Mitsubishi Electronics Q170MCPU User Manual

SAFETY PRECAUTIONS

(Please read these instructions before using this equipment.)

Before using this product, please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly. These precautions apply only to this product. Refer to the Users manual of the QCPU module to use for a description of the PLC system safety precautions. In this manual, the safety instructions are ranke

Depending on circumstances, procedures indicated by results. In any case, it is important to follow the directions for usage.

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

DANGER

CAUTION

d as "DANGER" and "CAUTION".

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

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

CAUTION may also be linked to serious

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For Safe Operations

1. Prevention of electric shocks

DANGER

Never open the front case or terminal covers while the power is ON or the unit is running, as this

may lead to electric shocks.

Never run the unit with the front case or terminal cover removed. The high voltage terminal and

charged sections will be exposed and may lead to electric shocks.

Never open the front case or terminal cover at times other than wiring work or periodic

inspections even if the power is OFF. The insides of the Motion controller and servo amplifier are charged and may lead to electric shocks.

Completely turn off the externally supplied power used in the system before mounting or

removing the module, performing wiring work, or inspections. Failing to do so may lead to electric shocks.

When performing wiring work or inspections, turn the power OFF, wait at least ten minutes, and

then check the voltage with a tester, etc.. Failing to do so may lead to electric shocks.

Be sure to ground the Motion controller, servo amplifier and servomotor. (Ground resistance :

or less) Do not ground commonly with other devices.

100 The wiring work and inspections must be done by a qualified technician. Wire the units after installing the Motion controller, servo amplifier and servomotor. Failing to do

so may lead to electric shocks or damage. Never operate the switches with wet hands, as this may lead to electric shocks. Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this

may lead to electric shocks. Do not touch the Motion controller, servo amplifier or servomotor terminal blocks while the power

is ON, as this may lead to electric shocks. Do not touch the built-in power supply, built-in grounding or signal wires of the Motion controller

and servo amplifier, as this may lead to electric shocks.

2. For fire prevention

CAUTION

Install the Motion controller, servo amplifier, servomotor and regenerative resistor on

incombustible. Installing them directly or close to combustibles will lead to fire. If a fault occurs in the Motion controller or servo amplifier, shut the power OFF at the servo

amplifier’s power source. If a large current continues to flow, fire may occur. When using a regenerative resistor, shut the power OFF with an error signal. The regenerative

resistor may abnormally overheat due to a fault in the regenerative transistor, etc., and may lead

to fire. Always take heat measures such as flame proofing for the inside of the control panel where the

servo amplifier or regenerative resistor is installed and for the wires used. Failing to do so may

lead to fire. Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this

may lead to fire.

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3. For injury prevention

CAUTION

Do not apply a voltage other than that specified in the instruction manual on any terminal.

Doing so may lead to destruction or damage. Do not mistake the terminal connections, as this may lead to destruction or damage. Do not mistake the polarity ( + / - ), as this may lead to destruction or damage. Do not touch the heat radiating fins of controller or servo amplifier, regenerative resistor and

servomotor, etc., while the power is ON and for a short time after the power is turned OFF. In this

timing, these parts become very hot and may lead to burns. Always turn the power OFF before touching the servomotor shaft or coupled machines, as these

parts may lead to injuries. Do not go near the machine during test operations or during operations such as teaching.

Doing so may lead to injuries.

4. Various precautions

Strictly observe the following precautions.

Mistaken handling of the unit may lead to faults, injuries or electric shocks.

(1) System structure

CAUTION

Always install a leakage breaker on the Motion controller and servo amplifier power source. If installation of an electromagnetic contactor for power shut off during an error, etc., is specified in

the instruction manual for the servo amplifier, etc., always install the electromagnetic contactor.

Install the emergency stop circuit externally so that the operation can be stopped immediately and

the power shut off.

Use the Motion controller, servo amplifier, servomotor and regenerative resistor with the correct

combinations listed in the instruction manual. Other combinations may lead to fire or faults.

Use the Motion controller, base unit and motion module with the correct combinations listed in the

instruction manual. Other combinations may lead to faults.

If safety standards (ex., robot safety rules, etc.,) apply to the system using the Motion controller,

servo amplifier and servomotor, make sure that the safety standards are satisfied.

Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal

operation of the Motion controller or servo amplifier differ from the safety directive operation in the system.

In systems where coasting of the servomotor will be a problem during the forced stop, emergency

stop, servo OFF or power supply OFF, use dynamic brakes. Make sure that the system considers the coasting amount even when using dynamic brakes. In systems where perpendicular shaft dropping may be a problem during the forced stop,

emergency stop, servo OFF or power supply OFF, use both dynamic brakes and electromagnetic

brakes.

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CAUTION

The dynamic brakes must be used only on errors that cause the forced stop, emergency stop, or

servo OFF. These brakes must not be used for normal braking.

The brakes (electromagnetic brakes) assembled into the servomotor are for holding applications,

and must not be used for normal braking.

The system must have a mechanical allowance so that the machine itself can stop even if the

stroke limits switch is passed through at the max. speed. Use wires and cables that have a wire diameter, heat resistance and bending resistance

compatible with the system. Use wires and cables within the length of the range described in the instruction manual. The ratings and characteristics of the parts (other than Motion controller, servo amplifier and

servomotor) used in a system must be compatible with the Motion controller, servo amplifier and

servomotor. Install a cover on the shaft so that the rotary parts of the servomotor are not touched during

operation. There may be some cases where holding by the electromagnetic brakes is not possible due to the

life or mechanical structure (when the ball screw and servomotor are connected with a timing belt,

etc.). Install a stopping device to ensure safety on the machine side.

(2) Parameter settings and programming

CAUTION

Set the parameter values to those that are compatible with the Motion controller, servo amplifier,

servomotor and regenerative resistor model and the system application. The protective functions may not function if the settings are incorrect.

The regenerative resistor model and capacity parameters must be set to values that conform to

the operation mode, servo amplifier and servo power supply module. The protective functions

may not function if the settings are incorrect. Set the mechanical brake output and dynamic brake output validity parameters to values that are

compatible with the system application. The protective functions may not function if the settings

are incorrect. Set the stroke limit input validity parameter to a value that is compatible with the system

application. The protective functions may not function if the setting is incorrect. Set the servomotor encoder type (increment, absolute position type, etc.) parameter to a value

that is compatible with the system application. The protective functions may not function if the

setting is incorrect. Set the servomotor capacity and type (standard, low-inertia, flat, etc.) parameter to values that

are compatible with the system application. The protective functions may not function if the

settings are incorrect. Set the servo amplifier capacity and type parameters to values that are compatible with the

system application. The protective functions may not function if the settings are incorrect. Use the program commands for the program with the conditions specified in the instruction

manual.

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CAUTION

Set the sequence function program capacity setting, device capacity, latch validity range, I/O

assignment setting, and validity of continuous operation during error detection to values that are compatible with the system application. The protective functions may not function if the settings are incorrect.

Some devices used in the program have fixed applications, so use these with the conditions

specified in the instruction manual. The input devices and data registers assigned to the link will hold the data previous to when

communication is terminated by an error, etc. Thus, an error correspondence interlock program

specified in the instruction manual must be used. Use the interlock program specified in the intelligent function module's instruction manual for the

program corresponding to the intelligent function module.

(3) Transportation and installation

CAUTION

Transport the product with the correct method according to the mass.

Use the servomotor suspension bolts only for the transportation of the servomotor. Do not

transport the servomotor with machine installed on it. Do not stack products past the limit. When transporting the Motion controller or servo amplifier, never hold the connected wires or

cables. When transporting the servomotor, never hold the cables, shaft or detector. When transporting the Motion controller or servo amplifier, never hold the front case as it may fall

off. When transporting, installing or removing the Motion controller or servo amplifier, never hold the

edges. Install the unit according to the instruction manual in a place where the mass can be withstood. Do not get on or place heavy objects on the product. Always observe the installation direction. Keep the designated clearance between the Motion controller or servo amplifier and control panel

inner surface or the Motion controller and servo amplifier, Motion controller or servo amplifier and

other devices. Do not install or operate Motion controller, servo amplifiers or servomotors that are damaged or

that have missing parts. Do not block the intake/outtake ports of the Motion controller, servo amplifier and servomotor with

cooling fan. Do not allow conductive matter such as screw or cutting chips or combustible matter such as oil

enter the Motion controller, servo amplifier or servomotor. The Motion controller, servo amplifier and servomotor are precision machines, so do not drop or

apply strong impacts on them. Securely fix the Motion controller, servo amplifier and servomotor to the machine according to

the instruction manual. If the fixing is insufficient, these may come off during operation.

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CAUTION

Always install the servomotor with reduction gears in the designated direction. Failing to do so

may lead to oil leaks.

Store and use the unit in the following environmental conditions.

Environment

Ambient

temperature

Ambient humidity

Storage

temperature

Atmosphere

Altitude

Vibration

Motion controller/Servo amplifier Servomotor

According to each instruction manual.

Indoors (where not subject to direct sunlight).

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

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

According to each instruction manual

Conditions

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)

When coupling with the synchronous encoder or servomotor shaft end, do not apply impact such

as by hitting with a hammer. Doing so may lead to detector damage.

Do not apply a load larger than the tolerable load onto the synchronous encoder and servomotor

shaft. Doing so may lead to shaft breakage.

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

or servo amplifier. Place the Motion controller and servo amplifier in static electricity preventing vinyl bags and store. When storing for a long time, please contact with our sales representative.

Also, execute a trial operation.

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(4) Wiring

CAUTION

Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal

screws for tightness after wiring. Failing to do so may lead to run away of the servomotor. After wiring, install the protective covers such as the terminal covers to the original positions. Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF)

on the output side of the servo amplifier.

Correctly connect the output side (terminal U, V, W) and ground. Incorrect connections will lead

the servomotor to operate abnormally. Do not connect a commercial power supply to the servomotor, as this may lead to trouble. Do not mistake the direction of the surge absorbing diode installed on the DC relay for the control

signal output of brake signals, etc. Incorrect installation may lead to signals not being output

when trouble occurs or the protective functions not functioning.

Servo amplifier

DOCOM

Control output signal

DICOM

For the sink output interface For the source output interface

24VDC

Servo amplifier

DOCOM

Control output signal

DICOM

24VDC

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

PLC expansion cable while the power is ON. Securely tighten the cable connector fixing screws and fixing mechanisms. Insufficient fixing may

lead to the cables combing off during operation. Do not bundle the power line or cables.

(5) Trial operation and adjustment

CAUTION

Confirm and adjust the program and each parameter before operation. Unpredictable

movements may occur depending on the machine. Extreme adjustments and changes may lead to unstable operation, so never make them. When using the absolute position system function, on starting up, and when the Motion

controller or absolute value motor has been replaced, always perform a home position return.

Before starting test operation, set the parameter speed limit value to the slowest value, and

make sure that operation can be stopped immediately by the forced stop, etc. if a hazardous state occurs.

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(6) Usage methods

CAUTION

Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the

Motion controller, servo amplifier or servomotor. Always execute a test operation before starting actual operations after the program or

parameters have been changed or after maintenance and inspection.

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

company recognized. Do not make any modifications to the unit. Keep the effect or electromagnetic obstacles to a minimum by installing a noise filter or by using

wire shields, etc. Electromagnetic obstacles may affect the electronic devices used near the

Motion controller or servo amplifier. When using the CE Mark-compliant equipment, refer to this manual for the Motion controllers

and refer to the corresponding EMC guideline information for the servo amplifiers, inverters and

other equipment. Use the units with the following conditions.

Item Conditions

Input power According to each instruction manual.

Input frequency According to each instruction manual.

Tolerable momentary power failure According to each instruction manual.

(7) Corrective actions for errors

CAUTION

If an error occurs in the self diagnosis of the Motion controller or servo amplifier, confirm the

check details according to the instruction manual, and restore the operation.

If a dangerous state is predicted in case of a power failure or product failure, use a servomotor

with electromagnetic brakes or install a brake mechanism externally. Use a double circuit construction so that the electromagnetic brake operation circuit can be

operated by emergency stop signals set externally.

Shut off with servo ON signal OFF, alarm, electromagnetic brake signal.

Servomotor

Electromagnetic brakes

RA1 EMG

Shut off with the emergency stop signal (EMG).

24VDC

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

release.

The unit may suddenly resume operation after a power failure is restored, so do not go near the

machine. (Design the machine so that personal safety can be ensured even if the machine

restarts suddenly.)

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(8) Maintenance, inspection and part replacement

CAUTION

Perform the daily and periodic inspections according to the instruction manual.

Perform maintenance and inspection after backing up the program and parameters for the Motion

controller and servo amplifier. Do not place fingers or hands in the clearance when opening or closing any opening. Periodically replace consumable parts such as batteries according to the instruction manual. Do not touch the lead sections such as ICs or the connector contacts.

Before touching the module, always touch grounded metal, etc. to discharge static electricity from

human body. Failure to do so may cause the module to fail or malfunction.

Do not directly touch the module's conductive parts and electronic components.

Touching them could cause an operation failure or give damage to the module. Do not place the Motion controller or servo amplifier on metal that may cause a power leakage

or wood, plastic or vinyl that may cause static electricity buildup.

Do not perform a megger test (insulation resistance measurement) during inspection. When replacing the Motion controller or servo amplifier, always set the new module settings

correctly.

When the Motion controller or absolute value motor has been replaced, carry out a home

position return operation using one of the following methods, otherwise position displacement could occur.

1) After writing the servo data to the Motion controller using programming software, switch on the power again, then perform a home position return operation.

2) Using the backup function of the programming software, load the data backed up before replacement.

After maintenance and inspections are completed, confirm that the position detection of the

absolute position detector function is correct.

Do not drop or impact the battery installed to the module.

Doing so may damage the battery, causing battery liquid to leak in the battery. Do not use the

dropped or impacted battery, but dispose of it. Do not short circuit, charge, overheat, incinerate or disassemble the batteries. The electrolytic capacitor will generate gas during a fault, so do not place your face near the

Motion controller or servo amplifier. The electrolytic capacitor and fan will deteriorate. Periodically replace these to prevent secondary

damage from faults. Replacements can be made by our sales representative. Lock the control panel and prevent access to those who are not certified to handle or install

electric equipment. Do not burn or break a module and servo amplifier. Doing so may cause a toxic gas.

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(9) About processing of waste

When you discard Motion controller, servo amplifier, a battery (primary battery) and other option articles, please follow the law of each country (area).

CAUTION

This product is not designed or manufactured to be used in equipment or systems in situations

that can affect or endanger human life. When considering this product for operation in special applications such as machinery or systems

used in passenger transportation, medical, aerospace, atomic power, electric power, or

submarine repeating applications, please contact your nearest Mitsubishi sales representative. Although this product was manufactured under conditions of strict quality control, you are strongly

advised to install safety devices to forestall serious accidents when it is used in facilities where a

breakdown in the product is likely to cause a serious accident.

(10) General cautions

All drawings provided in the instruction manual show the state with the covers and safety

partitions removed to explain detailed sections. When operating the product, always return the

covers and partitions to the designated positions, and operate according to the instruction

manual.

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REVISIONS

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

Print Date Manual Number Revision Feb., 2009 IB(NA)-0300156-A First edition Jul., 2009 IB(NA)-0300156-B [Additional model]

QH40H, QX70H, QX80H, QX90H, Q170MICON, Q170MPWCON, Q170MPWCBL2M-E

[Additional correction/partial correction]

Safety precautions, About manuals, Internal I/F, EMC directive, Battery transportation, Symbol for the new EU battery directive, Internal IO circuit troubleshooting, MC protocol communication, Mark detection function, Synchronous encoder current value monitor in real mode, Processing times, Troubleshooting

Dec., 2011 IB(NA)-0300156-C [Partial correction]

Safety Precautions, Section 4.2.1 Partial change of sentence

Japanese Manual Number IB(NA)-0300154

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

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INTRODUCTION

Thank you for choosing the Mitsubishi Motion controller Q170MCPU. Before using the equipment, please read this manual carefully to develop full familiarity with the functions and performance of the Motion controller you have purchased, so as to ensure correct use.

Safety Precautions .........................................................................................................................................A- 1

Revisions ........................................................................................................................................................A-11

Contents .........................................................................................................................................................A-12

About Manuals ...............................................................................................................................................A-15

1. OVERVIEW 1- 1 to 1-10

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

1.2 Comparison between Q170MCPU and Q173DCPU/Q172DCPU ......................................................... 1- 3

1.3 Restrictions by the software's version or serial number ......................................................................... 1-10

2. SYSTEM CONFIGURATION 2- 1 to 2-64

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

2.1.1 Q170MCPU System overall configuration........................................................................................ 2- 3

2.1.2 Q170MCPU System internal configuration ...................................................................................... 2- 4

2.1.3 Function explanation of the Q170MCPU Motion controller ............................................................. 2- 5

2.1.4 Restrictions on Motion controller ...................................................................................................... 2- 7

2.2 Checking Serial Number and Operating System Software Version....................................................... 2- 9

2.2.1 Checking serial number .................................................................................................................... 2- 9

2.2.2 Checking operating system software version .................................................................................. 2-11

2.3 System Configuration Equipment ............................................................................................................ 2-12

2.4 General Specifications ............................................................................................................................. 2-18

2.5 Specifications of Equipment .................................................................................................................... 2-19

2.5.1 Q170MCPU Motion controller........................................................................................................... 2-19

2.5.2. Extension base unit and extension cable ........................................................................................ 2-41

2.5.3 Q172DLX Servo external signals interface module ......................................................................... 2-44

2.5.4 Q173DPX Manual pulse generator interface module ...................................................................... 2-49

2.5.5 Manual pulse generator .................................................................................................................... 2-57

2.5.6 SSCNET

2.5.7 Battery ............................................................................................................................................... 2-60

2.5.8 Forced stop input terminal ................................................................................................................ 2-63

3. DESIGN 3- 1 to 3-16

cables ............................................................................................................................. 2-58

3.1 System Designing Procedure .................................................................................................................. 3- 1

3.2 External Circuit Design ............................................................................................................................ 3- 4

3.2.1 Power supply circuit design .............................................................................................................. 3- 7

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

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

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

3.3.2 Calculating heat generation by Motion controller............................................................................. 3-12

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

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4. INSTALLATION AND WIRING 4- 1 to 4-28

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

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

4.1.2 Instructions for mounting the modules ............................................................................................. 4- 3

4.1.3 Installation and removal of module to the base unit......................................................................... 4- 9

4.1.4 Mounting and removal of the battery holder..................................................................................... 4-12

4.2 Connection and Disconnection of Cable ................................................................................................. 4-17

4.2.1 SSCNET

4.2.2 Forced stop input cable..................................................................................................................... 4-23

4.2.3 24VDC power supply cable .............................................................................................................. 4-24

4.3 Wiring........................................................................................................................................................ 4-25

4.3.1 Instructions for wiring ........................................................................................................................4-25

4.3.2 Connecting to the power supply ....................................................................................................... 4-28

5. START-UP PROCEDURES 5- 1 to 5-10

5.1 Check Items before Start-up.................................................................................................................... 5- 1

5.2 Start-up Adjustment Procedure ............................................................................................................... 5- 3

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

5.4 Trial Operation and Adjustment Checklist ............................................................................................... 5- 9

cable ...............................................................................................................................4-17

6. INSPECTION AND MAINTENANCE 6- 1 to 6-32

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

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

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

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

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

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

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

6.5.2 Battery replacement procedure ........................................................................................................ 6- 9

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

6.5.4 Symbol for the new EU Battery Directive ......................................................................................... 6-12

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

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

6.6.2 Troubleshooting of Motion controller ................................................................................................6-14

6.6.3 Confirming error code ....................................................................................................................... 6-30

6.6.4 Internal I/O circuit troubleshooting .................................................................................................... 6-31

7. POSITIONING DEDICATED SIGNALS 7- 1 to 7- 6

7.1 Device List ................................................................................................................................................ 7- 1

7.2 Positioning Dedicated Signals ...........................................................................................................7- 2

7.2.1 Internal Relays................................................................................................................................... 7- 2

7.2.2 Data Registers................................................................................................................................... 7- 4

7.2.3 Motion Registers ............................................................................................................................... 7- 5

7.2.4 Special Relays................................................................................................................................... 7- 5

7.2.5 Special Registers .............................................................................................................................. 7- 5

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8. EMC DIRECTIVES 8- 1 to 8- 8

8.1 Requirements for Compliance with the EMC Directive ..........................................................................8- 1

8.1.1 Standards relevant to the EMC Directive ......................................................................................... 8- 2

8.1.2 Installation instructions for EMC Directive........................................................................................ 8- 3

8.1.3 Parts of measure against noise ........................................................................................................ 8- 5

8.1.4 Example of measure against noise .................................................................................................. 8- 7

APPENDICES APP- 1 to APP-78

APPENDIX 1 Differences Between Q170MCPU and Q173DCPU/Q172DCPU ....................................APP- 1

APPENDIX 1.1 Differences of devices .................................................................................................APP- 2

APPENDIX 1.2 Differences of parameters ...........................................................................................APP- 3

APPENDIX 1.3 Differences of programs ..............................................................................................APP- 3

APPENDIX 1.4 Differences of error codes ...........................................................................................APP- 5

APPENDIX 1.5 Differences of peripheral device interface ..................................................................APP- 7

APPENDIX 1.6 MC Protocol Communication ......................................................................................APP-16

APPENDIX 1.7 Differences of CPU display and I/O assignment ........................................................APP-23

APPENDIX 1.8 Differences of I/O signals ............................................................................................APP-25

APPENDIX 1.9 Differences of synchronous encoder ..........................................................................APP-27

APPENDIX 1.10 Mark detection function .............................................................................................APP-29

APPENDIX 2 Creation of project ..............................................................................................................APP-38

APPENDIX 2.1 Sample data.................................................................................................................APP-39

APPENDIX 3 Processing Times...............................................................................................................APP-53

APPENDIX 3.1 Processing time of operation control/Transition instruction .......................................APP-53

APPENDIX 3.2 Processing time of Motion dedicated PLC instruction................................................APP-65

APPENDIX 4 Cables.................................................................................................................................APP-66

APPENDIX 4.1 SSCNET

APPENDIX 4.2 Forced stop input cable ...............................................................................................APP-69

APPENDIX 4.3 24VDC power supply cable.........................................................................................APP-70

APPENDIX 4.4 Internal I/F connector cable.........................................................................................APP-71

APPENDIX 5 Exterior Dimensions ...........................................................................................................APP-73

APPENDIX 5.1 Motion controller (Q170MCPU)................................................................................... APP-73

APPENDIX 5.2 Servo external signals interface module (Q172DLX).................................................APP-74

APPENDIX 5.3 Manual pulse generator interface module (Q173DPX)..............................................APP-74

APPENDIX 5.4 Battery holder ..............................................................................................................APP-75

APPENDIX 5.5 Connector ....................................................................................................................APP-76

APPENDIX 5.6 Manual pulse generator (MR-HDP01) ........................................................................APP-78

cables........................................................................................................APP-66

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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

Q170MCPU Motion controller User's Manual

This manual explains specifications of the Q170MCPU Motion controller, Q172DLX Servo external signal

interface module, Q173DPX Manual pulse generator interface module, Servo amplifiers, SSCNET

cables, and the maintenance/inspection for the system, trouble shooting and others.

(Optional)

Q173DCPU/Q172DCPU Motion controller Programming Manual (COMMON)

This manual explains the Multiple CPU system configuration, performance specifications, common

parameters, auxiliary/applied functions, error lists and others.

(Optional)

Manual Name

Manual Number

(Model Code)

IB-0300156

(1XB941)

IB-0300134

(1XB928)

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

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

(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)

Motion controller Setup Guidance (MT Developer2 Version1)

This manual explains the items related to the setup of the Motion controller programming software

MT Developer2.

IB-0300135

(1XB929)

IB-0300136

(1XB930)

IB-0300137

(1XB931)

IB-0300142

(

— )

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(2) PLC

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

This manual explains the specifications of the QCPU modules, power supply modules, base units,

extension cables, memory card battery, and the maintenance/inspection for the system, trouble shooting,

error codes and others.

(Optional)

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

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

with the QCPU.

(Optional)

QCPU User's Manual (Multiple CPU System)

This manual explains the Multiple CPU system overview, system configuration, I/O modules,

communication between CPU modules and communication with the I/O modules or intelligent function

modules.

(Optional)

Manual Name

Manual Number

(Model Code)

SH-080483ENG

(13JR73)

SH-080807ENG

(13JZ27)

SH-080485ENG

(13JR75)

QnUCPU User's Manual (Communication via Built-in Ethernet Port)

This manual explains functions for the communication via built-in Ethernet port of the CPU module.

(Optional)

MELSEC-Q/L Programming Manual (Common Instruction)

This manual explains how to use the sequence instructions, basic instructions, application instructions and

micro computer program.

(Optional)

MELSEC-Q/L/QnA Programming Manual (PID Control Instructions)

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

(Optional)

MELSEC-Q/L/QnA Programming Manual (SFC)

This manual explains the system configuration, performance specifications, functions, programming,

debugging, error codes and others of MELSAP3.

(Optional)

I/O Module Type Building Block User's Manual

This manual explains the specifications of the I/O modules, connector, connector/terminal block

conversion modules and others.

(Optional)

SH-080811ENG

(13JZ29)

SH-080809ENG

(13JW10)

SH-080040

(13JF59)

SH-080041

(13JF60)

SH-080042

(13JL99)

A - 16

(3) Servo amplifier

SSCNET Compatible MR-J3- B Servo amplifier Instruction Manual

This manual explains the I/O signals, parts names, parameters, start-up procedure and others for

MR-J3-

(Optional)

SSCNET interface 2-axis AC Servo Amplifier MR-J3W- B Servo amplifier Instruction

Manual

This manual explains the I/O signals, parts names, parameters, start-up procedure and others for 2-axis

AC Servo Amplifier MR-J3W-

(Optional)

SSCNET Compatible Linear Servo MR-J3- B-RJ004 Instruction Manual

This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Linear

Servo MR-J3-

(Optional)

SSCNET Compatible Fully Closed Loop Control MR-J3- B-RJ006 Servo amplifier

Instruction Manual

This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Fully

Closed Loop Control MR-J3-

(Optional)

SSCNET interface Drive Safety integrated MR-J3- B Safety Servo amplifier Instruction

Manual

This manual explains the I/O signals, parts names, parameters, start-up procedure and others for safety

integrated MR-J3-

(Optional)

B Servo amplifier.

B-RJ004 Servo amplifier.

Manual Name

B Servo amplifier.

B-RJ006 Servo amplifier.

B Safety Servo amplifier.

Manual Number

(Model Code)

SH-030051

(1CW202)

SH-030073

(1CW604)

SH-030054

(1CW943)

SH-030056

(1CW304)

SH-030084

(1CW205)

A - 17

MEMO

A - 18

1 OVERVIEW

1. OVERVIEW

1.1 Overview

This User's Manual describes the hardware specifications and handling methods of the Motion Controller Q170MCPU for the Q series PLC Multiple CPU system. The Manual also describes those items related to the specifications of the option module for the Motion controller, Manual pulse generator and cables.

Generic term/Abbreviation Description

Q170MCPU or Motion controller Q170MCPU Motion controller

Q172DLX/Q173DPX or Motion module

MR-J3(W)- B Servo amplifier model MR-J3- B/MR-J3W- B

AMP or Servo amplifier General name for "Servo amplifier model MR-J3- B/MR-J3W- B"

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

PLC CPU area

Motion CPU area

CPUn

Operating system software General name for "SW DNC-SV Q "

SV13

SV22

Programming software package General name for MT Developer2/GX Developer/MR Configurator

MELSOFT MT Works2

MT Developer2

GX Developer

MR Configurator

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

SSCNET

Absolute position system

Intelligent function module

(Note-2)

In this manual, the following abbreviations are used.

Q172DLX Servo external signals interface module/ Q173DPX Manual pulse generator interface module

PLC control area (CPU No.1) of Q170MCPU Motion controller

Motion control area (CPU No.2) of Q170MCPU Motion controller

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

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

(Note-1)

SW8DNC-SV13Q Operating system software for automatic machinery use (Motion SFC) : SW8DNC-SV22Q

Abbreviation for "Motion controller engineering environment MELSOFT MT Works2"

(Note-1) : This software is included in Motion controller engineering environment "MELSOFT MT Works2".

(Note-2) : SSCNET: S

Abbreviation for "Motion controller programming software MT Developer2 (Version 1.05F or later)"

Abbreviation for "MELSEC PLC programming software package GX Developer (Version 8.74C or later)" Abbreviation for "Servo setup software package MR Configurator (Version C2 or later)"

High speed synchronous network between Motion controller and servo amplifier General name for "system using the servomotor and servo amplifier for absolute position"

Abbreviation for "CC-Link IE module/CC-Link module/MELSECNET/10(H) module/Ethernet module/Serial communication module"

ervo System Controller NETwork

1 - 1

1 OVERVIEW

REMARK

For information about each module, design method for program and parameter, refer

PLC CPU area, peripheral devices for PLC program design,

I/O modules and intelligent function module

Operation method for MT Developer2 Help of each software

• Multiple CPU system configuration

• Performance specification

• Design method for common parameter

• Auxiliary and applied functions (common)

• Design method for Motion SFC program

SV13/SV22

SV22

(Virtual mode)

• Design method for Motion SFC parameter

• Motion dedicated PLC instruction

• Design method for positioning control

• Design method for mechanical system

to the following manuals.

Item Reference Manual

program in the real mode

parameter

program

MELSEC-Q series PLC Manuals,

Manual relevant to each module

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 Comparison between Q170MCPU and Q173DCPU/Q172DCPU

Item Q170MCPU Q173DCPU Q172DCPU

Power supply Built-in (24VDC) Power supply module (24VDC, 100VAC, 200VAC)

PLC CPU area Q03UDCPU or equivalent (20k steps) QnUD(E)(H)CPU

Program capacity 20k steps 30k to 260k steps

LD instruction processing speed 0.02µs 0.0095 to 0.02µs

Motion CPU area Q172DCPU or equivalent (16 axes) Q173DCPU Q172DCPU

Forced stop input Use forced stop input terminal

Main base unit None

Extension base unit 1 extension (Q52B/Q55B usable) 7 extensions

Base unit

GOT bus

connection

Q172DLX 2 modules 4 modules 1 module

Motion

module

Battery Demand

Q6BAT Packed together with Motion controller

Q7BAT (Large capacity) Usable (sold separately) Unusable

Multiple CPU

system

Mounting method

Exterior dimensions [mm(inch)]

Medium of operating system

software

Model of

operating system

software

tool

Q172DEX Unusable 6 modules 4 modules

Q173DPX

Base unit for

installation

Number of CPUs 2 modules 2 to 4 modules

CPU No.1 PLC CPU area PLC CPU module, C controller module

CPU No.2 Motion CPU area

CPU No.3 —

CPU No.4 —

SV13 SW8DNC-SV13QG SW8DNC-SV13QB SW8DNC-SV13QD

SV22 SW8DNC-SV22QF SW8DNC-SV22QA SW8DNC-SV22QC

SV43 — SW7DNC-SV43QA SW7DNC-SV43QC

PLC CPU area GX Developer Programming

Motion CPU area MT Developer2

(1) Comparison of hardware

Multiple CPU high speed main base unit

(Q38DB/Q312DB)

• Extension base unit use:

Connection after the extension base

unit of stage 1

• Extension base unit not use:

Direct bus connection to Motion

controller

(Note-1)

Be sure to mount Motion controller on

control panel by fixing screws

178 (7.01)(H)

(Note-1): When using the incremental synchronous encoder (SV22 use), you can use above number of modules.

When connecting the manual pulse generator, you can use only 1 module.

3 modules 4 modules 3 modules

Extension base unit

52 (2.05)(W)

135 (5.31)(D)

Bus connection on main base unit or extension base unit

Main base unit, Extension base unit

(Impossible to install on I/O slots of 0 to 2 main base unit)

PLC CPU module, Motion CPU module,

C controller module

Be sure to install Motion CPU modules on main base unit

by fixing screws

98 (3.85)(H)

CD-ROM (1 disk)

27.4 (1.08)(W) 119.3 (4.69)(D)

1 - 3

1 OVERVIEW

Item Q170MCPU Q173DCPU Q172DCPU

Number of control axes Up to 16 axes Up to 32 axes Up to 8 axes

Operation cycle

(default)

Interpolation functions Linear interpolation (Up to 4 axes), Circular interpolation (2 axes), Helical interpolation (3 axes)

Control modes

Acceleration/deceleration control Automatic trapezoidal acceleration/deceleration, S-curve acceleration/deceleration

Compensation Backlash compensation, Electronic gear, Phase compensation (SV22)

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

Servo program capacity 16k steps

Number of positioning points 3200 points (Positioning data can be designated indirectly)

Peripheral I/F

Home position return function

JOG operation function Provided

Manual pulse generator

operation function

Synchronous encoder operation

function

M-code function

Limit switch output function

ROM operation function Provided

External input signal Q172DLX or External input signals (FLS/RLS/DOG) of servo amplifier

High-speed reading function

Forced stop

Number of I/O points

Mark detection function Provided Not provided

USB/RS-232 PLC CPU area control PLC CPU module control

PERIPHERAL I/F Motion CPU area control None

(2) Comparison of Motion control specifications

SV13

SV22

SV43 —

• Possible to connect 3 channels

(Q173DPX use)

• Possible to connect 1 channel (Q170MCPU's internal I/F use)

0.44ms/ 1 to 6 axes

0.88ms/ 7 to 16 axes

0.44ms/ 1 to 4 axes

0.88ms/ 5 to 12 axes

1.77ms/13 to 16 axes

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

Position follow-up control, Speed control with fixed position stop, Speed switching control,

High-speed oscillation control, Synchronous control (SV22)

Speed-position control

(External input signal (DOG) of servo

amplifier usable)

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

Stopper type (2 types), Limit switch combined type

Count type (3 types)

(External input signal (DOG) of servo

amplifier usable)

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

(Note-1)

Possible to connect 8 channels

(SV22 use)

ABS synchronous encoder unusable

Via internal I/F/input module,

Via tracking of Q173DPX

EMI connector of Motion controller, Forced stop input setting in the system setting,

Total 256 points

(Internal I/F (Input 4 points, Output 2

points) + I/O module)

(Note-2)

M-code output function provided,

M-code completion wait function provided

Number of output points 32 points

Watch data: Motion control data/Word device

Forced stop signal (EM1) of the servo amplifier

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

Possible to connect 3 channels (Q173DPX use)

Possible to connect 12

channels (SV22 use)

Via input module, Via tracking of Q172DEX/Q173DPX

0.44ms/ 1 to 6 axes

0.88ms/ 7 to 8 axes

0.44ms/ 1 to 4 axes

0.88ms/ 5 to 8 axes

Speed-position control

Count type (3 types)

Possible to connect 8

channels (SV22 use)

Total 256 points

1 - 4

1 OVERVIEW

Item Q170MCPU Q173DCPU Q172DCPU

Clock data setting Clock synchronization between Multiple CPU

Absolute position system

Number of SSCNET systems

(Note-3)

PLC module which can be control

by Motion CPU (area)

(Note-1) : When the manual pulse generator is used with the Q170MCPU's internal I/F, do not set the Q173DPX in the System Settings.

(Note-2) : Any incremental synchronous encoder connected to the Q170MCPU's internal I/F will automatically be assigned an Axis No.

one integer greater than the number of encoders connected to any Q173DPX modules.

(Note-3) : The servo amplifiers for SSCNET cannot be used.

Comparison of Motion control specifications (continued)

Made compatible by setting battery to servo amplifier.

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

1 system 2 systems 1 system

Interrupt module, Input module, Output module, Input/Output composite module,

Analogue input module, Analogue output module

1 - 5

1 OVERVIEW

Motion SFC program

capacity

Motion SFC program

Operation control

program (F/FS)

Transition program

(G)

Execute specification

Number of I/O points (X/Y) 8192 points

Number of real I/O points (PX/PY)

Number of devices

(Device In the Motion

CPU (area) only)

(Included the

positioning dedicated

device)

(3) Comparison of Motion SFC performance specifications

Item Q170MCPU Q173DCPU/Q172DCPU

Code total

(Motion SFC chart + Operation control +

Transition)

Text total

(Operation control + Transition)

Number of Motion SFC programs 256 (No.0 to 255)

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

Number of Motion SFC steps/program Up to 4094 steps

Number of selective branches/branch 255

Number of parallel branches/branch 255

Parallel branch nesting Up to 4 levels

Number of operation control programs

Number of transition programs 4096(G0 to G4095)

Code size/program Up to approx. 64k bytes (32766 steps)

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

Number of characters/block Up to 128 (comment included)

Number of operand/block Up to 64 (operand: constants, word device, bit devices)

( ) nesting/block Up to 32 levels

Descriptive

expression

Number of multi execute programs Up to 256

Number of multi active steps Up to 256 steps/all programs

Executed

task

Internal relays (M) 12288 points

Link relays (B) 8192 points

Annunciators (F) 2048 points

Special relays (SM) 2256 points

Data registers (D) 8192 points

Link registers (W) 8192 points

Special registers (SD) 2256 points

Motion registers (#) 12288 points

Coasting timers (FT) 1 point (888μs)

Multiple CPU area devices (U

Operation control program Calculation expression/bit conditional expression

Transition program

Normal task Execute in main cycle of Motion controller

Event task

(Execution

can be

masked.)

NMI task

Fixed cycle

External interrupt

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

\G)

4096 with F(Once execution type) and FS(Scan execution type)

combined. (F/FS0 to F/FS4095)

Calculation expression/bit conditional expression/

comparison conditional expression

Execute in fixed cycle

(0.44ms, 0.88ms, 1.77ms,

3.55ms, 7.11ms, 14.2ms)

Execute when input ON is set among interrupt module QI60

Total 256 points

(Internal I/F (Input 4 points,

Output 2 points) + I/O module)

Up to 14336 points usable

(Note): Usable number of points changes according to the system settings.

543k bytes

484k bytes

(16 points).

Execute in fixed cycle

(0.88ms, 1.77ms, 3.55ms,

7.11ms, 14.2ms)

256 points

(Note)

1 - 6

1 OVERVIEW

Drive module

Control units

Program language Dedicated instructions (Servo program + mechanical system program)

Number of

modules

which can be

set per CPU

Cam

Output

module

Drive module

Virtual axis

Transmission

module

Output

module

(4) Comparison of Mechanical system program specifications

Item Q170MCPU Q173DCPU Q172DCPU

Virtual servomotor

Synchronous encoder

Roller

Ball screw

Rotary table degree

Cam mm, inch, PLS

Virtual servomotor 16 32 8

Synchronous encoder 8

Virtual main shaft 16 32 8

Virtual auxiliary input

axis

Gear 32 64 16

Direct clutch

Smoothing clutch

Speed change gear 32 64 16

Differential gear 16 32 8

Differential gear to

main shaft

Roller 16 32 8

Ball screw 16 32 8

Rotary table 16 32 8

Cam 16

Types

Resolution per cycle

Memory capacity 132k bytes

Storage memory for

cam data

Stroke resolution 32767

Control mode Two-way cam/feed cam

(Note-1): Relation between a resolution per cycle of cam and type are shown below.

Resolution per cycle 256 512 1024 2048

Type 256 128 64 32

Total 24

Total 32

32 64 16

16 32 8

Total 16

256 • 512 • 1024 • 2048

CPU internal RAM memory

PLS

mm, inch

Up to 256

Total 44

Total 64

Total 32

(Note-1)

Total 16

Total 8

1 - 7

1 OVERVIEW

PLC CPU area Q03UDCPU or equivalent (20k steps) QnUD(E)(H)CPU

Control method Sequence program control method

I/O control mode Refresh mode

Sequence control language

Processing speed

(sequence instruction)

Total number of instructions 858

Operation (floating point operation) instruction Yes

Character string processing instruction Yes

PID instruction Yes

Special function instruction (Trigonometric function,

square root, exponential operation, etc.)

Constant scan 0.5 to 2000ms (Setting available in 0.5ms unit.)

Program capacity 20k steps 30k to 260k steps

CPU shared memory

No. of I/O device points (X/Y) 8192 points

No. of I/O points (X/Y)

Internal relay (M) 8192 points

Latch relay (L) 8192 points

Link relay (B) 8192 points

Timer (T) 2048 points

Retentive timer (ST) 0 points

Counter (C) 1024 points

Data register (D) 12288 points

Link register (W) 8192 points

Annunciator (F) 2048 points

Edge relay (V) 2048 points

Link special relay (SB) 2048 points

Link special register (SW)

File register (R, ZR) 98304 points 98304 to 655360 points

Step relay (S) 8192 points

Index register/Standard devise register (Z) 20 points

Index register (Z)

(32-bit modification specification of ZR device)

Pointer (P) 4096 points

Interrupt pointer (I) 256 points

Special relay (SM) 2048 points

Special register (SD) 2048 points

Function input (FX) 16 points

Function output (FY) 16 points

Function register (FD) 5 points

Local device Yes

(5) Comparison of PLC CPU area control and performance

Item Q170MCPU Q173DCPU/Q172DCPU

Relay symbol language (ladder), logic symbolic language (list),

MELSAP3 (SFC), MELSAP-L, Structured text (ST)

LD instruction 0.02 μs 0.0095 to 0.02 μs

MOV instruction 0.04 μs 0.019 to 0.04 μs

PC MIX value (instruction/μs) 28 28 to 60

Floating point addition 0.12 μs 0.057 to 0.12 μs

Yes

QCPU standard memory 8k bytes

Multiple CPU high speed

transmission area

512 points

(Up to 320 points (64 points

modules) is usable with I/O module.)

Points by default

(changeable by parameters)

(Index register (Z) is used in double words.)

32k bytes

2048 points

Up to 10 points (Z0 to Z18)

4096 points

1 - 8

1 OVERVIEW

Device initial values Yes

Extension base unit

PC type when program is made by GX Developer Q03UDCPU QnUD(E)(H)CPU

Comparison of PLC CPU area control and performance (continued)

Item Q170MCPU Q173DCPU/Q172DCPU

Number of extension 1 extension (Q52B/Q55B usable) 7 extensions

• Extension base unit use:

Connection after the extension base

GOT bus connection

unit of stage 1

• Extension base unit not use:

Direct bus connection to Motion

controller

Bus connection on main base unit or

extension base unit

1 - 9

1 OVERVIEW

1.3 Restrictions by the software's version or serial number

There are restrictions in the function that can be used by the version of the operating system software and programming software, or the serial number of Motion controller.

Function

Mark detection function 00H 1.06G

Q170MCPU's internal I/F

(I/O signals (DI/DO))

Q170MCPU's internal I/F

(Manual pulse generator, Incremental

synchronous encoder)

MC protocol communication 00H 1.06G — APPENDIX 1.6

Incremental synchronous encoder

current value in real mode

(Note-1): SV13/SV22 is the completely same version.

(Note-2): The operating system software version can be confirmed in the operating system software (CD-ROM), installation display of

MT Developer2 or system monitor of GX Developer. (Refer to Section 2.2 or 2.3.)

(Note-3): Be sure to use the Motion controller since the first digit "F" of serial number. The serial number can be confirmed with the rated

plate, or on the front of Motion controller. (Refer to Section 2.2.)

The combination of each version and a function is shown below.

Operating system

software version

(Note-1), (Note-2)

00H 1.06G

00H 1.06G —

00H — — APPENDIX 1.9

Programming software version

(MELSOFT MT Works2)

Serial number of

Motion controller

F********

—: There is no restriction by the version.

(Note-3)

Section of reference

APPENDIX 1.10

Section 2.5.1

1 - 10

2 SYSTEM CONFIGURATION

2. SYSTEM CONFIGURATION

This section describes the Motion controller (Q170MCPU) system configuration, precautions on use of system and configured equipments.

2.1 Motion System Configuration

(1) Equipment configuration in Q170MCPU system

Forced stop input cable

(Q170DEMICBL M)

(Note-1)

MITSUBISHI

LITHIUM BATTERY

PROGRAMMABLE CONTROLLER

Q6BAT

TYPE

Battery

(Q6BAT)

Motion controller

(Q170MCPU)

Extension cable

(QC B)

Extension of the Q series module

Motion module

(Q172DLX, Q173DPX)

Q5 B extension base unit

(Q52B, Q55B)

(Note-2)

MITSUBISHI

LITHIUM BATTERY

PROGRAMMABLE CONTROLLER

Large capacity battery holder

(Q170MBAT-SET)

PUSH

Q7BATTYPE

SSCNET cable

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

Servo amplifier

(MR-J3(W)- B)

It is possible to select the best according to the system.

(Note-1): Be sure to install the Battery (Q6BAT) to the Battery holder. (It is packed together with Q170MCPU.) (Note-2): Large capacity battery use (Q7BAT is included), sold separately.

I/O module/Intelligent

function module of the

Q series

2 - 1

+ 244 hidden pages

Mitsubishi Electronics Q170MCPU User Manual

SAFETY PRECAUTIONS

REVISIONS

INTRODUCTION

CONTENTS

About Manuals

1. OVERVIEW

1.1 Overview

1.2 Comparison between Q170MCPU and Q173DCPU/Q172DCPU

1.3 Restrictions by the software's version or serial number

2. SYSTEM CONFIGURATION

2.1 Motion System Configuration