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

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 :

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.

A - 2

3. For injury prevention

CAUTION

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

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

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

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

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

Doing so may lead to injuries.

4. Various precautions

Strictly observe the following precautions.

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

(1) System structure

CAUTION

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

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

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

the power shut off.

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

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

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

instruction manual. Other combinations may lead to faults.

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

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

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

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

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

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

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

brakes.

A - 3

CAUTION

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

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

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

and must not be used for normal braking.

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

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

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

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

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

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

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

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

(2) Parameter settings and programming

CAUTION

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

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

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

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

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

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

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

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

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

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

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

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

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

manual.

A - 4

CAUTION

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

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

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

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

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

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

program corresponding to the intelligent function module.

(3) Transportation and installation

CAUTION

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

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

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

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

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

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

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

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

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

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

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

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

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

A - 5

CAUTION

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

may lead to oil leaks.

Store and use the unit in the following environmental conditions.

Environment

Ambient

temperature

Ambient humidity

Storage

temperature

Atmosphere

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.

A - 6

(4) Wiring

CAUTION

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

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

on the output side of the servo amplifier.

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

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

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

when trouble occurs or the protective functions not functioning.

Servo amplifier

DOCOM

Control output signal

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.

A - 7

(6) Usage methods

CAUTION

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

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

parameters have been changed or after maintenance and inspection.

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

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

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

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

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

other equipment. Use the units with the following conditions.

Item Conditions

Input power According to each instruction manual.

Input frequency According to each instruction manual.

Tolerable momentary power failure According to each instruction manual.

(7) Corrective actions for errors

CAUTION

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

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

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

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

operated by emergency stop signals set externally.

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

Servomotor

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.)

A - 8

(8) Maintenance, inspection and part replacement

CAUTION

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

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

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

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

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

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

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

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

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

correctly.

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

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

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

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

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

absolute position detector function is correct.

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

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

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

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

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

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

A - 9

(9) About processing of waste

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

CAUTION

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

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

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

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

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

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

(10) General cautions

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

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

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

manual.

A - 10

REVISIONS

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

Print Date 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.

A - 11

INTRODUCTION

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

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

A - 12

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

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

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

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

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

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

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

4.2.1 SSCNET

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

A - 13

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

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

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

(

— )

A - 15

(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

2 SYSTEM CONFIGURATION

(2) Peripheral device configuration for the Q170MCPU

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

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

Motion controller

(Q170MCPU)

USB cable

Personal computer Personal computer

Motion controller

(Q170MCPU)

RS-232 communication cable

(QC30R2)

Personal computer

Part name Connection type Cable type Ethernet standard Module name

Connection with HUB Straight cable

Ethernet cable

Direct connection Crossover cable

(Note-1): Corresponding Ethernet cables

10BASE-T

100BASE-TX

10BASE-T

100BASE-TX

[Selection criterion of cable]

• Category : 5 or higher

• Diameter of lead : AWG26 or higher

• Shield : Copper braid shield and drain wire

Copper braid shield and aluminium layered type shield

Compliant with Ethernet standards, category 5 or higher.

• Shielded twisted pair cable (STP cable)

Motion controller

(Q170MCPU)

Ethernet cable

(Note-1)

2 - 2

2 SYSTEM CONFIGURATION

2.1.1 Q170MCPU System overall configuration

Motion controller

Q170MCPU

USB/RS-232

PERIPHERAL I/F

Personal computer IBM PC/AT

Forced stop input cable (Q170DEMICBL M)

Forced stop input (24VDC)

GOT

24VDC

Extension cable (QC B)

Extension base unit (Q52B/Q55B) Up to 1 extension

Q172DLX Q173DPX/QX

Panel personal computer

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

SSCNET

Manual pulse generator/

Incremental synchronous encoder 1 module

Input signal/Mark detection input signal (4 points) Output signal (2 points)

(Note)

Motion CPU area control module

Servo ext ernal

signals

interface module

Manual pulse

generator

interface module

FLS : Upper stroke limit RLS : Lower stroke limit STOP : Stop signal DOG/CHANGE : Proximity dog/Speed-position switching

PLC CPU area control module

I/O module/ Intelligent function

module (Up to 512 points)

Input/output (Up to 256 points)

Manual pulse generator/Incremental synchronous encoder 3/module (MR-HDP01)

External input signals Number of Inputs

MR-J3- B model Servo amplifier, Up to 16 axes

(Note): Interrupt module (QI60) and analog I/O module (Q6 AD/Q6 DA) can also be used as the Motion CPU area control module.

d02 d03 d16d01

External input sign als of servo amplifi er

Proximity dog/Speed-position switching Upper stroke limit Lower stroke limit

8 axes/module

CAUTION

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

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

The ratings and characteristics of the parts (other than Motion controller, servo amplifier and

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

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

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

2 - 3

2 SYSTEM CONFIGURATION

2.1.2 Q170MCPU System internal configuration

(1) What is Multiple CPU system for Q170MCPU ?

A Multiple CPU system for Q170MCPU is a system in which between the PLC CPU area and Motion CPU area are connected with the Multiple CPU high speed bus in order to control the I/O modules and intelligent function modules. PLC CPU area is fixed as CPU No.1, and Motion CPU area is fixed as CPU No.2. And, the Motion CPU area controls the servo amplifiers connected by SSCNET cable.

PLC CPU area (CPU No.1 fixed) Motion CPU area (CPU No.2 fixed)

Motion controller

Power supply

24VDC

Personal computer GX Developer MT Developer2

PLC control processor

PLC I/O module

(DI/O)

Device memory Device memory

Multiple CPU high speed transmission memory

Multiple CPU high speed bus

Multiple CPU high speed transmission memory

Motion control processor

Q series PLC system bus

PLC intelligent

function module

(A/D, D/A, Network etc.)

Manual pulse generator/Incremental synchronous encoder 1 module

Input signal/Mark detection input signal (4 points) Output signal (2 points)

Motion module

(Proximity dog signal, manual

pulse generator input)

Forced stop input (24VDC)

PERIPHERAL I/F

Personal computer MT Developer2

SSCNET

Servo amplifier

Servo external

input signals

(FLS, RLS, DOG)

Servomotor

(a) The device memory is the memory area for the bit devices (X, Y, M, etc.)

and word devices (D, W, etc.).

(b) The Multiple CPU high speed transmission memory between the PLC CPU

area and Motion CPU area can be communicated at 0.88ms cycles.

2 - 4

2 SYSTEM CONFIGURATION

2.1.3 Function explanation of the Q170MCPU Motion controller

(1) Whole

(a) The Multiple CPU high speed bus is equipped with between the PLC CPU

area and Motion CPU area. With this reserved Multiple CPU high speed bus, data transfer of 0.88ms period is possible for up to 14k words.

(b) Data transfer between the PLC CPU area and Motion CPU area is possible

by Multiple CPU high speed transmission memory or automatic refresh.

motion control cycle thus optimizing the control system.

(2) PLC CPU area

(a) The I/O modules, analog I/O modules, pulse I/O modules, positioning

modules, information modules and network can be controlled with the sequence program.

(b) The device data access and program start of the Motion CPU area can be

executed by the Motion dedicated PLC instructions.

interrupt program.

(3) Motion CPU area

(a) Up to 16 axes servo amplifiers per 1 system can be controlled in

Q170MCPU.

(b) It is possible to set the program which synchronized with the motion

operation cycle and executed at fixed cycle (0.44[ms], 0.88[ms], 1.77[ms],

3.55[ms], 7.11[ms], 14.2[ms]).

servo ON/OFF to servo amplifier and position commands, etc. by connecting between the Q170MCPU and servo amplifier with SSCNET

(d) It is possible to select the servo control functions/programming languages by

installing the corresponding operating system software in the Q170MCPU.

(e) Motion modules (Q172DLX/Q173DPX) are controlled with the Motion CPU

area, and the signals such as stroke limit signals connected to Motion modules and incremental synchronous encoder can be used as motion control.

(f) The synchronous control can be executed by using the incremental

synchronous encoder (up to 8 axes). The incremental synchronous encoder (1 axis) built-in Q170MCPU can also be used.

(g) The stroke limit signals and proximity dog signals connected to the servo

amplifiers can be used for the motion control.

(h) I/O controls (DI 4 points, DO 2 points) built-in Q170MCPU (Motion CPU

area) can be realized.

cable.

2 - 5

2 SYSTEM CONFIGURATION

(i) PLC I/O modules can be controlled with the Motion CPU area.

(Refer to Section 2.3(2).)

(j) Wiring is reduced by issuing the external signal (upper/lower stroke limit

signal, proximity dog signal) via the servo amplifier.

2 - 6

2 SYSTEM CONFIGURATION

2.1.4 Restrictions on Motion controller

(1) Only extension base unit (Q52B/Q55B) of type not requiring power supply module

can be used.

(2) Q170MCPU Multiple CPU system is composed of the PLC CPU area (CPU No.1

fixed) and Motion CPU area (CPU No.2 fixed). Other CPU (CPU No.3, CPU No.4) cannot be set.

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

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

(4) Execute the automatic refresh of the Motion CPU area and PLC CPU area by

using the automatic refresh of Multiple CPU high speed transmission area setting.

(5) The Motion modules, I/O modules and intelligent function modules, etc. can be

installed on the extension base unit only.

(6) The CPU modules cannot be installed on the extension base unit.

(7) When using the GOT with bus connection, connect the GOT after the extension

base unit of stage 1 in the case with the extension base unit use, and connect directly to the Motion controller in the case with the extension base unit unused.

(8) The synchronous encoder interface module Q172DEX/Q172EX(-S1/-S2/-S3)

cannot be used.

(9) Be sure to control the Motion modules (Q172DLX, Q173DPX) with the Motion

CPU area. They will not operate correctly if PLC CPU area is set by mistake.

(10) Q172LX/Q173PX(-S1) for Q173HCPU(-T)/ Q172HCPU(-T)/Q173CPUN(-T)/

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

(11) Motion CPU area cannot be set as the control CPU of intelligent function module

(except some modules) or Graphic Operation Terminal(GOT).

(12) Be sure to set the battery.

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

• Use a EMI connector of Q170MCPU.

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

(14) Forced stop input for EMI connector of Q170MCPU cannot be invalidated by the

parameter. When the device set in the forced stop input setting is used without use of EMI connector of Q170MCPU, apply 24VDC voltage on EMI connector and invalidate the forced stop input of EMI connector.

2 - 7

2 SYSTEM CONFIGURATION

(15) Be sure to use the cable for forced stop input. The forced stop cannot be

released without using it. Fabricate the cable for forced stop input on the customer side or purchase our products (sold separately).

(16) When the operation cycle is 0.4[ms], set the system setting as the axis select

rotary switch of servo amplifier "0 to 7". If the axis select rotary switch of servo amplifier "8 to F" is set, the servo amplifiers are not recognized.

(Note): The setting of axis select rotary switch differs according to the servo

(17) When the extension base units are used, make sure to configure the modules so

that the total current consumption of the Q170MCPU and individual modules on the extension base do not exceed the 5VDC output capacity of Q170MCPU power supply.

(18) The module name displayed by "System monitor" - "Product information list" of

GX Developer is different depending on the function version of Motion modules (Q172DLX, Q173DPX).

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

Module name

Q172DLX Q172LX Q172DLX

Q173DPX MOTION-UNIT Q173DPX

amplifier. Refer to the "Servo amplifier Instruction Manual" for details.

the online module change.

Model display

Function version "B" Function version "C"

2 - 8

2 SYSTEM CONFIGURATION

2.2 Checking Serial Number and Operating System Software Version

Checking for the serial number of Motion controller and Motion module, and the operating system software version are shown below.

2.2.1 Checking serial number

(1) Motion controller (Q170MCPU)

(a) Rating plate

The rating plate is situated on the side face of the Motion controller.

(b) Front of Motion controller

The serial number is printed in the projection parts forward of the lower side of Motion controller.

MITSUBISHI

MODE

ERR.

USER

BAT.

PULL

BOOT

USB

Q170MCPU

RUN

POWER

STOPRESET RUN

Rating plate

Serial number

MITSUBISHI

MOTION CONTROLLER

MODEL

Q170MCPU

SERIAL

B8Y054306

80M1 IND. CONT. EQ

US LISTED

MITSUBISHI ELECTRIC

JAPAN

RS-232

EMI

PASSED

PUSH

CARD

EJECT

FRONT

OUT

EXT.IO

24VDC

B8Y0 5 4 3 06

PERIPHERAL I/F

CN1

Serial number

The serial number can be checked on the system monitor screen in GX Developer. (Refer to Section 2.2.2.)

2 - 9

2 SYSTEM CONFIGURATION

(2) Motion module (Q172DLX/Q173DPX)

(a) Rating plate

The rating plate is situated on the side face of the Motion module.

(b) Front of Motion module

The serial No. is printed in the projection parts forward of the lower side of Motion module.

Q172DLX

Serial number

Q172DLX

CTRL

B86054999

MITSUBISHI

MOTION I/F UNIT

MODEL

Q172DLX

12/24VDC 2/4mA

SERIAL

B86054999

80M1 IND. CONT. EQ.

US LISTED

MITSUBISHI ELECTRIC

CLASS2 ONLY

JAPAN

PASSED

Rating plate

Serial numbe

REMARK

The serial number display was corresponded from the Motion modules manufactured in early April 2008.

2 - 10

2 SYSTEM CONFIGURATION

2.2.2 Checking operating system software version

The operating system software version can be checked on the system monitor screen in GX Developer. Select [Product Inf. List] button on the system monitor screen displayed on [Diagnostics] – [System monitor] of GX Developer.

Serial number of Motion controller

Operating system software version

2 - 11

2 SYSTEM CONFIGURATION

2.3 System Configuration Equipment

Part name Model name

(1) Motion controller related module

(Note-1)

Motion controller Q170MCPU

Servo external

signals interface

Q172DLX

module

Manual pulse

generator interface

Q173DPX

module

Manual pulse

generator

MR-HDP01

Battery Q6BAT

Large capacity

battery

Large capacity

battery holder

Internal I/F

connector set

Cable for forced

stop input

(Note-3)

Q7BAT

Q170BAT-SET Battery holder for Q7BAT (Attachment Q7BAT) ——

Q170MIOCON

Q170DEMICBL

Connector for

forced stop input

Q170DEMICON

cable

24VDC power

supply cable

Q170MPWCBL2M Length 2m(6.56ft.), With solderless terminal R1.25-3.5 ——

Q170MPWCBL2M-E

24VDC power

supply connector

(Note-3)

set

Extension base

(Note-4)

unit

Q170MPWCON

Q52B

Q55B

Description

Power supply, PLC CPU, Motion CPU, all-in-one type

(Attachment battery (Q6BAT), Internal I/F connector, 24VDC power

supply connector and connector for forced stop input cable)

• Motion CPU area

Up to 16 axes control, Operation cycle 0.44[ms] or more, Servo

program capacity 16k steps, Internal I/F (Incremental synchronous

encoder interface 1ch, Input signal/Mark detection input signal 4

points, Output signal 2 points)

• PLC CPU area

Program capacity 20k steps, LD instruction processing speed 0.02μs

Servo external signal input 8 axes

(FLS, RLS, STOP, DOG/CHANGE×8)

Manual pulse generator MR-HDP01/Incremental synchronous encoder

interface ×3, Tracking input 3 points

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

For memory data backup of RAM built-in Motion controller

Nominal current: 1800mAh

For memory data backup of RAM built-in Motion controller

Nominal current: 5000mAh

Incremental synchronous encoder/Mark detection signal interface

connector (Packed together Q170MCPU)

Length 0.5m(1.64ft), 1m(3.28ft), 3m(9.84ft), 5m(16.40ft), 10m(32.81ft),

15m(49.21ft), 20m(65.62ft), 25m(82.02ft), 30m(98.43ft)

Connector for forced stop input cable production

(Packed together Q170MCPU)

Length 2m(6.56ft.), With solderless terminal R1.25-3.5,

With EMI connector

Connector for 24VDC power supply cable

(Packed together Q170MCPU)

Number of I/O modules installed 2 slots, type not requiring power supply

module

Number of I/O modules installed 5 slots, type not requiring power supply

module

Current

consumption

5VDC[A]

(Note-2)

2.0

0.06

0.38

0.06

——

0.08

0.10

Remark

2 - 12

2 SYSTEM CONFIGURATION

Part name Model name

Extension cable

SSCNET cable

Motion controller related module (continued)

(Note-1)

Description

QC05B Length 0.45m(1.48ft.)

QC06B Length 0.6m(1.97ft.)

QC12B Length 1.2m(3.94ft.)

QC30B Length 3m(9.84ft.)

QC50B Length 5m(16.40ft.)

QC100B Length 10m(32.81ft.)

• Q170MCPU

MR-J3BUS M

MR-J3BUS M-A

MR-J3BUS

(Note-5)

(Note-1) : =Cable length (015: 0.15m(0.49ft.), 03: 0.3m(0.98ft.), 05: 0.5m(1.64ft.), 1: 1m(3.28ft.), 2: 2m(6.56ft.),

(Note-2) : The manual pulse generator or incremental synchronous encoder that consumes less than 0.2[A] of

current can be connected to the internal I/F connector.

(Note-3) : Be sure to use the cable for forced stop input (sold separately). The forced stop cannot be released

(Note-4) : 5VDC internal current consumption of shared equipments with PLC might be changed.

Be sure to refer to the MELSEC-Q series PLC Manuals.

(Note-5) : Please contact your nearest Mitsubishi sales representative for the cable of less than 30m(98.43ft.).

• Standard cord for inside panel

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

• Q170MCPU

• Standard cable for outside panel

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

• Q170MCPU

M-B

• Long distance cable

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

without using it.

Cable for forced stop input is not attached to the Motion controller. Please purchase the cable for length

according to system separately.

Current

consumption

5VDC[A]

——

MR-J3(W)- B/MR-J3(W)- B MR-J3(W)- B

——

MR-J3(W)- B/MR-J3(W)- B MR-J3(W)- B

——

MR-J3(W)- B/MR-J3(W)- B MR-J3(W)- B

——

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.)

Remark

2 - 13

2 SYSTEM CONFIGURATION

(2) PLC module which can be controlled by Motion CPU area

Part name Model name Description

AC QX10 100-120VAC, 7-8mA, 16 points, Terminal block

QX40 24VDC/4mA, Positive common, 16 points, Terminal block

High response, 24VDC/6mA, Positive common, 16 points, Terminal block

High speed, 24VDC/6mA, Positive common, 16 points, Terminal block

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

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

12VDC/5V, Positive common/Negative common shared, 16 points, Terminal block

High speed, 5VDC/6mA, Positive common, 16 points, Terminal block

12VDC/5V, Positive common/Negative common shared, 32 points, Terminal block

12VDC/5V, Positive common/Negative common shared, 64 points, Terminal block

High speed, 24VDC/6mA, Negative common, 16 points, Terminal block

High response, 24VDC/4mA, Negative common, 64 points, Connector High speed, 5VDC/6mA, Negative common, 16 points, Terminal block

240VAC/24VDC, 2A/point, 8A/common, 16 points/common, Terminal block

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

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, 0.1A/point, 2A/common, 32 points(32 points/common), Connector

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

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

Input

module

Output module

Contact output module

Sink Type

Transistor

Source Type

TTL•CMOS (Sink)

QX40-S1

QX40H

QX41 24VDC/4mA, Positive common, 32 points, Connector

QX41-S1

QX42 24VDC/4mA, Positive common, 64 points, Connector

QX42-S1

QX70

QX70H

QX71

QX72

QX80 24VDC/4mA, Negative common, 16 points, Terminal block

QX80H

QX81 24VDC/4mA, Negative common, 32 points, Connector

QX82-S1

QX90H

QY10

QY40P

QY41P

QY42P

QY50

QY80

QY81P

QY70

QY71

Current consumption

5VDC[A]

(Note-1)

0.05

(TYP, All points ON)

0.05

(TYP, All points ON)

0.06

(TYP, All points ON)

0.08

(TYP, All points ON)

0.075

(TYP, All points ON)

0.075

(TYP, All points ON)

0.09

(TYP, All points ON)

0.09

(TYP, All points ON)

0.055

(TYP, All points ON)

0.08

(TYP, All points ON)

0.07

(TYP, All points ON)

0.085

(TYP, All points ON)

0.05

(TYP, All points ON)

0.08

(TYP, All points ON)

0.075

(TYP, All points ON)

0.09

(TYP, All points ON)

0.08

(TYP, All points ON)

0.43

(TYP, All points ON)

0.065

(TYP, All points ON)

0.105

(TYP, All points ON)

0.15

(TYP, All points ON)

0.08

(TYP, All points ON)

0.08

(TYP, All points ON)

0.095

(TYP, All points ON)

0.095

(TYP, All points ON)

0.15

(TYP, All points ON)

Remark

(Note-2)

2 - 14

2 SYSTEM CONFIGURATION

Part name Model name Description

Input/Output

composite

module

Interrupt module QI60 24VDC/4mA, Positive common, 16 points, Terminal block

Analogue module

DC Input/

Transistor

output

PLC module which can be controlled by Motion CPU area(continued)

24VDC Positive common: 32 points

QH42P

QX48Y57

Q62AD-DGH

Q64AD 4ch, A/D conversion, Voltage • Current input 0.63

Q64AD-GH

Q68ADV 8ch, A/D conversion, Voltage input 0.64

Q68ADI 8ch, A/D conversion, Current input 0.64

Q62DA 2ch, D/A conversion, Voltage • Current output 0.33

Q62DA-FG

Q64DA 4ch, D/A conversion, Voltage • Current output 0.34

Q68DAV 8ch, D/A conversion, Voltage output 0.39

Q68DAI 8ch, D/A conversion, Current output 0.38

12-24VDC/0.1A Output Sink type: 32 points, Connector,

Provided (Thermal protectors, protector against short

circuit)

24VDC Positive common: 8 points

12-24VDC/0.5A Output Sink type: 7 points, Terminal block,

Provided (When face is broken, LED lights and signal is

output to CPU)

2ch, A/D conversion,

Current input (Channel-isolated • High resolution)

4ch, A/D conversion,

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

2ch, D/A conversion,

Voltage • Current output (Channel-isolated)

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

Be sure to refer to the MELSEC-Q series PLC Manuals.

(Note-2) : Connectors are not provided.

(3) PLC module which can be controlled by PLC CPU area

They are the same modules as the PLC modules which can be controlled by the universal model QCPU "Q03UDCPU". Refer to the MELSEC-Q series PLC Manuals.

(4) Servo amplifier

Part name Model name Description Remarks

MR-J3- B

MR-J3W- B For 2-axis type

MR-J3 series

servo amplifier

Battery MR-J3BAT

MR-J3- B-RJ006 For fully closed control

MR-J3- B-RJ004 For linear servo motor

MR-J3- B-RJ080W For direct drive motor

MR-J3-

BS For safety servo

Back-up for the absolute

position detection

Refer to the servo amplifier instruction

manuals.

Current consumption

5VDC[A]

(TYP, All points ON)

(Note-1)

0.13

0.08

0.06

0.33

0.89

0.37

Remark

(Note-2)

2 - 15

2 SYSTEM CONFIGURATION

(5) Operating system software

Application Software package

Conveyor assembly use SV13

Automatic machinery use SV22

(a) Operating system type/version

1) Confirmation method in the operating system (CD-ROM)

(b) Confirmation method in MT Developer2

The operating system(OS) type/version of connected Motion controller is displayed on the installation screen of MT Developer2.

(OS software)

SW8DNC-SV13QG

SW8DNC-SV22QF

a) OS software type b) OS software version c) Serial number

Example) When using Q170MCPU, SV22 and OS version 00G.

a) SW8DNC-SV22QF b) 00G

SV2 2QFVER00G

F or G: Q170MCPU

3: Motion SFC compatibility . : Motion SFC not compatibility

OS version

2 - 16

2 SYSTEM CONFIGURATION

(6) Programming software packages

(a) Motion controller engineering environment

MELSOFT MT Works2 (MT Developer2

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

(b) PLC software package

MR Configurator MRZJW3-SETUP221E

POINTS

When the operation of WindowsR is not unclear in the operation of this software, refer to the manual of Windows (Note): Windows

Corporation in the United States and/or other countries.

Part name Model name

)

(Note-1

)

Model name Software package

GX Developer SW8D5C-GPPW-E

Model name Software package

SW1DNC-MTW2-E

is either registered trademarks or trademarks of Microsoft

or guide-book from the other supplier.

2 - 17

2 SYSTEM CONFIGURATION

2.4 General Specifications

Item Specification

Operating ambient temperature 0 to 55°C (32 to 131°F)

Storage ambient temperature -25 to 75°C (-13 to 167°F)

Operating ambient humidity 5 to 95% RH, non-condensing

Storage ambient humidity 5 to 95% RH, non-condensing

Vibration resistance

Shock resistance 147m/s2 , 3 times in each of 3 directions X, Y, Z

Operating ambience No corrosive gases

Operating altitude 2000m(6561.68ft.) or less

Mounting location Inside control panel

General specifications of the Motion controller are shown below.

(Note-3)

Frequency Acceleration Amplitude Sweep count

Under intermittent

vibration

Under continuous

vibration

5 to 9Hz ——

9 to 150Hz 9.8m/s

5 to 9Hz ——

9 to 150Hz 4.9m/s

——

3.5mm

(0.138inch)

1.75mm

(0.069inch)

10 times each

in X, Y, Z

directions

(For 80 min.)

Overvoltage category

Pollution level

(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.

2.5 Specifications of Equipment

2.5.1 Q170MCPU Motion controller

This section describes the specification of the Motion controller.

(1) Basic specifications of Q170MCPU

Item Specification

Input voltage

(Note-1), (Note-2)

24VDC power supply

5VDC internal power

supply

Efficiency 80% (TYP)

Input method Connector

Allowable momentary power failure immunity

(Note-4), (Note-5)

Mass [kg] 0.9

Exterior dimensions [mm(inch)] 178 (7.01)(H) 52 (2.05)(W) 135 (5.31)(D)

POINTS

Inrush current

(Note-3)

Max. input current 1.36A

Max. supplied current 4.0A (Included Q170MCPU current consumption)

Q170MCPU current

consumption

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

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

(Manual pulse generator/Incremental synchronous

21.6 to 26.4VDC

2.0A

encoder: 0.2A)

10ms (at 24VDC input)

(Note-1) : Input power supply

Q170MCPU is rated for use with a 24VDC input power only. The Q170MCPU breaks down when 28VDC or more input.

(Note-2) : Select 24VDC power supply and electric wire within the range of 21.6 to

26.4VDC including any input ripple or spike voltage measured at the input connector of the Q170MCPU.

(Note-3) : Inrush current

Take care that the inrush current of several amperes may flow when the sharp square voltage is applied, or the power supply is turned ON with the mechanical switch. When selecting a fuse and breaker in the external circuit, take account of the blow out, detection characteristics and above matters.

(Note-4) : Allowable momentary power failure period

(Note)

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

will cause

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

(Note)

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

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 than

24VDC.

(Note-5) : Select 24VDC power supply with allowable momentary power failure

period of 20ms or more.

2 - 19

2 SYSTEM CONFIGURATION

(2) Motion control specifications/performance specifications

Item Specification

Number of control axes Up to 16 axes

SV13

Operation cycle

(default)

Interpolation functions

Control modes

Acceleration/

deceleration control

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

Peripheral I/F USB/RS-232 (PLC CPU area), PERIPHERAL I/F (Motion CPU area)

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 Total 256 points (Internal I/F (Input 4 points, output 2 points) + I/O module)

Mark detection function Provided

Clock function Provided

SV22

(a) Motion control specifications

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

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

Helical interpolation (3 axes)

PTP (Point to Point) control, Speed control, Speed-position control (External input signal

(DOG) of servo amplifier usable), Fixed-pitch feed, Constant speed control,

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

High-speed oscillation control, Synchronous control (SV22)

Automatic trapezoidal acceleration/deceleration,

S-curve acceleration/deceleration

3200 points

(Positioning data can be designated indirectly)

Proximity dog type (2 types), Count type (3 types, External input signal (DOG) of servo

amplifier usable), Data set type (2 types), Dog cradle type, Stopper type (2 types),

Limit switch combined type

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

Possible to connect 3 channels (Q173DPX use)

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

Possible to connect 8 channels (SV22 use, Incremental only)

M-code output function provided,

M-code completion wait function provided

Number of output points 32 points

Watch data: Motion control data/Word device

Provided

(Via internal I/F/input module, Via tracking of Q173DPX)

Motion controller forced stop (EMI connector, System setting),

Forced stop terminal of servo amplifier

(Note-1)

(Note-2)

2 - 20

2 SYSTEM CONFIGURATION

Item Specification

Security function Provided

All clear function Provided

Remote operation Remote RUN/STOP, Remote latch clear

Digital oscillation function Provided

Absolute position system

Number of SSCNET

systems

Motion related interface

module

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

(Note-2) : Any incremental synchronous encoder connected to the Q170MCPU's internal I/F will automatically be assigned

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

(Note-4) : When using the incremental synchronous encoder (SV22 use), you can use above number of modules.

(Note-3)

System Settings.

an Axis No. one integer greater than the number of encoders connected to any Q173DPX modules.

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

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

Q172DLX : 2 module usable

Q173DPX : 3 modules usable

(Note-4)

2 - 21

2 SYSTEM CONFIGURATION

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 (X/Y)

Number of devices

(Device In the Motion CPU

area only)

(Included the positioning

dedicated device)

(b) Motion SFC performance specifications

Item Specification

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)

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) Up to 14336 points

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

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

(0.44ms, 0.88ms, 1.77ms, 3.55ms, 7.11ms, 14.2ms)

Execute when input ON is set among interrupt module QI60

(Internal I/F (Input 4 points, Output 2 points) + I/O module)

543k bytes

484k bytes

Execute in fixed cycle

(16 points).

Total 256 points

1 point (888µs)

(Note)

2 - 22

2 SYSTEM CONFIGURATION

PLC CPU area

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 (80k byte)

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

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

Device initial values Yes

(3) PLC control specifications

Item Specification

Program capacity, number of I/O points and number of extensions

were limited to Q03UDCPU

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

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

LD instruction 0.02 μs

MOV instruction 0.04 μs

PC MIX value (instruction/μs) 28

Floating point addition 0.12 μs

Yes

QCPU standard memory 8k bytes

Multiple CPU high speed

transmission area

(Up to 320 points (64 points

Points by default

(changeable by parameters)

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

32k bytes

512 points

5 modules) is usable with I/O module.)

2048 points

Up to 10 points (Z0 to Z18)

2 - 23

2 SYSTEM CONFIGURATION

Item Specification

Extension base unit

PC type when program is made by GX Developer Q03UDCPU

PLC control specifications (continued)

Number of extensions 1 extension (Q52B/Q55B usable)

• Extension base unit use : Connection after the extension base unit of

GOT bus connection

• Extension base unit not use : Direct bus connection to Motion controller

stage 1

(4) Q170MCPU names of parts

23)

Side face Front face

17)

19)

MITSUBISHI

MODE

USER

PULL

BOOT

USB

RS-232

EJECT

Q170MCPU

RUN

ERR.

BAT.

EMI

20)

POWER

STOPRESET RUN

PERIPHERAL I/F

CN1

With front cover open, and battery holder remove

11)

12)

13)

14)

15)

16)

18)

USB

EJECT

MODE

ERR.

USER

BAT.

BOOT

RUN

EMI

SW1 SW2

POWER

STOPRESET RUN

PERIPHERAL I/F

CN1

25)

Bottom face

EXT.IO

21)

CARD

FRONT

OUT

24VDC

(Note)

PUSH

22)24)

(Note): Unusable

10)

EXT.IO

CARD

FRONT

OUT

24VDC

RIO

2 - 24

2 SYSTEM CONFIGURATION

No. Name Application

1) 7-segment LED Indicates the operating status and error information.

Rotary function select 1 switch

2) (SW1)

Rotary function select 2 switch

3) (SW2)

"POWER" LED

RUN/STOP/RESET switch

PERIPHERAL I/F connector

SSCNET

Internal I/F connector

24VDC power supply connector The DC power of 24VDC is connected.

Serial number display Displays the serial number described on the rating plate.

10)

"MODE" LED

11)

"RUN" LED

12)

CN1 connector

• Set the operation mode. (Normal operation mode, Installation mode, Mode operated by ROM, etc)

• Each switch setting is 0 to F. (Factory default in SW1 "A", SW2 "0" position)

• ON (red) : The internal power (5VDC) is ON.

• OFF : The internal power (5VDC) is OFF.

• Move to RUN/STOP RUN : Sequence program/Motion SFC program is started. STOP : Sequence program/Motion SFC program is stopped.

• RESET (Momentary switch) Set the switch to the "RESET" position 1 second or more to reset the hardware.

For communication I/F with peripheral devices

• Upper LED Remains flashing : It communicates with the personal computer. ON : It does not communicate with the personal computer.

• Lower LED Data transmission speed ON : 100Mbps OFF : 10Mbps

(Note-1)

Connector to connect the servo amplifier

Connector to connect the manual pulse generator/incremental synchronous encoder, or to input/output the signals. (Voltage-output/open-collector type, Differential-output type)

Indicates the mode of the PLC CPU area.

• ON (green) : Q mode

Indicates the operating status of the PLC CPU area.

• ON : During operation with the RUN/STOP/RESET switch set to "RUN".

• OFF : During stop with the RUN/STOP/RESET switch set to "STOP".

When an error is detected and operation must be halted due to the error.

• Remains flashing : Parameters or programs are written with the RUN/STOP/

RESET switch set to "STOP", and then the RUN/STOP/ RESET switch is turned from "STOP" to "RUN".

• To turn ON the "RUN" LED after writing the program, carry out the following steps.

1) Set the RUN/STOP/RESET switch in the order of "RUN" to "STOP" to "RUN".

2) Reset with the RUN/STOP/RESET switch.

3) Power ON the Motion controller again.

• To turn ON the "RUN" LED after writing the parameters, carry out the following steps.

1) Reset with the RUN/STOP/RESET switch.

2) Power ON the Motion controller again. (If the RUN/STOP/RESET is set in the order of "RUN" to "STOP" to "RUN" after changing the parameters, network parameters and intelligent function module parameters will not be updated.

2 - 25

2 SYSTEM CONFIGURATION

No. Name Application

Indicates the operating status of the PLC CPU area.

• ON : Detection of self-diagnosis error which will not stop operation, except battery error. (When operation continued at error detection is set in the

13) "ERR." LED

• OFF : Normal

• Remains flashing :Detection of error whose occurrence stops operation.

Indicates the operating status of the PLC CPU area.

14) "USER" LED

• ON : Annunciator (F) turned ON

• OFF : Normal

Indicates the operating status of the PLC CPU area.

• ON (yellow) : Occurrence of battery error due to reduction in battery voltage of the

15) "BAT." LED

• ON (green) : Turned ON for 5 seconds after restoring of data backup to the

• Remains flashing (green): Backup of data to the standard ROM by latch data

• OFF : Normal

Indicates the operating status of the PLC CPU area.

16) "BOOT" LED

• ON : Start of boot operation

• OFF : Non-execution of boot operation

• Connector to connect the peripheral devices for USB connection

17) USB connector

• Connect with the dedicated cable for USB

18) RS-232 connector

Forced stop input connector (EMI)

(Note-2)

19)

• Connector to connect the peripheral devices for RS-232 connection

• Connect with the dedicated cable (QC30R2) for RS-232

Input to stop all axes of servo amplifier in a lump

20) Memory card EJECT button Used to eject the memory card from the Motion controller

21) Memory card loading connector Connector used to load the memory card to the Motion controller

22) Battery holder

23) Module fixing screw hole

24) FG terminal Ground terminal connected with the shield pattern of the printed circuit board

25) Extension cable connector Connector for transfer of signals to/from the extension base unit.

(Note-1) : Put the SSCNET cable in the duct or fix the cable at the closest part to the Motion controller with bundle

material in order to prevent SSCNET

(Note-2) : Be sure to use the cable for forced stop input (sold separately). The forced stop cannot be released without

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

(Note-3) : Be sure to set the battery. The data (Refer to Section 6.5.) of RAM built-in Motion controller are not backed up if

the battery cable is not set correctly.

(Note-4) : Purchase the M5 screws.

(Note-3)

Battery holder to set the Q6BAT/Q7BAT

(Note-4)

Hole for screw used to fix to the control panel

parameter setting.)

Resetting with the RUN/STOP/RESET switch becomes valid.

memory card.

standard ROM by the latch data backup is completed.

backup is completed.

(Connector type mini B)

EMI ON (opened) : Forced stop EMI OFF (24VDC input) : Forced stop release

cable from putting its own weight on SSCNET connector.

2 - 26

2 SYSTEM CONFIGURATION

(5) 7-segment LED display

Item 7-segment LED Remark

Start

The LED displays/flashes in the combination with errors.

Initializing

It takes about 10 seconds to initialize

(RUN/STOP display).

Execute the power cycle of the Motion controller

if the operation stopped at initializing. It may be

Motion controller's hardware fault when it is not

improved.

Explain the error symptom (LED display) and get

advice from our sales representative for the

modules with failure.

Normal

Installation mode

Mode operated by

RAM

Operation

mode

STOP

RUN

Battery

error

Operating system software

not installed

Mode operated by

ROM

Early stage warning

(2.7V or less)

Final stage warning

(2.5V or less)

" remains flashing Normal operation

Steady "INS" display,

" remains flashing

Steady " . " display,

" remains flashing

Steady "STP" display

Steady "RUN" display

Steady "BT1" display

Steady "BT2" display

"A00" remains flashing

Mode to install the operating system software via

personal computer.

Mode to operate based on the user programs

and parameters stored in the RAM built-in Motion

controller.

Mode to operate after the user programs and

parameters stored in the FLASH ROM built-in

Motion controller are read to the RAM built-in

Motion controller.

Stopped the Motion SFC program with the PLC

READY flag (M2000) OFF.

Executed the Motion SFC with the PLC READY

flag (M2000) ON.

Displayed at battery voltage 2.7V or less.

Refer to Section "6.5 Battery".

Displayed at battery voltage 2.5V or less.

Refer to Section "6.5 Battery".

It becomes the status of installation mode when

the operating system software is not installed.

System setting error

Servo error

WDT error

" AL" flashes 3 times

Steady " L01" display

" AL" flashes 3 times

Steady " S01" display

Steady "..." display

2 - 27

System setting error of the Motion controller

Refer to the "Q173DCPU/Q172DCPU Motion

controller Programming Manual (COMMON)" for

details.

Servo error of the Motion controller

Refer to the Programming Manual of the

operating system software used for details.

Hardware fault or software fault

Refer to the Programming Manual of the

operating system software used for details.

2 SYSTEM CONFIGURATION

Item 7-segment LED Remark

Self diagnostic error

(Error related for Multiple CPU)

POINTS

(1) An error is displayed at the 7-segment LED, confirm the error code etc. using

MT Developer2.

(2) Refer to the Motion CPU error batch monitor of MT Developer2 or error list of

Programming Manual for error details.

(6) Rotary switch assignment

Rotary switch

(a) Rotary function select 1 switch (SW1)

(Note)

Setting

0 Normal mode Normal operation mode

A Installation mode

(b) Rotary function select 2 switch (SW2)

(Note)

Setting

" AL" flashes 3 times

Steady " A1" display

(Self-diagnosis error)

4-digits error code is

displayed in two sequential

flashes of 2-digits each.

(ex. error code [3012])

Setting error of the Multiple CPU system

Refer to the "Q173DCPU/Q172DCPU Motion

controller Programming Manual (COMMON)" for

details.

Mode Description

Installed the operating system software using

MT Developer2

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

Mode Description

Normal operation mode

0 Mode operated by RAM

6 Mode operated by ROM

Ethernet IP address

display mode

(Operation by the setting data and parameters

stored in the RAM built-in Motion controller.)

Mode to operate based on the setting data and

parameters wrote to the FLASH ROM built-in

Motion controller.

Mode to display the Ethernet IP address.

C SRAM clear SRAM "0" clear

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

CAUTION

Be sure to turn OFF the Motion controller's power supply before the rotary switch setting change.

2 - 28

2 SYSTEM CONFIGURATION

(7) Operation mode

Operation mode 7-segment LED Operation overview

Installation mode

Mode operated by

RAM

Mode operated by

ROM

Ethernet IP address

display mode

SRAM clear

(a) Rotary switch setting and operation mode

Rotary switch setting

SW1 SW2

A Any setting (Except C) Installation mode

0 0 Mode operated by RAM

0 6 Mode operated by ROM

0 8 Ethernet IP address display mode

Any setting C SRAM clear

(Note) : The data (Refer to Section 6.5) of RAM built-in Motion controller are cleared.

Operation mode

(Note)

(b) Operation mode overview

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

• Operating system software can be installed.

• It is STOP status regardless of the RUN/STOP/RESET switch position at the

front side of Motion controller.

• Digital oscilloscope function cannot be used.

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

• It operates based on the user programs and parameters stored in the RAM

built-in Motion controller.

• " . " remains flashing in the first digit and steady" . "display in the second digit

of 7-segment LED.

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

ROM built-in Motion controller are read to the RAM built-in Motion controller at

power supply on or reset of the Motion controller.

If the ROM writing is not executed, even if the user programs and parameters

are changed using the MT Developer2 during mode operated by ROM,

operation starts with the contents of the FLASH ROM built-in Motion controller

at next power supply on or reset.

Also, If the ROM writing is not executed, even if the auto tuning data are

reflected on the servo parameter of Motion controller by operation in the auto-

tuning setting, operation starts with the contents of the FLASH ROM built-in

Motion controller at next power supply on or reset.

Refer to next

page (c)

POINTS

• Refer to next page "(c) Ethernet IP address display mode overview".

• Digital oscilloscope function cannot be used.

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

• The data (Refer to Section 6.5) of RAM built-in Motion controller are cleared by

turning ON the Motion controller’s power supply after the rotary switch2 is set to

"C".

Be sure to turn OFF the Motion controller's power supply before the rotary switch setting change.

2 - 29

2 SYSTEM CONFIGURATION

7-segment LED Operation overview

Disconnect

IP address (ex. 192.168.3.39)

Subnet mask pattern

(Note)

(ex. 255.255.255.0)

Default router IP address (ex. 192.168.3.1)

Link status

(Note)

Connect (10Mbps)

Connect (100Mbps)

(Note): When the Ethernet parameters are not written in the Motion controller, the addresses

are displayed as follows.

• IP address : 192.168.3.39

• Subnet mask pattern : 255.255.255.0

• Default router IP address : 192.168.3.1

Full duplex

Half duplex

2 - 30

2 SYSTEM CONFIGURATION

(8) Internal I/F connector

(a) The pin layout of the Q170MCPU's internal I/F connector

Use the internal I/F connector on the front of the Q170MCPU to connect to manual pulse signals and incremental synchronous encoder signals. The following is the pin layout of the internal I/F connector as viewed from the front.

(Note-1)

(Note-6)

(Note-5)

(Note-4)

(Note-6)

Internal I/F connector

Pin No. Signal Name Pin No. Signal Name

1 0

3 2

n n

e e e e e e e e e e e e

e e

t t

7 6 5 4 3 2

N N N N N N N N N N N N

N N

t t t t t t t t t t t t

t t

(Note-3)

(Note-2)

(Note-6)

(Note-5)

(Note-4)

(Note-6)

Applicable connector model name

(Note-1): Input type from manual pulse generator/Incremental synchronous encoder switched by SEL . Not connected: Voltage-output/open-collector type SEL-SG connection: Differential-output type (Note-2): Voltage-output/open-collector type Connect the A-phase signal to HA, and the B-phase signal to HB. (Note-3): Differential-output type Connect the A-phase signal to HAH, and the A-phase inverse signal to HAL. Connect the B-phase signal to HBH, and the B-phase inverse signal to HBL. (Note-4): "COM1" is the common terminal of DI1, DI2, DI3 and DI4. (Note-5): "COM2" is the common terminal of DO1 and Do2. (Note-6): Do not connect to any of the terminal is explained as "No connect".

HDR type connector (HONDA TSUSHIN KOGYO CO., LTD.) HDR-E50MSG1+ connector HDR-E50LPH connector case

(Attachment)

REMARK

Be sure to use the Motion controller since the first digit "F" of serial number to use the mark detection function. Refer to Section 2.2 for the serial number.

2 - 31

2 SYSTEM CONFIGURATION

(b) Input signal/Mark detection

Number of input points 4 points

Input method Positive common/Negative common shared

Isolation method Photocoupler

Rated input voltage 24VDC

Rated input current (IIN) Approx. 5mA

Operating voltage range

ON voltage/current 17.5VDC or more/3.5mA or more

OFF voltage/current 5VDC or less/0.9mA or less

Input resistance Approx. 5.6k

Response time

Common terminal arrangement 4 points/common (Common contact: COM1)

Indicates to display None

1) Specifications of input signal/mark detection input signal

Item Specifications

OFF to ON

ON to OFF

output

2) Interface between input signal/mark detection input signal

Signal name

(24VDC

Pin No. Input or

1 2 3 4

21.6 to 26.4VDC

10%, ripple ratio 5% or less)

1ms or less

Wiring

example

Internal circuit Description

(Note-1)

COM1

Input

Input/

Mark detection

signal input

3 28 4 29

(Note-1): =1 to 4

(Note-2): As for the 24VDC sign, both "+" and "-" are possible.

24VDC

(Note-2)

Signal input,

Mark detection

signal input

2 - 32

2 SYSTEM CONFIGURATION

Number of output points 2 points

Output method Sink/Source type

Isolation method Photocoupler

Rated load voltage 24VDC 10%

Maximum load current (Iout) 40mA/point, 80mA/common

External power supply

Maximum voltage drop at ON (Vdorp) 2.75VDC or less

OFF voltage/current 11VDC or less/1.7mA or less

Input resistance Approx. 5.6k

Response time

Common terminal arrangement 2 points/common(Common contact: COM2)

Indicates to display None

1) Specifications of output signal

Item Specifications

OFF to ON

ON to OFF 1ms or less (Rated load, resistance load)

output

2) Interface between output signal

Signal name

(24VDC

Pin No. Input or

1 2

example

21.6 to 26.4VDC

10%, ripple ratio 5% or less)

1ms or less

Wiring

Internal circuit Description

(Note-1)

Output Output

COM2

6 31

(Note-1): =1 to 2

(Note-2): As for the 24VDC sign, both "+" and "-" are possible.

load

24VDC

(Note-2)

Signal output

2 - 33

2 SYSTEM CONFIGURATION

(d) Manual pulse generator/Incremental synchronous encoder input

1) Specifications of manual pulse generator/incremental synchronous

Signal input form Phase A/Phase B

Differential-output

type

(26LS31 or

equivalent )

encoder

Item Specifications

Maximum input pulse

frequency

Pulse width 1µs or more

Leading edge/trailing edge

time

Phase difference 0.25µs or more

High-voltage 2.0 to 5.25VDC

Low-voltage 0 to 0.8VDC

Differential voltage 0.2V

Cable length 30m (98.43ft.)

1Mpps (After magnification by 4, up to 4Mpps)

0.25µs or less

0.5 s

1 s

0.5 s

Phase A

0.25 s

Example of waveform

Phase B

0.25 s 0.25 s

(Note): Duty ratio 50%

200kpps

Maximum input pulse

frequency

(After magnification by 4, up to 800kpps)

Pulse width 5µs or more

Leading edge/trailing edge

time

1.2µs or less

Phase difference 1.2µs or more

High-voltage 3.0 to 5.25 VDC

Voltage-output/

Open-collector

type

Low-voltage 0 to1.0VDC

Cable length 10m (32.81ft.)

5 s

2.5 s 2.5 s

Phase A

1.2 s

Example of waveform

Phase B

1.2 s

(Note): Duty ratio 50%

1.2 s

POINT

Use a manual pulse generator or an incremental synchronous encoder that

consumes less than 0.2[A] of current.

2 - 34

2 SYSTEM CONFIGURATION

2) Interface between manual pulse generator (differential-output type)/

Input or Output

Input

Power supply

Signal name Pin No. Wiring example Internal circuit Specification Description

Manual pulse generator, phase A

Manual pulse generator, phase B

A+

HAH

A-

HAL

B+

HBH

B-

HBL

Select type signal SEL

(Note-1)

incremental synchronous encoder

45 46

47 48 50

Manual pulse

generator/

Incremental

synchronous

encoder

(Note-2)

Power supply

5VDC

Rated input voltage

5.5VDC or less

HIGH level

2.0 to 5.25VDC

LOW level

0.8VDC or less

26LS31 or equivalent

For connection manual pulse generator/ incremental synchronous encoder Phases A, B

Pulse width

1 s or more

0.5 s

0.5 s or more

or more

(Duty ratio: 50%)

Leading edge, Trailing edge time 0.25 s or less

Phase difference

Phase A

Phase B

(1) Positioning address increases if Phase A leads Phase B.

(2) Positioning address decreases if Phase B leads Phase A.

2.5 s or more

(Note-1): The 5V(P5)DC power supply from the Q170MCPU must not be used if a separate power supply is applied to the manual pulse generator/incremental synchronous encoder. If a separate power supply is used, be sure it is 5V voltage. Anything else may cause a failure. (Note-2): Connect SEL to the SG terminal if the manual pulse generator (differential-output type) /incremental synchronous encoder is used.

2 - 35

2 SYSTEM CONFIGURATION

3) Interface between manual pulse generator (voltage-output/open-

Input or Output

Input

Power supply

Signal name Pin No. Wiring example Internal circuit Specification Description

Manual pulse generator, phase A HA

Manual pulse generator, phase B HB

Select type signal SEL

(Note-1)

collector type)/incremental synchronous encoder

Rated input voltage

5.5VDC or less

HIGH level 3 to 5.25VDC/ 2mA or less

LOW level 1VDC or less/ 5mA or more

45 46

47 48 50

Manual pulse

generator/

Incremental

synchronous

encoder

No connec t

Power supply

5VDC

For connection manual pulse generator/ incremental synchronous encoder Phases A, B

Pulse width

5 s or more

2.5 s

2.5 s or more

or more

(Duty ratio: 50%)

Leading edge, Trailing edge time 1.2 s or less

Phase difference

Phase A

Phase B

(1) Positioning address increases if Phase A leads Phase B.

(2) Positioning address decreases if Phase B leads Phase A.

2.5 s or more

2 - 36

2 SYSTEM CONFIGURATION

4) Connection examples of manual pulse generator/incremental

Manual pulse generator/

Q170MCPU

Signal name

HAH

HAL

HBH

HBL

SEL

Shell

(Note-2)

Shield

: Twist pair cable

Incremental synchronous encoder side

synchronous encoder

(Note-1)

Q170MCPU

Signal name

SEL

Shell

Voltage-output/Open-collector typeDifferential-output type

Manual pulse generator/ Incremental synchronous encoder side

(Note-1)

Shield

: Twist pair cable

(Note-1): The 5V(P5)DC power supply from the Q170MCPU must not be used if a separate power supply is applied to the manual pulse generator/incremental synchronous encoder. If a separate power supply is used, be sure it is 5V voltage. Anything else may cause a failure. (Note-2): Input type from manual pulse generator/incremental synchronous encoder switched by SEL. Not connected: Voltage-output/open-collector type SEL-SG connection: Difference-output type

CAUTION

If a separate power supply is applied to the manual pulse generator/incremental synchronous

encoder, be sure it is 5V voltage. Anything else may cause a failure. Always wire the cables when power is off. Not doing so may damage the circuit of modules. Wire the cable correctly. Wrong wiring may damage the internal circuit.

(e) Connection of manual pulse generator/incremental synchronous encoder

Manual pulse generators/incremental synchronous encoders of the voltageoutput/open-collector type and differential-output type can be connected. Both connection methods are different. (Refer to this section (8)(a).)

Motion controller

Q170MCPU (Internal I/F) Up to 1 module

Connectable manual pulse generator/

incremental synchronous encoder

2 - 37

2 SYSTEM CONFIGURATION

(f) Axis No. of manual pulse generator/incremental synchronous encoder

Any incremental synchronous encoder connected to the Q170MCPU's internal I/F will automatically be assigned an axis No. one integer greater than the number of encoders connected to any Q173DPX modules. The setting for the axis No. of manual pulse generator/incremental synchronous encoder used by the internal I/F and Q173DPX.

Q170M CPU

Internal I/F

(Note-1)

(Note-3)

1st 2nd 3rd

Q173DPXQ173DPXQ173D

P7 to P8

P4 to P6

P1 to P3

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

(Note-3)

(Note-2)

(Note-1): = Axis No. The following Axis No.s are automatically set depending on the number of Q173DPX modules. 0: P1 1: P4 2: P7 (Note-2): Q173DPX installed to the smallest slot number of the extension base unit is the 1st. (Note-3): Axis No. P1 to P3 of the ma nual pulse generator can be used.

Axis No.

0 1 2 3

—

Number of Q173DPXs

—

: Usable by internal I/F.

: Usable only by the 1st Q173DPX

: Usable only by the 2nd Q173DPX

: Usable only by the 3rd Q173DPX

—: Unusable

(9) PERIPHERAL I/F connector

Item Specification

Data transmission speed 100Mbps/10Mbps

Transmission

Communication mode Full-duplex/Half-duplex

Transmission method Base band

Cable length [m(ft.)] Up to 30 (98.43)

2 - 38

2 SYSTEM CONFIGURATION

(10) 24VDC power supply connector

24VDC power supply is supplied from the 24VDC power supply connector of the front face of the Motion controller. The pins layout (from front view) and connection of the 24VDC power supply connector is shown below.

• Applicable connector model name

24VDC power supply connector set (Q170MPWCON) (Attachment)

1-1827864-2 connector (Tyco Electronics AMP K.K. make)

1827587-2 terminal

• Crimping tool

Tool type : 1762846-1

Maker name : Tyco Electronics AMP K.K.

• Conductor size for power line

0.34 to 0.37mm

1A 1B

2A 2B

Pin No. Signal name Pin No. Signal name

(Note)

(Note): Use "1A" and "2A" when the 24VDC voltage is applied

(Note)

on EMI connector and the forced stop input of EMI connector is invalidated.

24V(+) 1B 24V(+)

24G 2B 24G

CAUTION

24V(+) pin is upper side and 24G pin is lower side of 24VDC power supply connector (from front

view) of Motion controller. If the polarity is wrong, the unit may be damaged. Recommend the use of twisted pair cabling for 24VDC power line Power off the Motion controller before wiring 24VDC power supply. Use proper size wire for 24VDC power line.

2 - 39

2 SYSTEM CONFIGURATION

(11) Selection of the modules used in the extension base unit

The modules used in the extension base unit are selected according to the total of current consumption of the modules, and peripheral devices (Manual pulse generator, Incremental synchronous encoder, etc.) supplied by the Motion controller and Motion controller internal power supply. 5VDC internal current consumption of shared equipments with PLC might be changed. Be sure to refer to the MELSEC-Q series PLC Manuals.

(a) Calculation example of module selection

Q170M CPU

Incremental synchronous encoder

QX40 QY40P Q62DAQ173D

QJ71 LP21-25

MR-HDP01

Q55B

• 5VDC current consumption of each module Q170MCPU : 2.00 [A] QY40P : 0.065 [A] Incremental synchronous encoder: 0.20 [A] QJ71LP21-25 : 0.55 [A] QX40 : 0.05 [A] Q62DA : 0.33 [A] Q173DPX : 0.38 [A] Q55B : 0.10 [A] MR-HDP01 : 0.06 [A]

• Power consumption of overall modules

5V = 2.00 + 0.20 + 0.05 + 0.38 + 0.06

2 + 0.065 + 0.55 + 0.33 + 0.10 = 3.795 [A] System configuration is possible because of the total of current consumption 3.795 [A] is the allowable value 4[A] or less.

POINT

Configure the system in such a way that the total current consumption at 5VDC of all the modules is the allowable value 4 [A] or less.

2 - 40

2 SYSTEM CONFIGURATION

2.5.2. Extension base unit and extension cable

This section describes the specifications of the extension cables for the base units (Extension base unit), and the specification standards of the extension base unit. 5VDC internal current consumption of base unit might be changed. Be sure to refer to the MELSEC-Q series PLC Manuals.

(1) Extension base unit specifications

Type

Item

Number of I/O modules 2 5

Possibility of extension Extendable

Applicable module Q series modules

5VDC internal current

consumption [A]

Fixing hole size M4 screw hole or 4.5 hole (for M4 screw)

Exterior dimensions

[mm(inch)]

Mass [kg] 0.14 0.23

Attachment Fixing screw M4 14 4 pieces

106(W) 98(H) 44.1(D)

(4.17(W) 3.86(H) 1.74(D) )

Q52B Q55B

0.08 0.10

189(W) 98(H) 44.1(D)

(7.44(W) 3.86(H) 1.74(D) )

(2) Extension cable specifications

The list below describes the specifications of the extension cables which can

Type

Item

Cable length[m(ft.)] 0.45(1.48) 0.6(1.97) 1.2(3.94) 3.0(9.84) 5.0(16.40) 10.0(32.81)

Application Connection between the Motion controller and extension base unit

Mass [kg] 0.15 0.16 0.22 0.40 0.60 1.11

be used.

QC05B QC06B QC12B QC30B QC50B QC100B

POINT

Use the extension cable of 10m (32.8ft.) or less.

2 - 41

2 SYSTEM CONFIGURATION

(3) Names of parts of the extension base unit

Names of parts of the extension base unit are described below.

(a) Extension base unit (Q52B, Q55B)

5)6)

OUT

I/O0 I/O1 I/O2 I/O3 I/O4

No. Name Application

Extension cable

1) connector

2) Base cover

Stage No. setting

3) connector

Connector for connecting an extension cable (for signal communications with the extension

base unit)

Protective cover of extension cable connector. Before the GOT is connected, the area

under the word "OUT" on the base cover must be removed with a tool such as nippers.

Connector for setting the number of stages of extension base units. (Used for setting in

stage 1.)

Connector for installing the Motion modules, I/O modules, and intelligent function module.

4) Module connector

To the connectors located in the spare space where these modules are not installed,

attach the supplied connector cover or the blank cover module (QG60) to prevent entry of

dirt.

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

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

2 - 42

2 SYSTEM CONFIGURATION

(4) I/O allocations

It is possible to allocate unique I/O No.s for each Motion CPU area independently of the PLC CPU area’s I/O No.s. ON/OFF data input to the Motion CPU area is handled via input devices PX while ON/OFF data output from the Motion CPU area is handled via output devices PY It is not mandatory to match the I/O device PX/PY No.s used in the Motion program with the PLC I/O No.s; but it is recommended to make them match as much as possible.

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

Q170MCPU

QX41

X0 to X1F

(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.

Q62DA

20 to 3F

PLC CPU area

control module

QY41

Y80 to Y9F

312 4

QX41

PX0 to PX1F

(X40 to X5F)

Motion CPU area

control module

QY41

PY20 to PY3F

(Y60 to Y7F)

Refer to the Q173DCPU/Q172DCPU Motion Controller Programming Manual (COMMON) about the I/O allocation setting method of the Motion CPU area, and refer to APPENDIX 1.7 and the "QnUCPU User's Manual (Function Explanation, Program Fundamentals)" about the I/O allocation setting method of the PLC CPU area.

POINT

I/O device of the Motion CPU area can be set in the range PX/PY000 to PX/PYFFF. The real I/O points must be 256 points or less. (As for the I/O No., it is possible not to continue.)

2 - 43

2 SYSTEM CONFIGURATION

2.5.3 Q172DLX Servo external signals interface module

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

(1) Q172DLX name of parts

Q172DLX

CTRL

No. Name Application

1) Module fixing hook

2) Input indicator LED

3) CTRL connector The servo external signal input connector of each axis.

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

Module fixing screw

5) hole

6) Module fixing projection Projection used to fix to the base unit.

7) Serial number display Display the serial number described on the rating plate.

Hook used to fix the module to the base unit.

(Single-motion installation)

Display the servo external input status from the external

equipment.

LED Details

0 to 1F

The proximity dog/speed-position switching signal (DOG/

CHANGE) does not turn ON without setting Q172DLX in the

system setting.

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

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

Display for servo external signal input status of

each axis.

Q172DLX

POINT

Input indicator LED of the proximity dog/speed-position switching signal (DOG/ CHANGE) turns ON at the following conditions.

• Q172DLX is set on the system setting of MT Developer2.

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

2 - 44

2 SYSTEM CONFIGURATION

(2) Performance specifications

Number of I/O occupying points 32 points(I/O allocation: Intelligent, 32 points)

Internal current consumption(5VDC) [A] 0.06

Exterior dimensions [mm(inch)]

Mass [kg] 0.15

Number of input points

Input method Sink/Source type

Isolation method Photocoupler

Rated input voltage 12/24VDC

Rated input current 12VDC 2mA/24VDC 4mA

Operating voltage range

ON voltage/current 10VDC or more/2.0mA or more

OFF voltage/current 1.8VDC or less/0.18mA or less

Input resistance Approx. 5.6k

Upper/Lower stroke limit and

STOP signal

proximity dog, Speed-

position switching signal

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

Indicates to display ON indication (LED)

External connector type 40 pin connector

Applicable wire size

Applicable connector for the external

connection

Applicable connector/

Terminal block converter module

(a) Module specifications

Item Specifications

(b) Input

Item Specifications

OFF to ON Response time of the

ON to OFF

OFF to ON Response time of the

ON to OFF

27.4(W) 90(D)

98(H)

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

Servo external signals : 32 points

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

Proximity dog/Speed-position switching signal)

1ms

0.3mm

8 axes)

(4 points

10.2 to 26.4VDC

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

0.4ms/0.6ms/1ms

(CPU parameter setting, Default 0.4ms)

A6CON1 (Attachment),

A6CON2, A6CON3, A6CON4 (Optional)

A6TBXY36, A6TBXY54, A6TBX70 (Optional)

2 - 45

2 SYSTEM CONFIGURATION

(3) Connection of servo external signals interface module

(a) Servo external signals

There are the following servo external signals. (Upper stroke limit is limit value of address increase direction/lower stroke limit is limit value of an address decrease direction.) The Q172DLX is assigned a set of input No.s per axis. Make the system setting of MT Developer2 to determine the I/O No.s corresponding to the

Servo external signal Application

Upper stroke limit input (FLS)

Lower stroke limit input (RLS)

Stop signal input (STOP) For stopping under speed or positioning control.

Proximity dog/

Speed-position switching input

(DOG/CHANGE)

axis No.s.

For detection of upper and lower stroke limits.

For detection of proximity dog at proximity dog or count

type home position return of for switching from speed to

position switching control.

Number of points

on one Q172DLX

32 points

(4 points/8 axes)

2 - 46

2 SYSTEM CONFIGURATION

(b) The pin layout of the CTRL connector

Use the CTRL connector on the front of the Q172DLX module to connect to servo external signals. The following is the pin layout of the Q172DLX CTRL connector as viewed from the front.

Signal No.

Pin No.

B20

B19

B18

B17

B16

B15

B14

B13

B12

B11

B10

CTRL connector

Signal Name

DOG1/CHANGE1

DOG2/CHANGE2

DOG3/CHANGE3

DOG4/CHANGE4

FLS1

RLS1

STOP1

FLS2

RLS2

STOP2

FLS3

RLS3

STOP3

FLS4

RLS4

STOP4

No connect

COM

Pin No. Signal Name

A20

A19

A18

DOG5/CHANGE5

A17

A16

A15

A14

DOG6/CHANGE6

A13

A12

A11

A10

DOG7/CHANGE7

DOG8/CHANGE8

FLS5

RLS5

STOP5

FLS6

RLS6

STOP6

FLS7

RLS7

STOP7

FLS8

RLS8

STOP8

No connect

Signal No.

Applicable connector model name

A6CON1 type soldering type connector FCN-361J040-AU connector

(FUJITSU COMPONENT LIMITED)

(Attachment)

FCN-360C040-B connector cover

A6CON2 type Crimp-contact type connector A6CON3 type Pressure-displacement type connector

(Optional)

A6CON4 type soldering type connector

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

DOG/CHANGE Proximity dog/Speed-position switching signal

For information about signal details, refer to

the programming manual.

STOP Stop signal RLS Lower stroke limit FLS Upper stroke limit

(Note) : Connector/terminal block conversion modules and cables can be

used at the wiring of CTRL connector. A6TBXY36/A6TBXY54/A6TBX70 : Connector/terminal block

converter module

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

converter module cable

POINT

Signal No. 1 to 8 can be assigned to the specified axis. Make the assignment in the system settings of MT Developer2.

2 - 47

2 SYSTEM CONFIGURATION

(4) Interface between CTRL connector and servo external signal

Input or Output

Input

Signal name Internal circuit

FLS1 FLS2 FLS3 FLS4 FLS5 FLS6 FLS7 FLS8

RLS1 RLS2 RLS3 RLS4 RLS5 RLS6 RLS7 RLS8

STOP1 STOP2 STOP3 STOP4 STOP5 STOP6 STOP7 STOP8

DOG/CHANGE1

DOG/CHANGE2 DOG/CHANGE3

DOG/CHANGE4

DOG/CHANGE5

DOG/CHANGE6

DOG/CHANGE7 DOG/CHANGE8

Power supply

(Note)

Pin No.

B20 B16 B12 B8 A20 A16 A12 A8

B19 B15 B11 B7 A19 A15 A11 A7

B18 B14 B10 B6 A18 A14 A10 A6 B17 B13 B9 B5 A17 A13 A9 A5

B1 B2

LED

0 4 8 C 10 14 18 1C

1 5 9 D 11 15 19 1D

2 6 A E 12 16 1A 1E 3 7 B F 13 17 1B 1F

Wiring example

Upper stroke

limit input

Lower stroke

limit input

Stop signal

input

Proximity dog/ Speed-position switching signal

12VDC to 24VDC

5.6k

Specification

Supply voltage

12 to 24 VDC (10.2 to 26.4 VDC, stabilized power supply)

High level

10.0 VDC or more/

2.0mA or more

Low level

1.8 VDC or less/

0.18mA or less

Description

FLS

RLS

STOP

DOG/CHANGE

Common terminals for servo external input signal.

(Note): As for the connection to power line (B1, B2), both "+" and "–" are possible.

CAUTION

Always use a shield cable for connection of the CTRL connector and external equipment, and

avoid running it close to or bundling it with the power and main circuit cables to minimize the

influence of electromagnetic interface. (Separate them more than 200mm (0.66ft.) away.) Connect the shield wire of the connection cable to the FG terminal of the external equipment. Make parameter setting correctly. Incorrect setting may disable the protective functions such

as stroke limit protection. Always wire the cables when power is off. Not doing so may damage the circuit of modules. Wire the cable correctly. Wrong wiring may damage the internal circuit.

2 - 48

2 SYSTEM CONFIGURATION

2.5.4 Q173DPX Manual pulse generator interface module

Q173DPX receive signals required for Manual pulse and Incremental synchronous

encoder (Voltage-output/Open-collector type/Differential-output type) input.

(1) Q173DPX name of parts

Q173DPX

PLS.A

1 2 3

PLS.B

1 2 3

TREN

1 2 3

PULSER

61 2345

Q173DPX

No.

1) Module fixing hook

2) Input indicator LED

3) PULSER connector

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

5) Module fixing screw hole

Name Application

Hook used to fix the module to the base unit.

(Single-motion installation)

Display the input status from the external equipment.

LED Details

PLS.A 1 to 3

PLS.B 1 to 3

TREN 1 to 3

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.

Hole for the screw used to fix to the base unit

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

2 - 49

2 SYSTEM CONFIGURATION

No.

Dip switches

123456

(Factory default in OFF

position)

7) Module fixing projection Projection used to fix to the base unit.

8) Serial number display Display the serial number described on the rating plate.

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

Name Application

Detection setting of TREN1 signal

Dip switch 1

Dip switch 2

(Note-1)

Dip switch 3

Dip switch 4

Dip switch 5

Dip switch 6

SW1 SW2

OFF OFF

ON ON

ON OFF

OFF ON

Detection setting of TREN2 signal

SW3 SW4

OFF OFF

ON ON

ON OFF

OFF ON

Detection setting of TREN3 signal

SW5 SW6

OFF OFF

ON ON

ON OFF

OFF ON

TREN is detected at leading

edge of TREN signal.

TREN is detected at trailing edge

of TREN signal.

TREN is detected at leading

edge of TREN signal.

TREN is detected at trailing edge

of TREN signal.

TREN is detected at leading

edge of TREN signal.

TREN is detected at trailing edge

of TREN signal.

CAUTION

Before touching the DIP switches, always touch grounded metal, etc. to discharge static

electricity from human body. Failure to do so may cause the module to fail or malfunction. Do not directly touch the module's conductive parts and electronic components. Touching them

could cause an operation failure or give damage to the module.

POINTS

Input indicator LED of the manual pulse generator/incremental synchronous encoder phases A, B and tracking enable signal turns ON at the following conditions. (1) PLS.A 1 to 3, PLS.B 1 to 3

• Q173DPX is set in the system setting of MT Developer2.

• All axes servo ON command (M2042) turned on.

• Manual pulse generator enable flag (M2051, M2052, M2053) turned on.

• Manual pulse generator signal is input.

(2) TREN 1 to 3

• Q173DPX is set in the system setting of MT Developer2.

• The tracking enable signal is input.

2 - 50

2 SYSTEM CONFIGURATION

(2) Performance specifications

Number of I/O occupying points 32 points(I/O allocation: Intelligent, 32 points)

Internal current consumption(5VDC)[A] 0.38

Exterior dimensions [mm(inch)] 98(H) 27.4(W) 90(D) (3.86(H) 1.08(W) 3.54(D) )

Mass [kg] 0.15

Number of input points Tracking enable signal : 3 points

Input method Sink/Source type

Isolation method Photocoupler

Rated input voltage 12/24VDC

Rated input current 12VDC 2mA/24VDC 4mA

Operating voltage range

ON voltage/current 10VDC or more/2.0mA or more

OFF voltage/current 1.8VDC or less/0.18mA or less

Input resistance Approx. 5.6k

Response time

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

Indicates to display ON indication(LED)

(a) Module specifications

Item Specifications

(b) Tracking enable signal input

Item Specifications

OFF to ON

ON to OFF

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

Number of modules 3/module

Open-collector type

(26LS31 or equivalent)

Input frequency Up to 200kpps (After magnification by 4)

Applicable types

External connector type 40 pin connector

Applicable wire size

Applicable connector for the external connection

Cable length

input

Item Specifications

Voltage-output/ Open-collector type

Differential-output type

10.2 to 26.4VDC

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

0.4ms/0.6ms/1ms

(CPU parameter setting, Default 0.4ms)

High-voltage 3.0 to 5.25VDC Voltage-output/

Low-voltage 0 to 1.0VDC

High-voltage 2.0 to 5.25VDC Differential-output type

Low-voltage 0 to 0.8VDC

Voltage-output type/Open-collector type (5VDC),

2.5.5 Manual pulse generator

(1) Manual pulse generator specifications

Item Specifications

Model name MR-HDP01

Ambient temperature -10 to 60°C(14 to 140°F)

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

Output method Voltage-output/Output current : Up to 20mA

Power supply voltage 4.5 to 13.2VDC

Current consumption [mA] 60

Life time 1,000,000 revolutions or more (at 200r/min)

Permitted axial loads Radial load : Up to 19.6N, Thrust load : Up to 9.8N

Mass [kg] 0.4

Number of max. revolution Instantaneous Up to 600r/min. normal 200r/min

Pulse signal status

Start friction torque 0.06N•m (20°C (68°F) )

(Note-1) : Use MR-HDP01 by connecting with internal I/F or Q173DPX.

(Note-2) : If a separate power supply is used, be sure it is 5VDC ± 0.25V voltage.

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

(Note-1)

(Note-2)

2 - 57

2 SYSTEM CONFIGURATION

2.5.6 SSCNET cables

Between the Motion controller and servo amplifiers, or servo amplifier and servo amplifier connected by SSCNET

(1) SSCNET cable specifications

Model name Cable length [m(ft.)] Description

MR-J3BUS M

MR-J3BUS M-A

MR-J3BUS M-B

(2) Connection between the Q170MCPU and servo amplifiers

Connect the SSCNET cables to the following connectors. Refer to Section 4.2.1 for the connection and disconnection of SSCNET

Q170MCPU

cable. Up to 16 servo amplifies can be connected.

MR-J3BUS015M 0.15 (0.49)

MR-J3BUS03M 0.3 (0.98)

MR-J3BUS05M 0.5 (1.64)

MR-J3BUS1M 1 (3.28)

MR-J3BUS3M 3 (9.84)

MR-J3BUS5M-A 5 (16.40)

MR-J3BUS10M-A 10 (32.81)

MR-J3BUS20M-A 20 (65.62)

MR-J3BUS30M-B 30 (98.43)

MR-J3BUS40M-B 40 (131.23)

MR-J3BUS50M-B 50 (164.04)

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.)

• Q170MCPU

• MR-J3(W)-

MR-J3(W)- B

B MR-J3(W)- B

cable.

Servo amplifier Servo amplifier

CN1A

CN1B

(Note): It cannot communicate with that the connection o CN1A and CN1B is mistaken.

CN1A

Cap

CN1B

2 - 58

2 SYSTEM CONFIGURATION

(3) Setting of the axis No. and axis select rotary switch of servo

amplifier

Axis No. is used to set the axis numbers of servo amplifiers connected to SSCNET Axis No. is set in the system setting of MT Developer2. Axis No. (1 to 16) is allocated and set for the setting axis number (d01 to d16) of servo amplifier. Since the axis number (d01 to d16) of servo amplifier on the system setting screen corresponds to axis select rotary switch (0 to F) of servo amplifier, set the axis select rotary switch referring to the table below.

Setting display of axis No.

•

connector in the program. Axis No. of 1 to 16 can be set.

•

Axis select rotary switch

(Servo amplifier)

(Note) : Correspondence between dno. and axis select rotary switch of servo amplifiers is shown below.

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

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

dno.

d01 1 "0" d09 1 "8"

d02 1 "1" d10 1 "9"

d03 1 "2" d11 1 "A"

d04 1 "3" d12 1 "B"

d05 1 "4" d13 1 "C"

d06 1 "5" d14 1 "D"

d07 1 "6" d15 1 "E"

d08 1 "7" d16 1 "F"

(Note) : The dno. is number of servo amplifier axis displayed with the system setting of MT Developer2.

system

Axis No. is set relative to dno. in the system settings.

SSCNET

(Note)

Axis select rotary switch

of servo amplifier

dno.

(Note)

SSCNET

system

Axis select rotary switch

of servo amplifier

REMARK

The setting of axis select rotary switch is different depending on the servo amplifier. Refer to the "Servo amplifier Instruction Manual" for details.

2 - 59

2 SYSTEM CONFIGURATION

2.5.7 Battery

This section describes the battery specifications and, handling precautions used in the

Item

Classification Manganese dioxide lithium primary battery

Initial voltage [V] 3.0

Nominal current [mAh] 1800 5000

Storage life Actually 5 years (Room temperature)

Lithium content [g] 0.49 1.52

Applications For memory data backup of RAM built-in Motion controller

Exterior dimensions [mm(inch)]

Motion controller.

(1) Battery specifications

Model name

(Note) : The following points are changed for lithium metal batteries transportation by sea or air

due to Recommendations of the United Nations Rev. 15 and ICAO-TI 2009-2010 edition.

1) A package containing 24 cells or 12 batteries or less that are not contained in

equipment are no longer exempt from the following: attachment of a handling label,

submission of the Shipper's Declaration for Dangerous Goods, and a 1.2m drop test.

2) A battery handling label (size: 120 x 110mm) is required. Emergency telephone

number must be filled out in the additional handling information of the Shipper's

Declaration for Dangerous Goods.

3) New label design containing battery illustration must be used (in air transportation

only).

Q6BAT Q7BAT

16(0.63)×32(1.26) 24(0.94)×52(2.05)

CAUTION!

IF DAMAGED

Lithium Metal batteries

DO NOT LOAD OR TRANSPORT

PACKAGE IF DAMAGED

For more information,call

+81-3-3218-3639 International

Fig.2.1 Example of Label with Battery Illustration

• Transportation precaution for customers

Documentations like the handling label in the specified design and the Shipper's

Declaration for Dangerous Goods are required for air and sea transportation. Please

attach documentations like the handling label in the specified design and the Shipper's

Declaration for Dangerous Goods to the package.

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

For more information, contact Mitsubishi.

2 - 60

2 SYSTEM CONFIGURATION

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

Be sure to set the battery to the Motion controller. Set the battery (Q6BAT/Q7BAT) to battery holder. The data (Refer to Section 6.5.) of RAM built-in Motion controller are backed up without using the battery. In the following status, the backup time after power OFF is 3 minutes.

• The Q6BAT/Q7BAT lead connector is disconnected.

Battery type

Q6BAT

Q7BAT

(Large capacity)

Power-on time ratio

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

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

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

(Note-3) : The guaranteed value (MIN) ; equivalent to the total power failure time that is calculated based on the characteristics value of

the memory (SRAM) supplied by the manufacturer and under the storage ambient temperature range of -25°C to 75°C (-13 to

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

(Note-4) : The guaranteed value (TYP) ; equivalent to the total power failure time that is calculated based on the normal air-conditioned

environment (40°C (104°F)).

(Note-5) : The actual service value (Reference value) ; equivalent to the total power failure time that is calculated based on the measured

value and under the storage ambient temperature of 25°C (77°F). This value is intended for reference only, as it varies with

characteristics of the memory.

• The lead wire of Q6BAT/Q7BAT is broken.

Battery life (Total power failure time) [h]

Guaranteed value

(Note-3)

(Note-2)

0% 13000 40000

30% 18000

50% 21000

70% 24000

100% 43800

0% 39000

30%

50%

70%

100%

POINTS

(MIN) (75°C (167°F))

43800

Guaranteed value

(Note-4)

(TYP) (40°C (104°F))

43800

43800 43800

(Note-1)

Actual service value

(Note-5)

(Reference value)

(TYP) (25°C (77°F))

43800

Backup time after

alarm

SM51/SM52 ON)

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

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

And, exchange the battery with a new one in 4 to 5 years even if a total power

failure time is guaranteed value or less.

(After

2 - 61

2 SYSTEM CONFIGURATION

CAUTION

Do not short a battery.

Do not charge a battery. Do not disassemble a battery. Do not burn a battery. Do not overheat a battery. Do not solder the battery terminal. The data (Refer to Section 6.5.) of RAM built-in Motion controller are backed up without using

the battery.

(3) Connection procedure with Motion controller

Set the battery (Q6BAT/Q7BAT) to the battery holder, and connect between the lead connector of battery and connector of Motion controller. Put the lead wire in the battery holder, and set it to the Motion controller.

Motion controller

PROGRAMMABLE CONTROLLE R

PUSH

Q6BAT

TYPE

Battery holde

Refer to Section 4.1.4 for the mounting and removal of the battery holder and the connection of the battery lead wire.

2 - 62

2 SYSTEM CONFIGURATION

2.5.8 Forced stop input terminal

(1) Table of the forced stop input terminal specifications

Item Specifications

Number of input points Forced stop signal : 1 point

Input method Sink/Source type

Rated input current 2.4mA

Isolation method Photocoupler

Operating voltage range

ON voltage/current 17.5VDC or more/2.0mA or more

OFF voltage/current 1.8VDC or less/0.18mA or less

Input resistance Approx. 10k

Response time

External connector type 2 pin connector

Applicable wire size

OFF to ON

ON to OFF

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

20.4 to 26.4VDC

1ms or less

0.3mm

(AWG22)

2 - 63

2 SYSTEM CONFIGURATION

MEMO

2 - 64

3 DESIGN

3. DESIGN

3.1 System Designing Procedure

System designing procedure is shown below.

Motion control system design

Select the operating system software to be installed according to the machinery and equipment to be controlled.

Select the number of Q172DLX's and design according to the each axis control system and whether servo external signals are required or not. When there is mechanical home position and home position return is made: Proximity dog required For speed control: Speed-position switching control signal required When overrun prevention is necessary: Stroke limit required When each axis stop is necessary: STOP signal required

Select whether the manual pulse generators, incremental synchronous encoders or I/O signals built-in Motion controller are required or not.

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

Refer to section 2.5.3

Refer to section 2.5.1

Refer to section 2.5.4

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

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

Select the extension base units/extension cables, and make I/O assignment according to necessary number of Q172DLXs, Q173DPXs, I/O modules, intelligent function modules.

Select the servo amplifier and servo motor according to the motor capacity and number of revolution from the machine mechanism to be controlled each axis.

Set the servo amplifier connection by SSCNET and axis numbers (dno.) and axis No..

Refer to MELSEC-Q series manual.

Refer to section 2.5.3 Refer to section 2.5.4 Refer to MELSEC-Q series manual.

Refer to the servo amplifier manual.

Refer to section 2.5.6

3 - 1

3 DESIGN

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

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.

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 3.2

Refer to section 3.2.1

Refer to section 3.2.2

Refer to section 3.3

CAUTION

Provide appropriate circuits external to the Motion controller to prevent cases where danger may

result from abnormal operation of the overall system in the event of an external power supply fault or Motion controller failure.

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

incombustible. Mounting them directly or close to combustibles will lead to fire.

If a fault occurs in the Motion controller or servo amplifier, shut the power OFF at the servo

amplifier’s power source. If a large current continues to flow, fire may occur.

When using a regenerative resistor, shut the power OFF with an error signal. The regenerative

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

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

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

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

so may lead to destruction or damage.

Do not mistake the polarity ( + / - ), as this may lead to destruction or damage.

3 - 2

3 DESIGN

CAUTION

Do not touch the heat radiating fins of controller or servo amplifier, regenerative resistor and

servomotor, etc. while the power is ON and for a short time after the power is turned OFF. In this timing, these parts become very hot and may lead to burns.

Always turn the power OFF before touching the servomotor shaft or coupled machines, as these

parts may lead to injuries.

Do not go near the machine during test operations or during operations such as teaching.

Doing so may lead to injuries.

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

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

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

the power shut off.

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

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

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

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

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

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

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

emergency stop, servo OFF or when the power is shut OFF, use dynamic brakes.

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

emergency stop, servo OFF or when the power is shut OFF, use both dynamic brakes and electromagnetic brakes.

The dynamic brakes must be used only during the forced stop, the emergency stop and errors

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

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

and must not be used for normal braking.

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

stroke limits switch is passed through at the max. speed.

Use wires and cables that have a wire diameter, heat resistance and bending resistance

compatible with the system.

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

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

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

operation.

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

the life or mechanical structure (when the ball screw and servomotor are connected with a timing belt, etc.). Mount a stopping device to ensure safety on the machine side.

3 - 3

3 DESIGN

3.2 External Circuit Design

As to the ways to design the external circuits of the Motion system, this section describes the method and instructions for designing the power supply circuits and safety circuits, etc.

(1) Sample system circuit design for Motion CPU area

3-phase 200 to 230VAC

NFB1

RST

Q170MCPU

Forced stop

(Note-1)

Q5 B

Power supply for Q170MCPU

CP1

CP2

CP3

CP4

+24V

24VDC Power supply

24G

Power supply for I/O

+24V

24VDC Power supply

24G

Power supply for electromagnetic brake

+24V

24VDC Power supply

24G

EMI. COM

EMI

Ra1

+24V

24G

SSCNET

Emergency Stop

EMG

Operation

OFF

Ready

QC B

Output module

QY10

PYm

Servo normal output (Servo normal: ON, Alarm: OFF)

(Note-2)

COM

EMG

Ra1

+24V

24G

3 - 4

3 DESIGN

POINT

(1) (Note-1) : Make the forced stop input cable within 30m(98.43ft.).

(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

(4) (Note-4) : It is also possible to use forced stop signal of the servo amplifier.

(5) (Note-5) : When using the leakage breaker, it recommends using one leakage

The forced stop by the forced stop terminal of input module is also

possible.

power supply for the electromagnetic brake.

breaker for one servo amplifier.

When electric power is supplied to multiple servo amplifiers for one

leakage breaker, select the wire connected to the servo amplifier

according to the capacity of the leakage breaker.

<Example> For control axis 1 and axis 2

Servo error detection

[F 1] SET PYm

[G 1] M2408+M2428

[F 2] RST PYm

END

PYm ON with initial (ON : normal)

Servo error detection of the axis 1, axis 2

OFF : abnormal (error)

(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.

(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

CP5

Example) When the control power supply L11/L21 of servo amplifier in above

communicate with the servo amplifier 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.

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.

NFB2

SSCNET

NFB3

NFB4

(Note-5)

L11

L21

L11

L21

L11

L21

MR-J3-B

CN1A

CN1B

MR-J3-B

CN1A

CN1B

MR-J3-B

CN1A

CN1B

DICOM

ALM

EM1

DOCOM

DICOM

ALM

EM1

DOCOM

DICOM

ALM

EM1

DOCOM

Ground

Electromagnetic brake

(Note-3)

Electromagnetic brake

(Note-3)

Electromagnetic brake

(Note-3)

figure is shut off, it is also not possible to

Ra2

Ra3

Ra4

+24V

24G

Ra2

(Note-4)

Ra3

(Note-4)

Ra4

(Note-4)

3 - 5

3 DESIGN

(2) System design circuit example of the PLC CPU area

Power supply

Input switched when power supply established

RUN/STOP circuit

interlocked with RA1 (run monitor relay)

START SW

Transformer

Fuse

SM52

SM403

M10

RA1

STOP SW

RA2

Output module

Transformer

PLC CPU area

MC1 N0 M10

Program

RA1

Fuse

DC power

(-) ( )

Fuse

RA2

Set time for DC power supply to be established

Voltage relay is recommended

Low battery alarm (Lamp or buzzer)

ON when run by SM403

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.

Output module

MC2

MC1

MC2

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 start-up procedure is as follows

1) Switch the Motion controller power ON.

2) Set the Motion controller to RUN.

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

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

5) Turn ON the start switch.

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

3 - 6

3 DESIGN

3.2.1 Power supply circuit design

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

(1) Separation and protective coordination (leakage current protection,

over current protection) of power supply lines

Separate the lines for Motion controller's power supplies from the lines for I/O devices and servo amplifiers as shown below. When there is much noise, connect an insulation transformer. The Motion controller may malfunction as it is affected by various noises such as electric path noises from the power supply systems, and electromagnetic noises from conductors. To avoid such troubles, set the 24VDC power supply according to application.

100/200VAC

100/200/400VAC

Main power supply

NFB

Motion controller power supply

CP I/O power supply

Motor power supply

Main circuit power supply for servo amplifier

NFB Control power supply for servo amplifier

Isolation transformer

24VDC power supply

I/O equipment

Motor equipment

Servo amplifier

Motion controller

3 - 7

Mitsubishi Electronics Q170MCPU User Manual

Specifications and Main Features

Frequently Asked Questions

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

2.1.1 Q170MCPU System overall configuration

2.1.2 Q170MCPU System internal configuration

2.1.3 Function explanation of the Q170MCPU Motion controller

2.1.4 Restrictions on Motion controller

2.2 Checking Serial Number and Operating System Software Version

2.2.1 Checking serial number

2.2.2 Checking operating system software version

2.3 System Configuration Equipment

2.4 General Specifications

2.5 Specifications of Equipment

2.5.1 Q170MCPU Motion controller

2.5.2. Extension base unit and extension cable

2.5.3 Q172DLX Servo external signals interface module

2.5.4 Q173DPX Manual pulse generator interface module

2.5.5 Manual pulse generator

2.5.7 Battery

2.5.8 Forced stop input terminal

3. DESIGN

3.1 System Designing Procedure

3.2 External Circuit Design

3.2.1 Power supply circuit design