer2.
Hardware cause fault?
YES
NO
NO
Noise cause?
Correct each Motion controller setting
based on the error causes .
YES
Take measures against noise.
Reset the Motion controller.
Does "AL"
"A1"
" " disappear on 7-segment
LED.
Explain the error symptom and get
advice from our sales representative.
NO
YES
END
6 - 21
6 INSPECTION AND MAINTENANCE
(f) Flowchart for when "BT " displays on 7-segment LED
"BT1" or "BT2" displays when the battery voltage is lowered.
"BT1" or "BT2" displays at the following cases.
• BT1: Battery voltage 2.7V or less
• BT2: Battery voltage 2.5V or less
The following shows the flowchart for when "BT " displays.
"BT " displays on 7-segment LED
Turn off the Motion controller's power
supply.
Replace the battery.
Turn on the Motion controller's power
supply.
Does "BT "
disappear on 7-segment
LED (Confirm ON/OFF by
monitoring SM )
NO (SM58 or SM51 ON)
YES (SM58, SM51 OFF)
END
A hardware fault
Explain the error symptom and get
advice from our sales representative.
REMARK
If SM51 turns on, the contents for the data (Refer to Section 6.5.) of RAM built-in
Motion controller cannot be guaranteed.
It is recommended to back-up the battery periodically.
6 - 22
6 INSPECTION AND MAINTENANCE
(g) Flowchart for when " . . ." displays on 7-segment LED
" . . ." displays at the WDT error occurrence.
The following shows the flowchart for when " . . ." displays on 7-segment
LED during operation.
" . . ." displays on 7-segment LED
Confirm details of error by Motion
CPU error batch monitor of
MT Developer2.
Is the error
code of Motion CPU area
WDT cause "1"?
NO
YES
Is the error
code of Motion CPU area
WDT cause "2"?
Correct the main cycle not to exceed
1.0[s] by the following methods, and
write it to Motion CPU area (CPU
No.2 fixed).
1) Change the operation cycle to
large value in the system setting.
2) Reduce the number of execution to
the event task program and NMI
task program in the Motion SFC
program.
3) Reduce the number of execution to
the normal task program executed
simultaneously in the Motion SFC
program.
4) Reduce the number of automatic
refresh points of CPU shared
memory.
YES
Correct the Motion operating time to
shorten by the following methods,
and write it to Motion CPU area
(CPU No.2 fixed).
1) Change the operation cycle to
large value in the system setting.
2) Reduce the number of execution to
the event task program and NMI
task program in the Motion SFC
program.
Reset the Motion controller.
Does " . . ." disappear
on 7-segment LED.
NO
YES
END
6 - 23
NO
Explain the error symptom and get
advice from our sales representative.
6 INSPECTION AND MAINTENANCE
(h) Flowchart for when servo amplifier does not start
The following shows the flowchart for when servo amplifier does not start.
Servo amplifier does not start.
Is there error display
on 7-segment LED of Motion
controller?
NO
YES
Remove the error cause.
YES
NO
Does servo amplifier start?
Has the target axis set in
the system setting?
NO
YES
Set the target axis in the system
setting.
NO
Does servo amplifier start?
Is the connection of
SSCNET cable correct?
NO
Connect the SSCNET
YES
cable correctly.
YES
NO
Is the axis select
rotary switch setting of servo
amplifier correct?
NO
Does servo amplifier start?
YES
Set the axis select rotary switch
correctly.
YES
NO
Has the servo amplifier
connected from target axis near
controller started?
YES
NO
Does servo amplifier start?
YES
Remove the error cause of servo
amplifier that does not start.
NO
Does servo amplifier start?
YES
Explain the error symptom and get
advice from our sales representative.
END
6 - 24
6 INSPECTION AND MAINTENANCE
(i) Flowchart for when "AL"
"S01" displays on 7-segment LED
Steady "S01" display" displays at the servo error
""AL" (flashes 3 times)
occurrence.
The following shows the flowchart for when ""AL" (flashes 3 times)
Steady "S01" display" displays on 7-segment LED during operation.
"AL"
LED.
"S01" displays on 7-segment
Confirm details of error by Motion
CPU error batch monitor of
MT Developer2.
Remove the error cause of servo
amplifier, and then execute the servo
error reset (M3208+20n ON) or
re-turn on the servo amplifier power
supply.
Does "AL"
"S01"
disappear on
7-segment LED?
YES
END
6 - 25
NO
6 INSPECTION AND MAINTENANCE
(j) Flowchart for when "MODE" LED does not turn on
The following shows the flowchart for when "MODE" LED does not turn on
at Motion controller’s power-on.
"MODE" LED does not turn on
Connect a personal computer and
Motion controller.
Does the Motion
controller communicate with
GX Developer ?
YES
Carry out PLC diagnostics, and
perform troubleshooting according to
the diagnostics result.
NO
Is the
extension cable
connected properly ? (Isn't
IN connected to IN or OUT
connected to
OUT ?)
NO
Connect the extension cable properly.
YES
NO
Is the
RUN/STOP/RESET
switch in the STOP
position ?
NO
YES
Does "MODE" LED turn on?
After resetting the Motion controller
with the RUN/STOP/RESET switch,
set the RUN/STOP/RESET switch to
the STOP position.
YES
NO
A hardware fault
Check operation in the order starting
with the minimum system.
If the module will not work, explain
the error symptom and get advice
from our sales representative for the
modules with failure.
6 - 26
YES
Does "MODE" LED turn on?
END
6 INSPECTION AND MAINTENANCE
(k) Flowchart for when "MODE" LED is flickering
The following shows the flowchart for when "MODE" LED flickers at Motion
controller’s power-on, at operation start or during operation.
"MODE" LED is flickering.
Have the forced
ON/OFF settings made?
YES
Cancel forced ON/OFF.
NO
NO
Is the
RUN/STOP/RESET
switch in the STOP
position ?
NO
YES
Does "MODE" LED turn on?
Set the RUN/STOP/RESET switch to
the STOP position.
YES
NO
A hardware fault
Check operation in the order starting
with the minimum system.
If the module will not work, explain
the error symptom and get advice
from our sales representative for the
modules with failure.
6 - 27
YES
Does "MODE" LED turn on?
END
6 INSPECTION AND MAINTENANCE
(l) Flowchart for when "RUN" LED turns off
The following shows the flowchart for when "RUN" LED turns off during
operation.
"RUN" LED turns off.
Does "POWER" LED
turn on ?
NO
(a) "Flowchart for when "POWER"
LED turns off"
YES
(n) "Flowchart for when "ERR." LED
turns on/is flickering"
YES
Is "ERR." LED
on/flickering ?
NO
Reset the Motion controller.
Does "RUN" LED turn on ?
YES
(1) Controller part fault/poor
connection between the module
and base unit
(2) Excessive noise generation
For the case of (1)
NO
Explain the error symptom and get
advice from our sales representative.
Set the RUN/STOP/RESET switch to
STOP and write END to address 0
with the GX Developer.
Set the RUN/STOP/RESET switch to
RUN and enter to the monitor mode
with the GX Developer to be operated.
Does "RUN" LED turn on ?
NO
YES
Possible cause is a sequence
program error.
Check the program and modify the
program error location.
NO
Does "RUN" LED turn on ?
YES
END
6 - 28
Connect a surge suppression circuit,
such as CR, to the noise source.
For the
case of (2)
6 INSPECTION AND MAINTENANCE
(m) When "RUN" LED is flickering
If the "RUN" LED flickers, follow the steps below.
When the programs or parameters are written into the Motion controller
during STOP status and then the RUN/STOP/RESET switch is set from
STOP to RUN, the RUN LED flickers.
Although this status does not mean the Motion controller error, the Motion
controller stops the operation. To set the Motion controller into RUN status,
reset the Motion controller using the RUN/STOP/RESET switch or set the
RUN/STOP/RESET switch from STOP to RUN again.
With this setting, the RUN LED turns on.
(n) Flowchart for when "ERR." LED turns on/is flickering
The following shows the flowchart for when "ERR." LED turns on or flickers
at Motion controller’s power-on, at operation start or during operation.
"ERR." LED turns on or is flickering.
Confirm details of error by
PC diagnostics of GX Developer.
Hardware cause fault?
YES
NO
Set the RUN/STOP/RESET switch to
STOP.
A hardware fault
Explain the error symptom and get
advice from our sales representative.
Correct error contents while referring
to the help of the GX Developer.
Reset the Motion controller.
Set the RUN/STOP/RESET switch to
RUN.
Does "ERR." LED turn off?
YES
END
6 - 29
NO
6 INSPECTION AND MAINTENANCE
(o) When "USER" LED turns on
If the "USER" LED turns on, follow the steps described below.
"USER" LED turns on when an error is detected by the CHK instruction or
the annunciator (F) turns on.
If "USER" LED is on, monitor the special relays SM62 and SM80 in the
monitor mode of GX Developer.
• When SM62 has turned ON
The annunciator (F) is ON.
Using SD62 to SD79, check the error cause.
• When SM80 has turned ON
The "USER" LED turned ON by the execution of the CHK instruction.
Using SD80, check the error cause.
Eliminate the error cause after confirming it.
The "USER" LED can be turned off by:
• Making a reset with the RUN/STOP/RESET switch; or
• Executing the LEDR instruction in the sequence program.
(p) When "BAT." LED turns on (yellow)
If "BAT." LED turns on (yellow), follow the steps described below.
"BAT." LED turns on (yellow) when a low battery capacity is detected.
If the "BAT." LED is on, monitor the special relays and special registers in
the monitor mode of GX Developer to check which of the SRAM card
batteries was lowered in capacity. (SM51 to SM52, SD51 to SD52)
After confirmation, replace the battery with a new one, and reset the Motion
controller with the RUN/STOP/RESET switch or run the LEDR instruction,
and the "BAT." LED will turns off.
6.6.3 Confirming error code
The error codes and error contents can be read using GX Developer and
MT Developer2.
Refer to the Operating Manual of GX Developer and help of MT Developer2 for details
of operating method.
6 - 30
6 INSPECTION AND MAINTENANCE
6.6.4 Internal I/O circuit troubleshooting
This section describes possible problems with internal I/O circuits and their corrective
actions.
(1) Internal input circuit troubleshooting
The following describes possible problems with internal input circuits and their
corrective actions.
Internal Input Circuit Troubleshooting and Corrective Action
Condition
Cause
Corrective action
• Connect an appropriate resistor so that the
current across the Motion controller becomes
lower than the off current.
Example 1
• Drive by switch with LED indicator.
DC input
(plus common)
DC input
(plus common)
Internal input
signal is not
Leakage
current
turned OFF.
Resistor R
Motion
controller
Motion
controller
(Note): A calculation example of the resistance to
be connected is shown below.
• Use only one power supply.
• Connect a sneak path prevention diode.
(Figure below)
Example 2
• Sneak path due to the use of two power
supplies.
DC input
Internal input
DC input
signal is not
turned OFF.
L
E1
E2
Motion
controller
L
E1
E2
Motion
controller
E1>E2
<Calculation example of Example 1>
If a switch with LED display is connected to Motion controller, and current of 4
[mA] is leaked.
Motion controller
Leakage
current 4[mA]
3.6k[ ]
Input signal
part
24VDC
(a) Because the condition for OFF voltage (0.9[mA]) of Motion controller is not
satisfied. Connect a resistor as shown below.
Motion controller
4[mA]
Iz=0.9[mA]
Iz=3.1[mA]
R
Z Input impedance
5.6k[ ]
3.6k[ ]
24VDC
6 - 31
6 INSPECTION AND MAINTENANCE
(b) Calculate the connecting resistor value R as indicated below.
To satisfy the 0.9 [mA] OFF current of the Motion controller, the resistor R to
be connected may be the one where 3.1 [mA] or more will flow.
IR: Iz = Z(Input impedance): R
R
Iz
0.9
3
IR × Z(Input impedance) = 3.1 × 5.6 × 10 = 1625[ ]
R < 1625 [ ]
Assuming that resistor R is 1500 [ ], the power capacity W of resistor R is:
2
2
W = (Input voltage) ÷ R = 26.4 ÷ 1500 = 0.464 [W]
(c) The power capacity of the resistor selected is 3 to 5 times greater than the
actual current consumption. 1.5K [ ], 2 to 3 [W] resistor may therefore be
connected to the terminal in question.
(2) Internal output circuit troubleshooting
The following describes possible problems with internal output circuits and their
corrective actions.
A lamp, relay or photocoupler can be driven. Install a diode(D) for an inductive
load (relay etc.), or install an inrush current suppressing resistor(R) for a lamp
load. (Permissible current: 40mA or less, inrush current: 100mA or less)
A maximum of 2.6V voltage drop occurs in the servo amplifier.
(a) Circuit example of sink output
If polarity of diode is reversed,
Motion controller will fail.
Load
24VDC 10%
(b) Circuit example of source output
If polarity of diode is reversed,
Motion controller will fail.
Load
24VDC 10%
CAUTION
Do not mistake the polarity and " + / - " of diode, as this may lead to destruction or damage.
6 - 32
7 POSITIONING DEDICATED SIGNALS
7. POSITIONING DEDICATED SIGNALS
The usable devices in Motion controller (Q170MCPU) are shown below.
7.1 Device List
Table 7.1 Device list
Device
Direction
Bit devices
Name
Code
Points
Operating range
Input
X
8192
X0 to X1FFF
Hexadecimal
Output
Y
8192
Y0 to Y1FFF
Hexadecimal
(Note-1)
Actual input
PX
256
PX0 to PXFFF
Actual output
PY
256
PY0 to PYFFF
Internal relay
M
12288
M0 to M12287
Decimal
Link relay
B
8192
B0 to B1FFF
Hexadecimal
Annunciator
F
2048
F0 to F2047
Decimal
Special relay
SM
2256
SM0 to SM2255
Decimal
(Note-1)
Hexadecimal
Hexadecimal
Data register
D
8192
D0 to D8191
Decimal
Link register
W
8192
W0 to W1FFF
Hexadecimal
#
12288
#0 to #12287
Decimal
Special register
SD
2256
SD0 to SD2255
Decimal
Coasting timer
FT
1
FT
Decimal
Word devices Motion register
(Note-1): 256 points are usable in the operating range.
7
7-1
7 POSITIONING DEDICATED SIGNALS
7.2 Positioning Dedicated Signals
The device list of positioning dedicated signals is shown below.
Refer to the following manuals for details of positioning dedicated signals.
Manual Name
Manual Number
Q173DCPU/Q172DCPU Motion controller Programming Manual
IB-0300134
(COMMON)
Q173DCPU/Q172DCPU Motion controller Programming Manual
IB-0300135
(Motion SFC)
Q173DCPU/Q172DCPU Motion controller Programming Manual
IB-0300136
(REAL MODE)
Q173DCPU/Q172DCPU Motion controller Programming Manual
IB-0300137
(VIRTUAL MODE)
7.2.1 Internal Relays
Table 7.2 Internal relay list
SV13
Device No.
M0
to
M2000
to
M2320
to
SV22
Application
M0
User device
(2000 points)
to
Common device
(320 points)
M2000
Unusable
(80 points)
M2320
to
to
M2400
to
M2720
to
M3040
to
M3072
to
M3136
to
M2400
Axis status
(20 points 16 axes)
to
User device
(Note-1)
(320 points)
to
M2720
Unusable
(32 points)
M3040
Common device (Command signal)
(64 points)
M3072
Unusable
(64 points)
M3136
to
M3520
to
M3839
to
to
M3200
to
Device No.
M3200
Axis command signal
(20 points 16 axes)
to
M3520
User device
(Note-1)
(320 points)
to
M3839
7-2
Application
User device
(2000 points)
Common device
(320 points)
Unusable
(80 points)
Axis status
(20 points 16 axes)
Real mode……Each axis
Virtual mode….Output module
User device
(Note-1)
(320 points)
Unusable
(32 points)
Common device (Command signal)
(64 points)
Unusable
(64 points)
Axis command signal
(20 points 16 axes)
Real mode……Each axis
Virtual mode….Output module
User device
(Note-1)
(320 points)
7 POSITIONING DEDICATED SIGNALS
SV13
Device No.
SV22
Application
M3840
Device No.
M3840
to
M4000
to
M4320
to
M4640
to
M4672
to
User device
(4352 points)
to
M4800
to
M5120
to
M5440
to
M5472
to
M5488
to
M8192
to
M12287
M8192
Unusable
(4096 points)
to
M12287
Application
Unusable
(160 points)
Virtual servo motor axis status
(Note-2), (Note-3)
(20 points 16 axes)
User device
(Note-1)
(320 points)
Synchronous encoder axis status
(Note-3)
(4 points 8 axes)
Unusable
(Note-2)
(128 points)
Virtual servo motor axis command
signal
(Note-2), (Note-3)
(20 points 16 axes)
User device
(Note-1)
(320 points)
Synchronous encoder axis
command signal
(Note-3)
(4 points 8 axes)
Unusable
(Note-2)
(16 points)
User device
(Note-4)
(2704 points)
Unusable
(4096 points)
It can be used as an user device.
(Note-1): When extending it to the system more than 17 axes in Q17 DCPU/Q17 HCPU(-T)/
Q17 CPUN(-T)/Q17 CPU, this device is recommended not to be used.
(Note-2): It can be used as an user device in the SV22 real mode only.
(Note-3): Do not set M4000 to M5487 as the latch range in virtual mode.
(Note-4): The cam axis command signal and smoothing clutch complete signal can be set as the optional
device at the parameter.
POINT
• Total number of user device points
(Note)
(SV22)
6352 points (SV13) / 4704 points
(Note): Up to 6096 points can be used when not using it in the virtual mode.
7-3
7 POSITIONING DEDICATED SIGNALS
7.2.2 Data Registers
Table 7.3 Data register list
SV13
Device No.
SV22
Application
D0
Device No.
D0
to
D320
to
D640
to
D672
to
D704
to
D758
to
Axis monitor device
(20 points 16 axes)
to
User device
(Note-1)
(320 points)
to
D320
Control change register
(2 points 16 axes)
D640
Unusable
(32 points)
D672
Common device (Command signal)
(54 points)
D704
Unusable
(42 points)
D758
to
to
to
to
D800
D800
to
D960
to
D1120
to
User device
(7392 points)
to
D1200
to
D1240
to
D1400
to
D1560
to
Application
Axis monitor device
(20 points 16 axes)
Real mode……each axis
Virtual mode….output module
User device
(Note-1)
(320 points)
Control change register
(2 points 16 axes)
Unusable
(32 points)
Common device (Command signal)
(54 points)
Unusable
(42 points)
Virtual servo motor axis monitor
device
(Note-2)
(10 points 16 axes)
User device
(Note-1)
(160 points)
Synchronous encoder axis monitor
device
(10 points 8 axes)
Unusable
(40 points)
CAM axis monitor device
(Note-2)
(10 points 16 axes)
User device
(Note-1)
(160 points)
User device
(6632 points)
D8191
D8191
It can be used as an user device.
(Note-1): When extending it to the system more than 17 axes in Q17 DCPU/Q17 HCPU(-T)/
Q17 CPUN(-T)/Q17 CPU, this device is recommended not to be used.
(Note-2): It can be used as an user device in the SV22 real mode only.
POINT
• Total number of user device points
(Note)
(SV22)
7392 points (SV13) / 6632 points
(Note): Up to 7272 points can be used when not using it in the virtual mode.
7-4
7 POSITIONING DEDICATED SIGNALS
7.2.3 Motion Registers
Table 7.4 Motion register list
Device No.
#0
Application
User device
(8000 points)
to
#8000
to
#8640
to
#8736
to
#12287
Monitor device
(640 points)
Motion error history device
(96 points)
Unusable
(3552 points)
It can be used as an user device.
7.2.4 Special Relays
Table 7.5 Special relay list
Device No.
SM0
to
SM2000
to
SM2255
Application
System device
(2000 points)
System device (For replacement)
(Note-1)
(256 points)
(Note-1): For replacement from a project of Q17 HCPU(-T)/Q17 CPUN(-T)/Q17 CPU to the project of
Q170MCPU.
Refer to the "Q173DCPU/Q172DCPU Motion controller Programming Manual (COMMON)
"APPENDIX 1.3 Replacement of special relays/special registers"" for details.
7.2.5 Special Registers
Table 7.6 Special register list
Device No.
SD0
to
SD2000
to
SD2255
Application
System device
(2000 points)
System device (For replacement)
(Note-1)
(256 points)
(Note-1): For replacement from a project of Q17 HCPU(-T)/Q17 CPUN(-T)/Q17 CPU to the project of
Q170MCPU.
Refer to the "Q173DCPU/Q172DCPU Motion controller Programming Manual (COMMON)
"APPENDIX 1.3 Replacement of special relays/special registers"" for details.
7-5
7 POSITIONING DEDICATED SIGNALS
MEMO
7-6
8 EMC DIRECTIVES
8. EMC DIRECTIVES
Compliance to the EMC Directive, which is one of the EU Directives, has been a legal
obligation for the products sold in European countries since 1996 as well as the Low
Voltage Directive since 1997.
Manufacturers who recognize their products are compliant to the EMC and Low
Voltage Directives are required to declare that print a "CE mark" on their products.
MITSUBISHI
MOTION CONTROLLER
MODEL
SERIAL
C
UL
PASSED
Q170MCPU
B8Y054306
80M1
US LISTED
IND. CONT. EQ
CE mark
MITSUBISHI ELECTRIC JAPAN
(1) Authorized representative in Europe
Authorized representative in Europe is shown below.
Name : Mitsubishi Electric Europe BV
Address : Gothaer strase 8, 40880 Ratingen, Germany
8.1 Requirements for Compliance with the EMC Directive
The EMC Directive specifies that products placed on the market must be so
constructed that they do not cause excessive electromagnetic interference
(emissions) and are not unduly affected by electromagnetic interference (immunity)".
Section 8.1.1 through Section 8.1.4 summarize the precautions on compliance with
the EMC Directive of the machinery constructed with the Motion controllers.
These precautions are based on the requirements and the standards of the regulation,
however, it does not guarantee that the entire machinery constructed according to the
descriptions will comply with above-mentioned directive. The method and judgement
for complying with the EMC Directive must be determined by the person who
construct the entire machinery.
8
8-1
8 EMC DIRECTIVES
8.1.1 Standards relevant to the EMC Directive
The standards relevant to the EMC Directive are listed in table below.
Certification
Test item
Test details
Standard value
(Note-2)
30M-230MHz QP
EN55011:2007/A2:2007
(Note-1)
Radiated emission
EN61000-6-4:2007
EN61131-2:2007
Radio waves from the product are
measured.
AC power line
0.15M-0.5MHz QP
: 79dBµV
(Note-5)
AV
: 66dBµV
(Note-3)
EN55011:2007/A2:2007
Noise from the product to the power
(Power line)
(Note-4)
EN55022:2006/A1:2007
line and electrical communication port
(Electrical communication port) is measured.
Conducted emission
0.15M-30MHz QP: 73dBµV
AV: 60dBµV
Electrical communication port
0.15M-0.5MHz QP, AV: Logarithmic
decrease
0.15M-30MHz QP: 87dBµV
AV: 74dBµV
EN61000-4-2:1995
+A1:1998+A2:2001
Electrostatic discharge
immunity
Immunity test in which electrostatic
discharge is applied to the product.
8kV: 10 times at 1 second interval,
Air discharge
4kV: 10 times at 1 second interval,
Contact discharge
EN61000-4-3:2006
(Note-1)
Radiated immunity
Immunity test in which electric fields
are radiated to the product.
80-1000MHz 10V/m,
1400M-2000MHz 3V/m,
2000M-2700MHz 1V/m,
80%AM modulation @1kHz
EN61000-4-4:2004
Electrical fast transient/
burst (EFT/B) immunity
Immunity test in which burst noise is
applied to the power cable and signal
line.
AC power line: ±2kV/5kHz
DC power line: ±2kV/5kHz
I/O, communication line: ±1kV/5kHz
EN61000-4-5:2006
Surge immunity
Immunity test in which surge is applied
to the power line and signal line.
AC power line
Common mode: ±2.5kV
Differential mode: ±1.5kV
DC power line
Common mode: ±0.5kV
Differential mode: ±0.5kV
I/O, communication line
Common mode: ±1kV
EN61000-4-6:2007
+A:2001
Conducted immunity
Immunity test in which high frequency
noise is applied to the power line and
signal line.
0.15-80MHz,
80%AM modulation @1kHz, 10Vrms
EN61000-4-11:2004
Immunity test in which power supply
has short interruptions.
0% of rated voltage, 250cycle
Test in which voltage dip is applied to
the power supply.
40% of rated voltage, 10cycle
70% of rated voltage, 25cycle
Immunity test in which voltage dip is
applied to the power supply.
0% of rated voltage, 0.5cycle 20 times
EN61000-6-2:2005
EN61131-2:2007
(Note-3)
Short interruptions immunity
(Note-3)
EN61000-4-11:2004
Voltage dip
(Note-3)
EN61131-2:2007
: 40dBµV/m
(10m (32.81ft.) in measurement range)
230M-1000MHz QP: 47dBµV/m
(10m (32.81ft.) in measurement range)
EN61131-2:2007
Voltage dip immunity
(Note-1): This product is an open type device (a device designed to be housed inside other equipment) and must be installed inside a
conductive control panel.
The corresponding test has been done with the programmable controller installed inside a control panel.
(Note-2): QP : Quasi-peak value
(Note-3): For the AC power supply line.
(Note-4): For the electrical communication port.
(Note-5): AV: Average value
8-2
8 EMC DIRECTIVES
8.1.2 Installation instructions for EMC Directive
(1) Installation
Motion controller is an open type device and must be installed inside a control
panel for use.
This not only ensures safety but also ensures effective shielding of Motion
controller-generated electromagnetic noise.
(a) Control panel
1) Use a conductive control panel.
2) When attaching the control panel's top plate or base plate, expose bare
metal surface and weld so that good surface contact can be made
between the panel and plate.
3) To ensure good electrical contact with the control panel, mask the paint
on the installation bolts of the inner plate in the control panel so that
contact between surfaces can be ensured over the widest possible
area.
4) Ground the control panel with a thick wire so that a low impedance
connection to ground can be ensured even at high frequencies.
5) Holes made in the control panel must be 10cm (3.94inch) diameter or
less. If the holes are 10cm (3.94 inch) or larger, radio frequency noise
may be emitted.
In addition, because radio waves leak through a clearance between the
control panel door and the main unit, reduce the clearance as much as
practicable.
The leakage of radio waves can be suppressed by the direct application
of an EMI gasket on the paint surface.
(2) Connection of power line and ground wire
It is necessary to use the Motion controller grounding terminal only when it is in
the grounded condition. Be sure to ground the grounding for the safety reasons
and EMC Directives.
Ground wire and power supply cable for the Motion controller system must be
connected as described below.
(a) Provide an grounding point near the FG terminals. Ground the FG terminals
(FG : Frame Ground) with the thickest and shortest wire possible. (The wire
length must be 30cm (11.81inch) or shorter.) The FG terminals function is to
pass the noise generated in the Motion controller system to the ground, so
wire the ground wire as short as possible to ensure a low impedance.
The wire itself carries a large noise content and thus short wiring means
that the wire is prevented from acting (noise emission) as an antenna.
8-3
8 EMC DIRECTIVES
(3) Cables
The cables extracted from the control panel contain a high frequency noise
component. On the outside of the control panel, therefore, they serve as
antennas to emit noise. To prevent noise emission, use shielded cables for the
cables which are connected to the I/O modules and intelligent function modules
and may be extracted to the outside of the control panel.
The use of a shielded cable also increases noise resistance.
The signal lines (including common line) of the programmable controller, which
are connected to I/O modules, intelligent function modules and/or extension
cables, have noise durability in the condition of grounding their shields by using
the shielded cables. If a shielded cable is not used or not grounded correctly, the
noise resistance will not meet the specified requirements.
(a) Grounding of shield section of shield cable
1) Ground the exposed shield section of the shielded cable close to the
module. When the grounded cables and the not yet grounded cables
are bundled, the cables might be induced to electromagnetic.
2) Ground the exposed shield section to spacious area on the control
panel. A clamp can be used as shown in Figure 8.2.
In this case, mask the inner wall surface when coating the control panel,
and contact the exposed shield section with the clamp at the exposed
bare metal surface.
Screw
Clamp fitting
Shield section
Shield cable
Exposed bare
metal surface
Figure 8.1 Part to be exposed
Figure 8.2 Shield grounding (Correct example)
Note) The method of grounding with a vinyl-coated wire soldered onto
the shielded section of the shielded cable as in shown Figure 8.3
is not recommended. Doing so will raise the high-frequency
impedance, resulting in loss of the shielding effect.
Shield cable
Wire
Solderless terminal, crimp contact
Figure 8.3 Shield grounding (Incorrect example)
8-4
8 EMC DIRECTIVES
8.1.3 Parts of measure against noise
(1) Ferrite core
A ferrite core has the effect of reducing noise in the 30MHz to 100MHz band.
It is not required to fit ferrite cores to cables, but it is recommended to fit ferrite
cores if shield cables pulled out of the enclosure do not provide sufficient
shielding effects.
Note that the ferrite cores must be fitted to the cables in the position immediately
before they are pulled out of the enclosure. If the fitting position is improper, the
ferrite will not produce any effect.
• Ferrite core (Recommended product)
Manufacturer
Model name
TDK
ZCAT3035-1330
(2) Noise filter (power supply line filter)
A noise filter is a component which has an effect on conducted noise.
The attachment of the noise filter to the power supply line of the servo amplifier
is effective for the reducing noise.
(The noise filter has the effect of reducing conducted noise of 10 MHz or less.)
The precautions required when installing a noise filter are described below.
(a) Do not bundle the wires on the input side and output side of the noise filter.
When bundled, the output side noise will be induced into the input side
wires from which the noise was filtered.
Input side
Input side
(power supply side) (power supply side)
Induction
Noise filter
Noise filter
Output side
(device side)
Output side
(device side)
The noise will be included when the
input and output wires are bundled.
Separate and lay the input and
output wires.
Figure 8.4 Precautions on noise filter
(b) Ground the noise filter grounding terminal to the control cabinet with the
shortest wire possible (approx. 10cm (3.94 inch)).
• Noise ferrite (Recommended product)
Manufacturer
Model name
Soshin Electric
HF3010A-UN
8-5
8 EMC DIRECTIVES
(3) Cable clamp
It is also possible to ground the exposed shielded part of the cable to the panel
with the AD75CK cable clamp (Mitsubishi).
• Ground the shield at a position 20 to 30cm (7.87 to 11.81 inch) away from the
module.
• When the cables pulled out from the control panel, ground the cables at a
position 5 to 10cm (1.97 to 3.94inch) near the input/output hole of the control
panel with the cable clamp (AD75CK), etc.
Motion controller
Inside control panel
AD75CK
20 to 30cm
(7.87 to 11.81 inch)
AD75CK
5 to 10cm
(1.97 to 3.94 inch)
• Cable clamp (Recommended product)
Manufacturer
Model name
AERSBAN-DSET
Mitsubishi electric
AERSBAN-ESET
AD75CK
8-6
8 EMC DIRECTIVES
8.1.4 Example of measure against noise
Control panel A
: AD75CK cable clamp
Motion controller
: Ferrite core (Recommended product: ZCAT3035-1330)
Ethernet cable
((Shield tuisted pair of category 5 or more)
SSCNET
5)
cable
Internal I/F
connector cable
Manual pulse generator/Synchronous encoder/DIO
Control panel B
1)
5)
5)
Extension base
2)
Extension cable (QC B)
3)
AC power
supply
3)
3)
24VDC
power supply
NF
4)
1) Ground the FG terminal of the Motion controller and 24VDC power supply module to the control panel.
2) Measure against noise of the power supply cable (24VDC twisted cable)
Wire the power supply cable as short as possible using the twisted cable.
Install a ferrite core at a position 20 to 30cm (7.87 to 11.81inch) away from the product.
3) Measure against noise of the extension cable (QC B)
Ground the cables at a position 20 to 30cm (7.87 to 11.81inch) away from the module with the cable clamp (AD75CK),etc.
When the cables are extracted from the control panel, ground the cables at a position 5 to 10cm (1.97 to 3.94inch) away
from the exit/entrance of the control panel with the cable clamp (AD75CK), etc.
4) Install a ferrite core in the secondary side of NF. (Approx. 1 turn)
5) Measure against noise of the internal I/F connector cable
Install a ferrite core at a position 20 to 30cm (7.87 to 11.81inch) away from the module.
Ground the cables at a position 30 to 40cm (11.81 to 15.75inch) away from the module with the cable clamp (AD75CK),etc.
When the cables are extracted from the control panel, ground the cables at a position 5 to 10cm (1.97 to 3.94inch) away
from the exit/entrance of the control panel with the cable clamp (AD75CK), etc.
(1) Refer to Section 2 for the following cables.
• Ethernet cable
• RS-232 communication cable
• USB cable
• SSCNET cable
• Extension cable
(2) Refer to APPENDIX 4.4 for the internal I/F connector cable.
Correctly wire the internal I/F connector cable. Use the shielded twisted pair
cable.
(3) In wiring inside the panel, the power line connected to the power or servo
amplifier and the communication cable such as bus connection cable or network
cable must not be mixed. If the cables are installed closely with each other for
wiring reasons, using a separator (made of metal) can make the cables less
influenced by noise.
Mixing the power line and communication cable may cause malfunction due to
noise.
8-7
8 EMC DIRECTIVES
MEMO
8-8
APPENDICES
APPENDICES
APPENDIX 1 Differences Between Q170MCPU and Q173DCPU/Q172DCPU
This section describes the differences between Q170MCPU and Q173DCPU/
Q172DCPU, and the contents of change.
Refer to the following manuals for contents in common with Q173DCPU/Q172DCPU.
Manual name
Q173DCPU/Q172DCPU Motion controller
Programming Manual (COMMON)
Q173DCPU/Q172DCPU Motion controller
(SV13/SV22) Programming Manual (Motion SFC)
Q173DCPU/Q172DCPU Motion controller
(SV13/SV22) Programming Manual (REAL MODE)
Q173DCPU/Q172DCPU Motion controller
(SV22) Programming Manual (VIRTUAL MODE)
Manual number
IB-0300134
IB-0300135
IB-0300136
IB-0300137
APP.
APP - 1
APPENDICES
APPENDIX 1.1 Differences of devices
Table 1.1 Differences of devices
Device No.
Q170MCPU
D12+20n
#8000+20n
#8008+20n
Name
Description
Remark
Execute
program No.
storage register
This register stores the starting program No. at the servo program starting.
• FFFF ........JOG operation
• FFFE........Manual pulse generator operation
• FF00 ........Power supply ON
• FFE0 ........Current value change execution by the Motion dedicated
instruction
Add "FFE0".
#8000+20n
Servo amplifier
type
This register stores the servo amplifier type for each axis at the servo
amplifier power supply ON.
• 0...............Unused
• 256...........MR-J3- B
MR-J3W- B (For 2-axis type)
• 257...........MR-J3- B-RJ006 (For fully closed loop control)
MR-J3- BS (For safety servo)
• 258...........MR-J3- B-RJ004 (For linear servo)
• 263...........MR-J3- B-RJ080W (For direct drive motor)
It is not cleared even if the servo amplifier power supply turns OFF.
Add "263".
—
Servo amplifier
display servo
error code
This register stores the servo error code read from the servo amplifier.
The hexadecimal display is the same as the LED of servo amplifier.
Refer to the "Servo amplifier Instruction Manual" for details of the servo
error codes.
Q173DCPU/
Q172DCPU
D12+20n
New
Current value (SD720, SD721) is incremented by 1 per 444μs.
Read SD720 device in 2 word unit.
Item
SD720,
SD721
—
444μs coasting
timer
Specification
Data size
2 word (-2147483648 to 2147483647)
Latch
Cleared to zero at power-on or reset, a
count rise is continued from now on.
Usable tasks
Normal, event, NMI
Access
Read only enabled
New
Timer specifications 444μs timer
In the device numbers, "n" in "D12+20n", etc. indicates a value corresponding to axis
No. such as the following tables.
Axis No.
n
Axis No.
n
Axis No.
n
1
0
5
4
9
8
13
12
2
1
6
5
10
9
14
13
3
2
7
6
11
10
15
14
4
3
8
7
12
11
16
15
• Calculate as follows for the device No. corresponding to each axis.
(Example) For axis 16
D12+20n=D12+20 15=D312
APP - 2
Axis No.
n
APPENDICES
APPENDIX 1.2 Differences of parameters
Table 1.2 Differences of parameters
Item
Q170MCPU
Extension base
System setting
Stage 1 to 7 ........ Nothing
2 Slots
3 Slots
5 Slots
8 Slots
10 Slots/GOT (Bus connection)
12 Slots
[Axis No.]
1 to 16
[Axis No.]
Q173DCPU: 1 to 32
Q172DCPU: 1 to 8
[Amplifier type]
MR-J3-B
MR-J3-B Fully closed
MR-J3-B Linear
MR-J3-B DD motor
[Amplifier type]
MR-J3-B
MR-J3-B Fully closed
MR-J3-B Linear
MR-J3-B DD motor
Amplifier setting
Q173DCPU/Q172DCPU
Stage 1 ............Nothing
2 Slots
5 Slots
GOT (Bus connection)
Stage 2 ............Nothing
GOT (Bus connection)
Used/Unused
[First I/O No.]
0 to FF0
Q170M I/O setting [High-speed read setting]
Used/Unused
[Input signal detection direction]
Valid on leading edge/Valid on trailing edge
—
POINT
Set "MR-J3-B" to use the MR-J3W- B.
MR-J3W- B is recognized as two servo amplifiers. Set two axes as MR-J3- B.
APPENDIX 1.3 Differences of programs
Table 1.3 Differences of Motion SFC and servo programs
Program
Item
Motion SFC
Event task
Servo program
Q170MCPU
Fixed cycle (0.44ms, 0.88ms, 1.77ms, 3.55ms,
7.11ms, 14.2ms).
Speed-position
control
Count type home
position return
Q173DCPU/Q172DCPU
Fixed cycle (0.88ms, 1.77ms, 3.55ms, 7.11ms,
14.2ms)
DOG/CHANGE signal of Q172DLX and external
DOG/CHANGE signal of Q172DLX can be used.
input signal (DOG) of servo amplifier can be used.
POINT
The variation for ON/OFF timing of the external input signal (DOG) of servo
amplifier may occur according to the input filter setting value of external signal input
setting.
Review the input filter setting value compatible with the applications.
Use the Q172DLX to execute the high-accuracy control.
APP - 3
APPENDICES
Virtual axis
Drive module
Classification
Table 1.4 Differences of mechanical system programs
Maximum number of usable
Mechanical module
Name
Q170MCPU
Q173DCPU
Q172DCPU
Number per block Number
Number per block Number
Number per block
Number
Number
Number
Number
per
per
per
Auxiliary
Auxiliary
Auxiliary
per
per
per
Motion
Motion
Appearance
Connection
Connection
Connection
Motion
system shaft side input axis CPU
system shaft side input axis
system shaft side input axis CPU
controller
side
side
side
module
module
Virtual servo
motor
16
Synchronous
encoder
8
16
Virtual main
shaft
—
Virtual
auxiliary input
axis
—
8
16
16
—
—
16
Total
32
32
—
—
12
—
—
32
—
—
32
32
1
1
32
32
1
Speed
change gear
32
32
1
Differential
gear
16
16
1
32
—
—
8
12
32
Total
64
8
—
—
8
—
—
8
8
—
—
—
—
8
—
—
8
—
—
Total
10
Total
16
Total
34
Total
44
16
Gear
32
Total
18
Total
24
8
Total
16
32
—
—
64
64
1
1
16
16
1
1
1
64
64
1
1
16
16
1
1
1
64
64
1
1
16
16
1
1
32
32
1
8
8
1
Transmission module
Direct clutch
Smoothing
clutch
–-
Output module
Differential
gear to main
shaft
16
Roller
16
Ball screw
16
1
–-
32
16
32
16
Total
16
—
1
8
8
32
Total
32
1
—
32
32
Total
16
1
—
1
Rotary table
16
16
32
32
8
8
Cam
16
16
32
32
8
8
APP - 4
Total
8
1
8
Total
8
1
—
8
8
Total
32
1
1
APPENDICES
APPENDIX 1.4 Differences of error codes
Table 1.5 Differences of error codes
Error code
PLC CPU
area
Self-diagnosis error
code
2124
Q170MCPU
QnUD(E)(H)CPU
• A module is mounted on the settable slot
or later slot.
• A module is mounted on the slot whose
number is greater than the number of slots
specified at [Slots] in [Standard setting] of
the base setting.
• A module is mounted on the slot whose
number of I/O points exceeds 512 points.
• A module is mounted on the slot whose
number of I/O points strides 512 points.
• A module is mounted on the 65th slot or
later slot.
• A module is mounted on the slot whose
number is greater than the number of slots
specified at [Slots] in [Standard setting] of
the base setting.
• A module is mounted on the slot whose
number of I/O points exceeds 4096 points.
• A module is mounted on the slot whose
number of I/O points strides 4096 points.
Q170MCPU
Q173DCPU/Q172DCPU
Error code
Motion CPU
area
Motion SFC
parameter error
17004
Servo program
setting error
Minor error
Event task operation cycle setting error
—
51
Rapid stop deceleration time setting error
—
122
Home position return is started on the direct
drive motor when the absolute position data
of the encoder has not been established.
—
The error details of Q170MCPU are shown below.
(1) Self-diagnosis error code (Error code: 2124)
Error code
(SD0)
Error message
Common
information
(SD5 to SD15)
Individual
information
(SD16 to SD26)
2124
SP. UNIT LAY ERR.
—
—
LED display
RUN
ERR.
CPU operation
status
Diagnostic timing
OFF
Flicker
Stop
At power ON/At reset
Error contents and cause
Corrective action
• A module is mounted on the settable slot or later slot.
• A module is mounted on the slot whose number is greater
than the number of slots specified at [Slots] in [Standard
setting] of the base setting.
• A module is mounted on the slot whose number of I/O
points exceeds 512 points.
• A module is mounted on the slot whose number of I/O
points strides 512 points.
• Remove the module mounted on the settable slot or later slot.
• Remove the module mounted on the slot whose number is
greater than the number of slots specified at [Slots] in
[Standard setting] of the base setting.
• Remove the module mounted on the slot whose number of
I/O points exceeds 512 points.
• Replace the module with the one whose number of occupied
points does not exceed 512 points.
(2) Motion SFC parameter error (Error code: 17004)
Error code
17004
Name
Description
The operation cycle setting
Event task operation
value is outside the setting
cycle setting error
range.
Error processing
The specified Motion SFC
program does not start.
APP - 5
Corrective action
Turn PLC ready flag (M2000) OFF, set
the operation cycle setting to 0.4[ms] or
more, or default value.
APPENDICES
(3) Servo program setting error (Error code: 51)
Error code
Name
Description
Rapid stop
deceleration time
setting error
51
Error processing
The rapid stop deceleration
time is bigger than the setting
value of deceleration time.
Corrective action
Control with the setting value Set the rapid stop deceleration time
of deceleration time.
within the range of 1 to deceleration
time.
(4) Minor error (Error code: 122)
122
Speed control with fixed
position stop
OSC
Position follow-up control
Home position return
Manual pulse generator
JOG
Constant-speed
Speed switching
Speed/position switching
Speed
Positioning
Error
code
Fixed-pitch feed
Control mode
Error cause
• Home position return is
started on the direct drive
motor when the absolute
position data of the encoder
has not been established.
APP - 6
Error
processing
Positioning
control
does not
start.
Corrective action
• Turn the power supplies of the
system or servo amplifier from
OFF to ON after passing the
zero point of the motor by the
JOG operation, etc.
APPENDICES
APPENDIX 1.5 Differences of peripheral device interface
Table 1.6 Differences of peripheral device interface
Item
Q170MCPU
Q173DCPU/Q172DCPU
Connect to the USB connector/
RS-232 connector of PLC CPU
area.
USB
RS-232
Direct connection
PERIPHERAL I/F Connection via
HUB
Connect to the PLC CPU
module.
Connect to the PERIPHERAL I/F
connector of Motion CPU area.
—
The connection between Q170MCPU interface and programming software package/
GOT are shown below.
Transfer
Peripheral
device interface
MT Developer2
(MR Configurator)
GX Developer
GOT
(Direct bus
connection to CPU)
USB
RS-232
Direct connection
PERIPHERAL I/F Connection via
HUB
: Possible
: Impossible
The connection procedure for PERIPHERAL I/F is shown below.
(1) PERIPHERAL I/F
There are following two ways to communicate between the Motion controller and
MT Developer2.
• "Direct connection" connected with the Ethernet cable
• "Connection via HUB" connected via HUB
(a) Direct connection
Between the Motion controller and MT Developer2 can be connected using
one Ethernet cable without HUB.
The direct connection enables communication with only specifying
connection target. IP address setting is not required.
Ethernet cable (Crossover cable)
PERIPHERAL I/F
MT Developer2
APP - 7
APPENDICES
1) Communication setting in MT Developer2 side
Set the items on the Transfer Setup screen in MT Developer2 as shown
below.
a)
b)
c)
a) Select [Ethernet Board] for PC side I/F.
b) Select [PLC Module] for CPU side I/F.
Select the "Ethernet Port Direct Connection" on the CPU side I/F
Detailed Setting of PLC Module screen.
Select "Ethernet Port
Direct Connection"
c) Make the setting for Other Station Setting.
APP - 8
APPENDICES
2) Precautions
Precautions for direct connection are shown below.
a) Connection to LAN line
When the Motion controller is connected to LAN line, do not perform
communication using direct connection. If performed, the
communication may put a load to LAN line and adversely affect
communications of other devices.
b) Connection not connected directly
The system configuration that connects a Motion controller with an
external device using a hub as shown below is not regarded as
direct connection.
HUB
c) Condition in which direct connection communication may not be
available
Under the following conditions, direct connection communication
may not be available. In that case, check the setting of the Motion
controller and/or personal computer.
• In the Motion controller IP address, bits corresponding to "0" in the
personal computer subnet mask are all ON or all OFF.
(Example) Motion controller IP address
: 64. 64. 255. 255
Personal computer IP address
: 64. 64. 1. 1
Personal computer subnet mask : 255.255. 0. 0
• In the Motion controller IP address, bits corresponding to the host
address for each class in the personal computer IP address are all
ON or all OFF.
(Example) Motion controller IP address
: 64. 64. 255. 255
Personal computer IP address
: 192.168. 0. 1
Personal computer subnet mask : 255. 0. 0. 0
APP - 9
APPENDICES
(b) Connection via HUB
Between the Motion controller and MT Developer2 can be connected via
HUB.
Ethernet cable
(Straight cable)
Ethernet cable
(Straight cable)
PERIPHERAL I/F
MT Developer2
HUB
Panel computer
1) Setting in Motion controller side
Set the items on the Built-in Ethernet Port Setting in Basic Setting as
shown below.
a)
b)
a) Set the Motion controller IP address.
(Default IP address: 192.168.3.39)
Change the IP address if required.
No need to set "Subnet Mask Pattern" and "Default Router IP
Address".
APP - 10
APPENDICES
b) Select the protocol ("TCP" or "UDP" ) to be used, in accordance with
the external device on the Built-in Ethernet Port Open Setting
screen.
Select "TCP" to emphasize communication reliability.
• Enabling the parameters of Motion controller
Using Ethernet direct connection or USB/RS-232 connection, write the
settings in parameter to the Motion controller by selecting [Online] [Write to CPU] in MT Developer2. After writing the parameter settings,
power the Motion controller OFF to ON or perform the reset operation
of the Motion controller using the RUN/STOP/RESET switch so that
the parameters become valid.
Connect directly with an Ethernet cable (crossover cable) between the
personal computer and Motion controller to write the parameters using
the Ethernet cable. Refer to this section (a) for details.
APP - 11
APPENDICES
2) Communication setting in MT Developer2 side
Set the items on the Transfer Setup screen in MT Developer2 as shown
below.
a)
b)
c)
a) Select [Ethernet Board] for PC side I/F.
b) Select [PLC Module] for CPU side I/F.
Select the "Connection via HUB" on the CPU side I/F Detailed
Setting of PLC Module screen, and set the Motion controller IP
address.
Select the "Connection
via HUB"
Set the Motion controller
IP address
c) Make the setting for Other Station Setting.
APP - 12
APPENDICES
POINT
The Find CPU function can be used for specifying the Motion controller IP address
in the connection via HUB.
This function can be activated in [Find CPU (Built-in Ethernet port) on Network] of
CPU side I/F Detailed Setting of PLC Module screen, finds the Motion controller
connected to the same HUB as MT Developer2, and displays a list.
Found Motion controller
is displayed.
[Find CPU (Built-in
Ethernet port) on
Network] button
• Set the label and comment of the Motion controller in [CPU Name Setting] of Basic
Setting.
The label and comment set in [CPU Name Setting] are displayed on the CPU side
I/F Detailed Setting of PLC Module screen.
Description
Setting range
Label
Item
Enter a label (name and/or purpose) of the Motion controller.
Up to 10 characters
Comment
Enter comments regarding the Motion controller.
Up to 64 characters
APP - 13
APPENDICES
3) Precautions
Precautions for connection via HUB are shown below.
a) When the personal computer that can connect to LAN line is used,
set the same value for Motion controller IP address as the following
personal computer IP address.
Motion controller
IP address
192
168
3
39
Set the same value as the
personal computer IP address
(Example) Personal computer IP address: "192.168.3.1"
<Setting for Motion controller side>
Set the same value as the personal
computer IP address.
(Example) 192.168.3.
Set the IP address not used with devices
connected to network.
(Example) . . .39
<Setting for MT Developer2 side>
Set the same value as the Motion
controller IP address.
(Example) 192.168.3.39
APP - 14
APPENDICES
b) The maximum number of devices that can access to one Motion
controller simultaneously is 16.
c) Hubs with 10BASE-T or 100BASE-TX ports can be used.
(The ports must comply with the IEEE802.3 100BASE-TX or
IEEE802.3 10BASE-T standards.)
d) The Ethernet cables must to be installed away from power
cabling/lines.
e) The module operation is not guaranteed if any of the following
connection is used. Check the module operation on the user side.
• Connections using the Internet (general public line)
• Connections using devices in which a firewall is installed
• Connections using broadband routers
• Connections using wireless LAN
f) When multiple Motion controllers are connected to MT Developer2,
beware of the below cautions:
• IP addresses must be different for each Motion controller.
• Different projects must be used for each Motion controllers on
MT Developer2.
APP - 15
APPENDICES
APPENDIX 1.6 MC Protocol Communication
PERIPHERAL I/F of the Motion controller enables communication using the MC
(Note-1)
.
protocol
External devices such as personal computers and display devices read/write device
data from/to the Motion controller using the MC protocol.
External devices monitor the operation of the Motion controller, analyze data, and
manage production by reading/writing device data.
REMARK
(Note-1): The MC protocol is an abbreviation for the MELSEC communication
protocol.
The MELSEC communication protocol is a name of the communication
method used to access CPU modules from external devices in accordance
with the communication procedure of Q-series programmable controllers
(such as serial communication modules, Ethernet modules).
For details on the MC protocol, refer to the "Q Corresponding MELSEC
Communication Protocol Reference Manual".
POINT
External devices such as personal computers and display devices can
communicate with only the Motion controller connected by Ethernet using the MC
protocol.
An access to any of the CPU modules on another station via network is not
available.
(1) Setting for MC protocol communication
Setting for communication using the MC protocol is described below.
Set the items of following (a) to (c) in the Built-in Ethernet Port Setting of the
Basic Setting of MT Developer2.
(c)
(a)
(b)
APP - 16
APPENDICES
(a) Communication data code
Select a communication data code used for the MC protocol, "Binary code"
or "ASCII code".
(b) Enable online change (MC protocol)
Check the checkbox to enable online change when writing data to the
Motion controller from the external device that communicates using the MC
protocol.
For details on the available functions with this setting, refer to this section
(2).
(c) Open Setting
Set the following items.
1) Protocol
Select a connection used as MC protocol. (Up to 16 CPU modules can
be connected.)
2) Open System
Select "MC protocol".
3) Host Station Port No. (Required)
Set the host station port number (in hexadecimal).
• Setting range : 0401H to 1387H, 1392H to FFFEH
1)
2)
3)
POINT
When the "Enable online change (MC protocol)" box is unchecked, if a data write
request is sent from an external device to the Motion controller which is in the RUN
status, data will not be written to the Motion controller and the module returns the
NAK message.
APP - 17
APPENDICES
(2) Command list
When the PERIPHERAL I/F of the Motion controller communicates using the MC
protocol, commands listed in table below can be executed.
Command
(Subcommand)
Function
Batch read
Batch write
Random read
(Note-2)
(Note-1)
In units
of bits
0401
(0001)
In units
of words
0401
(0000)
In units
of bits
1401
(0001)
In units
of words
1401
(0000)
In units
of words
0403
(0000)
In units
of bits
1402
(0001)
Device
memory
Test
(Random write)
In units
of words
(Note-2)
Monitor
registration
1402
(0000)
In units
(Note-2), (Note-3),
of words
0801
(0000)
In units
of words
0802
(0000)
(Note-4)
Monitor
Status of Motion controller
Description
Number of
processed points
Reads bit devices in units of one point.
ASCII : 3584 points
BIN : 7168 points
Reads bit devices in units of 16 points.
960 words
(15360 points)
Reads word devices in units of one point.
Writes bit devices in units of one point.
Writes bit devices in units of 16 points.
960 words
(15360 points)
Reads bit devices in units of 16 or 32 points
by randomly specifying a device or device
number.
Reads word devices in units of one or two
points by randomly specifying a device or
device number.
Sets/resets bit devices in units of one point by
randomly specifying a device or device
number.
Sets/resets bit devices in units of 16 or 32
points by randomly specifying a device or
device number.
Write
Write
enabled disabled
960 points
ASCII : 3584 points
BIN : 7168 points
Writes word devices in units of one point.
RUN
STOP
960 points
192 points
188 points
(Note-5)
Writes word devices in units of one or two
points by randomly specifying a device or
device number.
Registers bit devices to be monitored in units
of 16 or 32 points.
Registers word devices to be monitored in
units of one or two points.
Monitors devices registered.
192 points
Number of
registered points
: Available,
(Note-1): Subcommand is for the QnA-compatible 3E frame.
(Note-2): Devices such as TS, TC, SS, SC, CS, and CC cannot be specified in units of words.
For the monitor registration, an error (4032H) occurs during the monitor operation.
(Note-3): During monitor registration, monitor condition cannot be set.
(Note-4): Do not execute monitor registration from multiple external devices. If executed, the last monitor registration becomes valid.
(Note-5): Set the number of processed points so that the following condition is satisfied.
(Number of word access points) 12 + (Number of double-word access points) 14 1920
• Bit devices are regarded as 16 bits during word access and 32 bits during double-word access.
• Word devices are regarded as one word during word access and two words during double-word access.
APP - 18
: Not available
APPENDICES
(3) Available devices
The devices available in commands used in the MC protocol communication
function is shown below.
(a) PLC CPU area
Device code
Classification
Device
ASCII code
(Note-1)
Internal system
device
File register
Extended data
register
Extended link
register
Remarks
Special relay
SM
91h
000000 to 002047
Decimal
SD
A9h
000000 to 002047
Decimal
Input
X
9Ch
000000 to 001FFF
Hexadecimal
Output
Y
9Dh
000000 to 001FFF
Hexadecimal
Internal relay
M
90h
000000 to 008191
Decimal
Latch relay
L
92h
000000 to 008191
Decimal
Annunciator
F
93h
000000 to 002047
Decimal
Edge relay
V
94h
000000 to 002047
Decimal
Link relay
B
A0h
000000 to 001FFF
Hexadecimal
Data register
D
A8h
000000 to 012287
Decimal
Link register
W
B4h
000000 to 001FFF
Hexadecimal
000000 to 002047
Decimal
000000 to 002047
Decimal
000000 to 001023
Decimal
Contact
TS
C1h
Coil
TC
C0h
Current
value
TN
C2h
Contact
SS
C7h
Coil
SC
C6h
Current
value
SN
C8h
Contact
CS
C4h
Coil
CC
C3h
Current
value
CN
C5h
Link special relay
SB
A1h
000000 to 0007FF
Hexadecimal
Link special register
SW
B5h
000000 to 0007FF
Hexadecimal
Step relay
S
98h
000000 to 008191
Decimal
Direct input
DX
A2h
000000 to 000FFF
Hexadecimal
Direct Output
DY
A3h
000000 to 000FFF
Hexadecimal
Decimal
Retentive
timer
Counter
Index register
Device number range (Default)
Special register
Timer
Internal user
device
Binary code
Index register
File register
Extended data register
Extended link register
Z
CCh
000000 to 000019
R
Afh
000000 to 032767
Decimal
ZR
B0h
000000 to 3FD7FF
Hexadecimal
A8h
• Binary:
000000 to 4184063
(4086k points maximum)
• ASCII:
000000 to 999999
(976.6k points maximum)
B4h
000000 to 3FD7FF
(4086k points maximum)
D
W
• When the device number range is
changed, access is possible up to
the largest device number after the
change.
• Local devices cannot be accessed.
Devices of DX/DY1000 or later are not
available. Use X/Y devices to access
devices of DX/DY1000 or later.
—
Decimal
If the number of points is set on the
PLC file tab of PLC parameter, access
is possible up to the largest device
number after the setting.
However, in the ASCII code
communication, the number of points
described on the left is the access
limit.
Hexadecimal
If the number of points is set on the
PLC file tab of PLC parameter, access
is possible up to the largest device
number after the setting.
(Note-1): When data is communicated in ASCII code, the second character "
APP - 19
—
" can be designated a blank space (code: 20H).
APPENDICES
(b) Motion CPU area
Device code
Classification
Device
Internal system
device
Special relay
SM
91h
000000 to 002255
Decimal
Special register
SD
A9h
000000 to 002255
Decimal
Input
X
9Ch
000000 to 001FFF
Hexadecimal
Including actual input device PX.
Output
Y
9Dh
000000 to 001FFF
Hexadecimal
Including actual input device PY.
Internal relay
M
90h
000000 to 012287
Decimal
Internal user
device
ASCII code
(Note-1)
Device number range (Default)
Binary code
Remarks
Annunciator
F
93h
000000 to 002047
Decimal
Link relay
B
A0h
000000 to 001FFF
Hexadecimal
Data register
D
A8h
000000 to 008191
Decimal
Link register
W
B4h
000000 to 001FFF
Hexadecimal
Motion register
#
E0h
000000 to 012287
Decimal
(Note-1): When data is communicated in ASCII code, the second character "
—
—
" can be designated a blank space (code: 20H).
(4) Precautions
(a) Number of connected modules
In the connection with external devices using the MC protocol, the number
of Motion controllers set as "MELSOFT connection" in the Open Settings
on Built-in Ethernet Port setting of Basic Setting can be connected
simultaneously.
(b) Data communication frame
Table below shows the frames available in the communication function
using the MC protocol with PERIPHERAL I/F.
Communication frame
Communication function using the MC protocol
with PERIPHERAL I/F
4E frame
QnA-compatible 3E frame
A-compatible 1E frame
: Available, : Not available
(c) Access range
1) Only Motion controller connected by Ethernet can be accessed.
Accessing a Motion controller not connected by Ethernet results in an
error.
2) Accessing a Motion controller on another station in CC-Link IE controller
network, MELSECNET/H, Ethernet or CC-Link via a connected Motion
controller is not possible.
(d) Precautions when UDP protocol is selected
1) If a new request message is sent to the same UDP port while the port
waits for a response message, the new request message is discarded.
2) Setting same host station port number to multiple UDP ports is regarded
as one setting. When communicating with multiple external devices
using the same host station port number, select TCP protocol.
APP - 20
APPENDICES
(e) Response message receive processing
Figure below shows an example of the response message receive
processing on the external device side.
Communication processing
on the external device side
Request message send processing
Response message receive processing
Is TCP connection open?
TCP connection is closed.
Receive the rest of
response messages.
Has the data
been received within the
monitoring timer?
The monitoring timer has run over.
The receive data exceeds
the size limit.
Check the receive data size.
Processing for response messages
The response message
for the following request
has been received.
Has processing
for all received messages
completed?
END
Error processing
REMARK
Personal computers use the TCP socket functions internally for Ethernet
communication.
These functions do not have boundary concept. Therefore, when data is sent by
executing the "send" function once, the "recv" function needs to be executed once or
more to receive the same data.
(One execution of the "send" function does not correspond to one execution of the
"recv" function.)
For this reason, receive processing described above is required on the external
device side.
If the "recv" function is used in blocking mode, data may be read by executing the
function once.
APP - 21
APPENDICES
(5) Error codes for communication using MC protocol
Table below shows the error codes, error descriptions, and corrective actions that
will be sent from the Motion contrller to an external device when an error occurs
during communication using the MC protocol.
No.
Error code
(Hexadecimal)
Description
1
4000H to 4FFFH
Motion controller detected error (Error that occurred in
other than communication using the MC protocol)
Refer to the QCPU User's Manual (Hardware Design,
Maintenance and Inspection) and take corrective
action.
0055H
When the setting for online change is disabled on the
Built-in Ethernet Port Setting of Basic Setting in
MT Developer2, an external device requested online
change to the Motion controller.
• When enabling online change, write data.
• Change the status of the Motion controller to STOP
and write data.
3
C050H
• Set the communication data code to binary code and
When the communication data code setting is set to
restart the Motion controller for communication.
ASCII code in the Built-in Ethernet Port Setting, ASCII
code data that cannot be converted to binary code was • Correct the send data on the external device side and
resend the data.
received.
4
C051H to C054H
The number of device points for reading/writing is
outside the allowable range.
Correct the number of device points for reading/writing
and resend the data to the Motion controller.
5
C056H
The read/write request data exceeds the allowable
address range.
Correct the start address or the number of device
points for reading/writing, and resend the data to the
Motion controller.
(Do not exceed the allowable address range.)
6
C058H
The request data length after the ASCII to binary
conversion does not match the data size of the
character area (a part of text data).
Correct the text data or the request data length of the
header data, and resend the data to the Motion
controller.
7
C059H
• The command and/or subcommand are specified
incorrectly.
• The command and/or subcommand not supported in
the Motion controller are specified.
• Check the request data.
• Use commands and/or subcommands supported in
the Motion controller.
8
C05BH
The Motion controller cannot read/write data from/to
the specified device.
Check the device for reading/writing data.
9
C05CH
The request data is incorrect. (ex. specifying data in
units of bits for reading/writing of word devices)
Correct the request data (such as subcommand
correction) and resend the data to the Motion
controller.
10
C05DH
Monitor registration is not performed.
Perform the monitor registration before monitor
operation.
11
C05FH
The external device sent a request that cannot be
executed in the Motion controller.
• Correct the network number, PC number, request
destination module I/O number, and request
destination module station number.
• Correct the read/write request data.
12
C060H
The request data is incorrect. (ex. incorrect
specification of data for bit devices)
Correct the request data and resend the data to the
Motion controller.
13
C061H
The request data length does not match the data size
of the character area (a part of text data)
Correct the text data or the request data length of the
header data, and resend the data to the Motion
controller.
14
C070H
The device memory extension cannot be specified for
the target station.
Read/Write data to the device memory without
specifying the extension.
15
C0B5H
Data that cannot communicate in the Motion controller
or Ethernet module is specified.
• Check the request data.
• Stop the current request.
2
Corrective action
APP - 22
APPENDICES
APPENDIX 1.7 Differences of CPU display and I/O assignment
Table 1.7 Differences of CPU display and I/O assignment
Item
Q170MCPU
• Motion CPU area : Q170MCPU-PCPU
• PLC CPU area : Q170MCPU-SCPU
CPU display
Q173DCPU/Q172DCPU
• Motion CPU
• PLC CPU
: Q173DCPU, Q172DCPU
: Q06UDHCPU, etc.
Base mode
(Auto)
• The main base of eight slots corresponding is built • The main base and extension base are
automatically determined.
into the Q170MCPU.
• I/O or empty slot, etc. is automatic determined,
• 16 points are set to each empty slot.
and the points are assigned.
• First address of the extension base is "70".
Base mode
(Detail)
• I/O assignment points are individually assigned.
When the first address of the extension base is
set to address "0", the setting is as follows.
• Main base: 8 slots
• Number of points of each empty slot: 0 point
I/O assignment
setting
• I/O assignment points are individually assigned.
The CPU display and setting of I/O assignment are shown below.
(1) CPU display
Confirm the CPU display of the PLC CPU area and Motion CPU area on the
System Monitor screen displayed on [Diagnostics] – [System monitor] of
GX Developer.
PLC CPU area is displayed as "Q170MCPU-SCPU", and Motion CPU area is
displayed as "Q170MCPU-PCPU".
PLC CPU area
Motion CPU area
(Q170MCPU-SCPU) (Q170MCPU-PCPU)
APP - 23
APPENDICES
(2) Setting of I/O assignment
Set the I/O assignment points in [I/O assignment] of PC parameter of
GX Developer.
(a) When the Base mode is set to "Auto" (default).
16 points are set to empty slot of the main base. Therefore, the first address
of the extension base is set to "70".
(b) When the Base mode is set to "Detail".
The first address of the extension base is set to "0" by setting 0 point to the
empty slot of the main base.
Set the number of points of slot
1(0-1) to 7 (0-7) to "0 point".
Set the number of points of I/O
module.
Set "Detail".
Set the number of slots of the
main base to "8".
Set the number of slots to be
used to the number of slots
of the extension base.
POINT
The first address of the extension base can be assigned from address "0" by using
the sample data.
Refer to "APPENDIX 2" for details of the sample data.
APP - 24
APPENDICES
APPENDIX 1.8 Differences of I/O signals
Table 1.8 Differences of I/O signals
Item
Q170MCPU
Q173DCPU/Q172DCPU
• Q170MCPU's internal I/F
I/O signal
• PLC I/O module
(Note-1)
• PLC I/O module
(Note-1): Real input device (PX) or real output device (PY) is in units of 16 points.
• Real input (PX): 4 points + Dummy (Unsable: Fixed at 0) 12 points
• Real output (PY): 2 points + Dummy (Unsable: Fixed at 0) 14 points
(Example) When the first I/O No. is set to 0(H).
• PX0 to PX3 (Real input), PX4 to PXF (Unsable: Fixed at 0)
• PY0 to PY1 (Real output), PY2 to PYF (Unsable: Fixed at 0)
(1) Q170M I/O setting
The setting method for the I/O signals of internal I/F is shown below.
Setting for the I/O signals
Setting for the mark detection signal (DI)
Item
I/O setting
Setting range
Initial value
Used/Unused
Used
0 to FF0
First I/O No.
0
(in units of 16 points)
High-speed read
Used/Unused
setting
Input signal detection
Valid on leading edge/
direction
Valid on trailing edge
Unused
Remarks
Number of I/O points
must be total of 256
points or less.
Set the detection
Valid on leading edge direction of the mark
detection signal (DI).
(2) Application of input signal
There are two kinds of applications of the input and mark detection for the
Q170MCPU's internal I/F.
The same signal can be used simultaneously by the input and mark detection.
I/O setting
Input signal
Used
Usable as the real input device (PX)
Unused
Unusable
Mark detection
Usable as the real input device (PX) or
mark detection signal (DI)
Usable as the mark detection signal (DI)
APP - 25
APPENDICES
(3) High-speed reading of specified data
This function is used to store the specified positioning data in the specified device
(D, W, U \G). The signal from input module controlled in the Motion CPU area is
used as a trigger.
Refer to the "Q173DCPU/Q172DCPU Motion Controller Programming Manual
(COMMON)" for the high-speed reading of specified data.
(a) Modules and signals to be used
Input module
Signal
Q173DPX
Internal I/F
PLC input module
Read timing
TREN
(Note-1)
PX device
Number of settable points
3
0.8[ms]
4
8
(Note-1) : Only one PLC input module can be used.
APP - 26
APPENDICES
APPENDIX 1.9 Differences of synchronous encoder
Table 1.9 Differences of synchronous encoder
Item
Current value storage register
(D1120+10n, D1121+10n)
Q170MCPU
Q173DCPU/Q172DCPU
Power cycle
The current value immediately
before power supply OFF is stored.
(The travel value is not added in
power supply OFF.)
"0" is stored.
Real mode
Updated
Backup
(Note)
Current value after
synchronous encoder axis
main shaft’s differential gear
storage registers
(D1126+10n, D1127+10n)
Error reset command
(M5440+4n)
Virtual mode
Updated
(Updated with clutch ON and leading edge of the external input (TREN),
and stopped with clutch OFF.)
Power cycle
"0" is stored.
Real mode
Backup
Virtual mode
Updated
Real mode
Virtual mode
Synchronous encoder current
value change CHGA-E
Real mode
All errors can be reset regardless of
the error type.
Errors cannot be reset.
Errors can be reset according to the mechanical system configuration.
Executable
Virtual mode
Not executable
Executable
(Note): The external input clutch can be used in only the synchronous encoder axis of Q173DPX.
(1) Synchronous encoder current value monitor in real mode
The synchronous encoder set in the system setting is updated for every
operation cycle in the current value storage register (D1120+10n, D1121+10n)
regardless of whether or not the synchronous encoder is set in the mechanical
program.
However, the current value after synchronous encoder axis main shaft’s
differential gear storage registers (D1126+10n, D1127+10n) is updated in only
virtual mode.
Refer to this section (4) for the synchronous encoder current value that the
external input clutch is set.
(2) Error reset of the synchronous encoder axis
The error reset command (M5440+4n) can be executed in both of the real mode
and virtual mode.
If the error reset command (M5440+4n) is turned ON when the synchronous
encoder and output module are normal, the minor error code storage register
(D1122+10n) and major error code storage register (D1123+10n) are cleared,
and the error detection signal (M4640+4n) is reset.
(3) Synchronous encoder current value change CHGA-E
The synchronous encoder current value change (CHGA-E) of the synchronous
encoder set in the system setting can be changed regardless of whether or not
the synchronous encoder is set in the mechanical program.
APP - 27
APPENDICES
(4) Clutch of the external input mode
The external input clutch can be used in only the synchronous encoder axis of
Q173DPX.
If the external input clutch is set in the synchronous encoder axis of the
Q170MCPU's internal I/F, a minor error (error code: 4060) will occur, and the
related system cannot be operated. When the external input clutch is set to
Q173DPX, the synchronous encoder current value is updated for every operation
cycle in real mode, and it is updated according to the state of the clutch and
external input (TREN signal).
APP - 28
APPENDICES
APPENDIX 1.10 Mark detection function
Any motion control data and all device data can be latched at the input timing of the
mark detection signal. Also, data within a specific range can be latched by specifying
the data detection range.
The following three modes are available for execution of mark detection.
1) Continuous Detection mode
The latched data is always stored at mark detection.
Operation is the same as the high-speed reading function.
Mark detection signal
Mark detection data
storage device
+0n
2) Specified Number of Detections mode
The latched data from a specified number of detections is stored.
Example) Number of detections: 3
Mark detection signal
Mark detection data
storage device
+0n
The 4th detection
and later are ignored.
+1n
+2n
The 3rd detection
+3n
3) Ring Buffer mode
The latched data is stored in a ring buffer for a specified number of detections.
The latched data is always stored at mark detection.
Example) Number of detections: 4
Mark detection signal
Mark detection data
storage device
+0n
The 5th detection
replaces the previous
first detection.
+1n
+2n
+3n
The 4th detection
(Note): "n" in above figure is different depending on the data type storage device.
• 16-bit integer type
:1
• 32-bit integer type
:2
• 64-bit floating-point type : 4
APP - 29
APPENDICES
(1) Operations
Operations done at mark detection are shown below.
• Calculations for the mark detection data are estimated at leading edge/trailing
edge of the mark detection signal.
However, when the Specified Number of Detections mode is set, the current
mark detection is checked against the counter value for number of mark
detections and then it is determined whether or not to latch the current detection
data.
• When a mark detection data range is set, it is first confirmed whether the mark
detection data is within the range or not. Data outside the range are not
detected.
• The mark detection data is set in the first device of the mark detection data
storage area according to the mark detection mode, and then the number of
mark detections counter is updated.
Operation examples for each mode are shown in the table below.
(a) Continuous Detection mode
Confirmation of mark detection data range
(Upper/lower value setting: Valid)
Mark detection signal
(Leading edge detection
setting)
Data outside range are not latch.
Mark detection data current
value
Real current value
(Continuous update)
Mark detection data storage
device
Detected real current value
Number of mark detections
counter
0
Detected real current value
1
2
"0 clear" by user program
(b) Specified Number of Detections mode (Number of detections: 2)
Confirmation of mark detection data range
(Upper/lower value setting: Valid)
Mark detection signal
(Leading edge detection
setting)
Mark detection data current
value
Real current value
(Continuous update)
Mark detection data storage
device
Detection real current value (1st)
Mark detection data storage
device (2nd area)
Number of mark detection
counter
Mark detection is not executed
because the counter for number of
mark detections is already 2 (More
than the number of detections).
Detection real current value (2nd)
0
"0 clear" by user program
APP - 30
1
2
APPENDICES
(2) Mark detection setting
The mark detection setting parameters are shown below.
Up to 32 mark detections setting can be registered.
No.
Item
Setting range
Mark detection signal
1
2
Q170MCPU's internal I/F (DI)/Device (Bit device (X, Y, M, B, SM, U \G))
Mark detection signal detection
(Note-1)
direction
Mark detection signal compensation
-5000000 to 5000000[µs]/Word device (D, W, #, U \G)
(Note-2)
time
Mark detection data
3
At device
selection
Motion control data/Device (Word device (D, W, #, SD, U \G))
Data type
16-bit integer type/32-bit integer type/64-bit floating-point type
Estimate
calculation
Valid (Normal data)/Valid (Ring counter)/Invalid
Ring counter
value
4
Mark detection data storage device
5
Mark detection data
range
Upper value
Lower value
7
8
16-bit integer type
: K1 to K32767, H001 to H7FFF
32-bit integer type
: K1 to K2147483647, H00000001 to H7FFFFFFF
64-bit floating-point type : K2.23E-308 to K1.79E+308
Word device (D, W, #, U \G)
Direct designation (K, H)/Word device (D, W, #, U \G)
16-bit integer type
: K-32768 to K32767, H0000 to HFFFF
32-bit integer type
: K-2147483648 to K2147483647, H00000000 to HFFFFFFFF
64-bit floating-point type : K-1.79E+308 to K-2.23E-308, K0, K2.23E-308 to K1.79E+308
Continuous detection mode/Specified number of detection mode/Ring buffer mode/
Device (Word device (D, W, #, U \G))
Mark detection mode setting
6
Valid on leading edge/Valid on trailing edge
Number of detections
1 to 8192 (Specified number of detection mode/Ring buffer mode)
Mark detection times counter
—
(Note-3)
—
(Note-3)
—
(Note-3)
Mark detection current value
monitor device
Mark detection signal status
(Continuous detection mode)/Word device (D, W, #, U \G)
/Word device (D, W, #, U \G)
/Bit device (X, Y, M, B, U \G)
(Note-1): Set the input signal detection direction of Q170MCPU's internal I/F (DI) in the "Q170M I/O Setting" of System Settings.
(Note-2): The mark detection signal compensation time cannot be set if "Invalid" is selected in the estimate calculation. (0[µs] is set.)
(Note-3): This setting can be ignored.
(a) Mark detection signal
Set the input signal for mark detection.
1) Module input signal
Input module
Signal Signal No.
Q170MCPU's internal I/F
DI
1 to 4
Detection
accuracy [µs]
30
Signal detection direction
(Leading edge/Trailing edge)
Set direction in the "Q170M I/O
Setting" of System Settings.
2) Bit device
Bit device
Setting range
X(PX)
0 to 1FFF
Y(PY)
0 to 1FFF
M
0 to 8191
B
0 to 1FFF
SM
U \G
Detection
accuracy [µs]
444
Signal detection direction
(Leading edge/Trailing edge)
Set direction in the mark
detection signal detection
direction.
0 to 1999
(Note-1)
10000.0 to (10000+p-1).F
(Note-1): "p" indicates the user setting area points of the Multiple CPU high speed transmission area for each
CPU.
APP - 31
APPENDICES
(b) Mark detection signal detection direction
Set whether to execute the mark detection to valid on leading edge (OFF to
ON) or valid on trailing edge (OFF to ON) of input signal.
Set the input signal detection direction of Q170MCPU's internal I/F (DI) in
the "Q170M I/O Setting" of System Settings.
Input signal detection direction
Remarks
The mark detection is executed when the mark
Valid on leading edge
detection signal transitions from OFF to ON.
The mark detection is executed when the mark
Valid on trailing edge
detection signal transitions from ON to OFF.
(c) Mark detection signal compensation time
Compensate the input timing of the mark detection signal.
Set it to compensate for sensor input delays, etc. (Set a positive value to
compensate for a delay.)
However, the mark detection signal compensation time cannot be set if
"Invalid" is selected in the estimate calculation. (0[µs] is set.)
The timing is compensated as "-5000000" when the compensation time is
set to less than -5000000, and it is compensated as "5000000" when it is set
to more than 500000.
1) Direct designation
Setting range
-5000000 to 5000000 [µs]
2) Indirect designation
Word device
(Note-1)
Setting range
D
0 to 8191
W
0 to 1FFF
#
0 to 9215
U \G
Remarks
The setting value is input for
every operation cycle.
(Note-2)
10000 to (10000+p-1)
(Note-1): Set an even number as the first device.
(Note-2): "p" indicates the user setting area points of the Multiple CPU high speed transmission
area for each CPU.
APP - 32
APPENDICES
(d) Mark detection data
Set the data to latch at mark detection.
1) Motion control data
Item
Unit
Feed current value
-1
Data type
Axis No. setting range
Remarks
-5
10 [µm], 10 [inch],
Real current value
-5
10 [degree], [PLS]
Motor real current value
32-bit integer type
Servo command value
Position feed back
[PLS]
Absolute position encoder within onerevolution position
—
1 to 16
Absolute position encoder within multi-
—
revolution position
Deviation counter value
[PLS]
Servo command speed
[PLS/s]
16-bit integer type
32-bit integer type
Motor speed
0.01[r/min]
Motor current
0.1[%]
16-bit integer type
Virtual servomotor feed current value
Synchronous encoder current value
1 to 8
Current value within one cam shaft
[PLS]
revolution
32-bit integer type
virtual mode
1 to 16
Current value within one cam shaft
Valid in SV22
only
(Note)
revolution (Actual)
(Note): Current value within one cam shaft revolution takes into consideration the delay of the servo amplifier.
2) Word device data
Word device
Setting range
D
0 to 8191
W
0 to 1FFF
#
0 to 9215
SD
0 to 1999
Remarks
—
(Note-1)
10000 to (10000+p-1)
U \G
(Note-1): "p" indicates the user setting area points of the Multiple CPU high speed transmission
area for each CPU.
3) Data type
Set the data at word device data setting.
Data type
Remarks
16-bit integer type
32-bit integer type
64-bit floating-point type
—
Set the device No. as an even No.
APP - 33
APPENDICES
4) Estimate calculation
Set the estimate calculation to "Valid/Invalid" at the word device data
setting.
Estimate calculation
Ring counter value
Normal data
—
16-bit integer type
Valid
Ring counter 32-bit integer type
K1 to K32767, H0001 to H7FFF
K1 to K2147483647,
H00000001 to H7FFFFFFF
64-bit floating-point type K2.23E-308 to K1.79E+308
Invalid
—
a) Estimate calculation : Valid
Calculation for word device data in the operation cycle is estimated.
The latch data is the value estimated at the timing in which the mark
detection signal is input. The value is calculated as shown in the
figure below whether the word device data is normal data or a ring
counter. Set the ring counter value for the ring counter.
• Valid (Normal data)
Operation
cycle
Estimate line
Word device data
Latch data
t
Mark detection signal
• Valid (Ring counter)
Operation
cycle
Ring counter value
Latch data
Estimate line
Word device data
t
Mark detection signal
Note) If "Valid (Normal data)" is selected for word device data updated as a ring
counter, the latch data may not be estimated correctly.
b) Estimate calculation : Invalid
Calculation for word device data in operation cycle is not estimated.
The latch data is the word device data at the timing in which the
mark detection signal is input. The detection accuracy is the
operation cycle regardless of the mark detection signal type.
Operation
cycle
Word device data
Latch data
t
Mark detection signal
APP - 34
APPENDICES
(e) Mark detection data storage device
Set the mark detection data storage device (first device to use in the
"Specified Number of Detections mode" or "Ring Buffer mode").
When using the "Specified Number of Detections mode" or "Ring Buffer
mode", reserve the device area to accommodate the number of detections.
Word device
D
W
(Note-1)
Setting range
Remarks
0 to 8191
0 to 1FFF
—
(Note-2)
#
0 to 9215
U \G
10000 to (10000+p-1)
(Note-3)
(Note-1): Set an even numbered device in the 32-bit integer type/64-bit floating-point type.
(Note-2): The data can be stored in #9216 to #12287 in the "Specified Number of Detections mode"
or "Ring Buffer mode".
(Note-3): "p" indicates the user setting area points of the Multiple CPU high speed transmission area
for each CPU.
(f) Mark detection data range
When the data at mark detection is within the range, they are stored in the
mark detection data storage device and the number of mark detections
counter is incremented by 1.
• Upper value > Lower value
The mark detection is executed when the mark detection data is "greater or
equal to the lower value and less than or equal to the upper value".
Lower value
Upper value
• Upper value < Lower value
The mark detection is executed when the mark detection data is " greater
or equal to the lower value or less than or equal to the upper value".
Lower limit
value
Upper limit
value
• Upper value = Lower value
The mark detection range is not checked. The mark detection is always
executed.
APP - 35
APPENDICES
1) Direct designation
Data type
Setting range
16-bit integer type
K-32768 to K32767, H0000 to HFFFF
32-bit integer type
K-2147483648 to K2147483647, H00000000 to HFFFFFFFF
64-bit floating-point type K-1.79E+308 to K-2.23E-308, K0, K2.23E-308 to K1.79E+308
2) Indirect designation
(Note-1)
Setting range
Word device
D
0 to 8191
W
0 to 1FFF
#
Remarks
The setting value is input for every
operation cycle.
0 to 9215
(Note-2)
10000 to (10000+p-1)
U \G
(Note-1): Set an even numbered device in the 32-bit integer type/64-bit floating-point type.
(Note-2): "p" indicates the user setting area points of the Multiple CPU high speed transmission area
for each CPU.
(g) Mark detection mode setting
Set the data storage method of mark detection.
1) Direct designation
Mode
Continuous
detection mode
Number of
detections
Operation for mark detection
—
Always
Specified number
of detection mode
1 to 8192
Ring buffer mode
1 to 8192
Number of detections
(If the number of mark detections
counter is the number of detections
or more, the mark detection is not
executed.)
Always
(The mark detection data storage
device is used as a ring buffer for
the number of detections.)
Mark detection data storage method
The data is updated in the mark
detection data storage device.
The data is stored in the following
device area.
"Mark detection data storage device
+ Number of mark detections
counter ×Mark detection data size"
2) Indirect designation
Word device
Setting range
Remarks
D
0 to 8191
W
0 to 1FFF
#
0 to 9215
• Used as 1 word device.
• Set the mark detection mode using the following setting values.
0
: Continuous detection mode
1 to 8192 : Specified number of detection mode
(Use the setting value for the number of
detections.)
-8192 to -1 : Ring buffer mode
(When the value is a negative number, the Ring
Buffer mode is used.)
ex.) -100 means Ring Buffer mode and number
of buffer is 100.
Others
: Mark detection : Invalid
• The setting value is input for every operation cycle.
U \G
(Note-1)
10000 to (10000+p-1)
(Note-1): "p" indicates the user setting area points of the Multiple CPU high speed transmission area for each CPU.
APP - 36
APPENDICES
(h) Number of mark detections counter
The counter value is incremented by 1 at mark detection. Preset the initial
value (0, etc.) in the user program to execute the mark detection in
"Specified Number of Detections mode" or "Ring Buffer mode".
This setting can be ignored when the continuous detection mode is selected.
Word device
Setting range
Remarks
D
0 to 8191
• Used as 1 word device.
W
0 to 1FFF
• The counter is updated as follows after the mark
#
0 to 9215
detection data storage.
Continuous detection mode: 0 to 65535
The counter value is incremented by 1.
It returns to 0 when the counter value exceeds 65535.
Specified number of detection mode: 0 to (number of
U \G
detections)
(Note-1)
10000 to (10000+p-1)
The counter value is incremented by 1.
Ring buffer mode : 0 to (number of buffers -1)
The counter value is incremented by 1.
It returns to 0 when the counter value reaches the set
number of buffers or more.
(Note-1): "p" indicates the user setting area points of the Multiple CPU high speed transmission area for each CPU.
(i) Mark detection current value monitor device
The current value of mark detection data can be monitored.
This setting can be ignored.
Word device
(Note-1)
Setting range
D
0 to 8191
W
0 to 1FFF
#
0 to 9215
U \G
Remarks
The monitor value is updated for
every operation cycle.
(Note-2)
10000 to (10000+p-1)
(Note-1): Set an even number as device in the 32-bit integer type/64-bit floating-point type.
(Note-2): "p" indicates the user setting area points of the Multiple CPU high speed transmission area
for each CPU.
(j) Mark detection signal status
The ON/OFF status of mark detection signal can be monitored.
This setting can be ignored.
Bit device
Setting range
X
0 to 1FFF
Y
0 to 1FFF
M
0 to 8191
B
0 to 1FFF
U \G
Remarks
The ON/OFF status is reflected for
every operation cycle.
(Note-1)
10000.0 to (10000+p-1).F
(Note-1): Set an even number as device in the 32-bit integer type/64-bit floating-point type.
APP - 37
APPENDICES
APPENDIX 2 Creation of project
There are following methods to create the Q170MCPU project.
(1) Create the new project.
(2) Convert the project for Q17 DCPU/Q17 HCPU(-T)/Q17 CPUN(-T)/
Q17 CPU.
(3) Create the new project using the sample data.
Refer to the help of MT Developer2 for creation method of project.
The contents to create the project using the sample data describes in APPENDIX 2.1.
APP - 38
APPENDICES
APPENDIX 2.1 Sample data
An easy setting can be achieved for the parameter setting such as the automatic
refresh setting of Multiple CPU setting and I/O assignment setting by using the sample
data.
Creation of project using the sample data is suitable for the machine control in the
sequence program.
The sample data have two types (Motion CPU area, PLC CPU area).
(1) Overview
(a) Multiple CPU setting
An easy setting can be achieved for the automatic refresh setting of
positioning dedicated signal between the PLC CPU area and Motion CPU
area.
(b) I/O assignment setting
The main base of eight slots or equivalent is built into the Q170MCPU.
All points of "empty slot" not used on the main base are set to "0" point by
the sample data.
(c) Device comment
The name of positioning dedicated signal can be used as the device
comment of the sequence program.
(2) How to use
The following methods to use the sample data are shown below.
• Divert the sample data.
• Overwrite the sample data to the created project.
(3) Setting description
Outline of overwrite sample data is shown table below.
Add the extension base units and each module according to the system.
Refer to this section (7) for details of the sample data.
CPU area
Item
Project name
Description
SV13
SV22
• Extension base
Stage1, Stage 2
• Multiple CPU high speed transmission area Q170M_SV13_MT2 Q170M_SV22_MT2
Multiple CPU
setting
setting
• Automatic refresh setting of CPU No.1, 2
• Base setting
No. of slots for the base unit used
I/O
• I/O assignment
assignment
Unit types, I/O points, I/O number
• Base mode setting
PLC system Points occupied by empty slot
Q170M_SV13_GX1 Q170M_SV22_GX1
• No. of PLC
Multiple CPU • Multiple CPU high speed transmission area
settings
setting
• Auto refresh setting of CPU No.1, 2
Programming
software package
Base setting
Motion CPU
area
PLC CPU
area
Device
comment
Set the name of positioning dedicated signal
to the comment of device.
APP - 39
MT Developer2
GX Developer
APPENDICES
(4) Precautions
(a) By using the sample data, the positioning dedicated signals of the Motion
CPU area are changed to the device value of PLC CPU area by the
automatic refresh. It needs to set again the automatic refresh setting after
rewriting the sample data to transmit the data to the positioning dedicated
signal using the Motion SFC program.
(b) The existing data are overwritten and erased by diverting the sample data to
the created project.
(5) Procedure for project creation
(a) When the sample data is diverted.
1) Motion CPU area
START
Start-up MT Developer2.
Open a project of sample data.
Save projects under the specified
name.
Sample data
Save folder
C:\Program Files\MELSOFT\MTD2\SampleData\MT2
Project name
SV13: Q170M_SV13_MT2
SV22: Q170M_SV22_MT2
END
2) PLC CPU area
START
Start-up GX Developer.
Open a project of sample data.
Save projects under the specified
name.
END
APP - 40
Sample data
Save folder
C:\Program Files\MELSOFT\MTD2\SampleData\GX1
Project name
SV13: Q170M_SV13_GX1
SV22: Q170M_SV22_GX1
APPENDICES
(b) When the sample data is overwritten to the created project.
1) Motion CPU area
START
Start-up MT Developer2.
Create the project.
Divert the following sample data
in the basic setting of System
setting.
Base setting
Multiple CPU setting
Sample data
Save folder
C:\Program Files\MELSOFT\MTD2\SampleData\MT2
Project name
SV13: Q170M_SV13_MT2
SV22: Q170M_SV22_MT2
END
2) PLC CPU area
START
Start-up GX Developer.
Create the project.
Divert the following sample data
in the Multiple CPU settings or I/O
assignment of PLC parameter.
I/O assignment
PLC system
Multiple CPU settings
Divert the following sample data
by making a copy of project.
Device comment
Sample data
Save folder
C:\Program Files\MELSOFT\MTD2\SampleData\GX1
Project name
SV13: Q170M_SV13_GX1
SV22: Q170M_SV22_GX1
Diversion file
"COMMENT" of device comment
END
POINT
The existing data are overwritten and erased by diverting the sample data to the
created project.
APP - 41
APPENDICES
(6) Operation procedure for sample data
Refer to the help of MT Developer2 for details.
(a) Motion CPU area (MT Developer2)
1) Multiple CPU setting
a) Diversion of sample data
Divert the sample data by selecting the [Import Multiple CPU
Parameter] button of the base setting or Multiple CPU setting of the
basic setting of system setting.
Select the [Import Multiple
CPU Parameter] button
b) Confirm the sample data
Compare the Automatic Refresh Setting List screen with the
contents of this section (7), and then confirm the sample data are
diverted correctly.
Data of automatic
refresh
APP - 42
APPENDICES
(b) PLC CPU area (GX Developer)
1) Multiple CPU settings / I/O assignment
a) Diversion of sample data
Divert the sample data by selecting the [Import Multiple CPU
Parameter] button of the Multiple CPU settings or I/O assignment of
the PLC parameter setting.
Select the [Import Multiple
CPU Parameter] button
APP - 43
APPENDICES
b) Confirm the sample data
Compare the Auto refresh settings screen with the contents of this
section (7), and then confirm the sample data are diverted correctly.
• Multiple CPU settings
Data of automatic
refresh
• I/O assignment
Points occupied by
empty slot
Number of slots of the
main base
APP - 44
APPENDICES
2) Device comment
The device comment data is allocated in the Multiple CPU high speed
transmission area setting for the positioning dedicated signal.
The device can be used while confirming the comment to execute the
control for the Motion CPU area in the PLC CPU area.
a) Select the device comment "COMMENT" on the copy screen
displayed by [Project] – [Copy] of menu bar of device comment.
Select the "COMMENT"
APP - 45
APPENDICES
(7) Description of sample data
(a) Motion CPU area
1) SV13 (Q170M_SV13_MT2)
a) Base setting
Setting items
Extension base
Description
Stage 1
Nothing
Stage 2
Nothing
b) Multiple CPU setting
Setting items
Description
Operating mode
All station stop by stop error of CPU 1/2
Multiple CPU synchronous startup setting
Set CPU No. 1/2 to synchronous startup
c) Multiple CPU high speed transmission area setting
CPU specific send range
CPU
User setting area
Points (k)
Automatic refresh
Points
Start
End
Points
No.1
7
7022
G10000
G17021
146
No.2
7
6482
G10000
G16481
686
d) Automatic refresh setting
• CPU No.1 (Receive)
Setting No.
Automatic refresh
CPU specific send range(U3E0\)
Points
Start
End
Start
End
1
28
M3072
M3519
G17022
G17049
2
118
D640
D757
G17050
G17167
• CPU No.2 (Send)
Setting No.
Automatic refresh
CPU specific send range(U3E1\)
Points
Start
End
Start
End
1
46
M2000
M2735
G16482
G16527
2
320
D0
D319
G16528
G16847
3
320
#8000
#8319
G16848
G17167
APP - 46
APPENDICES
2) SV22 (Q170M_SV22_MT2)
a) Base setting
Setting items
Extension base
Description
Stage 1
Nothing
Stage 2
Nothing
b) Multiple CPU setting
Setting items
Description
Operating mode
All station stop by stop error of CPU 1/2
Multiple CPU synchronous startup setting
Set CPU No. 1/2 to synchronous startup
c) Multiple CPU high speed transmission area setting
CPU specific send range
CPU
User setting area
Points (k)
Automatic refresh
Points
Start
End
Points
No.1
7
6980
G10000
G16979
188
No.2
7
5840
G10000
G15839
1328
d) Automatic refresh setting
• CPU No.1 (Receive)
Setting No.
Automatic refresh
CPU specific send range(U3E0\)
Points
Start
End
Start
End
28
M3072
M3519
G16980
G17007
2
42
M4800
M5471
G17008
G17049
3
118
D640
D757
G17050
G17167
1
• CPU No.2 (Send)
Setting No.
Automatic refresh
CPU specific send range(U3E1\)
Points
Start
End
Start
End
1
46
M2000
M2735
G15840
G15885
2
42
M4000
M4671
G15886
G15927
3
320
D0
D319
G15928
G16247
4
600
D800
D1399
G16248
G16847
5
320
#8000
#8319
G16848
G17167
APP - 47
APPENDICES
(b) PLC CPU area
1) SV13 (Q170M_SV13_GX1)
a) I/O assignment
• I/O assignment
Setting items
Slot
Description
PLC
Type
PLC
PLC No.1 PLC No.2
Points
Start XY
Switch
setting
Detailed
setting
3E00
3E10
1
2
3
4
5
6
7
Empty
Empty
Empty
Empty
Empty
Empty
Empty
0 point
0 point
0 point
0 point
0 point
0 point
0 point
0000
0000
0000
0000
0000
0000
0000
Switch 1
—
—
—
—
—
—
—
Switch 2
—
—
—
—
—
—
—
Switch 3
—
—
—
—
—
—
—
Switch 4
—
—
—
—
—
—
—
Switch 5
—
—
—
—
—
—
—
Error time output mode
—
—
—
—
—
—
—
—
—
Hardware error time
PLC operation mode
—
—
—
—
—
—
—
—
—
I/O response time
—
—
—
—
—
—
—
—
—
Control PLC
—
—
PLC No.1 PLC No.1 PLC No.1 PLC No.1 PLC No.1 PLC No.1 PLC No.1
• Base setting
Setting items
Description
Slots (Main)
8
Base mode
Detail
b) Multiple CPU settings
Setting items
1
No. of PLC
2
Host CPU number
3
Operating mode
4
Multiple CPU synchronous startup setting
Description
2 modules
No specification
All station stop by stop error of PLC1/PLC2
Check the PLC No.1/PLC No.2
5
Online module change
6
Input sharing when using Multiple CPUs
Not check the Enable online module change with another PLC
Not check the all CPUs can read all inputs
7
Output sharing when using Multiple CPUs
Not check the all CPUs can read all outputs
Use multiple CPU high speed communication
CPU specific send range
8
Multiple CPU high speed transmission
area setting
PLC
User setting area
Auto refresh
point (k)
I/O No.
point
Start
End
point
No.1
7
U3E0
7022
G10000
G17021
146
No.2
7
U3E1
6482
G10000
G16481
686
APP - 48
APPENDICES
c) Auto refresh settings
• PLC No.1
No.
Auto refresh
CPU specific send range(U3E0\)
Point
Start
End
1
28
M3072
M3519
2
118
D640
D757
Start
End
—
G17022
G17049
—
G17050
G17167
• PLC No.2
No.
Auto refresh
CPU specific send range(U3E1\)
Point
Start
End
46
M2000
M2735
1
—
Start
End
G16482
G16527
2
320
D0
D319
—
G16528
G16847
3
320
D8000
D8319
—
G16848
G17167
d) PLC system setting
Only "Points occupied by empty slot" is overwritten at the sample
data diversion. The content before sample data diversion are
retained without rewriting for the other data.
Setting items
Low speed
100ms
High speed
10.00ms
1
Timer limit setting
2
RUN-PAUSE contacts
3
Latch data backup operation valid contact
4
Remote reset
5
Output mode at STOP to RUN
Description
RUN
Not used
PAUSE
Not used
Not used
Not checked
Check the Previous state
6
Floating point arithmetic processing
7
Intelligent function module setting
8
Module synchronization
—
Not used
Check the Synchronize intelligent module's pulse up
9
Common pointer No.
Not used
10
Points occupied by empty slot
16 points
Interrupt counter start No.
11
System interrupt settings
—
I28 Fixed scan interval
100.0ms
I29 Fixed scan interval
40.0ms
I30 Fixed scan interval
20.0ms
I31 Fixed scan interval
12
Interrupt program / Fixed scan program setting
13
A-PLC
14
Service processing setting
15
CPU module change setting
10.0ms
Not check the High speed execution
Not checked
Scan time rate
10%
Not used
APP - 49
APPENDICES
2) SV22 (Q170M_SV22_GX1)
a) I/O assignment
• I/O assignment
Setting items
Slot
Description
PLC
1
2
3
4
5
6
7
Empty
Empty
Empty
Empty
Empty
Empty
Empty
0 point
0 point
0 point
0 point
0 point
0 point
0 point
0000
0000
0000
0000
0000
0000
0000
Switch 1
—
—
—
—
—
—
—
Switch 2
—
—
—
—
—
—
—
Switch 3
—
—
—
—
—
—
—
Switch 4
—
—
—
—
—
—
—
Switch 5
—
—
—
—
—
—
—
Type
PLC
PLC No.1 PLC No.2
Points
Start XY
Switch
setting
Detailed
setting
3E00
3E10
Error time output mode
—
—
—
—
—
—
—
—
—
Hardware error time
PLC operation mode
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
I/O response time
—
—
Control PLC
—
—
PLC No.1 PLC No.1 PLC No.1 PLC No.1 PLC No.1 PLC No.1 PLC No.1
• Base setting
Setting items
Description
Slots (Main)
8
Base mode
Detail
b) Multiple CPU setting
Setting items
Description
1
No. of PLC
2 modules
2
Host CPU number
3
Operating mode
4
Multiple CPU synchronous startup setting
5
Online module change
6
Input sharing when using Multiple CPUs
Not check the all CPUs can read all inputs
7
Output sharing when using Multiple CPUs
Not check the all CPUs can read all outputs
No specification
All station stop by stop error of PLC1/PLC2
Check the PLC No.1/PLC No.2
Not check the Enable online module change with another PLC
Use multiple CPU high speed communication
CPU specific send range
8
Multiple CPU high speed transmission
area setting
PLC
User setting area
point (k)
I/O No.
point
Start
Auto refresh
End
point
No.1
7
U3E0
6980
G10000
G16979
188
No.2
7
U3E1
5840
G10000
G15839
1328
APP - 50
APPENDICES
c) Auto refresh settings
• PLC No.1
No.
Auto refresh
CPU specific send range(U3E0\)
Point
Start
End
Start
End
1
28
M3072
M3519
—
G16980
G17007
2
42
M4800
M5471
—
G17008
G17049
3
118
D640
D757
—
G17050
G17167
• PLC No.2
No.
Auto refresh
CPU specific send range(U3E1\)
Point
Start
End
Start
End
1
46
M2000
M2735
—
G15840
G15885
2
42
M4000
M4671
—
G15886
G15927
3
320
D0
D319
—
G15928
G16247
4
600
D800
D1399
—
G16248
G16847
5
320
D8000
D8319
—
G16848
G17167
d) PLC system
Only "Points occupied by empty slot" is overwritten at the sample
data diversion. The content before sample data diversion are
retained without rewriting for the other data.
Setting items
Description
Low speed
100ms
High speed
10.00ms
1
Timer limit setting
2
RUN-PAUSE contacts
3
Latch data backup operation valid contact
4
Remote reset
5
Output mode at STOP to RUN
RUN
Not used
PAUSE
Not used
Not used
Not checked
Check the Previous state
6
Floating point arithmetic processing
7
Intelligent function module setting
—
Not used
8
Module synchronization
9
Common pointer No.
Check the Synchronize intelligent module's pulse up
Not used
10
Points occupied by empty slot
16 points
Interrupt counter start No.
11
System interrupt settings
—
I28 Fixed scan interval
100.0ms
I29 Fixed scan interval
40.0ms
I30 Fixed scan interval
20.0ms
I31 Fixed scan interval
12
Interrupt program / Fixed scan program setting
13
A-PLC
14
Service processing setting
15
CPU module change setting
10.0ms
Not check the High speed execution
Not checked
Scan time rate
10%
Not used
APP - 51
APPENDICES
(8) Automatic refresh of sample data
The data to the internal relay and data register of PLC CPU area are transmitted
to the positioning dedicated signals of Motion CPU area via the Multiple CPU
high speed transmission area.
The positioning dedicated signals of Motion CPU area can be controlled by only
control of the sequence program of PLC CPU area.
And, add the special relays, special registers and user devices to the parameters
of automatic refresh if required.
The flow for the data of automatic refresh that uses the sample data is shown
below.
(Example) SV13 use
PLC CPU area (CPU No.1)
Motion CPU area (CPU No.2)
Multiple CPU high speed
transmission area
U3E0\G10000
M2000
M2735
M2736
ce
p ro
ing
ss
M3519
M2000
Axis status
Automatic
refresh area
U3E1\G10000
U3E1\G10000
CPU No.2
transmitting data
CPU No.2
receiving data
ess
roc
Dp
EN
END processing
M2735
cy
c le
Automatic
refresh area
Transfer
in 0.88ms
cycle
M2736
M3071
M3072
M3519
Automatic
refresh area
M8191
Main cycle
Data register
D0
D319
D320
D320
D639
D639
D640
D640
D757
Axis monitor
device
Control change
register
D758
Ma
EN
D
D758
pr
oc
es
sin
g
D319
D757
Axis command
signal
M3520
e
ycl
Data register
D0
Ma
in
in c
Ma
ing
M3520
M1999
cy
cle
M3072
D
EN
Automatic
refresh area
Transfer
in 0.88ms
cycle
D
EN
M3071
ing
ss
ce
o
r
p
M0
CPU No.1
receiving data
CPU No.1
transmitting data
M1999
Internal relay
U3E0\G10000
Ma
in
Internal relay
M0
Multiple CPU high speed
transmission area
e
ycl
in c
D7999
D8000
D8319
D8191
Motion device
#0
D8320
#7999
#8000
Monitor device
#8319
#8320
#12287
APP - 52
APPENDICES
APPENDIX 3 Processing Times
APPENDIX 3.1 Processing time of operation control/Transition instruction
(1) Operation instructions
Processing time of operation instructions
Classifications
Symbol
Instruction
Operation expression
#0=#1
D800=D801
U3E1\G10000=U3E1\G10001
#0L=#2L
=
Substitution
D800L=D802L
Processing time [µs]
Q170MCPU
1.5
2.0
1.5
U3E1\G10000L=U3E1\G10002L
#0F=#4F
2.0
D800F=D804F
U3E1\G10000F=U3E1\G10004F
#0=#1+#2
D800=D801+D802
U3E1\G10000=U3E1\G10001+U3E1\G10002
#0L=#2L+#4L
+
Addition
D800L=D802L+D804L
U3E1\G10000L=U3E1\G10002L+U3E1\G10004L
#0F=#4F+#8F
D800F=D804F+D808F
U3E1\G10000F=U3E1\G10004F+U3E1\G10008F
#0=#1-#2
Binary
operation
D800=D801-D802
U3E1\G10000=U3E1\G10001-U3E1\G10002
#0L=#2L-#4L
-
Subtraction
D800L=D802L-D804L
U3E1\G10000L=U3E1\G10002L-U3E1\G10004L
#0F=#4F-#8F
D800F=D804F-D808F
U3E1\G10000F=U3E1\G10004F-U3E1\G10008F
#0=#1*#2
D800=D801*D802
U3E1\G10000=U3E1\G10001*U3E1\G10002
#0L=#2L*#4L
*
Multiplication
D800L=D802L*D804L
U3E1\G10000L=U3E1\G10002L*U3E1\G10004L
#0F=#4F*#8F
D800F=D804F*D808F
U3E1\G10000F=U3E1\G10004F*U3E1\G10008F
#0=#1/#2
/
Division
D800=D801/D802
U3E1\G10000=U3E1\G10001/U3E1\G10002
APP - 53
3.0
2.0
3.0
2.5
3.5
3.0
4.5
2.5
3.5
2.5
3.5
3.0
5.0
2.5
4.0
2.5
4.0
3.5
5.0
2.5
3.5
APPENDICES
Processing time of operation instructions (continued)
Classifications
Symbol
Instruction
Operation expression
#0L=#2L/#4L
D800L=D802L/D804L
/
Division
Processing time [µs]
Q170MCPU
2.5
U3E1\G10000L=U3E1\G10002L/U3E1\G10004L
#0F=#4F/#8F
3.5
D800F=D804F/D808F
Binary
operation
U3E1\G10000F=U3E1\G10004F/U3E1\G10008F
#0=#1%#2
D800=D801%D802
%
Remainder
U3E1\G10000=U3E1\G10001%U3E1\G10002
#0L=#2L%#4L
D800L=D802L%D804L
U3E1\G10000L=U3E1\G10002L%U3E1\G10004L
#0=~#1
D800=~D801
~
Bit inversion
(complement)
U3E1\G10000=~U3E1\G10001
#0L=~#2L
D800L=~D802L
U3E1\G10000L=~U3E1\G10002L
#0=#1&#2
D800=D801&D802
&
Bit logical AND
U3E1\G10000=U3E1\G10001&U3E1\G10002
#0L=#2L&#4L
D800L=D802L&D804L
U3E1\G10000L=U3E1\G10002L&U3E1\G10004L
#0=#1|#2
D800=D801|D802
|
Bit logical OR
U3E1\G10000=U3E1\G10001|U3E1\G10002
#0L=#2L|#4L
D800L=D802L|D804L
U3E1\G10000L=U3E1\G10002L|U3E1\G10004L
Bit operation
#0=#1^#2
D800=D801^D802
^
Bit exclusive OR
U3E1\G10000=U3E1\G10001^U3E1\G10002
#0L=#2L^#4L
D800L=D802L^D804L
U3E1\G10000L=U3E1\G10002L^U3E1\G10004L
#0=#1>>#2
D800=D801>>D802
>>
Bit right shift
U3E1\G10000=U3E1\G10001>>U3E1\G10002
#0L=#2L>>#4L
D800L=D802L>>D804L
U3E1\G10000L=U3E1\G10002L>>U3E1\G10004L
#0=#1<<#2
D800=D801<<D802
<<
Bit left shift
U3E1\G10000=U3E1\G10001<<U3E1\G10002
#0L=#2L<<#4L
D800L=D802L<<D804L
U3E1\G10000L=U3E1\G10002L<<U3E1\G10004L
APP - 54
4.5
2.5
3.0
2.5
3.5
1.5
2.0
1.5
2.5
2.5
3.5
2.0
3.5
2.0
3.0
2.0
3.0
2.0
3.0
2.0
3.0
2.5
3.5
2.5
3.0
2.0
3.5
2.0
3.0
APPENDICES
Processing time of operation instructions (continued)
Classifications
Symbol
Instruction
Operation expression
#0=-#1
D800=-D812
U3E1\G10000=-U3E1\G10001
Sign
-
Sign inversion
(complement of 2)
#0L=-#2L
D800L=-D802L
U3E1\G10000L=-U3E1\G10002L
#0F=-#4F
D800F=-D804F
U3E1\G10000F=-U3E1\G10004F
#0F=SIN(#4F)
SIN
Sine
D800F=SIN(D804F)
U3E1\G10000F=SIN(U3E1\G10004F)
#0F=COS(#4F)
COS
Cosine
D800F=COS(D804F)
U3E1\G10000F=COS(U3E1\G10004F)
#0F=TAN(#4F)
TAN
Tangent
D800F=TAN(D804F)
U3E1\G10000F=TAN(U3E1\G10004F)
#0F=ASIN(#4F)
ASIN
Arcsine
D800F=ASIN(D804F)
U3E1\G10000F=ASIN(U3E1\G10004F)
#0F=ACOS(#4F)
ACOS
Arccosine
D800F=ACOS(D804F)
U3E1\G10000F=ACOS(U3E1\G10004F)
#0F=ATAN(#4F)
ATAN
Arctangent
D800F=ATAN(D804F)
U3E1\G10000F=ATAN(U3E1\G10004F)
Standard
function
#0F=SQRT(#4F)
SQRT
Square root
D800F=SQRT(D804F)
U3E1\G10000F=SQRT(U3E1\G10004F)
Processing time [µs]
Q170MCPU
1.5
2.5
2.0
2.5
2.0
3.0
4.5
5.5
4.5
5.5
6.0
7.0
12.5
14.5
10.5
11.5
4.5
6.0
2.5
3.5
#0F=LN(#4F)
LN
Natural logarithm
D800F=LN(D804F)
5.5
U3E1\G10000F=LN(U3E1\G10004F)
#0F=EXP(#4F)
EXP
Exponential operation
D800F=EXP(D804F)
U3E1\G10000F=EXP(U3E1\G10004F)
#0F=ABS(#4F)
ABS
Absolute value
D800F=ABS(D804F)
U3E1\G10000F=ABS(U3E1\G10004F)
#0F=RND(#4F)
RND
Round-off
D800F=RND(D804F)
U3E1\G10000F=RND(U3E1\G10004F)
#0F=FIX(#4F)
FIX
Round-down
D800F=FIX(D804F)
U3E1\G10000F=FIX(U3E1\G10004F)
#0F=FUP(#4F)
FUP
Round-up
D800F=FUP(D804F)
U3E1\G10000F=FUP(U3E1\G10004F)
APP - 55
4.0
4.5
2.0
3.0
2.5
3.5
2.5
3.5
2.5
3.5
APPENDICES
Processing time of operation instructions (continued)
Classifications
Symbol
Instruction
Operation expression
#0=BIN(#1)
D800=BIN(D801)
BIN
BCD→BIN conversion
Processing time [µs]
Q170MCPU
2.0
U3E1\G10000=BIN(U3E1\G10001)
#0L=BIN(#2L)
2.5
D800L=BIN(D802L)
Standard
function
U3E1\G10000L=BIN(U3E1\G10002L)
#0=BCD(#1)
D800=BCD(D801)
BCD
BIN→BCD conversion
U3E1\G10000=BCD(U3E1\G10001)
#0L=BCD(#2L)
D800L=BCD(D802L)
U3E1\G10000L=BCD(U3E1\G10002L)
#0=SHORT(#2L)
SHORT
Converted into 16-bit
integer type
(signed)
D800=SHORT(D802L)
#0=SHORT(#4F)
D800=USHORT(D802L)
#0=USHORT(#4F)
D800L=LONG(D802)
U3E1\G10000L=LONG(U3E1\G10002)
#0L=LONG(#4F)
D800L=LONG(D804F)
U3E1\G10000L=LONG(U3E1\G10004F)
#0L=ULONG(#2)
ULONG
Converted into 32-bit
integer type
(unsigned)
D800L=ULONG(D802)
U3E1\G10000L=ULONG(U3E1\G10002)
#0L=ULONG(#4F)
D800L=ULONG(D804F)
U3E1\G10000L=ULONG(U3E1\G10004F)
#0F=FLOAT(#4)
FLOAT
Converted into 64-bit
floating point type
(signed)
D800F=FLOAT(D804)
U3E1\G10000F=FLOAT(U3E1\G10004)
#0F=FLOAT(#4L)
D800F=FLOAT(D804L)
U3E1\G10000F=FLOAT(U3E1\G10004L)
#0F=UFLOAT(#4)
Converted into 64-bit
UFLOAT floating point type
(unsigned)
3.5
2.0
2.5
3.5
2.0
2.5
D800=USHORT(D804F)
#0L=LONG(#2)
Type
conversion
2.5
U3E1\G10000=USHORT(U3E1\G10002L)
U3E1\G10000=USHORT(U3E1\G10004F)
LONG
3.0
D800=SHORT(D804F)
#0=USHORT(#2L)
Converted into 32-bit
integer type
(signed)
2.0
U3E1\G10000=SHORT(U3E1\G10002L)
U3E1\G10000=SHORT(U3E1\G10004F)
Converted into 16-bit
USHORT integer type
(unsigned)
3.0
D800F=UFLOAT(D804)
U3E1\G10000F=UFLOAT(U3E1\G10004)
#0F=UFLOAT(#4L)
D800F=UFLOAT(D804L)
U3E1\G10000F=UFLOAT(U3E1\G10004L)
APP - 56
3.5
2.0
2.5
3.0
3.5
2.0
2.5
3.0
4.0
2.0
2.5
2.0
3.0
2.0
2.5
2.0
2.5
APPENDICES
Processing time of operation instructions (continued)
Classifications
Symbol
Instruction
Operation expression
SET M1000 = M0
(None)
SET M1000 = X100
ON (normally open
contact)
SET M1000 = PX0
(Completion of condition)
Bit device
status
SET M1000 = U3E1\G10000.0
SET M1000 = !M0
!
SET
RST
SET M1000 = !X100
OFF (normally closed
contact)
SET M1000 = !PX0
(Completion of condition)
Device set
Device reset
2.5
RST M1000
2.0
RST Y100
2.5
RST PY0
3.0
DOUT M0,#0
3.0
DOUT Y100,#0L
Logical AND
4.0
4.5
5.5
5.5
2.5
(Note)
(Note)
10.5
4.0
2.5
OUT Y0 = M0
3.0
4.0
4.0
OUT U3E1\G10000.0 = M0
3.5
SET M1000 = M0*M1
3.0
SET M1000 = U3E1\G10000.0*U3E1\G10000.1
(Note)
8.0
4.0
OUT M100 = M0
SET M1000 = PX0*PX1
(Note)
3.0
3.0
SET M1000 = X100*X101
*
(Note)
4.0
DIN #0L,X0
OUT PY0 = M0
(Note)
2.5
DIN #0,X0
DIN #0L,PX0
Logical
operation
3.5
4.0
RST U3E1\G11000.0
DIN #0,PX0
Bit device output
3.5
4.0
SET U3E1\G11000.0
DIN #0L,M0
OUT
7.0
4.0
2.5
DIN #0,M0
Device input
3.0
2.0
SET PY0
(Note)
3.5
SET Y100
DOUT PY0,#0L
DIN
4.5
3.5
DOUT PY0,#0
Bit device
control
3.5
7.5
SET M1000
DOUT Y100,#0
Device output
2.5
SET M1000 = !U3E1\G10000.0
DOUT M0,#0L
DOUT
Processing time [µs]
Q170MCPU
(Note)
(Note)
4.0
10.0
4.5
(Note)
3.5
(Note): The processing time that the I/O modules (PX/PY) are used with the Q170MCPU's internal I/F (DI/DO).
APP - 57
APPENDICES
Processing time of operation instructions (continued)
Classifications
Symbol
Instruction
Operation expression
SET M1000 = M0+M1
Logical
operation
SET M1000 = X100+X101
+
Logical OR
SET M1000 = PX0+PX1
SET M1000 = U3E1\G10000.0+U3E1\G10000.1
SET M1000 = #0==#1
SET M1000 = D800==D801
SET M1000 = U3E1\G10000==U3E1\G10001
SET M1000 = #0L==#2L
==
Equal to
SET M1000 = D800L==D802L
(Completion of condition)
SET M1000 = U3E1\G10000L==U3E1\G10002L
SET M1000 = #0F==#4F
Processing time [µs]
Q170MCPU
3.0
3.5
11.0
5.5
(Note)
3.5
3.5
4.5
4.0
4.5
SET M1000 = D800F==D804F
SET M1000 = U3E1\G10000F==U3E1\G10004F
SET M1000 = #0!=#1
SET M1000 = D800!=D801
SET M1000 = U3E1\G10000!=U3E1\G10001
SET M1000 = #0L!=#2L
!=
Not equal to
SET M1000 = D800L!=D802L
(Completion of condition)
SET M1000 = U3E1\G10000L!=U3E1\G10002L
SET M1000 = #0F!=#4F
6.0
4.0
4.5
4.0
4.5
SET M1000 = D800F!=D804F
Comparison
operation
SET M1000 = U3E1\G10000F!=U3E1\G10004F
SET M1000 = #0<#1
SET M1000 = D800<D801
SET M1000 = U3E1\G10000<U3E1\G10001
SET M1000 = #0L<#2L
<
Less than
SET M1000 = D800L<D802L
(Completion of condition)
SET M1000 = U3E1\G10000L<U3E1\G10002L
SET M1000 = #0F<#4F
6.0
4.0
4.5
4.0
4.5
SET M1000 = D800F<D804F
SET M1000 = U3E1\G10000F<U3E1\G10004F
SET M1000 = #0<=#1
SET M1000 = D800<=D801
SET M1000 = U3E1\G10000<=U3E1\G10001
SET M1000 = #0L<=#2L
<=
Less than or equal to
SET M1000 = D800L<=D802L
(Completion of condition)
SET M1000 = U3E1\G10000L<=U3E1\G10002L
SET M1000 = #0F<=#4F
6.0
3.5
4.5
4.0
4.5
SET M1000 = D800F<=D804F
SET M1000 = U3E1\G10000F<=U3E1\G10004F
6.0
(Note): The processing time that the I/O modules (PX/PY) are used with the Q170MCPU's internal I/F (DI/DO).
APP - 58
APPENDICES
Processing time of operation instructions (continued)
Classifications
Symbol
Instruction
Operation expression
SET M1000 = #0>#1
SET M1000 = D800>D801
SET M1000 = U3E1\G10000>U3E1\G10001
SET M1000 = #0L>#2L
>
More than
SET M1000 = D800L>D802L
(Completion of condition)
SET M1000 = U3E1\G10000L>U3E1\G10002L
SET M1000 = #0F>#4F
Processing time [µs]
Q170MCPU
4.0
4.5
4.0
4.5
SET M1000 = D800F>D804F
Comparison
operation
SET M1000 = U3E1\G10000F>U3E1\G10004F
SET M1000 = #0>=#1
SET M1000 = D800>=D801
SET M1000 = U3E1\G10000>=U3E1\G10001
SET M1000 = #0L>=#2L
>=
More than or equal to
SET M1000 = D800L>=D802L
(Completion of condition)
SET M1000 = U3E1\G10000L>=U3E1\G10002L
SET M1000 = #0F>=#4F
SET M1000 = D800F>=D804F
SET M1000 = U3E1\G10000F>=U3E1\G10004F
CHGV(K1,#0)
CHGV(K1,D800)
CHGV
Speed change request
CHGV(K1,U3E1\G10000)
4.0
4.5
4.0
5.0
4.5
6.0
3.5
4.5
CHGV(K1,#0L)
CHGV(K1,D800L)
Motion
dedicated
function
6.0
3.5
CHGV(K1,U3E1\G10000L)
CHGT(K1,#0)
CHGT(K1,D800)
CHGT
Torque limit value change CHGT(K1,U3E1\G10000)
request
CHGT(K1,#0L)
2.0
2.5
CHGT(K1,D800L)
CHGT(K1,U3E1\G10000L)
3.0
0.5
EI
Event task enable
EI
DI
Event task disable
DI
0.5
No operation
NOP
0.5
NOP
BMOV #0,#100,K10
BMOV D800,D100,K10
BMOV U3E1\G10000,U3E1\G10100,K10
BMOV #0,#100,K100
BMOV
Block transfer
BMOV D800,D100,K100
BMOV U3E1\G10000,U3E1\G10100,K100
Others
BMOV N1,#0,K512
BMOV N1,D800,K512
BMOV N1,U3E1\G10000,K512
FMOV #0,#100,K10
FMOV D800,D100,K10
FMOV
Same data block transfer
FMOV U3E1\G10000,U3E1\G10100,K10
FMOV #0,#100,K100
FMOV D800,D100,K100
FMOV U3E1\G10000,U3E1\G10100,K100
APP - 59
5.5
7.5
19.0
28.0
123.5
250.5
3.5
4.0
7.5
5.0
APPENDICES
Processing time of operation instructions (continued)
Classifications
Symbol
Instruction
Operation expression
MULTW H800,#0,K1,M0
MULTW H800,D800,K1,M0
MULTW H800,U3E1\G10000,K1,M0
MULTW H800,#0,K10,M0
MULTW
MULTW H800,D800,K10,M0
Write device data to CPU
MULTW H800,U3E1\G10000,K10,M0
shared memory of the self
MULTW H800,#0,K100,M0
CPU
MULTW H800,D800,K100,M0
MULTW H800,U3E1\G10000,K100,M0
MULTW H800,#0,K256,M0
MULTW H800,D800,K256,M0
MULTW H800,U3E1\G10000,K256,M0
MULTR #0,H3E0,H800,K1
MULTR D800,H3E0,H800,K1
MULTR U3E1\G10000,H3E0,H800,K1
MULTR #0,H3E0,H800,K10
MULTR D800,H3E0,H800,K10
MULTR
Read device data from
CPU shared memory
MULTR U3E1\G10000,H3E0,H800,K10
MULTR #0,H3E0,H800,K100
MULTR D800,H3E0,H800,K100
MULTR U3E1\G10000,H3E0,H800,K100
MULTR #0,H3E0,H800,K256
MULTR D800,H3E0,H800,K256
MULTR U3E1\G10000,H3E0,H800,K256
Others
TO H0,H0,#0,K1
TO H0,H0,D800,K1
TO H0,H0,U3E1\G10000,K1
TO H0,H0,#0,K10
TO H0,H0,D800,K10
TO
TO H0,H0,U3E1\G10000,K10
Write device data to
intelligent function module TO H0,H0,#0,K100
TO H0,H0,D800,K100
TO H0,H0,U3E1\G10000,K100
TO H0,H0,#0,K256
TO H0,H0,D800,K256
TO H0,H0,U3E1\G10000,K256
FROM #0,H0,H0,K1
FROM D800,H0,H0,K1
FROM U3E1\G10000,H0,H0,K1
FROM #0,H0,#0,K10
FROM D800,H0,H0,K10
FROM
FROM U3E1\G10000,H0,H0,K10
Read device data from
intelligent function module FROM #0,H0,#0,K100
FROM D800,H0,H0,K100
FROM U3E1\G10000,H0,H0,K100
FROM #0,H0,H0,K256
FROM D800,H0,H0,K256
FROM U3E1\G10000,H0,H0,K256
APP - 60
Processing time [µs]
Q170MCPU
4.0
5.0
5.5
9.5
23.5
61.0
58.0
151.5
20.5
22.0
30.5
31.5
140.5
152.0
412.0
435.0
18.5
20.5
28.0
30.5
145.5
183.0
432.0
545.0
20.0
19.5
30.0
33.5
188.0
200.5
559.0
577.5
APPENDICES
Processing time of operation instructions (continued)
Classifications
Symbol
Instruction
Operation expression
Processing time [µs]
Q170MCPU
TIME K1
Others
TIME
Time to wait
TIME #0
2.5
TIME D800
TIME U3E1\G10000
APP - 61
3.5
APPENDICES
(2) Transition conditional expressions
Processing time of transition conditional expressions
Classifications
Symbol
Instruction
Operation expression
M0
(None)
X100
ON (Normally open
contact)
PX0
(Completion of condition)
Bit device
status
U3E1\G10000.0
!M0
!
!X100
OFF (Normally closed
contact)
!PX0
(Completion of condition)
!U3E1\G10000.0
M0*M1
X100*X101
*
Logical AND
Logical
operation
PX0*PX1
Logical OR
4.5
2.0
1.5
4.5
2.5
2.0
8.0
3.5
1.5
#0==#1
D800==D801
U3E1\G10000==U3E1\G10001
#0L==#2L
Equal to
D800L==D802L
(Completion of condition)
U3E1\G10000L==U3E1\G10002L
#0F==#4F
(Note)
1.5
2.5
PX0+PX1
(Note)
1.5
M0+M1
U3E1\G10000.0+U3E1\G10000.1
==
1.0
U3E1\G10000.0*U3E1\G10000.1
X100+X101
+
Processing time [µs]
Q170MCPU
(Note)
2.0
8.5
3.5
(Note)
2.5
1.5
2.5
2.0
2.5
D800F==D804F
U3E1\G10000F==U3E1\G10004F
Comparison
operation
#0!=#1
D800!=D801
U3E1\G10000!=U3E1\G10001
#0L!=#2L
!=
Not equal to
D800L!=D802L
(Completion of condition)
U3E1\G10000L!=U3E1\G10002L
#0F!=#4F
D800F!=D804F
U3E1\G10000F!=U3E1\G10004F
4.0
1.5
2.5
1.5
2.5
2.0
3.5
(Note): The processing time that the I/O modules (PX/PY) are used with the Q170MCPU's internal I/F (DI/DO).
APP - 62
APPENDICES
Processing time of transition conditional expressions (continued)
Classifications
Symbol
Instruction
Operation expression
#0<#1
D800<D801
U3E1\G10000<U3E1\G10001
#0L<#2L
<
Less than
D800L<D802L
(Completion of condition)
U3E1\G10000L<U3E1\G10002L
#0F<#4F
D800F<D804F
U3E1\G10000F<U3E1\G10004F
#0<=#1
D800<=D801
U3E1\G10000<=U3E1\G10001
#0L<=#2L
<=
Less than or equal to
D800L<=D802L
(Completion of condition)
U3E1\G10000L<=U3E1\G10002L
#0F<=#4F
Processing time [µs]
Q170MCPU
1.5
2.5
2.0
2.5
2.0
3.5
1.5
2.5
1.5
2.5
D800<=D804F
Comparison
operation
U3E1\G10000F<=U3E1\G10004F
#0>#1
D800>D801
U3E1\G10000>U3E1\G10001
#0L>#2L
>
More than
D800L>D802L
(Completion of condition)
U3E1\G10000L>U3E1\G10002L
#0F>#4F
D800F>D804F
U3E1\G10000F>U3E1\G10004F
#0>=#1
D800>=D801
U3E1\G10000>=U3E1\G10001
>=
#0L>=#2L
More than or equal to
D800L>=D802L
(Completion of condition)
U3E1\G10000L>=U3E1\G10002L
#0F>=#4F
D800F>=D804F
U3E1\G10000F>=U3E1\G10004F
APP - 63
3.5
1.5
2.5
1.5
2.5
2.0
3.5
2.0
2.5
1.5
2.5
2.0
4.0
APPENDICES
(3) Processing time by the combination F and G (program described in
F/G is NOP)
F alone
G alone
F+G
GSUB
CLR
CLR SUB
SUB
(Note)
(Note)
F
G
F
SUB
G
14.0
13.5
15.5
P
SUB
P
F
F
P
G
END
Processing time [µs]
Q170MCPU
JMP/coupling
22.0
P
14.5
4.5
(Note): Varies greatly with the started or cleared program.
Parallel branch (2 Pcs.)
Processing time [µs]
Q170MCPU
Parallel branch (5 Pcs.)
F
F
F
F
F
F
F
G
G
G
G
G
G
G
At branch
At coupling
At branch
At coupling
23.0
18.5
49.0
32.5
Selective branch (2 Pcs.)
Processing time [µs]
Q170MCPU
Selective branch (5 Pcs.)
G
G
G
G
G
G
G
F
F
F
F
F
F
F
48.0
55.0
POINT
Long processing time may cause a Motion CPU WDT error or servo fault.
Especially for the Motion SFC programs run by event/NMI tasks, take care so that
the processing time will not be too long (the processing time will not exceed the
operation cycle).
APP - 64
APPENDICES
APPENDIX 3.2 Processing time of Motion dedicated PLC instruction
Processing time of Motion dedicated PLC instruction
Classifications
Symbol
Instruction (Condition)
Processing time [µs]
Q170MCPU (PLC CPU area)
Min.
Max.
D.SFCS Start request of the specified Motion SFC program
62.0
95.0
Multiple CPU high speed D.SVST Start request of the specified servo program
bus Motion dedicated
D.CHGA Current value change request of the specified axis
instruction
D.CHGV Speed change request of the specified axis
82.0
122.0
82.0
122.0
D.CHGT Torque control value change request of the specified axis
D.DDWR
Write device data of the self CPU to
the device of other CPU
122.0
Number of writing data = 1
76.0
126.0
91.0
142.0
Execute request of an event task of Motion SFC program
APP - 65
122.0
82.0
Number of writing data = 16
Multiple CPU high speed
bus other CPU access
Read device data of other CPU to the Number of reading data = 1
D.DDRD
instruction
device of self CPU
Number of reading data = 16
D.GINT
82.0
82.0
133.0
82.0
133.0
50.0
80.0
APPENDICES
APPENDIX 4 Cables
In this cable connection diagram, maker names of connectors are omitted. Refer to
"APPENDIX 5.5 Connector" for maker names of connectors.
APPENDIX 4.1 SSCNET
cables
Generally use the SSCNET
cables available as our products.
(1) Model explanation
Numeral in the column of cable length on the table is a symbol put in the " " part
of cable model. Cables of which symbol exists are available.
Cable model
MR-J3BUS†M
Cable length [m(ft.)]
0.15
(0.49)
0.3
(0.98)
0.5
(1.64)
1
(3.28)
3
(9.84)
015
03
05
1
3
5
(16.40)
MR-J3BUS†M-A
10
(32.81)
5
10
MR-J3BUS†M-B (Note-1)
20
(65.62)
30
(98.43)
40
50
(131.23) (164.04)
20
30
40
50
Flex life
Application/
remark
Standard
Standard cord for
inside panel
Standard
Standard cable for
outside panel
Long flex
Long distance
cable
(Note-1) : For the cable of less than 30[m](98.43[ft.]), contact your nearest Mitsubishi sales representative.
(2) Specifications
Description
MR-J3BUS M
0.15
(0.49)
cable length [m(ft.)]
Minimum bend radius
[mm(inch)]
Tension strength [N]
0.3 to 3
(0.98 to 9.84)
70
MR-J3BUS M-B
5 to 20
(16.40 to 65.62)
30 to 50
(98.43 to 164.04)
Enforced covering cord: 50 (1.97) Enforced covering cord: 50 (1.97)
Cord: 25 (0.98)
Cord: 30(1.18)
25(0.98)
Temperature range
for use [°C(°F)] (Note-1)
MR-J3BUS M-A
140
420 (Enforced covering cord)
-40 to 80
(-40 to 176)
Indoors (no direct sunlight), No solvent or oil
Optical cable
(Cord)
External appearance
[mm(inch)]
2.2 0.07
(0.09 0.003)
10.16(Note-2)
(0.40)
4.4 0.1
(0.17 0.004)
4.4 0.1
(0.17 0.004)
6 0.2
(0.24 0.008)
4.4 0.4
(0.17 0.016)
2.2 0.2
(0.09 0.008)
Ambient
980 (Enforced covering cord)
-20 to 70
(-4 to 158)
2.2 0.07
(0.09 0.003)
SSCNET
cable model
2.2 0.07
(0.09 0.003)
SSCNET
7.6 0.5
(0.30 0.02)
(Note-1): This temperature range for use is the value for optical cable (cord) only.
(Note-2): Dimension of connector fiber insert location. The distance of two cords is changed by how to bend it.
APP - 66
APPENDICES
POINTS
(1) If the end face of cord tip for the SSCNET cable is dirty, optical transmission
is interrupted and it may cause malfunctions. If it becomes dirty, wipe with a
bonded textile, etc. Do not use solvent such as alcohol.
(2) Do not add impossible power to the connector of the SSCNET
cable.
(3) When incinerating the SSCNET cable (optical fiber), hydrogen fluoride gas or
hydrogen chloride gas which is corrosive and harmful may be generated. For
disposal of the SSCNET cable (optical fiber), request for specialized
industrial waste disposal services who has incineration facility for disposing
hydrogen fluoride gas or hydrogen chloride gas.
(a) MR-J3BUS M
1) Model explanation
Type: MR-J3BUS MSymbol
Cable type
None Standard cord for inside panel
A
Standard cable for outside panel
Long distance cable
B
Symbol
015
03
05
1
3
5
10
20
30
40
50
Cable length [m(ft.)]
0.15(0.49)
0.3(0.98)
0.5(1.64)
1(3.28)
3(9.84)
5(16.40)
10(32.81)
20(65.62)
30(98.43)
40(131.23)
50(164.04)
2) Exterior dimensions
• MR-J3BUS015M
[Unit: mm(inch)]
6.7(0.26)
15 13.4
(0.59) (0.53)
37.65
(1.48)
20.9(0.82)
Protective tube
1.7(0.07)
2.3(0.09)
8+0
(0.31)
150 +50
-0
(5.91)
APP - 67
APPENDICES
• MR-J3BUS03M to MR-J3BUS3M
Refer to the table of this section (1) for cable length (L).
[Unit: mm(inch)]
Protective tube (Note)
100
(3.94)
100
(3.94)
L
(Note) : Dimension of connector part is the same as that of MR-J3BUS015M.
• MR-J3BUS5M-A to MR-J3BUS20M-A,MR-J3BUS30M-B to
MR-J3BUS50M-B
Refer to the table of this section (1) for cable length (L).
SSCNET
Protective tube
Variation [mm(inch)]
cable
A
B
MR-J3BUS5M-A to MR-J3BUS20M-A
100(3.94)
30(1.18)
MR-J3BUS30M-B to MR-J3BUS50M-B
150(5.91)
50(1.97)
[Unit: mm(inch)]
(Note)
(A)
(B)
(B)
(A)
L
(Note) : Dimension of connector part is the same as that of MR-J3BUS015M.
POINTS
Keep the cap and the tube for protecting light cord end of SSCNET cable in a
plastic bag with a zipper of SSCNET cable to prevent them from becoming dirty.
APP - 68
APPENDICES
APPENDIX 4.2 Forced stop input cable
Generally use the forced stop input cable available as our products. If the required
length is not found in our products, fabricate the cable on the customer side. Make the
forced stop input cable within 30m(98.43ft.).
(1) Q170DEMICBL M
(a) Model explanation
Type : Q170DEMICBL
M
Symbol
05
1
3
5
10
15
20
25
30
Cable length [m(ft.)]
0.5(1.64)
1(3.28)
3(9.84)
5(16.40)
10(32.81)
15(49.21)
20(65.62)
25(82.02)
30(98.43)
(b) Connection diagram
Q170MCPU side
Solderless terminal
2
1
5556PBTL
(Terminal)
5557-02R-210 (Connector)
Solderless terminal size: R1.25-3.5
EMI.COM
2
EMI.COM
EMI
1
EMI
: Twisted pair cable
(Note) : Use a cable of wire size AWG24.
APP - 69
APPENDICES
APPENDIX 4.3 24VDC power supply cable
(1) Connection diagram
(a) Q170MPWCBL2M (Without EMI connecter)
Q170MCPU side
Solderless terminal
2A 2B
1A 1B
1827587-2 (Terminal)
1-1827864-2 (Connector)
Solderless terminal size: R1.25-3.5
24V(+)
1B
24V(+)
24G
24G
2B
24V(+)
1A
24G
2A
: Twisted pair cable
(Note) : Use a cable of wire size AWG22.
(b) Q170MPWCBL2M-E (With EMI connecter)
Q170MCPU side
Solderless terminal
2A 2B
1A 1B
2
1
EMI connector
1827587-2 (Terminal)
1-1827864-2 (Connector)
Solderless terminal size: R1.25-3.5
24V(+)
1B
24V(+)
24G
2B
24G
24V(+)
1A
24G
2A
: Twisted pair cable
(Note) : Use a cable of wire size AWG22.
EMI.COM
2
EMI
1
5556PBTL
(Terminal)
5557-02R-210 (Connector)
APP - 70
APPENDICES
APPENDIX 4.4 Internal I/F connector cable
Fabricate the Q170MCPU's internal I/F connector cable on the customer side.
(1) Differential-output type
(a) Connection diagram
Make the cable within 30m(98.43ft.).
Solderless terminal
Q170MCPU side
25
50
1
26
HDR-E50MSG1+ (Connector)
HDR-E50LPH (Connector case)
HBL
25
HBL
HBH
24
HBH
HAL
23
HAL
HAH
22
HAH
HB
21
HA
20
SG
48
5VGND
5V
46
5V
SG
47
5V
45
SEL
49
SG
50
DO1
6
COM2
7
Differential-output type
Manual pulse generator/
incremental synchronous encoder side
(Note-1)
DO1
DO2
31
DO2
COM2
32
DOCOM
DI1
DI1
3
COM1
5
DI3
4
DI3
DI2
28
DI2
COM1
30
DI4
29
Input signal/mark detection input side
DI4
DICOM
DICOM
FG
Output signal side
Shell
FG
: Twisted pair cable
(Note-1): Connect SEL to the SG terminal if differential-output type is used.
APP - 71
APPENDICES
(2) Voltage-output/Open-collector type
(a) Connection diagram
Make the cable within 10m(32.81ft.).
Solderless terminal
Q170MCPU side
25
50
1
26
HDR-E50MSG1+ (Connector)
HDR-E50LPH (Connector case)
HBL
25
HBH
24
HAL
23
HAH
22
HB
21
HB
HA
20
HA
SG
48
5VGND
5V
46
5V
SG
47
5V
45
SEL
49
SG
50
DO1
6
COM2
7
(Note-1)
DO1
DO2
31
DO2
COM2
32
DOCOM
DI1
DI1
3
COM1
5
DI3
4
DI3
DI2
28
DI2
COM1
30
DI4
29
Output signal side
Input signal/mark detection input side
DI4
DICOM
FG
Voltage-output/open-collect type
Manual pulse generator/
incremental synchronous encoder side
DICOM
Shell
FG
: Twisted pair cable
(Note-1): When voltage-output/open-collector type is used, open between SEL and SG.
APP - 72
APPENDICES
APPENDIX 5 Exterior Dimensions
APPENDIX 5.1 Motion controller (Q170MCPU)
[Unit: mm (inch)]
8(0.31)
38(1.50)
7(0.28)
MITSUBISHI
MODE
RUN
ERR.
USER
BAT.
PULL
BOOT
MITSUBISHI
MODE
RUN
ERR.
USER
BAT.
PULL
BOOT
Q170MCPU
Q170MCPU
POWER
POWER
USB
PERIPHERAL I/F
RESET STOP RUN
RS-232
RS-232
EMI
EJECT
154(6.06)
CN1
178(7.01)
CN1
EJECT
FRONT
FRONT
OUT
OUT
24VDC
PUSH
135(5.31)
EXT.IO
CARD
CARD
EXT.IO
24VDC
7(0.28)
4.6
(0.18)
52(2.05)
52(2.05)
With battery holder
remove
APP - 73
6(0.24)
161(6.34)
EMI
168(6.61)
RESET STOP RUN
PERIPHERAL I/F
USB
APPENDICES
APPENDIX 5.2 Servo external signals interface module (Q172DLX)
[Unit: mm (inch)]
98(3.86)
Q172DLX
CTRL
23(0.91)
90(3.54)
45(1.77)
27.4(1.08)
4(0.16)
Q172DLX
APPENDIX 5.3 Manual pulse generator interface module (Q173DPX)
[Unit: mm (inch)]
Q173DPX
PLS.B
1
2
3
TREN
1
2
3
98(3.86)
PLS.A
1
2
3
PULSER
23(0.91)
90(3.54)
45(1.77)
APP - 74
27.4(1.08)
4(0.16)
1 2 3 4 5 6
ON
Q173DPX
APPENDICES
APPENDIX 5.4 Battery holder
(1) Battery holder (For Q6BAT)
1.5(0.06)
26.2(1.03)
23.9(0.94)
47.2(1.86)
19.9(0.78)
2.4(0.09)
6.9(0.27)
27.15(1.07)
25.35(1.00)
[Unit: mm (inch)]
PUSH
49.6(1.95)
3.1(0.12)
22.6(0.89)
(2) Battery holder (For Q7BAT)
2.4(0.09)
27.7(1.09)
47.2(1.86)
26.2(1.03)
34.7(1.37)
29.4(1.16)
1.5(0.06)
4.8(0.19)
PUSH
18(0.71)
45.9(1.81)
APP - 75
6.9(0.27)
10
(0.39)
29.4(1.16)
[Unit: mm (inch)]
2(0.08)
27.4(1.08)
APPENDICES
APPENDIX 5.5 Connector
(1) SSCNET
cable connector
[Unit: mm (inch)]
13.4
(0.53)
4.8(0.19)
2.3
(0.09)
9.3(0.37)
6.7
(0.26)
15
(0.59)
1.7
(0.07)
17.6 0.2
(0.69 0.01)
8
(0.31)
20.9 0.2
(0.82 0.01)
(2) Forced stop input connector (Molex Incorporated make)
Type Connector : 5557-02R-210
Terminal : 5556PBTL
[Unit: mm (inch)]
8.5
(0.33)
6.3
(0.25)
9.6
(0.38)
3.5
(0.14)
APP - 76
10.7
(0.42)
19.6 (0.77)
10.6
(0.42)
5.4
(0.21)
APPENDICES
(3) 24VDC power supply connector (Tyco Electronics AMP K.K. make)
Type Connector : 1-1827864-2
Terminal : 1827587-2
12.45(0.49)
5.9
(0.23)
11.3(0.44)
9.4(0.37)
7.6(0.30)
3.1(0.12)
[Unit: mm (inch)]
9(0.35)
(4) Internal I/F connector (HONDA TSUSHIN KOGYO CO., LTD.)
Type Connector
Soldering type connector
: HDR-E50MSG1+
Pressure-displacement type connector : HDR-E50MAG1+ (AWG#30)
: HDR-E50MG1+ (AWG#28)
Connector case : HDR-E50LPH
[Unit: mm (inch)]
22.8(0.90)
33.8(1.33)
APP - 77
34.59(1.36)
38.14(1.50)
3(0.12)
25.34(1.00)
9(0.35)
8
(0.31)
10
(0.39)
APPENDICES
APPENDIX 5.6 Manual pulse generator (MR-HDP01)
[Unit: mm (inch)]
3.6(0.14)
3 Studs (M4 10)
PCD72, equi-spaced
1
80(3.15)
60(2.36)
70
50(1.97)
20
80
30
0.5
90
70(2.76)
0
10
0.5
27.0
(1.06)
+5to
12V 0V
A
B
60
40
50
M3 6
72 0.2
(2.8
3)
62 +
(2. -0 2
44
)
3- 4.8(0.19)
equi-spaced
16
20
(0.63) (0.79)
Packing t=2.0
Space
The figure of processing a disc
APP - 78
8.89
(0.35)
7.6
(0.30)
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.
IB(NA)-0300156-C