Q series Motion Controller for the iQ Platform Next Generation Motion Controller Accelerated by Progress A new platform aimed at improving total system performance! Extract more performance with the multiple CPU system-based controller platform. Being Introduced to the Motion controller Q series is the iQ Platform-based Q173DCPU/Q172DCPU. Motion control performance has been drastically improved. Including, a natural succession of the functions of the prior Motion controller Q series. While furthermore improving work productivity in the development, debugging and start-up stages due to the new iQ Platform Engineering Environment. Multiple CPU High Speed Bus -Equipped with a Multiple CPU high speed bus reserved specifically for CPUto-CPU communication. With this reserved Multiple CPU high speed bus, data transfer of 0.88ms period is possible for up to 14k words. -The Multiple CPU high speed transmission cycle is synchronized with the motion control cycle thus optimizing the control system. PLC CPU Universal Motion CPU Device Memory Model PLC Control Processor Multiple CPU High Speed Transmission Area Device Memory Multiple CPU High Speed Bus Motion Multiple CPU High Speed Transmission Area Processor SSCNET3 Motion Module (Proximity DOG, Manual Pulse Generator Input) Servo Motor Servo Amplifier 1 PLC Intelligent Function Module (A/D, D/A, etc.) -2 times (0.44ms/6 axes) the motion operation performance as before resulting in shorter system tact times. -Instruction communication to the servo amplifier can be executed in as little as a 0.44ms period, realizing high-accuracy synchronous control and speed/position control. -A motion control specific processor (high performance 64bitRISC) and a proprietary acceleration algorithm ASIC improve hardware efficiency. Control Q series PLC system bus PLC I/O Module (DI/O) High speed and high accuracy due to improvements in motion control performance -Using the MELSEC Q series universal model CPU, sequence processing is also accelerated. (Using the Q06UDHCPU, the PLC basic instruction time is 9.5ns.) -Equipped with various motion control functions such as multi-axis interpolation, speed control, electronic cam, tracking control and more. -Using the Motion SFC program as a flowchart, control with suppressed variation in response time is realized. Need-based System Construction -Up to 4 CPU modules can be freely selected in the Multiple CPU system. (1 PLC CPU required) -Control up to 96 axes per system using multiple Motion CPUs. (Three Q173DCPU modules use). -An optimum decentralized control system can be constructed using Multiple CPUs. Control is optimized by dispersing processing across the Multiple CPUs with the PLC CPU handling general machine control and the Motion CPU handling servo control tasks. System expandability is accomplished with ease due to the availability of over 100 different types of MELSEC Q series modules. A new advanced Engineering Environment MELSOFT MT Works2 -Easier operation allows for both programming and debugging time to be substantially reduced. -User-create, easily understood device labels can now be created, simplifying appropriation within the program. -New import/export function for cam data in CSV file format. -Substantial shortening of communication time when reading and writing to the Motion CPU. (Q173DCPU/Q172DCPU use) -Print documents without using Microsoft® Word or Excel. -SSCNET3 based MR-J3 servo amplifiers deliver a high speed, high accuracy solution. SSCNET (Servo System Controller NETwork) 2 Higher performance motion control! Multiple CPU High Speed Bus ■With reserved Multiple CPU high speed bus, data transfer of 0.88ms period is possible for up to 14k words. Multiple CPU high speed data transfer Acceleration of in-position signal response time Q06UDHCPU In-position response time Q06HCPU Program example The Multiple high speed transmission cycle is the same as the Motion Control cycle time. Increased controllability [K0 : Real] 1 INC-1 Axis 1, Speed 200 PLS 10000 PLS/sec Shared memory capacity Capacity Q06UDHCPU + Q173DCPU 14k word In-position signal Q06HCPU + Q173HCPU 4k word 3.5 times increase (Up to14k words) Motion Processing Acceleration ■Approximately double the basic motion performance and 1/4 the Motion SFC processing time. Servo program start dedicated instruction D(P).SVST PLC program interrupt for Multiple CPUs synchronization ■Using the new PLC interrupt function synchronized with the motion operation cycle (0.88ms), it is possible to achieve real time processing of the ladder program. Basic motion performance (With 0.44 ms operation cycle time) In case of SV13 Application Example Performance Q173DCPU 6 axes 3 axes Q173HCPU Approx. 2 times the performance 2) Multiple Motion CPUs can be started simultaneously. Motion SFC processing time Process time for D800L=D802L + D804L Processing time Q173DCPU Q173HCPU 3 2.34ms 1) A motor real time value can be compared against a specific point and if this point is overrun, the PLC can turn on an output signal. (Variation of comparison processing does not have an influence on the scan time of the ladder which is processed within 0.88ms.) Reduced to approx. 1/4 11.75ms ■Automatic refresh setting count has increased from 4 to 32. Processing time + Q173DCPU Decreased in 1/2 + Q173HCPU Measurement details Motor speed Time In-position signal In-position response time <In-position response time> In a 2 CPUs, Multiple CPU system consisting of a PLC CPU and Motion CPU, the Motion CPU receives the in-position signal from the servo amplifier of the first axis. Next, the PLC CPU sends a start command to the second amplifier. This example thus shows the time it takes from the stopping of motion on one axis until the beginning of motion on a second axis. Since the Motion CPU and PLC CPU must continuously communicate back-and-forth, this time is a good indicator of CPU-to-CPU data transfer speed and more importantly, overall system performance and tact time. Motion Dedicated PLC Instruction ■Introducing easy-to-use Motion dedicated PLC instructions. -More freedom in setting up the program for CPUto-CPU data exchange. -Motion critical data such as position and velocity information can be assigned to specific CPU-toCPU high-speed refresh area thus synchronizing their exchange between the Multiple CPU’s with that of the motion control system’s operation cycle. Large reduction in programming read/write time ■Increased debugging efficiency by reducing program read/write time to 1/3 the previous execution time. Issue multiple instructions at the same time Ex: Execution of 3 Motion dedicated SVST instruction at the same time. Motion CPU communication time M0 Ladder program Servo program read time D P. S V S T H3E1 "J1" K0 D P. S V S T H3E1 "J2" K1 D P. S V S T H3E1 "J3" K2 Communication time Q173DCPU RST M0 Approx. 3 times faster Q173HCPU Indirectly set data and execute instructions at the same time Ex: Indirect data setting of speed and position plus execution of the Motion dedicated SVST instruction all at the same time. M0 Ladder program DMOV K10000 U3E0¥ G12046 DMOV K500 U3E0¥ G12048 DP.SVST Servo program H3E1 "J1" K0 [K0 : Real] 1 INC-1 Axis 1, U3E0¥G12046 PLS Speed U3E0¥G12048 PLS/sec 4 System Configuration Flexible High-Speed Motion Control System Achieved with Multiple ■Compatible with the Q Series PLC (Platform) in the Multiple CPU system. ■The appropriate CPU modules for PLC control and Motion control can be selected to meet the application requirements. ■The Multiple CPU configuration allows up to 4 CPU modules to be selected. (1 PLC CPU must be used.) ■Up to 96 axes of servomotors per system can be controlled by using 3 modules of Q173DCPU. PLC CPU/Motion CPU (Up to 4 modules) Q6䊐P Q䊐UD(E)(H)CPU Q17䊐DCPU QI60 Integrated FA software MELSOFT PLC programming software GX Developer SW8D5C-GPPW-E Ver.8.48A or later (CD-ROM) CPU base Q3䊐DB(Note6) Motion controller engineering environment MELSOFT MT Works2 SW1DNC-MTW2-E (CD-ROM) USB(Note9)/RS-232 Servo set up software MR Configurator MRZJW3-SETUP221E Ver.C0 or later (CD-ROM) Laptop personal computer SSCNET3 (1 system) Peripheral device configuration SSCNET3 (2 systems) Extension cable QC䊐B Graphic operation terminal (GOT) 5 Motion CPU/ PLC CPU control module Extension base(Note10) (Up to 7 stages) Q6䊐B Battery holder unit Q170DBATC (Q6BAT has been installed) EMI Forced stop input (24VDC) Operating system software packages Operating system software SW8DNC-SV䊐䊐Q䊐 (CD-ROM) Conveyor assembly use Automatic machinery use Motion SFC compatible Motion SFC compatible SW8DNC-SV13QB (Q173DCPU) SW8DNC-SV13QD (Q172DCPU) Dedicated language Q172DLX Q172DEX(Note4) SW8DNC-SV22QA (Q173DCPU) SW8DNC-SV22QC (Q172DCPU) Electronic component assembly, Inserter, Feeder, Molder, Conveying equipment, Paint applicator, Chip mounting, Wafer slicer, Loader/Unloader, Bonding machine, X-Y table Press feeder, Food processing, Food packaging, Winding machine, Spinning machine, Textile machine, Printing machine, Book binder, Tire molder, Paper-making machine Linear interpolation (1 to 4 axes), Circular interpolation, Constant-speed, Fixed-pitch feed, Speed control with fixed position stop, Speed switching, Speed control, Speed/position switching Synchronous control, Electronic shaft, Electronic clutch, Electronic cam, Draw control Motion CPU control(Note1, 2, 3) modules QX/Y䊐䊐 Mechanical support language Notes : 1. Only input module among Motion CPU control modules can be accessed from PLC CPU. 2. Motion modules (Q172DLX/Q172DEX/Q173DPX) cannot be installed in CPU slot and I/O slot 0 to 2 of the main base unit. 3. Motion modules (Q172LX/Q172EX(-S2)/Q173PX) for Q17䊐HCPU/Q17䊐CPUN cannot be used. 4. Installation position of Q172DEX is only the main base unit. It cannot be used on the extension base unit. 5. Other CPU modules cannot be accessed from Motion CPU. 6. It is impossible to mount the main base unit by DIN rail when using the Motion CPU module. 7. Be sure to use the cable for forced stop input (sold separately). The forced stop cannot be released without using it. 8. Be sure to use the external battery. 9. USB cannot be used in WindowsNT® 4.0. 10. Motion CPU cannot control the module installed to the QA1S6䊐B. 11. The servo amplifiers for Linear servomotors are required. 12. Connecting target can be selected for each axis from general-purpose input of servo amplifier or Q172DLX. PLC CPU control (Note5) modules Q173DPX Device configuration Manual pulse generator (3 units per module) MR-HDP01 Serial absolute synchronous encoder (2 units per module) Q170ENC Servo external signal (Note12) (FLS,RLS,STOP,DOG/CHANGE)✕8 axes/module Motion CPU input/output (Up to 256 points) External interrupt input (16 points) Servo amplifier MR-J3-䊐B Servo amplifier MR-J3-䊐B Servomotor Linear servomotor(Note11) Servomotor Q173DCPU : 2 systems(Up to 32 axes) Q172DCPU : 1 system(Up to 8 axes) Servo external signal(Note12) (FLS, RLS, DOG) 6 Q series Motion Controller for the iQ Platform HEAD OFFICE : TOKYO BLDG., 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN L(NA)03036-A 0806 Printed in Japan <MDOC> New publication, effective Jun. 2008 Specifications subject to change without notice.