Mitsubishi Electric Q173DCPU User`s manual

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Mitsubishi Electric Q173DCPU User`s manual | Manualzz

MOTION CONTROLLERS

Q173DCPU

Q172DCPU

User's 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".

Indicates that incorrect handling may cause hazardous

DANGER

conditions, resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous

CAUTION

conditions, resulting in medium or slight personal injury or physical damage.

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

In any case, it is important to follow the directions for usage.

Please save this manual to make it accessible when required and always forward it to the end user.

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 CPU module, 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.

A - 4

CAUTION

Use the program commands for the program with the conditions specified in the instruction manual.

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.

A - 5

CAUTION

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.

Always install the servomotor with reduction gears in the designated direction. Failing to do so may lead to oil leaks.

Store and use the unit in the following environmental conditions.

Conditions

Environment

Motion controller/Servo amplifier Servomotor

Ambient temperature

Ambient humidity

According to each instruction manual.

According to each instruction manual.

0°C to +40°C (With no freezing)

(32°F to +104°F)

80% RH or less

(With no dew condensation)

-20°C to +65°C

(-4°F to +149°F)

Storage temperature

According to each instruction manual.

Atmosphere

Indoors (where not subject to direct sunlight).

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

Altitude

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

Vibration

According to each instruction manual

When coupling with the synchronous encoder or servomotor shaft end, do not apply impact such as by hitting with a hammer. Doing so may lead to detector damage.

Do not apply a load larger than the tolerable load onto the synchronous encoder and servomotor shaft. Doing so may lead to shaft breakage.

When not using the module for a long time, disconnect the power line from the Motion controller or servo amplifier.

Place the Motion controller and servo amplifier in static electricity preventing vinyl bags and store.

When storing for a long time, please contact with our sales representative.

Also, execute a trial operation.

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). 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

VIN

(24VDC)

Do not connect or disconnect the connection cables between each unit, the encoder cable or PLC expansion cable while the

Control output signal

RA 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.

A - 7

(6) Usage methods

CAUTION

Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the Motion controller, servo amplifier or servomotor.

Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection.

Do not attempt to disassemble and repair the units excluding a qualified technician whom our company recognized.

Do not make any modifications to the unit.

Keep the effect or electromagnetic obstacles to a minimum by installing a noise filter or by using wire shields, etc. Electromagnetic obstacles may affect the electronic devices used near the

Motion controller or servo amplifier.

When using the CE Mark-compliant equipment, refer to the "EMC Installation Guidelines" (data number IB(NA)-67339) for the Motion controllers and refer to the corresponding EMC guideline information for the servo amplifiers, inverters and other equipment.

Use the units with the following conditions.

Item

Input power

Input frequency

Tolerable momentary power failure

100 to 120VAC

+10% +10%

-15%

200 to 240VAC

-15%

(85 to 132VAC) (170 to 264VAC)

Conditions

Q62P Q64P

100 to 240VAC

+10%

-15%

(85 to 264VAC)

24VDC

-35%

(15.6 to 31.2VDC)

100 to 120VAC

+10%

-15%

200 to 240VAC

+10%

-15%

(85 to 132VAC/

170 to 264VAC)

/

50/60Hz ±5%

20ms or less

A - 8

(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.

Shut off with the emergency stop signal(EMG).

Servomotor

RA1 EMG

Electromagnetic brakes

24VDC

If an error occurs, remove the cause, secure the safety and then resume operation after alarm release.

The unit may suddenly resume operation after a power failure is restored, so do not go near the machine. (Design the machine so that personal safety can be ensured even if the machine restarts suddenly.)

(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.

A - 9

CAUTION

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.

(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

CAUTION

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

Print Date Manual Number

Jan., 2008 IB(NA)-0300133-A First edition

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

Revision

Japanese Manual Number IB(NA)-0300125

This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

© 200

8 MITSUBISHI ELECTRIC CORPORATION

A - 11

INTRODUCTION

Thank you for choosing the Mitsubishi Motion controller Q173DCPU/Q172DCPU.

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- 4

1.1 Overview................................................................................................................................................... 1- 1

1.2 Differences between Q173DCPU/Q172DCPU and Q173HCPU/Q172HCPU ...................................... 1- 3

2. SYSTEM CONFIGURATION 2- 1 to 2-72

2.1 Motion System Configuration .................................................................................................................. 2- 1

2.1.1 Q173DCPU System overall configuration ........................................................................................ 2- 3

2.1.2 Q172DCPU System overall configuration ........................................................................................ 2- 5

2.1.3 Function explanation of the Q173DCPU/Q172DCPU Motion CPU modules ................................. 2- 7

2.1.4 Restrictions on Motion systems........................................................................................................ 2- 8

2.2 System Configuration Equipment............................................................................................................ 2-11

2.3 General Specifications ............................................................................................................................. 2-18

2.4 Specifications of Equipment and Settings............................................................................................... 2-19

2.4.1 Name of parts for CPU module ........................................................................................................ 2-19

2.4.2 Power supply module........................................................................................................................ 2-27

2.4.3 Base unit and extension cable.......................................................................................................... 2-35

2.4.4 Q172DLX Servo external signals interface module ......................................................................... 2-38

2.4.5 Q172DEX Synchronous encoder interface module......................................................................... 2-43

2.4.6 Q173DPX Manual pulse generator interface module ...................................................................... 2-52

2.4.7 Manual pulse generator/Serial absolute synchronous encoder ...................................................... 2-61

2.4.8 SSCNET cables and connection method...................................................................................... 2-63

2.4.9 External battery ................................................................................................................................. 2-68

2.4.10 Forced stop input terminal .............................................................................................................. 2-71

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- 8

3.2.2 Safety circuit design .......................................................................................................................... 3- 9

3.3 Layout Design within The Control Panel ................................................................................................. 3-11

3.3.1 Mounting environment....................................................................................................................... 3-11

3.3.2 Layout design of the base units ........................................................................................................ 3-12

3.3.3 Calculating heat generation by Motion controller............................................................................. 3-13

3.4 Design Checklist ...................................................................................................................................... 3-16

A - 12

4. INSTALLATION AND WIRING 4- 1 to 4-26

4.1 Module Installation ................................................................................................................................... 4- 1

4.1.1 Instructions for handling.................................................................................................................... 4- 1

4.1.2 Instructions for mounting the base unit ............................................................................................ 4- 3

4.1.3 Installation and removal of module................................................................................................... 4- 6

4.1.4 Instructions for mounting of the battery holder unit.......................................................................... 4- 9

4.2 Connection and disconnection of Cable.................................................................................................. 4-10

4.2.1 SSCNET cable ............................................................................................................................... 4-10

4.2.2 Battery cable...................................................................................................................................... 4-13

4.2.3 Forced stop input cable..................................................................................................................... 4-15

4.3 Mounting of Serial Absolute Synchronous Encoder ............................................................................... 4-16

4.4 Wiring........................................................................................................................................................ 4-18

4.4.1 Instructions for wiring ........................................................................................................................ 4-18

4.4.2 Connecting to the power supply module .......................................................................................... 4-21

4.4.3 Precautions of SSCNET cable wiring ............................................................................................ 4-23

5. TRIAL OPERATION AND ADJUSTMENT 5- 1 to 5- 8

5.1 Checklist before Trial Operation .............................................................................................................. 5- 1

5.2 Trial Operation and Adjustment Procedure............................................................................................. 5- 3

5.3 Operating System Software Installation Procedure................................................................................ 5- 7

5.4 Trial Operation and Adjustment Checklist............................................................................................... 5- 8

6. INSPECTION AND MAINTENANCE 6- 1 to 6-28

6.1 Maintenance Works ................................................................................................................................. 6- 2

6.1.1 Instruction of Inspection works ......................................................................................................... 6- 2

6.2 Daily Inspection........................................................................................................................................ 6- 4

6.3 Periodic Inspection................................................................................................................................... 6- 5

6.4 Life ............................................................................................................................................................ 6- 6

6.5 External Battery........................................................................................................................................ 6- 7

6.5.1 Battery life.......................................................................................................................................... 6- 8

6.5.2 Battery replacement procedure ........................................................................................................ 6-10

6.5.3 Resuming operation after storing the Motion controller ................................................................... 6-12

6.6 Troubleshooting ....................................................................................................................................... 6-13

6.6.1 Troubleshooting basics ..................................................................................................................... 6-13

6.6.2 Troubleshooting of Motion CPU module .......................................................................................... 6-14

6.6.3 Confirming error code ....................................................................................................................... 6-25

6.6.4 I/O module troubleshooting............................................................................................................... 6-26

APPENDICES App- 1 to App-17

APPENDIX 1 Cables..................................................................................................................................App- 1

APPENDIX 1.1 SSCNET cables.........................................................................................................App- 1

APPENDIX 1.2 Serial absolute synchronous encoder cable................................................................App- 4

APPENDIX 1.3 Battery cable.................................................................................................................App- 6

APPENDIX 1.4 Forced stop input cable................................................................................................App- 7

A - 13

APPENDIX 2 Exterior Dimensions ............................................................................................................App- 8

APPENDIX 2.1 CPU module .................................................................................................................App- 8

APPENDIX 2.2 Servo external signals interface module (Q172DLX)..................................................App- 9

APPENDIX 2.3 Synchronous encoder interface module (Q172DEX)..................................................App- 9

APPENDIX 2.4 Manual pulse generator interface module (Q173DPX)...............................................App-10

APPENDIX 2.5 Power supply module (Q61P-A1, Q61P-A2, Q61P, Q62P, Q63P, Q64P).................App-11

APPENDIX 2.6 Battery holder unit (Q170DBATC) ...............................................................................App-12

APPENDIX 2.7 Connector .....................................................................................................................App-13

APPENDIX 2.8 Manual pulse generator (MR-HDP01) .........................................................................App-16

APPENDIX 2.9 Serial absolute synchronous encoder (Q170ENC) .....................................................App-16

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 Name

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.

(Optional)

Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)

This manual explains the functions, programming, debugging, error lists and others for Motion SFC.

(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.

(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 lists, error lists and others.

(Optional)

Manual Number

(Model Code)

IB-0300134

(1XB928)

IB-0300135

(1XB929)

IB-0300136

(1XB930)

IB-0300137

(1XB931)

A - 15

(2) PLC

Manual Name

QCPU User's Manual (Hardware Design, Maintenance and Inspection)

This manual explains the specifications of the QCPU modules, power supply modules, base modules, extension cables, memory card battery and others.

(Optional)

QCPU User's Manual (Function Explanation, Program Fundamentals)

This manual explains the functions, programming methods and devices and others to create programs with the QCPU.

(Optional)

QCPU User's Manual (Multiple CPU System)

This manual explains the functions, programming methods and cautions and others to construct the

Multiple CPU system with the QCPU.

(Optional)

QCPU (Q Mode)/QnACPU Programming Manual (Common Instructions)

This manual explains how to use the sequence instructions, basic instructions, application instructions and micro computer program.

(Optional)

QCPU (Q Mode)/QnACPU Programming Manual (PID Control Instructions)

This manual explains the dedicated instructions used to exercise PID control.

(Optional)

QCPU (Q Mode)/QnACPU Programming Manual (SFC)

This manual explains the system configuration, performance specifications, functions, programming, debugging, error codes and others of MELSAP3.

(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.

(3) Servo amplifier

(Optional)

Manual Name

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.

(Optional)

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

Closed Loop Control MR-J3- B-RJ006 Servo amplifier.

(Optional)

Manual Number

(Model Code)

SH-080483ENG

(13JR73)

SH-080484ENG

(13JR74)

SH-080485ENG

(13JR75)

SH-080039

(13JF58)

SH-080040

(13JF59)

SH-080041

(13JF60)

SH-080042

(13JL99)

Manual Number

(Model Code)

SH-030051

(1CW202)

SH-030056

(1CW304)

A - 16

1 OVERVIEW

1. OVERVIEW

1.1 Overview

This User's Manual describes the hardware specifications and handling methods of the

Motion Controller's Model Q173DCPU/Q172DCPU for the Q series PLC Multiple CPU system.

The Manual also describes those items related to the specifications of the option module for the Motion controller, Manual pulse generator, Synchronous encoder and cables.

In this manual, the following abbreviations are used.

Generic term/Abbreviation

Q173DCPU/Q172DCPU or

Motion CPU (module)

Description

Q173DCPU/Q172DCPU Motion CPU module

Q172DLX/Q172DEX/Q173DPX or

Motion module

Q172DLX Servo external signals interface module/

Q172DEX Serial Synchronous encoder interface module

(Note-1)

/

Q173DPX Manual pulse generator interface module

Servo amplifier model MR-J3- B MR-J3- B

AMP or Servo amplifier General name for "Servo amplifier model MR-J3- B"

QCPU, PLC CPU or PLC CPU module QnUD(H)CPU

Multiple CPU system or Motion system Abbreviation for "Multiple PLC system of the Q series"

CPUn

Abbreviation for "CPU No.n (n= 1 to 4) of the CPU module for the Multiple CPU system"

Self CPU Motion CPU being programmed by the currently open MT Developer project

Programming software package General name for MT Developer/GX Developer/MR Configurator

Operating system software

SV13

SV22

MT Developer

GX Developer

MR Configurator

General name for "SW8DNC-SV Q "

Operating system software for conveyor assembly use (Motion SFC) :

SW8DNC -SV13Q

Operating system software for automatic machinery use (Motion SFC) :

SW8DNC -SV22Q

Abbreviation for "

Motion controller programming software

MT Developer

2 (Version 1.00A or later)"

Abbreviation for "MELSEC PLC programming software package

GX Developer (Version 8.48A or later)"

Abbreviation for "Servo setup software package

MR Configurator (Version C0 or later)"

Manual pulse generator or MR-HDP01 Abbreviation for "Manual pulse generator (MR-HDP01)"

Serial absolute synchronous encoder or Q170ENC

Abbreviation for "Serial absolute synchronous encoder (Q170ENC)"

SSCNET

(Note-2)

Absolute position system

Battery holder unit

High speed synchronous network between Motion controller and servo amplifier

General name for "system using the servomotor and servo amplifier for absolute position"

Battery holder unit (Q170DBATC)

External battery

Intelligent function module

General name for "Q170DBATC" and "Q6BAT"

Abbreviation for "MELSECNET/H module/Ethernet module/CC-Link module/

Serial communication module"

(Note-1) : Q172DEX can be used in SV22.

(Note-2) : SSCNET: Servo System Controller NETwork

1 - 1

1

1 OVERVIEW

REMARK

For information about the each module, design method for program and parameter, refer to the following manuals relevant to each module.

PLC CPU, peripheral devices for PLC program design,

I/O modules and intelligent function module

Operation method for MT Developer

SV13/SV22

• Multiple CPU system configuration

• Performance specification

• Design method for common parameter

• Auxiliary and applied functions (common)

• Design method for Motion SFC program

• Design method for Motion SFC parameter

• Motion dedicated PLC instruction

• Design method for positioning control program in the real mode

• Design method for positioning control parameter

SV22

(Virtual mode)

• Design method for mechanical system program

Manual relevant to each module

Help of each software

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)

1 - 2

1 OVERVIEW

1.2 Differences between Q173DCPU/Q172DCPU and Q173HCPU/Q172HCPU

Items

Operation cycle

(default)

SV13

SV22

Q173DCPU Q172DCPU Q173HCPU Q173HCPU

0.44ms/ 1 to 6 axes

0.88ms/ 7 to 18 axes

1.77ms/19 to 32 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 6 axes

0.88ms/ 7 to 8 axes

0.44ms/ 1 to 4 axes

0.88ms/ 5 to 8 axes

0.44ms/ 1 to 3 axes

0.88ms/ 4 to 10 axes

1.77ms/11 to 20 axes

3.55ms/21 to 32 axes

0.88ms/ 1 to 5 axes

1.77ms/ 6 to 14 axes

3.55ms/15 to 28 axes

7.11ms/29 to 32 axes

0.44ms/ 1 to 3 axes

0.88ms/ 4 to 8 axes

0.88ms/ 1 to 5 axes

1.77ms/ 6 to 8 axes

Medium of operating system software

Model of operating system software

Peripheral I/F

CD-ROM (1 disk) FD (2 disks)

SW8DNC-SV Q SW6RN-SV Q

Main base unit

Color of base cover

Mounting on panel

CPU module No.1

Installation orders CPU No.2 or later

CPU empty slot

PLC CPU module

Motion CPU module

Combination of Motion

CPU modules

Via PLC CPU (USB/RS-232)

Multiple CPU high speed main base unit

(Q38DB/Q312DB)

Gray

Be sure to mount it by unit fixing screws.

Unusable

QnUD(H)CPU

No restriction

Settable between CPU modules

Universal model (QnUD(H)CPU)

Q173DCPU/Q172DCPU

Q173DCPU/Q172DCPU only

USB/SSCNET

Main base unit

(Q33B/Q35B/Q38B/Q312B)

Clear

Mount it unit by unit fixing screws when using system in a place where the vibration or impact is large.

Usable

Qn(H)CPU

Install Motion CPU modules on the right-hand side of

PLC CPU module.

Not settable between CPU modules

High performance model (Qn(H)CPU)

Q173HCPU(-T)/Q172HCPU(-T)

Combination with Q173CPUN(T)/Q172CPUN(-T)

Installation on main base unit

Function select switch

LED indication

Be sure to install Motion CPU modules by unit fixing screws.

Rotary switch 1, Rotary switch 2

7-segment LED display

Install Motion CPU modules by unit fixing screws when using them in a place where the vibration or impact is large.

Dip switch 1 to 5

Provided

Each LED of MODE, RUN, ERR, M.RUN, BAT and

BOOT

External battery Demand

Add Q6BAT at continuous power failure for 1 month or more

Q170HBATC Battery holder unit

Forced stop input

Cable for forced stop input

Motion module

Installation on main base unit

Multiple CPU high speed transmission memory for data transfer between CPU modules

Q170DBATC

• Use EMI terminal of Motion CPU module

• Use device set by forced stop input setting in the system setting.

Demand

Q172DLX/Q172DEX/Q173DPX

Impossible to install on I/O slots of 0 to2

• Use device set by forced stop input setting in the system setting.

Q172LX/Q172EX/Q173PX

Possible to install on I/O slots of 0 to2

Included —

1 - 3

1 OVERVIEW

MEMO

1 - 4

2 SYSTEM CONFIGURATION

2. SYSTEM CONFIGURATION

This section describes the Q173DCPU/Q172DCPU system configuration, precautions on use of system and configured equipments.

2.1 Motion System Configuration

(1) Equipment configuration in Q173DCPU/Q172DCPU system

Extension of the Q series module

(Note-2)

2

Power supply module/

QnUD(H)CPU/ I/O module/

Intelligent function module of the Q series

Motion module

(Q172DLX, Q173DPX)

Motion module

(Q172DLX, Q172DEX, Q173DPX)

(Note-1)

Main base unit

(Q38DB, Q312DB)

Extension cable

(QC B)

Q6 B extension base unit

(Q63B, Q65B, Q68B, Q612B)

(Note-1)

Battery holder unit

(Q170DBATC)

MITSUBISHI

LITHIUM BATTERY

Battery

(Q6BAT)

Motion CPU module

(Q173DCPU/Q172DCPU)

Forced stop input cable

(Q170DEMICBL M)

Power supply module/

I/O module/Intelligent function module of the Q series

SSCNET cable

(MR-J3BUS M(-A/-B))

Servo amplifier

(MR-J3- 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 unit (Q170DBATC).

It is packed together with Q173DCPU/Q172DCPU.

(Note-2) : Q172DEX cannot be used in the extension base unit.

Install it to the main base unit.

2 - 1

2 SYSTEM CONFIGURATION

(2) Peripheral device configuration for the Q173DCPU/Q172DCPU

The following (a)(b) can be used.

(a) USB configuration (b) RS-232 configuration

PLC CPU module

(QnUD(H)CPU)

PLC CPU module

(QnUD(H)CPU)

USB cable

MIT SUBISHI

Personal computer

RS-232 communication cable

(QC30R2)

MIT SUBISHI

Personal computer

2 - 2

2 SYSTEM CONFIGURATION

2.1.1 Q173DCPU System overall configuration

Motion CPU control module

Main base unit

(Q3 DB)

Q61P

PLC CPU/

Motion CPU

QnUD(H)

CPU

Q173D

CPU

QI60 QX

QY

Q6 AD

Q6 DA

Q172D

LX

Q172D

EX

Q173D

PX

I/O module/

Intelligent function module

100/200VAC

Extension base unit

(Q6 B)

Extension cable

(QC B)

UP to 7 extensions

USB/RS-232

Personal Computer

IBM PC/AT

Battery holder unit

Q170DBATC

Analogue input/output

Input/output (Up to 256 points)

Interrupt signals (16 points)

Forced stop input cable

(Q170DEMICBL M)

EMI forced stop input (24VDC)

SSCNET cable

(MR-J3BUS M(-A/-B))

SSCNET (CN1)

SSCNET (CN2) d1

P

Manual pulse generator 3/module

(MR-HDP01) (Up to 1 module)

E

Serial absolute synchronous encoder cable

(Q170ENCCBL M)

Serial absolute synchronous encoder 2/module

(Q170ENC) (Up to 6 modules)

External input signals

FLS : Upper stroke limit

RLS : Lower stroke limit

STOP

: Stop signal

DOG/CHANGE : Proximity dog/

Speed-position switching

Number of Inputs

8 axes/module

(Up to 4 modules) d16 d1 d16

M

E

M

E

M

E

M

E

MR-J3- B model Servo amplifier,

Up to 32 axes (Up to 16 axes/system)

External input signals of servo amplifier

Proximity dog

Upper stroke limit

Lower stroke limit

2 - 3

2 SYSTEM CONFIGURATION

CAUTION

Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system.

The ratings and characteristics of the parts (other than Motion controller, servo amplifier and servomotor) used in a system must be compatible with the Motion controller, servo amplifier and servomotor.

Set the parameter values to those that are compatible with the Motion controller, servo amplifier, servomotor and regenerative resistor model and the system application. The protective functions may not function if the settings are incorrect.

2 - 4

2 SYSTEM CONFIGURATION

2.1.2 Q172DCPU System overall configuration

Motion CPU control module

Main base unit

(Q3 DB)

PLC CPU/

Motion CPU

Q61P QnUD(H)

CPU

Q172D

CPU

QI60 QX

QY

Q6 AD

Q6 DA

Q172D

LX

Q172D

EX

Q173D

PX

I/O module /

Intelligent function module

100/200VAC

Battery holder unit

Q170DBATC

Extension base unit

(Q6 B)

Extension cable

(QC B)

UP to 7 extensions

USB/RS-232

Personal Computer

IBM PC/AT

(MR-HDP01)

E

Serial absolute synchronous encoder cable

(Q170ENCCBL M)

Serial absolute synchronous encoder 2/module

(Q170ENC) (Up to 6 modules)

External input signals

FLS : Upper stroke limit

RLS

STOP

: Lower stroke limit

: Stop signal

DOG/CHANGE : Proximity dog/

Speed-position switching

Number of Inputs

8 axes/module

(Up to 4 modules)

Analogue input/output

Input/output (Up to 256 points)

Interrupt signals (16 points)

Forced stop input cable

(Q170DEMICBL M)

EMI forced stop input (24VDC)

SSCNET cable

(MR-J3BUS M(-A/-B))

SSCNET (CN1) d1 d2 d3 d8

M

E

M

E

M

E

M

E

MR-J3- B model Servo amplifier,

Up to 8 axes

External input signals of servo amplifier

Proximity dog

Upper stroke limit

Lower stroke limit

2 - 5

2 SYSTEM CONFIGURATION

CAUTION

Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system.

The ratings and characteristics of the parts (other than Motion controller, servo amplifier and servomotor) used in a system must be compatible with the Motion controller, servo amplifier and servomotor.

Set the parameter values to those that are compatible with the Motion controller, servo amplifier, servomotor and regenerative resistor model and the system application. The protective functions may not function if the settings are incorrect.

2 - 6

2 SYSTEM CONFIGURATION

2.1.3 Function explanation of the Q173DCPU/Q172DCPU Motion CPU modules

(1) Up to 32 axes servo amplifiers per 2 systems (up to 16 axes per 1 system) can be used in Q173DCPU. Up to 8 axes servo amplifiers per 1 system can be used in

Q172DCPU.

(2) It is possible to set the program which synchronized with the motion operation cycle and executed at fixed cycle (0.88[ms], 1.77[ms], 3.55[ms], 7.11[ms],

14.2[ms]).

(3) It is possible to execute a download of servo parameters to servo amplifier, servo

ON/OFF to servo amplifier and position commands, etc. by connecting between the Q173DCPU/Q172DCPU and servo amplifier with SSCNET cable.

(4) It is possible to select the servo control functions/programming languages by installing the corresponding operating system software in the Q173DCPU/

Q172DCPU.

(5) Motion modules (Q172DLX/Q172DEX/Q173DPX) are controlled with the

Q173DCPU/Q172DCPU, and the signals such as stroke limit signals connected to

Motion modules and synchronous encoder are used as motion control.

(6) PLC I/O modules can be controlled with the Q173DCPU/Q172DCPU.

(Refer to Section 2.2 (2) for PLC I/O modules that can be controlled with Motion

CPU.)

(7) Data exchange between CPU modules is possible by Multiple CPU high speed transmission memory or automatic refresh in the Multiple CPU system.

2 - 7

2 SYSTEM CONFIGURATION

2.1.4 Restrictions on Motion systems

(1) Combination of Multiple CPU system

(a) Motion CPU module cannot be used as standalone module.

Be sure to install the universal model PLC CPU module (Q03UDCPU/

Q04UDHCPU/Q06UDHCPU) to CPU No.1.

For Universal model PLC CPU module, "Multiple CPU high speed transmission function" must be set in the Multiple CPU settings.

(b) Only Multiple CPU high speed main base unit (Q38DB/Q312DB) can be used.

(c) The combination of Q173DCPU/Q172DCPU and Q173HCPU(-T)/

Q172HCPU(-T)/Q173CPUN(-T)/Q172CPUN(-T) cannot be used.

(d) Up to four modules of PLC CPU modules (Q03UDCPU/Q04UDHCPU/

Q06UDHCPU/Motion CPU modules can be installed from the CPU slot (the slot on the right side of power supply module) to slot 2 of the main base unit.

CPU modules called as CPU No.1 to CPU No.4 from the left sequentially.

There is no restriction on the installation order of CPU No.2 to No.4.

For CPU module except CPU No.1, an empty slot can be reserved for addition of CPU module. An empty slot can be set between CPU modules.

However, the installation condition when combining with the High performance PLC CPU module/Process CPU module/PC CPU module/C controller module is different depending on the specification of CPU modules, refer to the Manuals of each CPU modules.

(e) It takes about 10 seconds to startup (state that can be controlled) of Motion

CPU. Make a Multiple CPU synchronous startup setting suitable for the system.

(f) Execute the automatic refresh of the Motion CPU modules and PLC CPU modules (Q03UDCPU/Q04UDHCPU/Q06UDHCPU) by using the automatic refresh of Multiple CPU high speed transmission area setting.

When the High performance PLC CPU module/Process CPU module/PC

CPU module/C controller module is installed in the combination of Multiple

CPU system, the Motion CPU module cannot be execute the automatic refresh with these modules.

(g) Use the Motion dedicated PLC instructions that starts by "D(P).". The Motion dedicated PLC instructions that starts by "S(P)." cannot be used. When the

High performance PLC CPU module/Process CPU module/PC CPU module/C controller module is installed in the combination of Multiple CPU system, the Motion dedicated PLC instruction from these modules cannot be executed.

2 - 8

2 SYSTEM CONFIGURATION

(2) Motion modules

(a) Installation position of Q172DEX

(Note-1)

is only the main base unit.

It cannot be used on the extension base unit.

(b) Q172DLX/Q173DPX can be installed on any of the main base unit/ extension base unit.

(c) Q172DLX/Q172DEX

(Note-1)

/Q173DPX cannot be installed in CPU slot and I/O slot 0 to 2 of the main base unit. Wrong installation might damage the main base unit.

(d) Q172EX(-S1/-S2/-S3)/Q172LX/Q173PX(-S1) for Q173HCPU(-T)/

Q172HCPU(-T)/Q173CPUN(-T)/Q172CPUN(-T)/Q173CPU/Q172CPU cannot be used.

(e) Be sure to use the Motion CPU as the control CPU of Motion modules

(Q172DLX, Q172DEX

(Note-1)

, Q173DPX, etc.) for Motion CPU. They will not operate correctly if PLC CPU is set and installed as the control CPU by mistake. Motion CPU is treated as a 32-point intelligent module by PLC

CPU of other CPU.

(Note-1) : Q172DEX can be used in SV22. It cannot be used in SV13.

2 - 9

2 SYSTEM CONFIGURATION

(3) Other restrictions

(a) Motion CPU module cannot be set as the control CPU of intelligent function module (except some modules) or Graphic Operation Terminal(GOT).

(b) Be sure to use the external battery.

(c) There are following methods to execute the forced stop input.

• Use a EMI terminal of Motion CPU module

• Use a device set in the forced stop input setting of system setting

(d) Forced stop input for EMI terminal of Motion CPU module cannot be invalidated by the parameter.

When the device set in the forced stop input setting is used without use of

EMI terminal of Motion CPU module, apply 24VDC voltage on EMI terminal and invalidate the forced stop input of EMI terminal.

(e) Be sure to use the cable for forced stop input (sold separately). The forced stop cannot be released without using it.

(f) When the operation cycle is 0.4[ms], set the system setting as the axis select switch of servo amplifier "0 to 7".

If the axis select switch of servo amplifier "8 to F" is set, the servo amplifiers are not recognized.

(g) When a Multiple CPU system is configured, make sure to configure the modules so that the total current consumption of individual modules on the main base does not exceed the 5VDC output capacity of power supply module.

(Refer to Section 2.4.2 (3) "Selection of the power supply module".)

(h) It is impossible to mount the main base unit by DIN rail when using the

Motion CPU module.

Doing so could result in vibration that may cause erroneous operation.

(i) The module name displayed by "System monitor" - "Product information list" of GX Developer is different depending on the function version of Motion modules (Q172DLX, Q172DEX, Q173DPX).

(Note): Even if the function version "C" is displayed, it does not correspond to the online module change.

Module name

Model display

Function version "B" Function version "C"

2 - 10

2 SYSTEM CONFIGURATION

2.2 System Configuration Equipment

(1) Table of Motion controller related module

Part name

Motion CPU module

Q173DCPU

Q172DCPU

Servo external signals interface module

Synchronous encoder interface module

Manual pulse generator interface module

Q172DLX

Q172DEX

Q173DPX

PLC CPU module

(Note-2)

Q03UDCPU

Q04UDHCPU

Q06UDHCPU

Q61P-A1

Q61P-A2

Q61P Power supply module

(Note-3)

Main base unit

Q62P

Q63P

Q64P

Q38DB

Q312DB

Q63B

Q65B

Extension base unit

Q68B

Q612B

Model name

(Note-1)

Current

5VDC[A]

1.25

Remark

Up to 32 axes control, Operation cycle 0.44[ms] or more

(Attachment battery holder unit and battery (Q6BAT))

Up to 8 axes control, Operation cycle 0.44[ms] or more

(Attachment battery holder unit and battery (Q6BAT))

Servo external signal input 8 axes

(FLS, RLS, STOP, DOG/CHANGE×8)

1.25

0.06

Serial absolute synchronous encoder Q170ENC interface×2,

Tracking input 2 points

0.19

Manual pulse generator MR-HDP01/Incremental synchronous encoder interface ×3, Tracking input 3 points

0.38

Program capacity 30k steps, LD instruction processing speed 20[ns]

Program capacity 40k steps, LD instruction processing speed 9.5[ns]

0.33

0.39

Program capacity 60k steps, LD instruction processing speed 9.5[ns]

100 to 120VAC input, 5VDC 6A output

200 to 240VAC input, 5VDC 6A output

100 to 240VAC input, 5VDC 6A output

0.39

——

100 to 240VAC input, 5VDC 3A/24VDC 0.6A output

24VDC input, 5VDC 6A output

100 to 120VAC/200 to 240VAC input, 5VDC 8.5A output

Multiple CPU high speed bus (4 slots), Number of I/O modules : 8 slots 0.228

Multiple CPU high speed bus (4 slots), Number of I/O modules : 12 slots 0.233

Number of I/O modules installed 3 slots

Number of I/O modules installed 5 slots

Number of I/O modules installed 8 slots

Number of I/O modules installed 12 slots

0.105

0.110

0.114

0.121

Extension cable ——

Serial absolute synchronous encoder

Serial absolute synchronous encoder cable

Q170ENC

Q170ENCCBL M

Resolution: 262144PLS/rev

Permitted axial loads Radial load: Up to 19.6N

Thrust load: Up to 9.8N

Permitted speed: 3600r/min

Serial absolute synchronous encoder Q170ENC Q172DEX

2m(6.56ft.), 5m(16.40ft.), 10m(32.81ft.), 20m(65.62ft.), 30m(98.43ft.),

50m(164.04ft.)

0.20

——

2 - 11

2 SYSTEM CONFIGURATION

Part name

Connector set for serial absolute synchronous encoder cable

Manual pulse generator

Table of Motion controller related module(continued)

Model name

(Note-1)

Q170ENCCNS

MR-HDP01

Battery holder unit

(Note-4)

Q170DBATC

Battery

Q6BAT

A6BAT

Cable for forced stop input

(Note-5)

Q170DEMICBL M

Connector/terminal block conversion module

(Note-6)

A6TBXY36

A6TBXY54

A6TBX70

Q172DEX side connector

Connector :10120-3000PE

Connector case : 10320-52F0-008

Q170ENC side connector

Plug : MS3106B22-14S

Cable clump : MS3057-12A

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

Battery holder for Q6BAT (Attachment battery cable)

For memory data backup of SRAM built-in Motion CPU

(Programs, Parameters, Absolute position data, Latch data)

For data backup of Q170ENC

Length 0.5m(1.64ft), 1m(3.28ft), 3m(9.84ft), 5m(16.40ft), 10m(32.80ft),

15m(49.20ft), 20m(65.62ft), 25m(82.02ft), 30m(98.43ft)

For positive common sink type input module, sink type output module

(standard type)

For positive common sink type input module, sink type output module

(2-wire type)

For positive common sink type input module (3-wire type)

Current

5VDC[A]

Remark

——

0.06

——

——

——

——

——

——

——

Cable for connector/terminal block conversion module

2 - 12

2 SYSTEM CONFIGURATION

Part name

SSCNET cable

Table of Motion controller related module(continued)

Current

Model name

(Note-1)

Remark

5VDC[A]

MR-J3BUS M

MR-J3BUS M-A

• Q173DCPU/Q172DCPU MR-J3- B

• MR-J3- B MR-J3- B

• Standard code for inside panel

• 0.15m(0.49ft.), 0.3m(0.98ft.), 0.5m(1.64ft.), 1m(3,28ft.), 3m(9.84ft.)

• Q173DCPU/Q172DCPU MR-J3- B

• MR-J3- B MR-J3- B

• Standard cable for outside panel

• 5m(16.40ft.), 10m(32.81ft.), 20m(65.62ft.)

MR-J3BUS M-B

(Note-7)

• Q173DCPU/Q172DCPU MR-J3- B

• MR-J3- B MR-J3- B

• Long distance cable

• 30m(98.43ft.), 40m(131.23ft.), 50m(164.04ft.)

——

——

——

(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) : 5VDC internal current consumption of shared equipments with PLC might be changed.

Be sure to refer to the PLC Manuals.

(Note-3) : Be sure to use the power supply module within the range of power supply capacity.

(Note-4) : Battery Q6BAT is not attached to Battery holder unit Q170DBATC. Please purchase it separately.

(Note-5) : Be sure to use the cable for forced stop input (sold separately). The forced stop cannot be released without using it.

Cable for forced stop input is not attached to the Motion CPU module. Please purchase the cable for length according to system separately.

(Note-6) : These modules can be used in Q172DLX. It cannot be controlled using Q173DPX.

(Note-7) : 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 control by Motion CPU

Input module

Part name

AC

DC

Contact output module

Model name

QX10

QX40

QX41

QX42

QX70

QX71

QX72

QX80

QX81

QY10

QY40P

Description

100-120VAC, 7-8mA, 16 points, Terminal block

24VDC/4mA, Positive common, 16 points, Terminal block

24VDC/4mA, Positive common, 32 points, Connector

24VDC/4mA, Positive common, 64 points, Connector

12VDC/5V, Positive common/Negative common shared,

16 points, Terminal block

12VDC/5V, Positive common/Negative common shared,

32 points, Terminal block

Current consumption

5VDC[A]

(Note-1)

Remark

0.05

0.05

0.075

(TYP, All points ON)

0.09

(TYP, All points ON)

0.055

(TYP, All points ON)

0.07

(TYP, All points ON)

12VDC/5V, Positive common/Negative common shared,

64 points, Terminal block

24VDC/4mA, Negative common, 16 points, Terminal block

24VDC/4mA, Negative common, 32 points, Connector

240VAC/24VDC, 2A/point, 8A/common,

16 points/common, Terminal block

0.085

(TYP, All points ON)

0.05

(TYP, All points ON)

0.075

(TYP, All points ON)

0.43

(TYP, All points ON)

12V/24VDC, 0.1A/point, 1.6A/common, 16 points/common,

Terminal block

0.065

(TYP, All points ON)

(Note-2)

(Note-2)

(Note-2)

Output module

Input/Output composite module

TTL•CMOS

(Sink)

DC Input/

Transistor output

Interrupt module

Sink

Type

Source

Type

QY41P

QY42P

QY50

QY80

QY81P

QY70

QY71

QH42P

QX48Y57

QI60

12V/24VDC, 0.1A/point, 2A/common, 32 points/common,

Connector

12V/24VDC, 0.1A/point, 2A/common,

64 points(32 points/common), Connector

12V/24VDC, 0.5A/point, 4A/common,

16 points(16 points/common), Terminal block

12V/24VDC, 0.5A/point, 4A/common,

16 points(16 points/common), Terminal block

0.105

(TYP, All points ON)

0.15

(TYP, All points ON)

0.08

(TYP, All points ON)

0.08

(TYP, All points ON)

12V/24VDC, 0.1A/point, 2A/common,

32 points(32 points/common), Connector

5/12VDC, 16mA/point, 16 points(16 points/common),

Terminal block

0.095

(TYP, All points ON)

0.095

(TYP, All points ON)

5/12VDC, 16mA/point, 32 points(32 points/common),

Connector

24VDC Positive common: 32 points

DC12-24V/0.1A Output Sink type: 32 points, Connector,

Provided (Thermal protectors, protector against short circuit)

0.15

(TYP, All points ON)

0.13

(TYP, All points ON)

24VDC Positive common: 8 points

DC12-24V/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)

DC24V/4mA, Positive common, 16 points, Terminal block

0.06

(TYP, All points ON)

(Note-2)

(Note-2)

(Note-2)

(Note-2)

(Note-2)

2 - 14

2 SYSTEM CONFIGURATION

Part name

Analogue module

Model name Description

Current consumption

5VDC[A]

(Note-1)

Remark

Q62AD-DGH

2ch, A/D conversion,

Current input (Channel-isolated • High resolution)

Q64AD 4ch, A/D conversion, Voltage • Current input

Q64AD-GH

Q68ADV

Q68ADI

Q62DA

Q62DA-FG

Q64DA

Q68DAV

Q68DAI

4ch, A/D conversion,

Voltage • Current input (Channel-isolated • High resolution)

8ch, A/D conversion, Voltage input

8ch, A/D conversion, Current input

2ch, D/A conversion, Voltage • Current output

2ch, D/A conversion,

Voltage • Current output (Channel-isolated)

4ch, D/A conversion, Voltage • Current output

8ch, D/A conversion, Voltage output

8ch, D/A conversion, Current output

0.33

0.63

0.89

0.64

0.64

0.33

0.37

0.34

0.39

0.38

(Note-2)

(Note-2)

(Note-2)

(Note-1) : 5VDC internal current consumption of shared equipments with PLC might be changed.

Be sure to refer to the PLC Manuals.

(Note-2) : Connectors are not provided.

2 - 15

2 SYSTEM CONFIGURATION

(3) Table of servo amplifier

Part name Model name

MR-J3 series MR-J3- B servo amplifier

MR-J3- B-RJ006

Battery MR-J3BAT

Description

Refer to catalogue of the servo amplifier.

Back-up for the absolute position detection

(4) Software packages

(a) Operating system software

Application

Software package

Q173DCPU Q172DCPU

For automatic machinery SV22 SW8DNC-SV22QA SW8DNC-SV22QC

(b) Motion controller programming software

Part name Model name Details

MT Developer2

SW1DNC-MTW2-E

(1 CD-ROM disk)

Conveyor Assembly Software

Automatic Machinery Software

Cam Data Creation Software

Digital Oscilloscope Software

Communication System Software

Document Print Software

Operation Manual (Help)

Installation manual (PDF)

(Note) : Operating environment to use MT Developer is Windows

R

Vista/Windows

R

XP/Windows

R

2000

English version only.

(5) Operating environment of personal computer

Operating environment is shown below.

IBM PC/AT with which Windows

R

Vista/Windows

R

XP/Windows

R

2000 English version operates normally.

OS

CPU

Memory capacity

Video card

Available hard disk capacity

Disk drive

Display

Microsoft

R

Windows

R

Vista Home Basic

Microsoft

R

Windows

R

Vista Home Premium

Microsoft

R

Windows

R

Vista Business

Microsoft

R

Windows

R

Vista Ultimate

Microsoft

R

Windows

R

Vista Enterprise

Microsoft

R

Windows

R

XP Professional (Service Pack 2 or later)

Microsoft

R

Windows

R

XP Home Edition (Service Pack 2 or later)

Microsoft

R

Windows

R

2000 Professional (Service Pack 4 or later)

Desktop PC: Recommended Intel

R

Celeron

R

Processor 2.8GHz or more

Laptop PC: Recommended Intel

R

Pentium

R

Processor M 1.7GHz or more

Recommended 512MB or more

Card compatible with Microsoft

R

DirectX

R

9.0c or later

Installation: HD 1GB or more

Operation: Virtual memory 50MB or more

CD-ROM disk drive

Resolution 1024×768 pixels or higher

(Note-1) : Microsoft, Windows and DirectX are either registered trademarks or trademarks of Microsoft

Corporation in the United States and/or other countries.

(Note-2) : Intel, Celeron and Pentium are trademarks of Intel Corporation in the U.S. and other countries.

2 - 16

2 SYSTEM CONFIGURATION

(6) Related software packages

(a) PLC software package

Model name

GX Developer

(b) Servo set up software package

Software package

SW8D5C-GPPW-E

Model name

MR Configurator

Software package

MRZJW3-SETUP221E

POINTS

(1) When the operation of Windows is not unclear in the operation of this software, refer to the manual of Windows or guide-book from the other supplier.

(2) The following functions cannot be used when the computer is running under

Windows

R

Vista, Windows

R

XP or Windows

R

2000.

This product may not perform properly, when these functions are used.

< Windows

R

Vista/Windows

R

XP>

• Activating the application with Windows

R

compatibility mode

• Fast user switching

• Remote desktop

• Large size

• x64 Edition (64 bit Windows

R

)

< Windows

R

2000>

• Large fonts

2 - 17

2 SYSTEM CONFIGURATION

2.3 General Specifications

General specifications of Q173DCPU/Q172DCPU module are shown below.

Item Specification

Operating ambient temperature

Storage ambient temperature

Operating ambient humidity

Storage ambient humidity

0 to 55°C (32 to 131°F)

-25 to 75°C (-13 to 167°F) (Note-3)

5 to 95% RH

,

non-condensing

5 to 95% RH

, non-condensing

Vibration resistance

Shock resistance

Operating ambience

Operating altitude

Mounting location

Overvoltage category

(Note-1)

Under intermittent vibration

Under continuous vibration

10 to 57Hz

57 to 150Hz

10 to 57Hz

——

0.075mm

(0.003inch)

57 to 150Hz

147m/s

2

, 3 times in each of 3 directions X, Y, Z

10 times each

9.8m/s

2

——

0.035mm

(0.001inch) directions

(For 80 min.)

4.9m/s

2

——

No corrosive gases

2000m(6561.68ft.) or less

Inside control panel

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

2.4 Specifications of Equipment and Settings

2.4.1 Name of parts for CPU module

This section explains the names and setting of the module.

(1) Q173DCPU/Q172DCPU

Front face of Q172DCPU Front face of Q173DCPU

Q172DCPU Q173DCPU

2)

4)

DE

F

0 123

AB

8

79

DE

F

0 123

AB

8

79

1

STOP RUN

2

SW

CAUTION

EMI

1)

3) 2)

4)

DE

F

0 123

AB

8

79

DE

F

0 123

AB

8

79

1

STOP RUN

2

SW

CAUTION

EMI

1)

3)

5) 5)

6) 6)

7)

FRONT

BAT

Side face

8)

FRONT

BAT

Bottom

8)

9)

10)

(Note)

12)

11)

2 - 19

(Note): Unusable

(Under manufacturer test)

2 SYSTEM CONFIGURATION

No. Name Application

1) 7-segment LED

2)

Rotary function select 1 switch

(SW1)

3)

Rotary function select 2 switch

(SW2)

• Indicates the operating status and error information.

• Set the operation mode.

(Normal operation mode, Installation mode, Mode operated by ROM, etc)

• Each switch setting is 0 to F.

(Shipped from the factory in SW1 "A", SW2 "0" position)

4) RUN/STOP switch

Move to RUN/STOP (Shipped from the factory in STOP position)

RUN : Motion SFC program is started.

STOP : Motion SFC program is stopped.

5)

Forced stop input (EMI)

(Note-1)

EMI

• Input to stop all axes of servo amplifier in a lump

EMI ON (opened) : Forced stop

EMI OFF (24VDC input) : Forced stop release

EMI.COM

EMI

6) SSCNET CN1 connector

(Note-2)

Connector to connect the servo amplifier of system 1 (up to 16 axes)

SSCNET CN2 connector

7)

(Note-2), (Note-3)

8) Module loading lever

9) Module fixing hook

(Note-4)

Connector to connect the servo amplifier of system 2 (up to 16 axes)

Used to install the module to the base unit

Hook used to fix the module to the base unit. (Auxiliary use for installation)

10) Module fixing screw

11) Module fixing latch

Screw used to fix to the base unit. (M3×13)

Hook used to fix to the base unit.

12) Battery connector (BAT)

(Note-5)

Connector to connect the battery holder unit Q170DBATC

(Note-1) : Be sure to use the cable for forced stop input. The forced stop cannot be released without using it.

If the cable for forced stop input is fabricated on the customer side, make it within 30m(98.43ft.).

(Note-2) : Put the SSCNET cable in the duct or fix the cable at the closest part to the Motion CPU module with bundle material in order to prevent SSCNET cable from putting its own weight on SSCNET connector.

(Note-3) : Q173DCPU only

(Note-4) : This screw is auxiliary use for module installation to the main base unit. Be sure to fix modules to the main base unit using supplied fixing screws.

(Note-5) : Be sure to use the external battery. The programs, parameters, absolute position data, and latch data of SRAM built-in Motion CPU module are backed up if the battery cable is not set correctly.

2 - 20

2 SYSTEM CONFIGURATION

Start

Normal

Installation mode

Mode operated by

RAM

Operation mode

Mode operated by

ROM

STOP

RUN

Battery error

Early stage warning

(2.7V or less)

Final stage warning

(2.5V or less)

Operating system software not installed

Servo error

WDT error

(2) 7-segment LED display

The LED displays/flashes in the combination with errors.

Item 7-segment Remark

System setting error

Initializing

It takes about 10 seconds to initialize

(RUN/STOP display).

" " remains flashing

Steady "INS" display,

" " remains flashing

" " remains flashing

Steady "INS" display,

" " remains flashing

Steady "STP" display

Normal operation

Mode to install the operating system software via personal computer.

Mode to operate based on the user programs and parameters stored in the

SRAM built-in Motion CPU module.

Mode to operate after the user programs and parameters stored in the FLASH

ROM built-in Motion CPU are read to the

SRAM built-in Motion CPU.

Stopped the Motion SFC program.

Steady "RUN" display

Steady "BT1" display

Steady "BT2" display

"A00" remains flashing

" AL" flashes 3 times

Steady " L01" display

" AL" flashes 3 times

Steady " S01" display

Steady "..." display

Executed the Motion SFC program.

Displayed at battery voltage 2.7V or less.

Refer to Section "6.5 External Battery".

Displayed at battery voltage 2.5V or less.

Refer to Section "6.5 External Battery".

It becomes the status of installation mode when the operating system software is not installed.

System setting error of the Motion CPU

Refer to the "Q173DCPU/Q172DCPU

Motion controller Programming Manual

(COMMON)" for details.

Servo error of the Motion CPU

Refer to the "Q173DCPU/Q172DCPU

Motion controller (SV13/SV22)

Programming Manual (REAL MODE)" or

"Q173DCPU/Q172DCPU Motion controller (SV22) Programming Manual

(VIRTUAL MODE)" for details.

H/W fault or S/W fault

Refer to the "Q173DCPU/Q172DCPU

Motion controller (SV13/SV22)

Programming Manual (REAL MODE)" or

"Q173DCPU/Q172DCPU Motion controller (SV22) Programming Manual

(VIRTUAL MODE)" for details.

2 - 21

2 SYSTEM CONFIGURATION

Item 7-segment Remark

Self diagnostic error

" AL" flashes 3 times

Steady " A1" display

4-digits error code is displayed in two sequential flashes of 2-digits each.

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 number etc. using

MT Developer.

(2) Refer to the Motion CPU error batch monitor of MT Developer or error list of

Programming Manual for error details.

(3) Rotary switch assignment

(a) Rotary function select 1 switch (SW1)

Rotary switch

Setting

(Note)

0

D

E

F

0

B A 9

8

1

2

3

67

5

Mode Description

Normal mode Normal operation mode

Installed the operating system software using

MT Developer

(Note): Not to be set except above setting.

(b) Rotary function select 2 switch (SW2)

Rotary switch

Setting

(Note)

D

E

F

0

B A 9

8

1

2

3

67

5

0

6

C

Mode Description

Mode operated by RAM

Mode operated by ROM

SRAM clear

Normal operation mode

(Operation by the setting data and parameters stored in the SRAM built-in Motion CPU module.)

Mode to operate based on the setting data and parameters wrote to the FLASH ROM built-in

Motion CPU module.

SRAM "0" clear

(Note): Not to be set except above setting.

CAUTION

Be sure to turn OFF the Multiple system power supply before the rotary switch setting change.

2 - 22

2 SYSTEM CONFIGURATION

Operation mode

(4) Operation mode

(a) Rotary switch setting and operation mode

Rotary switch setting

(Note)

SW1 SW2

Operation mode

A

0

0

Any setting (Except C) Installation mode

0 Mode operated by RAM

6

C

Mode operated by ROM

SRAM clear

(Note)

Any setting

(Note) : The programs, parameters, absolute position data, and latch data built-in Motion

CPU module are cleared.

(b) Operation mode overview

Installation mode

Mode operated by

RAM

Mode operated by

ROM

• Steady "INS" display at the 7-segment LED.

• Operating system software can be installed.

• It is STOP status regardless of the RUN/STOP switch position at the front side of Motion CPU module.

• Digital oscilloscope function cannot be used.

• " . " remains flashing in the first digit of 7-segment LED.

• It operates based on the user programs and parameters stored in the SRAM built-in Motion CPU module.

• " . " remains flashing in the first digit and steady " . " display in the second digit of 7-segment LED.

• Operation starts after the user programs and parameters stored in the FLASH

ROM built-in Motion CPU module are read to the SRAM built-in Motion CPU module at power supply on or reset of the Multiple CPU system.

If the ROM writing is not executed, even if the user programs and parameters are changed using the MT Developer during mode operated by ROM, operation starts with the contents of the FLASH ROM at next power supply on or reset.

Also, If the ROM writing is not executed, even if the auto tuning data are reflected on the servo parameter of Motion CPU by operation in the auto-tuning setting, operation starts with the contents of the FLASH ROM at next power supply on or reset.

POINTS

Be sure to turn OFF the Multiple system power supply before the rotary switch setting change.

2 - 23

2 SYSTEM CONFIGURATION

(5) Basic specifications of Q173DCPU/Q172DCPU

(a) Module specifications

Internal current consumption (5VDC) [A]

Mass [kg]

Exterior dimensions [mm(inch)]

1.25

0.33

1.14

0.33

98 (3.85)(H) 27.4 (1.08)(W) 119.3 (4.69)(D)

(6) SV13/SV22 Motion control specifications/performance specifications

(a) Motion control specifications

Item Q173DCPU

Number of control axes

Operation cycle

(default)

Interpolation functions

Control modes

Acceleration/

SV13

SV22 deceleration control

Up to 32 axes

Q172DCPU

Up to 8 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

0.44ms/ 1 to 4 axes

0.88ms/ 5 to 12 axes

1.77ms/13 to 28 axes

3.55ms/29 to 32 axes

0.44ms/ 1 to 4 axes

0.88ms/ 5 to 8 axes

Linear interpolation (Up to 4 axes), Circular interpolation (2 axes),

Helical interpolation (3 axes)

PTP(Point to Point) control, Speed control, Speed-position control, Fixed-pitch feed,

Constant speed control, Position follow-up control, Speed control with fixed position stop,

Speed switching control, High-speed oscillation control, Synchronous control (SV22)

Automatic trapezoidal acceleration/deceleration,

S-curve acceleration/deceleration

Programming language

Servo program capacity

Number of positioning points

Peripheral I/F

Home position return function

JOG operation function

Manual pulse generator operation function

Synchronous encoder operation function

M-code function

Limit switch output function

Motion SFC, Dedicated instruction, Mechanical support language (SV22)

14k steps

3200 points

(Positioning data can be designated indirectly)

Via PLC CPU (USB/RS-232)

Proximity dog type (2 types), Count type (3 types), Data set type (2 types), Dog cradle type,

Stopper type (2 types), Limit switch combined type

(Home position return re-try function provided, home position shift function provided)

Provided

Possible to connect 3 modules

Possible to connect 12 modules Possible to connect 8 modules

M-code output function provided

M-code completion wait function provided

Number of output points 32 points

Watch data: Motion control data/Word device

2 - 24

2 SYSTEM CONFIGURATION

Motion control specifications (continued)

Item Q173DCPU

Absolute position system

Q172DCPU

Made compatible by setting battery to servo amplifier.

(Possible to select the absolute data method or incremental method for each axis)

Number of SSCNET systems

(Note-1)

2 systems 1 system

Motion related interface module

Q172DLX : 4 modules usable Q172DLX : 1 module usable

Q172DEX : 6 modules usable Q172DEX : 4 modules usable

Q173DPX : 4 modules usable

(Note-2)

Q173DPX : 3 modules usable

(Note-2)

(Note-1) : The servo amplifiers for SSCNET cannot be used.

(Note-2) : 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 - 25

2 SYSTEM CONFIGURATION

(b) Motion SFC performance specifications

Item Q173DCPU/Q172DCPU

Code total

(Motion SFC chart + Operation control

Motion SFC program capacity + Transition)

Text total

(Operation control + Transition)

Number of Motion SFC programs

Motion SFC chart size/program

Number of Motion SFC steps/program

Motion SFC program

Number of selective branches/branch

Operation control program

(F/FS)

/

Transition program

(G)

Execute specification

543k bytes

484k bytes

256 (No.0 to 255)

Up to 64k bytes (Included Motion SFC chart comments)

Up to 4094 steps

255

Number of parallel branches/branch

Parallel branch nesting

Number of multi execute programs

Number of multi active steps

Normal task

Event task

Executed

(Execution can be task masked.)

NMI task

Fixed cycle

External interrupt

PLC interrupt

255

Up to 4 levels

Number of operation control programs

Number of transition programs

Code size/program

4096 with F(Once execution type) and FS(Scan execution type) combined. (F/FS0 to F/FS4095)

4096(G0 to G4095)

Up to approx. 64k bytes (32766 steps)

Number of blocks(line)/program

Number of characters/block

Number of operand/block

( ) nesting/block

Descriptive

Operation control program expression Transition program

Up to 8192 blocks (in the case of 4 steps(min)/blocks)

Up to 128 (comment included)

Up to 64 (operand: constants, word device, bit devices)

Up to 32 levels

Calculation expression/bit conditional expression

Calculation expression/bit conditional expression/ comparison conditional expression

Up to 256

Up to 256 steps/all programs

Execute in main cycle of Motion CPU

Execute in fixed cycle

(0.88ms, 1.77ms, 3.55ms, 7.11ms, 14.2ms)

Execute when input ON is set among interrupt module QI60

(16 points).

Execute with interrupt instruction (D(P).GINT) from PLC CPU.

Execute when input ON is set among interrupt module QI60

(16 points).

(7) Selection of Q172DEX, Q173DPX

Item

Synchronous encoder

Serial absolute Incremental

Manual pulse generator

Module selection Q172DEX

3 modules

Q173DPX

2 - 26

2 SYSTEM CONFIGURATION

2.4.2 Power supply module

(1) Table of the power supply module specifications

This section describes the power supply modules specifications.

Base loading position

Applicable base unit

Input power supply

100 to 120VAC

(+10%/-15%)

(85 to 132VAC)

Q series power supply module loading slot

Q38DB, Q312DB, Q63B, Q65B, Q68B, Q612B

200 to 240VAC

(+10%/-15%)

100 to 240VAC (+10%/-15%)

(85 to 264VAC)

(170 to 264VAC)

50/60Hz ±5%

5% or less

Input frequency

Input voltage distortion factor

Max. input apparent power

Inrush current

5VDC 6A 3A

Rated output current

External output voltage

24VDC —— 0.6A

—— 24VDC±10%

Overcurrent protection

(Note-1)

5VDC

24VDC

105VA 130VA

20A 8ms or less

(Note-4)

6.6A or more

——

105VA

3.3A or more

0.66A or more

Overvoltage protection

(Note-2)

5VDC

Efficiency

Allowable momentary power failure time

(Note-3)

70% or more

5.5 to 6.5V

20ms or less

65% or more

Dielectric withstand voltage

Insulation resistance

Noise immunity

Operation indication

Fuse

Across inputs/LG and outputs/FG

2,830VAC rms / 3 cycles (Altitude : 2000m (6561.68ft.) )

Across inputs and outputs (LG and FG separated), across inputs and LG/FG, across outputs and

LG/FG 10M or more by insulation resistance tester (500VDC)

• By noise simulator of 1,500Vp-p noise voltage, 1µs noise width and 25 to 60Hz noise frequency

• Noise voltage IEC61000-4-4, 2kV

LED indication (Normal : ON (Green), Error : OFF)

Built-in (Unchangeable by user)

Contact output section

Rated switching voltage/current

24VDC, 0.5A

Minimum switching load

Response time

Life time

5VDC, 1mA

OFF to ON: 10ms or less. ON to OFF: 12ms or less.

Mechanical : 20 million times or more

Electrical : 100 thousand times at rated switching voltage/current or more

Surge suppressor None

Fuse None

Terminal screw size

Applicable wire size

Applicable crimping terminal

Applicable tightening torque

Exterior dimensions[mm(inch)]

Mass [kg] 0.31

M3.5 screw

0.75 to 2mm

2

RAV1.25 to 3.5, RAV2 to 3.5

0.66 to 0.89 N•m

98(H) × 55.2(W) × 90(D)

(3.86(H) × 2.17(W) × 3.54(D) )

0.40 0.39

2 - 27

2 SYSTEM CONFIGURATION

The power supply module specifications (continued)

Item Q63P Q64P

Base loading position

Applicable base unit

Input power supply

Input frequency

Input voltage distortion factor

Max. input apparent power

Inrush current

Rated output current

Q series power supply module loading slot

Q38DB, Q312DB, Q63B, Q65B, Q68B, Q612B

24VDC (+30%/-35%)

(15.6 to 31.2VDC)

100 to 120VAC/200 to 240VAC (+10%/-15%)

(85 to 132VAC/170 to 264VAC)

——

——

45W

100A 1ms or less (at 24VDC input)

5VDC 6A

24VDC ——

50/60Hz ±5%

5% or less

160VA

20A 8ms or less

(Note-4)

8.5A

——

Overcurrent protection

(Note-1)

Overvoltage protection

(Note-2)

Efficiency

5VDC 6.6A or more 9.9A or more

24VDC ——

5VDC 5.5 to 6.5V

24VDC ——

70% or more

Permissible instantaneous power off time

(Note-3)

10ms or less (at 24VDC input) 20ms or less

Dielectric withstand voltage

Insulation resistance

Noise immunity

500VAC across primary and 5VDC

10M or more by insulation resistance tester

• By noise simulator of 500Vp-p noise voltage,

1µs noise width and 25 to 60Hz noise frequency

Across inputs/LG and outputs/FG

2,830VAC rms/3 cycles

(Altitude : 2000m (6561.68ft.) )

Across inputs and outputs (LG and FG separated), across inputs and LG/FG, across outputs and LG/FG 10M or more by insulation resistance tester (500VDC)

• By noise simulator of 1,500Vp-p noise voltage, 1µs noise width and 25 to 60Hz noise frequency

• Noise voltage IEC61000-4-4, 2kV

Operation indication

Fuse

LED indication (Normal : ON (Green), Error : OFF)

Built-in (Unchangeable by user)

Contact output section

Rated switching voltage/current

Minimum switching load

Response time

Life time

24VDC, 0.5A

5VDC, 1mA

OFF to ON: 10ms or less. ON to OFF: 12ms or less

Mechanical : 20 million times or more

Electrical : 100 thousand times at rated switching voltage/current or more

Surge suppressor None

Fuse None

Terminal screw size

Applicable wire size

Applicable crimping terminal

Applicable tightening torque

M3.5 screw

0.75 to 2mm

2

RAV1.25 to 3.5, RAV2 to 3.5

0.66 to 0.89 N•m

Exterior dimensions[mm(inch)]

Mass [kg]

98(H) × 55.2(W) × 90(D)

(3.86(H) × 2.17(W) × 3.54(D) )

0.33

98(H) × 55.2(W) × 115(D)

(3.86(H) × 2.17(W) × 4.53(D) )

0.40

2 - 28

2 SYSTEM CONFIGURATION

POINTS

(Note-1) : Overcurrent protection

The overcurrent protection device shuts off the 5V, 24VDC circuit and stops the system if the current flowing in the circuit exceeds the specified value.

The LED of the power supply module is turned off or lights up in dim green when voltage is lowered. If this device is activated, switch the input power supply off and eliminate the cause such as insufficient current capacity or short. Then, a few minutes later, switch it on to restart the system.

The initial start for the system takes place when the current value becomes normal.

(Note-2) : Overvoltage protection

The overvoltage protection device shuts off the 5VDC circuit and stops the system if a voltage of 5.5VDC or more is applied to the circuit.

When this device is activated, the power supply module LED is switched

OFF.

If this happens, switch the input power OFF, then a few minutes later

ON. This causes the initial start for the system to take place. The power supply module must be changed if the system is not booted and the LED remains OFF.

2 - 29

2 SYSTEM CONFIGURATION

POINTS

(Note-3) : Allowable momentary power failure period

(1) For AC input power supply

(a) An instantaneous power failure lasting less than 20ms will cause

AC down to be detected, but operation will continue.

(b) An instantaneous power failure lasting in excess of 20ms may cause the operation to continue or initial start to take place depending on the power supply load.

Further, when the AC supply of the AC input module is the same as that of the power supply module, it prevents the sensor connected to the AC input module, which is ON at power-off, from turning OFF by switching off the power supply.

However, if only the AC input module is connected to the AC line, which is connected to the power supply, detection of the AC down for the power supply module may be delayed by the capacitor in the AC input module. Thus, connect a load of approx. 30mA per AC input module to the AC line.

(2) For DC input power supply

(a) An instantaneous power failure lasting less than 10ms

(Note)

will cause 24VDC down to be detected, but operation will continue.

(b) An instantaneous power failure lasting in excess of 10ms

(Note) may cause the operation to continue or initial start to take place depending on the power supply load.

(Note) : This is for a 24VDC input. This is 10ms or less for less then 24VDC.

(Note-4) : Inrush current

When power is switched on again immediately (within 5 seconds) after power-off, an inrush current of more than the specified value (2ms or less) may flow. Reapply power 5 seconds after power-off.

When selecting a fuse and breaker in the external circuit, take account of the blow out, detection characteristics and above matters.

2 - 30

2 SYSTEM CONFIGURATION

(2) Names of Parts and Setting

This section describes the names of the parts of each power module.

• Q61P-A1 (100 to 120VAC input, 5VDC 6A output)

• Q61P-A2 (200 to 240VAC input, 5VDC 6A output)

• Q61P (100 to 240VAC input, 5VDC 6A output)

• Q62P (100 to 240VAC input, 5VDC 3A/24VDC 0.6A output)

• Q63P (24VDC input, 5VDC 6A output)

• Q64P (100 to 120VAC/200 to 240VAC input, 5VDC 8.5A output)

9) 1)

Q62P

POWER

8)

6)

(Q62P only)

Q62P

INPUT

100-240VAC

50/60Hz 105VA

OUTPUT 5VDC 3A 24VDC 0.6A

ERR.

+24V

L

24 G

+ -

24VDC 0.5A

(FG)

(LG)

INPUT

100-240VAC

N

L

10)

2)

3)

4)

5)

7)

2 - 31

2 SYSTEM CONFIGURATION

No. Name Application

1)

2)

POWER

LED

AC input power supply

ON (green): Normal (5VDC output, momentary power failure within 20ms)

OFF : • AC power supply is ON, however, the power supply module is out of order.

(5VDC error, internal circuit failure, blown fuse)

• Over current protection or over voltage protection operated.

• AC power supply is not ON

• Power failure (including an momentary power failure of more than 20ms)

DC input power supply

ON (green): Normal (5VDC output, momentary power failure within 10ms)

OFF : • DC power supply is ON, however, the power supply module is out of order.

(5VDC error, internal circuit failure, blown fuse)

• Over current protection or over voltage protection operated.

• DC power supply is not ON

• Power failure (including an momentary power failure of more than 10ms)

ERR terminals

AC input power supply

• Turned ON when the whole system operates normally.

• This terminal turns OFF (opens) when the AC power is not input, a stop error (including a reset) occurs in the CPU module, or the fuse is blown.

• In a Multiple CPU system configuration, turned OFF when a stop error occurs in any of the CPU modules.

Normally OFF when loaded in an extension base unit.

DC input power supply

• Turned ON when the whole system operates normally.

• This terminal turns OFF (opens) when the DC power is not input, a stop error (including a reset) occurs in the CPU module, or the fuse is blown.

• In a Multiple CPU system configuration, turned OFF when a stop error occurs in any of the CPU modules.

Normally OFF when loaded in an extension base unit.

3) FG terminal Ground terminal connected to the shield pattern of the printed circuit board.

Grounding for the power supply filter. The potential of Q61P-A1, Q61P-A2, Q61P, Q62P and Q64P terminal is 1/2 of the input voltage.

5) Power input terminals

• Power input terminals connected to a power supply of 100VAC or 200VAC.

(Q61P-A1, Q61P-A2, Q64P)

• Power input terminals connected to a power supply of 100VAC to 200VAC.

(Q61P, Q62P)

• Power input terminals connected to a power supply of 24VDC.

(Q63P)

6)

+24V, 24G terminals

(Q62P only)

Used to supply 24VDC power to inside the output module. (using external wiring)

8) Terminal cover

M3.5 7 screw

Protective cover of the terminal block

9) Module fixing screw hole

Used to fix the module to the base unit.

M3 12 screw (user-prepared) (Tightening torque : 0.36 to 0.48 N•m)

10) Module loading lever Used to load the module into the base unit.

2 - 32

2 SYSTEM CONFIGURATION

POINTS

(1) The Q61P-A1 is dedicated for inputting a voltage of 100VAC.

Do not input a voltage of 200VAC into it or trouble may occur on the Q61P-A1.

Power module type

Q61P-A2

Supply power voltage

100VAC 200VAC

Power supply module causes trouble.

Power supply module does not cause trouble.

CPU module cannot be operated.

Operates normally.

(2) The Q63P is dedicated for inputting a voltage of 24VDC.

Do not input a voltage of except 24VDC into it or trouble may occur on the Q63P.

(3) Q64P automatically switches the input range 100/200VAC.

Therefore, it is not compatible with the intermediate voltage (133 to 169VAC).

The CPU module may not work normally if the above intermediate voltage is applied.

(4) Ensure that the earth terminals LG and FG are grounded.

(Ground resistance : 100 or loss)

Since the LG terminal has a half of the input voltage, touching this terminal may result in an electric shock.

(5) When the Q61P-A1, Q61P-A2, Q61P, Q62P, Q63P or Q64P is loaded on the extension base unit, a system error cannot be detected by the ERR terminal.

(The ERR terminal is always OFF.)

2 - 33

2 SYSTEM CONFIGURATION

(3) Selection of the power supply module

The power supply module is selected according to the total of current consumption of the I/O modules, intelligent function module, and peripheral devices supplied by its power module. (Select the power supply module in consideration of the current consumption of the peripheral device connected to the Q170ENC, MR-HDP01 etc.)

5VDC internal current consumption of shared equipments with PLC might be changed. Be sure to refer to the PLC Manuals. .

(a) Calculation example of power supply selection

<System configuration (Q173DCPU use)>

Q61P Q03UD

CPU

Q173D

CPU

QX40 QX40 Q172DLX Q172DEX Q173DPX QY10 QY10

Q38DB

MR-HDP01

MR-HDP01

Q170ENC

• 5VDC current consumption of each module

Q03UDCPU : 0.33 [A] Q170ENC : 0.20 [A]

Q173DCPU

QX40

: 1.25 [A] Q173DPX : 0.38 [A]

: 0.05 [A] MR-HDP01 : 0.06 [A]

Q172DLX

Q172DEX

: 0.06 [A] QY10

: 0.19 [A] Q38DB

• Power consumption of overall modules

: 0.43 [A]

: 0.228 [A]

I

5V

= 0.33 + 1.25 + 0.05 2 + 0.06 + 0.19 + 0.20 + 0.38 + 0.06 2 +

0.43 2 + 0.228 = 3.718[A]

Select of the power supply module (Q61P (100/240VAC) 6A) according to this internal current consumption 3.718[A].

(Note) : Configure the system in such a way that the total current consumption at 5VDC of all the modules is less than the allowable value.

2 - 34

2 SYSTEM CONFIGURATION

2.4.3. Base unit and extension cable

This section describes the specifications of the extension cables for the base units

(Main base unit or extension base unit) used in the system, 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 PLC Manuals.

Type

Item

Number of I/O modules

Possibility of extension

Applicable module

5VDC internal current consumption [A]

Fixing hole size

Exterior dimensions

[mm(inch)]

Mass [kg]

(1) Table of the base unit specifications

(a) Main base unit specifications

Q38DB Q312DB

8

Extendable

Q series modules

0.228 0.233

M4 screw hole or 4.5 hole (for M4 screw)

328(W) 98(H) 44.1(D) 439(W) 98(H) 44.1(D)

(12.91(W) 3.86(H) 1.74(D) )

0.41

12

(17.28(W) 3.86(H) 1.74(D) )

0.54

(Note): It is impossible to mount the main base unit by DIN rail when using the Motion CPU module.

Doing so could result in vibration that may cause erroneous operation.

(b) Extension base unit specifications

Type

Item

Number of I/O modules

Possibility of extension

Applicable module

5VDC internal current consumption [A]

Fixing hole size

Exterior dimensions

[mm(inch)]

Mass [kg]

Q63B Q65B Q68B Q612B

3

189(W) 98(H)

44.1(D)

(7.44(W) 3.86(H)

1.74(D) )

0.23

5

Extendable

Q series modules

8

M4 screw hole or 4.5 hole (for M4 screw)

245(W) 98(H)

44.1(D)

328(W) 98(H)

44.1(D)

(9.65(W) 3.86(H)

1.74(D) )

0.28

(12.91(W) 3.86(H)

1.74(D) )

0.38

12

0.105 0.110 0.114 0.121

439(W) 98(H)

44.1(D)

(17.28(W) 3.86(H)

1.74(D) )

0.48

(Note): The 5 base mounting screws are included with the Q38B and Q312B that have 5 base mounting holes.

2 - 35

2 SYSTEM CONFIGURATION

Item

Cable length[m(ft.)]

Application

Type

(2) Table of the extension cable specifications

The list below describes the specifications of the extension cables which can be used for the PLC CPU system.

QC05B QC06B QC12B QC30B QC50B QC100B

Connection between the main base unit and extension base unit, or connection between the extension base units.

0.15 0.16 0.22 0.40 0.60 1.11

POINT

When the extension cables are used in combination, limit the overall length of the combined cable to 13.2m (43.31ft.).

(3) Names of parts of the base unit

Names of parts of the base unit are described below.

(a) Main base unit (Q38DB, Q312DB)

5) 4)

1)

2)

OUT

5V

SG

POWER

FG

CPU I/O0 I/O1 I/O2 I/O3 I/O4 I/O5 I/O6 I/O7 I/O8 I/O9 I/O10 I/O11

Q312DB

3)

No. Name Application

1)

Extension cable connector

Connector for connecting an extension cable (for signal communications with the extension base unit)

Protective cover of extension cable connector. Before an extension cable is connected, the area of the base cover surrounded by the groove under the word "OUT" on the base cover must be removed with a tool such as nippers.

Connector for installing the Q series power supply module, CPU module, I/O modules, and intelligent function module.

To the connectors located in the spare space where these modules are not installed, attach the supplied connector cover or the blank cover module (QG60) to prevent entry of dirt.

4) Module fixing screw hole Screw hole for fixing the module to the base unit. Screw size: M3 12

5) Base mounting hole Hole for mounting this base unit onto the panel of the control panel (for M4 screw)

(Note): It is impossible to mount the main base unit by DIN rail when using the Motion CPU module. Doing so could result in vibration that may cause erroneous operation.

2 - 36

2 SYSTEM CONFIGURATION

(4) I/O allocations

It is possible to allocate unique I/O No.s for each Motion CPU independently of the PLC’s I/O No.s. (I/O No.s are unique between the Q series PLC CPU within a given system, but the I/O No.s of the Motion CPU are unique for each Motion

CPU.)

ON/OFF data input to the Motion CPU is handled via input devices PX , while

ON/OFF data output from the Motion CPU is handled via output devices PY .

It is not mandatory to match the I/O device PX/PY No.s used in the Motion program with the PLC I/O No.s; but it is recommended to make them match as much as possible.

The following figure shows an example of I/O allocation.

I/O Allocations

0 1 2 3 4 5 6 7 8 9

QnUD(H)

CPU

QnUD(H)

CPU

Q173D

CPU

QX41 QY41 QY41 Q172DLX QX41 QY41 QY41

X0 to X1F Y20 to Y3F Y40 to Y5F Intelligent

32 points

(X60 to X7F)

PX0 to PX1F

(Y80 to Y9F)

PY20 to PY3F

(YA0 to YBF)

YC0 to YDF

CPU No.1

CPU No.2

CPU No.3

Module of control

CPU No.1

Module of control

CPU No.1

Module of control

CPU No.2

Module of control

CPU No.3

Module of control

CPU No.3

Module of control

CPU No.3

Module of control

CPU No.1

(Note-1) : When the number of modules to be installed is 32 points.

(Note-2) : When the PX/PY No. does not match the PLC I/O No.

Refer to the Q173DCPU/Q172DCPU Motion Controller Programming Manual

(COMMON) about the I/O allocation setting method.

Refer to the QCPU User's Manual (Function Explanation, Program Fundamentals) about the I/O allocation setting method of the QnUD(H)CPU.

POINT

I/O device of the Motion CPU can be set in the range PX/PY000 to PX/PYFFF.

The real I/O points must be 256 points or less. (As for the I/O No., it is possible not to continue.)

2 - 37

2 SYSTEM CONFIGURATION

2.4.4 Q172DLX Servo external signals interface module

Q172DLX receives external signals (servo external signals) required for positioning control.

(1) Q172DLX name of parts

5)

Q172DLX

1)

2)

CTRL

3)

6)

Q172DLX

No. Name

1) 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.

4)

2) Mode judging LED

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 loading lever Used to install the module to the base unit.

5)

Module fixing screw hole

Hole for the screw used to fix to the base unit.

(M3×12 screw : Purchase from the other supplier)

6) Module fixing hook Hook used to fix to the base unit.

POINT

Mode judging LED of the proximity dog/speed-position switching signal (DOG/

CHANGE) turns ON at the following conditions.

• Q172DLX is set on the system setting display of MT Developer.

• The proximity dog/speed-position switching signal (DOG/CHANGE) is input.

2 - 38

2 SYSTEM CONFIGURATION

(2) Performance specifications

(a) Module specifications

Mass [kg]

Item Specifications

Number of I/O occupying points

Internal current consumption(5VDC) [A]

Exterior dimensions [mm(inch)]

32 points(I/O allocation: Intelligent, 32 points)

0.06

98(H) 27.4(W) 90(D)

(3.86(H) 1.08(W) 3.54(D) )

0.15

(b) Input

Input method

Isolation method

Rated input voltage

Rated input current

Item Specifications

Number of input points

Servo external signals : 32 points

(Upper stroke limit, Lower stroke limit, Stop input,

Proximity dog/Speed-position switching signal)

(4 points 8 axes)

Sink/Source type

Photocoupler

Operating voltage range

ON voltage/current

OFF voltage/current

Input resistance

Response time of the

Upper/Lower stroke limit and

OFF to ON

STOP signal

ON to OFF

12/24VDC

12VDC 2mA/24VDC 4mA

10.2 to 26.4VDC

(12/24VDC +10/ -15%, ripple ratio 5% or less)

10VDC or more/2.0mA or more

1.8VDC or less/0.18mA or less

Approx. 5.6k

1ms

Response time of the proximity dog, Speedposition switching signal

OFF to ON

ON to OFF

Common terminal arrangement

Indicates to display

External connector type

Applicable wire size

Applicable connector for the external connection

Applicable connector/

Terminal block converter module

0.4ms/0.6ms/1ms

(CPU parameter setting, Default 0.4ms)

32 points/common (common terminal: B1, B2)

ON indication (LED)

40 pin connector

0.3mm

2

A6CON1(Attachment),

A6CON2, A6CON3(Optional)

A6TBXY36, A6TBXY54, A6TBXY70(Optional)

2 - 39

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 Developer to determine the I/O No.s corresponding to the axis No.s.

Servo external signal Application

Number of points on one Q172DLX

Upper stroke limit input (FLS)

Lower stroke limit input (RLS)

Stop signal input (STOP)

For detection of upper and lower stroke limits.

For stopping under speed or positioning control.

Proximity dog/

Speed-position switching input

(DOG/CHANGE)

For detection of proximity dog at proximity dog or count type home position return of for switching from speed to position switching control.

32 points

(4 points/8 axes)

2 - 40

2 SYSTEM CONFIGURATION

(b) The pin layout of the CTRL connector

Use the CTRL connector at the Q172DLX module front to connect the servo external signals.

The following pin layout of the Q172DLX CTRL connector viewed from the front.

The pin layout and connection description of the CTRL connector are described below.

CTRL connector

Signal No.

1

2

3

4

Pin No.

B20

B19

B18

B17

B16

B15

B14

B13

B12

B11

B10

B9

B8

B7

B3

B2

B1

B6

B5

B4

Signal Name

FLS1

RLS1

STOP1

DOG1/CHANGE1

FLS2

RLS2

STOP2

DOG2/CHANGE2

FLS3

RLS3

STOP3

DOG3/CHANGE3

FLS4

RLS4

STOP4

DOG4/CHANGE4

No connect

No connect

COM

COM

Pin No. Signal Name

A20

A19

FLS5

RLS5

A18

A17

A16

STOP5

DOG5/CHANGE5

A15

A14

A13

A12

FLS6

RLS6

STOP6

DOG6/CHANGE6

FLS7

RLS7 A11

A10

A9

A8

A7

A6

A5

A4

STOP7

DOG7/CHANGE7

FLS8

RLS8

STOP8

DOG8/CHANGE8

No connect

No connect A3

A2

A1

No connect

No connect

Signal No.

5

6

7

8

Applicable connector model name

A6CON1 type soldering type connector

FCN-361J040-AU connector

(FUJITSU TAKAMISAWA

COMPONENT LIMITED)

FCN-360C040-B connector cover

A6CON2 type Crimp-contact type connector

A6CON3 type Pressure-displacement type connector

(Attachment)

(Optional)

DOG/CHANGE, STOP, RLS, FLS functions of each axis(1 to 8)

DOG/CHANGE Proximity dog/Speed-position

switching signal

STOP Stop signal

RLS Lower stroke limit

FLS Upper stroke limit

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 conversion module

AC TB ( :Length [m]) : Connector/terminal block conversion cable

POINT

Signal No. 1 to 8 can be assigned to the specified axis. Make the assignment in the system settings of MT Developer.

2 - 41

2 SYSTEM CONFIGURATION

(4) Interface between CTRL connector and servo external signal

Input or

Output

Input

Signal name

CTRL connector

LED

Wiring example Internal circuit Specification Description

STOP1

STOP2

STOP3

STOP4

STOP5

STOP6

STOP7

STOP8

RLS1

RLS2

RLS3

RLS4

RLS5

RLS6

RLS7

RLS8

FLS1

FLS2

FLS3

FLS4

FLS5

FLS6

FLS7

FLS8

DOG/CHANGE1

DOG/CHANGE2

DOG/CHANGE3

DOG/CHANGE4

DOG/CHANGE5

DOG/CHANGE6

DOG/CHANGE7

DOG/CHANGE8

Power supply

(Note)

B20

B16

B12

B8

A20

A16

A12

A8

0

4

8

C

10

14

18

1C

Upper stroke limit input

5.6k

Supply voltage

12 to 24 VDC

(10.2 to 26.4 VDC, stabilized power supply)

FLS

B19

B15

B11

B7

A19

A15

A11

A7

A6

B17

B13

B9

B5

A17

A13

A9

A5

B18

B14

B10

B6

A18

A14

A10

1

5

9

D

11

15

19

1D

Lower stroke limit input

5.6k

RLS

7

B

F

1A

1E

3

E

12

16

2

6

A

13

17

1B

1F

Stop signal input

Proximity dog/

Speed-position switching signal

5.6k

5.6k

High level

10.0 VDC or more/

2.0mA or more

Low level

1.8 VDC or less/

0.18mA or less

STOP

DOG/CHANGE

B1 B2

Common terminals for motion control signals, external

12VDC to 24VDC 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 - 42

2 SYSTEM CONFIGURATION

2.4.5 Q172DEX Synchronous encoder interface module

Q172DEX receive external signals required for serial absolute synchronous encoder.

The installation position of Q172DEX is only main base.

(1) Q172DEX name of parts

5)

Q172DEX

SY.ENC

1

2

TREN

1

2

1)

2)

SY.ENC1

3)

8)

SY.ENC2

6)

Q172DEX

9) 7)

No. Name

1) 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.

2) Mode judging LED

LED

SY.ENC

1, 2

Details

Display for signal input status of each serial absolute synchronous encoder.

(LED turns ON at the normal connection (first switching to virtual mode).)

TREN

1, 2

Display for signal status of tracking enable.

The tracking enable signal does not turn ON without setting Q172DEX in the system setting.

3) SY. ENC connector Input connector of the serial absolute synchronous encoder.

4) Module loading lever Used to install the module to the base unit.

5)

Module fixing screw hole

Hole for the screw used to fix to the base unit

(M3×12 screw : Purchase from the other supplier)

6)

7)

Module fixing hook

Battery connector

8) Battery holder

9)

Battery

(A6BAT/MR-BAT)

Hook used to fix to the base unit.

For connection of battery lead wire.

Used to the set the Battery (A6BAT/MR-BAT) to the holder.

For Serial absolute synchronous encoder battery backup.

4)

2 - 43

2 SYSTEM CONFIGURATION

POINT

(1) Mode judging LED of the serial absolute synchronous encoder signal turns ON at the normal connection (first switching to virtual mode).

(2) Mode judging LED of the tracking enable signal turns ON at the following conditions.

• Q172DEX is set on the system structure screen of MT Developer.

• The tracking enable signal is input.

(2) Performance specifications

(a) Module specifications

Mass [kg]

Item Specifications

Number of I/O occupying points

Internal current consumption(5VDC)[A]

Exterior dimensions [mm(inch)]

32 points(I/O allocation: Intelligent, 32 points)

0.19

98(H) 27.4(W) 90(D)

(3.86(H) 1.08(W) 3.54(D) )

0.15

(b) Tracking enable signal input

Item Specifications

Number of input points

Input method

Tracking enable signal : 2 points

Sink/Source type

Isolation method

Rated input voltage

Rated input current

Operating voltage range

ON voltage/current

OFF voltage/current

Input resistance

OFF to ON

Response time

ON to OFF

Common terminal arrangement

Indicates to display

Photocoupler

12/24VDC

12VDC 2mA/24VDC 4mA

10.2 to 26.4VDC

(12/24VDC +10/ -15%, ripple ratio 5% or less)

10VDC or more/2.0mA or more

1.8VDC or less/0.18mA or less

Approx. 5.6k

0.4ms/0.6ms/1ms

(CPU parameter setting, Default 0.4ms)

1 point/common (Common terminal: TREN.COM)

ON indication (LED)

2 - 44

2 SYSTEM CONFIGURATION

(c) Serial absolute synchronous encoder input

Item Specifications

Applicable signal types

Transmission method

Synchronous method

Communication speed

Applicable types

Position detection method

Differential-output type : (SN75C1168 or equivalent)

Serial communications

Counter-clock-wise (viewed from end of shaft)

2.5Mbps

Q170ENC

Absolute (ABS) method

Number of modules

External connector type

Applicable connector for the external connection

Applicable wire

2/module

20 pin connector

Q170ENCCNS (Optional)

Connecting cable

Cable length

Back up the absolute position.

Battery service life time

(value in actual)

MB14B0023 12Pair

Q170ENCCBL M

( =cable length 2m(6.56ft.), 5m(16.40ft.), 10m(32.81ft.), 20m(65.62ft.),

30m(98.43ft.), 50m(164.04ft.) )

(Note-1)

Up to 50m (164.04ft.)

Depends on A6BAT/MR-BAT.

12000[h], (Example of encoders 2, Ambient temperature 40°C (104°F) )

24000[h], (Example of encoders 1, Ambient temperature 40°C (104°F) )

(Note-1) : You can use these cables when the tracking enable signal is not used.

When the tracking enable signal is used, fabricate the cable on the customer side.

2 - 45

2 SYSTEM CONFIGURATION

(3) Select to number of the synchronous encoder modules

Synchronous encoders are available in voltage output type(incremental), differential output type(incremental) and serial absolute output type(Q170ENC).

Q172DEX can be connected to only serial absolute output type(Q170ENC).

When using the incremental synchronous encoder of voltage output type or differential output type, must be used Q173DPX. (The synchronous encoders are used only in the SV22 virtual mode.)

In addition, the usable numbers of synchronous encoders differ depending on the modules.

The following number of serial absolute synchronous encoders and incremental synchronous encoders combined can be used.

Motion CPU module

Q173DCPU

Q172DCPU

Synchronous encoder

Up to 12 modules ( Q172DEX: Up to 6 modules )

Up to 8 modules ( Q172DEX: Up to 4 modules )

• Tracking enable signal

Tracking enable signal of Q172DEX is used as a high-speed reading function. It cannot be used, as the input start signal which start the input form serial absolute synchronous encoders.

When using the inputs start signal which start the input from synchronous encoder, must be used Q173DPX. (Type of synchronous encoder is voltage output(incremental)or differential output(incremental). )

The external input signal of the synchronous encoder is indicated below.

External input signal of the synchronous encoder

Item

Tracking enable signal input High-speed reading function

Number of points on one Q172DEX

2 points

2 - 46

2 SYSTEM CONFIGURATION

(4) Connection of synchronous encoder interface module.

(a) Connection with serial absolute synchronous encoder

(Q170ENC)

Use the SY.ENC connector at the Q172DEX module front to connect the serial absolute synchronous encoder (Q170ENC).

When tracking enable signal is not used, use the Q170ENCCBL M encoder cable between the serial absolute synchronous encoder

(Q170ENC) and SY.ENC connector.

The following pin layout of the Q172DEX SY.ENC connector viewed from the front.

The pin layout and connection description of the SY.ENC connector are described below.

SY.ENC connector

Pin No.

1

Signal name

LG

Pin No.

11

Signal name

LG

Applicable connector model names

10120-3000PE connector

10320-52F0-008 connector cover

5 No connect 15 No connect

8 No P5

9 BAT 19 P5

10 P5 20 P5

(Note) : Do not connect a wire to MD(6Pin), MDR(16Pin).

(b) Interface with external equipment

The interface between the SY.ENC connector and external equipment is described below.

1) Wiring precautions

Ensure the connector lock after connecting the connector.

Synchronous encoder interface module

(Q172DEX)

1

STOP

EMI

SW

RUN

2

CAUTION

FRONT

BA T

SY.ENC connector

Serial absolute synchronous encoder cable

(Q170ENCCBL M)

Serial absolute synchronous encoder

(Q170ENC)

2 - 47

2 SYSTEM CONFIGURATION

(5) Interface between SY.ENC connector and external equipment

Input or

Output

Signal name

MR

MRR

Pin No.

SY.ENC connector

Wiring example

7

Serial absolute synchronous encoder

17

Internal circuit Specification

Transmission method: serial communications

Position detection method: absolute

Description

P5 10 18 19 20

LG 1 2 3 11 12

Input

BAT 9

5VDC

Battery

TREN

(Note)

TREN.

COM

(Note)

4

14

12VDC to 24VDC

5.6k

SD plate

(Note) : As for the connection to power line (TREN, TREN.COM), both "+" and "–" are possible.

CAUTION

Always use a shield cable for connection of the SY.ENC connector and external equipment, and avoid running it close to or bundling it with the power and main circuit cables to minimize the influence of electromagnetic interface. (Separate them more than 200mm (0.66 ft.) away.)

Connect the shield wire of the connection cable to the FG terminal of the external equipment.

When increasing the cable length, use the cable 50m(164.04ft.) or less. Note that the cable should be run in the shortest possible distance to avoid induced noise.

Always wire the cables when power is off. Not doing so may damage the circuit of modules.

Wire the cable correctly. Wrong wiring may damage the internal circuit.

2 - 48

2 SYSTEM CONFIGURATION

(6) Details of encoder cable connections

(a) When not using tracking enable signal

(Note-1)

P5

LG

P5

LG

P5

LG

SY.ENC side connector

10120-3000PE (connector)

10320-52F0-008(connector case)

19

11

20

12

18

2

Synchronous encoder side connector(plug)

MS3106B22-14S(cable clump)

S

R

BAT

LG

MR

MRR

MD

MDR

SDplate

9

1

7

17

6

16

E

K

L

H

J

N

:Twisted pair cable

Q170ENCCBL2M to Q170ENCCBL50M(50m (164.04ft.) or less)

(b) When using tracking enable signal

(Note-1), (Note-2)

SY.ENC side connector

10120-3000PE (connector)

10320-52F0-008(connector case)

Synchronous encoder side connector(plug)

MS3106B22-14S(cable clump)

P5

LG

19

11

S

R

P5

LG

P5

LG

20

12

18

2

BAT

LG

MR

MRR

MD

MDR

7

17

9

1

6

16

E

K

L

H

J

SDplate

TREN 4

TREN.COM 14

N

24VDC

:Twisted pair cable

Cable length 50m(164.04ft.) or less

(Note-1) : Be sure to use a wire model name AWG24.

(Note-2) : When using tracking enable signal, fabricate the encoder cable by customer side.

2 - 49

2 SYSTEM CONFIGURATION

(7) Connection of the battery

This section describes the battery specifications, handling precautions and installation of the Q172DEX.

(a) Specifications

The specifications of the battery for memory back-up are shown in the table below.

Battery Specifications

Item

Model name

A6BAT/MR-BAT

Classification

Normal voltage [V]

Nominal current [mAh]

Manganese dioxide lithium primary battery

3.6

1600

Storage life

5 years

Lithium content [g]

0.48

Applications

For backup absolute positioning data of the serial absolute synchronous encoder (Q170ENC)

16(0.63) × 30(1.18)

Exterior dimensions [mm(inch)]

(Note) : The 44th Edition of the IATA (International Air Transportation Association) Dangerous Goods Regulations was effected in January 1st, 2003 and administered immediately.

In this edition, the provisions relating to lithium and lithium ion batteries have been revised to strengthen regulations on the air transportation of battery.

This battery is not dangerous goods (not class 9). Therefore, these batteries of 24 units or less are not subject to the regulations.

These batteries more than 24 units require packing based on Packing Instruction 903.

If you need the self-certification form for the battery safety test, contact Mitsubishi.

For more information, contact Mitsubishi.

(b) Battery replacement

For Battery replacement procedure, refer to section 6.5.2.

Battery is supplied to the serial absolute synchronous encoder by the encoder cable.

A6BAT/MR-BAT

Battery connector

2 - 50

2 SYSTEM CONFIGURATION

(c) Battery life

Module type

Q172DEX

Battery type

Q170ENC×1

Power-on time ratio

(Note-2)

Battery life (Total power failure time) [h]

(Note-1)

Guaranteed value

(Note-3)

(MIN) (75°C (167°F))

Guaranteed value

(Note-4)

(TYP) (40°C (104°F))

Actual service value

(Note-5)

(Reference value)

(TYP) (25°C (77°F))

Backup time after alarm

0% 3000 8000 24000

30% 4000 11000 34000

50% 6000 16000 43800

70% 10000 26000 43800

40

Internal battery

(A6BAT/

MR-BAT)

Q170ENC×2

50% 3000 8000 21900

70% 5000 13000 21900

100% 43800 43800 43800

(Note-1) : The actual service value indicates the average value, and the guaranteed time indicates the minimum time.

(Note-2) : The power-on time ratio indicates the ratio of Multiple CPU system power-on time to one day (24 hours).

(When the total power-on time is 17 hours and the total power-off time is 7 hours, the power-on time ratio is 70%.)

(Note-3) : The guaranteed value (MIN) ; equivalent to the total power failure time that is calculated based on the characteristics value of the memory (SRAM) supplied by the manufacturer and under the storage ambient temperature range of -25°C to 75°C (-13 to

167°F) (operating ambient temperature of 0°C to 55°C (32 to 131°F)).

(Note-4) : The guaranteed value (TYP) ; equivalent to the total power failure time that is calculated based on the normal air-conditioned environment (40°C (104°F)).

(Note-5) : The actual service value (Reference value) ; equivalent to the total power failure time that is calculated based on the measured value and under the storage ambient temperature of 25°C (77°F). This value is intended for reference only, as it varies with characteristics of the memory.

POINTS

The self-discharge influences the life of battery without the connection to Q172DEX.

The external battery should be exchanged approximately every 4 or 5 years.

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.

CAUTION

Do not short a battery.

Do not charge a battery.

Do not disassemble a battery.

Do not burn a battery.

Do not overheat a battery.

Do not solder the battery terminals.

Before touching the battery, always touch grounded metal, etc. to discharge static electricity from human body. Failure to do so may cause the module to fail or malfunction.

Do not directly touch the module's conductive parts and electronic components. Touching them could cause an operation failure or give damage to the module.

2 - 51

2 SYSTEM CONFIGURATION

2.4.6 Q173DPX Manual pulse generator interface module

Q173DPX receive external signals required for Manual pulse generator and

Incremental synchronous encoder (Voltage-output/Open collector type/Differentialoutput type).

(1) Q173DPX name of parts

5)

Q173DPX

PLS.A

1

PLS.B

1

2

3

2

3

TREN

1

2

3

1)

2)

PULSER

3)

6)

7)

Q173DPX

4)

No.

1)

Name Application

Module fixing hook

Hook used to fix the module to the base unit.

(Single-motion installation)

Display the input status from the external equipment.

2) Mode judging LED

LED

PLS.A 1 to 3

PLS.B 1 to 3

TREN 1 to 3

Details

Display for input signal status of manual pulse generator/incremental synchronous encoder phases A, B

Display for signal status of tracking enable.

The manual pulse generator/incremental synchronous encoder phases A, B and tracking enable signal does not turn ON without setting Q173DPX in the system setting.

Input connector of the Manual pulse generator/Incremental synchronous encoder.

4) Module loading lever Used to install the module to the base unit.

5)

Module fixing screw hole

Hole for the screw used to fix to the base unit

(M3×12 screw : Purchase from the other supplier)

2 - 52

2 SYSTEM CONFIGURATION

No.

Name Application

Dip switches

(Note-1)

Dip switch 1

Dip switch 2

Detection setting of TREN1 signal

SW1 SW2

OFF OFF

ON ON

TREN is detected at leading edge of TREN signal.

ON OFF

OFF ON

TREN is detected at trailing edge of TREN signal.

6) factory in OFF position)

(Shipped from the

Dip switch 3

Dip switch 4

Dip switch 5

Dip switch 6

Detection setting of TREN2 signal

SW3 SW4

OFF OFF

ON ON

TREN is detected at leading edge of TREN signal.

ON OFF

OFF ON

TREN is detected at trailing edge of TREN signal.

Detection setting of TREN3 signal

SW5 SW6

OFF OFF

ON ON

TREN is detected at leading edge of TREN signal.

ON OFF

TREN is detected at trailing

OFF ON edge of TREN signal.

7) Module fixing hook Hook used to fix to the base unit.

(Note-1) : The function is different according to the operating system software installed.

CAUTION

Before touching the battery, always touch grounded metal, etc. to discharge static electricity from human body. Failure to do so may cause the module to fail or malfunction.

Do not directly touch the module's conductive parts and electronic components. Touching them could cause an operation failure or give damage to the module.

POINTS

Mode judging 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 on the system structure screen of MT Developer.

• 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 on the system structure screen of MT Developer.

• The tracking enable signal is input.

2 - 53

2 SYSTEM CONFIGURATION

(2) Performance specifications

(a) Module specifications

Mass [kg]

Item Specifications

Number of I/O occupying points

Internal current consumption(5VDC)[A]

Exterior dimensions [mm(inch)]

32 points(I/O allocation: Intelligent, 32 points)

0.38

98(H) 27.4(W) 90(D)

(3.86(H) 1.08(W) 3.54(D) )

0.15

(b) Tracking enable signal input

ON voltage/current

OFF voltage/current

Input resistance

Item Specifications

Number of input points

Input method

Isolation method

Rated input voltage

Rated input current

Operating voltage range

Tracking enable signal : 3 points

Sink/Source type

Photocoupler

12/24VDC

12VDC 2mA/24VDC 4mA

10.2 to 26.4VDC

(12/24VDC +10/ -15%, ripple ratio 5% or less)

10VDC or more/2.0mA or more

1.8VDC or less/0.18mA or less

Approx. 5.6k

Response time

OFF to ON

ON to OFF

Common terminal arrangement

Indicates to display

0.4ms/0.6ms/1ms

(CPU parameter setting, Default 0.4ms)

1 point/common(Common contact: TREN.COM)

ON indication(LED)

(Note): Functions are different depending on the operating system software installed.

2 - 54

2 SYSTEM CONFIGURATION

(c) Manual pulse generator/Incremental synchronous encoder input

Item Specifications

Number of modules

Voltage-output/

Open collector type

High-voltage

Low-voltage

Differential-output type High-voltage

(26LS31 or equivalent)

Low-voltage

Input frequency

Applicable types

3/module

3.0 to 5.25VDC

0 to 1.0VDC

2.0 to 5.25VDC

0 to 0.8VDC

Up to 200kpps (After magnification by 4)

Voltage-output type/Open-collector type (5VDC), Recommended product: MR-HDP01

Differential-output type: (26LS31 or equivalent)

40 pin connector

0.3mm

2

External connector type

Applicable wire size

Applicable connector for the external connection

Cable length

Voltage-output/

Open collector type

A6CON1(Attachment)

A6CON2, A6CON3(Optional)

30m (98.43ft.)

(Open collector type: 10m (32.81ft.) )

Differential-output type

(3) Connection of manual pulse generator

Manual pulse generators are available in voltage output/open collector type and differential output type. Since these types differ in connection method, design according to the connection method of section 2.4.6 (5).

In addition the usable numbers of manual pulse generator which can be used with each CPU modules are up to 3 modules.

Motion CPU module

Q173DCPU

Q172DCPU

Manual pulse generator

Up to 3 modules

( Up to 1 module )

2 - 55

2 SYSTEM CONFIGURATION

(4) Connection of incremental synchronous encoder

Incremental synchronous encoders are available in voltage output/Open collector type and differential output type. Since these types differ in connection method, design according to the connection method of section 2.4.6 (5).

Serial absolute synchronous encoder (Q170ENC) not connected to Q173DPX.

Then connect to Q172DEX.

In addition, the usable numbers of synchronous encoders differ depending on the modules.

The following number of serial absolute synchronous encoders and incremental synchronous encoders combined can be used.

Motion CPU module

Q173DCPU

Q172DCPU

Synchronous encoder

Up to 12 modules

( Q173DPX: Up to 4 modules )

Up to 8 modules

( Q173DPX: Up to 3 modules )

• 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 incremental synchronous encoder

Tracking enable signal input

Item

Input start function from incremental synchronous encoder

Number of points on one Q173DPX

Each 1 point

( Total 3 points )

2 - 56

2 SYSTEM CONFIGURATION

(5) Connection of manual pulse generator interface module

(a) The pin layout of the PULSER connector

Use the PULSER connector at the Q173DPX module front to connect the manual pulse signals, incremental synchronous encoder signals.

The following pin layout of the Q173DPX PULSER connector viewed from the front.

The pin layout and connection description of the PULSER connector are described below.

2)

3)

2)

3)

2)

3)

4)

Pin No.

B20

B19

B18

B17

B16

B15

B14

B13

B12

B11

B10

B9

B8

B7

B6

B5

B4

B3

B2

B1

Signal Name

HB1

SG

5V

HA1N

HB1N

HB2

SG

5V

HA2N

HB2N

HB3

SG

5V

HA3N

HB3N

No connect

TREN1

TREN2

TREN3

FG

PULSER connector

A10

A9

A8

A7

A6

A5

A4

Pin No. Signal Name

A20 HA1

A19

A18

A17

SG

HPSEL1

HA1P

A16

A15

A14

A13

A12

A11

HB1P

HA2

SG

HPSEL2

HA2P

HB2P

HA3

SG

HPSEL3

HA3P

HB3P

No connect

A3

A2

A1

TREN1

TREN2

TREN3

FG

2)

1)

3)

2)

1)

3)

2)

1)

3)

4)

Applicable connector model name

A6CON1 type soldering type connector

FCN-361J040-AU connector

(FUJITSU TAKAMISAWA

COMPONENT LIMITED)

FCN-360C040-B connector cover

A6CON2 type Crimp-contact type connector

A6CON3 type Pressure-displacement type connector

1) : Input type from manual pulse generator/incremental synchronous encoder switched by HPSEL .

Not connection : Voltage-output type/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 HA1P/HA2P/HA3P, and the B-phase signal to HB1P/HB2P/HB3P.

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.

(Attachment)

(Optional)

2 - 57

2 SYSTEM CONFIGURATION

Input or

Output

Input

Signal name

Pin No.

PULSER connector

Voltage-Output type

1 2 3

Wiring example Internal circuit

Manual pulse generator, phase A

A

HA P

A

HA N

A17 A12

B17 B12

Manual pulse generator, phase B

B

HB P

B

HB N

A16 A11

B16 B11

A7

B7

A6

B6

A

A

Manual pulse generator/ synchronous encoder

B

B

Select type signal

HPSEL

(b) Interface between PULSER connector and manual pulse generator (Differential output type)/Incremental synchronous encoder

Interface between Manual pulse generator (Differential output type)/

Incremental synchronous encoder

A18 A13 A8

(Note-2)

Specification Description

Rated input voltage

5.5VDC or less

HIGH level

2.0 to 5.25VDC

For connection manual pulse generator

Phases A, B

Pulse width

20 s or more

LOW level

0.8VDC or less

26LS31 or equivalent

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

Phase B

P5

(Note-1)

B18 B13 B8

5V

Power supply

5VDC

(1) Positioning address

increases if Phase A

leads Phase B.

(2) Positioning address

decreases if Phase B

leads Phase A.

Power supply

SG

SG

A19 A14

B19 B14

A9

B9

(Note-1) : The 5V(P5)DC power supply from the Q173DPX must not be connected if a separated power supply is used as the Manual pulse generator/Incremental synchronous encoder power supply.

Use a 5V stabilized power supply as a separated power supply. Any other power supply 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 - 58

2 SYSTEM CONFIGURATION

(c) Interface between PULSER connector and manual pulse generator (Voltage output/Open collector type)/

Incremental synchronous encoder.

Interface between Manual pulse generator (Voltage-output/Open collector type)/Incremental synchronous encoder

Input or

Output

Signal name

Pin No.

PULSER connector

Voltage-Output type

1 2 3

Wiring example Internal circuit

Manual pulse generator, phase A

A20 A15 A10

A

HA

Input

Manual pulse generator, phase B

HB

B20 B15 B10

Manual pulse generator/ synchronous encoder

B

Select type signal

HPSEL

A18 A13 A8

No connect

P5

(Note)

B18 B13 B8

5V

Specification Description

Power supply

5VDC

Rated input voltage

5.5VDC or less

HIGH level

3 to 5.25VDC/

2mA or less

For connection manual pulse generator

Phases A, B

Pulse width

20 s or more

LOW level

1VDC or less/

5mA 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

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.

Power supply

SG

SG

A19 A14 A9

B19 B14 B9

(Note) :

The 5V(P5)DC power supply from the Q173DPX must not be connected if a separated power supply is used as the Manual pulse generator/Incremental synchronous encoder power supply.

Use a 5V stabilized power supply as a separated power supply. Any other power supply may cause a failure.

(d) Interface between PULSER connector and tracking enable signal

Input or

Output

Interface between tracking enable signal

Pin No.

Signal name

PULSER connector Wiring example Internal circuit

Specification

1 2 3

Description

Input

Tracking

TREN A4 A3 A2

Tracking enable signal input.

enable

(Note)

TREN

B4 B3 B2

12V to 24VDC

(Note) : As for the connection to tracking enable (TREN +, TREN –), both "+" and "–" are possible.

2 - 59

2 SYSTEM CONFIGURATION

(6) Connection examples of manual pulse generator

Connection of manual pulse generator Connection of manual pulse generator

(Voltage-output/Open collector type) (Differential-output type)

Q173DPX

Signal name

HA

HB

SG

SG

SG

P5

FG

: 1 to 3

(Note-2) shield

Manual pulse generator side

A

B

0V

5V

(Note-1)

:Twisted pair cable

Q173DPX

Signal name

HA P

HA N

HB P

HB N

SG

P5

FG

SG

HPSEL

: 1 to 3

(Note-2)

Manual pulse generator side

A

A

B

B

0V

5V

(Note-1)

:Twisted pair cable

(Note-1) : The 5V(P5)DC power supply from the Q173DPX must not be connected if a separated power supply is used as the Manual pulse generator/Incremental synchronous encoder power supply.

Use a 5V stabilized power supply as a separated power supply. Any other power supply 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 used as the manual pulse generator/incremental synchronous encoder power supply, use a 5V stabilized power supply. Any other power supply may cause a failure.

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2 SYSTEM CONFIGURATION

2.4.7 Manual pulse generator/Serial absolute synchronous encoder

(1) Table of the Manual pulse generator specifications

Model name

Item Specifications

MR-HDP01

(Note-1)

Ambient temperature

Pulse resolution

-10 to 60°C(14 to 140°F)

Output method

Power supply voltage

Current consumption

25PLS/rev(100 PLS/rev after magnification by 4)

Voltage-output(power supply voltage -1V or more)/

Output current = Up to 20mA

4.5 to 13.2VDC

(Note-2)

60mA

Life time

Permitted axial loads

1,000,000 revolutions (at 200r/min)

Radial load : Up to 19.6N, Thrust load : Up to 9.8N

Mass 0.4kg

Number of max. revolution

Pulse signal status

Instantaneous Up to 600r/min. normal 200r/min

2 signals : A phase, B : phase, 90° phase difference

Friction torque 0.1N/m(20°C (68°F) )

(Note-1) : It can be used by combining with Q173DPX.

(Note-2) : If a separate power supply is used, use a stabilized power supply of voltage 5VDC ±

0.25V.

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2 SYSTEM CONFIGURATION

(2) Table of the Serial absolute synchronous encoder specifications

Model name

Item Specifications

Q170ENC

(Note-1), (Note-2)

Ambient temperature -5 to 55°C (23 to 131°F)

Resolution 262144PLS/rev

Transmission method

Direction of increasing addresses

Serial communications (Connected to Q172DEX)

CCW (viewed from end of shaft)

Protective construction

Dustproof/Waterproof

(IP65: Except for the shaft-through portion.)

Permitted speed at power ON 3600r/min

Permitted speed at power OFF

(Note-3)

Permitted axial loads

500r/min

Runout at input shaft tip

Recommended coupling

Permitted angular acceleration

Vibration resistance

Shock resistance

Internal current consumption

Mass

Connecting cable

Communications method

Transmission distance

Radial load : Up to 19.6N, Thrust load : Up to 9.8N

0.02mm(0.00079 inch) or less,

(15mm(0.59 inch) from tip)

Bellows coupling

40000rad/s

2

5G (50 to 200Hz)

50G (11ms or less)

0.2A

0.6kg

( =Cable length :

Q170ENCCBL M

2m(6.56ft.), 5m(16.40ft.), 10m(32.81ft.),

20m(65.62ft.), 30m(98.43ft.), 50m(164.04ft.))

Differential driver/receiver

Up to 50m(164.04ft.)

(Note-1) : It can be used by combining with Q172DEX.

(Note-2) : When "o-ring" is required, please purchase separately by customers.

(Note-3) : If it exceeds a permitted speed at power OFF, a position displacement is generated.

2 - 62

2 SYSTEM CONFIGURATION

2.4.8 SSCNET cables and connection method

This section describes how to connect between the Motion CPU module and servo amplifiers.

Between the Motion CPU module and servo amplifiers is connected by SSCNET cable. When using the Q172DCPU, only 1 SSCNET cable for connection to servo amplifier can be used. (Connect to CN1.) When using the Q173DCPU, up to 2

SSCNET cables for connection to servo amplifier can be used. (Connect to CN1 and

CN2.)

Up to 16 servo amplifies can be connected to 1 SSCNET cable.

(However, when using the Q172DCPU, up to 8 servo amplifiers can be connected.)

(1) Connection between the Q173DCPU and servo amplifiers

Q173DCPU Motion CPU module

CN1

CN2

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.)

Cap

Attach a cap to connectors of system not being used.

SSCNET SYSTEM1

1)

CN1A

1)

CN1A

CN1B

CN1B

Servo amplifier Servo amplifier

SSCNET SYSTEM2

Cap

1)

CN1A

1)

CN1B

Servo amplifier

CN1A

CN1B

Servo amplifier

Cap

(Note): It cannot communicate with that the connection of

CN1A and CN1B is mistaken.

2 - 63

2 SYSTEM CONFIGURATION

(2) Connection between the Q172DCPU and servo amplifiers

Q172DCPU Motion CPU module

CN1

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

1)

CN1B

Servo amplifier

CN1A

CN1B

Cap

Servo amplifier

(Note): It cannot communicate with that the connection of

CN1A and CN1B is mistaken.

List of SSCNET cable model name

Model name

(Note)

Cable

MR-J3BUS M

0.15m(0.49ft.), 0.3m(0.98ft.), 0.5m(1.64ft.),

1m(3.28ft.), 3m(9.84ft.)

MR-J3BUS M-A 5m(16.4ft.), 10m(32.81ft.), 20m(65.62ft.)

Standard code for inside panel

Standard cable for outside panel

Description

• Q173DCPU/Q172DCPU MR-J3- B

• MR-J3- B MR-J3- B

(Note) : =cable length

2 - 64

2 SYSTEM CONFIGURATION

POINTS

(1) Be sure to connect SSCNET cable with the above connector. If the connection is mistaken, between the Motion CPU module and servo amplifier cannot be communicated.

(2) SSCNET connector 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.

(3) Be sure to keep a cap and the tube for protecting light code end of SSCNET cable in a plastic bag with a zipper of SSCNET cable to prevent them from becoming dirty.

(4) Do not remove the SSCNET cable while turning on the power supply of

Multiple CPU system and servo amplifier.

Do not see directly the light generated from SSCNET connector of Motion

CPU module or servo amplifier and the end of SSCNET cable. When the light gets into eye, may feel something is wrong for eye. (The light source of

SSCNET cable complies with class1 defined in JISC6802 or

IEC60825-1.)

(5) When exchanging the servo amplifier or Motion CPU module, make sure to put a cap on SSCNET connector. When asking repair of servo amplifier or

Motion CPU module 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.

(3) Cable specifications

(a) MR-J3BUS M

Model name

Item

Cable length [m(ft.)]

MR-J3BUS015M MR-J3BUS03M MR-J3BUS05M MR-J3BUS1M MR-J3BUS3M

0.15(0.49) 0.3(0.98) 0.5(1.64) 1(3.28) 3(9.84)

Model name

Item

Cable length [m(ft.)]

(b) MR-J3BUS M-A

MR-J3BUS5M-A MR-J3BUS10M-A MR-J3BUS20M-A

5(16.40) 10(32.81) 20(65.62)

Model name

Item

Cable length [m(ft.)]

(c) MR-J3BUS M-B

MR-J3BUS30M-B MR-J3BUS40M-B MR-J3BUS50M-B

30(98.43) 40(131.23) 50(164.04)

2 - 65

2 SYSTEM CONFIGURATION

(4) Setting of the axis No. and axis select switch of servo amplifier

Axis No. is used to set the axis numbers of servo amplifiers connected to

SSCNET connector(CN ) in the program.

Axis No. of 1 to 32 can be set for Q173DCPU, and axis No. of 1 to 8 can be set for Q172DCPU.

Axis No. is set for each system with SSCNET structure screen of system setting of MT Developer. Axis No. (Q173DCPU:1 to 32/Q172DCPU:1 to 8) 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 SSCNET structure screen corresponds to axis select switch (0 to F) of servo amplifier, set the axis select switch referring to the table of next page.

SSCNET structure (Allocation of axis No.)

Axis select switch (Servo amplifier)

3

5

6

7

8

9

A

B

D

2

1

0

F

E

Set the axis No. relative to axis number (dno.).

(Note) : Correspondence between dno. and axis select switch of servo amplifiers is shown in the next page.

2 - 66

2 SYSTEM CONFIGURATION

Correspondence between dno.s and axis select switches of servo amplifier

dno.

(Note)

SSCNET system

Axis select switch of servo amplifier d01 1 "0" d02 1 "1" d03 1 "2" d04 1 "3" dno.

(Note)

SSCNET system

Axis select switch of servo amplifier d01 2 d02 2 d03 2 d04 2

"0"

"1"

"2"

"3" d05 1 "4" d06 1 "5" d07 1 "6" d08 1 "7" d09 1 "8" d10 1 "9" d11 1 "A" d12 1 "B" d13 1 "C" d14 1 "D" d15 1 "E" d16 1 "F" d05 2 d06 2 d07 2 d08 2 d09 2 d10 2 d11 2 d12 2 d13 2 d14 2 d15 2 d16 2

"4"

"5"

"6"

"7"

"8"

"9"

"A"

"B"

"C"

"D"

"E"

"F"

(Note) : The dno. is number of servo amplifier axis displayed with SSCNET structure screen of

MT Developer.

Axis No. is set relative to dno. in the SSCNET structure screen of system settings.

Correspondence between SSCNET system and connector No. of CPU module is shown below.

Correspondence between SSCNET system No. and connector No. of CPU module

SSCNET system No. Connector No. of CPU

1 SSCNET CN1

2 SSCNET CN2

(Note) : Number of SSCNET systems: Q173DCPU : 2 systems / Q172DCPU : 1 system

2 - 67

2 SYSTEM CONFIGURATION

2.4.9 External battery

This section describes the battery specifications used in the Motion CPU, handling precautions and equipments.

(1) External battery specifications(For Motion CPU module)

Model name

Item

Q6BAT

Classification

Initial voltage [V]

Nominal current [mAh]

Storage life

Manganese dioxide lithium primary battery

3.0

1800

Actually 5 years (Room temperature)

Lithium content [g]

Applications

Exterior dimensions [mm(inch)]

0.49

For memory data backup of SRAM built-in Motion CPU

16(0.63)×32(1.26)

(Note) : The 44th Edition of the IATA (International Air Transportation Association) Dangerous Goods Regulations was effected in

January 1st, 2003 and administered immediately.

In this edition, the provisions relating to lithium and lithium ion batteries have been revised to strengthen regulations on the air transportation of battery.

This battery is not dangerous goods (not class 9). Therefore, these batteries of 24 units or less are not subject to the regulations.

These batteries more than 24 units require packing based on Packing Instruction 903.

If you need the self-certification form for the battery safety test, contact Mitsubishi.

For more information, contact Mitsubishi.

2 - 68

2 SYSTEM CONFIGURATION

(2) Data back-up of Motion CPU by the external battery

Be sure to use the external battery.

Set the battery (Q6BAT) to battery holder unit (Q170DBATC).

The programs, parameters, absolute position data, and latch data of SRAM builtin Motion CPU module are backed up without using the external battery.

In the following status, the backup time after power OFF is 3 minutes.

• The battery connector/Q6BAT lead connector is disconnected.

• The battery cable/lead wire of Q6BAT is broken.

Module type Battery type

Power-on time ratio

(Note-2)

Battery life (Total power failure time) [h]

(Note-1)

Guaranteed value

(Note-3)

(MIN) (75°C (167°F))

Guaranteed value

(Note-4)

(TYP) (40°C (104°F))

Actual service value

(Note-5)

(Reference value)

(TYP) (25°C (77°F))

Backup time after alarm

Q173DCPU/

Q172DCPU

External battery

(Q6BAT)

0% 3000 8000 24000

90

4000 11000 34000

(After

SM51/SM52

ON)

(Note-1) : The actual service value indicates the average value, and the guaranteed time indicates the minimum time.

(Note-2) : The power-on time ratio indicates the ratio of Multiple CPU system power-on time to one day (24 hours).

(When the total power-on time is 17 hours and the total power-off time is 7 hours, the power-on time ratio is 70%.)

(Note-3) : The guaranteed value (MIN) ; equivalent to the total power failure time that is calculated based on the characteristics value of the memory (SRAM) supplied by the manufacturer and under the storage ambient temperature range of -25°C to 75°C (-13 to

167°F) (operating ambient temperature of 0°C to 55°C (32 to 131°F)).

(Note-4) : The guaranteed value (TYP) ; equivalent to the total power failure time that is calculated based on the normal air-conditioned environment (40°C (104°F)).

(Note-5) : The actual service value (Reference value) ; equivalent to the total power failure time that is calculated based on the measured value and under the storage ambient temperature of 25°C (77°F). This value is intended for reference only, as it varies with characteristics of the memory.

POINTS

The self-discharge influences the life of battery without the connection to Motion

CPU module. The external battery should be exchanged approximately every 4 or

5 years.

And, exchange the battery with a new one in 4 to 5 years even if a total power failure time is guaranteed value or less.

CAUTION

Do not short a battery.

Do not charge a battery.

Do not disassemble a battery.

Do not burn a battery.

Do not overheat a battery.

Do not solder the battery terminal.

The programs, parameters, absolute position data and latch data of SRAM built-in Motion

CPU module are backed up without using the external battery.

2 - 69

2 SYSTEM CONFIGURATION

(3) Connection procedure with Motion CPU module

(a) Set Q6BAT to Battery holder unit(Q170DBATC).

(b) Connect the lead connector of Q6BAT to the connector (BATTERY) of

Q170DBATC.

(c) Connect between the connector (BAT) of Motion CPU module and connector (CPU) of Q170DBATC.

Motion CPU module

BAT

Battery cable

(Q170DBATCBL )

Battery holder unit

(Q170DBATC)

0.5[m]

(1.64[ft.])

Q6BAT

2 - 70

2 SYSTEM CONFIGURATION

2.4.10 Forced stop input terminal

(1) Table of the forced stop input terminal specifications

Number of input points

Input method

Isolation method

Operating voltage range

ON voltage/current

Item Specifications

OFF voltage/current

Forced stop signal : 1 point

Sink/Source type

Photocoupler

20.4 to 26.4VDC

(+10/ -15%, ripple ratio 5% or less)

17.5VDC or more/3.0mA or more

1.8VDC or less/0.18mA or less

Input resistance

Response time

OFF to ON

ON to OFF

External connector type

Applicable wire size

Approx. 10k

1ms

2 pin connector

0.3mm

2

(AWG22)

2 - 71

2 SYSTEM CONFIGURATION

MEMO

2 - 72

3 DESIGN

3. DESIGN

3.1 System Designing Procedure

Design the system which uses the Multiple CPU system in the following procedure.

Motion control system design

Select the Motion CPU module according to number of control axes.

Select the motion functions to be installed according to the machinery and equipment to be controlled (selection of the programming software packages according to the operating system software).

Select the number of Q172DLX's and design according to 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

Refer to section 2.4.4

Select Q173DPX, Q172DEX and design according to whether manual pulse generators and synchronous encoders are required or not.

Refer to section 2.4.5

Refer to section 2.4.6

Select interrupt module QI60 according to whether interrupt input are required or not.

Select I/O modules according to the specifications of the external equipment to be controlled.

Refer to MELSEC-Q series manual.

Select the main base unit, extension base units, extension power supply module and extension cables, and make I/O assignment according to necessary number of Q172DLX's, Q172DEX's,

Q173DPX's, QX 's, QY 's and the number of I/O modules.

Refer to section 2.4.4

Refer to section 2.4.5

Refer to section 2.4.6

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.

Refer to the servo amplifier manual.

Set the servo amplifier connection by SSCNET and axis numbers

(dno.) and axis No..

Refer to section 2.4.8

3

3 - 1

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.

Safety circuit design

Refer to section 3.2.1

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 CPU 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 CPU 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 explains the method and instructions for designing the power supply circuits and safety circuits, etc.

(1) Sample system circuit design for motion control 1

3-phase

200/220VAC

R S T

NFB1

CP1

Power Supply

Q61P-A2

200VAC

200VAC

PLC CPU Motion CPU

QnUD(H)CPU Q173DCPU/

Q172DCPU

Forced stop (Note-1)

EMI.COM

EMI

FG

LG

Input module

Output module Servo external signals interface

QX40 QY10 module

Q172DX

PYm

Ra1

(Note-2)

FLS1

Servo normal output

(Servo normal:ON

Alarm:OFF)

DOG8/

CHANGE8

COM

CP2

24VDC

Power supply

+24V

24G

SSCNET

COM

Number of inputs:

8 axes/module

FLS1

DOG8/

CHANGE8

EMG

Emergency Stop

EMG

CP3

Ra1

Operation

OFF

Ready

ON

MC

MC

SK

3 - 4

3 DESIGN

POINT

(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) : It recommends using one leakage breaker for one servo amplifier.

When electric power is supplied to multiple servo amplifiers for one

<Example> For control axis 1 and axis 2

Servo error detection

[F 1]

SET PYm

[G 1]

M2408+M2428

PYm ON with initial

(ON : normal)

Servo error detection of the axis 1, axis 2

[F 2]

RST PYm

OFF : abnormal (error) leakage breaker, select the wire connected to the servo amplifier according to the capacity of the leakage breaker.

END

NFB2

(Note-5)

Circuit example when using MR-J3-B

L1

L2

L3

MR-J3-B

A

U

V

W

U

V

W

SM

Ra2

L11

L21

DICOM

Ground

Electromagnetic brake

(Note-3)

SSCNET CN1A ALM

CN1B

EM1

DOCOM

Ra2

(Note-4)

24VDC

NFB3

(Note-5)

Circuit example when using MR-J3-B

L1

L2

L3

L11

L21

MR-J3-B

B

CN1A

U

V

W

DICOM

ALM

Ra3

U

V

W

Ground

SM

Electromagnetic brake

(Note-3)

Ra3

CN1B

EM1

DOCOM

(Note-4)

24VDC

NFB4

(Note-5)

Circuit example when using MR-J3-B

L1

MR-J3-B

U

U

MC

L2

L3

L11

L21

C

V

W

DICOM

V

W

Ground

SM

Electromagnetic brake

(Note-3)

Ra4

CN1A ALM Ra4

CP4

CN1B

EM1

DOCOM

(Note-4)

24VDC

(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 I/O

(a) System design circuit example(when not using ERR terminal of power supply module)

Power supply

FOR AC

Power supply

FOR AC/DC

MC

Fuse

Transformer

CPU module

SM52

Ym

SM403

Yn

START SW

MC

STOP SW

Program

RA1

MC

Input module

Output module

Ym

Yn

L

Input switched when power supply established

RUN/STOP circuit interlocked with RA1

(run monitor relay)

Low battery alarm

(Lamp or buzzer)

Transformer

Fuse

Transformer

Fuse

N0

CPU module

SM52

Ym

SM403

Yn

XM

TM

MC1 N0 M10

M10

TM

START SW

MC

STOP SW

Program

RA1

MC

DC power

Fuse

RA2

RA2

XM

Set time for

DC power supply to be established

Voltage relay is recommended

ON when run by SM403

RA1

Low battery alarm

(Lamp or buzzer)

Output module

MC2

MC1

MC1

MC2

MC Output module

Ym

Power to output equipment switched OFF when the

STOP signal is given.

In the case of an emergency stop or a stop caused by a limit switch.

Interlock circuits as necessary.

Provide external interlock circuits for conflicting operations, such as forward rotation and reverse rotation, and for parts that could damage the machine or cause accidents if no interlock were used.

Yn

Output module

L

RA1

MC2

MC1

MC1

MC2

MC

ON when run by SM403

MC

Power to output equipment switched

OFF when the STOP signal is given.

In the case of an emergency stop or a stop caused by a limit switch.

The power-ON procedure is as follows:

For AC For

1) Switch power ON. 1) Switch power ON.

2) Set CPU to RUN.

3) Turn ON the start switch.

4) When the magnetic contactor (MC) comes on, the output equipment is powered and may be driven by the program.

2) Set CPU to RUN.

3) When DC power is established, RA2 goes ON.

4) Timer (TM) times out after the DC power reaches 100[%].

(The TM set value should be the period of time from when

RA2 goes ON to the establishment of 100[%] DC voltage.

Set this value to approximately 0.5 seconds.)

5) Turn ON the start switch.

6) When the electromagnetic contactor (MC) comes on, the output equipment is powered and may be driven by the program. (If a voltage relay is used at RA2, no timer (TM) is required in the program.)

3 - 6

3 DESIGN

(b) System design circuit example(when using ERR terminal of power supply module)

Power supply

FOR AC/DC

Input switched when power supply established.

RUN/STOP circuit interlocked with RA1

(run monitor relay)

Transformer Transformer

Fuse Fuse

CPU module

SM52

Ym

SM403

Yn

START SW

N0

RA1

XM

TM

TM

MC1 N0 M10

M10

Program

RA3

MC

MC

STOP SW

DC power

Fuse

RA2

Set time for DC power supply to be established.

Voltage relay is recommended

RA2

XM output module

Ym

Yn

L

RA1

Low battery alarm

(Lamp or buzzer)

Power supply module

ERR

OFF at ERR contact OFF

(stop error occurrence)

RA3 output module

MC MC

Interlock circuits as necessary. Provide external interlock circuits for conflicting operations, such as forward rotation and reverse rotation, and for parts that could damage the machine or cause accident if no interlock were used.

MC2

MC1

MC1

MC2

Output by ERR contact OFF

Power OFF of equipment

In the case of an emergency stop or a stop caused by a limit switch.

The power-ON procedure is as follows:

For AC/DC

1) Switch power ON.

2) Set CPU to RUN.

3) When DC power is established, RA2 goes ON.

4) Timer (TM) times out after the DC power reaches 100[%]. (The TM set value should be the period of time from when RA2 goes ON to the establishment of 100[%] DC voltage. Set this value to approximately 0.5 seconds.)

5) Turn ON the start switch.

6) When the magnetic contactor (MC) comes on, the output equipment is powered and may be driven by the program. (If a voltage relay is used at RA2, no timer (TM) is required in the program.)

3 - 7

3 DESIGN

3.2.1 Power supply circuit design

This section describes the protective coordination and noise suppression techniques of the power supply circuit.

(1) Separation and protective coordination (leakage current protection, over current protection) of power supply lines

Separate the lines for Multiple CPU system power supplies from the lines for I/O devices and servo amplifiers as shown below.

When there is much noise, connect an insulation transformer.

Main power supply

PLC power supply

Insulation transformer

100/200VAC

NFB

CP

I/O power supply

T1

Multiple CPU system

I/O devices

CP

Main circuit power supply

Main circuit device

CP

Servo amplifier power supply

200VAC

Servo amplifier

NFB

(2) Grounding

The Motion system 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 Multiple CPU system

SSCNET

Servo amplifier

Servomotor

(Note): Be sure to ground the line noise filter, Multiple CPU system, servo amplifier and servomotor. (Ground resistance : 100 or less)

3 - 8

3 DESIGN

3.2.2 Safety circuit design

(1) Concept of safety circuits

When the Multiple CPU system is powered on and off, normal control output may not be done momentarily due to a delay or a startup time difference between the

Multiple CPU system power supply and the external power supply (DC in particular) for the control target.

Also, an abnormal operation may be performed if an external power supply fault or Motion controller failure takes place.

To prevent any of these abnormal operations from leading to the abnormal operation of the whole system and in a fail-safe viewpoint, areas which can result in machine breakdown and accidents due to abnormal operations

(e.g. emergency stop, protective and interlock circuits) should be constructed outside the Multiple CPU system.

(2) Emergency stop circuit

The circuit should be constructed outside of the Multiple CPU system or servo amplifier. Shut off the power supply to the external servo amplifier by this circuit, make the electromagnetic brakes of the servomotor operated.

(3) Forced stop circuit

(a) The forced stop of all servo amplifiers is possible in a lump by using the EMI forced stop input of Motion CPU modules. After forced stop, the forced stop factor is removed and the forced stop canceled.

(The servo error detection signal does not turn on with the forced stop.)

The EMI forced stop input cannot be invalidated in the parameter setting of system setting.

Make the forced stop input cable within 30m(98.43ft.).

The wiring example for the EMI forced stop input of Motion CPU module is shown below.

Q61P

QnUD(H)

CPU

Q17 D

CPU

EMI.COM

EMI

Forced stop

<Motion CPU module>

24VDC

(Note-1)

EMI.COM

R

24VDC

EMI

Forced stop

(Note): The EMI forced stop input can be invalidated in the system

settings.

(Note-1): Both of positive common and negative common can be used.

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 terminal and invalidate the forced stop input of EMI terminal.

The wiring example for the forced stop input (QX10) of input module is shown below.

Q61P QnUD(H)

CPU

Q17 D

CPU

EMI.COM

EMI

QX10

Xn

COM

Forced stop

100VAC

24VDC

<Input module QX10>

100VAC

TB17

TB16

R

Internal circuit

TB1

Forced stop

R

(Note): The forced stop input can be set in the system settings.

LED

(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

Emergency stop

Forced stop

Servo OFF

Shut off the power supply to the external servo amplifier 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 Layout design of the base units

This section describes the precautions related to mount a Motion controller in an enclosure.

(1) To improve ventilation and permit easy replacement of the module, leave a space of the following table between the top, bottom, side of the module and any other object.

(For details on layout design refer to section 4.1.2 "Instructions for mounting of the base unit".)

• Top 40mm (1.57inch) or more

• Bottom 100mm (3.94inch) or more

• Front

• Side

100mm (3.94inch) or more

5mm (0.20inch) or more

(2) Provide a wiring duct, if required.

!

CAUTION

Due to ventilation problems, do not mount the base units vertically or horizontally.

Mount the base units on a flat surface. Unevenness or warping of the surface can apply undue force to printed circuit boards and lead to operation failures.

Avoid mounting the base units close to a vibration source, such as a large electromagnetic contactor or no-fuse breaker. Mount them on a separate panel or at a safe distance.

To limit the effects of reflected noise and heat, leave 100mm(3.94inch) or more clearance to instruments fitted in front of the Motion controller (on the rear of the door).

Similarly, leave 50mm(1.97inch) or more clearance between instruments and the left and right sides of the base units.

3 - 12

3 DESIGN

3.3.3 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 Q173DCPU/

Q172DCPU system is described. From the power consumption, calculate a rise in ambient temperature inside the control panel.

How to calculate average power consumption

The power consuming parts of the Motion controller are roughly classified into six blocks as shown below.

(1) Power consumption of power supply module

The power conversion efficiency of the power supply module is approx. 70[%], while 30 [%] of the output power is consumed as heat. As a result, 3/7 of the output power is the power consumption.

Therefore the calculation formula is as follows.

3

5V

5) [W]

7

I

5V

: Current consumption of logic 5 VDC circuit of each module

(2) Total power consumption for 5VDC logic circuits of all modules

(including CPU module)

The power consumption of the 5 VDC output circuit section of the power supply module is the power consumption of each module (including the current consumption of the base unit).

W

5V

= I

5V

5 [W]

(3) A total of 24 VDC average power consumption of the output module

The average power of the external 24 VDC power is the total power consumption of each module.

W

24V

= I

24V

24 Simultaneous ON rate [W]

I

24V

: Average current consumption of 24VDC power supply for internal consumption of the output module [A]

(Power consumption for simultaneous ON points)

(4) Average power consumption due to voltage drop in the output section of the output module

(Power consumption for simultaneous ON points)

W

OUT

= I

OUT

Vdrop Number of outputs Simultaneous ON rate [W]

I

OUT

: Output current (Current in actual use) [A]

Vdrop : Voltage drop in each output module [V]

3 - 13

3 DESIGN

(5) Average power consumption of the input section of the input module

(Power consumption for simultaneous ON points)

W

IN

= I

IN

E Number of input points Simultaneous ON rate [W]

I

IN

E

: Input current (Effective value for AC) [A]

: Input voltage (Voltage in actual use) [V]

(6) Power consumption of the external power supply section of the intelligent function module

W

S

= I

5V

5 + I

24V

24 + I

100V

100 [W]

The total of the power consumption values calculated for each block is the power consumption of the overall sequencer system

W = W

PW

+ W

5V

+ W

24V

+ W

OUT

+ W

IN

+ W

S

[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.

T=

W

UA

[ C ]

W : Power consumption of overall Motion system (value obtained above)

A : Surface area inside the panel [m

2

]

...... 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 - 14

3 DESIGN

(7) Example of average power consumption calculation

(Q173DCPU use)

(a) System configuration

Q61P Q03UD

CPU

Q173D

CPU

QX40 QX40 Q172D

LX

Q172D

EX

Q173D

PX

QY10 QY10

Q38DB

(b) 5 VDC current consumption of each module

Q03UDCPU

(Note)

: 0.33 [A]

Q173DCPU

QX40

(Note)

Q172DLX

: 1.25 [A]

: 0.05 [A]

: 0.06 [A]

Q172DEX : 0.19 [A]

Q173DPX

QY10

(Note)

Q38DB

(Note)

: 0.38 [A]

: 0.43 [A]

(Note) : 5VDC internal current consumption of shared equipments with PLC might be changed.

Be sure to refer to the PLC Manuals.

(c) Power consumption of power module

W

PW

= 3/7 (0.33 + 1.25 + 0.05 + 0.05 + 0.06 + 0.19 + 0.38 + 0.43 + 0.43 +

0.228) 5 = 7.28 [W]

(d) Power consumption of a total of 5 VDC logic section of each module

W

5V

= (0.33 + 1.25 + 0.05 + 0.05 + 0.06 + 0.19 + 0.38 + 0.43 + 0.43 +

0.228) 5) = 16.99 [W]

(e) A total of 24 VDC average power consumption of the output module

W

24V

= 0 [W]

(f) Average power consumption due to voltage drop in the output section of the output module

W

OUT

= 0 [W]

(g) Average power consumption of the input section of the input module

W

IN

= 0.004 24 32 1 = 3.07 [W]

(h) Power consumption of the power supply section of the intelligent function module.

W

S

= 0 [W]

(i) Power consumption of overall system

W = 7.28 + 16.99 + 0 + 0 + 3.07 + 0 = 27.34 [W]

3 - 15

3 DESIGN

3.4 Design Checklist

At the worksite, copy the following table for use as a check sheet.

Item

Module selection

Layout design

Sub Item

Motion CPU module selection

PLC CPU module selection

Motion module selection

Main base unit selection

Extension base unit and extension cable selection

External circuit design

Fail-safe circuit design

Module layout design

Number of axes

Motion CPU module selection

Number of I/O points

PLC CPU module selection

Manual pulse generator

Synchronous encoder

Upper limit point

Lower limit point

STOP input point

Design confirmation

Proximity dog input point

Speed switching input point axes points pcs. pcs. points points points points points

Check

Tracking enable signal point points

Q172DLX modules

Q172DEX modules

Q173DPX modules

Motion CPU module modules

I/O module/intelligent function module installed to modules main base,

Main base unit selection

Number of I/O modules/intelligent function modules installed to extension base,

Distance between Main base and extension base

Extension base unit selection

Extension cable selection

Avoidance of operation failure at power-on modules mm

Avoidance of hazard at Motion controller failure

Conformance with general specifications such as ambient temperature, humidity, dust, etc.

Total power consumption of base unit

(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.

W

3 - 16

4 INSTALLATION AND WIRING

4. INSTALLATION AND WIRING

4.1 Module Installation

4.1.1 Instructions for handling

CAUTION

Use the Motion controller in an environment that meets the general specifications contained in this manual. Using this Motion controller in an environment outside the range of the general specifications could result in electric shock, fire, operation failure, and damage to or deterioration of the product.

While pressing the installation lever located at the bottom of module, insert the module fixing tab 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, failure 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. Touching them could cause an operation failure or give damage to the module.

This section describes instructions for handling the CPU, I/O, intelligent function and power supply modules, base units and so on.

(1) Module, terminal block connectors and pin connectors are made of resin; do not drop them or subject them to strong impact.

(2) Do not remove modules' printed circuit boards from the enclosure in order to avoid changes in operation.

(3) Tighten the module fixing screws and terminal block screws within the tightening torque range specified below.

Location of screw

Motion CPU module fixing screw (M3 13 screw)

Module fixing screw (M3 12 screw)

I/O module terminal block screw (M3 screw)

I/O module terminal block fixing screw (M3.5 screw)

Power supply module terminal screw (M3.5 screw)

Tightening torque range

0.36 to 0.48 N•m

0.36 to 0.48 N•m

0.42 to 0.58 N•m

0.68 to 0.92 N•m

0.68 to 0.92 N•m

4

4 - 1

4 INSTALLATION AND WIRING

(4) Be sure to install a power supply module on the main base unit and extension base unit. Even if the power supply module is not installed, when the I/O modules and intelligent function module installed on the base units are light load type, the modules may be operated. In this case, because a voltage becomes unstable, we cannot guarantee the operation.

(5) When using an extension cable, keep it away from the main circuit cable (high voltage and large current).

Keep a distance of 100mm or more from the main circuit.

(6) Be sure to fix a main base unit to the panel using fixing screws. Not doing so could result in vibration that may cause erroneous operation.

Mount a main base unit in the following procedure.

(a) Fit the two base unit top mounting screws into the enclosure.

Panel

(b) Place the right-hand side notch of the base unit onto the right-hand side screw.

Panel

(c) Place the left-hand side pear-shaped hole onto the left-hand side screw.

Panel

(d) Fit the mounting screws into the holes at the bottom of the base unit, and then retighten the all mounting screws.

(Note) : Mount a main base unit to a panel, with no module installed in the rightend slot.

Remove the base unit after removing the module from the right-end slot.

4 - 2

4 INSTALLATION AND WIRING

4.1.2 Instructions for mounting the base unit

When mounting the Motion controller to an enclosure or similar, fully consider its operability, maintainability and environmental resistance.

(1) Fitting dimensions

Fitting dimensions of each base unit are as follows:

5-fixing screw (M4 14)

OUT

5V

SG

POWER

FG

CPU I/O0 I/O1 I/O2 I/O3 I/O4 I/O5 I/O6 I/O7 I/O8 I/O9 I/O10

Q312DB

Ws

1

Ws

2

Ws

3

W

Q38DB Q312DB Q63B Q65B Q68B Q612B

W 328 (12.91) 439 (17.28) 189 (7.44) 245 (9.65) 328 (12.91) 439 (17.28)

Ws

1

15.5

Ws

Ws

2

3

170 ± 0.3

(6.69 ± 0.01)

138 ± 0.3

(5.43 ± 0.01)

170 ± 0.3

(6.69 ± 0.01)

249 ± 0.3

(9.80 ± 0.01)

167 ± 0.3

(6.57 ± 0.01)

222.5 ± 0.3

(8.76 ± 0.01)

190 ± 0.3

(7.48 ± 0.01)

116 ± 0.3

(4.57 ± 0.01)

190 ± 0.3

(7.48 ± 0.01)

227 ± 0.3

(8.93 ± 0.01)

Hs

1

7

Hs

2

80 ± 0.3 (3.15 ± 0.01)

[Unit: mm (inch)]

4 - 3

4 INSTALLATION AND WIRING

MELSEC

Q61P

PULL

(2) Module mounting position

Keep the clearances shown below between the top/bottom faces of the module and other structures or parts to ensure good ventilation and facilitate module replacement.

(Note): It is impossible to mount the main base unit by

DIN rail

.

Top of panel or wiring duct

Base unit

40mm

(1.58inch) or more

Motion CPU module

Motion CPU module

POWER

Q03DCPU

RUN

ERR.

USER

BAT.

BOOT

Q173DCPU

1

STOP

EMI

SW

RUN

2

CAUTION

0 1 2 3 4 5 6 7

8 9 A B C D E F

0 1 2 3 4 5 6 7

8 9 A B C D E F 1

2 2

SY.ENC1

PULL

USB

PULSER

PLS. B TREN

2

RS-232

FRONT

BAT Q172DEX Q173DPX

Q312DB

Panel

100mm

(3.94inch) or more

Door

100mm

(3.94inch) or more

123.5mm

(4.86inch)

5mm(0.20inch) or more

(Note-1)

5mm(0.20inch) or more

(Note-1) : 20mm (0.79 inch) or more when the adjacent module is not removed and the extension cable is connected.

(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

(4) Mounting surface

Flat Upside down

Mount the base unit on a flat surface. If the mounting surface is not even, this may strain the printed circuit boards and cause malfunctions.

4 - 4

4 INSTALLATION AND WIRING

(5) Mounting of unit in an area where the other devices are mounted

Avoid mounting base unit in proximity to vibration sources such as large magnetic contractors and no-fuse circuit breakers; mount those on a separate panel or at a distance).

(6) Distances from the other devices

In order to avoid the effects of radiated noise and heat, provide the clearances indicated below between the Motion controller and devices that generate noise or heat (contactors and relays).

• In front of Motion controller :

• On the right and left of Motion controller :

100 mm (3.94 inch) or more

50 mm (1.97 inch) or more

100mm(3.94inch) or more

Contactor, relay, etc.

50mm(1.97inch) or more

50mm(1.97inch) or more

4 - 5

4 INSTALLATION AND WIRING

4.1.3 Installation and removal of module

This section explains how to install and remove a power supply module, PLC CPU module, Motion CPU module, Motion module, I/O module, intelligent function module or another module to and from the base unit.

(1) Installation and removal of the module from Q3 DB,Q6 B

(a) Installation of the module on Q3 B and Q6 B

Securely insert the module fixing protection into the module fixing hole so that the latch is not misaligned.

Module connector

Module fixing hook

Using the module fixing hole as a fulcrum, push the module in the direction of arrow to install it into the base unit.

Base unit

Module fixing hole

Module

Base unit

Module loading lever

Module fixing hook

Module fixing hook

Make sure that the module is installed in the base unit securely.

Module loading 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.

(Note)

Base unit

Base unit

END

Unit fixing projection

Module fixing hook

Module fixing hole

(Note): Screw the Motion CPU module to the main base unit.

4 - 6

4 INSTALLATION AND WIRING

POINTS

(1) When installing the module, always insert the module fixing projection into the module fixing hole of the base unit.

At that time, securely insert the module fixing projection so that it does not come off from the module fixing hole.

If the module is forcibly installed without the latch being inserted, the module connector and module will be damaged.

(2) When using the modules in a place where there is large vibration or impact, screw the module to the base unit.

Module fixing screw : M3 12 (user-prepared)

Screw the Motion CPU module to the main base unit using supplied fixing screws.

(3) Do not install/remove the module onto/from base unit or terminal block more than 50 times, after the first use of the product. Failure to do so may cause the module to malfunction due to poor contact of connector.

CAUTION

Insert the module fixing projection into the fixing hole in the base unit to install the module.

Incorrect installation could result in malfunction, failure, or a drop of the module.

When using the modules in a place where there is large vibration or impact, screw the module to the base unit.

Tighten the screws within the specified torque range.

If the screw is too loose, it may cause a drop of the module, a short circuit or malfunctions.

If too tight, it may cause damage to the screws and/or module, resulting in an accidental drop of the module, short circuit or malfunctions.

4 - 7

4 INSTALLATION AND WIRING

(b) Removal from Q3 DB and Q6 B

When using the module fixing screws, remove them.

Push

Module fixing hook

Support the module with both hands and securely press the module fixing hook with your finger.

Pull the module based on the supporting point of module bottom while pressing the module fixing hook.

Base unit

Module connector

Module fixing hole

While lifting a module, take off the module fixing projection from the module fixing hole.

Pull

Completion

Lifting

Module

POINT

When the module fixing screw is used, always remove the module by removing the module fixing screw and then taking the module fixing latch off the module fixing hole of the base unit.

Attempting to remove the module by force may damage the module fixing latch.

CAUTION

Do not touch the heat radiating fins of controller or servo amplifier's, regenerative resistor and servomotor, etc. while the power is ON and for a short time after the power is turned OFF. In this timing, these parts become very hot and may lead to burns.

Remove the modules while paying attention.

4 - 8

4 INSTALLATION AND WIRING

4.1.4 Instructions for mounting of the battery holder unit

When mounting the battery holder unit (Q170DBATC) to an enclosure or similar, fully consider its mounting position and orientation.

(1) Module mounting position

Mount the battery holder unit within 50cm(1.64ft.) or less (Battery cable length:

50cm(1.64ft.)) from the Motion controller.

(2) Mounting surface

Mount the battery holder unit on a flat surface.

(3) Module mounting orientation

Do not mount the battery holder unit downward. Doing so may lead to battery liquid to leak at damage to the battery.

(Correct) (Wrong)

Q170DBATC

CPU

BATTERY

ERY BATT

CPU

C AT DB Q170

MITSUBISHI

LITHIUM BATTERY

RY

HI

ATTE M B

SUB MIT

LITH

4 - 9

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.

Model name of SSCNET cable Minimum bend radius[mm(inch)]

MR-J3BUS M 25(0.98)

MR-J3BUS M-A

Enforced covering cord: 50 (1.97)

Code : 25 (0.98)

MR-J3BUS M-B

Enforced covering cord: 50 (1.97)

Code : 30 (1.18)

• For connection and disconnection of SSCNET cable, hold surely a tab of cable connector.

• Refer to Section 4.4.3. for wiring precautions.

Motion CPU module

CN1

CN2

(2) Connection of SSCNET cable

• For connection of SSCNET cable to the Motion CPU module, connect it to the

SSCNET connector CN1 or CN2 of Motion CPU module while holding a tab of SSCNET cable connector. Be sure to insert it until it clicks.

• If the code tip for the SSCNET cable is dirty, optical transmission is interrupted and it may cause malfunctions. If it becomes dirty, wipe with a bonded textile, etc. Do not use solvent such as alcohol.

(3) Disconnection of SSCNET cable

• For disconnection of SSCNET cable, pull out it while holding a tab of

SSCNET cable connector or the connector.

• After disconnection of SSCNET cable, be sure to put a cap (attached to

Motion CPU module or servo amplifier) to the Motion CPU module and servo amplifier.

• For SSCNET cable, attach the tube for protection optical code's end face on the end of connector.

4 - 10

4 INSTALLATION AND WIRING

POINTS

(1) Forcibly removal the SSCNET cable from the Motion CPU module will damage the Motion CPU modules and SSCNET cables.

(2) 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.

(3) Do not remove the SSCNET cable while turning on the power supply of

Multiple CPU system and servo amplifier.

Do not see directly the light generated from SSCNET connector of Motion

CPU module or servo amplifier and the end of SSCNET cable. When the light gets into eye, may feel something is wrong for eye. (The light source of

SSCNET cable complies with class1 defined in JISC6802 or

IEC60825-1.)

(4) 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 mot be available.

Be sure to take care enough so that the short SSCNET cable is added a twist easily.

(5) 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. The cable part and code part melt 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 brake option of servo amplifier, or servomotor.

(6) When laying the SSCNET cable, be sure to secure the minimum cable bend radius or more.

(7) SSCNET cable is used a optical cables or optical codes little affected by plasticizer. However, come migrating plasticizer may affect the optical characteristic of SSCNET cable as shown below.

SSCNET cable Code Cable

MR-J3BUS M

MR-J3BUS M-A

MR-J3BUS M-B

Cable is not affected by plasticizer.

Phthalate ester plasticizer such as DBP and DOP may affect optical characteristic of cable.

4 - 11

4 INSTALLATION AND WIRING

POINTS

(8) Put the SSCNET cable in the duct or fix the cable at the closest part to the

Motion CPU module with bundle material in order to prevent SSCNET cable from putting its own weight on SSCNET connector.

When laying cable, the optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius, and it should not be twisted.

Also, fix and hold it in position with using cushioning such as sponge or rubber which does not contain plasticizing material.

(9) If the adhesion of solvent and oil to the code 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.

(10) When keeping the Motion CPU or servo amplifier, be sure to put on a cap to connector part so that a dirt should not adhere to the end of SSCNET connector.

(11) SSCNET connector 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.

(12) Be sure to keep a cap and the tube for protecting light code end of SSCNET cable in a plastic bag with a zipper of SSCNET cable to prevent them from becoming dirty.

(13) When exchanging the servo amplifier or Motion controller, make sure to put a cap on SSCNET connector. When asking repair of servo amplifier or Motion controller 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 - 12

4 INSTALLATION AND WIRING

4.2.2 Battery cable

(1) Handling the battery cable

(a) Precautions for handling the battery cable

• For connection or removal of the battery cable, do it surely while holding a connector.

Base unit Motion CPU module

Control panel

Connector for CPU side

Bottom

Front

Battery connector

(BAT)

Do not hold lead wire

Connector for battery side

CPU connector (CPU)

Battery holder unit

(Q170DBATC)

(b) Connection of the battery cable

• For connection of a connector to the Motion CPU module, connect it surely to the battery connector (BAT) of Motion CPU module while holding a connector. Be sure to insert it until it clicks.

• For connection of a connector to the battery holder unit, connect it surely to the CPU connector (CPU) of battery holder while holding a connector. Be sure to insert it until it clicks

4 - 13

4 INSTALLATION AND WIRING

(c) Removal of the battery cable

• For removal of the battery cable, pull out it while holding a connector.

(2) 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.

Do not hold lead wire

Battery lead wire

Battery lead connector

Connector (BATTERY)

Q6BAT

Battery holder unit

(Q170DBATC)

(b) Connection of the battery lead wire

• For connection of a battery (Q6BAT) to the battery holder unit, connect it surely to a connector (BATTERY) of battery holder unit while holding a battery lead connector. Be sure to insert it until it clicks.

(c) Removal of the battery lead wire

• For removal of the battery lead wire, pull out it while holding a battery lead connector.

POINT

(1) Forcibly removal the battery cable or battery lead wire from the battery holder unit will damage the battery holder unit, battery cable or battery lead wire.

(2) As for the battery cable, the shape of connector is different on Motion CPU side and battery holder side. Be sure to connect after confirming shape.

(3) The programs, parameters, absolute position data, and latch data of SRAM built-in Motion CPU module are backed up if the battery connector is not connect correctly.

4 - 14

4 INSTALLATION AND WIRING

4.2.3 Forced stop input cable

(1) Precautions for handling the forced stop input cable

• For connection or removal of the forced stop input cable, do it surely while holding a connector of forced stop input cable.

Motion CPU module

Removal

2)

1)

(2) Connection of the forced stop input cable

• For connection of a forced stop input cable to the Motion CPU module, connect it surely to a EMI connector of Motion CPU module while holding a connector.

Be sure to insert it until it clicks.

(3) Removal of the forced stop input cable

• For removal of the forced stop input cable, pull out it while holding a connector.

POINTS

Forcibly removal the forced stop input cable from the CPU module will damage the

Motion CPU unit or forced stop input cable.

4 - 15

4 INSTALLATION AND WIRING

4.3 Mounting of Serial Absolute Synchronous Encoder

Gear

This section describes precautions for handling the serial absolute synchronous encoder (Q170ENC).

(1) If the serial absolute synchronous encoder is linked to a chain, timing belt, or gears, the machine rotating shaft should be supported by a separate bearing and connected to Q170ENC through a coupling. Ensure that excessive force

(greater than the permitted shaft load) is not applied to the shaft of Q170ENC.

Table 4.1 Permitted Shaft Loads

Bearing

Q170ENC

Coupling

Permitted shaft load

Radial direction Thrust direction

Up to 19.6N

Up to 9.8N

Fig. 4.1 Example of Encoder Linked to a Gear

(2) Excessive load is applied to the shaft of Q170ENC by the large mounting errors in eccentricity and angle of deviation As a result, it might damage the machine or shorten extremely the life.

Minimize loads applied to the shaft such that they make within the permitted shaft load range.

4 - 16

4 INSTALLATION AND WIRING

CAUTION

The Q170ENC contains a glass disk and precision mechanism. Take care when handling it. The encoder performance may deteriorate if it is dropped or subjected to shocks or vibration exceeding the prescribed limits.

Do not connect the shaft of Q170ENC directly to machine side rotary shaft. Always after connecting the shaft of Q170ENC to another bearing once, connect the shaft through a flexible coupling.

Gear

Bearing

Q170ENC

Coupling

Fig 4.2 Connecting the shaft of Q170ENC to a machine side rotary shaft.

Never hit the end of the Q170ENC coupling shaft with a hammer when connecting the coupling to it.

The large loads applied to Q170ENC will damage it.

The Q170ENC uses optical parts. Mount it in an atmosphere where there are extremely few water drops and little oil and dust.

In any place where the Q170ENC is exposed to water and/or oil, provide protection from oil and water, e.g. install a cover. In addition, run the cable downward to prevent oil and/or water from running on the cable into the Q170ENC. When it is inevitable to mount the Q170ENC vertically or obliquely, trap for the cable.

Use the Q170ENC within the specified temperature range (-5 to 55°C (23 to 131°F) ).

4 - 17

4 INSTALLATION AND WIRING

4.4 Wiring

4.4.1 Instructions for wiring

DANGER

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.

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 described instructions for the wiring of the power supply.

(1) Power supply wiring

(a) 100VAC, 200VAC and 24VDC wires should be twisted as dense as possible respectively. Connect the modules with the shortest distance.

Also, to reduce the voltage drop to the minimum, use the thickest wires (Up to 2.0mm

2

) possible.

Use the wires of the following core size for wiring.

Application

100VAC, 200VAC, 24VDC wires

I/O equipment

Ground wire

Recommended core size

2.0mm

2 or less

0.3 to 0.75mm

2

(Outside diameter 2.8mm (0.11inch) or less)

2.0mm

2

or more

4 - 18

4 INSTALLATION AND WIRING

(b) Do not bundle the 100VAC and 24VDC wires with, or run them close to, the main circuit (high voltage, large current) and I/O signal lines (including common line).

Reserve a distance of at least 100mm (3.94inch) from adjacent wires.

(c) As measures against serge caused by lightening, connect a surge absorber for lightening as shown below.

AC

Multiple CPU system

E1

E2

Surge absorber for thunder

POINTS

(1) Separate the ground of the surge absorber for lighting (E1) from that of the

Multiple CPU system (E2).

(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

0.75mm

2

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.

Multiple CPU system

Shield cable

Input

RA

Output

Shield

DC

(e) Where wiring runs through piping, ground the piping without fail.

(f) Run the 24VDC input line away from the 100VAC and 200VAC lines.

4 - 19

4 INSTALLATION AND WIRING

(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 4.4.1(1)).

Failure to do so increases the risk of I/O device failure due to lightning.

(3) Grounding

For grounding, follow the steps (a) to (c) shown below.

(a) Use a dedicated grounding wire as far as possible.

(Ground resistance: 100 or less)

(b) When a dedicated grounding cannot be performed, use (2) Common

Grounding shown below.

Multiple CPU

system

Another equipment grounding

Multiple CPU

system

Another equipment grounding

Multiple CPU

system

Another equipment

(1) Independent grounding.....Best

(2) Common grounding.....Good

(3) Joint grounding.....Not allowed

(c) For grounding a cable, use the cable of 2 mm

2

or more.

Position the ground-contact point as nearly to the Multiple CPU system as possible, and reduce the length of the grounding cable as much as possible.

4 - 20

4 INSTALLATION AND WIRING

4.4.2 Connecting to the power supply module

The following diagram shows the wiring example of power lines, grounding lines, etc. to the main and extension base units.

AC

100/110VAC

Main base unit

(Q38DB)

Q61P CPU module

Fuse

AC

DC

24VDC

Connect to 24VDC terminals of I/O module that requires

24VDC internally.

Ground wire

Grounding

Extension cable

Extension base unit

(Q68B)

Q61P

I/O module

ERR

(Note-1)

FG

LG

INPUT

100-240VAC

100VAC

ERR

(Note-1)

FG

LG

INPUT

100-240VAC

Ground wire

Grounding

(Note) : The operation of the ERR terminal is as follows.

<When the power supply module is installed on the main base unit>

The terminal turns OFF (opens) when the AC power is not input, a CPU module stop error

(including a reset) occurs, or the fuse of the power supply module is blown.

<When the power supply module is installed on the extension base unit>

The terminal is always OFF(open).

4 - 21

4 INSTALLATION AND WIRING

POINT

(1) Use the thickest possible (up to 2mm

2

) wires for the 100/200 VAC and 24 VDC power cables. Be sure to twist these wires starting at the connection terminals.

To prevent a short circuit should any screws loosen, use solderless terminals with insulation sleeves of 0.8 mm (0.03 inch) or less.

Also, only two solderless terminals can be connected per terminal block.

Terminal block

Solderless terminals with insulation sleeves

(2) Ensure that the earth terminals LG and FG are grounded.

(Ground resistance : 100 or loss)

Since the LG terminal has a half of the input voltage, touching this terminal may result in an electric shock.

(3) No system error can be detected by the ERR terminal of an extension base unit. (The ERR terminal is always set off.)

4 - 22

4 INSTALLATION AND WIRING

4.4.3 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, 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 brake option of servo amplifier.

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.

(1) 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 or servo amplifier. When closing the door of control box, 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 cable Minimum bend radius[mm(inch)]

MR-J3BUS M 25(0.98)

MR-J3BUS M-A

Enforced covering cord : 50 (1.97)

Code : 25 (0.98)

MR-J3BUS M-B

Enforced covering cord : 50 (1.97)

Code : 30 (1.18)

(2) Tension

If tension is added on the SSCNET cable, the increase of transmission loss occurs because of external force which concentrates on the fixing part of

SSCNET cable or the connecting part of SSCNET connector. At worst, the breakage of SSCNET cable or damage of SSCNET connector may occur.

For cable laying, handle without putting forced tension. (Refer to "APPENDIX1.1

SSCNET cables" for the tension strength.)

(3) 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 optical 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 box or others.

4 - 23

4 INSTALLATION AND WIRING

(4) Twisting

If the 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 optical fiber may occur at worst.

(5) Disposal

When incinerating optical cable (cord) used for SSCNET , hydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may be generated. For disposal of optical fiber, request for specialized industrial waste disposal services who has incineration facility for disposing hydrogen fluoride gas or hydrogen chloride gas.

(6) Wiring process of SSCNET cable

Put the SSCNET cable in the duct or fix the cable at the closest part to the

Motion CPU module with bundle material in order to prevent SSCNET cable from putting its own weight on SSCNET connector.

Leave the following space for wiring.

Putting in the duct

Top of panel or wiring duct

Base unit

MELSEC

Q61P

40mm

(1.58inch) or more

Motion CPU module

PULL

Motion CPU module

POWER

Q03DCPU

MODE

RUN

ERR.

USER

Q173DCPU

1

STOP

EMI

SW

RUN

2

CAUTION

QX40

0 1 2 3 4 5 6 7

8 9 A B C D E F

QX40

0 1 2 3 4 5 6 7

8 9 A B C D E F

Q172DEX

SY. ENC

1

2

TREN

1

2

SY.ENC1

Q173DPX

PLS.A

1

2

PLS. B TREN

2

PULSER

PULL

USB

RS-232

FRONT

BAT Q172DEX Q173DPX

Q312DB

Panel

100mm

(3.94inch) or more

Door

100mm

(3.94inch) or more

123.5mm

(4.86inch)

5mm(0.20inch) or more

(Note-1)

5mm(0.20inch) or more

(Note-1) : 20mm (0.79 inch) or more when the adjacent module is not removed and the extension cable is connected.

4 - 24

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 laying cable, fix and hold it in position with using cushioning such as sponge or rubber which does not contain plasticizing material.

Base unit Motion controller

Control panel

Code

Loose slack

Bundle material

Recommended product

NK clamp SP type (NIX,INC.)

Cable

4 - 25

4 INSTALLATION AND WIRING

MEMO

4 - 26

5 TRIAL OPERATION AND ADJUSTMENT

5. TRIAL OPERATION AND ADJUSTMENT

5.1 Checklist before Trial Operation

Model name

Main base unit/

Extension base unit

Power supply module

PLC CPU module

Q173DCPU/Q172DCPU

Motion CPU module

I/O module

Table 5.1 Checklists before Trial Operation

Confirmation Items

(1) Check that the main base unit is Q38DB or Q312DB.

(2) Check that the model name of module is correct.

(3) Check that the installation order is correct.

(4) Check that the damage for installed modules.

(5) Check that the modules are installed correctly.

(6) Check for looseness, rattling or distorted installation.

(7) Check that the module fixing screw tightening torque is as specified.

(8) Check that the total I/O points of I/O modules and intelligent function modules do not exceed the I/O points of the CPU module.

(1) Check that the model name of power supply modules is correct.

(2) Check that the wire sizes of cables are correct.

(3) Check that the power line is wired correctly.

(4) Check that FG and LG are wired correctly.

(5) Check that the terminal screws are tightened correctly.

(6) Check that the terminal screws are tightening torque is as specified.

(7) Check that the 100VAC, 200VAC and 24VDC wires are twisted as closely as possible respectively and run in the shortest distance.

(8) Check that the 100VAC, 200VAC and 24VDC wires are not bind the cable together with and run close to the power wires.

(9) Check that grounding of the earth terminal FG and LG.

(1) Check that the model name of PLC CPU modules is correct.

Check Reference

2.4.3

2.2

2.1.4

4.1.3

4.1.1

4.1.1

Refer to the "Q173DCPU/

Q172DCPU" Motion controller Programming

Manual(COMMON)"

2.4.2

4.4.1

4.4.1

4.4.2

5

4.1.1

4.4.1

4.4.1

4.4.2

2.1.4

2.2

2.1.4

(2) Check that the modules are installed to CPU slot or I/O slot 0 to 2 of the main base unit.

(1) Check that the Q173HCPU(-T)/Q172HCPU(-T)/Q173CPUN(-T)/

Q173CPUN(-T)/Q173CPU/Q172CPU is not used.

(2) Check that the modules are installed to I/O slot 0 to 2 of the main base unit.

(3) Check that the module fixing screws are tightened correctly.

(4) Check that the EMI forced stop input is wired correctly.

(5) Check that the external battery is installed.

(6) Check that the battery cables are connected correctly.

(1) Check that the wire size of cable is correct.

(2) Check that the terminal block screws are tightened correctly.

(3) Check that the cables connected to each terminal of terminal block correspond to the signal names.

(4) Check that the external power supply are connected correctly.

(24VDC, 5 VDC)

(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.

(7) Check that the I/O wires are wired correctly.

2.1.4

2.1.4

4.1.1

3.2

4.2.2

Refer to the I/O Module

Type Building Block

User's Manual

4.4.1

4.4.1

4.4.1

5 - 1

5 TRIAL OPERATION AND ADJUSTMENT

Model name Confirmation Items

(1) Check that the Q172DEX is installed to I/O slot 3 to 11 of the main base unit.

(2) Check that the Q172DLX/Q173DPX is installed to I/O slot 3 to 11 when installation to the main base unit.

Q172DLX Servo external signals interface module/

Q172DEX synchronous encoder interface module/

Q173DPX Manual pulse generator interface module

(3).Check that the installation position of modules correspond to the system setting.

(4) Check that the connection with external equipments is correct.

Check Reference

2.1.4

2.1.4

Refer to the programming manual of operating system software.

2.4.4

2.4.5

2.4.6

SSCNET cable

Battery holder unit (Q170DBATC)

Serial absolute synchronous encoder unit (Q170ENC)

(5) Check that the battery is connected to connector of

Q172DEX 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 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 codes do not come in contact with wires/ cables that use materials where the plasticizing material is contained.

(1) Check that the lead connector of Q6BAT is connected to the connector (BATTERY) correctly.

(2) Check that the mounting orientation is correct.

(Do not mount it downward.)

(3) Check that the battery cable is connected correctly.

(4) Check for looseness, rattling or distorted mounting.

(5) Check that the module fixing screw tightening torque is as specified.

(1) Check that the amplitude, eccentricity and axial displacement relative to the machine side rotary shaft are within the permissible values.

(2) Check that a flexible coupling is used for coupling with the machine side rotary shaft.

(3) Check that the damage for units.

(4) Check that the forcible impact is given on modules.

6.4.2

2.4.8

4.2.1

4.4.3

4.4.3

4.2.1

4.2.2

4.1.4

4.2.2

4.1.4

4.1.1

4.3

4.3

4.3

5 - 2

5 TRIAL OPERATION AND ADJUSTMENT

5.2 Trial Operation and Adjustment Procedure

PLC CPU

Motion CPU

Servo start-up procedure

Turn OFF Multiple CPU system power supply

Check that the power supply of Multiple

CPU system is OFF.

Check wiring and module installation

(1) Check the installation position and

condition of each modules.

(2) Check the connecting condition of

connectors.

(3) Check that all terminal screws are tight.

(4) Check the ground wires of servo

amplifier, etc..

(5) Check the servomotor wiring (U, V, W).

(6) Check the regenerative resistor wiring.

(7) Check the circuit of emergency stop or

forced stop.

Motion CPU

[Installation mode]

Install operating system software

Install the operating system software to the CPU module using MT Developer.

Servo amplifier

Servo amplifier setting

Set the axis number of servo amplifier.

PLC CPU

Motion CPU

Motion CPU

PLC CPU

Turn ON power supply

Set the RUN/STOP/RESET switch of PLC

CPU module to STOP, and turn ON the

Multiple CPU power supply.

[System setting]

Multiple CPU parameters setting

Set the following positioning parameters using MT Developer.

(1) Multiple CPU setting

(2) Automatic refresh setting

(3) System setting

[Parameter setting]

PLC parameter setting

Set the parameter setting using

GX Developer.

1)

The mode indicated in the brackets [ ] at top left of each step is the mode for checking or setting using

MT Developer.

Refer to Section 2.1.4 for installation method and installation position.

Refer to Section 4.1.3 for installation of module.

DANGER

Be sure to ground the Motion controllers, servo amplifiers and servomotors.

(Ground resistance: 100 or less)

Do not ground commonly with other devices.

CAUTION

Check that the installation position of modules and combination of modules are correct.

Wrong installation and combination may damage the modules.

Refer to Section 5.3

: The operating system software is not installed at

the time of Motion CPU module purchase.

Be sure to install the operating system software to

be used before a system start.

Refer to Section 2.4.8(4)

CAUTION

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.

5 - 3

5 TRIAL OPERATION AND ADJUSTMENT

Motion CPU

1)

Turn ON power supply again

Turn ON again the power supply or reset of Multiple CPU system.

Check external inputs to Q172DLX

Check the wiring of following external inputs by monitoring of MT Developer.

(1) FLS (Upper stroke limit input)

(2) RLS (Lower stroke limit input)

(3) STOP (Stop signal)

Check external inputs to Q172DEX

Check the wiring of following external inputs by monitoring of

MT Developer

or

LED indicators.

(1) Serial absolute synchronous encoder

setting

Check external inputs to Q173DPX

Check the wiring of following external inputs by monitoring of MT Developer or

LED indicators.

(1) Manual pulse generator/incremental

synchronous encoder setting

Check I/O module

Check the wiring of I/O module.

(Note) : An error may occur if the power is turned on

before system setting. In the case, reset the

Multiple CPU system after system setting.

Refer to the "Q173DCPU/Q172DCPU Motion

controller Programming Manual (COMMON)"

at the system setting error occurrence.

Refer to Section 2.4.4

Refer to Section 2.4.5

Refer to Section 2.4.6

[Servo data setting]

Positioning parameters setting

Set the following positioning parameters using

MT Developer

.

(1) Fixed parameters

(2) Servo parameters

(3) Home position return data

(4) Limit switch

2)

CAUTION

Do not mount a phase advancing capacitor, surge absorber or radio noise filter (option FR-

BIF) on the output side of the servo amplifier.

Correctly connect the output side (terminal U, V,

W). Incorrect connections will lead the servomotor to operate abnormally.

CAUTION

Set parameter values to those that are compatible with the Motion controller, servo amplifier, servomotor and regenerative resistor model name and the system name application.

The protective functions may not function if the settings are incorrect.

5 - 4

5 TRIAL OPERATION AND ADJUSTMENT

Motion CPU

2)

[Programming]

Create Motion programs

Create the Motion programs using

MT Developer.

[Programming]

Create PLC programs

Create the PLC programs to start of

Motion programs using GX Developer.

PLC CPU

Write PLC programs

Write the PLC programs created to the

PLC CPU module.

Motion CPU

Write Motion programs

Write the positioning data and Motion programs created to the Motion CPU module.

Turn ON power supply again

Turn ON again or reset the Multiple CPU system power supply .

Motion CPU

Turn ON servo amplifiers power supply

Check the emergency stop ON and forced stop ON, and turn ON the power supply of servo amplifiers and servomotors.

[Test mode servo start-up

(Initial check) ]

Check servo am plifier

Check that the mounted servo amplifiers operate correctly.

[Test mode servo start-up

(Upper/lower stroke limit check) ]

Check upper/lower stroke limits

Check that the upper/lower stroke limits operate correctly.

3)

DANGER

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.

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 servomotor.

Failing to do so may lead to electric shocks or damage.

CAUTION

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

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.

Axis No. and error description of servo amplifier which detected errors are displayed on initial check screen.

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5 TRIAL OPERATION AND ADJUSTMENT

Motion CPU

PLC CPU

3)

[Test mode

JOG operation ]

Check machine operation

Check the followings by making the machine operate with the JOG operation of

MT Developer.

(1) Machine operates correctly

(no vibration, hunting, etc. )

(2) Stroke limits operate correctly

(3) Machine stops by the emergency stop

or forced stop.

[Test mode home position return ]

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 PLC

CPU module to RUN and the RUN/STOP switch of Motion CPU module to RUN, and check that all positioning controls by Motion programs are correct.

[Monitor]

Check by automatic operation

Check the sequence operation by executing the PLC program using an actual external input.

CAUTION

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.

END

POINTS

(1) Make note of motor module names before the motor is mounted on a machine.

The motor name plate may not be visible after the motor is mounted.

(2) When the servo amplifier, servomotor is first turned on, check the operation before the servomotor is mounted on a machine to avoid an unexpected accidents such as machine breakage.

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5 TRIAL OPERATION AND ADJUSTMENT

5.3 Operating System Software Installation Procedure

The operating system software must be installed to the Motion CPU module by using the peripheral device and MT Developer.

The installation procedure is shown below.

START

Set a rotary switch1 (SW1) of Motion

CPU module to "A".

(Rotary switch 2 (SW2) is optional.)

Shipped from the factory in

SW1 "A, SW2 "0" position.

Turn ON the Multiple CPU system power supply.

Install the operating system software using MT Developer.

Set to installation mode.

Refer to Section 2.4.1(3) for rotary switch.

Steady "INS" display.

RUN/STOP switch is ignored.

Turn OFF the Multiple CPU system power supply.

Set a rotary switch1 (SW1) and switch2

(SW2) of Motion CPU module to "0".

Set to mode operated by RAM.

END

POINTS

(1) The operating system software was not installed at the time of Motion CPU module purchase. Be sure to install the operating system software to be used before a system start.

(2) Be sure to change a rotary switch after turning off the power supply.

(3) Even if the operating system software is installed, the programs, parameters and absolute position data written in the Motion CPU module does not be rewritten.

(4) Do not turn off the power supply during installation. Doing so could result damage the Motion CPU module.

(5) When the operating system software is installed at set the multiple Motion

CPU modules not installed in one base unit, be sure to set to installation mode

(set a rotary switch1 (SW1) to "A" position.) of all not installed Motion CPU modules to install.

(Note): If the power supply is turned ON without setting all Motion CPU module not installed to installation mode, it does not operate normally.

Be sure to install the operating system software before system start.

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5 TRIAL OPERATION AND ADJUSTMENT

5.4 Trial Operation and Adjustment Checklist

At the worksite, copy the following table for use as a check sheet.

Before power supply

ON

Work Step

Power supply ON/

Motion CPU module in STOP status/

PLC CPU module in

STOP status

Motion CPU module in RUN status/

PLC CPU module in

STOP status

Motion CPU module in RUN status/

PLC CPU module in

RUN status

Item Trial Operation and Adjustment Confirmation

Installation of unit/module and basic wiring

Check that the each module is installed correctly.

Check that the each connector is connected correctly.

Check the each terminal screw for looseness.

Check that the earth wires of power supply module or servo amplifiers, etc. are correct.

Check that the servomotor wiring is correct.

Check that the regenerative option wiring is correct.

Check that the circuit of emergency stop and forced stop are correct.

Check that the wiring of each power supply and I/O are correct.

Check that the rotary switch setting is correct.

Installation of OS Check that the operating system software is compatible.

System setting Check that the system setting is correct.

Q172LX external signal

Check that the upper/lower stroke limit inputs are correct.

Check that the STOP signal input is correct.

Program/ positioning data

Check that the proximity dog and speed/position switching signal input are correct.

Check that the Motion program, PLC program and positioning data are stored in the

PLC/Motion CPU module correctly.

Check the communications with servo amplifiers.

Check that the rotation direction for JOG operation is correct.

Basic axis operations

(Check each axis)

Check that the upper/lower limit switches operate correctly.

Check that the rotation at maximum command speed is motor rating or less.

Check that the machine operates correctly by the JOG operation.

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 the each operation in manual operation mode of system during Motion program execution.

Check

Manual operation

Automatic operation

Torque check

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 the each operation in manual operation mode of system during Motion program execution.

Check that the automatic operation motions.

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.

Check that the acceleration/deceleration torque is maximum torque or less.

Check that the continuous effective load torque is rated torque or less.

5 - 8

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.

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

CPU module 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 (9.85 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 damage to the product.

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

6 - 1

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.

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.

Shut off with the emergency stop signal (EMG).

Servomotor

RA1 EMG

Electromagnetic brakes

24VDC

If an error occurs, remove the cause, secure the safety and then resume operation after alarm release.

The unit may suddenly 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 100 mm (3.94 inch) 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

1 Mounting of base unit

2

Installation of I/O module

The items that must be inspected daily are shown below.

Table 6.1 Daily Inspection

Inspection

Check that the fixing screws are not loose and the cover is not dislocated.

Check that the module is not dislocated and the unit fixing hook is engaged securely.

Check for loose terminal screws.

Criterion

The screws and cover must be mounted securely.

The module fixing hook must be engaged and installed correctly.

Screws should not be loose.

Check for distance between solderless terminals.

The proper clearance should be provided between solderless terminals.

Check the connector part of the cable.

Connections should not be loose.

Action

Retighten the screws.

Securely engaged the module fixing hook.

Retighten the terminal screws.

Correct.

Retighten the connector fixing screws.

4

[POWER] LED Check that the LED is ON.

The LED must be ON (green).

(Abnormal if the LED is OFF or ON (red)).

[MODE] LED Check that the LED is ON.

[RUN] LED

Check that the LED is ON in RUN status.

[ERR.] LED Check that the LED is OFF.

[BAT.] LED Check that the LED is OFF.

The LED must be ON (green).

(Abnormal if the LED is OFF or flickering.)

The LED must be ON.

(Abnormal if the LED is OFF.)

The LED must be OFF.

(Abnormal if the LED is ON or flickering.)

The LED must be OFF.

(Abnormal if the LED is ON.)

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)

Battery error warning

(2.5V or less)

"BT1" does not display.

(Abnormal if steady "BT1" display.)

"BT2" does not display.

(Abnormal if steady "BT2" display.)

WDT error

" . . . " does not display.

(Abnormal if steady " . . ." display.)

Others

" AL" does not flash.

(Abnormal if " . . ." flashes.)

Input LED

Output LED

Check that the LED is

ON/OFF.

Check that the LED is

ON/OFF.

Refer to

"QCPU User's

Manual (Function

Explanation,

Program Fundamentals)".

Refer to Section

2.4.1(2)

Refer to Section

6.5

Refer to Section

2.4.1(2)

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

"

I/O Module Type

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.)

Building Block

User's Manual

"

.

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

Inspection Remedy

1

Ambient temperature

Ambient humidity

Atmosphere

0 to 55 °C (32 to 131 °F)

Measure with a thermometer and a hygrometer.

Measure corrosive gas.

5 to 95 % RH

No corrosive gases

When the controller is used in the board, the ambient temperature in the board becomes the ambient temperature.

2 Power voltage

Measure a voltage across the terminals of 100/200VAC and

24VDC.

85 to 132VAC

170 to 264VAC

15.6 to 31.2VDC

Change the power supply.

Looseness, rattling

Move the module to check for looseness and rattling.

The module must be installed solidly.

3

4

5

Adhesion of dirt and foreign matter

Looseness of terminal screws

Proximity of solderless terminals to each other

Looseness of connectors

Check visually.

Try to further tighten screws with a screwdriver.

Check visually.

Check visually.

Check the 7-segment LED at the front side of CPU module.

Dirt and foreign matter must not be present.

Screws must not be loose.

Solderless terminals must be positioned at proper intervals.

Connectors must not be loose.

Must be turned OFF "BT1" or

"BT2" display.

Battery

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 Developer in monitor.

Must be turned OFF.

Retighten the screws.

If the CPU, I/O, or power supply module is loose, fix it with screws.

Remove and clean.

Retighten the terminal screws.

Correct.

Retighten the connector fixing screws.

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 - 5

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

Life guideline Module name Part name

Motion CPU module Super capacitor

Motion module Electrolytic capacitor

Synchronous encoder

Super capacitor

Bearings

Remark

10 years

2 to 3 years

Life guideline is reference time.

It must be changed immediately even when it has not yet reached the life guideline.

(1) The life of the capacitor greatly depends on ambient temperature and operating conditions. The capacitor will reach the end of its in 10 years of continuous operation in normal air-conditioned environment.

(2) Change the bearings in 20,000 to 30,000 hours as a guideline under rated speed.

This differs on the operating conditions, The bearings must also be changed if unusual noise or vibration is found during inspection.

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6 INSPECTION AND MAINTENANCE

6.5 External Battery

The battery installed in the Motion CPU module is used for data retention during the power failure of the program memory and latch device. Special relays SM51 or SM58 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 voltage is recovered to the normal value. SM51 or SM58 turns off by power supply on again or reset.

(2) After SM51 or SM52 turns on, replace the battery quickly.

• SM51 turns on at the battery voltage 2.5V or less.

• SM58 turns on at the battery voltage 2.7V or less.

(3) If SM51 turns on, the details of the programs, parameters and absolute position data cannot be guaranteed.

It is recommended to back-up the battery periodically.

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6 INSPECTION AND MAINTENANCE

6.5.1 Battery life

(1) Q173DCPU/Q172DCPU, Q172DEX module battery life

The battery life is shown below.

Module type

Q173DCPU/

Q172DCPU

External battery (Q6BAT)

(Note-7)

Battery type

Power-on time ratio

(Note-2)

Battery life (Total power failure time) [h]

(Note-1)

Guaranteed value

(Note-3)

(MIN) (75°C (167°F))

Guaranteed value

(Note-4)

(TYP) (40°C (104°F))

Actual service value

(Note-5)

(Reference value)

(TYP) (25°C (77°F))

Backup time after alarm

0% 20000

30% 27000

(After

50% 31000

43800

SM51/SM52

70% 36000

ON)

100% 43800

90

0% 3000 24000

Q172DEX

Internal battery

(A6BAT/

MR-BAT)

Q170ENC 1

Q170ENC 2

30% 4000 34000

50% 6000 43800

70% 10000 43800

40

100% 43800

0% 1500

30% 2000

50% 3000 21900

70% 5000 21900

100% 43800 43800

(Note-1) : The actual service value indicates the average value, and the guaranteed time indicates the minimum time.

(Note-2) : The power-on time ratio indicates the ratio of Multiple CPU system power-on time to one day (24 hours).

(When the total power-on time is 17 hours and the total power-off time is 7 hours, the power-on time ratio is 70%.)

(Note-3) : The guaranteed value (MIN) ; equivalent to the total power failure time that is calculated based on the characteristics value of the memory (SRAM) supplied by the manufacturer and under the storage ambient temperature range of -25°C to 75°C (-13 to

167°F) (operating ambient temperature of 0°C to 55°C (32 to 131°F)).

(Note-4) : The guaranteed value (TYP) ; equivalent to the total power failure time that is calculated based on the normal air-conditioned environment (40°C (104°F)).

(Note-5) : The actual service value (Reference value) ; equivalent to the total power failure time that is calculated based on the measured value and under the storage ambient temperature of 25°C (77°F). This value is intended for reference only, as it varies with characteristics of the memory.

(Note-6) : In the following status, the backup time after power OFF is 3 minutes.

• The battery connector/Q6BAT lead connector is disconnected.

• The battery cable/lead wire of Q6BAT is broken.

(Note-7) : Set the battery (Q6BAT) to battery holder unit (Q170DBATC).

6 - 8

6 INSPECTION AND MAINTENANCE

POINT

(1) Do not use the battery exceeding its guaranteed life.

(2) When the battery hours (total power failure time) may exceed its guaranteed value, take the following measure.

• Perform ROM operation to protect a program even if the battery dies at the

Multiple CPU system power-OFF.

• If SM51 or SM52 turns on, the contents of programs, parameters and absolute position data cannot be guaranteed.

It is recommended to back-up the battery periodically.

(3) When the battery-low special relay SM52 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

Q173DCPU/Q172DCPU/Q172DEX. The external battery should be exchanged approximately every 4 or 5 years.

And, exchange the battery with a new one in 4 to 5 years even if a total power failure time is guaranteed value or less.

6 - 9

6 INSPECTION AND MAINTENANCE

6.5.2 Battery replacement procedure

(1) Battery replacement procedure of the Battery holder unit

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 Developer before starting replacement.

(2) Firstly back up the data stored in the Motion CPU to the personal computer which is installed MT Developer then replace the battery with a new one. After setting the battery in the Battery holder unit, verify the backing up the data to the personal computer which is installed MT Developer and the data in the

Motion CPU module, confirm the data is not changing.

In the following status, the backup time after power OFF is 3 minutes.

• The battery connector/Q6BAT lead connector is disconnected.

• The battery cable/lead wire of Q6BAT is broken.

Replacing Battery

<Battery holder unit(Q170DBATC)>

Battery connector for Q6BAT

Battery(Q6BAT)

Turn off the Multiple CPU system power supply.

Lead wire

Remove the old battery from its holder.

Install a new battery into the holder in the correct direction. Connect the lead connector to the connector (BATTERY).

Turn on the Multiple CPU system power supply.

END

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6 INSPECTION AND MAINTENANCE

(2) Q172DEX module battery replacement procedure

When the battery has been exhausted, replace the battery with a new one in accordance with the procedure shown below.

POINT

When replacing the battery, pay attention to the following.

(1) The Multiple CPU power supply must be on for 10 minutes or longer before dismounting the battery.

(2) Encoder data in the memory are backed up for a while by a capacitor even after the battery is removed. However, since data in the memory may be erased if the time for replacement exceeds the backup time shown the following guaranteed value, replace the battery quickly.

• Backup time by capacitor : 3 minutes

Replacing Battery

Turn on the Multiple CPU system power supply for 10 minutes or longer.

Turn off the Multiple CPU system power supply.

Remove the encoder cable from Q172DEX.

Remove the Q172DEX from the base unit.

Remove the old battery from its holder of the Q172DEX.

Install a new battery into the holder in the correct direction. Connect the lead connector to the connector (BATTERY).

Install the Q172DEX to the base unit.

Connect the encoder cable to the

Q172DEX.

Turn on the Multiple CPU system power supply.

END

Side of the Q172DEX

Battery

(A6BAT/MR-BAT)

Connector

(BATTERY)

Front

Encoder cable

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6 INSPECTION AND MAINTENANCE

6.5.3 Resuming operation after storing the Motion controller

When the operation is to be resumed after being stored with the battery removed or the battery has gone flat during storage, the contents of programs, parameters, absolute position data and latch data cannot be guaranteed.

Before resuming operation, write the contents of programs, parameters, absolute position data and latch data backed up prior to storage to SRAM built-in Motion CPU module.

POINT

Before storing the Motion controller, always back up the contents of programs, parameters, absolute position data and latch data to SRAM built-in Motion CPU module.

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6 INSPECTION AND MAINTENANCE

6.6 Troubleshooting

This section describes the various types of trouble that occur when the system is operated, and causes and corrective actions of these troubles.

6.6.1 Troubleshooting basics

The basic three points that must be followed in the troubleshooting are as follows.

(1) Visual inspection

Visually check the following.

(a) Movement of machine (stopped condition, operating condition)

(b) Power supply on/off

(c) Status of input/output devices

(d) Installation condition of the Power supply module, Motion CPU module, PLC

CPU module, I/O module, Q172DLX/Q172DEX/Q173DPX Motion module,

SSCNET cable, Synchronous encoder cable.

(e) State of wiring (I/O cables, cables)

(f) Display states of various types of indicators

PLC CPU module : MODE LED, RUN LED, ERR. LED, I/O LED, etc.

Motion CPU module : 7-segment LED (Installation mode, Operation mode,

Battery error, STOP/RUN, etc.)

(g) Status of setting of various types of switches (Setting of No. of stages of extension base unit, power interrupt hold-on status).

After checking (a) to (g), monitor the operating conditions of servomotors and error code using MT Developer 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 switch of Motion CPU module to STOP.

(b) Reset the trouble with the RUN/STOP/RESET switch of PLC CPU module.

(c) Turn ON and OFF the Multiple CPU system power supply.

(3) Narrowing down the range of trouble occurrence causes

Estimate the troubled part in accordance with items (1) and (2) above.

(a) Multiple CPU system or external devices

(b) Motion CPU or PLC CPU

(c) I/O module or others

(d) Servo program or Motion SFC program

(e) PLC program

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6 INSPECTION AND MAINTENANCE

6.6.2 Troubleshooting of Motion CPU module

This section describes the contents of troubles for the error codes and corrective actions of the troubles.

As for troubleshooting of PLC CPU, refer to the QCPU User's Manual (Hardware

Design, Maintenance and Inspection) of their respective modules.

POINT

Check that the operating system software is installed before starting the Motion

CPU module.

(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

"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 " ." does not flash in the first digit of

7-segment LED"

"A00" displays on 7-segment LED

"AL" "L01" displays on 7-segment LED

(c)

"Flowchart for when "A00" displays on 7-segment LED"

(d)

"Flowchart for when "AL" "L01" displays on 7-segment LED"

"AL" "A1" " " displays on 7-segment

LED

(e)

"Flowchart for when "AL" "A1" " " displays on 7-segment LED"

"BT " displays on 7-segment LED

" . . ." displays on 7-segment LED

Servo amplifier does not start

"AL" "S01" displays on 7-segment LED

(f)

"Flowchart for when "BT " displays on 7-segment LED"

(g)

"Flowchart for when " . . ." displays on 7-segment LED"

(h)

"Flowchart for when servo amplifier does not start"

(i)

"Flowchart for when "AL" "S01" displays on 7-segment LED"

6 - 14

6 INSPECTION AND MAINTENANCE

(a) Flowchart for when "POWER" LED turns off

The following shows the flowchart when "POWER" LED of the power supply module turns off at the power supply ON or during operation.

"POWER" LED turns off

Is there a power supply?

YES

NO

NO

Supply power.

Does "POWER"

LED turn on?

YES

Is the wiring/ terminal connection correct?

YES

NO

Connect wiring and fix terminal connection correctly.

NO

Does "POWER"

LED turn on?

YES

Is the power supply voltage within the rated range?

YES

NO

The supply voltage should be within the rated range.

NO

Does "POWER"

LED turn on?

YES

Is the power supply module fixed?

YES

NO

Fix the power supply module correctly.

NO

Does "POWER"

LED turn on?

YES

1) END

6 - 15

6 INSPECTION AND MAINTENANCE

1)

Remove all modules other than the power supply module from the base unit.

Does "POWER"

LED turn on?

YES

NO

The base unit that includes the corresponding power module is faulty.

(Replace it with a normal base unit.)

Install all modules that removed from the base unit to the base unit.

Does "POWER"

LED turn on?

NO

H/W fault

Explain the error symptom and get advice from out sales representative.

YES

Check the sum of internal current consumptions of the modules that comprise the system.

Does the total current exceed the rerated output current of the power

supply module?

NO

YES

Reexamine the system configuration to make the total current less than the rated output current of the power supply module.

NO

Does "POWER"

LED turn on?

YES

H/W 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 out sales representative for the modules with failure.

END

6 - 16

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.

Does "POWER"

LED turn on?

NO

(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?)

YES

NO

Connect the extension cable correctly.

NO

Does " . " flash in the first digit of 7-segment

LED?

YES

Is the

RUN/STOP/RESETand

"RESET"

RUN/STOP switch of CPU

No.1 and target CPU Module set to STOP?

"STOP"

NO

Set the RUN/STOP/RESET and

RUN/STOP switch to "STOP"

Does " . " flash in the first digit of 7-segment

LED?

YES

H/W 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 out sales representative for the modules with failure.

END

(Note) : Normally, " . " flashes in the first digit of

7-segment LED.

6 - 17

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 when the "A00" displays at the power supply ON or operation start.

"A00" displays on 7-segment LED

Is the operating system software installed to Motion

CPU module?

YES

NO

Install the operating system software.

Reset the Multiple CPU system.

Does "A00" disappear on 7-segment LED?

YES

END

NO

Explain the error symptom and get advice from out sales representative.

6 - 18

6 INSPECTION AND MAINTENANCE

(d) Flowchart for when "AL" "L01" displays on 7-segment LED

""AL" (flashes 3 times) Steady "L01" display" displays at the system setting error occurrence.

The following shows the flowchart when the ""AL" (flashes 3 times)

Steady "L01" display" displays during operation.

"AL" "L01" displays on 7-segment

LED.

Confirm details of error by Motion

CPU error batch monitor of

MT Developer.

Does a ROM ERROR occur?

NO

YES

Is ROM operation executed?

NO

YES

Set a rotary switch1 (SW1) to "0", a rotary switch2 (SW2) to "6" of Motion

CPU module, and then execute ROM writing.

Set a rotary switch1 (SW1) to "0", a rotary switch2 (SW2) to "0" of Motion

CPU module.

(Mode operated by RAM)

Does a LAY ERROR

(SL**) occur?

NO

Set by relative check of the system setting not to occur a error, and correct details of error.

YES

Check that the installed modules correspond to system setting and correct details of error.

Reset the Multiple CPU system.

Does "A00" "L01" disappear on 7-segment

LED?

YES

END

NO

6 - 19

6 INSPECTION AND MAINTENANCE

(e) Flowchart for when "AL" "A1" " " displays on 7-segment

LED.

""AL" (flashes 3 times) Steady "A1" display " "" displays at the selfdiagnosis error occurrence.

The following shows the flowchart when the ""AL" (flashes 3 times)

Steady "L01" display " "" display" displays during operation.

: 4-digits error code is displayed in two sequential flashes of 2-digits each.

"AL" "L01" " " displays on 7-segment LED.

Confirm details of error by Motion

CPU error batch monitor of

MT Developer.

Hardware cause fault?

NO

Correct each Multiple CPU system setting based on the error causes .

YES

Noise cause?

YES

Take measures against noise.

NO

Reset the Multiple CPU system.

Explain the error symptom and get advice from out sales representative.

Does "AL" "L01"

" " disappear on 7-segment

LED.

YES

END

NO

6 - 20

6 INSPECTION AND MAINTENANCE

(f) Flowchart for when "BT " displays on 7-segment LED

"BT1" or "BT1" displays when the external battery voltage of battery holder unit is lowered.

"BT1" or "BT1" displays at the following cases.

• BT1: Battery voltage 2.7V or less

• BT2: Battery voltage 2.5V or less

The following shows the flowchart when the "BT " displays.

"BT " displays on 7-segment LED

Turn off the Multiple CPU system power supply.

Replace the external battery.

Turn on the Multiple CPU system power supply.

Does "BT " disappear on 7-segment

LED (Confirm ON/OFF by monitoring SM )

NO (SM58 or SM51 ON)

YES (SM58, SM51 OFF)

END

H/W fault

Explain the error symptom and get advice from out sales representative.

REMARK

If SM51,SM58 turns on, the details of the programs, parameters, absolute position data and latch data cannot be guaranteed.

It is recommended to back-up the battery periodically.

6 - 21

6 INSPECTION AND MAINTENANCE

(g) Flowchart for when " . . ." displays on 7-segment LED

" . . ." displays at the WDT error occurrence.

The following shows the flowchart when the " . . ." displays during operation.

" . . ." displays on 7-segment LED

Confirm details of error by Motion

CPU error batch monitor of

MT Developer.

Is the error code of Motion CPU WDT cause "1"?

NO

YES

Correct the main cycle not to exceed

1.0[s] by the following methods, and write it to Motion CPU.

1) Change the operation cycle to

large value in the system setting.

2) Reduce the number of execution to

the event task program and NMI

task program in the Motion SFC

program.

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.

Is the error code of Motion CPU WDT cause "2"?

YES

Correct the Motion operating time to shorten by the following methods, and write it to Motion CPU.

1) Change the operation cycle to

large value in the system setting.

2) Reduce the number of execution to

the event task program and NMI

task program in the Motion SFC

program.

NO

Is the error code of Motion CPU WDT cause "301"?

NO

YES

Correct the servo program so that the number of CPSTART instructions of

8 or more points should not exceed the number of simultaneous startable programs (14 or less), and write it to

Motion CPU.

Reset the Multiple CPU system.

Does " . . ." disappear on 7-segment LED.

YES

END

NO

Explain the error symptom and get advice from out sales representative.

6 - 22

6 INSPECTION AND MAINTENANCE

(h) Flowchart for when servo amplifier does not start

The following shows the flowchart when servo amplifier does not start.

Servo amplifier does not start.

Is there error display on 7-segment LED of Motion

CPU module?

NO

Remove the error cause.

YES

NO

Does servo amplifier start?

YES

Has the target axis set in the system setting?

NO

Set the target axis in the system setting.

YES

NO

Does servo amplifier start?

YES

Is the connection of

SSCNET cable correct?

YES

NO

Connect the SSCNET cable correctly.

NO

Does servo amplifier start?

YES

Is the axis select switch of servo amplifier correct?

YES

NO

Set the axis select switch correctly.

NO

Does servo amplifier start?

YES

Has the servo amplifier connected from target axis near controller started?

NO

Remove the error cause of servo amplifier that does not strat.

YES

NO

Does servo amplifier start?

YES

Explain the error symptom and get advice from out sales representative.

END

6 - 23

6 INSPECTION AND MAINTENANCE

(i) Flowchart for when "AL" "S01" displays on 7-segment LED

""AL" (flashes 3 times) Steady "S01" display" displays at the servo error occurrence.

The following shows the flowchart when the ""AL" (flashes 3 times)

Steady "S01" display" displays during operation.

"AL" "S01" displays on 7-segment

LED.

Confirm details of error by Motion

CPU error batch monitor of

MT Developer.

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

NO

6 - 24

6 INSPECTION AND MAINTENANCE

6.6.3 Confirming error code

The error code and error message can be read using MT Developer.

The procedure for reading error is as follows.

(1) Connect the PLC CPU module to personal computer (IBM PC/AT).

(2) Start MT Developer.

(3) Select [Online] - [Read from CPU] Menu of MT Developer, and read the project data from Motion CPU.

(4) Start the monitor screen of MT Developer and select [Motion CPU error batch monitor] menu.

(5) Confirm the error codes and error messages displayed on screen.

Refer to help of MT Developer for details of operating method.

6 - 25

6 INSPECTION AND MAINTENANCE

6.6.4 I/O module troubleshooting

This section describes possible problems with I/O circuits and their corrective actions.

(1) Input circuit troubleshooting

The following describes possible problems with input circuits and their corrective actions.

Input Circuit Troubleshooting and Corrective Action

Condition Cause

• Leakage current of input switch

(e.g. drive by non-contact switch).

AC input

• Connect an appropriate resistor which will make the voltage across the terminals of the input module lower than the OFF voltage value.

AC input

Input signal is not turned

OFF.

Leakage current

Power supply

Input module

Input module

Input signal is not turned

OFF.

• Drive by a limit switch with neon lamp.

AC input

Leakage current

Input module

It is recommended to use 0.1 to 0.47 [µF] + 47 to 120 [ ] (1/2W) for the CR constant.

• Same as Example 1.

• Provide an independent display circuit separately.

Input signal is not turned

OFF.

Power supply

• Leakage current due to line capacity of wiring cable.

(Line capacity C of twisted pair wire is approx.

100 pF/m).

AC input

C

Leakage current

Input module

• Same as Example 1.

(However, leakage current is not generated when the power supply is located in the input equipment side as shown below.)

AC input

C

Input module

Input signal is not turned

OFF.

Power supply

• Drive by switch with LED indicator.

DC input

(plus common)

Leakage current

Input module

Power supply

• Connect a register which will make the voltage between the input module terminal and common lower than the OFF voltage value, as shown below.

DC input

(plus common)

Resistor

R

Input module

(Note-1) : A calculation example of a value for a connected resistor is given on the following page.

6 - 26

6 INSPECTION AND MAINTENANCE

Input Circuit Troubleshooting and Corrective Action (Continued)

Condition Cause

• Sneak path due to the use of two power supplies.

Input signal is not turned

OFF.

E

1

E

2

Input module

• Use only one power supply.

• Connect a sneak path prevention diode.

(Figure below)

E

1

E

2

Input module

E

1

>E

2

Depending on response time setting, noise is imported as input.

False input due to noise

Change the response time setting.

Example : 1 [ms] 5[ms]

(When excessive noise is cyclic, shorter response time setting may produce a higher effect.) When the above action does not have an effect, take measures against noise to block excessive noise, e.g. avoid tying the power cables and control cables in a bundle, and add surge absorbers to the noise sources such as the relays and contactors used with the same power supply.

<Calculation example of Example 4>

If a switch with LED display is connected to Q172DLX, and current of 4 [mA] is leaked.

Q172DLX

Leakage current 4[mA]

Motion CPU module

3.6[k ]

24[VDC]

(a) Because the condition for OFF voltage (18[mA]) of Q172DLX is not satisfied. Connect a resistor as shown below.

4[mA]

Q172DLX

Iz=0.18[mA]

I

R=

3.82[mA]

Input impedance

5.6[k ]

3.6[k ]

24[VDC]

(b) Calculate the connecting resistor value R as indicated below.

To satisfy the 0.18 [mA] OFF current of the Q172DLX, the resistor R to be connected may be the one where 3.82 [mA] or more will flow.

I

R:

I

Z=

Z(Input impedance): R

I

Z

R

3

R<264 [ ].

Assuming that resistor R is 220 [ ], the power capacity W of resistor R is:

W = (Input voltage)

2

÷ R = 26.4

2

÷ 220 = 3.168 [W]

6 - 27

6 INSPECTION AND MAINTENANCE

(c) The power capacity of the resistor selected is 3 to 5 times greater than the actual current consumption. 220 [ ], 10 to 15 [W] resistor may therefore be connected to the terminal in question.

(2) Output circuit troubleshooting

The following describes possible problems with output circuits and their corrective actions.

Output Circuit Troubleshooting and Corrective Action

Condition Cause

• When load is half-wave rectified

(This is typical some solenoids).

Output module

D1

C

1)

• Connect a resistor of several ten k to several hundred k across the load.

Resistor

Excessive voltage is applied to load when output turns

OFF

Load does not turn OFF

(Triac output).

Load

Load

2)

• When the polarity of the power supply is [1], the capacitor C is charged. When the polarity is [2], the voltage charged in C plus the power supply voltage is applied to across

D1. The maximum value of the voltage is approx. 2.2E. (This usage does not pose problems to the output components but may deteriorate the diode built in the load, causing burnout, etc.) .

• Leakage current due to built-in surge suppressor.

Output module

Load

• Connect a resistor across the load.

(If the wiring from the output module to the load is long, be careful since there may be a leakage current due to the line capacity.)

Resistor

Leakage current

Load

6 - 28

APPENDICES

APPENDICES

APPENDIX 1 Cables

In this cable connection diagram, maker names of connectors are omitted. Refer to

"APPENDIX 2.7 Connector" for maker names of connectors.

APPENDIX 1.1 SSCNET cables

Generally use the SSCNET cables available as our products.

Cable model

0.15

(0.49)

(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.

0.3

(0.98)

0.5

(1.64)

1

(3.28)

Cable length [m(ft.)]

3

(9.84)

5

(16.40)

10

(32.81)

20

(65.62)

30

(98.43)

40

(131.23)

50

(164.04)

Flex life

Application/ remark

MR-J3BUS†M

MR-J3BUS†M-A 5

MR-J3BUS†M-B

(Note-1)

SSCNET cable model

SSCNET cable length [m(ft.)]

Optical cable

(Code)

30

(Note-1) : For the cable of less than 30[m](98.43[ft.]), contact your nearest Mitsubishi sales representative.

(2) Specifications

Minimum bend radius

[mm(inch)]

Tension strength [N]

Temperature range for use [°C(°F)]

(Note-1)

Ambient

0.15

(0.49)

70

Description

MR-J3BUS M MR-J3BUS M-A MR-J3BUS M-B

0.3 to 3 5 to 20 30 to 50

(0.98 to 9.84) (16.40 to 65.62) (98.43 to 164.04)

25(0.98)

140

Reinforcing coat cable: 50 (1.97)

Code: 25 (0.98)

420 (Enforced covering cord)

Reinforcing coat cable: 50 (1.97)

Code : 30(1.18)

980 (Enforced covering cord)

-40 to 80

(-40 to 176)

-20 to 70

(-4 to 158)

Indoors (no direct sunlight), No solvent or oil

4.4 0.1

(0.17 0.004)

4.4 0.4

(0.17 0.016)

App.

External appearance

[mm(inch)]

2.2 0.07

(0.09 0.003)

4.4 0.1

(0.17 0.004)

6 0.2

(0.24 0.008)

7.6 0.5

(0.30 0.02)

(

Note

-1): This temperature range for use is the value for optical cable (cord) only.

App - 1

APPENDICES

POINTS

(1) If the end face of code 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) If the end face of code tip for 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) 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 M-

Symbol

None

A

B

Cable type

Standard code for inside panel

Standard cable for outside panel

Long distance cable

Symbol

015

03

05

5

10

1

3

20

30

40

50

2) Exterior dimensions

• MR-J3BUS015M

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)

[Unit: mm(inch)]

Protective tube

6.7(0.26)

15

(0.59)

13.4

(0.53)

37.65

(1.48)

150

+50

- 0

(5.91)

App - 2

APPENDICES

• MR-J3BUS03M to MR-J3BUS3M

[Unit: mm(inch)]

Refer to the table of this section (1) for cable length (L).

Protective tube

(Note)

100

(3.94)

100

L

(3.94)

(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 cable

Variation [mm(inch)]

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)

Protective tube

(Note)

[Unit: mm(inch)]

(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 code end of SSCNET cable in a plastic bag with a zipper of SSCNET cable to prevent them from becoming dirty.

App - 3

APPENDICES

APPENDIX 1.2 Serial absolute synchronous encoder cable

Generally use the serial absolute synchronous encoder cables available as our products. If the required length is not found in our products, fabricate the cable on the customer side.

(1) Selection

The following table indicates the serial absolute synchronous encoder cables used with the serial absolute synchronous encoder.

Connector sets (Q170ENCCNS) are also available for your fabrication.

Table 1 Wire models

Q170ENCCBL†M

2(6.56), 5(16.40), 10(32.81), 20(65.62),

30(98.43), 50(164.04)

M14B0023 12 pair (BLACK)

Use the following or equivalent twisted pair cables as the serial absolute synchronous encoder cables.

Table 2 Connector sets

Connector sets type Description

Q170ENCCNS

• Connector shell kits

• Plug cable clump

Wire model

M14B0023 12 pair (BLACK)

Table 3 Wire specifications

Core size

[mm

2

]

Number of cores

Characteristics of one core

Structure

[Number of wires/mm]

Conductor resistance

[ /km]

Insulating sheath OD d[mm]

(Note-1)

0.2 24(12 pair) 40/0.08 105 or less 0.88

Finished

OD

[mm]

(Note-2)

11.0

(Note-1): "d" is as shown below. d

Insulation sheath

Conductor

(Note-2): Standard OD (Outside Diameter). Maximum OD is about 10% larger.

!

CAUTION

When fabricating the encoder cable, do not make incorrect connection. Wrong connection will cause runaway or explosion.

App - 4

APPENDICES

(2) Q170ENCCBL M

(a) Model explanation

Type: Q170ENCCBL M

Symbol

2

5

10

20

30

50

Cable length [m(ft.)]

2(6.56)

5(16.40)

10(32.81)

20(65.62)

30(98.43)

50(164.04)

(b) Connection diagram

When fabricating a cable, use the recommended wire and connector set

Q170ENCCNS for encoder cable given on APPENDIX 1.2, and make the cable as show in the following connection diagram. Maximum cable length is 50m(164.04ft.).

SY.ENC connector

1

LG

3

LG

5

7

MR

9

BAT

2

LG

4

TREN

6

MD

8

10

P5

11

LG

13

15

17

MRR

19

P5

12

LG

14

TREN.

COM

16

MDR

18

P5

20

P5

Q172DEX

SY.ENC

1 or 2

Synchronous encoder cable

Encoder connector

Q170ENC

50m(164.04ft.) or less

Synchronous encoder

Encoder connector

J

K

L

M

U N

A

B

H

T V

G

S

R

F

E

P

D

C

Pin Signal Pin Signal

A

B

C

D

E BAT

K

L

M

P

MR

MRR

N SHD

F

G

R

S

LG

P5

H

J

MD

MDR

T

Q172DEX side

10120-3000PE(connector)

10320-52F0-008(connector case)

Encoder side

MS3106B22-14S(plug)

MS3057-12A(cable clump)

P5

LG

19

11

S

R

P5

LG

20

12

P5

LG

18

2

BAT

LG

MR

MRR

MD

MDR

SD plate

9

1

7

17

6

16

E

K

L

H

J

N

:Twisted pair cable

Cable length 50m(164.04[ft.]) or less

App - 5

APPENDICES

APPENDIX 1.3 Battery cable

Generally use the battery cable available as our products. If the required length is not found in our products, fabricate the cable on the customer side. Make the battery cable within 0.5m(1.64ft.).

(1) Q170DBATCBL M

(a) Model explanation

Type : Q170DBATCBL M

Symbol

05

Cable length [m(ft.)]

0.5(1.64)

(b) Connection diagram

4

CPU Module side

1

Battery holder side

1

3

+

50351-8100 (Terminal)

51103-0400 (Connector)

4

-

N.C.

FG

3

2

1

: Twisted pair cable

(Note) : Use a cable of wire size AWG24.

1376476-1 (Terminal)

1376477-3 (Connector)

1

2

3

+

N.C.

-

App - 6

APPENDICES

APPENDIX 1.4 Forced stop input cable

Generally use the forced stop input cable available as our products. If the required length is not found in our products, fabricate the cable on the customer side. Make the forced stop input cable within 30m(98.43ft.).

(1) Q170DEMICBL M

(a) Model explanation

Type : Q170DEMICBL M

Symbol

05

5

10

1

3

15

20

25

30

Cable length [m(ft.)]

0.5(1.64)

1(3.28)

3(9.84)

5(16.40)

10(32.81)

15(49.21)

20(65.62)

25(82.02)

30(98.43)

(b) Connection diagram

CPU module side

2

1

Solderless terminal

EMI.COM

5556TL (Terminal)

5557-02R (Connector)

2

EMI 1

: Twisted pair cable

(Note) : Use a cable of wire size AWG24.

EMI.COM

EMI

App - 7

APPENDICES

APPENDIX 2 Exterior Dimensions

APPENDIX 2.1 CPU module

(1) Q172DCPU Module

Q172DCPU

1

DE

F

0 123

AB 8

79

DE

F

0 123

AB 8

79

STOP RUN

2

SW

CAUTION

EMI

[Unit: mm (inch)]

119.3(4.70)

(2) Q173DCPU Module

FRONT

BAT

27.4(1.08)

Q173DCPU

1

DE

F

0 123

AB

8

79

DE

F

0 123

AB

8

79

STOP RUN

2

SW

CAUTION

EMI

[Unit: mm (inch)]

119.3(4.70)

FRONT

BAT

27.4(1.08)

App - 8

APPENDICES

APPENDIX 2.2 Servo external signals interface module (Q172DLX)

Q172DLX

[Unit: mm (inch)]

CTRL

Q172DLX

90(3.54) 45(1.77)

APPENDIX 2.3 Synchronous encoder interface module (Q172DEX)

27.4(1.08)

Q172DEX

SY.ENC

1

2

TREN

1

2

[Unit: mm (inch)]

SY.ENC1

90(3.54)

4.2(0.17)

39(1.54)

SY.ENC2

Q172DEX

27.4(1.08)

App - 9

APPENDICES

APPENDIX 2.4 Manual pulse generator interface module (Q173DPX)

Q173DPX

PLS.A

PLS.B

1 1

2

3

2

3

TREN

1

2

3

[Unit: mm (inch)]

PULSER

90(3.54) 45(1.77)

Q173DPX

27.4(1.08)

App - 10

APPENDICES

APPENDIX 2.5 Power supply module (Q61P-A1, Q61P-A2, Q61P, Q62P, Q63P, Q64P)

[Unit: mm (inch)]

(1) Q61P-A1, Q61P-A2, Q61P, Q62P, Q63P

Q61P

POWER

90(3.54)

(2) Q64P

115(4.53)

PULL

Q64P

55.2(2.17)

[Unit: mm (inch)]

POWER

PULL

55.2(2.17)

App - 11

APPENDICES

APPENDIX 2.6 Battery holder unit (Q170DBATC)

(1) Battery holder unit (Q170DBATC)

2- 5.3(0.21)

(Fixing screw M5 14)

[Unit: mm (inch)]

80(3.15)

40(1.57)

App - 12

APPENDICES

APPENDIX 2.7 Connector

(1) Cable connector for serial absolute synchronous encoder

(Sumitomo 3M make (MDR type))

Number of pins Type

Type

20

Solder connection type

(Quick release metal latch type)

Solder connection type

(Threaded type)

Insulation displacement type

(Quick release metal latch type)

10120-3000PE 10320-52F0-008

10120-3000PE 10320-52A0-008

10120-6000EL

(Note)

10320-3210-000

(Note)

(Note): These connectors are not options. Please purchase them by customer.

(a) Solder connection type(Quick release metal latch type)

Type Connector : 10120-3000PE

Connector case: 10320-52F0-008

[Unit: mm (inch)]

12.0(0.47)

22.0

(0.87)

14.0

(0.55)

33.3

(1.31)

12.7

(0.50)

(b) Solder connection type(Threaded type)

Type Connector : 10120-3000PE

Connector case: 10320-52A0-008

12.0(0.47)

27.4(1.08)

22.0(0.87) 14.0(0.55)

[Unit: mm (inch)]

33.3(1.31)

12.7

(0.50)

App - 13

APPENDICES

(c) Insulation displacement type(Quick release metal latch type)

Type Connector : 10120-6000EL

Connector case: 10320-3210-000

[Unit: mm (inch)]

6.7

20.9

2- 0.5(0.02)

Position where e.g. logo is indicated

29.7(1.17)

(2) SSCNET cable connector

4.8(0.19)

17.6 0.2

(0.69 0.01)

20.9 0.2

(0.82 0.01)

1.7

(0.07)

8

(0.31)

2.3

(0.09)

App - 14

APPENDICES

(3) Battery cable connector

(a) Battery holder side (Tyco Electronics AMP K.K make)

Type Connector : 1376477-3

[Unit: mm (inch)]

8.2 (0.32)

8.3 (0.33)

10.0 (0.39)

(b) CPU module side (Molex Incorporated make)

Type Connector : 51103-0400

12.2 (0.48) 7.5 (0.30)

[Unit: mm (inch)]

10.5 (0.41)

(4) Forced stop input connector (Molex Incorporated make)

Type Connector : 5557-02R-210

[Unit: mm (inch)]

5.4

(0.21)

10.6

(0.42)

3.5

(0.14)

App - 15

APPENDICES

APPENDIX 2.8 Manual pulse generator (MR-HDP01)

3.6(0.14)

Packing t =2.0

2

0

30

10

40

0

50

60

90

0

8

70

72(2.83)

0.2

3- 4.8(0.19) equi-spaced

62

(2

.4

4)

2

-0

Space

16 20 27.0

0.

5

(0.63) (0.79) (1.06)

[Unit: mm (inch)]

3 Studs (M4 10)

PCD72, equi-spaced

8.89

(0.35)

5 to

12V 0V A B

M3 6

7.6

(0.30)

The figure of processing a disc

APPENDIX 2.9 Serial absolute synchronous encoder (Q170ENC)

45

84(3.31)

70.7(2.78)

58.5(2.30)

28(1.10)

7(0.28)

30(1.18)

2(0.08)

14(0.55)

A

A'

[Unit: mm (inch)]

8.72(0.34)

Cross-section diagram AA'

4- 5.5(0.22)

40(1.57)

36.5(1.44)

App - 16

APPENDICES

MEMO

App - 17

WARRANTY

Please confirm the following product warranty details before using this product.

1. Gratis Warranty Term and Gratis Warranty Range

If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or

Mitsubishi Service Company.

However, if repairs are required onsite at domestic or overseas location, expenses to send an engineer will be solely at the customer's discretion. Mitsubishi shall not be held responsible for any re-commissioning, maintenance, or testing on-site that involves replacement of the failed module.

[

Gratis Warranty Term]

Note that an installation period of less than one year after installation in your company or your customer’s premises or a period of less than 18 months (counted from the date of production) after shipment from our company, whichever is shorter, is selected.

[

Gratis Warranty Range]

(1) Diagnosis of failure

As a general rule, diagnosis of failure is done on site by the customer.

However, Mitsubishi or Mitsubishi service network can perform this service for an agreed upon fee upon the customer’s request.

There will be no charges if the cause of the breakdown is found to be the fault of Mitsubishi.

(2) Breakdown repairs

There will be a charge for breakdown repairs, exchange replacements and on site visits for the following four conditions, otherwise there will be a charge.

1) Breakdowns due to improper storage, handling, careless accident, software or hardware design by the customer

2) Breakdowns due to modifications of the product without the consent of the manufacturer

3) Breakdowns resulting from using the product outside the specified specifications of the product

4) Breakdowns that are outside the terms of warranty

Since the above services are limited to Japan, diagnosis of failures, etc. are not performed abroad.

If you desire the after service abroad, please register with Mitsubishi. For details, consult us in advance.

2.

Exclusion of Loss in Opportunity and Secondary Loss from Warranty Liability

Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi; opportunity loss or lost profits caused by faults in the Mitsubishi products; damage, secondary damage, accident compensation caused by special factors unpredictable by Mitsubishi; damages to products other than Mitsubishi products; and to other duties.

3. Onerous Repair Term after Discontinuation of Production

Mitsubishi shall accept onerous product repairs for seven years after production of the product is discontinued.

4.

Delivery Term

In regard to the standard product, Mitsubishi shall deliver the standard product without application settings or adjustments to the customer and Mitsubishi is not liable for on site adjustment or test run of the product.

5. Precautions for Choosing the Products

(1) These products have been manufactured as a general-purpose part for general industries, and have not been designed or manufactured to be incorporated in a device or system used in purposes related to human life.

(2) Before using the products for special purposes such as nuclear power, electric power, aerospace, medicine, passenger movement vehicles or under water relays, contact Mitsubishi.

(3) These products have been manufactured under strict quality control. However, when installing the product where major accidents or losses could occur if the product fails, install appropriate backup or failsafe functions in the system.

(4) When exporting any of the products or related technologies described in this catalogue, you must obtain an export license if it is subject to Japanese Export Control Law.

MOTION CONTROLLER Qseries

User's Manual (Q173DCPU/Q172DCPU)

HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN

MODEL

Q173D-U-E

MODEL

CODE

1XB927

IB(NA)-0300133-A(0801)MEE

When exported from Japan, this manual does not require application to the

Ministry of Economy, Trade and Industry for service transaction permission.

IB(NA)-0300133-A(0801)MEE

Specifications subject to change without notice.

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