Mitsubishi Electric Q170MSCPU, Q170MSCPU-S1 User Manual
Q170MSCPU
Motion Controller
User's Manual
-Q170MSCPU
-Q170MSCPU-S1
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 : 100
or less) Do not ground commonly with other devices.
The wiring work and inspections must be done by a qualified technician.
Wire the units after installing the Motion controller, servo amplifier and servomotor. Failing to do
so may lead to electric shocks or damage.
Never operate the switches with wet hands, as this may lead to electric shocks.
Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this
may lead to electric shocks.
Do not touch the Motion controller, servo amplifier or servomotor terminal blocks while the power
is ON, as this may lead to electric shocks.
Do not touch the built-in power supply, built-in grounding or signal wires of the Motion controller
and servo amplifier, as this may lead to electric shocks.
2. For fire prevention
CAUTION
Install the Motion controller, servo amplifier, servomotor and regenerative resistor on
incombustible. Installing them directly or close to combustibles will lead to fire.
If a fault occurs in the Motion controller or servo amplifier, shut the power OFF at the servo
amplifier’s power source. If a large current continues to flow, fire may occur.
When using a regenerative resistor, shut the power OFF with an error signal. The regenerative
resistor may abnormally overheat due to a fault in the regenerative transistor, etc., and may lead
to fire.
Always take heat measures such as flame proofing for the inside of the control panel where the
servo amplifier or regenerative resistor is installed and for the wires used. Failing to do so may
lead to fire.
Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this
may lead to fire.
A - 2
3. For injury prevention
CAUTION
Do not apply a voltage other than that specified in the instruction manual on any terminal.
Doing so may lead to destruction or damage.
Do not mistake the terminal connections, as this may lead to destruction or damage.
Do not mistake the polarity ( + / - ), as this may lead to destruction or damage.
Do not touch the heat radiating fins of controller or servo amplifier, regenerative resistor and
servomotor, etc., while the power is ON and for a short time after the power is turned OFF. In this
timing, these parts become very hot and may lead to burns.
Always turn the power OFF before touching the servomotor shaft or coupled machines, as these
parts may lead to injuries.
Do not go near the machine during test operations or during operations such as teaching.
Doing so may lead to injuries.
4. Various precautions
Strictly observe the following precautions.
Mistaken handling of the unit may lead to faults, injuries or electric shocks.
(1) System structure
CAUTION
Always install a leakage breaker on the Motion controller and servo amplifier power source.
If installation of an electromagnetic contactor for power shut off during an error, etc., is specified
in the instruction manual for the servo amplifier, etc., always install the electromagnetic contactor.
Install the emergency stop circuit externally so that the operation can be stopped immediately and
the power shut off.
Use the Motion controller, servo amplifier, servomotor and regenerative resistor with the correct
combinations listed in the instruction manual. Other combinations may lead to fire or faults.
Use the 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.
To maintain the safety of the programmable controller system against unauthorized access from
external devices via the network, take appropriate measures. To maintain the safety against
unauthorized access via the Internet, take measures such as installing a firewall.
(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.
A - 4
CAUTION
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.
Set the sequence function program capacity setting, device capacity, latch validity range, I/O
assignment setting, and validity of continuous operation during error detection to values that are
compatible with the system application. The protective functions may not function if the settings
are incorrect.
Some devices used in the program have fixed applications, so use these with the conditions
specified in the instruction manual.
The input devices and data registers assigned to the link will hold the data previous to when
communication is terminated by an error, etc. Thus, an error correspondence interlock program
specified in the instruction manual must be used.
Use the interlock program specified in the intelligent function module's instruction manual for the
program corresponding to the intelligent function module.
(3) Transportation and installation
CAUTION
Transport the product with the correct method according to the mass.
Use the servomotor suspension bolts only for the transportation of the servomotor. Do not
transport the servomotor with machine installed on it.
Do not stack products past the limit.
When transporting the Motion controller or servo amplifier, never hold the connected wires or
cables.
When transporting the servomotor, never hold the cables, shaft or detector.
When transporting the Motion controller or servo amplifier, never hold the front case as it may fall
off.
When transporting, installing or removing the Motion controller or servo amplifier, never hold the
edges.
Install the unit according to the instruction manual in a place where the mass can be withstood.
Do not get on or place heavy objects on the product.
Always observe the installation direction.
Keep the designated clearance between the Motion controller or servo amplifier and control panel
inner surface or the Motion controller and servo amplifier, Motion controller or servo amplifier and
other devices.
Do not install or operate Motion controller, servo amplifiers or servomotors that are damaged or
that have missing parts.
Do not block the intake/outtake ports of the Motion controller, servo amplifier and servomotor with
cooling fan.
Do not allow conductive matter such as screw or cutting chips or combustible matter such as oil
enter the Motion controller, servo amplifier or servomotor.
A - 5
CAUTION
The Motion controller, servo amplifier and servomotor are precision machines, so do not drop or
apply strong impacts on them.
Securely fix the Motion controller, servo amplifier and servomotor to the machine according to the
instruction manual. If the fixing is insufficient, these may come off during operation.
Always install the servomotor with reduction gears in the designated direction. Failing to do so
may lead to oil leaks.
Store and use the unit in the following environmental conditions.
Environment
Motion controller/Servo amplifier Servomotor
Ambient
temperature
Ambient humidity According to each instruction manual.
Storage
temperature
Atmosphere
Altitude According to each instruction manual
Vibration According to each instruction manual
According to each instruction manual.
According to each instruction manual.
Indoors (where not subject to direct sunlight).
No corrosive gases, flammable gases, oil mist or dust must exist
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.
When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine
are used for disinfecting and protecting wooden packaging from insects, they cause malfunction
when entering our products.
Please take necessary precautions to ensure that remaining materials from fumigant do not enter
our products, or treat packaging with methods other than fumigation (heat method).
Additionally, disinfect and protect wood from insects before packing products.
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
RA
Servo amplifier
DOCOM
Control output
signal
DICOM
24VDC
RA
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 coming 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.
Servo motor
RA1
Electromagnetic
brakes
B
Shut off with the
emergency stop
signal (EMG).
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
Apr., 2013 IB(NA)-0300212-A First edition
Nov., 2018 IB(NA)-0300212-B [Additional model]
MR-J4-
B-RJ, MR-MV200, Q171ENC-W8
[Additional correction]
For safe operations, Comparison between Q170MSCPU and
Q170MCPU, Restrictions by the software's version, Q170MSCPU
system overall configuration, Restrictions on Motion controller, Serial
absolute synchronous encoder cable Q170ENCCBL
set for serial absolute synchronous encoder cable MR-J3CN2,
SSCNET
(/H) compatible equipment, General specifications, Motion
controller specifications, 7 segment LED display, Connection
examples of manual pulse generator/incremental synchronous
encoder, Serial absolute synchronous encoder specifications and
mounting, Battery specifications and transport guidelines, Safety
circuit design, Check items before start-up, Start-up adjustment
procedure, Resuming operation after storing the Motion controller,
Troubleshooting, Internal I/F connector cable, Exterior dimensions
(serial absolute synchronous encoder), Warranty
M-A, Connector
Japanese Manual Number IB(NA)-0300205
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.
© 2013 MITSUBISHI ELECTRIC CORPORATION
A - 11
INTRODUCTION
Thank you for choosing the Mitsubishi Motion controller Q170MSCPU.
Before using the equipment, please read this manual carefully to develop full familiarity with the functions
and performance of the Motion controller you have purchased, so as to ensure correct use.
CONTENTS
Safety Precautions ......................................................................................................................................... A- 1
Revisions ........................................................................................................................................................ A-11
Contents ......................................................................................................................................................... A-12
About Manuals ............................................................................................................................................... A-15
1. OVERVIEW 1- 1 to 1-12
1.1 Overview ................................................................................................................................................... 1- 1
1.2 Comparison between Q170MSCPU and Q170MCPU ........................................................................... 1- 3
1.3 Restrictions by the Software's Version .................................................................................................... 1-12
1.4 Program Software Version ....................................................................................................................... 1-12
2. SYSTEM CONFIGURATION 2- 1 to 2-76
2.1 Motion System Configuration .................................................................................................................. 2- 1
2.1.1 Q170MSCPU System overall configuration ..................................................................................... 2- 3
2.1.2 Q170MSCPU System internal configuration .................................................................................... 2- 5
2.1.3 Function explanation of the Q170MSCPU Motion controller ........................................................... 2- 6
2.1.4 Restrictions on Motion controller ...................................................................................................... 2- 8
2.2 Checking Serial Number and Operating System Software Version ....................................................... 2-12
2.2.1 Checking serial number .................................................................................................................... 2-12
2.2.2 Checking operating system software version................................................................................... 2-14
2.3 System Configuration Equipment ............................................................................................................ 2-15
2.4 General Specifications ............................................................................................................................. 2-21
2.5 Specifications of Equipment .................................................................................................................... 2-22
2.5.1 Q170MSCPU Motion controller ........................................................................................................ 2-22
2.5.2 Power supply module ........................................................................................................................ 2-45
2.5.3. Extension base unit and extension cable ........................................................................................ 2-50
2.5.4 Q172DLX Servo external signals interface module ......................................................................... 2-54
2.5.5 Q173DPX Manual pulse generator interface module ...................................................................... 2-59
2.5.6 Manual pulse generator/Serial absolute synchronous encoder ...................................................... 2-67
2.5.7 SSCNET
2.5.8 Battery ............................................................................................................................................... 2-71
2.5.9 Forced stop input terminal ................................................................................................................ 2-75
cables ............................................................................................................................. 2-69
3. DESIGN 3- 1 to 3-16
3.1 System Designing Procedure .................................................................................................................. 3- 1
3.2 External Circuit Design ............................................................................................................................ 3- 4
3.2.1 Power supply circuit design .............................................................................................................. 3- 7
3.2.2 Safety circuit design .......................................................................................................................... 3- 9
3.3 Layout Design within the Control Panel .................................................................................................. 3-11
A - 12
3.3.1 Mounting environment....................................................................................................................... 3-11
3.3.2 Calculating heat generation by Motion controller ............................................................................. 3-12
3.4 Design Checklist ...................................................................................................................................... 3-16
4. INSTALLATION AND WIRING 4- 1 to 4-34
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......................................................................... 4-10
4.1.4 Mounting and removal of the battery holder ..................................................................................... 4-13
4.2 Connection and Disconnection of Cable ................................................................................................. 4-18
4.2.1 SSCNET
4.2.2 Forced stop input cable ..................................................................................................................... 4-24
4.2.3 24VDC power supply cable .............................................................................................................. 4-25
4.3 Mounting of Serial Absolute Synchronous Encoder ............................................................................... 4-26
4.4 Wiring ........................................................................................................................................................ 4-27
4.4.1 Instructions for wiring ........................................................................................................................ 4-27
4.4.2 Connecting to the power supply ....................................................................................................... 4-30
4.4.3 Wiring of connector ........................................................................................................................... 4-32
cable ............................................................................................................................... 4-18
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
6. INSPECTION AND MAINTENANCE 6- 1 to 6-38
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 ........................................................................................................ 6-11
6.5.3 Resuming operation after storing the Motion controller ................................................................... 6-14
6.5.4 Symbol for the new EU Battery Directive ......................................................................................... 6-14
6.6 Troubleshooting ....................................................................................................................................... 6-15
6.6.1 Troubleshooting basics ..................................................................................................................... 6-15
6.6.2 Troubleshooting of Motion controller ................................................................................................ 6-16
6.6.3 Confirming error code ....................................................................................................................... 6-35
6.6.4 Internal I/O circuit troubleshooting .................................................................................................... 6-36
7. EMC DIRECTIVES 7- 1 to 7- 8
7.1 Requirements for Compliance with the EMC Directive........................................................................... 7- 1
7.1.1 Standards relevant to the EMC Directive ......................................................................................... 7- 2
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7.1.2 Installation instructions for EMC Directive ........................................................................................ 7- 3
7.1.3 Parts of measure against noise ........................................................................................................ 7- 6
7.1.4 Example of measure against noise .................................................................................................. 7- 8
APPENDICES APP- 1 to APP-48
APPENDIX 1 Differences between Q170MSCPU and Q173DSCPU/Q172DSCPU ............................. APP- 1
APPENDIX 1.1 Differences between parameters ................................................................................ APP- 2
APPENDIX 1.2 Differences between peripheral device interfaces ..................................................... APP- 3
APPENDIX 1.3 Differences between CPU display and I/O assignment ............................................. APP- 4
APPENDIX 1.4 Differences between I/O signals ................................................................................. APP- 6
APPENDIX 2 Creation of Project .............................................................................................................. APP- 9
APPENDIX 2.1 Sample data ................................................................................................................. APP-10
APPENDIX 3 Processing Times ............................................................................................................... APP-27
APPENDIX 4 Cables................................................................................................................................. APP-28
APPENDIX 4.1 SSCNET
APPENDIX 4.2 Forced stop input cable ............................................................................................... APP-31
APPENDIX 4.3 24VDC power supply cable ......................................................................................... APP-31
APPENDIX 4.4 Internal I/F connector cable ......................................................................................... APP-32
APPENDIX 4.5 Serial absolute synchronous encoder cable ............................................................... APP-36
APPENDIX 4.6 SSCNET
System & Service ........................................................................................................ APP-38
APPENDIX 5 Exterior Dimensions ........................................................................................................... APP-39
APPENDIX 5.1 Motion controller .......................................................................................................... APP-39
APPENDIX 5.2 Servo external signals interface module (Q172DLX) ................................................. APP-40
APPENDIX 5.3 Manual pulse generator interface module (Q173DPX) .............................................. APP-40
APPENDIX 5.4 Power supply module .................................................................................................. APP-41
APPENDIX 5.5 Battery holder .............................................................................................................. APP-42
APPENDIX 5.6 Connector .................................................................................................................... APP-43
APPENDIX 5.7 Manual pulse generator (MR-HDP01) ........................................................................ APP-47
APPENDIX 5.8 Serial absolute synchronous encoder (Q171ENC-W8) ............................................. APP-47
cables ........................................................................................................ APP-28
cables (SC-J3BUS M-C) manufactured by Mitsubishi Electric
A - 14
About Manuals
The following manuals are also related to this product.
When necessary, order them by quoting the details in the tables below.
Related Manuals
(1) Motion controller
Q170MSCPU Motion controller User's Manual
This manual explains specifications of the Q170MSCPU 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.
Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (COMMON)
This manual explains the Multiple CPU system configuration, performance specifications, common
parameters, auxiliary/applied functions, error lists and others.
Manual Name
Manual Number
(Model Code)
IB-0300212
(1XB962)
IB-0300134
(1XB928)
Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual
(Motion SFC)
This manual explains the functions, programming, debugging, error lists for Motion SFC and others.
Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual
(REAL MODE)
This manual explains the servo parameters, positioning instructions, device lists, error lists and others.
Q173D(S)CPU/Q172D(S)CPU 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.
Q173DSCPU/Q172DSCPU Motion controller (SV22) Programming Manual
(Advanced Synchronous Control)
This manual explains the dedicated instructions to use the synchronous control by synchronous control
parameters, device lists, error lists and others.
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-0300198
(1XB953)
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.
Manual Name
Manual Number
(Model Code)
SH-080483ENG
(13JR73)
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.
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.
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.
MELSEC-Q/L Programming Manual (Common Instruction)
This manual explains how to use the sequence instructions, basic instructions, application instructions and
micro computer program.
MELSEC-Q/L/QnA Programming Manual (PID Control Instructions)
This manual explains the dedicated instructions used to exercise PID control.
MELSEC-Q/L/QnA Programming Manual (SFC)
This manual explains the system configuration, performance specifications, functions, programming,
debugging, error codes and others of MELSAP3.
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.
SH-080807ENG
(13JZ27)
SH-080485ENG
(13JR75)
SH-080811ENG
(13JZ29)
SH-080809ENG
(13JW10)
SH-080040
(13JF59)
SH-080041
(13JF60)
SH-080042
(13JL99)
MELSEC-L SSCNET /H Head Module User's Manual
This manual explains specifications of the head module, procedures before operation, system
configuration, installation, wiring, settings, and troubleshooting.
A - 16
SH-081152ENG
(13JZ78)
(3) Servo amplifier
SSCNET /H Interface AC Servo MR-J4-_B_(-RJ) Servo amplifier Instruction Manual
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for AC
Servo MR-J4-_B_(-RJ) Servo amplifier.
SSCNET /H Interface Multi-axis AC Servo MR-J4W2-_B/MR-J4W3-_B/MR-J4W2-0303B6
Servo amplifier Instruction Manual
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Multi-
axis AC Servo MR-J4W2-_B/MR-J4W3-_B/MR-J4W2-0303B6 Servo amplifier.
Manual Name
Manual Number
(Model Code)
SH-030106
(1CW805)
SH-030105
(1CW806)
SSCNET interface MR-J3- B Servo amplifier Instruction Manual
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for
MR-J3-
B Servo amplifier.
SSCNET interface 2-axis AC Servo Amplifier MR-J3W-0303BN6/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-0303BN6/MR-J3W-
B Servo amplifier.
SSCNET Compatible Linear Servo MR-J3- B-RJ004U Instruction Manual
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Linear
Servo MR-J3-
B-RJ004U Servo amplifier.
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-
B-RJ006 Servo amplifier.
SSCNET Interface Direct Drive Servo MR-J3- B-RJ080W Instruction Manual
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Direct
Drive Servo MR-J3-
B-RJ080W Servo amplifier.
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-
B Safety Servo amplifier.
SH-030051
(1CW202)
SH-030073
(1CW604)
SH-030054
(1CW943)
SH-030056
(1CW304)
SH-030079
(1CW601)
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 Q170MSCPU 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
Q170MSCPU or Motion controller Q170MSCPU/Q170MSCPU-S1 Motion controller
Q172DLX/Q173DPX or Motion module
MR-J4(W)- B Servo amplifier model MR-J4- B/MR-J4W- B
MR-J3(W)- B Servo amplifier model MR-J3- B/MR-J3W- B
AMP or Servo amplifier
Multiple CPU system or Motion system Abbreviation for "Multiple PLC system of the Q series"
PLC CPU area PLC control area (CPU No.1) of Q170MSCPU/Q170MSCPU-S1 Motion controller
Motion CPU area
CPUn
Operating system software General name for "SW8DNC-SV Q "
SV13
SV22
Programming software package General name for MT Developer2/GX Works2/MR Configurator2
MELSOFT MT Works2
MT Developer2
GX Works2
MR Configurator2
Manual pulse generator or MR-HDP01 Abbreviation for "Manual pulse generator (MR-HDP01)"
Serial absolute synchronous encoder
or Q171ENC-W8
SSCNET /H
SSCNET
SSCNET (/H)
Absolute position system
Intelligent function module
SSCNET /H head module Abbreviation for "MELSEC-L series SSCNET /H head module (LJ72MS15)"
Optical hub unit or MR-MV200 Abbreviation for "SSCNET /H compatible optical hub unit (MR-MV200)"
(Note-1)
(Note-2)
(Note-2)
(Note-2)
(Note-1)
In this manual, the following abbreviations are used.
Q172DLX Servo external signals interface module/
Q173DPX Manual pulse generator interface module
General name for "Servo amplifier model MR-J4MR-J3W-
Motion control area (CPU No.2) of Q170MSCPU/Q170MSCPU-S1 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) :
SW8DNC-SV13Q
Operating system software for automatic machinery use (Motion SFC) :
SW8DNC-SV22Q
Abbreviation for "Motion controller engineering environment
MELSOFT MT Works2"
General name for SSCNET /H, SSCNET
(Note-1): This software is included in Motion controller engineering environment "MELSOFT MT Works2".
(Note-2): SSCNET: Servo System Controller NETwork
Abbreviation for "Motion controller programming software MT Developer2
(Version 1.56J or later)"
Abbreviation for "Programmable controller engineering software
MELSOFT GX Works2 (Version 1.98C or later)"
Abbreviation for "Servo setup software package
MR Configurator2 (Version 1.19V or later)"
Abbreviation for "Serial absolute synchronous encoder (Q171ENC-W8)"
High speed synchronous network between Motion controller and servo amplifier
General name for "system using the servomotor and servo amplifier for absolute
position"
General name for module that has a function other than input or output, such as
A/D converter module and D/A converter module.
B"
B/MR-J4W- B/MR-J3- B/
1
1 - 1
1 OVERVIEW
REMARK
For information about each module, design method for program and parameter,
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)
SV22
(Advanced
synchronous
control)
• Design method for Motion SFC parameter
• Motion dedicated PLC instruction
• Design method for positioning control
program in the real mode
• Design method for positioning control
parameter
• Design method for mechanical system
program
• Design method for synchronous control
parameter
refer to the following manuals.
Item Reference Manual
MELSEC-Q series PLC Manuals,
Manual relevant to each module
Q173D(S)CPU/Q172D(S)CPU Motion controller
Programming Manual (COMMON)
Q173D(S)CPU/Q172D(S)CPU Motion controller
(SV13/SV22) Programming Manual (Motion SFC)
Q173D(S)CPU/Q172D(S)CPU Motion controller
(SV13/SV22) Programming Manual (REAL MODE)
Q173D(S)CPU/Q172D(S)CPU Motion controller (SV22)
Programming Manual (VIRTUAL MODE)
Q173DSCPU/Q172DSCPU Motion controller (SV22)
Programming Manual (Advanced Synchronous Control)
1 - 2
1 OVERVIEW
1.2 Comparison between Q170MSCPU and Q170MCPU
Item Q170MSCPU Q170MSCPU-S1 Q170MCPU
Power supply Built-in (24VDC)
PLC CPU area
Program capacity 30k steps (120 bytes) 60k steps (240 bytes) 30k steps (80 bytes)
LD instruction processing speed 0.02µs 0.0095µs 0.02µs
Motion CPU area Q172DSCPU or equivalent (16 axes)
Forced stop input Use forced stop input terminal
Main base unit None
Extension base unit
Base unit
GOT bus
connection
Q172DLX 2 modules
Motion
module
Battery Demand
Q6BAT Packed together with Motion controller
Q7BAT (Large capacity) Usable (sold separately)
Multiple CPU
system
Mounting method Be sure to mount Motion controller on control panel by fixing screws
Exterior dimensions [mm(inch)] 186 (7.32)(H) × 52 (2.05)(W) × 135 (5.31)(D)
Medium of operating system
software
Model of
operating system
software
Programming
tool
Q172DEX Unusable
Q173DPX
Base unit for
installation
Number of CPUs 2 modules
CPU No.1 PLC CPU area
CPU No.2 Motion CPU area
CPU No.3 —
CPU No.4 —
SV13 SW8DNC-SV13QN SW8DNC-SV13QG
SV22 SW8DNC-SV22QN SW8DNC-SV22QF
SV43 — —
PLC CPU area GX Works2
Motion CPU area MT Developer2
(1) Comparison of hardware
Q03UDCPU or equivalent
(30k steps)
7 extensions (Up to 64 slots)
(Q52B/Q55B/Q63B/Q65B/Q68B/Q612B usable)
No restriction
(Note-2)
The operating system software
(SV22 (Virtual mode switching method)) is installed.
4 modules 3 modules
Q06UDHCPU or equivalent
(60k steps)
(Note-1)
Extension base unit
Q03UDCPU or equivalent
(20k steps)
Q172DCPU or equivalent
(16 axes)
1 extension
(Q52B/Q55B usable)
• Extension base unit use:
Connection after the extension
base unit of stage 1
• Extension base unit not use:
Direct bus connection to
Motion controller
178 (7.01)(H) × 52 (2.05)(W)
× 135 (5.31)(D)
CD-ROM (1 disk)
1 - 3
1 OVERVIEW
Item Q170MSCPU Q170MSCPU-S1 Q170MCPU
Communication speed 50Mbps
Transmission
distance
SSCNET
Servo amplifier
Communication speed 150Mbps
Transmission
distance
SSCNET /H
Servo amplifier
Standard cable
Long distance
cable
Standard cable
Long distance
cable
(Note-1): Occupies 8 slots of the main base unit as empty slots.
(Note-2): When using the incremental synchronous encoder (while using SV22), you can use the listed number of
Comparison of hardware (continued)
Up to 20m (65.62ft.) between stations
Maximum overall distance 320m (1049.87ft.) (20m (65.62ft.) ×16 axes)
Up to 50m (164.04ft.) between stations
Maximum overall distance 800m (2624.67ft.) (50m (164.04ft.) ×16 axes)
MR-J3-
MR-J3-
modules.
When connecting the manual pulse generator, you can use only 1 module.
B, MR-J3W- B, MR-J3- B-RJ004, MR-J3- B-RJ006,
B-RJ080W, MR-J3- B Safety, MR-MT1200, FR-A700,
VC
(CKD NIKKI DENSO), VPH (CKD NIKKI DENSO)
Up to 20m (65.62ft.) between stations
Maximum overall distance 320m (1049.87ft.)
(20m (65.62ft.) ×16 axes)
Up to 100m (328.08ft.) between stations
Maximum overall distance 1600m (5249.34ft.)
(100m (328.08ft.) ×16 axes)
MR-J4-
VC
B, MR-J4- B-RJ, MR-J4W- B, FR-A800,
(CKD NIKKI DENSO), VPH (CKD NIKKI DENSO),
AlphaStep/5-phase (ORIENTAL MOTOR),
IAI driver for electric actuator (IAI)
MR-J3-
VC
B, MR-J3W- B,
MR-J3-
MR-J3-
MR-J3-
MR-J3-
MR-MT1200, FR-A700,
B-RJ004,
B-RJ006,
B-RJ080W,
B Safety,
(CKD NIKKI DENSO)
Unusable
1 - 4
1 OVERVIEW
(2) Comparison of SV13/SV22 Motion control specifications/
performance specifications
Item Q170MSCPU Q170MSCPU-S1 Q170MCPU
Number of control axes Up to 16 axes
SV13
Operation cycle
(default)
SV22
Interpolation functions Linear interpolation (Up to 4 axes), Circular interpolation (2 axes), Helical interpolation (3 axes)
Control modes
Acceleration/deceleration control
Compensation Backlash compensation, Electronic gear, Phase compensation (SV22)
Programming language
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 M-code output function provided, M-code completion wait function provided
Limit switch output
function
USB/RS-232 PLC CPU area control
PERIPHERAL I/F Motion CPU area control
SV13
SV22
(a) Comparison of Motion control specifications
0.22ms/ 1 to 4 axes
0.44ms/ 5 to 10 axes
0.88ms/11 to 16 axes
0.44ms/ 1 to 6 axes
0.88ms/ 7 to 16 axes
PTP(Point to Point) control, Speed control,
Speed-position switching control, Fixed-pitch feed,
Constant speed control, Position follow-up control,
Speed control with fixed position stop,
Speed switching control, High-speed oscillation control,
Speed torque control, Synchronous control (SV22 (Virtual mode
switching method/Advanced synchronous control method))
Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration,
Advanced S-curve acceleration/deceleration
Motion SFC, Dedicated instruction, Mechanical support language (SV22)
Proximity dog method (2 types), Count method (3 types),
Data set method (2 types), Dog cradle method,
Stopper method (2 types), Limit switch combined method,
Scale home position signal detection method,
Dogless home position signal reference method,
Driver home position return method
Home position return re-try function provided, home position shift function provided
Possible to connect 3 modules (Q173DPX use)
Possible to connect 1 module (Internal I/F use)
Possible to connect 12 modules (SV22 use)
(Q173DPX + Internal I/F + Via device
+ Via servo amplifier
ABS synchronous encoder unusable
Number of output points 32 points
Watch data: Motion control data/Word device
Virtual mode switching method:
Number of output points 32 points
Advanced synchronous control method:
Number of output points 64 points × 2 settings
Output timing compensation
Watch data: Motion control data/Word device
(Note-5), (Note-6)
(Note-4)
(Note-5)
)
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, Speed-position
switching 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)
(Note-1)
Proximity dog method (2 types),
Count method (3 types),
Data set method (2 types),
Dog cradle method,
Stopper method (2 types),
Limit switch combined method,
Scale home position signal
detection method
(Note-2), (Note-3)
Possible to connect 8 modules
(Q173DPX + Internal I/F)
ABS synchronous encoder
Number of output points 32 points
Watch data: Motion control data/
(SV22 use)
unusable
Word device
(Note-4)
1 - 5
1 OVERVIEW
Item Q170MSCPU Q170MSCPU-S1 Q170MCPU
ROM operation function Provided
External input signal
High-speed reading function
(Note-6)
Forced stop Motion controller forced stop (EMI connector, system setting), Forced stop terminal of servo amplifier
Number of I/O points
Mark detection function Provided
Clock data setting Clock synchronization between Multiple CPU
Security function
All clear function Provided
Remote operation Remote RUN/STOP, Remote latch clear
Optional data
monitor
function
Digital oscilloscope function
Absolute position system
SSCNET
communication
(Note-8)
Driver communication function
(Note-10)
Number of
Motion related
modules
PLC module which can be control
by Motion CPU (area)
Number of SSCNET /H head
module connection stations
Number of optical hub unit
connections
(Note-1): SV22 virtual mode only.
(Note-2): When the manual pulse generator is used via the Q170MSCPU's internal I/F, the Q173DPX cannot be used.
(Note-3): When the operation cycle is 7.11ms or less, the manual pulse generator I/F built-in CPU can be used.
(Note-4): Any incremental synchronous encoder connected to the Q170MSCPU's internal I/F will automatically be assigned an Axis
(Note-5): SV22 advanced synchronous control only.
(Note-6): Servo amplifier (MR-J4-
(Note-7): This cannot be used in SV22 advanced synchronous control of Q17MSCPU/Q170MSCPU-S1.
(Note-8): The servo amplifiers for SSCNET cannot be used.
(Note-9): SSCNET
(Note-10): Servo amplifier (MR-J3-
(Note-11): When using the incremental synchronous encoder (while using SV22), you can use the listed number of modules. When
SSCNET
SSCNET /H Up to 6 data/axis (Communication data: Up to 6 points/axis) None
Communication
type
Number of lines
Q172DLX 2 modules usable 2 modules usable
Q173DPX
No. one integer greater than the number of encoders connected to any Q173DPX modules.
and SSCNET /H cannot be combined within the same line.
connecting the manual pulse generator, you can use only 1 module.
Comparison of Motion control specifications (continued)
Q172DLX, External input signals (FLS/RLS/DOG) of servo
amplifier, Internal I/F (DI), Bit device
Via internal I/F/input module, Via tracking of Q173DPX
Total 256 points
(Internal I/F (Input 4 points, Output 2 points) + I/O module
+ Intelligent function module)
Provided
(Protection by software security key or password)
Up to 3 data/axis (Communication data: Up to 3 points/axis)
Motion buffering method
(Real-time waveform can be displayed)
Sampling data: Word 16CH, Bit 16CH
Made compatible by setting battery to servo amplifier.
(Possible to select the absolute data method or incremental method for each axis)
SSCNET
4 modules usable
Interrupt module, Input module, Output module,
Input/Output composite module, Analogue input module,
Analogue output module, Analogue input/output module,
High-speed counter module, Positioning module,
Simple Motion module, Control unit of displacement sensor
Up to 4 stations usable Unusable
Up to 16 units usable Unusable
B-RJ) only.
B/MR-J4- B) only.
/H, SSCNET SSCNET
(Note-9)
1 line
Provided None
(Note-11)
3 modules usable
Q172DLX or External input signals
(FLS/RLS/DOG) of servo amplifier
Total 256 points
(Internal I/F (Input 4 points,
Output 2 points) + I/O module)
(Protection by password)
Motion buffering method
(Real-time waveform can be
Sampling data: Word 4CH, Bit 8CH
Interrupt module, Input module,
Output module,
Input/Output composite module,
Analogue input module,
Analogue output module
Provided
displayed)
1 line
(Note-11)
1 - 6
1 OVERVIEW
Motion SFC program
capacity
Motion SFC program
Operation control
program (F/FS)
/
Transition program
(G)
(b) Comparison of Motion SFC performance specifications
Item Q170MSCPU(-S1) Q170MCPU
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
Instruction
Operation control program
Transition program
Binary operation =, +, -, *, /, %
Bit operation ~, &, |, ^, >>, <<
Standard function
Type conversion SHORT, USHORT, LONG, ULONG, FLOAT, UFLOAT, DFLT, SFLT
Bit device status (None), !
Bit device control SET, RST, DOUT, DIN, OUT
Logical operation (None), !, *, +
Comparison operation ==, !=, <, <=, >, >=
Motion dedicated function
Others
Vision system dedicated
function
Data control SCL, DSCL —
Program control IF - ELSE - IEND, SELECT - CASE - SEND, FOR - NEXT, BREAK
Synchronous control
dedicated function
SIN, COS, TAN, ASIN, ACOS, ATAN, SQRT, LN, EXP, ABS, RND,
CHGV, CHGVS
MULTW, MULTR, TO, FROM,
CAMRD, CAMWR, CAMWR2,
652k bytes 543k bytes
668k bytes 484k bytes
4096 with F(Once execution type) and FS(Scan execution type)
combined. (F/FS0 to F/FS4095)
Calculation expression, bit conditional expression,
branch/repetition processing
Calculation expression/bit conditional expression/
comparison conditional expression
FIX, FUP, BIN, BCD
(Note-1)
, CHGT,
CHGT2, CHGP
EI, DI, NOP, BMOV, FMOV,
RTO, RFROM, TIME
MVOPEN, MVLOAD, MVTRG, MVPST, MVIN, MVOUT, MVFIN,
MVCLOSE, MVCOM
CAMMK, CAMPSCL
CHGV, CHGT
EI, DI, NOP, BMOV, FMOV,
MULTW, MULTR, TO, FROM,
TIME
—
1 - 7
1 OVERVIEW
Number of multi execute programs Up to 256
Number of multi active steps Up to 256 steps/all programs
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)
Executed
task
Internal relays (M) 12288 points
Link relays (B) 8192 points
Annunciators (F) 2048 points
Special relays (SM) 2256 points
Data registers (D)
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 \G)
Comparison of Motion SFC performance specifications (continued)
Item Q170MSCPU(-S1) Q170MCPU
Normal task Execute in main cycle of Motion controller
Execute in fixed cycle
Event task
(Execution
can be
masked.)
NMI task
Fixed cycle
External
interrupt
PLC interrupt Execute with interrupt instruction (D(P).GINT) from PLC.
(0.22ms, 0.44ms, 0.88ms, 1.77ms,
3.55ms, 7.11ms, 14.2ms)
Executed by turning ON the inputs set as the event task factor among
interrupt module QI60's 16 input points.
Executed by turning ON the inputs set as the NMI task factor among
interrupt module QI60's 16 input points.
Total 256 points
(Internal I/F (Input 4 points, Output
2 points) + I/O module + Intelligent
function module)
8192 points
(Note-1): SV22 advanced synchronous control only
(Note-2): 19824 points can be used for SV22 advanced synchronous control.
(Note-3): Usable number of points changes according to the system settings.
(Note-2)
Up to 14336 points usable
(0.44ms, 0.88ms, 1.77ms, 3.55ms,
Execute in fixed cycle
7.11ms, 14.2ms)
256 points
8192 points
(Note-3)
1 - 8
1 OVERVIEW
Item Q170MSCPU(-S1) Q170MCPU
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
(c) Comparison of Mechanical system program specifications
Virtual servomotor
Synchronous encoder
Roller
Ball screw
Rotary table degree
Cam mm, inch, degree, pulse mm, inch, pulse
Virtual servomotor 16
Synchronous encoder 12 8
Virtual main shaft 16
Virtual auxiliary input
axis
Gear 32 32
Direct clutch
Smoothing clutch
Speed change gear 32 32
Differential gear 16 16
Differential gear to main
shaft
Roller 16
Ball screw 16 16
Rotary table 16 16
Cam 16 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
16 16
Total 28
Total 32
32 32
16 16
Total 16
256 • 512 • 1024 • 2048
CPU internal RAM memory
pulse
mm, inch
Up to 256
(Note-1)
16
16
16
(Note-1)
Total 24
Total 32
Total 16
1 - 9
1 OVERVIEW
PLC CPU area
Control method Stored program repeat operation
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
CPU shared memory
No. of I/O device points (X/Y) 8192 points
No. of I/O points (X/Y)
Internal relay (M)
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) 2048 points
File register (R, ZR) 98304 points 393216 points 98304 points
Step relay (S) 8192 points
Index register/Standard device 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
(3) Comparison of PLC CPU area control and performance
Item Q170MSCPU Q170MSCPU-S1 Q170MCPU
Q03UDCPU or
equivalent (30k steps)
Relay symbol language (ladder), logic symbolic language (list),
MELSAP3 (SFC), MELSAP-L, Structured text (ST)
LD instruction 0.02 μs 0.0095 μs 0.02 μs
MOV instruction 0.04 μs 0.019 μs 0.04 μs
PC MIX value (instruction/μs) 28 60 28
Floating point addition 0.12 μs 0.057 μs 0.12 μs
30k steps
(120k bytes)
QCPU standard memory 8k bytes
Multiple CPU high speed
transmission area
4096 points
Points by default
(changeable by parameters)
(Index register (Z) is used in double words.)
Q06UDHCPU or
equivalent (60k steps)
Yes
60k steps
(240k bytes)
32k bytes
8192 points
Up to 10 points (Z0 to Z18)
Q03UDCPU or equivalent
(20k steps)
20k steps
(80k bytes)
512 points
(Up to 320 points (64
points × 5 modules) is
usable with I/O module.)
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1 OVERVIEW
Function register (FD) 5 points
Local device Yes
Device initial values Yes
Extension base unit
PLC type when program is made by GX Works2 Q03UDCPU Q06UDHCPU Q03UDCPU
Motion dedicated PLC instruction
Comparison of PLC CPU area control and performance (continued)
Item Q170MSCPU Q170MSCPU-S1 Q170MCPU
Number of extension
GOT bus connection No restriction
7 extensions (Up to 64 slots)
(Q52B/Q55B/Q63B/Q65B/Q68B/Q612B usable)
D(P).DDRD, D(P).DDWR, D(P).SFCS,
D(P).SVST, D(P).CHGT, D(P).CHGT2,
D(P).CHGV, D(P).CHGVS
D(P).CHGAS
(Note-2)
(Note-1): Occupies 8 slots of the main base unit as empty slots.
(Note-2): SV22 advanced synchronous control only
(Note-1)
(Note-2)
, D(P).CHGA,
, D(P).GINT
1 extension
(Q52B/Q55B usable)
• Extension base unit use:
Connection after the
extension base unit of
stage 1
• Extension base unit not
use:
Direct bus connection to
Motion controller
D(P).DDRD, D(P).DDWR,
D(P).SFCS, D(P).SVST,
D(P).CHGT, D(P).CHGT2,
D(P).CHGV, D(P).CHGA,
D(P).GINT
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