Mitsubishi Electric Q170MSCPU, Q170MSCPU-S1 User Manual

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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

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For Safe Operations

1. Prevention of electric shocks

DANGER

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

may lead to electric shocks.

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

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

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

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

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

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

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

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

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

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3. For injury prevention

CAUTION

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

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

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

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

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

Doing so may lead to injuries.

4. Various precautions

Strictly observe the following precautions.

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

(1) System structure

CAUTION

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

in the instruction manual for the servo amplifier, etc., always install the electromagnetic contactor. Install the emergency stop circuit externally so that the operation can be stopped immediately and

the power shut off. Use the Motion controller, servo amplifier, servomotor and regenerative resistor with the correct

combinations listed in the instruction manual. Other combinations may lead to fire or faults. Use the Motion controller, base unit and motion module with the correct combinations listed in the

instruction manual. Other combinations may lead to faults. If safety standards (ex., robot safety rules, etc.,) apply to the system using the Motion controller,

servo amplifier and servomotor, make sure that the safety standards are satisfied. Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal

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

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

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

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

brakes.

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CAUTION

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

servo OFF. These brakes must not be used for normal braking. The brakes (electromagnetic brakes) assembled into the servomotor are for holding applications,

and must not be used for normal braking. The system must have a mechanical allowance so that the machine itself can stop even if the

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

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

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

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

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

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

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

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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.

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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.

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.

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(4) Wiring

CAUTION

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

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

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

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

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

when trouble occurs or the protective functions not functioning.

Servo amplifier

DOCOM

Control output signal

DICOM

For the sink output interface For the source output interface

24VDC

Servo amplifier

DOCOM

Control output signal

DICOM

24VDC

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

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

lead to the cables 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.

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(6) Usage methods

CAUTION

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

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

have been changed or after maintenance and inspection. Do not attempt to disassemble and repair the units excluding a qualified technician whom our

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

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

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

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

equipment. Use the units with the following conditions.

Item Conditions

Input power According to each instruction manual.

Input frequency According to each instruction manual.

Tolerable momentary power failure According to each instruction manual.

(7) Corrective actions for errors

CAUTION

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

check details according to the instruction manual, and restore the operation. If a dangerous state is predicted in case of a power failure or product failure, use a servomotor

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

operated by emergency stop signals set externally.

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

Servo motor

RA1

Electromagnetic brakes

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.)

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(8) Maintenance, inspection and part replacement

CAUTION

Perform the daily and periodic inspections according to the instruction manual. Perform maintenance and inspection after backing up the program and parameters for the Motion

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

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

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

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

wood, plastic or vinyl that may cause static electricity buildup. Do not perform a megger test (insulation resistance measurement) during inspection. When replacing the Motion controller or servo amplifier, always set the new module settings

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

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

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

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

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

absolute position detector function is correct.

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

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

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

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

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

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

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(9) About processing of waste

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

CAUTION

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

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

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

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

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

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

(10) General cautions

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

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

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

manual.

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REVISIONS

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

Print Date Manual Number Revision

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.

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.

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-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/MR-J4W- B/MR-J3- B/

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-

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,

(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-

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-

B, MR-J3W- B,

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

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)

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.)

1 - 10

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

1 - 11

1 OVERVIEW

1.3 Restrictions by the Software's Version

There are restrictions in the function that can be used by the version of the operating system software and programming software. The combination of each version and a function is shown in Table 1.1.

Table 1.1 Restrictions by the software's version

Operating system

Function

Servo driver VC series manufactured by CKD

Nikki Denso Co., Ltd. (SSCNET

Servo amplifier via synchronous encoder 00D 1.66U 1.23Z (Note-4)

Driver communication function (SSCNET /H) 00D 1.66U 1.23Z (Note-5)

Optical hub unit 00F — — (Note-3)

Home position return of driver home position return

method

Stepping motor module AlphaStep/5-phase

manufactured by ORIENTAL MOTOR Co., Ltd.

Servo driver VPH series manufactured

by CKD Nikki Denso Co., Ltd.

IAI electric actuator controller manufactured

by IAI Corporation

Inverter FR-A800 series 00J 1.118Y — (Note-3)

Improvement of absolute positioning operation for

servo driver VC

CKD Nikki Denso Co., Ltd., and stepping motor

module AlphaStep/5-phase manufactured by

ORIENTAL MOTOR Co., Ltd.

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

(Note-2): The operating system software version can be confirmed via MT Developer2 or GX Works2.

(Note-3): Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)

(Note-4): Q173DSCPU/Q172DSCPU Motion controller (SV22) Programming Manual (Advanced Synchronous Control)

(Note-5): Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (COMMON)

/VPH series manufactured by

(Refer to Section 2.2 or Section 2.3(6).)

/H)

software version

(Note-1), (Note-2)

00D 1.56J — (Note-3)

00H 1.118Y — (Note-3)

00L — — (Note-3)

Programming software version

MELSOFT MT Works2

(MT Developer2)

—: There is no restriction by the version.

MR Configurator2

Section of

reference

1.4 Programming Software Version

The programming software versions that support Motion controller are shown below.

MELSOFT MT Works2

Motion controller

Q170MSCPU

Q170MSCPU-S1

(MT Developer2)

SV13/SV22

1.56J 1.19V

MR Configurator2

1 - 12

2 SYSTEM CONFIGURATION

2. SYSTEM CONFIGURATION

This section describes the Motion controller (Q170MSCPU) system configuration, precautions on use of system and configured equipments.

2.1 Motion System Configuration

(1) Equipment configuration in Q170MSCPU system

(Note-2)

PUSH

Large capacity battery holder

(Q170MSBAT-SET)

(Note-1)

MITSUBISHI

LITHIUM BATTERY

PROGRAMMABLE CONTROLLER

TYPE Q6BAT

Battery

(Q6BAT)

(Note-3)

Forced stop input cable

Motion controller

(Q170MSCPU)

Extension of the Q series module

I/O module/Intelligent

function module of the

Q series

Extension cable

(QC B)

Q5 B extension base unit

(Q52B, Q55B)

Motion module

(Q172DLX, Q173DPX)

Servo amplifier

(MR-J3(W)- B)

SSCNET cable

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

Servo amplifier

(MR-J4(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 Q170MSCPU.) (Note-2): Large capacity battery use (Q7BAT is included), sold separately. (Note-3): Fabricate the forced stop input cable on the customer side.

Power supply module/ I/O module/Intelligent function

module of the Q series

Q6 B extension base unit

(Q63B, Q65B, Q68B, Q612B)

2 - 1

2 SYSTEM CONFIGURATION

(2) Peripheral device configuration for the Q170MSCPU

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

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

Motion controller

(Q170MSCPU)

USB cable

Personal computer

Motion controller

(Q170MSCPU)

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

(Q170MSCPU)

Ethernet cable

Personal computer

(Note-1)

2 - 2

2 SYSTEM CONFIGURATION

2.1.1 Q170MSCPU System overall configuration

Motion controller

Q170MSCPU

USB/RS-232

Personal Computer IBM PC/AT

EMI forced stop input (24VDC)

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

24VDC

Battery (Q6BAT/Q7BAT)

Extension cable (QC B)

d01

SSCNET (/H)

Serial absolute synchronous encoder cable (Q170ENCCBL M-A)

Serial absolute

synchronous

(Note-1)

encoder (Q171ENC-W8)

PERIPHERAL I/F

Panel personal computer

Manual pulse generator/

Incremental synchronous encoder 1/module

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

Motion CPU area control module

MR-J3(W)- B/MR-J4(W)- B model Servo amplifier Optical hub unit (MR-MV200) Inverter FR-A800/FR-A700 series VC series/VPH series servo driver manufactured by CKD Nikki Denso Co., Ltd. Stepping motor module AlphaStep/5-phase manufactured by ORIENTAL MOTOR Co., Ltd. IAI electric actuator controller manufactured by IAI Corporation (1 line ( Up to 16 axes)

MELSEC-L series SSCNET /H head module

d02

d03

External input signals of servo amplifier

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

d16

PLC CPU area control module

l u d o

r o

LJ72MS15L61P

1 line (Up to 4 stations)

I/O module/ Intelligent function module

Power supply module

Extension base unit (Q6 B/Q5 B) UP to 7 extensions (64 slots)

QI60

QY Q6 AD

Q6 DA

Intelligent

function module

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

Analogue input/output

Input/output (Up to 256 points)

Upper stroke limit Lower stroke limitInterrupt signals (16 points) STOP signal Proximity dog/Speed-position switching

I/O modul e/ Intelligent function module

Manual pulse generator/

Incremental synchronous encoder 3/module (MR-HDP01)

External input signals

Number of Inputs

8 axes/module

(Note-1): MR-J4- B-RJ only

Q173D

Q172D

2 - 3

2 SYSTEM CONFIGURATION

CAUTION

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

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

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

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

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

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

2 - 4

2 SYSTEM CONFIGURATION

2.1.2 Q170MSCPU System internal configuration

(1) What is Multiple CPU system for Q170MSCPU ?

A Multiple CPU system for Q170MSCPU is a system in which 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. In addition, the Motion CPU area controls the servo amplifiers connected by SSCNET

PLC CPU area (CPU No.1 fixed)

cable.

Motion controlle

Motion CPU area (CPU No.2 fixed)

Power supply

24VDC

Personal computer GX Works2 MT Developer2

PLC control processor

PLC I/O module

(DI/O)

Device memory

Multiple CPU high speed transmission memory

Multiple CPU high speed bus

Device memory

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 (/H)

Servo amplifier

Servo

(FLS, RLS, DOG)

motor

Servo external

input signals

(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 - 5

2 SYSTEM CONFIGURATION

2.1.3 Function explanation of the Q170MSCPU 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 line can be controlled in Q170MSCPU.

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

operation cycle and executed at fixed cycle (0.22[ms], 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 Q170MSCPU 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 Q170MSCPU.

(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

motion control.

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

synchronous encoder (up to 12 axes). The incremental synchronous encoder (1 axis) can also be used with Q170MSCPU's internal I/F.

(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 Q170MSCPU (Motion CPU

area) can be realized.

(Note-1)

can be used as

cable.

2 - 6

2 SYSTEM CONFIGURATION

(i) I/O modules and intelligent function modules (excluding some 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.

(Note-1): The incremental synchronous encoder can be used in SV22.

It cannot be used in SV13.

2 - 7

2 SYSTEM CONFIGURATION

2.1.4 Restrictions on Motion controller

(1) Q170MSCPU 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.

(2) 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.

(3) 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.

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

installed on the extension base unit only.

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

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

cannot be used.

(7) 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.

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

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

(9) Motion CPU area cannot be set as the control CPU of Graphic Operation

Terminal(GOT).

(10) Be sure to set the battery.

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

• Use a EMI connector of Q170MSCPU.

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

(12) Forced stop input for EMI connector of Q170MSCPU cannot be invalidated by

the parameter. When the device set in the forced stop input setting is used without use of EMI connector of Q170MSCPU, apply 24VDC voltage on EMI connector and invalidate the forced stop input of EMI connector.

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

released without using it. Fabricate the forced stop input cable on the customer side.

2 - 8

2 SYSTEM CONFIGURATION

(14) Set "SSCNET

system setting to communicate with the servo amplifiers and SSCNET

compatible equipment. The following shows the servo amplifiers and SSCNET equipment that can be used when "SSCNET

Servo amplifier/SSCNET (/H) compatible equipment

Servo amplifier

Pulse conversion unit MR-MT1200

Inverter

SSCNET /H head module LJ72MS15

Servo driver manufactured by

CKD Nikki Denso Co., Ltd.

Stepping motor module AlphaStep/5-phase manufactured

by ORIENTAL MOTOR Co., Ltd.

IAI electric actuator controller manufactured by IAI

Corporation.

Ver.!

: Refer to Section 1.3 for the software version that supports this function.

/H" or "SSCNET " for every line in the SSCNET setting of

(/H)

(/H) compatible

/H" and "SSCNET " are set.

SSCNET setting

SSCNET /H SSCNET

(Note-1): Operated in J3 compatibility mode

series

Ver.!

MR-J4(W)-

MR-J3(W)- B

FR-A800 series

FR-A700 series

VPH series

Ver.!

(Note-1)

: Usable

: Unusable

2 - 9

2 SYSTEM CONFIGURATION

(15) The following are restrictions for the communication type depending on the

Operation cycle

• MR-J4W3-

(Note-1)

used.

0.22ms

0.44ms

0.88ms or more — —

• One SSCNET

• AlphaStep/5-phase cannot be used.

• Up to 2 axes per IAI electric actuator controller can be

(Note-4)

set.

• Two SSCNET

• Up to 4 axes per IAI electric actuator controller can be

(Note-4)

set.

communication type and operation cycle settings being used.

Communication type

SSCNET /H SSCNET

• The maximum number of control axes per line is four

axes.

B (software version A2 or earlier) cannot be

/H head module per line can be set.

/H head modules per line can be set.

(Note-1): MR-J4W3-

using operation cycle 0.22ms, some functions are restricted. Refer to the servo amplifier instruction

manual for details.

(Note-2): When AlphaStep/5-phase is set in system settings, operation is carried out with operation cycle at

0.44ms.

(Note-3): When FR-A700 series, VC

with operation cycle at 0.44ms.

(Note-4): When the setting exceeds the number of control axes per controller, a major error (error code:

1350) occurs. Set the operation cycle as follows according to the number of control axes per

controller.

Number of control axes per controller Operation cycle

1 to 2 axes 0.22ms or more

3 to 4 axes 0.44ms or more

5 axes or more 0.88ms or more

B (Software version A3 or later) supports operation cycle 0.22ms. However, when

(Note-2)

series, or VPH series is set in system settings, operation is carried out

• Set the axis select rotary switch of the servo amplifier to

"0 to 3". If the axis select rotary switch of servo amplifier

is set to "4 to F", the servo amplifiers are not recognized.

• MR-J4W3used.

• MR-J3W- B cannot be used.

• FR-A700 series, VC used.

• The maximum number of control axes per line is eight

axes.

• Set the axis select rotary switch of the servo amplifier to

"0 to 7". If the axis select rotary switch of servo amplifier

is set to "8 to F", the servo amplifiers are not recognized.

B (software version A2 or earlier) cannot be

(Note-1)

(Note-3)

series, and VPH series cannot be

(16) If there is an axis which is not set at least 1 axis by system setting in applicable

servo amplifier at MR-J4W-

B use, all axes connected to applicable servo amplifier and subsequent servo amplifiers cannot be connected. Set "Not used" to the applicable axis with a dip switch for the axis which is not used by MR-J4W-

—: No restriction

2 - 10

2 SYSTEM CONFIGURATION

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

GX Works2 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 the

Module name

Q172DLX Q172LX Q172DLX

Q173DPX MOTION-UNIT Q173DPX

(18) Use the Graphic Operation Terminal (GOT) that supports Q170MSCPU.

online module change.

Model display

Function version "B" Function version "C"

2 - 11

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 is described below.

2.2.1 Checking serial number

(1) Motion controller (Q170MSCPU)

(a) Rating plate

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

MITSUBISHI Q170MSCPU

PULL

USB

The SERIAL line displays the Motion controller serial No.

(b) Front of the Motion controller

The serial number is displayed on the front of the Motion controller.

MODE

RUN

ERR.

USER

BAT.

BOOT

POWER

STOPRESET RUN

RS-232

CN1

Rating plate

EMI.COM

CARD

EMI

EJECT

FRONT

OUT

PERIPHERAL I/F

EXT.IO

24VDC

A32659999

Serial number

The serial number can be checked on the system monitor screen in GX Works2. (Refer to Section 2.2.2.)

2 - 12

2 SYSTEM CONFIGURATION

(2) Motion module (Q172DLX/Q173DPX)

(a) Rating plate

The rating plate is situated on the side face of the Motion module. The SERIAL line displays the Motion module serial No.

(b) Front of Motion module

The serial No. is displayed on the protruding portion situated on the lower front side of the Motion module.

Q172DLX

Rating plate

CTRL

Q172DLX

Serial numbe

C16054999

REMARK

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

2 - 13

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 Works2. The version can be checked on the product information list displayed by selecting the [Product Information List] button on the system monitor screen displayed through [Diagnostics] – [System monitor] in GX Works2.

Serial number o Motion controlle

Operating system software version

2 - 14

2 SYSTEM CONFIGURATION

2.3 System Configuration Equipment

Part name

Motion controller

Servo external

signals interface

module

Manual pulse

generator

interface module

Manual pulse

generator

Serial absolute

synchronous

encoder

Serial absolute

synchronous

encoder cable

Connector set

for serial

absolute

synchronous

encoder cable

Battery Q6BAT

Large capacity

battery

Model name

Q170MSCPU

Q170MSCPU-S1

Q172DLX

Q173DPX

MR-HDP01

Q171ENC-W8

Q170ENCCBL

MR-J3CN2

Q7BAT

(1) Motion controller related module

(Note-1)

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

(Battery (Q6BAT), 24VDC power supply connector and connector for forced stop input cable

• Motion CPU area

Up to 16 axes control, Operation cycle 0.22[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 30k steps, LD instruction processing speed 0.02μs

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

(Battery (Q6BAT), 24VDC power supply connector and connector for forced stop input cable

• Motion CPU area

Up to 16 axes control, Operation cycle 0.22[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 60k steps, LD instruction processing speed 0.0095μs

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: 25pulse/rev(100pulse/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

Resolution: 4194304pulse/rev

Permitted axial loads Radial load: Up to 19.6N,

Thrust load: Up to 9.8N

Permitted speed: 3600r/min

Serial absolute synchronous encoder Q171ENC-W8

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

M-A

50m(164.04ft.)

MR-J4-

Plug : 36210-0100PL

Shell : 36310-3200-008

Q171ENC-W8 side connector

Plug : D/MS3106B22-14S

Cable clamp : D/MS3057-12A

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

Nominal current: 1800mAh

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

Nominal current: 5000mAh

(Note-2)

are attached)

(Note-2)

are attached)

B-RJ side connector

Description

MR-J4- B-RJ

Current

consumption

5VDC[A]

(Note-3)

2.5

(Note-3)

2.5

0.06

0.38

0.06

0.25

——

Remark

2 - 15

2 SYSTEM CONFIGURATION

Part name

Large capacity

battery holder

Internal I/F

connector set

Power supply

(Note-4)

module

Extension base

(Note-5)

unit

Extension cable

SSCNET

cable

Model name

Q170MSBAT-SET Battery holder for Q7BAT (Attachment Q7BAT) ——

LD77MHIOCON

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

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

Q63P 24VDC input, 5VDC 6A output

Q64PN 100 to 240VAC input, 5VDC 8.5A output

Q52B

Q55B

Q63B Number of I/O modules installed 3 slots 0.11

Q65B Number of I/O modules installed 5 slots 0.11

Q68B Number of I/O modules installed 8 slots 0.12

Q612B Number of I/O modules installed 12 slots 0.13

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.)

MR-J3BUS

MR-J3BUS M-A

MR-J3BUS M-B

(Note-6)

Motion controller related module (continued)

(Note-1)

Incremental synchronous encoder/Mark detection signal interface

connector (Not included with Q170MSCPU/Q170MSCPU-S1)

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

• Q170MSCPU

MR-J4(W)-

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

(Note-3): The manual pulse generator or incremental synchronous encoder that consumes less than 0.2[A] of

(Note-4): Be sure to use the power supply module within the range of power supply capacity. (Note-5): 5VDC internal current consumption of shared equipments with PLC might be changed.

(Note-6): Please contact your nearest Mitsubishi sales representative for the cable of less than 30m(98.43ft.).

• Q170MSCPU

• Standard cord for inside panel

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

• Q170MSCPU

MR-J4(W)-

• Q170MSCPU

• Standard cable for outside panel

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

• Q170MSCPU

MR-J4(W)-

• Q170MSCPU

• Long distance cable

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

Cable for forced stop input is not attached to the Motion controller.

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

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

Current

Description

MR-J4(W)- B/MR-J4(W)- B MR-J4(W)- B/

B LJ72MS15

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

MR-J4(W)- B/MR-J4(W)- B MR-J4(W)- B/

B LJ72MS15

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

MR-J4(W)- B/MR-J4(W)- B MR-J4(W)- B/

B LJ72MS15

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.))

consumption

5VDC[A]

——

0.08

0.10

——

Remark

2 - 16

2 SYSTEM CONFIGURATION

Part name Model name

DC (Positive common)

Input module

Output module

Input/Output

composite

module

Interrupt module QI60 0.06 (TYP, All points ON)

DC/AC QX50 0.05 (TYP, All points ON)

DC sensor

DC (Negative common)

Relay

Triac QY22 0.25 (TYP, All points ON)

Transistor

TTL•CMOS (Sink)

DC Input/

Transistor output

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

Current consumption 5VDC[A]

QX10 0.05 (TYP, All points ON)

QX10-TS 0.05 (TYP, All points ON)

QX28 0.05 (TYP, All points ON)

QX40 0.05 (TYP, All points ON)

QX40-TS 0.05 (TYP, All points ON)

QX40-S1 0.06 (TYP, All points ON)

QX40H 0.08 (TYP, All points ON)

QX41 0.075 (TYP, All points ON)

QX41-S1 0.075 (TYP, All points ON)

QX41-S2 0.075 (TYP, All points ON)

QX42 0.09 (TYP, All points ON)

QX42-S1 0.09 (TYP, All points ON)

QX70 0.055 (TYP, All points ON)

QX70H 0.08 (TYP, All points ON)

QX71 0.07 (TYP, All points ON)

QX72 0.085 (TYP, All points ON)

QX80 0.05 (TYP, All points ON)

QX80-TS 0.05 (TYP, All points ON)

QX80H 0.08 (TYP, All points ON)

QX81 0.075 (TYP, All points ON)

QX81-S2 0.075 (TYP, All points ON)

QX82 0.09 (TYP, All points ON)

QX82-S1 0.09 (TYP, All points ON)

QX90H 0.08 (TYP, All points ON)

QY10 0.43 (TYP, All points ON)

QY10-TS 0.43 (TYP, All points ON)

QY18A 0.24 (TYP, All points ON)

QY40P 0.065 (TYP, All points ON)

QY40P-TS 0.065 (TYP, All points ON)

Sink Type

Independent QY68A 0.11 (TYP, All points ON)

Source Type

QY41P 0.105 (TYP, All points ON)

QY42P 0.15 (TYP, All points ON)

QY50 0.08 (TYP, All points ON)

QY80 0.08 (TYP, All points ON)

QY80-TS 0.08 (TYP, All points ON)

QY81P 0.095 (TYP, All points ON)

QY82P 0.16 (TYP, All points ON)

QY70 0.095 (TYP, All points ON)

QY71 0.15 (TYP, All points ON)

QH42P 0.13 (TYP, All points ON)

QX48Y57 0.08 (TYP, All points ON)

QX41Y41P 0.13 (TYP, All points ON)

(Note-1)

Remark

Refer to the MELSEC-Q series PLC

Manuals.

2 - 17

2 SYSTEM CONFIGURATION

Part name Model name

Voltage input Q68ADV 0.64

Analogue input

module

Analogue output

module

Analogue input/output module Q64AD2DA 0.17

High-speed

counter module

Positioning

module

Simple Motion

module

Control unit of displacement sensor

Current input

Voltage/current input

Voltage output Q68DAVN 0.38

Current output Q68DAIN 0.38

Voltage/current output

Differential input QD62D 0.38

5/12/24VDC input/

Differential input

Open collector output

Differential output

SSCNET compatible

SSCNET

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

/H compatible

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

Current consumption 5VDC[A]

Q62AD-DGH 0.33

Q66AD-DG 0.42

Q68ADI 0.64

Q64AD 0.63

Q64AD-GH 0.89

Q68AD-G 0.46

Q62DAN 0.33

Q62DA-FG 0.37

Q64DAN 0.34

Q66DA-G 0.62

QD65PD2 0.23

QD75P1 0.40

QD75P2 0.46

QD75P4 0.58

QD75D1 0.52

QD75D2 0.56

QD75D4 0.82

QD75MH1 0.15

QD75MH2 0.15

QD75MH4 0.16

QD77MS2 0.60

QD77MS4 0.60

QD77MS16 0.75

UQ1-01 0.50

UQ1-02 0.50

Be sure to refer to the manuals of each module.

(Note-1)

Refer to the MELSEC-Q series PLC

Manuals.

Refer to the MELSEC-Q QD75MH

Positioning Module User's Manual

(Details).

Refer to the MELSEC-Q QD77MS

Simple Motion Module User's Manual

(Positioning Control).

Refer to the manual of OPTEX FA

CO., LTD.

Remark

2 - 18

2 SYSTEM CONFIGURATION

(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 (Q170MSCPU use)" or "Q06UDHCPU (Q170MSCPU-S1 use)". Refer to the MELSEC-Q series PLC Manuals.

(4) SSCNET (/H) compatible equipment

Part name Model name Description Remarks

MR-J4 series

servo amplifier

SSCNET /H

head module

Optical hub unit MR-MV200

MR-J4-

MR-J4- B-RJ

MR-J4W- B For 2-axis type, 3-axis type

LJ72MS15

Part name Model name Description Remarks

MR-J3-

MR-J3W- B For 2-axis type

MR-J3 series

servo amplifier

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- B Safety For drive safety servo

(a) SSCNET /H compatible equipment

(b) SSCNET

Maximum link points: Input 64 bytes, Output 64 bytes

Transmission cycle: 0.222ms, 0.444ms, 0.888ms

3 branches, 1 unit,

24VDC power supply connector is attached

compatible equipment

Refer to the servo amplifier

instruction manuals.

Refer to the MELSEC-L series PLC

manuals.

Refer to the servo amplifier

instruction manuals.

(5) Operating system software

Application Software package

Conveyor assembly use SV13

Automatic machinery use SV22

(Note-1): The operating system software (SV22 (Virtual mode switching method)) is installed at the time of

product purchases.

SW8DNC-SV13QN

SW8DNC-SV22QN

(6) Operating system type/version

(a) Confirmation method in MT Developer2

The operating system software type and version of connected CPU can be confirmed on the following screens.

1) Installation screen

2) CPU information screen displayed by menu bar [Help] Information]

Example) When using Q170MSCPU, SV22 and OS version 00A.

(OS software)

SV2 2QN VER 0 0A

[CPU

N: Q170MSCPU

2 - 19

OS version

3: Motion SFC compatibility . : Motion SFC not compatibility

2 SYSTEM CONFIGURATION

(7) Programming software packages

(a) Motion controller engineering environment

MELSOFT MT Works2 (MT Developer2

(b) PLC software package

GX Works2 SW1DNC-GXW2-E

MR Configurator2 SW1DNC-MRC2-E

POINTS

When the operation of WindowsR is unclear in the operation of this software, refer to the official Windows

Part name Model name

(Note-1)

)

(Note-1): This software is included in Motion controller engineering environment

"MELSOFT MT Works2".

Model name Software package

SW1DNC-MTW2-E

manual or a guidebook from another supplier.

2 - 20

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

Operating ambience No corrosive gases

Operating altitude

Mounting location Inside control panel

Overvoltage category

Pollution level

(Note-1): Do not use or store the Motion controller under pressure higher than the atmospheric pressure of altitude 0m. Doing so can cause

an operation failure. W hen using the Motion controller under pressure, please contact with our sales representative.

(Note-2): 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 Q170MSCPU Motion controller

24VDC power supply

5VDC internal power

supply

Efficiency 80% (TYP)

Input method Connector

Allowable momentary power failure immunity

(Note-4), (Note-5)

Mass [kg] 0.8

Exterior dimensions [mm (inch)] 186 (7.32)(H) 52 (2.05)(W) 135 (5.31)(D)

This section describes the specification of the Motion controller.

(1) Basic specifications of Q170MSCPU

Item Specification

Input voltage

(Note-1), (Note-2)

Inrush current

Max. input current 1.4A

Max. supplied current 4.5A (Included Q170MSCPU current consumption)

Q170MSCPU current consumption

(Note-3)

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

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

21.6 to 26.4VDC

2.5A

10ms (at 24VDC input)

(Note-6)

POINTS

(Note-1): Input power supply

Q170MSCPU is rated for use with a 24VDC input power only. The Q170MSCPU 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 Q170MSCPU.

(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. Turn ON the primary (AC side) of power supply. 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

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

(Note)

will cause

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

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

(Note)

may cause the operation to continue or initial start to take place depending on the power supply load. (Note): This is for a 24VDC input. This is 10ms or less for less than

24VDC.

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

period of 20ms or more.

(Note-6): The current consumption (0.2[A]) of manual pulse generator/incremental

synchronous encoder connected to the internal I/F connector is not included.

2 - 22

2 SYSTEM CONFIGURATION

(2) Motion control specifications/performance specifications

Item Specification

Number of control axes Up to 16 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

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

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

ROM operation function Provided

External input signal Q172DLX, External input signals (FLS/RLS/DOG) of servo amplifier, Internal I/F (DI), Bit device

High-speed reading function

(Note-7)

Forced stop Motion controller forced stop (EMI connector, System setting), Forced stop terminal of servo amplifier

Number of I/O points

Mark detection

function

Clock data setting Clock synchronization between Multiple CPU

SV13

SV22

SV13

SV22

Mark detection

mode setting

Mark detection

signal

Mark detection

setting

(a) 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 (Q170MSCPU's internal I/F use)

Possible to connect 12 modules (SV22 use, Incremental only)

(Q173DPX + Internal I/F + Via device

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

Watch data: Motion control data/Word device

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

(Internal I/F (Input 4 points, output 2 points) + I/O module + Intelligent function module)

Continuous detection mode, Specified number of detection mode, Ring buffer mode

Internal I/F (DI), Bit device

(Note-5)

+ Via servo amplifier

Output timing compensation

Total 256 points

32 settings

(Note-2), (Note-3)

(Note-1)

(Note-4)

(Note-5), (Note-6)

)

2 - 23

2 SYSTEM CONFIGURATION

Item Specification

Security function Provided (Protection by software security key or password)

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

Number of SSCNET /H head

module communication 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 Up to 3 data/axis (Communication data: Up to 3 points/axis)

Communication

type

Number of lines

Q172DLX 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.

Motion control specifications (continued)

/H Up to 6 data/axis (Communication data: Up to 6 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

Up to 4 stations usable

Up to 16 units usable

B-RJ) only.

B/MR-J4- B) only.

/H, SSCNET

(Note-9)

1 line

Provided

(Note-11)

2 - 24

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 (PX/PY)

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)

Link registers (W) 8192 points

Special registers (SD) 2256 points

Motion registers (#) 12288 points

Coasting timers (FT)

Multiple CPU area devices (U \G)

Operation control program

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.

(Note-1): 19824 points can be used for SV22 advanced synchronous control.

(Note-2): Usable number of points changes 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,

branch/repetition processing

Calculation expression/bit conditional expression/

comparison conditional expression

(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.

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

652k bytes

668k bytes

Execute in fixed cycle

Total 256 points

Intelligent function module)

8192 points

1 point (888µs)

Up to 14336 points

(Note-1)

(Note-2)

2 - 25

2 SYSTEM CONFIGURATION

PLC CPU area Q03UDCPU or equivalent Q06UDHCPU or equivalent

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 30k steps (120k byte) 60k steps (240k byte)

CPU shared memory

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

No. of I/O points (X/Y) 4096 points

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

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

Function register (FD) 5 points

Local device Yes

Device initial values Yes

(3) PLC control specifications

Item

LD instruction 0.02 μs 0.0095 μs

MOV instruction 0.04 μs 0.019 μs

PC MIX value (instruction/μs) 28 60

Floating point addition 0.12 μs 0.057 μs

QCPU standard memory 8k bytes

Multiple CPU high speed

transmission area

Points by default

(changeable by parameters)

Q170MSCPU Q170MSCPU-S1

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

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

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

Specification

Yes

32k bytes

8192 points

Up to 10 points (Z0 to Z18)

2 - 26

2 SYSTEM CONFIGURATION

Item

Extension base unit Number of extensions

PC type when program is made by GX Works2 Q03UDCPU Q06UDHCPU

PLC control specifications (continued)

Specification

Q170MSCPU Q170MSCPU-S1

7 extension (Up to 64 slots)

(Q52B/Q55B/Q63B/Q65B/Q68B/Q612B usable)

(Note-1): Occupies 8 slots of the main base unit as empty slots.

(Note-1)

(4) Q170MSCPU names of parts

24)

MITSUBISHI Q170MSCPU

MODE

17)

RUN

ERR.

USER

BAT.

PULL

BOOT

USB

RS-232

POWER

STOPRESET RUN

CN1

With front cover open, and battery holder remove Side face Front face

11)

12)

13)

14)

15)

16)

18)

MODE

RUN

ERR.

USER

BAT.

BOOT

USB

SW1 SW2

POWER

STOPRESET RUN

CN1

26)

19)

EMI.COM

EMI

EJECT

PERIPHER AL I/F

EMI.COM

EMI

EJECT

PERIPHER AL I/F

20)

CARD

FRONT

OUT

EXT.IO

24VDC

21)

EXT.IO

CARD

FRONT

OUT

24VDC

10)

(Note)

PUSH

23)25)

(Note): Unusable

22)

Bottom face

2 - 27

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

SSCNET

PERIPHERAL I/F connector

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

(Note-1)

• 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 "0", SW2 "0" position)

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

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

• Move RUN/STOP to change the operating state of the Motion controller.

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.

Connector to connect the servo amplifier.

For communication I/F with peripheral devices.

• Upper LED Remains flashing : It communicates with the peripheral devices. ON : It does not communicate with the peripheral devices.

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

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 - 28

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

14) "USER" LED

15) "BAT." LED

16) "BOOT" LED

17) USB connector

18) RS-232 connector

Forced stop input connector (EMI)

(Note-2)

19)

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 connector Connector to connect the Q6BAT/Q7BAT.

23) Battery holder

24) Module fixing screw hole

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

26) 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 cable from putting its own weight on SSCNET connector.

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

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

(Note-3): Be sure to set the battery. The data (Refer to Section 6.5.) in the RAM built-in Motion controller is 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.)

• OFF : Normal

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

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

Indicates the operating status of the PLC CPU area.

• 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

memory card.

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

standard ROM by the latch data backup is completed.

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

backup is completed.

• OFF : Normal

Indicates the operating status of the PLC CPU area.

• ON : Start of boot operation

• OFF : Non-execution of boot operation

• Connector to connect the peripheral devices for USB connection.

(Connector type mini B)

• Connect with the dedicated cable for USB

• 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.

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

2 - 29

2 SYSTEM CONFIGURATION

(5) 7-segment LED display

Item 7-segment LED Remark

Start

The LED displays/flashes in the combination with errors.

Initializing

"E " remains

flashing

It takes about 10 seconds to initialize (RUN/STOP

display).

Execute the power cycle of the Motion controller if

the operation stops at initializing for several

minutes. If the problem persists, it may indicate a

Motion controller hardware error.

Explain the error symptom (LED display) and get

advice from our sales representative for the

modules with failure.

Hardware error or software error during initializing.

indicates the error code.

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.

Displayed at battery voltage 2.5V or less.

Refer to Section 6.5.

It becomes the status of installation mode when

the operating system software is not installed.

System setting error

Servo error

" AL" flashes 3 times

Steady " L01" display

" AL" flashes 3 times

Steady " S01" display

2 - 30

System setting error of the Motion controller

Refer to the "Q173D(S)CPU/Q172D(S)CPU

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.

2 SYSTEM CONFIGURATION

Item 7-segment LED Remark

WDT error

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

Setting

(a) Rotary function select 1 switch (SW1)

(Note)

0 Normal mode Normal operation mode

A Installation mode

(b) Rotary function select 2 switch (SW2)

(Note)

0 Mode operated by RAM

6 Mode operated by ROM

8 Ethernet IP address display mode Mode to display the Ethernet IP address.

C SRAM clear SRAM "0" clear

Hardware fault or software fault

Steady "..." display

" 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])

Refer to the Programming Manual of the operating

system software used for details.

Setting error of the Multiple CPU system

Refer to the "Q173D(S)CPU/Q172D(S)CPU

Motion controller Programming Manual

(COMMON)" for details.

Mode Description

Installed the operating system software using

MT Developer2

(Note): Do not set other than the above setting.

Mode Description

Normal operation 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.

(Note): Do not set other than the above setting.

CAUTION

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

2 - 31

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

Refer to next

page (c)

(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

(Note-1): Do not set other the above setting.

(Note-2): The data (Refer to Section 6.5) in the RAM built-in Motion controller is cleared.

(Note-1)

(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.

• The stop error "MULTI CPU DOWN (error code: 7000)" will occur at the PLC CPU area.

• " . " 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.

• The user programs and parameters for the ROM operation can be written to the FLASH ROM

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) Ethernet IP address display mode overview".

• It is STOP status regardless of the RUN/STOP/RESET switch position on the front side of

Motion controller.

• The stop error "MULTI CPU DOWN (error code: 7000)" will occur at the PLC CPU area.

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

• The data (Refer to Section 6.5) in the RAM built-in Motion controller is cleared by turning ON

the Motion controller’s power supply after the rotary switch2 is set to "C".

Operation mode

SRAM clear

(Note-2)

2 - 32

2 SYSTEM CONFIGURATION

POINTS

(1) Be sure to turn OFF the Motion controller's power supply before the rotary

switch setting change.

(2) It is recommended to shift to the mode operated by ROM after the programs

and parameters are fixed. The erasing of the programs and parameters can be avoided even if the battery decrease. (The ROM writing cannot be executed for the current position of the servo motor in the absolute position system, home position and latch device. Back up them beforehand using MT Developer2.) Refer to Section 4.4 of the "Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (COMMON)" for details of the ROM operation.

Disconnect

7-segment LED Operation overview

IP address

(ex. 192.168.3.39)

Subnet mask pattern

(ex. 255.255.255.0)

Default router IP address

(Note)

(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 - 33

2 SYSTEM CONFIGURATION

(8) Internal I/F connector

(a) The pin layout of the Q170MSCPU's internal I/F connector

Use the internal I/F connector on the front of the Q170MSCPU 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-2) (Note-6)

(Note-6)

(Note-4)

Internal I/F connector

Pin No. Signal Name

26 25 24 23 22 21 20 19 18 17 16 15 14

HAL HAH

No connect

SG No connect No connect No connect No connect

DI3 DI1

COM1

DO1

Pin No. Signal Name

13 12 11 10

9 8 7 6 5 4 3 2 1

HBL HBH

SEL

5V No connect No connect No connect No connect

DI4 DI2

COM2

DO2

(Note-1)

(Note-2) (Note-3) (Note-7)

(Note-6)

(Note-5)

Applicable connector model name:

Wire size: AWG28

(Note-1): Input type from manual pulse generator/Incremental synchronous encoder is 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 anything to the terminals listed as "No connect". (Note-7): Do not use the 5V terminals for applications other than power supply for manual pulse generator/incremental synchronous encoder.

Soldering type connector (LD77MHIOCON) 10126-3000PE connector (3M Japan Limited make) 10326-52F0-008 connector case

(Optional)

2 - 34

2 SYSTEM CONFIGURATION

(b) Input signal/Mark detection

Number of input points 4 points

Input method Positive common/Negative common shared

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

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

1) Specifications of input signal/mark detection input signal

Item Specifications

OFF to ON

ON to OFF

Input or

output

2) Interface between input signal/mark detection input signal

Signal name

(24VDC

Pin No.

1 2 3 4

21.6 to 26.4VDC

10%, ripple ratio 5% or less)

1ms

Wiring

example

Internal circuit Description

(Note-1)

Input

Input/

Mark detection

signal input

COM1 15

16 3 17 4

(Note-2)

24VDC

Signal input,

Mark detection

signal input

(Note-1): =1 to 4

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

2 - 35

2 SYSTEM CONFIGURATION

Number of output points 2 points

Output method Sink/Source type

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

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

Response time

1) Specifications of output signal

Item Specifications

OFF to ON

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

Input or

output

2) Interface between output signal

Signal name

(24VDC

Pin No.

1 2

21.6 to 26.4VDC

10%, ripple ratio 5% or less)

1ms or less

Wiring

example

Internal circuit Description

(Note-1)

Output Output

COM2 2

14 1

(Note-1): =1 to 2

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

load

Signal output

(Note-2)

24VDC

2 - 36

2 SYSTEM CONFIGURATION

(d) Manual pulse generator/Incremental synchronous encoder input

1) Specifications of manual pulse generator/incremental synchronous

Item Specifications

Signal input form Phase A/Phase B

Maximum input pulse frequency

Pulse width 1µs or more

Leading edge/trailing edge time 0.25µs or less

Phase difference 0.25µs or more

High-voltage 2.0 to 5.25VDC

Low-voltage 0 to 0.8VDC

Differential-

output type

(26LS31 or

equivalent )

Differential voltage 0.2V

Cable length Up to 30m (98.43ft.)

Example of waveform

(For 1Mpps)

encoder

(Note-1)

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

Phase A

Phase B

1 s or more

0.5 s or more

0.25 s or more

0.5 s or more

0.25 s or less 0.25 s or less

Maximum input pulse frequency

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

Low-voltage 0 to1.0VDC Voltage-output/

Open-collector

type

Cable length Up to 10m (32.81ft.)

Example of waveform

(For 200kpps)

(Note-1): The maximum input pulse frequency is influenced by the leading/trailing edge time of the input waveform.

Countable frequencies are shown below.

(Note-1)

(After magnification by 4, up to 800kpps)

Phase A

Phase B

(Note): Duty ratio 50%

200kpps

5 s or more

2.5 s or more 2.5 s or more

1.2 s or more

1.2 s or less

(Note): Duty ratio 50%

1.2 s or less

t t

Maximum input pulse frequency Up to 1Mpps Up to 500kpps Up to 200kpps Up to 100kpps

Leading/trailing edge time (t)

(A-phase, B-phase input common shared)

0.25µs or less 0.5µs or less 1.25µs or less 2.5µs or less

2 - 37

2 SYSTEM CONFIGURATION

POINT

Use a manual pulse generator or an incremental synchronous encoder that

consumes less than 0.2[A] of current.

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

generator/

Incremental

synchronous

encoder

Manual

pulse

(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

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.

0.25 s or more

(Note-1): The 5V(P5)DC power supply from the Q170MSCPU 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 - 38

2 SYSTEM CONFIGURATION

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

Input or

Input or Output

Output

Input

Power supply

Signal name

Manual pulse generator, phase A HA

Manual pulse generator, phase B HB

Select type signal SEL

(Note-1)

collector type)/incremental synchronous encoder

Pin No. Wiring example Internal circuit Specification Description

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

Pulse width

5 s or more

2.5 s

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 lea ds Phase B. (2) Positioning address decreases if Phase B lea ds Phase A.

1.2 s or more

Rated input voltage

Manual

pulse

generator/

Incremental

synchronous

encoder

No connect

Power supply

5VDC

5.5VDC or less

HIGH level 3 to 5.25VDC/ 2mA or less

LOW level 1VDC or less/ 5mA or more

2 - 39

2 SYSTEM CONFIGURATION

4) Connection examples of manual pulse generator/incremental

Using external power supply (recommended) Using internal power supply

Manual pulse generator/

Q170MSCPU

HAH

HAL

HBH

HBL

SEL

Shell

(Note-1) (Note-1)

Shield

: Twist pair cable

(Note-1): Input type from manual pulse generator/incremental synchronous encoder switched by SEL. SEL-SG connection: Difference-output type

Incremental synchronous encoder side

Using external power supply (recommended) Using internal power supply

Manual pulse generator/ Incremental synchronous

Q170MSCPU

SEL

Shell

(Note-1)

Shield

: Twist pair cable

(Note-1): Input type from manual pulse generator/incremental synchronous encoder switched by SEL. Not connected: Voltage-output/open-collector type

encoder side

synchronous encoder

• Differential-output type

Q170MSCPU

External 5V power supply

HAH

HAL

HBH

HBL

SEL

Shell

: Twist pair cable

• Voltage-output type/open-collector type

External 5V power supply

SEL

Shell

(Note-1)

Shield

: Twist pair cable

Manual pulse generator/ Incremental synchronous encoder side

Shield

Manual pulse generator/ Incremental synchronous encoder sideQ170MSCPU

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

Q170MSCPU (Internal I/F) Up to 1 module

Connectable manual pulse generator/

incremental synchronous encoder

2 - 40

2 SYSTEM CONFIGURATION

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

Any incremental synchronous encoder connected to the Q170MSCPU'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

Q170MS CPU

synchronous encoder used by the internal I/F and Q173DPX.

Internal I/F

(Note-1)

(Note-3)

1st 2nd 3rd

Q173DPXQ173DPXQ173D

4th

Q173D PX

P10 to P12

P7 to P9

P4 to P6

P1 to P3

(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 3: P10 (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.

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

Axis No.

0 1 2 3 4

—

P10

P11

P12

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

: Usable only by the 4th Q173DPX

—: Unusable

—

2 - 41

2 SYSTEM CONFIGURATION

POINTS

For advanced synchronous control method, set the axis No. of synchronous encoder in the synchronous encoder axis parameter. Refer to the "Q173DSCPU/Q172DSCPU Motion controller (SV22) Programming Manual (Advanced Synchronous Control)" for details.

(9) PERIPHERAL I/F connector

Transmission

(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

FKC2.5/3-ST-5.08 connector (PHOENIX CONTACT make) (Attachment)

• Conductor size for power line

0.3 to 2.5mm

Item Specification

Data transmission speed 100Mbps/10Mbps

Communication mode Full-duplex/Half-duplex

Transmission method Base band

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

(AWG12 to AWG22)

Pin No. Signal name

1 24V(+)

2 24G

3 FG

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. Twist 24V(+) and 24G for 24VDC power line. Power off the Motion controller before wiring 24VDC power supply. Use proper size wire for 24VDC power line.

2 - 42

2 SYSTEM CONFIGURATION

(11) Forced stop input connector

The pins layout (from front view) and connection of the forced stop input connector is shown below.

• Applicable connector model name

FK-MCP1.5/3-ST-3.81 connector (PHOENIX CONTACT make) (Attachment)

• Conductor size for power line

0.3 to 1.5mm

(AWG16 to AWG22)

(Note-1): Do not connect anything to the terminals

Pin No. Signal name

3 EMI.COM

(Note-1)

1 EMI

listed as "No connect".

No connect

2 - 43

2 SYSTEM CONFIGURATION

(12) 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

Q170MS CPU

Incremental synchronous encoder

QX40 QY40P Q62DANQ173D

QJ71 LP21-25

MR-HDP01

Q55B

• 5VDC current consumption of each module Q170MSCPU : 2.50 [A] QY40P : 0.065 [A] Incremental synchronous encoder: 0.20 [A] QJ71LP21-25 : 0.55 [A] QX40 : 0.05 [A] Q62DAN : 0.33 [A] Q173DPX : 0.38 [A] Q55B : 0.10 [A] MR-HDP01 : 0.06 [A]

• Power consumption of overall modules I

5V = 2.50 + 0.20 + 0.05 + 0.38 + 0.06

2 + 0.065 + 0.55 + 0.33 + 0.10 = 4.295 [A] System configuration is possible because of the total of current consumption 4.295 [A] is the allowable value 4.5 [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 4.5 [A] or less.

2 - 44

2 SYSTEM CONFIGURATION

2.5.2 Power supply module

Item Q61P Q62P Q63P Q64PN

Base loading position Q series power supply module loading slot

Applicable base unit Q35DB, Q38DB, Q312DB, Q63B, Q65B, Q68B, Q612B

Input power supply

Input frequency 50/60Hz ±5% —— 50/60Hz ±5%

Input voltage distortion factor 5% or less —— 5% or less

Max. input apparent power 130VA 105VA 45W 160VA

Inrush current

Rated output

current

External output voltage —— 24VDC±10% ——

Overcurrent protection

Overvoltage protection

Efficiency 70% or more 65% or more 70% or more

Allowable momentary power failure time

Dielectric withstand voltage

Insulation resistance

Noise immunity

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

Fuse Built-in (Unchangeable by user)

Contact

output

section

Terminal screw size M3.5 screw

(Note-1)

(Note-2)

(Note-3)

Application

Rated switching

voltage/current

Minimum switching

load

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

Life time

Surge suppressor None

Fuse None

5VDC 6A 3A 6A 8.5A

24VDC —— 0.6A ——

5VDC 6.6A or more 3.3A or more 6.6A or more 9.9A or more

24VDC —— 0.66A or more ——

5VDC 5.5 to 6.5V

(1) Power supply module specifications

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

(85 to 264VAC)

20A 8ms or less

20ms or less

Across inputs/LG and outputs/FG

2,830VAC rms/3 cycles (Altitude: 2000m

(6561.68ft.) )

Across inputs and outputs (LG and FG

separated), across inputs and LG/FG, across

outputs and LG/FG 10M

resistance tester (500VDC)

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

frequency

• Noise voltage IEC61000-4-4, 2kV

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

(Note-4)

or more by insulation

Mechanical: 20 million times or more

24VDC (+30%/-35%)

(15.6 to 31.2VDC)

100A 1ms or less

(at 24VDC input)

10ms or less

(at 24VDC input)

500VAC across

primary and 5VDC

10M

insulation resistance

• By noise simulator of

500Vp-p noise voltage, 1µs noise

width and 25 to 60Hz

noise frequency

ERR

contact

24VDC, 0.5A

5VDC, 1mA

or more by

tester

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

(85 to 264VAC)

20A 8ms or less

20ms or less

Across inputs/LG and

outputs/FG

2,830VAC rms/3 cycles

(Altitude: 2000m (6561.68ft.))

Across inputs and outputs (LG

and FG separated), across

inputs and LG/FG, across

outputs and LG/FG 10M

more by insulation resistance

tester (500VDC)

• By noise simulator of

1,500Vp-p noise voltage, 1µs noise width and 25 to

60Hz noise frequency

• Noise voltage IEC61000-4-4,

2kV

(Note-4)

2 - 45

2 SYSTEM CONFIGURATION

Item Q61P Q62P Q63P Q64PN

Applicable wire size

Applicable crimping terminal RAV1.25 to 3.5, RAV2 to 3.5

Applicable tightening torque 0.66 to 0.89 N•m

Exterior dimensions

[mm(inch)]

Mass [kg] 0.40 0.39 0.33 0.47

Power supply module specifications (continued)

0.75 to 2mm

98(H) × 55.2(W) × 90(D)

(3.86(H) × 2.17(W) × 3.54(D))

98(H) × 55.2(W) × 115(D)

(3.86(H) × 2.17(W) × 4.53(D))

POINTS

(Note-1): Overcurrent protection

The overcurrent protection device shuts off the 5V, 24VDC circuit and stops the system if the current flowing in the circuit exceeds the specified value. The LED of the power supply module is turned off or lights up in dim green when voltage is lowered. If this device is activated, switch the input power supply off and eliminate the cause such as insufficient current capacity or short. Then, a few minutes later, switch it on to restart the system. The initial start for the system takes place when the current value becomes normal.

(Note-2): Overvoltage protection

The overvoltage protection device shuts off the 5VDC circuit and stops the system if a voltage of 5.5VDC or more is applied to the circuit. When this device is activated, the power supply module LED is switched OFF. If this happens, switch the input power OFF, then a few minutes later ON. This causes the initial start for the system to take place. The power supply module must be changed if the system is not booted and the LED remains OFF.

2 - 46

2 SYSTEM CONFIGURATION

POINTS

(Note-3): Allowable momentary power failure period

(1) For AC input power supply

(2) For DC input power supply

(Note-4): Inrush current

When power is switched on again immediately (within 5 seconds) after power-off, an inrush current of more than the specified value (2ms or less) may flow. Reapply power 5 seconds after power-off. When selecting a fuse and breaker in the external circuit, take account of the blow out, detection characteristics and above matters.

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

AC down to be detected, but operation will continue.

(b) An instantaneous power failure lasting in excess of 20ms may

cause the operation to continue or initial start to take place depending on the power supply load. Further, when the AC supply of the AC input module is the same as that of the power supply module, it prevents the sensor connected to the AC input module, which is ON at power-off, from turning OFF by switching off the power supply. However, if only the AC input module is connected to the AC line, which is connected to the power supply, detection of the AC down for the power supply module may be delayed by the capacitor in the AC input module. Thus, connect a load of approx. 30mA per AC input module to the AC line.

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

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

(b) 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)

will

2 - 47

2 SYSTEM CONFIGURATION

(2) Names of Parts and Setting

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

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

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

• Q63P (24VDC input, 5VDC 6A output)

• Q64PN (100 to 240VAC input, 5VDC 8.5A output)

Q62P POWER

INPUT

100-240VAC

50/60Hz 105VA

OUTPUT 5VDC 3A/ 24VDC 0 .6A

ERR.

(Q62P only)

10)

+24V

24G

24VDC

0.5A

(FG)

(LG)

INPUT

100-240VAC

Q62P

No. Name Application

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

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

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

• AC power supply is not ON

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

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

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

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

• DC power supply is not ON

AC input

power supply

POWER

LED

DC input

power supply

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

2) ERR

terminals

Normally OFF when loaded in an extension base unit.

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

4) LG terminal

Grounding for the power supply filter. The potential of Q61P, Q62P, and Q64PN terminal

is 1/2 of the input voltage.

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

5) Power input terminals

(Q61P, Q62P, Q64PN)

• Power input terminals connected to a power supply of 24VDC. (Q63P)

+24V, 24G terminals

6) (Q62P only)

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

7) Terminal screw M3.5 7 screw

8) Terminal cover Protective cover of the terminal block

9) Module fixing screw hole

Used to fix the module to the base unit.

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

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

2 - 48

2 SYSTEM CONFIGURATION

POINTS

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

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

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

(Ground resistance :

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

(3) When the Q61P, Q62P, Q63P or Q64PN is loaded on the extension base unit,

a system error cannot be detected by the (The

ERR terminal is always OFF.)

100

or loss)

ERR terminal.

2 - 49

2 SYSTEM CONFIGURATION

2.5.3 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

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

Item

Number of I/O modules 3 5 8 12

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] 0.23 0.28 0.39 0.49

Attachment

(Note-1): The 5 base mounting screws are included with the Q68B and Q612B that have 5 base mounting holes.

(a) Type not requiring power supply module

Type

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

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

Q52B Q55B

0.08 0.10

(b) Type requiring power supply module

Type

Q63B Q65B Q68B Q612B

0.11 0.11 0.12 0.13

189(W) 98(H)

44.1(D)

(7.44(W)

1.74(D))

3.86(H)

(9.65(W)

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

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

245(W)

Fixing screw M4 × 14 4 pieces

98(H)

44.1(D)

3.86(H)

1.74(D))

328(W)

44.1(D)

(12.91(W)

1.74(D))

98(H)

3.86(H)

(Note-1)

439(W)

44.1(D)

(17.28(W)

1.74(D))

98(H)

3.86(H)

2 - 50

2 SYSTEM CONFIGURATION

(2) Extension cable specifications

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

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

Mass [kg] 0.15 0.16 0.22 0.40 0.60 1.11

used.

QC05B QC06B QC12B QC30B QC50B QC100B

Connection between the Motion controller and extension base unit,

or connection between the extension base units.

POINT

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

2 - 51

)

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 (Q5

• Q52B, Q55B

B, Q6 B)

5)6)

OUT

IN OUT

• Q63B, Q65B, Q68B, Q612B

5)6)

POWER

I/O0 I/O1 I/O2 I/O3 I/O4 I/O5 I/O6

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

I/O7 I/O8 I/O9 I/O10 I/O11

No. Name Application

Extension cable

1) connector

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

extension base unit)

Protective cover of extension cable connector. Before an extension cable is connected,

2) Base cover

the area of the base cover surrounded by the groove under the word "OUT" on the base

cover must be removed with a tool such as nippers.

Stage No. setting

3) connector

Connector for setting the number of stages of extension base units.

Connector for installing the Motion modules, power supply module, 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 - 52

(

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.

Q170MS CPU

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.

Q62DAN

20 to 3F

PLC CPU area control module

QY41P

Y80 to Y9F

312 4

QX41

PX0 to PX1F

(X40 to X5F)

Motion CPU area

control module

QY41P

PY20 to PY3F

(Y60 to Y7F)

Refer to the Q173D(S)CPU/Q172D(S)CPU Motion Controller Programming Manual (COMMON) about the I/O allocation setting method of the Motion CPU area, and refer to APPENDIX 1.3 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 - 53

2 SYSTEM CONFIGURATION

2.5.4 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

Display for servo external signal input status of

each axis.

12 screw : Purchase from another supplier)

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 - 54

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

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

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 of the

Upper/Lower stroke limit

and STOP signal

Response time of the

proximity dog, Speed-

position switching signal

Operation indicator 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

ON to OFF

OFF to ON

ON to OFF

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)

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

(CPU parameter setting, Default 0.4ms)

A6CON2, A6CON3, A6CON4 (Optional)

A6TBXY36, A6TBXY54, A6TBX70 (Optional)

27.4(W) 90(D)

1ms

0.3mm

8 axes)

(4 points

10.2 to 26.4VDC

0.4ms/0.6ms/1ms

A6CON1 (Attachment),

2 - 55

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 or for switching from speed

to position switching control.

Number of points

on one Q172DLX

32 points

(4 points/8 axes)

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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.

CTRL connector

Pin No.

Signal No. Signal No.

B20

B19

B18

B17

B16

B15

B14

B13

B12

B11

B10

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

A17

A16

A15

A14

A13

A12

A11

A10

FLS5

RLS5

STOP5

DOG5/CHANGE5

FLS6

RLS6

STOP6

DOG6/CHANGE6

FLS7

RLS7

STOP7

DOG7/CHANGE7

FLS8

RLS8

STOP8

DOG8/CHANGE8

No connect

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 - 57

2 SYSTEM CONFIGURATION

(4) Interface between CTRL connector and servo external signal

Input or

Output

Input

Signal name Internal circuitLED Wiring example Specification DescriptionPin No.

FLS1 FLS2 FLS3 FLS4 FLS5 FLS6 FLS7 FLS8 RLS1 RLS2 RLS3 RLS4 RLS5 RLS6 RLS8

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)

B1 B2

0 4 8

Upper stroke

limit input

14 18

1 5 9 D

Lower stroke

limit input

15 19

2 6 A E

Stop signal input

16 1A 1E

3 7 B F

Proximity dog/

Speed-position switching signal

17 1B

12VDC to 24VDC

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

FLS

RLS

STOP

DOG/CHANGE

Common terminals for servo external input signal.

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

B5 A17 A13

(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 - 58

2 SYSTEM CONFIGURATION

2.5.5 Q173DPX Manual pulse generator interface module

Q173DPX receives 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

TREN

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

12 screw : Purchase from another supplier)

(M3

2 - 59

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 depending on 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 - 60

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

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

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

Operation indicator ON indication(LED)

Number of modules 3/module

Voltage-output/

Open-collector type

Differential-output 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

(a) Module specifications

Item Specifications

(b) Tracking enable signal input

Item Specifications

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

Item Specifications

Voltage-output/ Open-collector type

Differential-output type

10.2 to 26.4VDC

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

OFF to ON

ON to OFF

High-voltage 3.0 to 5.25VDC

Low-voltage 0 to 1.0VDC

High-voltage 2.0 to 5.25VDC

Low-voltage 0 to 0.8VDC

(CPU parameter setting, Default 0.4ms)

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

• Differential-output type: (26LS31 or equivalent)

A6CON2, A6CON3, A6CON4 (Optional)

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

0.4ms/0.6ms/1ms

0.3mm

A6CON1(Attachment)

30m (98.43ft.)

2 - 61

2 SYSTEM CONFIGURATION

(3) Connection of manual pulse generator

Manual pulse generators of the voltage-output/open-collector type and differential-output type can be connected. Both connection methods are different. (Refer to this section (5).) When the manual pulse generator is connected to the Q173DPX, it cannot be connected to the internal I/F.

Motion controller Connectable manual pulse generator

Q170MSCPU

(4) Connection of incremental synchronous encoder

Incremental synchronous encoders of the voltage-output/Open-collector type and differential-output type can be connected. Both connection methods are different. (Refer to this section (5).) The serial absolute synchronous encoder cannot be connected to the Q173DPX.

Motion controller Connectable synchronous encoder

Q170MSCPU

Q170MSCPU (Combination of Q173DPX and internal I/F

• Tracking enable signal Tracking enable signal of Q173DPX is used to start the input from incremental synchronous encoders in the external input mode for the clutch. The external input signal of the incremental synchronous encoder is indicated below. This signal is used as the input start signal, high-speed reading function or highspeed input request signal from incremental synchronous encoder.

External input signal of the

incremental synchronous encoder

Tracking enable signal input

Up to 3 modules

(Q173DPX: Up to 1 module)

Up to 12 modules

(Q173DPX: Up to 4 modules)

Up to 10 modules

(Note)

)

(Note): Refer to Section 2.5.1 for details of the internal I/F.

(Q173DPX: Up to 3 modules)

Application

Input start function from incremental

synchronous encoder

Number of points on

(Total 3 points )

one Q173DPX

Each 1 point

2 - 62

2 SYSTEM CONFIGURATION

(5) Connection of manual pulse generator interface module

(a) The pin layout of the PULSER connector

Use the PULSER connector on the front of the Q173DPX module to connect to manual pulse signals and incremental synchronous encoder signals. The following is the pin layout of the Q173DPX PULSER connector as viewed from the front.

PULSER connector

Signal Name

HB1

HA1N

HB1N

HB2

HA2N

HB2N

HB3

HA3N

HB3N

No connect

TREN1-

TREN2-

TREN3-

Pin No.

B20

B19

B18

B17

B16

B15

B14

B13

B12

B11

B10

Pin No. Signal Name

A20

A19

A18

A17

A16

A15

A14

A13

A12

A11

A10

HA1

HPSEL1

HA1P

HB1P

HA2

HPSEL2

HA2P

HB2P

HA3

HPSEL3

HA3P

HB3P

No connect

TREN1+

TREN2+

TREN3+

Applicable connector model name

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

(FUJITSU COMPONENT LIMITED)

FCN-360C040-B connector cover

A6CON2 type Crimp-contact type connector A6CON3 type Pressure-displacement type connector A6CON4 type soldering type connector

1): Input type from manual pulse generator/incremental synchronous encoder switched by HPSEL . Not connected : Voltage-output/open-collector type HPSEL -SG connection : Differential-output type (Switching is possible for each input 1 to 3)

2): Voltage-output/open-collector type Connect the A-phase signal to HA1/HA2/HA3, and the B-phase signal to HB1/HB2/HB3.

3): Differential-output type Connect the A-phase signal to HA1P/HA2P/HA3P, and the A-phase inverse signal to HA1N/HA2N/HA3N. Connect the B-phase signal to HB1P/HB2P/HB3P, and the B-phase inverse signal to HB1N/HB2N/HB3N.

4): Connect the shield cable between manual pulse generator/incremental synchronous encoder and Q173DPX at the FG signal.

5): Connector/terminal block conversion modules cannot be used.

(Attachment)

(Optional)

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2 SYSTEM CONFIGURATION

(b) Interface between PULSER connector and manual pulse generator

Input or Output

Input

Power supply

Signal name

Manual pulse generator, phase A

Manual pulse generator, phase B

Select type signal HPSEL

HPSEL

HA P

(Note-1)

(Differential-output type)/Incremental synchronous encoder

PIN No.

123

A17 A12 A7

B17 B12 B7

A16 A11 A6

B16 B11 B6

A18 A13 A8

B18 B13 B8

A19 B19

A14 B14A9B9

Wiring example Internal circuit Specification Description

For connection manual pulse generator Phases A, B

Pulse width

20 s or more

5 s

or more

(Duty ratio: 50% 25%)

Leading edge, Trailing edge time 1 s or less

Phase difference

Phase A

Phase B

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

5 s

or more

2.5 s or more

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/ 2mA or less

LOW level

0.8VDC or less

26LS31 or equivalent

(Note-1): The 5V(P5)DC power supply from the Q173DPX 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 HPSEL to the SG terminal if the manual pulse generator (differential-output type) /incremental synchronous encoder is used.

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2 SYSTEM CONFIGURATION

Input or Output

Power supply

Input

Signal name

Manual pulse generator, phase A HA

Manual pulse generator, phase B HB

Select type signal HPSEL

(Note-1)

output/Open-collector type)/Incremental synchronous encoder.

Pin No.

123

A20 A15 A10

B20 B15 B10

A18

B18

A19 B19

A13 A8

B13 B8

A14 B14A9B9

Wiring example Internal circuit Specification Description

For connection manual pulse generator Phases A, B

Pulse width

20 s or more

5 s

or more

(Duty ratio: 50% 25%)

Leading edge, Trailing edge time 1 s or less Phase difference

Phase A

Phase B

(1) Positioning address increases if Phase A lea ds Phase B. (2) Positioning address decreases if Phase B lea ds Phase A.

5 s

or more

2.5 s or more

Manual

pulse

generator/

Incremental

synchronous

encoder

No connect

Power supply

5VDC

Rated input voltage

5.5VDC or less

HIGH level 3 to 5.25VDC/ 2mA or less

LOW level 1VDC or less/ 5mA or more

Input or

Output

Input

(d) Interface between PULSER connector and tracking enable signal

Signal name Wiring example Internal circuit Specification Description

TREN

Tracking enable

TREN

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

Pin No.

1 23

A4 A3 A2

B4 B3 B2

Tracking enable signal input.

12V to 24VDC

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2 SYSTEM CONFIGURATION

(6) Connection examples of manual pulse generator

Using external power supply (recommended)

Q173DPX

HA P

HA N

HB P

HB N

HPSEL

: 1 to 3

(Note-1)

: Twist pair cable

(Note-1): Connect HPSEL to the SG terminal if the manual pulse generator (differential-output type)/ incremental synchronous encoder is used.

Using external power supply (recommended)

Q173DPX

: 1 to 3

: Twist pair cable

(a) Differential-output type

Shield

(b) Voltage-output type/open-collector type

Shield

Manual pulse generator side

External 5V power supply

Manual pulse generator side

External 5V power supply

Q173DPX

HA P

HA N

HB P

HB N

HPSEL

: 1 to 3

Q173DPX

: 1 to 3

Using internal power supply

(Note-1)

Using internal power supply

Shield

: Twist pair cable

Shield

: Twist pair cable

Manual pulse generator side

CAUTION

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

do not use it for other purposes.

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2 SYSTEM CONFIGURATION

2.5.6 Manual pulse generator/Serial absolute synchronous encoder

(1) Manual pulse generator specifications

Item Specifications

(Note-1)

Model name

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

Pulse resolution 25pulse/rev(100pulse/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

Output level

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

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

(Note-1): Use MR-HDP01 by connecting with internal I/F or Q173DPX or Q170MSCPU's internal

I/F.

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

"H" level: Power supply voltage

"L" level: 0.5V or less (with maximum leading-in)

MR-HDP01

(Note-2)

-1V or more (with no load)

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2 SYSTEM CONFIGURATION

(2) Serial absolute synchronous encoder specifications

Model name

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

Resolution 4194304pulse/rev

Transmission method Serial communications (Connected to Q172DEX)

Direction of increasing addresses CCW (viewed from end of shaft)

Protective construction

Permitted speed at power ON 3600r/min

Permitted speed at power OFF

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

Runout at input shaft tip

Start friction torque 0.04N•m (20°C (68°F))

Recommended coupling Bellows coupling

Permitted angular acceleration

Vibration resistance 5G (50 to 200Hz)

Shock resistance 50G (11ms or less)

Internal current consumption [A] 0.25

Mass [kg] 0.6

Connecting cable [m(ft.)]

Communications method Differential driver/receiver

Transmission distance Up to 50m (164.04ft.)

(Note-1): When an "o-ring" is required, please purchase one separately.

(Note-2): If the permitted speed at power OFF is exceeded, a position displacement is generated.

Item Specifications

(Note-1)

(Note-2)

Q171ENC-W8

Dustproof/Waterproof

(IP67: Except for the shaft-through portion.)

0.02mm (0.00079 inch) or less,

(15mm (0.59 inch) from tip)

( =Cable length: 2(6.56), 5(16.40), 10(32.81),

500r/min

40000rad/s

Q170ENCCBL M(-A)

20(65.62), 30(98.43), 50(164.04))

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2 SYSTEM CONFIGURATION

2.5.7 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 Q170MSCPU and servo amplifiers

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

Q170MSCPU

cable. Up to 16 servo amplifiers 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.)

• Q170MSCPU

• Servo amplifier

Servo amplifier

cable.

Servo amplifier

CN1A

CN1B

Servo amplifier

(Note): It cannot communicate if the connection of CN1A and CN1B is mistaken.

CN1A

Cap

CN1B

2 - 69

Mitsubishi Electric Q170MSCPU, Q170MSCPU-S1 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 Q170MSCPU and Q170MCPU

1.3 Restrictions by the Software's Version

1.4 Programming Software Version

2. SYSTEM CONFIGURATION

2.1 Motion System Configuration

2.1.1 Q170MSCPU System overall configuration

2.1.2 Q170MSCPU System internal configuration

2.1.3 Function explanation of the Q170MSCPU 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 Q170MSCPU Motion controller

2.5.2 Power supply module

2.5.3 Extension base unit and extension cable

2.5.4 Q172DLX Servo external signals interface module

2.5.5 Q173DPX Manual pulse generator interface module

2.5.6 Manual pulse generator/Serial absolute synchronous encoder