Mitsubishi Electric | Q173CPU | Specifications | Mitsubishi Electric Q173CPU Specifications

MITSUBISHI ELECTRIC
Controllers,
Servo Amplifiers
& Motors
Motion
Controller
MELSEC
System Q
Technical Catalogue
2003
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Mitsubishi Electric Motion Controllers System Q
MELSEC
System Q
Mitsubishi Motion Controllers are integrated in modular fashion in
the MELSEC System Q.
The multiprocessor technology of the MELSEC System Q permits
PLC CPUs, Motion CPUs and PC CPUs to be used jointly on a common base unit. While the exchange of data via the system bus of
the base unit is optimised, space requirements and system costs
are also clearly reduced.
Up to 96 axes can be controlled very rapidly in one system via the
Mitsubishi SSCNET and without complex wiring.
This reduced wiring requirement and simple connection thanks to
“plug-and-play” produces a simple and flexible, but also a powerful
movement system.
Further Publications within the Factory Automation Range
Technical Catalogues Servo Amplifiers
Technical
Catalogues
Product catalogues for servo amplifiers, motors and accessories
of the MELSERVO series
Technical Catalogues Inverters
Product catalogues for frequency inverters, control panels,
and accessories
Technical Catalogues PLCs
Product catalogues for programmable logic controllers and
accessories for the MELSEC series
Technical Catalogue Networks
Product catalogue for Master and Slave modules as well as
accessories for the use of programmable logic controllers in
open networks and MELSEC networks
Technical Catalogue HMI
Product catalogue for operator terminals, process visualisation and
programming software as well as accessories
Additional Services
You will find current information on updates, alterations, new items, and technical support on MITSUBISHI ELECTRIC's web pages
(www.mitsubishi-automation.com).
The products section of the MITSUBISHI home site includes various documentations of the whole product range by MITSUBISHI ELECTRIC as well
as the current version of this catalogue on hand. All manuals and catalogues can be downloaded. The content is updated daily and to date is
provided in English and German.
About this catalogue
Due to the constantly growing product range, technical alteration, and new or changed characteristical features, this catalogue is updated
frequently.
Texts, figures and diagrams shown in this product catalogue are intended exclusively for explanation and assistance in planning and ordering the
motion controllers and the associated accessories. Only the manuals supplied with the units are relevant for installation, commissioning and handling
of the units and the accessories. The information given in these documentations must be read before installation and commissioning of the units or
software.
Should questions arise with regard to the planning of modules described in this product catalogue, do not hesitate to contact the German branch
of MITSUBISHI ELECTRIC EUROPE B.V. in Ratingen or one of its distributors (see cover page).
© MITSUBISHI ELECTRIC EUROPE B.V. 04/2003 (2nd edition)
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2
Q MOTION CONTROLLER
MITSUBISHI ELECTRIC
CONTENTS
Q MOTION CONTROLLER
SYSTEM DESCRIPTION
웇 Introduction to Mitsubishi Motion Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
웇 System components and combination possibilities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
웇 System configuration (overview on an 8 axis system) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
웇 System configuration (overview on an 32 axis system) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
BASIC COMPONENTS
웇 Overview on hardware components and accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
웇 Motion Controller CPUs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
웇 System modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
웇 Overview on servo amplifiers and motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
SOFTWARE
웇 Programming the Motion Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
웇 Software package description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
웇 Application of the programming environments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
웇 Applied programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
웇 Screenshots of the different software packages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
ACCESSORIES
웇 Dividing unit, battery unit and connection cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
웇 SSCNET cables, connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
웇 Manual pulse generator, serial absolute synchronous encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
DIMENSIONS
웇 CPUs and system modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
웇 Serial absolute synchronous encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
웇 Manual pulse generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
APPENDIX
웇 Planning aid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
웇 Order form . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
웇 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
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MITSUBISHI ELECTRIC
Q MOTION CONTROLLER
3
SYSTEM DESCRIPTION
Mitsubishi Motion Control
Motion control systems geared to the
needs of your specific application
Mitsubishi Motion Controllers are integrated in a modular fashion in the MELSEC
System Q.
While up to 3 Motion CPUs control the
movements via the max. 96 connected
MR-J2S-쏔B series servo amplifiers and
HC-xxx쏔쏔 series motors, all modules of
the System Q, including network connections, are available to the Q CPU. The user
is provided with a broad spectrum of
applications by distributing the actuation
tasks to several different CPU modules,
which automatically and cyclically
exchange data via the system bus of the
base unit.
Motion controllers can tap huge performance reserves for optimising production
processes and improving product quality.
Today, motion controller systems play a
dominant role in machine tools, printing
and paper processing machines, modern
packaging machines, filling and canning
machines in the food industry, grinding,
polishing and engraving machines, X-Y-Z
indexing tables and many automation and
handling systems in semiconductor production lines.
Mitsubishi motion controllers can control
8 (Q172CPUN) or even up to 32 servo axes
(Q173CPUN) simultaneously.
The Motion network: SSCNET
SSCNET (Servo System Controller NETwork) is a high-speed synchronous serial
communication network that delivers better performance and more reliability than
conventional control networks. SSCNET
supports batch control of up to 96 axes
and fast and simple connections with
one-touch bus cabling. The bus cycle time
is only 0.8 ms.
U
n CP
Motio
mon
Com mory
me
U
Q CP
Bus
PLC
EC
MELS odule
I/O m
EC
MELS t module
igen
intell
EC
MELS TION
Q MO module
m
te
sys
EC
MELS odule
I/O m
EC
MELS ications
un
comm module
NET
SSC
Servo fier
ampli
Servo fier
ampli
Servo fier
ampli
r
Moto
r
Moto
r
Moto
Powerful programming environment
and programming tools
A powerful, Windows-based programming environment ensures a fast learning
curve for new users, despite the power
and complexity of the system.
The comprehensive range of standardised
software tools cuts programming time.
All parameters and settings are configured
with a standard software package; no
separate servo setup software is required!
The motion controller and its associated
servo drives and motors are also configured directly on the computer screen. The
individual combinations of system components are checked through automatically and any errors are signalled immediately, thus eliminating the possibility of
system crashes!
Mitsubishi Electric’s specially-developed
SFC sequential function chart language
isolates the system’s multitasking operation from external influences. This means
drastically faster servo amp response
times and ultra-short movement cycles.
Mitsubishi motion controllers can synchronise up to 96 axes simultaneously. Programming is performed quickly and efficiently online with a Virtual Mechanical
Editor. Mechanical master shafts, clutches
and gears can be replaced by more efficient
electronic versions. And you can forget
about time-consuming text programming!
Complex mechanical processes can be solved with graphical cam disks (CAM).
The logic of the Q CPU motion controller is
programmed in instruction list (IL), ladder
diagram (LD), function block diagram
(FBD) or in IEC 1131.3-compatible structured text.
System configuration (see figure on the right)
앬 A Motion CPU cannot be operated alone in a multi CPU system, but rather only in conjunction with a Q CPU.
앬 A max. of any 4 CPU modules can be combined in a multi CPU system. A maximum of 3 motion CPUs can therefore be operated in one
system.
앬 Encoders and external signals are sent to the Motion CPU via the Q172LX, Q172EX and Q173PX motion system modules.
앬 A Motion CPU can address 256 digital inputs and outputs, and process the 16 inputs of a QI60 Interrupt module for the purposes of
program control.
앬 Batch control of 50 W – 7 kW servo motors is possible in combination with the MR-J2-B servo amps in an SSCNET communications net-
work. (Q172CPUN: max. 8 axes, Q173CPUN: max. 32 axes).
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4
Q MOTION CONTROLLER
MITSUBISHI ELECTRIC
SYSTEM DESCRIPTION
System Components and Combinations Possibilities
Multi processor technology
I/O modules
Special function modules
앬 A Motion CPU cannot be operated
앬 One Motion CPU can address 256 digi-
A Motion CPU cannot access special function modules or network modules (except
analog modules).
alone in a multi CPU system, but rather
only in conjunction with a Q CPU.
앬 A main base unit accommodates up to
4 CPU modules. A maximum of 3
Motion CPU modules can therefore be
operated in one system.
앬 The first CPU on a base unit must
always be a Q CPU.
Extension base units
앬 Up to 7 extension base units can be
connected to the main base unit via
expansion cables.
앬 Q Motion system modules, encoders
and hand wheels can be integrated.
앬 Only one Motion CPU can access the
Q172LX, Q172EX and Q173PX Motion
system modules. These modules can be
mounted at any desired location on the
main or extension base unit.
앬 There is a limit to the number of Q
Motion system modules, encoders and
hand wheels which can be assigned to
a Motion CPU.
tal inputs and outputs, thereby accessing System Q input/output modules.
Max. number per module
Components
Q172CPUN
Q173CPUN
Manual pulse generator
(MR-HDP01)
3
3
Serial encoder
(absolute synchronous
and incremental encoder)
8
12
Q172LX (servo external
signals interface module)
1
4
Q172EX (serial absolute
synchronous encoder
interface module)
4
6
Q173PX (manual pulse
generator interface
module)
3
4
The positioning data, parameters and
SFC and servo programs are protected
against data loss for a brief period by the
integrated battery in the event of a power
supply voltage failure. An external battery
must be connected to the Motion CPU, if
the power supply is switched off for an
application for more than 200 hours
(approx. 8 days).
The optional external battery should
therefore always be provided for
extended operational interruptions.
앬 A QI60 Interrupt module (16 inputs) can
be assigned to a motion CPU in order to
control the execution of programs.
Combination possibilities
Certain combinations are possible for the
selection and use of the CPUs. The combination possibilities can be found in the
opposite tables.
Some of the CPUs can be used as a master
or as a slave CPU, however the master CPU
must always be plugged as the first CPU
next to the mains adapter to the far left.
Combined with other CPUs the PC CPU
must be positioned to the far right slot.
Depending on the CPUs used the power
supply capacity must be accounted for
accordingly.
External battery for Motion CPU
modules
Multi processor
PLC CPUs
Motion CPUs
PC CPUs
CPU types
Q02CPU
Q02HCPU
Q06HCPU
Q12HCPU
Q25HCPU
Q172CPUN
Q173CPUN
PPC-CPU686(MS)-64
PPC-CPU686(MS)-128
Combination possibilities
Up to 4 CPUs
can be combined
In combination with a PLC CPU
as Master
As Master single use only,
as Slave in combination with a
PLC CPU as Master
Max. number usable
CPUs per system
Max. 4
Max. 3
Max. 1
Application (hierarchy)
Master/slave
Slave
Master/slave
CPUs
3
2
1
Axes
M M M
96
M M
M M
M
M
M M
64
M
M
M
32
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MITSUBISHI ELECTRIC
Q MOTION CONTROLLER
5
SYSTEM DESCRIPTION
System Configuration (8 Axis System with Q172CPUN)
PLC CPU햲
Software: GX (IEC) Developer
Motion CPU
Software: MT Developer
Main base unit
Q33B/Q35B/Q38B/Q312B
PLC Bus
Connection cable
QC첸첸B
Battery unit
Q170BAT
SSCNET (max. 8 axes per line)
MR-HDP01
QJ61BT11
Manual pulse generator
QJ61BR11
Encoder
interface
Q172EX햳
Pulse generator
interface module
Q173PX햳
Cable
Q172J2BCBL첸M-B
Serial absolute
synchronous encoder
MR-HENC
External signals
interface
Q172LX햳
System Q
I/O module
System Q
Special function
module햴
Kabel
MR-JHSCBL-첸
Termination connector
Cable
MR-J2HBUS첸M
MR-A-TM
Servo amplifier
MR-J2S-첸B
MR-J2-첸B
Operator
terminal
(GOT or
MAC E series)
Servo motors
QJ61BT11
QJ61BR11
햵
Extension base unit
Q52B/Q55B/Q63B/Q65B/Q68B/Q612B
Notes:
햲 The first CPU on the main base unit must always be a PLC CPU
(e.g. Q02/Q02H/Q06H/Q12H/Q25H).
햳 In a multi CPU system only one Motion CPU can access the Q Motion system modules. These
modules can be mounted at any desired location on the main or extension base units.
햴 A Motion CPU cannot access special function modules or network modules.
햵 The Q52B and Q55B extension base units do not have a slot for a power supply unit.
QJ61BT11
QJ61BR11
Power supply
Q6첸P
System Q
I/O module
System Q
special function
module햴
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6
Q MOTION CONTROLLER
MITSUBISHI ELECTRIC
SYSTEM DESCRIPTION
System Configuration (32 Axis System with Q173CPUN)
PLC CPU햲
Software: GX (IEC) Developer
Motion CPU
Software: MT Developer
Main base unit
Q33B/Q35B/Q38B/Q312B
PLC Bus
Dividing unit Q173DV
SSCNET
CN1
SSCNET
CN2
SSCNET
CN3
SSCNET
CN4
Cable
Q173DVCBL첸M
Connection cable
QC첸첸B
Q173DV
DATE
MR-HDP01
SSCNET (max. 8 axes per line)
QJ61BT11
Manual pulse generator
QJ61BR11
Encoder
interface
Q172EX햳
Cable
MR-J2HBUS첸M
Serial absolute
synchronous encoder
MR-HENC
External signals
interface
Q172LX햳
System Q
Special function
module햴
System Q
I/O module
Kabel
MR-JHSCBL-첸
Termination connector
Cable
MR-J2HBUS첸M
MR-A-TM
Servo amplifier
MR-J2S-첸B
MR-J2-첸B
Operator
terminal
(GOT or
MAC E series)
QJ61BT11
Servo motors
QJ61BR11
햵
Extension base unit
Q52B/Q55B/Q63B/Q65B/Q68B/Q612B
Notes:
햲 The first CPU on the main base unit must always be a PLC CPU
(e.g. Q02/Q02H/Q06H/Q12H/Q25H).
햳 In a multi CPU system only one Motion CPU can access the Q Motion system modules. These
modules can be mounted at any desired location on the main or extension base units.
햴 A Motion CPU cannot access special function modules or network modules.
햵 The Q52B and Q55B extension base units do not have a slot for a power supply unit.
QJ61BT11
QJ61BR11
Power supply
Q6첸P
System Q
I/O module
System Q
special function
module햴
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MITSUBISHI ELECTRIC
Q MOTION CONTROLLER
7
BASIC COMPONENTS
Overview on Hardware Components
The System Q has the multiple CPU system
function which also permits PLC CPUs,
Motion CPUs and PC CPUs to be loaded
together on one base unit.
A Motion CPU can use the SSCNET that
rapidly controls up to 96 axes in a single
system and saves wiring. The personal
computer CPU (Q-PC) enables the access
to I/O modules and intelligent function
modules and the communication of all
CPUs with each other.
The entire range of System Q modules is
available by means of the combined use
of the Q Motion CPUs with the CPUs of
the MELSEC System Q. The table below
contains an overview of the available
System Q modules and the appropriate
accessories.
Further details can be obtained from the
System Q technical catalogue.
Item
MELSEC System Q
PLC CPU modules
MELSEC System Q
main base unit
MELSEC System Q
extension base unit
MELSEC System Q
extension cable
for base units
Management
Servo
amplifier
QY42
QX41
Q06HCPU
POWER
Q06HCPU
MITSUBISHI
QX41
Q173CPU
MODE
RUN
ERR.
M.RUN
BAT.
BOOT
MODE
RUN
ERR.
USER
BAT.
BOOT
MODE
RUN
ERR.
USER
BAT.
BOOT
Q61P-A2
MITSUBISHI
KB/MOUSE
PPC-CPU686
PC-CARD
1
2
QX41
24VDC
4mA
B.
RUN
RDY
USER
ERR.
EXIT
BAT.
B.
RUN
B.RST
SERIAL 1
RESET
BASE UNIT
MODEL Q38B
SERIAL 0205020E
PULL
PULL
PULL
USB
USB
Servo
motor
USB
USB
EX.I/F
PULL
100
RS-232
RS-232
RS-232
RGB
LINK
/TX
UPT
MITSUBISHI
FD
IDE
SSCNET
Management
Personal computer
ETHERNET
Type
Description
Q02CPU
Sequence program capacity
PLC inputs/outputs
Processing speed/log. instruction
Max. 28 k steps
Max. 4096/8192
79 ns
Certification
132561
Q02HCPU
Sequence program capacity
PLC inputs/outputs
Processing speed/log. instruction
Max. 28 k steps
Max. 4096/8192
34 ns
127585
Q06HCPU
Sequence program capacity
PLC inputs/outputs
Processing speed/log. instruction
Max. 60 k steps
Max. 4096/8192
34 ns
Q12HCPU
Sequence program capacity
PLC inputs/outputs
Processing speed/log. instruction
Max. 124 k steps
Max. 4096/8192
34 ns
130217
Q25HCPU
Sequence program capacity
PLC inputs/outputs
Processing speed/log. instruction
Max. 252 k steps
Max. 4096/8192
34 ns
130218
Q33B
For power supply, Q CPU and 3 other modules
Q35B
For power supply, Q CPU and 5 other modules
Q38B
For power supply, Q CPU and 8 other modules
UL/cUL, CE
Art. no.
130216
136369
UL/cUL
127586
127624
Q312B
For power supply, Q CPU and 12 other modules
129566
Q52B
2 module slots
140376
Q55B
5 module slots
Q63B
For power supply and 3 modules
Q65B
For power supply and 5 modules
Q68B
For power supply and 8 modules
129578
Q612B
For power supply and 12 modules
129579
QC05B
Length: 0,45 m
140380
QC06B
Length: 0,6 m
129591
QC12B
Length: 1,2 m
QC30B
Length: 3,0 m
QC50B
Length: 5,0 m
129644
QC100B
Length: 10,0 m
129645
Without power supply; for the connection use cable QC05B
140377
UL/cUL
UL/cUL
136370
129572
129642
129643
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8
Q MOTION CONTROLLER
MITSUBISHI ELECTRIC
BASIC COMPONENTS
Item
MELSEC System Q
Power supply modules
Type
Description
Certification
Art. no.
Q61P-A2
Input: 200 to 240 V AC, output: 5 V DC / 6 A
UL/cUL, CE
127593
Q62P
Input: 100 to 240 V AC, output: 5 V DC / 3 A and 24 V DC / 0,6 A
UL/cUL, CE
140379
Q63P
Input: 24 V DC, output: 5 V DC / 6 A
UL/cUL, CE
136371
Q64P
Input: 100 to 240 V AC, output: 5 V DC / 8,5 A
CE
140718
MELSEC System Q
I/O modules
For detailed informations please refer to the Technical Catalogue MELSEC System Q
—
MELSEC System Q
special function modules
For detailed informations please refer to the Technical Catalogue MELSEC System Q;
in a multi CPU system special function modules are asigned to the Q CPU.
—
MELSEC System Q
network modules
For detailed informations please refer to the Technical Catalogue Networks;
in a multi CPU system network modules are asigned to the Q CPU.
—
Programming cable (for RS232 or USB interface)
Please refer to the Technical Catalogue MELSEC System Q
Q172CPUN
Max. 8 axes control
Q173CPUN
Max. 32 axes control
Q172LX
Servo external signals interface modules
For the connection of the signals of 8 axes. For each axis the following signals can be detected:
Limit switch signals for max. and min. travel, one stop switch, and one machine zero or one signal for
toggling from speed to position control.
Q172EX
Q173PX
Q173DV
The dividing unit serves as interface multiplier on the Q173CPUN for the connection of up to 4 SSCNET
lines with 8 axes each.
With holding device for the battery MRBAT
140586
Connection cable for
Q173CPUN and Q173DV
Q173DVCBL05M
For the connection between the Motion CPU and the dividing unit, length 0.5 m
140587
Q173DVCBL1M
For the connection between the Motion CPU and the dividing unit, length 1 m
140588
Battery adapter for
Q172CPUN
Q170BAT
External holding device for the battery MRBAT
142204
MELSEC System Q
motion controller CPUs
MELSEC System Q
motion controller
system modules
SSCNET dividing unit
with battery insert
for Q173CPUN
Q172J2BCBL05M-B
UL/cUL, CE
142695
142696
UL/cUL, CE
140583
Interface module for 2 serial absolute synchronous encoder MR-HENC
UL/cUL, CE
140584
Input module for 3 manual pulse generators MR-HDP01 or synchronous encoders
UL/cUL, CE
140585
For the connection between Q172CPUN and
servo amplifier, with connection for the
battery adapter Q170BAT
lenght 0.5 m
142206
length 1 m
142207
length 5 m
142205
SSCNET bus cable for
Q170BAT and MR-J2S-B
Q172J2BCBL1M-B
Battery for Q173DV and
Q170BAT
MR-BAT
Back-up battery for the absolute position detection of the Motion CPU
103862
Manual pulse generator
for Motion controller
MR-HDP01
Electronic manual pulse generator / incremental set value generator
25 pulses/revolution, max. allowable speed: 200 r/min; power supply: 5 V DC
128728
Synchroneous encoder
for Motion controller
MR-HENC
Resolution: 16384 pulses/revolution, max. allowable speed: 4300 r/min
138304
Encoder cable
MR-JHSCBL첸M
Connection betwen the encoders MR-HENC and the Q172EX module, available length: 2 m, 5 m, 10 m, 20 m, 30 m
(for further details please refer to the MR-J2S series Technical Catalogue.)
—
SSCNET bus cable
for MR-J2S
MR-J2HBUS첸M
Connection between the servo amplifiers one below the other, available length: 0.5 m, 1 m and 5 m
(for further details please refer to the MR-J2S series Technical Catalogue.)
—
SSCNET termination
connector
MR-A-TM
Connected to the last servo amplifier by SSCNET
70004
PCMCIA SSCNET
interface card
A30CD-PCF
PCMCIA card (type II) for notebooks with one channel
131237
Q172J2BCBL5M-B
Q170CDCBL3M
Connection cable for
PCMCIA card
Q170CDCBL5M
ISA SSCNET
interface board
A30BD-PCF
Q170CDCBL10M
Connection between A30CD-PCF
and Q172CPUN/Q173CPUN
Q170BDCBL5M
Q170BDCBL10M
140570
140576
length 10 m
140582
134153
ISA Bus board for PC with 2 channels
Q170BDCBL3M
Connection cable for
ISA board
length 3 m
length 5 m
Connection between A30BD-PCF
and Q172CPUN/Q173CPUN
length 3 m
140570
length 5 m
140576
length 10 m
140582
AUDIN - 8, avenue de la malle - 51370 Saint Brice Courcelles - Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 - Web : http: www.audin.fr - Email : info@audin.fr
MITSUBISHI ELECTRIC
Q MOTION CONTROLLER
9
BASIC COMPONENTS
왎 Motion Controller CPUs
The high-speed dynamic motion CPU
The motion controller CPU controls and synchronizes the connected servo amplifiers and servo motors. A motion system
besides the controller CPU as well includes a PLC CPU. Only after
combining a highly dynamic positioning control and a PLC an
innovative and autarkical motion control system is created.
While the Motion CPU controls large-scale servo movements the
PLC CPU is responsible for the machine control and the communication.
Q173CPU
MODE
RUN
ERR.
M.RUN
BAT.
BOOT
FRONT
SSCNET
CN2
Special features:
앬 Using multiple CPUs to distribute the load improves the overall
CN1
PULL
USB
RS-232
앬
앬
앬
앬
앬
앬
performance of the whole system
Use of up to 3 motion CPUs within one system
Large scale control system for up to 96 axes per system
Interpolation of 4 axes simultaneously
Software cam control
Virtual and real master axes
Integration in the high-speed SSCNET network for communication with high-performance servo amplifiers at up to 5.6 Mbit/s
Specifications
Q172CPUN
Q173CPUN
Type
Motion CPU
Motion CPU
Input/output points
8192
8192
Number of control axes
8
32
Interpolation functions
Linear interpolation for up to 4 axes, circular interpolation for 2 axes, helical interpolation for 3 axes
Positioning
control modes
PTP (Point to Point), speed control/speed positioning control, fixed pitch feed, constant speed control, position follow-up control,
speed switching control, high-speed oscillation control, synchronous control (SV22)
acceleration/
deceleration
Automatic trapezoidal acceleration/deceleration; S-curve acceleration/deceleration
compensation
Backlash compensation; electronic gear
Programming language
Motion SFC, software conveyor assembly (SV13), virtual mechanical support language (SV22)
Program capacity
14 k steps
Number of positioning points
3200
Interface
USB, RS232C, SSCNET
Real I/O points (PX/PY)
Internal current consumption (5 V DC)
256 (these I/Os can be directly assigned to the Motion CPU.)
A 1.62
kg 0.25
Weight
Dimensions (W x H x D)
Order information
mm 27.4 x 98 x 114.3
Art. no. 142695
1.75
0.25
27.4 x 98 x 114.3
142696
AUDIN - 8, avenue de la malle - 51370 Saint Brice Courcelles - Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 - Web : http: www.audin.fr - Email : info@audin.fr
10
Q MOTION CONTROLLER
MITSUBISHI ELECTRIC
BASIC COMPONENTS
Motion CPU Specifications (Motion SFC)
Item
Q172CPUN
Program capacity
Motion SFC
program
Programm code total
(Motion SFC flow chart+Operation control+transition)
287 kByte
Text total (operation control+transition)
224 kByte
Number of Motion SFC programs
256 (no. 0 to 255)
Motion SFC chart size/program
Max. 64 kByte per program
(included Motion SFC chart comments)
Number of Motion SFC steps/program
Max. 4094 steps
Number of selective branches/branch
Max. 255
Number of parallel branches/branch
Max. 255
Parallel branch nesting
Up to 4 levels
Q173CPUN
Number of operation control programs
4096 in combination with F (once execution type) and FS (scan execution type) combined (F/FS0 to F/FS4095)
Number of transition programs
4096 (G0 to G4095)
Code size/program
Max. approx. 64k bytes (32766 steps)
Operation control
program (F/FS)
Number of blocks(line)/program
Max. 8192 blocks (in the case of 4 steps(min)/blocks)
Transition
program (G)
Number of characters/block
Max. 128 (comment included)
Number of devices/block (line)
Max. 64 (devices: constants, word devices, bit devices)
Nesting per block
Max. 32
Descriptive expression
Control program
Calculation expression/bit conditional expression
Transition program
Calculation expression/bit conditional expression/comparison conditional expression
Number of multi executed programs
Max. 256
Number of multi active programs
Max. 256 steps/all programs
Program
execution
Executed tasks
Normal task
Executed in motion main cycle
Interrupt task
Fixed cycles (0.88 ms, 1.7 ms, 3.5 ms, 7.1 ms, 14.2 ms)
16 external interrupt points (QI60 interrupt module inputs)
Executed with interrupt from Q PLC CPU (when PLC CPU dedicated command S(P).GINT is executed)
NMI task
16 external interrupt points (QI60 interrupt module inputs)
SV13
0.88 ms (1. to 8. axis)
0.88 ms (1. to 8. axis)
1.77 ms (9. to 16. axis)
3.55 ms (17. to 32. axis)
SV22
0.88 ms (1. to 4. axis)
1.77 ms (5. to 8. axis)
0.88 ms (1. to 4. axis)
1.77 ms (5. to 12. axis)
3.55 ms (13. to 24. axis)
7.11 ms (25. to 32. axis)
Number of I/O points (X/Y)
8192 points
Number of real I/O points (PX/PY)
Total 256 points (these inputs/outputs can be assigned directly to the Motion CPU.)
Processing time
Internal relays (M)
Latch relays (L)
Number of devices
8192 points (in total)
Link relays (B)
8192 points
Annunciators (F)
2048 points
Special relays (M)
256 points
Data registers (D)
8192 points
Link registers (W)
8192 points
Special registers (D)
256 points
Number of motion register (#0)
8192 points
Number of coasting timers (FT)
1 point (888 µs)
AUDIN - 8, avenue de la malle - 51370 Saint Brice Courcelles - Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 - Web : http: www.audin.fr - Email : info@audin.fr
MITSUBISHI ELECTRIC
Q MOTION CONTROLLER
11
BASIC COMPONENTS
왎 Servo External Signals Interface Module Q172LX
Capture of external servo signals
Q172LX
The Q172LX input module is used in conjunction with a Q Motion
CPU to capture external servo signals.
Up to 8 axes can be evaluated per module. In this way, camswitching values, limit switching positions, stop positions and
operating modes can be easily incorporated into the system.
Special features:
앬
앬
앬
앬
앬
Item
32 address points for 8 axes for each 4 inputs
Bipolar inputs for positive and negative logic
Galvanic isolation of the inputs by means of photocoupler
Shortest response time of < 0.4 ms
Modular extension possible
Q172LX
External
servo signals
Number of inputs
Servo external signals: 32 points
(for 8 axes per 4 inputs for:
- proximity switch (upper stroke limit)
- proximity switch (lower stroke limit)
- stop input
- proximity dog/speed-position switching signal)
Input method
Sink/source type
Isolation method
Photocoupler
Rated input voltage
12/24 V DC
Operating voltage range
10.2 to 26.4 V DC (12/24 V DC +10/ -15%, ripple ratio 5% or less)
Rated input current
2 mA at 12 V DC, 4 mA at 24 V DC
ON voltage/current
Min. 10 V / min. 2.0 mA
OFF voltage/current
Max. 1.8 V / max. 0.18 mA
Input resistance
About 5.6 kΩ
Response time of the
upper/lower stroke limit and
the STOP signal.
OFF → ON and ON → OFF: 1 ms
Response time of the
proximity dog, speed-position OFF → ON and ON → OFF:
CPU parameter setting (0.4 ms, 0.6 ms, 1 ms), default value: 0.4 ms
switching signal.
Inputs per group
32
Status indication
One LED per input
External connector type
40 pin connector
Applicable wire size
0.3 mm2
Applicable connector for the external
connection
A6CON-1 (supplied with the module), A6CON-2 and A6CON-3 (optional)
Applicable connector/
terminal block converter module
A6TBXY36, A6TBXY54, A6TBXY70
Number of I/O points
32
Internal current consumption (5 V DC)
50 mA
Weight
0.15 kg
Order number
140583
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12
Q MOTION CONTROLLER
MITSUBISHI ELECTRIC
BASIC COMPONENTS
왎 Serial Absolute Synchronous Encoder Interface Module Q172EX
Capture and evaluation of encoder signals
Q172EX
SY.ENC
1
2
TREN
1
2
SY.ENC1
The serial absolute synchronous encoder interface module
Q172EX is a Motion system module for receiving and evaluating
up to two serial absolute-value encoders. (Incremental encoders
cannot be connected.) Via an external encoder (MR-HENC) it is
possible to feed a setpoint source to the Motion system, which in
turn is programmed as a guide axis.
In addition to the interfaces for the signals of two absolute-value
encoders, the Q172EX has two digital inputs with ultra-rapid
response times.
Special features:
앬 Transfer rate of 2.5 MBit per second
앬 Resolution of 14 Bit
앬 Voltage-failure security of the absolute values by means of
SY.ENC2
Q172EX
Item
Digital
inputs
(tracking
enable)
built-in buffer battery
앬 Shortest response times of < 0.4 ms
앬 Modular extension possible
Q172EX
Number of inputs
2
Input method
Sink/Source type
Isolation method
Photocoupler
Rated input voltage
12/24 V DC
Operating voltage range
10.2 to 26.4 V DC (12/24 V DC +10/ -15%, ripple ratio 5% or less)
Rated input current
2 mA at 12 V DC, 4 mA at 24 V DC
ON voltage/current
Min. 10 V / min. 2.0 mA
OFF voltage/current
Max. 1.8 V / max. 0.18 mA
Input resistance
About 5.6 kΩ
Response time
OFF → ON
ON → OFF
CPU parameter setting (0.4 ms, 0.6 ms, 1 ms), default value: 0.4 ms
Status indication
One LED per input
Terminal arrangement
2 points (TREN and TREN.CO) in each of both SY.ENC connectors (20 pin connectors)
Number of encoder
2/module
Applicable encoder
Serial absolute synchronous encoder (MR-HENC)
Resolution
16384 pulses/revolution (14 Bit)
Transmission method
Serial
Communication speed
2.5 MBaud
Serial absolute Synchronous method
synchronous
encoder input External connector type
Counter-clock-wise (viewed from end of shaft)
Via two 20 pin connectors
Recommended encoder cables MR-JHSCBL첸M-L (standard cable), MR-JHSCBL첸M-H (high flexible cable); available length (= 첸): 2, 5, 10, 20 and 30 m
Cable length
Max. 30 m
Back up the absolute position By integrated battery A6BAT
Battery service life time
15000 hours (with 2 connected encoders), 30000 hours (with one connected encoder)
Ambient temperature 40 쎶C.
Internal current consumption (5 V DC)
70 mA
Weight
0.15 kg
Order number
140584
AUDIN - 8, avenue de la malle - 51370 Saint Brice Courcelles - Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 - Web : http: www.audin.fr - Email : info@audin.fr
MITSUBISHI ELECTRIC
Q MOTION CONTROLLER
13
BASIC COMPONENTS
왎 Manual pulse generator interface module Q173PX
Capture of external signals
Q173PX
PLS.A PLS.B
1
1
2
2
3
3
TREN
1
2
3
The Manual pulse generator interface module Q173PX is used in a
Motion system to receive the signals of up to 3 external incremental encoders or manual impulse generators (hand wheels).
In addition to the inputs for the encoders, the Q173PX has three
digital inputs with which the encoder signal counting procedure
can be started (Encoder start signal).
Special features:
PULSER
Item
앬
앬
앬
앬
Bipolar inputs for positive and negative logic
Galvanic isolation of the inputs by means of photocoupler
Shortest response times of < 0.4 ms
Modular extension possible
Q173PX
Encoder start
signals
Number of inputs
3
Input method
Sink/Source type
Isolation method
Photocoupler
Rated input voltage
12/24 V DC
Operating voltage range
10.2 at 26.4 V DC (12/24 V DC +10/ -15%, ripple ratio 5% or less)
Rated input current
2 mA at 12 V DC, 4 mA bei 24 V DC
ON voltage/current
Min. 10 V / min. 1.0 mA
OFF voltage/current
Max. 1.8 V / max. 0.18 mA
Input resistance
ca. 5.6 kΩ
Response time
OFF → ON
ON → OFF
CPU parameter setting (0.4 ms, 0.6 ms, 1 ms), default value: 0.4 ms
Inputs per group
1
Status indication
One LED per input
Number of encoders
3
Applicable types
Voltage-output type / open-collector type (5 V DC, recommended device: MR-HDP01) or differential output type (26L31 or equal)
Manual pulse
generator or Input voltage (high-level)
synchronous
encoder input Input voltage (low-level)
Input frequency
3.0 to 5.25 V DC
0 to 1 V DC
Max. 400.000 pulses/s (after magnification by 4)
External connector type
40 pin connectors
Applicable wire size
0.3 mm2
Applicable connector for the external
connection
A6CON-1 (supplied with the module), A6CON-2 and A6CON-3 (optional)
Applicable connector /
terminal block converter module
A6TBXY36, A6TBXY54, A6TBXY70 (optional)
Max. cable
length
Voltage output/
open collector type
10 m
Differential output type
30 m
Number of I/O points
32
Internal current consumption (5 V DC)
110 mA (when one manual pulse generator and one encoder is connected)
Weight
0.150 kg
Order number
140585
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14
Q MOTION CONTROLLER
MITSUBISHI ELECTRIC
BASIC COMPONENTS
왎 Servo Amplifiers and Motors
MELSERVO MR-J2S첸B
The recommended combinations of servo
amplifiers and servo motors are listed in
the tables below.
For further details to the servo amplifiers
please refer to the MELSERVO Technical
Catalogue. There you can find detailed
specifications to all servo motors as well as
order informations to motor and encoder
cables.
Rated
Motor Series Speed
[r/min]
HC-KFS
K
3000
HC-MFS
M
3000
HC-SFS
S
2000
HC-RFS
R
3000
Rated Servo
Output Motor
Capacity Model
[kW]
MITSUBISHI
Servo Motor Type
With Electromagnetic
Brake (B) and
Absolute Encoder
Amplifier Pairing MR-J2S
Protective
Structure
10B
0.05
HC-KFS053
쏹
0.1
HC-KFS13
쏹
0.2
HC-KFS23
0.4
HC-KFS43
0.75
HC-KFS73
0.05
HC-MFS053
0.1
HC-MFS13
0.2
HC-MFS23
쏹
20B
40B
60B
70B
100B
200B
350B
500B
700B
쏹
IP55
쏹
쏹
쏹
쏹
쏹
IP55
쏹
0.4
HC-MFS43
0.75
HC-MFS73
0.5
HC-SFS52
1.0
HC-SFS102
1.5
HC-SFS152
2.0
HC-SFS202
3.5
HC-SFS352
5.0
HC-SFS502
7.0
HC-SFS702
1.0
HC-RFS103
1.5
HC-RFS153
2.0
HC-RFS203
3.5
HC-RFS353
쏹
5.0
HC-RFS503
쏹
쏹
쏹
쏹
쏹
쏹
쏹
IP65
쏹
쏹
쏹
쏹
쏹
쏹
쏹
IP65
쏹
For further details please refer to the MR-J2-Super Technical Catalogue.
AUDIN - 8, avenue de la malle - 51370 Saint Brice Courcelles - Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 - Web : http: www.audin.fr - Email : info@audin.fr
MITSUBISHI ELECTRIC
Q MOTION CONTROLLER
15
SOFTWARE
Components for Motion Controller Programming
The Motion controller CPUs can be programmed using commercially available
PCs or notebooks. Programming is implemented either via the USB or RS232 interface of the CPU or via the SSCNET Motion
network. You thereby achieve maximum
system performance in conjunction with
an optional SSCNET-ISA plug-in card for
standard personal computers or via an
SSCNET-PCMCIA plug-in card for notebooks. The user can choose between a
multitude of options based on the choice
of USB , RS232 or SSCNET interfaces for
the Motion CPU and the PLC CPU.
On the following pages you can find an
overview on all hardware and software
peripheral equipment which is necessary
for the programming.
SSCNET-ISA board
A30BD-PCF
Desktop
computer
MT
Developer
Communication via USB or RS232
GX (IEC)
Developer
SSCNET-PCMCIA adapter
A30CD-PCF
MT
Developer
GX (IEC)
Developer
SSC NET communication
Notebook
MT Developer
GX (IEC) Developer
Q06HCPU
POWER
Q173PX
Q172CPU
PLS.A PLS.B TREN
1
1
1
2
2
2
3
3
3
MODE
RUN
ERR.
USER
BAT.
BOOT
MODE
RUN
ERR.
USER
BAT.
BOOT
Q61P-A2
SY.ENC
1
2
L
2
4
6
7
8
9
A
CN2
B
C
CN1
CTRL
PULL
PULL
D
PULSER
E
USB
F
- +
COM
USB
SY.ENC2
2
L
4
L
L
3
5
SY.ENC1
L
1
1
3
FRONT
SSCNET
BASE UNIT
MODEL Q38B
SERIAL 0205020E
0
1
2
3
4
5
6
7
8
9
5
6
7
8
9
A
B
C
D
E
F
0
1
2
3
4
5
6
7
8
9
01234567
89ABCDEF
1
1
3
4
L 5
6
L
L
7
8
L
L
9
A
L
L
B
C
L
L D
E
L
L
F
COM
NC
2
2
3
4
0
1
2
3
4
5
6
7
8
9
5
6
7
8
9
A
B
C
D
E
0
1
2
3
4
5
6
7
8
9
F
NC
COM
COM
PULL
NC
24VDC
6mA
RS-232
QX80
01234567
89ABCDEF
FUSE
01234567
89ABCDEF
01234567
89ABCDEF
TREN
1
2
QY80
QX80
QI60
Q172LX
Q172EX
24VDC
4mA
12VDC
24VDC
0.5A
MT
Developer
24VDC
4mA
RS-232
Q172LX
Q173PX
Q172EX
MITSUBISHI
MELSERVO amplifiers and motors
MITSUBISHI
MITSUBISHI
MITSUBISHI
MITSUBISHI
USB
SSCNET connections
RS23
2
USB and
RS232 connections
왎 System Requirements
A personal computer with Microsoft
Windows operationg system is necessary
to operate the software.
Pay attention to the system specifications
which are listed in the table.
Specifications
Description
Operating system
Windows 2000/NT 4.0, Windows 98
CPU
133 MHz Pentium or higher
Memory capacity
Min. 32 MB
Hard disk capacity
About 150 MB free space
Graphics adapter
Standard graphics adapter with 800 x 600 pixles and minimum 256 colours
Additional application software
Microsoft Word 97 and Excel 97 (for document printing)
AUDIN - 8, avenue de la malle - 51370 Saint Brice Courcelles - Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 - Web : http: www.audin.fr - Email : info@audin.fr
16
Q MOTION CONTROLLER
MITSUBISHI ELECTRIC
SOFTWARE
왎 Operating System Software Packages
The beside table lists an overview of the
required operating system for the motion
CPUs.
The systems are chosen on the basis of the
operating mode (SV13/SV22) and the
number of axes to be controlled.
Application
Peripheral
device
Software SV13 (Motion-SFC)
Personal
computer or
notebook
Software SV22 (Motion-SFC)
Description
Order no.
Q172CPUN
SW6RN-SV13QD
SW6RN-SV22QC
Description
Q173CPUN
144695
Order no.
SW6RN-SV13QB
SW6RN-SV22QA
144695
All operating systems are delivered on one CD-ROM.
왎 Programming Software Package
The MT Developer programming software
package contains a range of high-performance programming modules for the
convenient programming, monitoring,
maintenance and documentation of your
Motion Control System of the MELSEC
System Q.
The software can run using Windows 98/XP
and Windows NT4/2000.
MT Developer
Software Package Contents Item
Environment for sequence
control program
Function
Description
SW6RN-GSV13P
Conveyor assembly
SW6RN-GSV22P
Virtual mechanical
system environment
SW3RN-CAMP
Cam data creation
Document printing for
MS-Office 97
printing for
SW20RN-DOCPRNP Document
MS-Office 2000
SW6RN-DOSCP
Digital oscilloscope
SW3RN-DOCPRNP
Maintenance environment
Environment for user data
development
SW6RN-SNETP
Order number
144543
Communications setup
Motion system setting, programming, monitoring
and test
Motion system setting, programming, monitoring
and test
Motion creation with Cam pattern selection and free
curve setting
Program and parameter data conversion as
well as digital oszilloscop output to Microsoft
Word/Excel for documentation and printout.
System monitoring and maintenance
Manager for SSCNET network
Application Ranges of the Programming Software Packages
SW6RN-GSV13P
Motion SV13
Software: conveyor assembly
With this software constant-speed control, speed control, 1 to 4-axes linear interpolation
and 2-axes circular interpolation, etc are possible. Ideal for use in standard conveyors and
assembly machines.
Application examples:
앬
앬
앬
앬
앬
앬
앬
SW6RN-GSV22P
Motion SV22
Electronic component assembly
Inserter und feeder
Conveying equipment
Paint applicator
Chip mounter
CNC and welding machines
X-Y table
Special features:
앬 Linear interpolation (1 to 4-axes)
앬 Circular interpolation (1 to 2-axes)
앬 Constant-speed control and fixed-pitch
feed
앬 Speed change control
앬 Speed-positionswitching
앬 Teaching function
Software with virtual mechanical system environment and cam control
This software package provides simultaneous control of multiple servo motors and offers
software cam control. Ideal for use in automatic machinery. The software provides the
option to replace formerly used mechanical vertical shafts, clutches, and gearings by
electronic systems. Moreover, virtual and real master axes can be realized.
Application examples:
앬
앬
앬
앬
앬
앬
앬
앬
Press feeder
Food processing
Packing facilities
Winding machine
Textile and spinning machines
Printing machines and book binder
Tire molder
Paper-making machine
Special features:
앬
앬
앬
앬
앬
Synchronous control
Electronic shaft
Electronic clutch
Electronic cam
Draw Co
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MITSUBISHI ELECTRIC
Q MOTION CONTROLLER
17
SOFTWARE
Application Ranges for Motion SV13 Software Environment
Simple programming using dedicated commands
By using easily understood dedicated
servo command and sequence commands
positioning and locus control can be
programmed for your needs.
Control which is considered difficult and
complex can be carried out simply using a
variety of canned motion control
functions.
Sealing
X-Y table control
●
●
●
●
2-axes linear interpolation
3-axes linear interpolation
2-axes circular interpolation
Constant speed locus control
r2
r1
Z-axis
X-axis
Y-axis
● Constant speed locus
control
● Linear and circular
interpolation
● High speed, high precision
locus control
● Constant speed positioning
Fixed-pitch hole drilling
Feed control
2nd speed
3rd speed
Speed change
Cushion time
1st speed
Time
Pause
Servo motor
Position sensor
● Speed-position control
Sensor
Rotary table indexing
Position
Speed
Speed
● Speed-switching control
● No limit of speed switching
points
Time
Roll feeder
Speed
Press machine
Rotary table
Time
Roll feeder
Servo motor
● Control unit: degree setting
● Shorter indexing
● Rotation direction indexing
● Fixed-pitch feed
● High speed, high frequency
positioning
● High speed response
Servo motor
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18
Q MOTION CONTROLLER
MITSUBISHI ELECTRIC
SOFTWARE
Application Ranges for Motion SV22 Software Environment
Easy on-screen programming using
the mechanical support language.
Loaded with a mechanical support
language that allows easy programming
of the machine mechanism. Ideal for con-
trolling automated machines such as food
machines and wrappers.
By freely combining a variety of software
mechanism modules and cam patterns,
complex synchronization control and
coordinated control can be achieved
easily and low cost.
Filling machine
Fill
The extremely high-speed controllers and
ultra-precision positioning performance
of these Mitsubishi systems make them
ideal for dynamic filling processes. The
flexibility of the system – for the example
the ability to choose from a variety of
movement profiles and cam disks –
enables quick format changes, which
means you can fill different containers on
a single machine.
Raise/lower nozzle
Axis 2
Axis 3
Axis 1
Rolling mill
The ability to synchronise the speeds of
multiple motors is essential for maintaining the synchronised feed rates needed to
keep the rolling mill output thickness precisely constant.
V
V + Draw
Axis 1
Axis 2
Press conveyor
Mitsubishi motion controllers are also the
ideal solution in applications where a large
number of different axes need to be synchronised for optimum performance. In
addition to precisely synchronising multiple axes (see example on the right) they
guarantee smooth, jerk-free and
extremely high-precision positioning.
Press machine
Synchronous
encoder
Main press motor
Import conveyor
Material transport
Axis 4
Y-axis servo motor
Axis 3
X-axis servo motor
Axis 2
Axis 1
Palletising and sorting
At the press of a button the system sorts
and stacks the chosen stacking plan, supporting a choice of different stacking and
warehousing plans. Curve interpolation
for single or multiple axes enables
dynamic positioning performance.
Seperate servo motors
for lifting and feeding
Axis 1
Axis 2
Axis 3
Axis 4
Axis 5
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MITSUBISHI ELECTRIC
Q MOTION CONTROLLER
19
SOFTWARE
Multi-processor technology with PLC CPU and Motion CPU
Minimized variation in control response time
With the conventional SV13/SV22, the series of machine operations were controlled by the SCPU so a variation occured in the
response time per seguence scan. However, this can be minimized
by the strengthened Motion SFC event processing function, so the
scan time can be suppressed, and variations in product machining
can be reduced.
PLC CPU cycle
MELSEC System Q
I/O module
Multi-CPU method that strengthens event processing
function
The multi-point I/O control and monitoring operations can be
appointed to the SCPU by the ladder program, and the servo
control and high-speed response control can be appointed to the
PCPU by the Motion SFC program. This balances the scan process
and event process, and further utilizes the multi-CPU configuration.
Common
memory
MELSEC System Q
I/O module
(PX/PY)
Motion CPU cycle
MELSEC System Q
Special function module
Motion module
MELSEC System Q
communications
module
MELSEC
display unit
SSCNET
Ladder description suitable for scan process
Motion SFC description suitable for event proces
(importance laid on condition control)
쏹
쏹
(Importance laid on sequential control, pursuit of event responsiveness)
Multi-point I/O control
Various condition processing
쏹
쏹
Event processing
Examples of events
This process waits for the conditions to be established (event to
occur) with the changes in the input signal state or device value,
and carries out high-speed response control (signal output control, servo motor start and speed change, etc.) when the conditions are established.
앬
앬
앬
앬
Servo control
High-speed response control
Input signal turned ON.
Operation results reached constant value.
Set time elapsed.
Positioning was completed.
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Q MOTION CONTROLLER
MITSUBISHI ELECTRIC
SOFTWARE
Motion SFC Programming
Flow chart description which is easy-to-view and understand
As the outline operation of the process control is described as a
flow chart, the entire operations can be viewed at a glance. The
operation details can be described as a comment so an
easy-to-understand program can be created. The program has a
hierarchical structure, so detailed operations can be described for
each step.
Seal processing
Overview
The operation expression can be described in the original state.
Compatible with 64-bit floating point operation. Various arithmetic functions including trigonometric functions, square root and
natural logarithm are provided. The motion registers (#0 to
#8191) have been added for Motion SFC operations.
G100
Beginning wait
G120
Cancellation Wait
F30
Data calculation
F40
Cancellation data set
Comment
display
P10
F10
G200
Work ready
P20
K100
Operation start
F20
G100
G120
G150
F30
F40
G160
K200
G200
K100
Extended
display
[F 30]
// 1 axis real processing data calculation
DOL=LONG((SIN(#100)+110F)*300)
// Processing status set
SET M100=X12+M120
G210
[G 200]
PXO //Work ready completion sensor ON?
P10
G300
F: Operation control step
G: Transition (condition wait)
K: Motion control stepl
F150
P10
[K 100]
1 ABS-2
Axis
1,
Axis
2,
Combined speed
D 100µm
D 200µm
D 300mm/min
Program operation
S CPU control range
PCPU control range
(Sequence CPU)
(Motion CPU)
Axis 2
Sample sequence program
SP.SFCS
K0
Motion SFC
program start
request instruction
Sample Motion SFC program
20000
10000
Transfer
[G100]
M2049 // Servo ON reception flag?
10000
20000
Axis 1
SV13/SV22 real mode
Number of start
program designation
[K 10 : Real]
1 INC-2
Axis
1, 10000 PLS
Axis
2, 20000 PLS
Combined speed 30000 PLS/s
Servo motor start
Drive module
(virtual servo motor)
[F100]
//Command speed calculation
(Negative speed change)
DOL=# 100L+# 104L
[G200]
M2044 // On virtual mode?
[K 100 : Virtual]
1VF
Axis
1
Speed
D 0 PLS/s
Motion SFC program also can be automatically
started by the parameter setting.
END
Sample mechanical system program
Transmission
module
SV22 virtual mode
Virtual servo motor start
Output
module
(Cam)
(Roller)
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MITSUBISHI ELECTRIC
Q MOTION CONTROLLER
21
SOFTWARE
Overview of the various program packages
왎 PLC CPU programming with GX (IEC) Developer
With the software GX Developer you can
comfortably create PLC programs alternatively in the form of Ladder Diagrams or
Instruction Lists.
GX IEC Developer provides all functions of
the GX Developer and in addition meets
the programming standard for the future:
IEC 1131.3 (EN 61131).
왎 Motion CPU programming with MT Developer
System configuration and parameter
adjustment
The Motion systems as well as the servo
amplifiers and servo motors are
configured conveniently according to
selections in the menu. All specific
parameters are operated.
Comprehensive explanations and help
functions are available for the individual
servo parameters.
Motion-SFC
The instructions can be chosen from a
selection window when inputting the
programs, the individual steps and the
further processing conditions.
High-speed response using step execution method
The sequence program uses a scan execution method to execute
all steps with constant scanning. However, with the Motion SFC,
the step execution method executes only the active steps following the shift conditions. Thus, the operation process can be
reduced, and processing and response control can be realized.
Motion SFC program
Sequence program
All steps are executed with constant scan
X000
PLS M100
M100
SET M101
SVST J1 J2 K1
With the Motion SFC, when several programs are started, the process is carried out with multi-task operation. Multiple steps can be
simultaneously executed with parallel branching even within one
program.
A program that excutes multiple processes simultaneously, or a
program that groups the control axis for independent movements can be created easily. A highly independent programming
is possible according to the process details, so an easy-to-comprehend program can be created.
Work movement control
[G 1]
M101 M2001 M2002
Multi-tasking
Only active steps are executed following
shift conditions
RST M101
SET M102
PX0 //Start (PX0=ON) wait
[K 1]
1 ABS-2
axis 1,
axis 2,
Combined speed
D 200 µm
D 202 µm
D 204 mm/min.
[G 2]
PX1 //1st process machining completion (PX1: ON) wait
M102 M2001
SVST J1 K2
RST M102
[K 2]
1 ABS-1
axis 1,
speed
D 300 µm
D 202 mm/min.
[G 3]
SET M103
M103 M2001
PX2 //2nd process machining completion (PX2: ON) wait
[F 1]
SET Y008
Set PY8 //Completion signal (PY8) ON
RST M103
END
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Q MOTION CONTROLLER
MITSUBISHI ELECTRIC
SOFTWARE
Cam curve programming
The mechanical cam curves are configured by selecting the type and freely
defining the characteristic curve. The current cam curve together with information
about the maximum deflection, maximum speed, acceleration curves and
impact are represented graphically.
Virtual synchronisation (master shaft)
Mechanical components such as drive
shafts, gearing, couplings etc, are
replaced by electronic systems with the
aid of a virtual editor.
This eliminates problems which arise with
a conventional mechanical construction.
The parameters of the mechanical components are programmed online. A multitude of mechanical components make
this software a powerful but simple tool.
Mechanical module list
Mechanism Mechanical module
Function
section
Name
Appearance
Drive
module
Virtual servo
motor
Used to drive the virtual axis in the mechanical system
program by the servo program or JOG start.
Synchronous
encoder
Used to drive the virtual axis by input pulse from an
external synchronous encoder.
Virtual
main
shaft
Virtual axis
Virtual
auxiliary
input axis
—
—
Mechanism Mechanical module
Function
section
Name
Appearance
Direct
clutch
This is a virtual "link shaft".
The rotation of the drive module is transferred to the
transmission module.
This is the auxiliary input axis for input to the transmission module "differential gear".
It is automatically displayed when the differential gear
and the gear are connected.
Roller
Used when the speed control occurs at the final output.
Ball screw
Used when the liner positioning occurs at the final
output.
Output
module
Rotary table
Used when the angle control occurs at the final output.
Cam
Used when the control other than those shown above
occurs based on the cam pattern setting data.
There are two cam control modes: the two-way cam
mode and the feed cam mode.
Transfers the drive module rotation to the output axis.
The travel valve input from the drive module multiplied by the set gear ratio, and transferred to the output axis so that it moves in the set direction.
Gear
Transmission
module
Smoothing
clutch
Speed
change
gear
Engages/disengages the output module with the drive
module rotation.
When switching the clutch ONN/OFF, there is a direct
clutch for direct tranfer and a smoothing clutch for
acceleration/deceleration processing which occurs in
accordance with the smoothing time constant setting.
Depending on the application, ON/OFF mode, address
mode or external input mode can be selected.
As the smoothing method, the time constant setting
mode or degree of slippage setting method can be
selected.
Used to change the speed of the output module.
The speed from the input axis side multiplied by the set
speed change ratio and transferred to the output axis.
Differential
gear
The rotation of the auxiliary input axis substracted
from the rotation of the virtual main shaft and transferred to the output axis.
The rotation of the auxiliary input axis substracted
from the rotation of the virtual main shaft and transferred to the output axis. (for connection to the virtual
main shaft)
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MITSUBISHI ELECTRIC
Q MOTION CONTROLLER
23
ACCESSORIES
왎 SSCNET Dividing Unit
Specifications
Dividing board Q173DV
SSCNET
CN1
SSCNET
CN2
SSCNET
CN3
SSCNET
CN4
Q173DV
DATE
The dividing board is used to multiply the
number of interfaces of the Q173CPUN.
Up to four SSCNET-phases, each with
8 axes can be connected.
In addition, the dividing board has a
holder for an optional MR-BAT buffer
battery to save the data of the Motion
program in the event of a power failure
lasting more than 200 hours (8 days).
Q173DV
Connectable SSCNET lines
4
Applicable battery
MR-BAT
Order information
Art. no. 140586
왎 Connection Cable for SSCNET Dividing Unit
Connection cable Q173DVCBL
The cable connects the Q173CPUN to the
SSCNET dividing board.
The cables area available in 2 different
lengths.
Specifications
Q173DVCBL05M
Type of cable
SSCNET cable
SSCNET cable
For connection
Q173CPUN and dividing unit Q173DV
Q173CPUN and dividing unit Q173DV
m 0.5
Available length
Order information
Q173DVCBL1M
1.0
Art. no. 140587
140588
왎 Battery Unit
Battery unit Q170BAT
Specifications
Q170BAT
The purpose of this holder is to accommodate an optional buffer battery. The battery is required to save data if the power
supply is interrupted for more than 200
hours (corresponding to 8 days).
Applicable battery
MR-BAT
Order information
Art. no. 142204
왎 Connection Cable for Battery Unit and Servo Amplifier
Connection cable Q172J2BCBL
Specifications
Q172J2BCBL첸M-B
The cables connect the Q170BAT battery
holder and the servo booster to the
Q172CPUN, and are available in 3 different
lengths.
Type of cable
SSCNET bus cable
For connection
Q172CPU and battery unit
Q170BAT
m 0.5 / 1.0 / 5.0
Available lenght
Order information
Art. no. 142206/142207/142205
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Q MOTION CONTROLLER
MITSUBISHI ELECTRIC
ACCESSORIES
왎 SSCNET Connection Cables
Connection Cables
Specifications
MR-J2HBUS첸M
The cable MR-J2HBUS첸M connects two
servo amplifiers.
For detailled informations please refer to
the technical catalogue MR-J2-Super.
Type of cable
SSCNET cable
For connection
MR-J2S-B/MR-J2-B with
MR-J2S-B/MR-J2-B
m 0.5 / 1.0 / 5.0
Available lengths
Order information
Art. no. 70014 / 70012 / 70011
왎 Termination Connectors
Connectors
By this bus end plug the SSCNET is terminated. The termination is required to
ensure a faultless network operation.
The plug is connected to the end of the
bus on the last servo amplifier.
Specifications
MR-A-TM
Connector type
SSCNET connector for the last
servo amplifier
(MR-J2S-B/MR-J2-B)
Order information
Art. no. 70004
왎 Manual Pulse Generator
0
10
90
20
80
MR-HDP01
Specifications
MR-HDP01
By this serial handwheel an external incremental setting value can be generated.
Resolution
25 pls/rev (100 pls/rev at
magnification of 4)
Output voltage
Input voltage > 1 V
30
Consumtion current
Max. 60 mA
kg 0.4
Weight
40
Order information
Art. no. 128728
왎 Serial absolute synchronous encoder
Specifications
MR-HENC
This serial absolute synchronous encoder
facilitates the integration of an external
system (e. g. frequency inverter) in a
motion system. The inverter is operated
as real master axis, e. g. synchronized in a
group.
MR-HENC
Resolution
16384 pls/rev.
Direction on increase
Counter clockwise
Protection
IP52
Permissible rotation speed
4300 r/min
Perm. angular acceleration
Weight
Order information
4000 rad/s
kg 1.5
Art. no. 138304
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MITSUBISHI ELECTRIC
Q MOTION CONTROLLER
25
DIMENSIONS
Motion Controller CPUs
114,3
27,4
27,4
Q173CPUN
Q172CPUN
MODE
RUN
ERR.
M.RUN
BAT.
BOOT
MODE
RUN
ERR.
M.RUN
BAT.
BOOT
98
CN2
CN2
CN1
PULL
98
FRONT
SSCNET
FRONT
SSCNET
CN1
PULL
USB
USB
RS-232
RS-232
Motion Controller System Modules
27,4
27,4
Q172EX
SY.ENC TREN
1
1
2
2
Q173PX
PLS.A PLS.B
1
1
2
2
3
3
27,4
90
Q172LX
TREN
1
2
3
PULSER
98
98
98
SY.ENC1
CTRL
SY.ENC2
Q172EX
Q173PX
Q172LX
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26
Q MOTION CONTROLLER
MITSUBISHI ELECTRIC
DIMENSIONS
Serial Synchronous Absolute Encoder MR-HENC
68
ø14,3
ø16
56
91
ø15
B
B
1,15
2
4 x ø5,4
19,5
5
102
33
135
B
Manual Pulse Generator MR-HDP01
3,6
t = 20
3 x M4x10
20
ø60
30
50
ø50
ø80
60
40
20
90
70
16
0
80
ø70
NP
10
M3 x 6
8,89
27
7,6
3 x ø4,8
ø72
ø62
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MITSUBISHI ELECTRIC
Q MOTION CONTROLLER
27
APPENDIX
Design
The following tables are intended to guide
you when you are designing a motion system and to help you with the selection of
the required components.
More support will be given by the sales
representative of MITSUBHISI ELECTRIC
(see back cover).
왎 Motion System
Component
Selection criterion
Type and number of motion CPU modules
Number of axes
1 to 8 axes: Q172CPUN (controls up to 8 axes per module)
9 to 96 axes: Q173CPUN (controls up to 32 axes per module)
Operating system of the motion CPU
(SV13 or SV22)
Type and specification of the plant you want to control
Conveyor assembly: SV13
Virtual Mechanical Editor with cam settings: SV22
Servo external signals interface modules Q172LX
Extent of the wiring for the external signals
Number of external servo signals
When there is a mechanical home position and dog type home position return is made or when switching from speed control to position control is required, the input DOG/CHANGE must be wired.
For the detection of upper and lower limits, the inputs „FLS“ and „RLS“ are neccesarry.
For stopping under speed or position control the input „STOP“ is needed.
Encoder interface modules Q172EX
Number of serial absolute synchronous encoders
MR-HENC
Number of serial absolute synchronous encoders used
Serial absolute synchronous encoder cable
MR-JHSCBL첸M-L/H
Distance between serial absolute synchronous encoder and interface module; Requirements for the cable (standard or long life)
Number of Q173PX
Number of manual pulse generators or incremental synchronous encoders used
Manual pulse generator MR-HDP01
Number of manual pulse generators required
Interrupt module QI60
External interrupts are used for program control. An interrupt module is needed if external interrupts are specified in your application.
I/O modules
Requirements of the external equipment to be controlled.
Multiprocessor PLC CPU
Extent of the sequence program
Main base unit
Extension base unit
Extension cables
Number of modules used (PLC CPU, Motion CPU, Q172LX, Q172EX, Q173PX, I/O modules, intelligent function modules)
Power supply module
Power consumption of all installed CPUs and modules (pay attention to the current consumption of the Q PC; note total needed power )
Available input voltage for the power supply module
Servo amplifier and servo motors
Required power from the servo motor and number of revolutions.
For details see the manuals of the servo amplifiers.
SSCNET Dividing unit Q173DV
SSCNET cable Q173DVCBL첸M
Battery unit Q170BAT
SSCNET cable Q172J2BCBL첸M-B
One dividing unit Q173DV, one cable and one battery MR-BAT is needed for each Q173CPUN installed.
Choose the length of the cable (0.5 or 1 m) to your needs.
For each Q172CPUN in use one battery unit, one cable and one battery MR-BAT is needed. The length of the cable depends on the distance between
Q172CPUN and the first servo amplifier.
SSCNET cable MR-J2HBUS첸M and termination con- Number of servo amplifiers and position of the servo amplifiers in the plant.
nector MR-A-TM
Set the axis numbers to the servo amplifiers.
왎 External Wiring
Item
Selection criterion
Required power
Power supply for multi CPU system, servo amplifier, Safety regulations
external sensors and actors (e.g. solenoid valves)
Countermeasures against interferences from electromagnetic noise
Safety circuits
Design a circuit which stops the motion system if an error occurs with the motion controller or the servo amplifier or when the emergency stop is applied.
Design a circuit which avoids a malfunction while power is instable at power-on.
Design the electromagnetic brake circuit for servo motors.
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28
Q MOTION CONTROLLER
MITSUBISHI ELECTRIC
APPENDIX
Item
Design confirmation
PLC CPU
Main base unit
Check
ksteps
Extent of the sequence program
씲
Selected PLC CPU
Number of CPU modules
modules
Number of other modules installed to the main base
modules
씲
Selected main base unit
Extension base unit
Extension cable
씲
Selected extension base unit
m
Distance between main and extension base unit
씲
Selected extension cable
Input voltage:
Power supply module for main base unit
modules
Number of modules installed to the extension base unit
씲 AC
V
씲 DC
A
Current consumption of the modules installed at the main base unit
씲
Selected power supply module
Input voltage:
Power supply module for extension base unit
씲 AC
V
씲 DC
A
Current consumption of the modules installed at the extension base unit
씲
Selected power supply module
Programming cable
Motion CPU
Q173PX
Interface in use (USB or RS232)
씲
Selected programming cable
axes
Number of axes
씲
Selected motion CPU (type and number)
Number of manual pulse generators
pieces
Number of tracking enable signal inputs
inputs
씲
Required number of manual pulse generator interface modules Q173PX (3 manual pulse generators per module)
Q172LX
Number of upper stroke limit inputs (FLS)
axes
Number of lower stroke limit inputs (RLS)
axes
Number of stop signals (STOP)
axes
Number of proximity dog signals (DOG)
axes
Number of speed-position switching signals (CHANGE)
axes
씲
Required number of servo external signals interface modules Q172LX
Q172EX
Dividing unit Q173DV
Number of serial absolute synchronous encoders
씲
Required number of serial absolute synchronous encoder interface modules Q172EX (2 encoders per module)
pieces
Number of Q173CPUN = Required number of Q173DV
씲
Number of Q173DV = Required number of connetion cables, length as needed
Cable Q173DVCBL첸M
Battery unit Q170BAT
Cable Q173DVCBL05M (length 0.5 m)
pieces
Cable Q173DVCBL1M (length 1.0 m)
pieces
Number of Q172CPUN = Required number of Q170BAT
pieces
씲
씲
Number of Q170BAT = Required number of connetion cables, length as needed
Cable Q172J2BCBL05M-B (length 0.5 m)
pieces
Cable Q172J2BCBL1M-B (length 1.0 m)
pieces
Cable Q172J2BCBL5M-B (length 5.0 m)
pieces
Number of Q170BAT and Q173DV = Number of batteries
pieces
씲
Manual pulse generators MR-HDP01
Installed manual pulse generators in the motion system
pieces
씲
Serial absolute synchronous encoder MR-HENC
Serial absolute synchronous encoder in use
pieces
씲
Cable Q172J2BCBL첸M-B
Battery A6BAT
Encoder cable MR-JHSCBL첸
씲
Number of installed encoders MR-HENC, distance between encoder and Q172EX, requirements (standard or long life)
씲
Selected cable (type and number)
Number of servo amplifiers in the system, distance between the servo amplifiers
SSCNET cable for connection between the servo
amplifiers
SSCNET cable MR-J2HBUS05M (length 0.5 m)
pieces
SSCNET cable MR-J2HBUS1M (length 1.0 m)
pieces
씲
SSCNET cable MR-J2HBUS5M (length 5.0 m)
pieces
SSCNET Termination connector MR-A-TM
One termination connector is needed for each SSCNET line.
pieces
PCMCIA card and connection cable
When you want to program the motion CPU via the SSCNET you need an additional card for your PC.
The type of card (PCMCIA or ISA) depends on the type of PC used.
씲
Software
MITSUBISHI ELECTRIC will assists you to find a specially tailored software for your application.
씲
Servo amplifier and servo motors
Please consult MITSUBISHI ELECTRIC for the selection of servo amplifiers and motors.
씲
ISA card and connection cable
씲
AUDIN - 8, avenue de la malle - 51370 Saint Brice Courcelles - Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 - Web : http: www.audin.fr - Email : info@audin.fr
MITSUBISHI ELECTRIC
Q MOTION CONTROLLER
29
ORDER FORM
AUDIN
Composants & systèmes d'automatisme
7 bis rue de Tinqueux - 51100 Reims - France
Tel. +33(0)326042021 • Fax +33(0)326042820
http://www.audin.fr • e-mail info@audin.fr
Company:
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Department: . . . . . . . . . . . . . . . . . . . . .
Street:
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Address:
. . . . . . . . . . . . . . . . . . . . .
Phone:
. . . . . . . . . . . . . . . . . . . . .
Fax:
. . . . . . . . . . . . . . . . . . . . .
Order declaration
Pos.
Number
Item (type)
Article number
Description
Remarks
Notes when ordering:
When ordering, please use only the type designations and order numbers shown in this catalogue.
AUDIN - 8, avenue de la malle - 51370 Saint Brice Courcelles - Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 - Web : http: www.audin.fr - Email : info@audin.fr
30
MITSUBISHI ELECTRIC
INDEX
A
Absolute synchronous encoder
description. . . . . . . . . . .
Dimensions . . . . . . . . . .
Accessory. . . . . . . . . . . . . . .
Amplifier . . . . . . . . . . . . . . .
Application examples
programming . . . . . . . . .
SV13 instructions . . . . . . .
SV22 instructions . . . . . . .
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25
27
24
15
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C
Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Cam curve programming. . . . . . . . . . . . . . . . . . . . . . . . . 23
Combination possibilities . . . . . . . . . . . . . . . . . . . . . . . . . 5
Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Conveyor assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
CPUs
specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
overview and combination possibilities . . . . . . . . . . . . . 5
D
Design help . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Dimensions
accessory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Motion Controller . . . . . . . . . . . . . . . . . . . . . . . . . . 26
E
Encoder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Event processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
H
Hardware components . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
I
Interface modules
Q172LX . . . .
Q172EX . . . .
Q173PX . . . .
dimensions .
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12
13
14
26
M
Manual pulse generator MR-HDP01
description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Manual pulse generator interface module Q173PX
specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Mechanical elements (software) . . . . . . . . . . . . . . . . . . . . 23
Motion Controller
CPUs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Motion SFC programming . . . . . . . . . . . . . . . . . . . . . . . . 21
O
Operating system software . . . . . . . . . . . . . . . . . . . . . . . 17
P
PLC CPU programming .
Programming
application ranges .
components . . . . .
screenshots . . . . .
Motion SFC. . . . . .
Programm start . . . . . .
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17
17
20
21
20
S
Serial absolute synchronous interface module Q172EX
description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Servo amplifiers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Servo external signals interface module Q172LX
description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Servo motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
SFC (Sequential Function Chart) . . . . . . . . . . . . . . . . . . . . 21
Software
packages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
screenshots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Specifications
Motion Controller overview . . . . . . . . . . . . . . . . . . . . . 5
Motion CPUs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
system modules . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
System requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
System configuration (software) . . . . . . . . . . . . . . . . . . . . 22
System overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
V
Virtual mechanical system environment . . . . . . . . . . . . . . . 19
AUDIN - 8, avenue de la malle - 51370 Saint Brice Courcelles - Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 - Web : http: www.audin.fr - Email : info@audin.fr
MITSUBISHI ELECTRIC
Q MOTION CONTROLLER
31
HEADQUARTERS
EUROPEAN REPRESENTATIVES
EUROPEAN REPRESENTATIVES
EURASIAN REPRESENTATIVES
MITSUBISHI ELECTRIC
EUROPE
EUROPE B.V.
German Branch
Gothaer Straße 8
D-40880 Ratingen
Phone: +49 (0) 21 02 / 486-0
Fax: +49 (0) 21 02 / 4 86-1 12
e mail: megfamail@meg.mee.com
MITSUBISHI ELECTRIC
FRANCE
EUROPE B.V.
French Branch
25, Boulevard des Bouvets
F-92741 Nanterre Cedex
Phone: +33 1 55 68 55 68
Fax: +33 1 55 68 56 85
e mail: factory.automation@fra.mee.com
MITSUBISHI ELECTRIC .
ITALY
EUROPE B.V
Italian Branch
Via Paracelso 12
I-20041 Agrate Brianza (MI)
Phone: +39 (0) 39 / 60 53 1
Fax: +39 (0) 39 / 60 53 312
e mail: factory.automation@it.mee.com
MITSUBISHI ELECTRIC
SPAIN
EUROPE B.V.
Spanish Branch
Carretera de Rubí 76-80
E-08190 Sant Cugat del Vallés
Phone: +34 9 3 / 565 3131
Fax: +34 9 3 / 589 2948
e mail: —
MITSUBISHI ELECTRIC
UK
EUROPE B.V.
UK Branch
Travellers Lane
GB-Hatfield Herts. AL10 8 XB
Phone: +44 (0) 1707 / 27 61 00
Fax: +44 (0) 1707 / 27 86 95
MITSUBISHI ELECTRIC
JAPAN
CORPORATION
Office Tower “Z” 14 F
8-12,1 chome, Harumi Chuo-Ku
Tokyo 104-6212
Phone: +81 3 / 622 160 60
Fax: +81 3 / 622 160 75
MITSUBISHI ELECTRIC
USA
AUTOMATION
500 Corporate Woods Parkway
Vernon Hills, Illinois 60061
Phone: +1 (0) 847 / 478 21 00
Fax: +1 (0) 847 / 478 22 83
GEVA
AUSTRIA
Wiener Straße 89
A-2500 Baden
Phone: +43 (0) 2252 / 85 55 20
Fax: +43 (0) 2252 / 488 60
e mail: office@geva.at
TEHNIKON
BELARUS
Oktjabrskaya 16/5, Ap 704
BY-220030 Minsk
Phone: +375 (0)17/ 2275704
Fax: +375 (0)17/ 2276669
e mail: tehnikon@belsonet.net
Getronics
BELGIUM
Industrial Automation B.V.
Pontbeeklaan 43
B-1731 Asse-Zellik
Phone: +32 (0) 2 / 4 67 17 51
Fax: +32 (0) 2 / 4 67 17 45
e mail: infoautomation@getronics.com
TELECON CO.
BULGARIA
4, A. Ljapchev Blvd.
BG-1756 Sofia
Phone: +359 (0) 2 / 97 44 05 8
Fax: +359 (0) 2 / 97 44 06 1
e mail: —
INEA CR d.o.o.
CROATIA
Drvinje 63
HR-10000 Zagreb
Phone: +385 (0) 1/ 3667140
Fax: +385 (0) 1/ 3667140
e mail: —
AutoCont
CZECHIA
Control Systems s.r.o.
Nemocnicni 12
CZ-70200 Ostrava 2
Phone: +420 59 / 615 21 11
Fax: +420 59 / 615 25 62
e mail: consys@autocont.cz
louis poulsen
DENMARK
industri & automation
Geminivej 32
DK-2670 Greve
Phone: +45 (0) 43 / 95 95 95
Fax: +45 (0) 43 / 95 95 91
e mail: lpia@lpmail.com
UTU Elektrotehnika AS
ESTONIA
Pärnu mnt. 160i
EE-11317 Tallinn
Phone: +372 (0) 6 / 51 72 80
Fax: +372 (0) 6 / 51 72 88
e mail: utu@utu.ee
Provendor Oy
FINLAND
Teljänkatu 8 A 3
FIN-28130 Pori
Phone: +358 (0) 2 / 522 3300
Fax: +358 (0) 2 / 522 3322
e mail: —
UTECO A.B.E.E.
GREECE
5, Mavrogenous Str.
GR-18542 Piraeus
Phone: +30 10 / 42 10 050
Fax: +30 10 / 42 12 033
e mail: uteco@uteco.gr
Meltrade Automatika Kft. HUNGARY
55, Harmat St.
HU-1105 Budapest
Phone: +36 (0)1 / 2605 602
Fax: +36 (0)1 / 2605 602
e mail: office@meltrade.hu
MITSUBISHI ELECTRIC
IRELAND
EUROPE B.V. – Irish Branch
Westgate Business Park
Ballymount
IRL-Dublin 24
Phone: +353 (0) 1 / 419 88 00
Fax: +353 (0) 1 / 419 88 90
e mail: sales.info@meir.mee.com
Intehsis Srl
MOLDOVA
Cuza-Voda 36/1-81
MD-2061 Chisinau
Phone: +373 (0) 2 / 562 263
Fax: +373 (0) 2 / 562 263
e mail: intehsis@mdl.net
Getronics
NETHERLANDS
Industrial Automation B.V.
Donauweg 2 B
1043 AJ Amsterdam
Phone: +31 (0) 20 / 587 6700
Fax: +31 (0) 20 / 587 6839
e mail: info.gia@getronics.com
MPL Technology Sp. z o.o. POLAND
ul. Sliczna 36
PL-31-444 Kraków
Phone: +48 (0) 12 / 632 28 85
Fax: +48 (0) 12 / 632 47 82
e mail: krakow@mpl.pl
Sirius Trading & Services srl ROMANIA
Bd. Lacul Tei nr. 1 B
RO-72301 Bucuresti 2
Phone: +40 (0) 21 / 201 7147
Fax: +40 (0) 21 / 201 7148
e mail: sirius_t_s@fx.ro
INEA d.o.o.
SLOVENIA
Stegne 11
SI-1000 Ljubljana
Phone: +386 (0) 1- 513 8100
Fax: +386 (0) 1- 513 8170
e mail: inea@inea.si
ARATRON AB
SWEDEN
Box 20087
S-16102 Bromma
Phone: +46 (0) 8 / 40 41 600
Fax: +46 (0) 8 / 98 42 81
e mail: —
ECONOTEC AG
SWITZERLAND
Postfach 282
CH-8309 Nürensdorf
Phone: +41 (0) 1 / 838 48 11
Fax: +41 (0) 1 / 838 48 12
e mail: info@econotec.ch
GTS
TURKEY
Darülaceze Cad. No. 43 KAT. 2
TR-80270 Okmeydani-Istanbul
Phone: +90 (0) 212 / 320 1640
Fax: +90 (0) 212 / 320 1649
e mail: gts@turk.net
CSC Automation Ltd.
UKRAINE
15, M. Raskovoyi St., Floor 10,
Office 1010
U-02002 Kiev
Phone: +380 (0) 44 / 238 83 16
Fax: +380 (0) 44 / 238 83 17
e mail: csc-a@csc-a.kiev.ua
Avtomatika Sever
RUSSIA
Krapivnij Per. 5, Of. 402
RU-194044 St Petersburg
Phone: +7 812 / 1183 238
Fax: +7 812 / 3039 648
e mail: pav@avtsev.spb.ru
CONSYS
RUSSIA
Promyshlennaya St. 42
RU-198099 St Petersburg
Phone: +7 812 / 325 36 53
Fax: +7 812 / 325 36 53
e mail: consys@consys.spb.ru
ELEKTROSTYLE
RUSSIA
Ul Garschina 11
RU-140070 Moscowskaja Oblast
Phone: +7 095 / 261 3808
Fax: +7 095 / 261 3808
e mail: —
ICOS
RUSSIA
Ryazanskij Prospekt, 8a, Office 100
RU-109428 Moscow
Phone: +7 095 / 232 - 0207
Fax: +7 095 / 232 - 0327
e mail: mail@icos.ru
NPP Uralelektra
RUSSIA
Sverdlova 11A
RU-620027 Ekaterinburg
Phone: +7 34 32 / 53 27 45
Fax: +7 34 32 / 53 27 45
e mail: elektra@etel.ru
STC Drive Technique
RUSSIA
Poslannikov per., 9, str.1
RU-107005 Moscow
Phone: +7 095 / 786 21 00
Fax: +7 095 / 786 21 01
e mail: info@privod.ru
Specifications subject to change without notice.
MITSUBISHI ELECTRIC
MIDDLE EAST REPRESENTATIVE
SHERF Motion Techn. LTD
ISRAEL
Rehov Hamerkava 19
IL-58851 Holon
Phone: +972 (0) 3 / 559 54 62
Fax: +972 (0) 3 / 556 01 82
e mail: —
AFRICAN REPRESENTATIVE
CBI Ltd
SOUTHAFRICA
Private Bag 2016
ZA-1600 Isando
Phone: +27 (0) 11/ 928 2000
Fax: +27 (0) 11/ 392 2354
e mail: cbi@cbi.co.za
INDUSTRIAL AUTOMATION
AUDIN
- 8, avenue
de la04.03
malle - 51370 Saint Brice Courcelles - Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 - Web : http: www.audin.fr - Email : info@audin.fr
Art. no. 143712-B,
Printed in Germany
Gothaer Strasse 8 Phone: +49 2102 486-0
Fax: +49 2102 486-7170 www.mitsubishi-automation.de
D-40880 Ratingen Hotline: +49 1805 000-765 megfa-mail@meg.mee.com www.mitsubishi-automation.com
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