MITSUBISHI Q172CPU, Q173CPU User Guide

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MIT

SUBIS

MELSEC System Q

Motion Controller

User's Manual

HI ELECTRI

Art. no.: 143715 01 05 2002 IB(NA)-0300040-B

Q172CPU Q173CPU

MITSUBISHI ELECTRI

INDUSTRIAL AUTOMATION

SAFETY PRECAUTIONS

(Read these precautions before using.)

When using this equipment, thoroughly read this manual and the associated manuals introduced in this manual. Also pay careful attention to safety and handle the module properly. These precautions apply only to this equipment. Refer to the Users manual of the CPU module to use for a description of the PLC system safety precautions. These SAFETY PRECAUTIONS classify the safety precautions int o two cat egories: "DANG ER" and "CAUTION".

DANGER

CAUTION

Depending on circumstances, procedures indicated by ! CAUTION may also be linked to serious results. In any case, it is important to follow the directions for usage.

Store this manual in a safe place so that you can take it out and read it whenever necessary . Alw ay s forward it to the end user.

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.

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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 v oltage t erminal 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.

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

then check the voltage with a tester, et c.. Failing t o do so may lead to electr ic shocks.

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

or less) Do not ground commonly with other devices.

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

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

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 internal power supply, internal grounding or signal wires of the Mot ion

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 resist or on

inflammable material. Direct installation on flammable material or near flammable material may

lead to fires. 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, fires 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 t ransistor, etc., and may

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

the servo amplifier or regenerativ e resistor is installed and for t he wires used. Failing to do so

may lead to fires.

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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 servo amplifier's heat radiating fins, regenerative resistor and servomotor, et c.,

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 a magnetic contactor for power shut off during an error, etc., is specified in the

instruction manual for the servo amplifier, etc., always install the magnetic cont actor. Install the emergency stop circuit externally so that the operat ion can be stopped immediately

and the power shut off. Use the Motion controller, servo amplifier, servomotor and regenerative resistor with t he combi-

nations listed in the instruction manual. Other combinations may lead to fires or faults. If safety standards (ex., robot safety rules, etc., ) apply to the sy stem using the Motion cont roller,

servo amplifier and servomotor, make sure that the safety standards are satisfied. Construct a safety circuit externally of the Motion controller or serv o 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 serv omotor w ill be a problem during t he emergency stop, the

forced stop, servo OFF or when the power is shut OFF, use dy namic brakes. Make sure that the system considers the coasting amount even when using dynamic brakes.

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CAUTION

In systems where perpendicular shaft dropping may be a problem during the emergency stop,

the forced stop and servo OFF or when the power is shut OFF, use bot h dynamic brakes and

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

where servo OFF occurs. These brakes must not be used for normal braking. The brakes (magnetic 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 part s of the servomotor are not t ouched during

operation. There may be some cases where holding by the magnetic 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 t o ensure safety on the machine side.

(2) Parameter settings and prog r amming

CAUTION

Set the parameter values to those that are compatible with the Motion cont roller, serv o amplifier,

servomotor and regenerative resistor model and the system application. The protect ive 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 v alues 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 v alue that is compatible with t he sy stem

application. The protective functions may not function if the setting is incorrect.

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CAUTION

Set the servomotor encoder type (increment, absolute position ty pe, et c.) parameter to a v alue

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

setting is incorrect. Set the servomotor capacity and type (standard, low-inert ia, flat, etc.) parameter t o values t hat

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

settings are incorrect. Set the servo amplifier capacity and type parameters to v alues that are compatible w ith 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 v alues t hat 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 dat a prev ious to w hen

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 special function module's instruction manual for the

program corresponding to the special function module.

(3) Transportation and installation

CAUTION

Transport the product with the correct method according to the weight. 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 serv o amplifier, nev er hold

the edges. Install the unit according to the instruction manual in a place where the w eight can be wit hstood.

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CAUTION

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 servomotor with cooling fan.

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

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

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

manual. If the fixing is insufficient, these may come off during operation. Always install the servomotor with r eduction gears in the designat ed direct ion. Failing to do so

may lead to oil leaks.

Store and use the unit in the following environmental conditions.

Environment

Ambient temperature

Ambient humidity Storage

temperature Atmosphere Altitude

Vibration

Motion controller/Servo amplifier Servomotor

According to each instruction manual.

Indoors (where not subject to direct sunlight).

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

1000m (3278.69ft.) or less above sea level

According to each instruction manual

Conditions

0°C to +40°C (With no freezing)

(32°F to +104°F)

80% RH or less

(With no dew condensation)

-20°C to +65°C

(-4°F to +149°F)

When coupling with the synchronization 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 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 prev enting v inyl bags and

store.

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

A - 6

(4) Wiring

CAUTION

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

screws for tightness after wiring. Failing to do so may lead to run away of the

servomotor.

After wiring, install the protective covers such as the t erminal covers t o 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 ( terminals U, V, W). Incorrect connections will lead t he

servomotor to operate abnormally.

Do not connect a commercial power supply to the servomotor, as this may lead t o 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. Do not connect or disconnect the connection cables between

each unit, the encoder cable or PLC expansion cable while the

power is ON.

Servo amplifier

VIN

(24VDC)

Controll output signal

Securely tighten the cable connector fixing screws and fixing mechanisms. Insufficient fixing

may lead to the cables combing off during operation.

Do not bundle the power line or cables.

(5) Trial operation and adjustment

CAUTION

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

movements may occur depending on the machine.

Extreme adjustments and changes may lead to unstable operation, so never make them.

When using the absolute position system function, on starting up, and when the Motion

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

A - 7

Conditions

(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. The units must be disassembled and repaired by a qualified technician. Do not make any modifications to the unit. Keep the effect or magnetic obstacles to a minimum by inst alling a noise filter or by using wire

shields, etc. Magnetic obstacles may affect the electronic devices used near t he Motion

controller or servo amplifier. When using the CE Mark-compliant equipment, refer to the "EMC Installation Guidelines"

(data number IB(NA)-67339) for the Motion controllers and refer to the corresponding EMC

guideline information for the servo amplifiers, inverters and other equipment.

Use the units with the following conditions.

Item

Input power

Input frequency 50/60Hz ±5% Tolerable momentary power failure

Q61P-A1 Q61P-A2 Q63P Q64P

100 to 120VAC

(85 to 132VAC) (170 to 264VAC) (15.6 to 31.2VDC)

+10% +10% +30% +10%

200 to 240VAC

-15%

20ms or less

24VDC

-35%

100 to 120VAC 200 to 240VAC

(85 to 132VAC/

170 to 264VAC)

(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 magnetic brakes or install a brake mechanism externally. Use a double circuit construction so that the magnetic brake operation circuit can be operated

by emergency stop signals set externally.

Shut off w ith the

Shot off with servo ON signal OFF, alarm,magnetic brake signal.

emergency stop signal(EMG).

-15% +10%

-15%

Servo motor

Magnetic brakes

A - 8

RA1

EMG

24VDC

CAUTION

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

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

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

restarts suddenly.)

(8) Maintenance, inspection and part replacement

CAUTION

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

Motion controller and servo amplifier. Do not place fingers or hands in the clearance when opening or closing any opening. Periodically replace consumable parts such as batteries according to the instruction manual. Do not touch the lead sections such as ICs or the connector contacts. 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 st atic electr icity 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 short circuit, charge, overheat, incinerate or disassemble the batt eries. The electrolytic capacitor will generate gas dur ing a fault, so do not place y our face near t he

Motion controller or servo amplifier. The electrolytic capacitor and fan will deter iorate. Periodically replace these t o prev ent

secondary damage from faults. Replacements can be made by our sales representative.

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(9) Disposal

CAUTION

Dispose of the product as general industrial waste. Do not disassemble the parts of the Motion controller, servo amplifier or servomotor. Dispose of the battery according to local laws and regulations.

(10) General cautions

CAUTION

All drawings provided in the instruction manual show the state w ith the cov ers 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 inst ruction manual.

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REVISIONS

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

Print Date Manual Number Revision Nov., 2001 IB(NA)-0300040-A First edition May., 2002 IB(NA)-0300040-B

[Addition model] Q173CPUN/Q172CPUN, MR-J2M-B, A10BD-PCF [Addition function]

•

For Windows 2000

•

ROM operation

•

MODE LED Installation mode/ROM writing mode

•

BOOT LED Installation mode/ROM writing mode

[Partial correction]

Japanese Manual Number IB(NA)-0300021

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

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INTRODUCTION

Thank you for choosing the Q173CPU(N)/Q172CPU(N) Motion Controller. Please read this manual carefully so that equipment is used to its optimum.

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

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

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

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

1. OVERVIEW 1- 1 to 1- 2

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

2. SYSTEM CONFIGURATION 2- 1 to 2-70

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

2.1.1 Q173CPU(N) System overall configuration...................................................................................... 2- 8

2.1.2 Q172CPU(N) System overall configuration...................................................................................... 2- 9

2.1.3 Function explanation of the Q173CPU(N)/Q172CPU(N) Motion CPU modules ............................2-10

2.1.4 Restrictions on motion systems........................................................................................................2-11

2.2 System Configuration Equipment............................................................................................................ 2-13

2.3 General Specifications.............................................................................................................................2-20

2.4 Specifications of Equipment and Settings...............................................................................................2-22

2.4.1 Q173CPU(N)/Q172CPU(N)..............................................................................................................2-22

2.4.2 Power supply module........................................................................................................................2-28

2.4.3 Base unit and extension cable..........................................................................................................2-34

2.4.4 Q172LX Servo external signals interface module............................................................................2-37

2.4.5 Q172EX Serial absolute synchronous encoder interface module................................................... 2-42

2.4.6 Q173PX Manual pulse generator interface module.........................................................................2-49

2.4.7 Manual pulse generator/Serial absolute synchronous encoder ......................................................2-56

2.4.8 Connection method with SSCNET cables and termination connector............................................2-57

2.4.9 External battery .................................................................................................................................2-67

2.4.10 Cooling fan unit (Q170FAN) (Q173CPU/Q172CPU only).............................................................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- 8

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

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

3.3.1 Installation environment....................................................................................................................3-11

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

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

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

A - 12

4. INSTALLATION AND WIRING 4- 1 to 4-16

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

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

4.1.2 Instructions for installation of the base unit ...................................................................................... 4- 3

4.1.3 Installation and removal of module...................................................................................................4- 5

4.2 Installation and Removal of Cable........................................................................................................... 4- 7

4.2.1 Installation and removal of the SSCNET cable................................................................................4- 7

4.2.2 2 Installation and removal of the battery cable.................................................................................4- 8

4.3 Installation of the Serial Absolute Synchronous Encoder....................................................................... 4- 9

4.4 Replacement of the Cooling fan unit (Q170FAN) (Q173CPU/Q172CPU only).....................................4-11

4.5 Wiring........................................................................................................................................................4-12

4.5.1 Instructions for wiring ........................................................................................................................4-12

4.5.2 Wiring to the power supply module ..................................................................................................4-15

4.6 Installation/Wiring Checklist.....................................................................................................................4-16

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

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

5.2 Trial Run and Adjustment Procedure ...................................................................................................... 5- 2

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

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

6. INSPECTION AND MAINTENANCE 6- 1 to 6-26

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

6.1.1 Inspection and maintenance.............................................................................................................6- 2

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

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

6.4 External Battery........................................................................................................................................6- 7

6.4.1 Battery service life time.....................................................................................................................6- 8

6.4.2 Battery replacement procedure ........................................................................................................6- 9

6.5 Troubleshooting .......................................................................................................................................6-11

6.5.1 Basics of troubleshooting..................................................................................................................6-11

6.5.2 Troubleshooting of Motion CPU module and I/O modules..............................................................6-12

6.5.3 I/O modules troubleshooting.............................................................................................................6-22

6.6 Error Code................................................................................................................................................6-25

6.6.1 Procedure for reading error codes....................................................................................................6-25

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APPENDICES App- 1 to App-23

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

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

APPENDIX 1.2 Serial absolute synchronous encoder cable................................................................App-11

APPENDIX 2 Exterior Dimensions Diagram.............................................................................................App-13

APPENDIX 2.1 CPU module .................................................................................................................App-13

APPENDIX 2.2 Servo external signals interface module (Q172LX) ....................................................App-16

APPENDIX 2.3 Serial absolute synchronous encoder interface module (Q172EX) ...........................App-16

APPENDIX 2.4 Manual pulse generator interface module (Q173PX) .................................................App-17

APPENDIX 2.5 Power supply module (Q61P-A1, Q61P-A2, Q63P, Q64P)........................................App-18

APPENDIX 2.6 Dividing unit (Q173DV), Battery unit (Q170BAT)........................................................App-19

APPENDIX 2.7 Connector .....................................................................................................................App-20

APPENDIX 2.8 Manual pulse generator (MR-HDP01).........................................................................App-22

APPENDIX 2.9 Serial absolute synchronous encoder (MR-HENC) ....................................................App-22

APPENDIX 2.10 Cooling fan unit (Q170FAN) (Q173CPU/Q172CPU only) ........................................App-23

A - 14

About Manuals

This manual is only to explain hardware of the Motion controller. The following manuals are related to this product. Referring to this list, please request the necessary manuals. This User's Manual do not describes hardware specification and handling methods of the PLC CPU

modules, power supply modules, base unit and I/O module in details. The above contents, refer to the QCPU (Q Mode) User's Manual and Building Block I/O Module User's

Manual.

Related Manuals

Manual Name

Q173CPU/Q172CPU Motion controller (SV13/SV22) Programming M anual (Real)

This manual explains the servo parameter, positioning instructions, device list and error list. (Optional)

Manual Number

(Model Code)

IB-0300043

(1CT782)

Q173CPU/Q172CPU Motion controller (SV22) Programming M anual (Virtual)

This manual describes the dedicated instructions use to the synchronous control by virtual main shaft, mechanical system program create mechanical module. This manual explains the servo parameter, positioning instructions, device list and error list. (Optional)

Q173CPU/Q172CPU Motion controller (SV13/SV22) Programming M anual (Motion SFC)

Software of Motion CPU

This manual explains the Multiple CPU system configuration, performance specifications, functions, programming, debugging and error codes. (Optional)

QCPU (Q Mode) User's M anual (Function Explanation/Program Fundamentals)

This manual explains the functions, programming methods and devices and so on necessary to create programs with the QCPU (Q mode). (Optional)

QCPU (Q Mode)/QnA Programming M anual (Common Instructions)

This manual describes how to use the sequence instructions, basic instructions, application instructions and micro computer program. (Optional)

QCPU (Q Mode)/QnA Programming M anual (PID Control)

This manual describes the dedicated instructions used to exercise PID control. (Optional)

Software of PLC

QCPU (Q Mode)/QnA Programming M anual (SFC)

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

IB-0300044

(1CT783)

IB-0300042

(1CT781)

SH-080038

(13JL98)

SH-080039

(13JF58)

SH-080040

(13JF59)

SH-080041

(13JF60)

QCPU (Q Mode) User's M anual (Hard ware Design/Maintenance and inspection)

This manual provides the specifications of the CPU modules, power supply modules, base modules, extension cables, memory cards and others. (Optional)

Building Block I/O Module User's Manual

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

Hardware of PLC

conversion modules and others. (Optional)

A - 15

SH-080037

(13Jl97)

SH-080042

(13JL99)

MEMO

A - 16

1 OVERVIEW

1. OVERVIEW

1.1 Overview

This User's Manual describes the hardware specifications and handling methods of the Motion Controller's Model Q173CPU(N)/Q172CPU(N) for the Q series PLC Multiple CPU system. The Manual also describes those items related to the specifications of the option module for the Motion controller, Manual pulse generator, Synchronous encoder, and cable.

Generic term/ Abbreviation Description

Q173CPU(N)/Q172CPU(N), Motion CPU or Motion CPU module

MR-H-BN or Servo amplifier Servo amplifier model MR-H!BN MR-J2!-B or Servo amplifier Servo amplifier model MR-J2S-!B/MR-J2M-B/MR-J2-!B/MR-J2-03B5

Q172LX/Q172EX/Q173PX or Motion module

QCPU, PLC CPU or PLC CPU module Multiple CPU system or Motion system

Programming S/W package SW6RN-GSV!P and GX Developer software package Manual pulse generator or

MR-HDP01 Serial absolute synchronous encoder or MR-HENC

SSCNET

Cooling fan unit Cooling fan unit (Q170FAN)

(Note)

In this manual, the following abbreviations are used.

Q173CPUN/Q172CPUN/Q173CPU/Q 172CPU Motion CPU module

Q172LX Servo external signals interface module/ Q172EX Serial absolute synchronous encoder interface module/ Q173PX Manual pulse generator interface module

Qn(H)CPU

General name for Multiple PLC system of the Q series

General name for Manual pulse generator (MR-HDP 01)

General name for Serial absolute synchronous encoder (MR-HENC) High speed synchronous communication network between M otion

controller and servo amplifier.

Dividing unit Dividing unit (Q173DV) Battery unit Battery unit (Q170BAT) A!0BD-PCF A10BD-PCF/A30BD-PCF SSC I/F board

Intelligent function module

General name for MELSECNET/H module/Ethernet module/C C-Link module/Serial communication module

(Note) SSCNET: Servo System Controller NETwork

REMARK

For information about the QCPU, peripheral devices for PLC program creation, I/O modules and intelligent function module, refer to the manual relevant to each module. Also, refer to the programming manual of the operating system for information about creating motion programs, and refer to the help of each software for information about operation of each programming software package.

1 - 1

1 OVERVIEW

MEMO

1 - 2

2 SYSTEM CONFIGURATION

2. SYSTEM CONFIGURATION

This section describes the system configuration of the Q173CPU(N)/Q172CPU(N),

2.1 Motion System Configuration

Q173CPU(N) System configuration

(Note)

cautions on use of the system, and configured equipment.

The outline of the equipment configuration, configuration with peripheral devices, and system configuration in the Q173CPU(N)/Q172CPU(N) system is described below.

(1) Equipment configuration in Q173CPU ( N) system

Is this system

continuously power off for 1000

hours or more running?

Should the

Dividing unit be used to divide

SSCNET Lines?

YES

Refer to equipment configuration of "(a) When using the Dividing unit/external battery".

Note : Set the battery (A6BAT/MR-BAT) to the Dividing unit (Q173DV).

Refer to equipment configuration of "(a) When using the Dividing unit/external battery".

of the amplifier used at 1st axis

Is the type

of each SSCNET line

the same?

YES

Is it possible

to use only 1st

SSCNET Line?

Is it possible

to use 1st and 2nd

SSCNET Line?

Is it possible to use 1st to 3rd SSCNET Line?

Refer to equipment configuration of "(b) When using the Dividing cable". Note : Use a Q173J2B4CBL M/Q173HB4CBL M.

YES

Refer to equipment configuration of "(a) When using the Dividing unit/external battery".

Refer to equipment configuration of "(b) when using the Dividing cable". Note : Use a Q173J2BCBL M/Q173HBCBL M.

Refer to equipment configuration of "(b) When using the Dividing cable". Note : Use a Q173J2B2CBL M/Q173HB2CBL M.

Refer to equipment configuration of "(b) When using the Dividing cable". Note : Use a Q173J2B3CBL M/Q173HB3CBL M.

(Note) : Continuous powe r failure time which can be backed up on the internal battery is different depending on the charge time. It is possible to continuously power off for 1100 hours because of charge of 40 hours. Refer to the section 2.3(5) for details.

2 - 1

2 SYSTEM CONFIGURATION

(a) When using the Dividing unit/external batter y

Extension of the Q series module

Motion module

(Q172LX, Q172EX, Q173PX)

(Note)

Power supply module/

Q CPU/ I/O module/ Intelligent

function module of the Q series

CPU base unit

(Q33B, Q35B, Q38B, Q312B)

Motion CPU module

(Q173CPU(N))

SSCNET cable

(Q173DVC BL M)

Extension cable

(QC B)

Motion module

(Q172LX, Q172EX, Q173PX)

Q6 B extension base unit

(Q63B, Q65B, Q68B, Q612B)

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

SSCNET CN1

MITSUBISHI

LITHIUM BATTERY

Battery

(A6BAT/MR-BAT)

MITSUBISHI

LITHIUM BATTE RY

Q173CPU

SSCNET cable

for MR-H-BN

(MR-J2HBUS M-A) (MR-J2HBUS M)

SSCNET CN2

Dividin g u n i t

(Q173DV)

SSCNET cable

for MR-J2 -B

SSCNET CN3

SSCNET CN4

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

MITSUBISHI

(Note) : When using the external battery, be sure to set the Battery(A6BAT/MR-BAT) to the Dividing unit(Q173DV). Battery(A6BAT/MR-BAT) is optional.

Servo amplifier

(MR-H-BN)

Servo amplifier

(MR-J2 -B)

2 - 2

2 SYSTEM CONFIGURATION

(b) When using the Dividing cable

Extension of the Q series module

Motion module

(Q172LX, Q172EX, Q173 PX)

Power supply module/ Q CPU/ I/O module/ Intelligent function module of the Q series

CPU base unit

(Q33B, Q35B, Q38B, Q312B)

Motion CPU module

(Q173CPU(N))

SSCNET cable

for MR-H-BN

(Q173HB CBL M)

SSCNET cable

for MR-J2 -B

(Q173J2B CBL M)

(Note)

Extension cable

(QC B)

Motion module

(Q172LX, Q172EX, Q173PX)

Q6 B extension base unit

(Q63B, Q65B, Q68B, Q612B)

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

MITSUBISHI

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

Servo amplifier

(MR-H-BN)

Servo amplifier

(MR-J2 -B)

(Note) : When using the external battery, be sure to use the Dividing unit(Q173DV).

2 - 3

2 SYSTEM CONFIGURATION

(2) Equipment configuration in Q172CPU ( N) system

Q172CPU(N) System configuration

(Note)

Refer to equipment configuration of "(b) When not using the external battery".

Is this system

continuously power off for 1000

hours or more running?

YES

Refer to equipment configuration of "(a) When using the external battery".

(Note) : Continuous power off time which can be backed up on the internal

battery is different depending on the charge time. It is possible to continuously power off for 1100 hours because of charge of 40 hours. Refer to the section 2.3 (5) for details.

2 - 4

2 SYSTEM CONFIGURATION

(a) When using the external battery

Extension of the Q series module

Motion module

(Q172LX, Q172EX, Q173PX)

(Note)

MITSUBISHI

BAT

LITHIUM BATTERY

CPU

PASSED

Battery unit (Q170BAT)

Power supply module/ Q CPU/ I/O module/ Intelligent function module of the Q series

CPU base unit

(Q33B, Q35B, Q38B, Q312B)

Motion CPU module

(Q172CPU(N))

Q17BAT

DATE

SSCNET cable

for MR-H-BN

(Q172HBC BL M-B)

SSCNET cable

for MR-J2 -B

(Q172J2BCBL M-B)

Extension cable

(QC B)

Motion module

(Q172LX, Q172EX, Q173PX)

Q6 B extension base unit

(Q63B, Q65B, Q68B, Q612B)

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

MITSUBISHI

LITHIUM BATT ERY

Battery

(A6BAT/MR-BAT)

Servo amplifier

(MR-H-BN)

MITSUBISHI

Servo amplifier

(MR-J2 -B)

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

(Note) : When using the external battery, be sure to use the SSCNET cable(Q172J2BCBL M-B/Q172H BCBL M-B) and to set the battery (A6BAT/MR-BAT). Also in stall the battery(A6BAT/MR-BAT)in the Battery unit(Q170B AT). Battery(A6BAT/MR-BAT) is optional.

2 - 5

2 SYSTEM CONFIGURATION

(b) When not using the external battery

Extension of the Q series module

Motion module

(Q172LX, Q172EX, Q173PX)

Power supply module/ Q CPU/ I/O module/ Intelligent function module of the Q series

CPU base unit

(Q33B, Q35B, Q38B, Q312B)

Motion CPU module

(Q172CPU(N))

SSCNET cable

for MR-H-BN

(Q172HBCBL M) (Q172J2BCBL M)

SSCNET cable

for MR-J2 -B

Extension cable

(QC B)

Motion module

(Q172LX, Q172EX, Q173PX)

Q6 B extension base unit

(Q63B, Q65B, Q68B, Q612B)

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

Servo ampli fi er

(MR-H-BN)

MITSUBIS HI

Servo ampli fi er (MR-J2 -B)

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

2 - 6

2 SYSTEM CONFIGURATION

(3) Configuration of peripheral devices for the Q173CPU(N)/

Q172CPU(N)

(a) RS232 configration

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

(b) USB configration

Motion CPU module

(Q173CPU(N), Q172CPU(N))

RS-232 cable

(QC30R2)

Personal computer

Motion CPU module

(Q173CPU(N), Q172CPU(N))

USB cable

Personal computer

(Windows 98/2000 only)

Motion CPU module

(Q173CPU(N), Q172CPU(N))

SSCNET cable

(Q170CDCBL M,

Q170BDCBL M)

MITSUBISHI

SSCNET CARD

A30CD-PCF

SSC I/F Card/B o a r d

(A30CD-PCF/A 0BD-PCF)

Personal computer

(Note) : For information about GPP functions of QCPU, refer to the operating manual

of PLC. Also, refer to the programming manual of the operating system for information about creating motion programs, and refer to the help of each software for information about operation of each programming software package.

2 - 7

2 SYSTEM CONFIGURATION

2.1.1 Q173CPU(N) System ov eral l config urati on

Motion CPU contol module

100/200VAC

Personal Computer

IBM PC/AT

Panel Personal Computer (WinNT/Win98/Win2000) Computer link SSC

CPU base unit

(Q3 B)

Q61P-A

(Q170CDCBL M/

SSC I/F Card/Board

(A30CD-PCF/

A 0BD-PCF)

Qn(H) CPU

USB/ RS232

Communication

cable

Q170BDCBL M)

SSCNET

PLC CPU/ Motion CPU

Q173 CPU (N)

Dividing unit (Q173DV)

MITSUBISHI

LITHIUM BATTERY

interface module

Servo external

signals

Q172 LX

SSCNET cable

SSCNET LINE1

generator

interface module

Manual pulse

Synchronous

interface module

encoder

Q172 EX

QI73 PX

QI60

I/O module of the Q Series or

Special function module

Input/output(Max. 256)

Interrupt signals (16 points)

Manual pulse generator 3/module

(MR-HDP01)

Serial absolute synchronous encoder cable (MR-JHSCBL M-H)

External input signals

FLS : Upper stroke limit RLS : Lower stroke limit STOP : Stop signal DOG/CHANGE : Proximity dog/

Speed-position switching

SSCNET LINE2

Termination connector

SSCNET LINE3

d8d1

Serial absolute synchronous encoder 2/module

(MR-HENC)

Termination connector

d8d1

(Max. 1 module)

(Max. 6 modules)

Number of Inputs

8 axes/module

(Max. 4 module )

SSCNET LINE4

Termination connector

(Q6 B)

Extension cable

Power supply

UP to 7 Extension base units

M E

MR-H BN/MR-J2S- B/MR-J2M-B/MR-J2- B/MR-J2-03B5 model

module

Servo amplifier, Max.32 axes

M E

CAUTION

Construct a safety circuit externally of the Motion controller or serv o 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 cont roller, serv o amplifier,

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

2 - 8

2 SYSTEM CONFIGURATION

2.1.2 Q172CPU(N) System ov eral l config urati on

Motion CPU contol module

100/200VAC

Battery unit (Q170BAT)

Personal Computer

IBM PC/AT

Panel Personal Computer (WinNT/Win98/Win2000) Computer link SSC

CPU base unit

(Q3 B)

Qn(H)

Q61P-A

CPU

MITSUBISHI

LITHIUM BATTERY

USB/ RS232

Communication cable

(Q170CDCBL M/

Q170BDCBL M)

SSCNET

SSC I/F card/board

(A30CD-PCF/

A 0BD-PCF)

PLC CPU/ Motion CPU

Q172 CPU

(N)

Manual pulse

generator

interface module

Synchronous

Servo external

encoder

signals

interface module

Q172 LX

Q172EXQI73

Serial absolute synchronous encoder cable (MR-JHSCBL M-H)

QI60

QX QY

External input signals

FLS : Upper stroke limit RLS : Lower stroke limit STOP : Stop signal

DOG/CHANGE : Proximity dog/ Speed-position switching

SSCNET cable

SSCNET LINE1

d1 d2 d3

I/O module of the Q Series or Special function module

Input/output(Max. 256)

Interrupt signals (16 points)

Manua l pulse ge nerat o r 3/m o dule

(MR-HDP01)

Serial absolute synchronous encoder 2/module

(Max.1 module)

(Max. 4 modules) (MR-HENC)

Number of Inputs

8 axes/module

(Max. 1 module)

Termination connector

(Q6 B)

Extension cable

Power supply

Up to 7 Extension base units

module

MR-H BN/MR-J2S- B/MR-J2M-B /MR-J2- B/MR-J2-03B5 model Servo amplifier, Max.8 axes

CAUTION

Construct a safety circuit externally of the Motion controller or serv o 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 cont roller, serv o amplifier,

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

2 - 9

2 SYSTEM CONFIGURATION

2.1.3 Function explanation of the Q173CPU(N)/Q172CPU ( N ) M oti on CPU modul es

(1) It is possible to download servo parameters to servo amplifier, turn the servo

ON/OFF, and send the position commands by connecting the Motion CPU (Q173CPU(N)/Q172CPU(N)) and the servo amplifier with the SSCNET cable.

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

installing the corresponding operating system software on the Q173CPU(N)/ Q172CPU(N).

(3) It is possible to use stroke limit signals connected to Q172LX and signals of serial

encoders connected to Q172EX, etc. for the purpose of motion control by setting the Q173CPU(N)/Q172CPU(N) as the control CPU of various motion modules (Q172LX/Q172EX, etc.) .

(4) It is possible to perform not only servo control but also DI/O input/output control

according to programs implemented in the Motion SFC program by setting the Q173CPU(N)/Q172CPU(N) as the control CPU of the Q series PLC I/O module (When using the Motion SFC as the operating system software). (For information about the Q series PLC I/O modules that can be controlled by the Motion CPUs, refer to section 2.2 (2). )

(5) It is possible to exchange data such as automatic refresh among CPU as the Q

series PLC multiple CPU system.

(6) There is no restriction on the positions at which the modules controlled by the

Motion CPU (Q172LX/Q172EX, etc.) may be installed. Specify the installation position in the system settings.

2 - 10

2 SYSTEM CONFIGURATION

2.1.4 Restrictions on motion systems

(1) It is not allowed to use the Motion CPU as the control CPU of a module installed

on the QA1S6!B extension base unit. A PLC CPU must be used as the control CPU.

(2) The connector for installation of memory card on the Motion CPU module is for

future function expansion.

(3) The Motion CPU module cannot be used as standalone module. It must always be

used in combination with a PLC CPU (of a version that supports Multiple CPU systems). Moreover, it must be installed on the right side of the PLC CPU module. A PLC CPU cannot be installed in a position to the right of a Motion CPU.

(4) Use the PLC CPU in the “Q mode.”

(5) The Motion CPU cannot be set as the control CPU of the intelligent function

module or the Graphic Operation Terminal (GOT).

(6) The SSCNET cable that connects the Motion CPU and the servo amplifiers can

be pulled out from the lower part. Make sure to secure sufficient space for pulling out the cable when designing the board.

(7) The Motion CPU is one module element of the Q series multiple PLC system. It is

necessary to set the parameters of the Q series multiple PLC system for each PLC CPU. The Motion CPU module must also be set to support the multiple system by system setting s.

(8) Make sure to use the Motion CPU as the control CPU of motion modules

dedicated for the Motion CPU (Q172LX, Q172EX, Q173PX, etc.). They will not operate correctly if a PLC CPU is set and installed as the control CPU by mistake. The Motion CPU is treated as a 32-point intelligent module by PLC CPUs of other machines. It cannot be accessed from other machines.

(9) When a Multiple CPU system is configured, make sure to configure the modules

so that the total current consumption of the individual modules on the CPU base does not exceed the 5VDC output capacity of the power supply module. (Refer to section 2.4.2 (3), (4) Power supply module.)

2 - 11

2 SYSTEM CONFIGURATION

(10) Number of Motion CPU modules and temperature conditions

(Q173CPU/Q172CPU only)

(a) It is possible to remove the Cooling fan unit(Q170FAN) in order to disperse

heat from inside the Motion CPU module according to the number of the Motion CPU module and ambient temperature conditions. Removable/Not removable of the Cooling fan unit (Q170FAN) by number of Motion CPU modules and ambient temperature is as follows.

1) When using only one Motion CPU module

2) When using two or more Motion CPU modules

Ambient temperature

of the Motion CPU

Number of the Motion CPU 1 module Removable Not removable

It is possible to remove the Cooling fan unit if the ambient temperature in which the Motion CPU module will be operating is 0 to 40°C (32 to 104°F).

Do not remove the Cooling fan unit(Q170FAN).

0 to 40

(

32 to 104

°C

°F)

Over 40 to 55

(Over

104 to 131

°C

°F)

2 modules or more Not removable

(11) When the internal battery of the Motion CPU is charged for 40 hours of normal

operation, it will be able to provide backup power for the IC-RAM memory for 1100 hours (Guaranteed time)/4300 hours (Actual time) . Battery backup by the external battery will be necessary if there is a possibility that a continuous power off that lasts longer than the continuous power off hours for the internal battery. (Refer to section 2.4.9 External battery)

Item

Charging time of Internal rechargeable battery only

External battery 60000 240000

8 hours or more

Charging time of

40 hours or more

Guaranteed time (MIN) [ h ] Actual time (TYP) [ h ]

Continuous power off time

200 500

1100 4300

2 - 12

2 SYSTEM CONFIGURATION

2.2 System Configuration Equipment

Part name Model name Description

Motion CPU module

Servo external signals interface module Serial absolute synchronous encoder interface module Manual pulse generator interface module

PLC CPU module

Power supply module

CPU base unit

Extension base unit

Extension cable

Manual pulse generator MR-HDP01

Serial absolute synchronous encoder

(1) Table of motion module

Q172CPUN Max.8 axes control 1.14 Q172CPU Max.8 axes control, with Cooling fan unit 1.62 Q173CPUN Max.32 axes control 1.25 Q173CPU Max.32 axes control, with Cooling fan unit 1.75

Q172LX Servo external signal 8 axes (FLS, RLS, STOP, DOG/CHANGE×8) 0.05

Q172EX

Q173PX Q02CPU Program capacity 28k 0.60

Q02HCPU Program capacity 28k 0.64 Q06HCPU Program capacity 60k 0.64 Q12HCPU Program capacity 124k 0.64 Q25HCPU Program capacity 252k 0.64 Q61P-A1 100 to 120VAC input/ 5VDC 6A output —— Q61P-A2 200 to 240VAC input/ 5VDC 6A output —— Q63P 24VDC Input/ 5VDC 6A output —— Q64P 100 to 120VAC/200 to 240VAC Input/ 5VDC 8.5A output —— Q33B Number of I/O modules installed 3 slots

Q35B Number of I/O modules installed 5 slots Q38B Number of I/O modules installed 8 slots Q312B Number of I/O modules installed 12 slots 0.121

Q63B Number of I/O modules installed 3 slots 0.105 Q65B Number of I/O modules installed 5 slots 0.110 Q68B Number of I/O modules installed 8 slots 0.114 Q612B Number of I/O modules installed 12 slots 0.121 QC05B Length 0.45m(1.48ft.) QC06B Length 0.6m(1.97ft.) QC12B Length 1.2m(3.9ft.) QC30B Length 3m(9.8ft.) QC50B Length 5m(16.4ft.) QC100B Length 10m(32.8ft.)

MR-HENC

Serial absolute synchronous MR-HENC interface×2 Tracking input 2 points

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

Pulse resolution: 25PLS/rev(100PLS/rev after magnification by 4) Permitted axial loads Radial load: Max.19.6N Thrust load: Max. 9.8N Permitted speed: 200r/min(Normal rotation) Resolution: 16384PLS/rev Permitted axial loads Radial load: Max.98N Thrust load: Max.49N Permitted speed: 4300r/min

Current

consumption

5VDC[A]

0.07

0.11

0.105

0.110

0.114

——

0.06

0.15

Remark

2 - 13

2 SYSTEM CONFIGURATION

Table of motion module(continued)

Part name Model name Description

Connection between Serial absolute synchronous encoder and Serial absolute synchronous encoder cable

SSCNET cable

SSC I/F board

MR-JHSCBL!M-H

Q170BDCBL!M

Q170CDCBL!M

Q172J2BCBL!M

Q172J2BCBL!M-B

Q172HBCBL!M Q172HBCBL!M-B

Q173J2B CBL!M

Q173HB CBL!M

Q173DVCBL!M

A10BD-PCF PCI bus loading type, 2 ch/board A30BD-PCF ISA bus loading type, 2 ch/board

Q172EX

2m(6.56ft.), 5m(16.4 ft.) , 1 0 m(3 2 .8 ft.) , 2 0 m(6 5 .6 ft.) , 3 0 m(9 8 .4 ft.)

(Same as encoder cables for HC-SFS/RFS/UFS(2000r/min) series

motors)

Connection between Q173CPU(N)/Q172CPU(N) and SSC I/F board

3m(9.84ft.), 5m(16.4 ft.) , 1 0 m(3 2 .8 ft.)

Connection between Q173CPU(N)/Q172CPU(N) and SSC I/F card

3m(9.84ft.), 5m(16.4 ft.) , 1 0 m(3 2 .8 ft.)

Connection between Q172CPU(N) and Battery unit (Q170BAT),

Q172CPU(N) and servo amplifier (MR-J2S-!B/MR-J2M-B/

MR-J2-!B/MR-J2-03B5)

0.5m(1.64ft.), 1m(3.2 8 ft.) , 5 m(1 6 .4 ft.)

Connection between Q172CPU(N) and Battery unit (Q170BAT),

Q172CPU(N) and servo amplifier (MR-H!BN)

0.5m(1.64ft.), 1m(3.2 8 ft.) , 5 m(1 6 .4 ft.)

Connection between Q173CPU(N) and servo amplifier

(MR-J2S-!B/MR-J2M-B/MR-J2-!B/MR-J2-03B5)

0.5m(1.64ft.), 1m(3.2 8 ft.) , 5 m(1 6 .4 ft.)

Connection between Q173CPU(N) and servo amplifier

(MR-H!BN)

0.5m(1.64ft.), 1m(3.2 8 ft.) , 5 m(1 6 .4 ft.)

Connection between Q173CPU(N) and Q173DV

0.5m(1.64ft.), 1m(3.2 8 ft.)

Current

consumption

5VDC[A]

——

Remark

Battery unit needs to use “-B” type cable.

SSC I/F card A3 0 C D - PC F PCMCIA TYPE II, 1 ch/card

Dividing unit Q173DV

Battery unit Q170BAT For IC-RAM memory backup of Q172CPU(N) ——

Battery A6BAT

Cooling fan unit Q170FAN Cooling fan of the Motion CPU module 0.08

Q172CPU(N) connector set

Q173CPU(N) connector set

Q172CON

Q173CON

For dividing the SSCNET lines of Q173CPU(N) into 4.

(Attachment: Battery h o l d e r fo r IC-RAM memory backu p )

For IC-RAM memory backup of Q173CPU(N)/Q172CPU(N) module

(SFC programs, Servo programs, Parameters)

Connector for Q172CPU(N)

Connector : HDR-E14MG1

Case : HDR-E14LPA5

Q173CPU(N) side connector set

Connector : HDR-E26MG1

Case : HDR-E26LPA5

(Note-1)

——

2 - 14

2 SYSTEM CONFIGURATION

Table of motion module(continued)

Current

Part name Model name Description

Q173CPU(N) side connector set

Connector : HDR-E26MG1 Q173DV connector set Q173DVCON

=Number of lines (none: 1 Line, 2: 2 Lines, 3: 3 Lines, 4: 4 Lines)

=Cable length (0.5: 0.5m(1.64ft.), 1: 1m(3.28ft.), 2: 2m(6.56ft.), 3: 3m(9.84ft.), 4: 4m(13.12ft.), 5: 5m(16.4ft.) )

(Note-1) : Crimping terminal is not sold in Mitsubishi. The following terminal is requested to be procured by customers.

Specified tool (Honda Connectors make) : FHAT-0029/FHPT-0004C

Case : HDR-E26LPA5

Q173DV side connector set

Connector : 10126-3000VE

Case : 10326-52F0-008

(Note-1)

consumption

5VDC[A]

——

(2) Q series PLC module whic h can be control by Motion CPU

Part name

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

Input module

Output module

Input/Output composite module

Interrupt module QI60 DC24V/4mA, Positive common, 16 points, Terminal block

Contact output module

Sink Type

Transistor

Source Type

TTL•CMOS(Sink)

DC Input/ Transistor output

Model name

QX40 24VDC/4mA, Positive common, 16 points, Terminal block QX41 24VDC/4mA, Positive common, 32 points, Connector QX42 24VDC/4mA, Positive common, 64 points, Connector

QX70

QX71

QX72 QX80 24VDC/4mA, Negative common, 16 points, Terminal block

QX81 24VDC/4mA, Negative common, 32 points, Connector QY10 240VAC/24VDC, 2A/point, 8A/common, 16 points/common, Terminal block QY40P 12V/24VDC, 0.1A/point, 1.6A/common, 16 points/common Terminal block

QY41P 12V/24VDC, 0.1A/point, 2A/common, 32 points/common Connector QY42P

QY50

QY80

QY81P QY70 5/12VDC, 16mA/point, 16 points(16 points/common), Terminal block

QY71 5/12VDC, 16mA/point, 32 points(32 points/common), Connector

QH42P

QX48Y57

12VDC/5V, Positive common/Negative common shared, 16 points, Terminal block 12VDC/5V, Positive common/Negative common shared, 32 points, Terminal block 12VDC/5V, Positive common/Negative common shared, 64 points, Terminal block

12V/24VDC, 0.1A/point, 2A/common, 64 points(32 points/common), Connector 12V/24VDC, 0.5A/point, 4A/common, 16 points(16 points/common), Terminal block 12V/24VDC, 0.5A/point, 4A/common, 64 points(32 points/common), Terminal block 12V/24VDC, 0.1A/point, 2A/common, 32 points(32 points/common), Connector

24VDC Positive common: 32 points DC12-24V/0.1A Output Sink type: 32 points, Connector, Provided (Thermal protectors, protector against short circuit) 24VDC Positive common: 8 points DC12-24V/0.5A Output Sink type: 7 points, Terminal block, Provided (When face is broken, LED lights and signal is output to CPU)

Description

Marked " " connectors are not provided.

Remark

2 - 15

2 SYSTEM CONFIGURATION

(3) Table of servo amplifier

Part name Model name Description

MR-H!BN MR-H series

servo amplifier Battery MR-BAT Back-up for the absolute position detection. Termination connector MR-TM Connected to the last servo amplifier (MR-H!BN) by SSCNET.

Regenerative resistor

SSCNET cable MR-HBUS!M

Encoder cable

Encoder connector set

MR-H!!KBN

MR-RB! MR-H! MR-RB!-4

MR-HSCBL!M MR-EN1CBL!M-H MR-JCCBL!M-L MR-JCCBL!M-H MR-JSCNS MR-EN1CNS

The following servo amplifier series can be used.

(a) MR-H!BN

Refer to catalogue of the servo amplifier about the output capacity of the servomotor.

Refer to catalogue of the servo amplifier about the regenerative resistance.

Connection between MR-H!BN and MR-H!BN

0.5m(1.64ft.), 1m(3.2 8 ft.) , 5 m(1 6 .4 ft.) Connection between HA-LH!K, HC-SF/RF/UF(2000r/min) series motor and MR-H!BN. 2m(6.56ft.), 5m(16.4 ft.) , 1 0 m(3 2 .8 ft.) , 2 0 m(6 5 .6 ft.) , 3 0 m(9 8 .4 ft.)

Connection between HA-FF, HC-MF/UF(3000r/min) and MR-H!BN Servo amplifier side connector for HA-LH!K, HC-SF/RF/UF(2000r/min) series motor,

Encoder side connector set

2 - 16

2 SYSTEM CONFIGURATION

Part name Model name Description

MR-J2S-!B MR-J2-Super series

servo amplifier MR-J2M series

servo amplifier

MR-J2 series servo amplifier MR-J2-Jr se r i e s servo amplifier Battery MR-BAT Back-up for the absolute position detection.

Termination connector MR-A-TM

SSCNET cable

Encoder cable

Encoder connector set

MR-J2S-!B1 MR-J2M-!DU Drive unit MR-J2M-P8B Interface unit MR-J2M-BU! Base unit

MR-J2-!B

MR-J2-03B5

MR-J2HBUS!M-A

MR-J2HBUS!M

MR-JHSCBL!M-L Standard cable MR-JHSCBL!M-H

MR-ENCBL!M-H

MR-JCCBL!M-L Standard cable

MR-JCCBL!M-H

MR-JRBRCBL!M-H

MR-J2CNS MR-ENCNS MR-JRCNM Servo amplifier and Junction connector set for HC-AQ series motor.

MR-JRBRCNM MR-JRBRCN Electromagnetic brake contact connector for HC-AQ series motor. MR-J2CNM

(b) MR-J2S-!B/MR-J2M-B/MR-J2-!B/MR-J2-03B5

Refer to catalogue of the servo amplifier about the output capacity of the servomotor.

Connected to the last servo amplifier(MR-J2S-!B/MR-J2M-B/MR-J2-!B/MR-J2-03B5) by SSCNET Connection between Q173DV and MR-H!BN. Connection between MR-H!BN and (MR-J2S-!B/MR-J2M-B/MR-J2-!B/ MR-J2-03B5).

0.5m(1.64ft.), 1m(3.2 8 ft.) , 5 m(1 6 .4 ft.) Connection between Q173DV and (MR-J2S-!B/MR-J2M-B/MR-J2-!B/MR-J2-03B5). Connection between (MR-J2S-!B/MR-J2M-B/MR-J2-!B/MR-J2-03B5) and (MR-J2S-!B/MR-J2M-B/MR-J2-!B/MR-J2-03B5).

0.5m(1.64ft.), 1m(3.2 8 ft.) , 5 m(1 6 .4 ft.) Connection between HC-SFS/RFS/UFS(2000r/min) series motor and MR-J2S-!B/MR-J2M-B.

Long fixing life encoder cable

Servo amplifier and junction side connector set for HC-SFS/RFS/UFS(2000r/min) series motor, HC-SF/RF/UF(2000r/min) series motor.

Servo amplifier side(Motor cable for servomotor with electro magnetic brake) and HCAQ series motor. (Need MR-JRBRCN for electromagnetic brake contact)

Servo amplifier and junction side connector set for HC-MFS/KFS/UFS(3000r/min) series and HA-FF, HC-MF/UF(3000r/min) series motor.

Connection between HC-SF/RF/UF(2000r/min) series motor and MR-J2-!B. 2m(6.56ft.), 5m(16.4 ft.) , 1 0 m(3 2 .8 ft.) , 2 0 m(6 5 .6 ft.) , 3 0 m(9 8 .4 ft.) Connection between HC-MFS/KFS/UFS(3000r/min) series motor and MR-J2S-!B/MR-J2M-B. Connection between HC-MF/UF(3000r/min) and HA-FF series motor and MR-J2-!B. 2m(6.56ft.), 5m(16.4 ft.) , 1 0 m(3 2 .8 ft.) , 2 0 m(6 5 .6 ft.) , 3 0 m(9 8 .4 ft.) Connection between HC-AQ series motor and MR-J2-03B5. 2m(6.56ft.), 5m(16.4 ft.) , 1 0 m(3 2 .8 ft.) , 2 0 m(6 5 .6 ft.) , 3 0 m(9 8 .4 ft.) Connection between HC-AQ series motor and MR-J2-03B5. 2m(6.56ft.), 5m(16.4 ft.) , 1 0 m(3 2 .8 ft.) , 2 0 m(6 5 .6 ft.) , 3 0 m(9 8 .4 ft.) (Motor cable for servomotor with electro magnetic brake)

2 - 17

2 SYSTEM CONFIGURATION

(4) Software packages

Application

For conveyor assembly (Motion SFC) For automatic machinery (Motion SFC)

SV13

SV22

Model name Details Remark

SW6RNC-GSVE (Integrated start-up support software

SW6RN-GSVPROE

SW6RNC-GSVSETE

(1 CD-ROM) )

Model name PLC software package Remark

(a) OS software packages

OS software package

Q173CPU(N) Q172CPU(N)

SW6RN-SV13QB SW6RN-SV13QD

SW6RN-SV22QA SW6RN-SV22QC

(b) Integrated start-up support software packag es

Conveyor assembly software : SW6RN-GSV13P Automatic machinery software : SW6RN-GSV22P Cam data creation software : SW3RN-CAMP Digital oscilloscope software : SW6RN-DOSCP Communication system software : SW6RN-SNETP Document print software : SW3RN-DOCPR N P, SW20R N-DOCPRNP

SW6RNC-GSVHELPE(Operation manual(1 CD-ROM) )

Installation manual

SW6RNC-GSVPROE

A30CD-PCF(SSC I/F ca r d ( PC MCIA TYPE II 1CH/card) )

Q170CDCBL3M(A30CD-PCF cable 3m(9.84ft.) )

(Note) : Operating environment of the programming software is WindowsNTR4.0/

Windows

98/WindowsR2000 English version) only.

Remark

GX Developer SW!D5C-GPPW-E

(Note) : !=used "6" or later.

2 - 18

2 SYSTEM CONFIGURATION

(5) Operating envir onment of the personal computer

Operating environment is as follows.

Item

CPU Pentium133MHz or more Pentium II 233MHz or more Memory capacity Recommended 32MB or more Recommended 64MB or more Hard disk free space Hard disk free space is as following list. Disk drive 3.5inch (1.44MB) floppy disk drive, CD-RO M disk drive Display 800×600 pixels, 256 colors or more

Model name Size

SW6RN-GSV13P 15MB SW6RN-GSV22P 15MB SW3RN-CAMP 1MB SW6RN-DOSCP 3MB

SW6RN-SNETP

SW3RN-DOCPRNP, SW20RN-DOCPRNP 7MB

Model name Size

SW6RN-GSV13P 23MB SW6RN-GSV22P 30MB SW3RN-CAMP 2MB SW6RN-DOSCP 2MB SW6RN-SNETP 1MB SW3RN-DOCPRNP, SW20RN-DOCPRNP 2MB

(Note-1) : Pentium Rare trademarks or registered trademarks of Intel Corporation or its subsidiaries in the United States and other

countries.

(Note-2) : WindowsNT

other countries.

, WindowsRare either registered trademarks or trademarks of Microsoft Corporation in the United States and/or

IBM PC/AT with w hich WindowsNT4.0/98/2000 English version operates normally.

WindowsNT

4.0(Service Pack 2 or later) Windows

(Note)

(Note) : Impossible to use USB connection.

Windows

It is necessary the following capacity depending on the installed software.

SW6RNC-GSVE

Standard 1.5MB

Custom (When all selection) 2MB

SW6RNC-GSVHELPE

POINT

(1) When the operation of Windows is not unclear in the operation of this

software, refer to the manual of Windows or guide-book from the other supplier.

(2) The screen might not be correctly displayed depending on the

system font size of WindowsNT

4.0/WindowsR98/WindowsR2000.

Be sure to use the small size fonts.

2000

2 - 19

2 SYSTEM CONFIGURATION

2.3 General Specifications

General specifications of Q173CPU(N)/Q172CPU(N) module is as follows.

Item Specification

Operating ambient temperature

Storage ambient temperature

Operating ambient humidity

Storage ambient humidity

Vibration resistance Conforming

JIS B 3501, IEC 61131-2

Under intermittent vibration

Under continuous vibration

0 to 55°C

(32 to 131°F)

-25 to 75°C

(Note-3)

(-13 to 167°F)

5 to 95% RH

non-condensing

Frequency Acceleration Amplitude Sweep count

10 to 57Hz ——

0.075mm

(0.003inch)

10 times each

57 to 150Hz 9.8m/s2 ——

10 to 57Hz ——

57 to 150Hz 4.9m/s

——

0.035mm

(0.001inch)

in X, Y, Z

directions

(For 80 min.)

Shock resistance Conforming to JIS B 3501, IEC 61131-2(147m/s2 , 3 times in each of 3 directions X, Y, Z) Operating ambience No corrosive gases Operating altitude 2000m(6562ft.) or less Installation location Inside control panel Overvoltage category

(Note-1)

Pollution level

(Note-2

)

2 or less

II or less

(Note-1) : This indicates the section of the power supply to which the equipment is assumed to be connected between the

public electrical power distribution network and the machinery within premises. Category II applies to equipment for which electrical power is supplied from fix ed facilities. The surge voltage withstand level for up to the rated voltage of 300V is 2500V.

(Note-2) : This index indicates the degree to which conductive material is generated in terms of the env ironment in which

the equipment is used. Pollution level 2 is when only non-conductive pollution occurs. A temporary conductivity caused by condensing must be expected occasionally.

(Note-3) : Do not use or store the Motion CPU module under pressure higher than the atmospheric pressure of altitude 0m.

Doing so can cause a malfunction. When using the PLC under pressure, please contact your sales representative.

2 - 20

2 SYSTEM CONFIGURATION

CAUTION

The Motion controller must be stored and used under the conditions listed in the table of

specifications above.

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

or servo amplifier.

Place the Motion controller and servo amplifier in static electricity prev enting v inyl bags and

store.

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

2 - 21

2 SYSTEM CONFIGURATION

2.4 Specifications of Equipment and Settings

2.4.1 Q173CPU(N)/Q172CPU(N) (1) Q173CPU(N)/Q172CPU( N) N ame of parts

This section explains the names and setting of the module.

Front face

Q17 CPU

PULL

MODE

RUN ERR.

M.RUN

BAT.

BOOT

FRONT

SSCNET

CN2

CN1

With Front cover open

10)

MODE

RUN ERR.

M.RUN

BAT.

BOOT

ON SW

STOP RUN

RESET L CLR

1 2 3 4 5

13)

14)

15)

USB

RS-232

hen opening the cover, put your finger here.

Side face

21)

20)

Q172CPU

11)

12)

Bottom

Q173CPU

16)

18)

19)

18)

19)

17)

2 - 22

2 SYSTEM CONFIGURATION

No. Name Application

1) Module fixing hook Hook used to fix the module to the base unit.(Quick release installation)

2) MODE LED (Mode judging)

3) RUN LED

4) ERR. LED

5) MOTION RUN LED

6) BAT. LED Lit : When the battery error occurred. (When using the external battery.)

7) BOOT LED

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

9) Memory card EJECT button Used to eject the memory card from the Motion CPU.

10) Memory card loading connector

11) USB connector

12) RS-232 connector

(Note) : When normally connecting a cable to the USB or RS232 connector, clamp the cable to prevent it from coming off due to the

dangling, moving or careless pulling of the cable. Q6HLD-R2 type RS-232C connector disconnection prevention holder is available as a clamp for RS232 connector.

(Note)

Lit(green) Lit(orange)

Lit : Motion CPU normal start Not lit : Motion CPU fault. RUN LED turn off when the trouble occurred at starting or WDT

Lit : When error occurs, LED turn on as follows

Flashing : Detection of self diagnostic error which will stop the operation. Not lit : Normal Lit : When motion control is executed. Flashing : When latch clear started. Not lit : When motion control is not executed, or when the self diagnostic error which

Lit Not lit

Connector used to connect the memory card to the Motion CPU. (The Motion CPU make use of the memory card by software package.) Connector for connection with USB-compatible peripheral device. (Connector type B) Can be connected by USB-dedicated cable. Connector for connection with a peripheral device. Can be connected by RS-232 connection cable (QC30R2)

: Normal mode : Installation • ROM writing mode

error occurred.

1) WDT error

2) System setting err o r

3) Servo err o r

4) Motion SFC er r o r

5) Detection of self diagnostic error which will not stop the operation(except for battery error).

will stop the operation was detected.

: ROM operating mode : ROM operating mode/Installation • ROM writing mode

CPU module

RS232 cable

2 - 23

Q6HLD-R2

2 SYSTEM CONFIGURATION

(2) Applications of switches, connectors on Q173CPU (N ) /

No. Name Application

Dip switches

ON SW

13)

RUN/STOP switch

14) (Momentary switch)

RESET/L.CLR switch

15) (Momentary switch)

16) Module fixing screw hole Hole for the screw used to fix to the base unit. (M3×12 screw : Purchase from the other supplier)

2 3 4 5

Q172CPU(N)

Dip switch 1 Must not be used. Normally OFF. (Shipped from the factory in OFF position)

•ROM operating setting (Shipped from the factory in OFF position)

Dip switch 2

Dip switch 3

Dip switch 4 Must not be used. Normally OFF. (Shipped from the factory in OFF position) Dip switch 5 (Installation • ROM writing switch)

Move to RUN/STOP. RUN : Executes Motion program. STOP : Stops Motion pr o g r a m.

RESET : Set the switch to the “RESET” position once, and reset the hardware. Applies a reset after an operation error and initialized the operation. L.CLR : Clear the latch area all data which set with the parameters. (LATCH CLEAR al so cle a r s d a ta o u tsid e th e la tch a r e a a t th is time.)

(Note-1)

Latch clear operating method

1) Set the “RUN/STOP” switch to “STOP”.

2) Move the “ R ESET/L .C L R” switch to “L.CL R” several times until the “ MOTION RUN LED” flashing. (“MOTION RUN LED” flashing : Latch clear completed. )

3) Move the “ R ESET/L.CLR” switch to “ L .C L R ” o n ce mor e . ( “ MOTION RUN LED” turn off.)

SW2 OFF ON OFF ON

ON : Installation • ROM writing mode OFF : Normal mode (RAM operating mode/ROM operating mode) Turn ON dip switch 5 when installed the operating system (OS) into the Motion CPU module from the peripheral device. After completing the installation, move to switch and re-start.

SW3 OFF OFF ON ON

RAM operating mode Must not be set Must not be set ROM operating mode

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

18) CN2 connector Connector for connection a personal computer and SSCNET.

19) CN1 connector

20) Cooling fan connector

21) Cooling fan unit

(Note-1) : It is not possible to reset the Multiple CPU system by each of the QCPU/the Motion CPU No.2 to 4.

If it is reset, other CPU occurred to stop of the overall Multiple CPU system where “MULTI CPU DOWN (Error code : 7000).

The overall Multiple CPU system reset is resetting the CPU No.1 of the QCPU. (Note-2) : For example of the Q173CPU(N), the connector CN1 divide signals allocated each of SSCNET LINE 1 to 4. The Dividing unit (Q173DV) or the Dividing cable (Q173J2B

servo amplifiers divide signals allocated in CN1 of the Q173CPU(N) into each of the four lines. (Note-3) : When using the Q173CPU/Q172CPU only.

(Note-2)

Connector for connection of the Motion CPU module and servo amplifier.

(Note-3)

Connector for connection of the Motion CPU module and the Cooling fan unit (Q170 FAN).

(Note-3)

The Cooling fan unit(Q170 FAN) designed exclusively for Motion CPU module.

CBL!M/Q173HB CBL!M) between the Motion CPU and

2 - 24

2 SYSTEM CONFIGURATION

(3) Basic specifications of Q173CPU(N)/Q172CPU(N )

Motion control specifications

Item Q173CPUN Q173CPU Q172CPUN Q172CPU

Number. of control axes 32 axes 8 axes

0.88ms/ 1 to 8 axes

SV13

Operation cycle (default)

SV22

Interpolation functions Linear interpolation (Max.4 axes), circular interpolation (2 axes), Helical interpolation (3 axes)

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

Control modes

Acceleration/ deceleration control Compensation Backlash compensation, Electronic gear Programming language Motion SFC, dedicated instruction, Mechanical support language (SV22) Program capacity 14k steps Number of positioning points Programming tool IBM PC/AT Peripheral I/F USB(12Mbps)/RS-232(115.2kbps)/SSCNET(5.6Mbps) Home position return function JOG operation function Provided Manual pulse generator operation function Synchronous encoder operation function

M-code function Limit switch output

function Absolute position system Number of SSCNET I/F 5CH 2CH

Manual pulse generator/ Synchronous encoder/ Servo external signals interface module

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

Q172LX : 4 modules usable Q172LX : 1 module usable Q172EX : 6 modules usable Q172EX : 4 modules usable

Q173PX : 4 modules usable

1.77ms/ 9 to 16 axes

3.55ms/17 to 32 axes

0.88ms/ 1 to 4 axes

1.77ms/ 5 to 12 axes

3.55ms/13 to 24 axes

7.11ms/25 to 32 axes

Automatic trapezoidal acceleration/deceleration,

S-curve acceleration/deceleration

3200 points

(Positioning data can be designated indirectly)

Proximity dog type, Count type, Data set type(2 ty pes)

Possible to connect 3 modules.

Possible to connect 12 modules. Possible to connect 8 modules.

M-code output function provided

M-code completion wait function provided

Number of output points 32 point/axis

Watch data: Motion control data/Word device

Made compatible by setting battery to servo amplifier.

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

(Note)

Q173PX : 3 modules usable

0.88ms/1 to 8 axes

0.88ms/1 to 4 axes

1.77ms/5 to 8 axes

(Note)

2 - 25

2 SYSTEM CONFIGURATION

Motion control specifications(continued)

Item Q173CPUN Q173CPU Q172CPUN Q172CPU

Internal current consumption(5VDC) [A] Exterior dimensions (When not installed the Cooling fan unit) [ mm(inch) ] Weight [kg] 0.23 0.22 0.22 0.21

(Note) : When using the incremental synchronous encoder by using SV22, you can use 4 modules.

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

1.25 1.75 1.14 1.62

98(3.86)(H)

27.4(1.08)(W)

114.3(4.50)(D)

118(4.65)(H)

27.4(1.08)(W)

89.3(3.52)(D)

98(3.86)(H)

27.4(1.08)(W)

114.3(4.50)(D)

118(4.65)(H)

27.4(1.08)(W)

89.3(3.52)(D)

(4) Selection of Q172EX, Q173PX

Item

Q173CPU(N) 12 modules Q172CPU(N) 8 modules Module selection Q172EX Q173PX

Synchronous encoder

Serial absolute Incremental

Manual pulse generator

3 modules

(5) Q173CPU(N)/Q172CPU( N) i nter nal r echar g eabl e battery

• Initial charging of the Q173CPU(N)/Q172CPU(N) Turn on the power supply and charge the internal rechargeable battery for eight hours or more, before starting to use the Q173CPU(N)/Q172CPU(N). It is possible to provide backup power for the IC-RAM memory for at least 200 hours by charging the internal rechargeable battery for eight hours or more, even if it is empty. If the battery is charged for five days while applying power eight hours a day, i.e., 40 hours of normal operation, it will be able to provide backup power for the IC-RAM memory for 1100 hours. Battery backup by the A6BAT/MR-BAT will be necessary if there is a possibility that a continuous power off that lasts longer than the continuous power off hours for the internal rechargeable battery specified in the table below may occur, for example when transporting the system on a ship.

Continuous power off time

200 500

1100 4300

Internal rechargeable battery only

Item

Charging time of 8 hours or more Charging time of 40 hours or more

Guaranteed time (MIN) [ h ] Actual time (TYP) [ h ]

2 - 26

2 SYSTEM CONFIGURATION

(6) Motion SFC Performance Specifications

Motion SFC Performance Specifications

Item Q173CPU(N)/Q172CPU(N)

Code total (Motion SFC chart+ Operation control+

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 only) (Included the positioning dedicated device)

Transition) Text total (Operation control+ Transition) Number of Motion SFC programs 256(No.0 to 255) Motion SFC chart size/program Max. 64k bytes (Included Motion SFC chart comments) Number of Motion SFC steps/program Max. 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 Max. approx. 64k bytes (32766 steps) Number of blocks( l ine)/program Max. 8192 blocks (in the case of 4 steps(min)/ b lo cks) Number of characters/block Max. 128 (comment included) Number of operand/block Max. 64 (operand: constants, word device, bit devices) ( ) nesting/block Max. 32

Descriptive Expression

Number of multi executed programs Max. 256 Number of multi active programs Max. 256 steps/all programs

Executed task

Number of internal relays (M) Number of latch relays (L) Number of link relays (B) 8192 points Number of annunciators (F) 2048 points Number of special relays (M) 256 points Number of data registers (D) 8192 points Number of link registers (W) 8192 points Number of special registers (D) 256 points Motion devices (#) 8192 points Number of coasting timers (FT)

Operation control program Calculation expression/bit conditional expression Transition program

Normal task Executed in motion main cycle

Event task (Execution can be masked.)

NMI task

Fixed cycle External

interrupt PLC interrupt

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

Calculation expression/bit conditional expression/comparison

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

Executed when input ON is set among interrupt module QI60

Executed with interrupt from PLC CPU.

(When PLC CPU dedicated command S(P).GINT is executed)

Executed when input ON is set among interrupt module QI60

Total 256 points

287k bytes

224k bytes

conditional expression

Executed in fixed cycle

(16 points).

Total M+L : 8192 points

1 point (888µs)

2 - 27

2 SYSTEM CONFIGURATION

2.4.2 Power supply module (1) Table of the power supply module specificati ons

Item

Base loading position Power supply module loading slot Applicable base unit Q33B, Q35B, Q38B, Q312B, Q65B, Q68B, Q612B

Input power supply Input frequency 50/60Hz ±5%

Input voltage distortion factor 5% or less Max. input apparent power 105VA Inrush current 20A 8ms or less

Rated output current

protection

protection Efficiency 70% or more Permissible instantaneous power off

time Dielectric withstand voltage

Insulation resistance

Noise immunity

Operation indication LED indication (Lit at 5VDC output) Fuse Built-in (Unchangeable by user)

Contact output section

Terminal screw size M3.5 × 7 Applicable wire size 0.75 to 2mm2 Applicable crimping terminal RAV1.25 to 3.5, RAV2 to 3.5 Applicable tightening torque 59 to 78 × 10

Exterior dimensions[mm(inch)] Weight [kg] 0.31

(Note-1)

(Note-2)

(Note-3)

Application Rated switching

voltage/current Minimum switching load 5VDC, 1mA Response time OFF to ON: 10ms or less. ON to OFF: 12ms or less.

Life time Surge suppressor None

Fuse None

5VDC 6A 24VDC —— 5VDC 6.6A or more Overcurrent 24VDC —— 5VDC 5.5 to 6.5V Overvoltage 24VDC ——

This section describes the power supply modules specifications.

Performance specifications

Q61P-A1 Q61P-A2

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

(85 to 132VAC)

20ms or less

Across inputs/LG and outputs/FG

2,830VAC rms / 3 cycles (Altitude : 2000m (6562ft.) ) Across inputs and outputs (LG and FG separated), across inputs and LG/FG, across outputs and FG/LG. 10M

or more by insulation resistance tester(500VDC)

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

frequency

• Noise voltage IEC61000-4-4, 2kV

ERR contact (contact switched off (opened: normally closed contact) at an error stop of CPU), for CPU module operating status output

24VDC, 0.5A

Mechanical : 2 million times or more Electrical : 100 thousand times at rated switching voltage/current or more

98(H) × 55.2(W) × 90(D)

(3.86(H) × 2.17(W) × 3.55(D) )

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

(170 to 264VAC)

-2

N•m

2 - 28

2 SYSTEM CONFIGURATION

Item

Base loading position Power supply module loading slot Applicable base unit Q33B, Q35B, Q38B, Q312B, Q65B, Q68B, Q612B

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

Input voltage distortion factor —— 5% or less Max. input apparent power 45W 160VA Inrush current 100A 1ms or less 20A 8ms or less

Rated output current

protection

protection Efficiency 70% or more Permissible instantaneous power off

time

Dielectric withstand voltage 500VAC across primary and 5VDC

Insulation resistance 10M or more by insulation resistance tester

Noise immunity

Operation indication LED indication (Lit at 5VDC output) Fuse Internal (Unchangeable by user)

Contact output section

Terminal screw size M3.5 × 7 Applicable wire size 0.75 to 2mm2 Applicable crimping terminal RAV1.25 to 3.5, RAV2 to 3.5 Applicable tightening torque 59 to 78 × 10

Exterior dimensions[mm(inch)] Weight [kg] 0.33 0.40

(Note-1)

(Note-2)

(Note-3)

Application Rated switching

voltage/current Minimum switching load 5VDC, 1mA Response time OFF to ON: 10ms or less. ON to OFF: 12ms or less

Life time Surge suppressor None

Fuse None

5VDC 6A 8.5A 24VDC —— —— 5VDC 6.6A or more 9.9 to 14.4A Overcurrent 24VDC —— 5VDC 5.5 to 6.5V Overvoltage 24VDC ——

The power supply module specifications (continued)

Performance specifications

Q63P Q64P

24VDC (+30%/-35%)

(15.6 to 31.2VDC)

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

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

1µs noise width and 25 to 60Hz noise frequency

ERR contact (contact switched off (opened: normally closed contact) at an error stop of CPU), for CPU module operating status output

Mechanical : 2 million times or more Electrical : 100 thousand times at rated switching voltage/current or more

98(H) × 55.2(W) × 90(D)

(3.86(H) × 2.17(W) × 3.55(D) )

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

(85 to 132VAC/170 to 264VAC)

Across inputs/LG and outputs/FG

2,830VAC rms/3 cycles

(Altitude : 2000m (6562ft.) ) Across inputs and outputs (LG and FG separated), across inputs and LG/FG, across outputs and FG/LG 10 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

24VDC, 0.5A

-2

N•m

98(H) × 55.2(W) × 115(D)

(3.86(H) × 2.17(W) × 4.53(D) )

or more by insulation

2 - 29

2 SYSTEM CONFIGURATION

POINTS

(Note-1) : Overcurrent protection

The overcurrent protection device shuts off the 5V, 24VDC circuit and stops the system if the current flowing in the circuit exceeds the specified value. When this device is activated, the power supply module LED is switched OFF or dimly lit. If this happens, eliminate the cause of the overcurrent and start up the system again.

(Note-2) : Overvoltage protection

The overvoltage protection device shuts off the 5VDC circuit and stops the system if a voltage of 5.5 to 6.5V 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 ON to restart the system. The power supply module must be changed if the system is not booted and the LED remains OFF.

(Note-3) : Permissible instantaneous power off time

Permissible instantaneous power off is selected to use the power supply module.

2 - 30

)

)2)3)4)5)

)

)7)2)

)4)5)

2 SYSTEM CONFIGURATION

(2) Names of Parts and Setting

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

8) 1

(a) Q61P-A1, Q61P-A2, Q63P, Q64P

Q61P-A1

Q61P-A2

8) 1

POWER

INPUT

100-120VAC

50/60Hz 105VA OUTPUT 5VDC 6A

ERR.

24VDC 0.5A

(FG)

(LG)

INPUT

100-120VAC

Q63P

8) 1)

INPUT

24VDC

MAX 45W OUTPUT 5VDC 6A

ERR.

24VDC 0.5A

(FG)

(LG)

24V

INPUT

24VDC

24G

POWER

Q61P-A2

INPUT

200-240VAC

50/60Hz 105VA OUTPUT 5VDC 6A

24VDC 0.5A

INPUT

200-240VAC

Q61P-A 2

ERR.

POWER

(FG)

(LG)

Q64P

8) 1)

Q61P-A2

INPUT

100-120/200-240VAC

50/60Hz 160VA OUTPUT 5VDC 8.5A

24VDC 0.5A

INPUT

100-120/200-240VAC

Q61P-A2

ERR.

POWER

(FG)

(LG)

No. Name Application

1) POWER LED 5VDC power indicator LED

2) ERR

terminals

Turned OFF (opened) when a stop error occurs in the CPU module. 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.

5) Power input terminals

• Used to connect a 100VAC or 200VAC power supply.(Q61P-A1, Q61P-A2, Q64P)

• Used to connect a 24VDC power supply.(Q63P)

6) Terminal screw M3.5 7

7) Terminal cover Protective cover of the terminal block

8) Module fixing screw

Used to fix the module to the base unit.

12 screw, tightening torque : 36 to 48 10

(M3

-2

N•m)

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

2 - 31

2 SYSTEM CONFIGURATION

POINTS

(1) The Q61P-A1 is dedicated for inputting a voltage of 100VAC. Do not input a

voltage of 200VAC into it or trouble may occur on the Q61P-A1.

module type

100VAC 200VAC

Supply power voltage Power

Q61P-A1 Operates normally. Power module causes trouble.

Power module does not

Q61P-A2

cause trouble. CPU cannot be operated.

Operates normally.

(2) The Q63P is dedicated for inputting a voltage of 24VDC. Do not input a voltage of

except 24VDC into it or trouble may occur on the Q63P.

(3) Be sure to ground the earth terminal FG and LG.(Ground resistance: 100

or less)

(3) Selection of the power supply modul e

The power supply module is selected according to the total of current consumption of the I/O modules, special function module, and peripheral devices supplied by its power module. (Select the power supply module also consideration of the current consumption of the peripheral device connected to the MR-HENC or MR-HDP01, etc.) For information about the current consumption of 5VDC of the I/O modules, special function module, and peripheral device, refer to the QCPU(Q mode) User's Manual(Hardware Design, Maintenance and Inspection).

Part name Model name Description

Motion CPU module

Servo external signal interface module Serial absolute synchronous encoder interface module (Note) Manual pulse generator interface module (Note)

Manual pulse generator MR-HDP01

Serial absolute synchronous encoder

Cooling fan unit Q170FAN Cooling fan of the M otion C PU module 0.08

The current consumption of Motion controller is as follows.

Current

consumption

5VDC [A] Q173CPUN Max.32 axes control 1.25 Q173CPU Max .32 axes control, with Cooling fan unit 1.75 Q172CPUN Max.8 axes control 1.14 Q172CPU Max .8 axes control, with Cooling fan unit 1.62

Q172LX

Q172EX

Q173PX

MR-HENC

Servo external signal 8 axes (FLS, RLS, STOP, DOG/CHANGE×8) Serial absolute synchronous MR-HENC interface×2 Tracking input 2 points Manual pulse generator MR-HDP01/ Synchronous encoder interface×3, Tracking input 3 points Pulse resolution: 25PLS/rev (100 PLS/rev after

magnification by 4) Permitted axial loads Radial load: Max .19.6N Thrust load: Max.9.8N Permitted speed: 200r/min (Normal rotation) Resolution: 16384PLS/rev Permitted speed: 4300r/min

0.05

0.07

0.11

0.06

0.15

(Note) : Select the power supply module also consideration of the current consumption of the connecting peripheral

device (MR-HENC or MR-HDP01).

2 - 32

2 SYSTEM CONFIGURATION

(4) Example of the power supply sel ecti on calc ulati on

(When using the Q173CPU.)

Q61P

-A1

(a) System configuration

Q02H

CPU

Q173

CPU(N)

(b) 5VDC current consumption of each module

Q02HCPU : 0.64 [A] Q173PX : 0.11 [A] Q173CPU : 1.75 [A] MR-HDP01 : 0.06 [A] Q172LX : 0.05 [A] QX40 : 0.05 [A] Q172EX : 0.07 [A] QY10 : 0.43 [A] MR-HENC : 0.15 [A] Q38B : 0.114 [A]

= 0.64 + 1.75 + 0.05 + 0.07 + 0.15 + 0.11 + 0.06

Select of the power supply module(Q61P-A1(100VAC)6A) according to this internal current consumption 3.964[A].

(Note) : Configure the system in such a way that the total current consumption

Q172LXQ172

Q173

QX40 QX40 QY10 QY10

MR-HDP01

MR-HENC

MR-HDP01

Q38B

2 + 0.05 2 + 0.43

2 + 0.114 = 3.964[A]

at 5VDC of all the modules is less than the allowable value.

2 - 33

2 SYSTEM CONFIGURATION

2.4.3. Base unit and extension cable

This section describes the specifications of the extension cables for the base units (CPU base unit or extension base unit) used in the system, and the specification standards of the extension base unit.

(1) Table of the base unit specification

(a) CPU base unit specifications

Type 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)]

Weight [kg] 0.21 0.25 0.35 0.45 Attachment Fixing screw M4 14 4 pieces (DIN rail fix ing adapter is optional) DIN rail fixing adapter type

Q33B Q35B Q38B Q312B

0.105 0.110 0.114 0.121

189(W)

(7.43(W) 3.86(H)

98(H)

44.1(D)

1.74(D) )

Q6DIN3 Q6DIN2 Q6DIN1

245(W)

44.1(D)

(9.65(W) 3.86(H)

1.74(D) )

98(H)

328(W)

44.1(D)

(12.92(W) 3.86(H)

1.74(D) )

98(H)

439(W) 98(H)

(17.30(W) 3.86(H)

44.1(D)

1.74(D) )

(b) Extension base unit specifications

Type Item Number of I/O modules 3 5 8 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)]

Weight [kg] 0.23 0.25 0.35 Attachment Fixing screw M4 14 4 pieces(DIN rail fixing adapter is optional) DIN rail fixing adapter type

Q63B Q65B Q68B Q612B

439(W)

44.1(D)

1.74(D) )

0.121

98(H)

0.45

0.105 0.110 0.114

189(W)

(7.43(W) 3.86(H)

98(H)

44.1(D)

1.74(D) )

Q6DIN3 Q6DIN2

245(W)

(9.65(W) 3.86(H)

1.74(D) )

98(H)

44.1(D)

328(W)

(12.92(W) 3.86(H)

98(H)

44.1(D)

1.74(D) )

Q6DIN1

(17.30(W) 3.86(H)

2 - 34

2 SYSTEM CONFIGURATION

(2) Table of the extension cable specifications

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

Type

Item Cable length[m(ft.)] 0.45(1.48) 0.6(1.96) 1.2(3.94) 3.0(9.84) 5.0(16.40) 10.0(32.8)

Application Weight [kg] 0.15 0.16 0.22 0.40 0.60 1.11

QC05B QC06B QC12B QC30B QC50B QC100B

Connection between the CPU base unit and extension base unit, or connection betw een the extension base units.

POINT

When the extension cables are used in combination, limit the overall length of the combined cable to 13.2m (43.28ft.).

(3) Names of parts of the base unit

Names of parts of the base unit are described below.

(a) CPU base unit (Q33B, Q35B, Q38B, Q312B)

POWER F6

CPU

3) 6)

I/10I/09I/08I/07I/06I/05I/04I/03I/02I/01I/00

No. Name Application

Extension cable

1) connector

Connector for sending and receiving signals from the extension base unit, to which the extension cables are connected. 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. Connector for installing the power supply module, CPU module, I/O modules, and

3) Module connector

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

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

5) Base fixing hole Hole for fixing this base unit onto the panel of the control panel (for M4 screw) DIN rail adapter fixing

6) hole

Hole for fixing DIN rail adapter

I/11

0358

2 - 35

2 SYSTEM CONFIGURATION

(4) I/O allocations

It is possible to allocate unique I/O No.s for each Motion CPU independently of the PLC’s I/O No.s. (I/O No.s are unique between the Q series PLC CPU within a given system, but the I/O No.s of the Motion CPU are unique for each Motion CPU.) ON/OFF data input to the Motion CPU is handled via input devices PX!!, while ON/OFF data output from the Motion CPU is handled via output devices PY!!. It is not mandatory to match the I/O device PX/PY No.s used in the motion program with the PLC I/O No.s; but it is recommended to make them match as much as possible. The following figure shows an example of I/O allocation.

I/O Allocations

123 45670

Q25H

CPU

O U T

Power supply

module

CPU No.1

Q25H

CPU

CPU(N)

CPU No.2 CPU No.3

Q173

QX41

X0 to X1F

The Module

of the

control

CPU No.1

QY41

Y20 to Y3F

The Module

of the

control

CPU No.1

QY41

Y40 to Y5F

The Module

of the

control

CPU No.2

QX41

PX0

to PX1F

(X60 to Y7F)

The Module

of the

control

CPU No.3

QY41

PY20

to PY3F

(Y80 to Y9F)

The Module

of the

control

CPU No.3

QY41

YA0

to YBF

The Module

of the

control

CPU No.1

(Note-1) : When the number of the modules to be installed is 32 points. (Note-2) : When the PX/PY No. does not match the PLC I/O No.

Refer to the Q173CPU/Q172CPU Programming Manual (Motion SFC) about the I/O allocation setting method,. Refer to the QCPU(Q Mode) User's Manual(Hardware Design, Maintenance and Inspection) about the I/O allocation setting method of the Qn(H) CPU,.

POINT

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

2 - 36

2 SYSTEM CONFIGURATION

2.4.4 Q172LX Servo external si g nal s i nterface module

Q172LX receives external signals (servo external signal) required for positioning control.

(1) Q172LX

Q172LX

CTRL

Q172LX

No. Name Application

1) Module fixing hook

2) Mode judging LED

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

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

5) hole

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

Hook used to fix the module to the base unit. (Quick release installation) Display the servo external input status from the external equipment.

LED Details 0 to 1F

Hole for the screw used to fix to the base unit. (M3×12 screw : Purchase from the other supplier)

Indicates to display the servo external signal input status of each axis.

2 - 37

2 SYSTEM CONFIGURATION

Number of inputs

Input method Sink/Source type Isolation method Photocoupler Rated input voltage 12/24VDC Rated input current 12VDC 2mA/24VDC 4mA

Operating voltage range ON voltage/current Min.10VDC or more/2.0mA or more

OFF voltage/current Max.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, Speedposition switching signal. Common terminal arrangement 32 points/common (common terminal: B1, B2) Indicates to display ON indication (LED) External connector type 40 pin connector Applicable wire size Applicable connector for the external connection Applicable connector/ Terminal block converter module Number of I/O occupying points 32 points(I/O allocation: Intelligent, 32 points) Internal current consumption(5VDC) [A] 0.05

Exterior dimensions[mm(inch)] Weight [kg] 0.15

(2) Performance specifications

Item Specifications

OFF to ON ON to OFF OFF to ON ON to OFF

Servo external signals : 32 points

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

Proximity dog/Speed-position switching signal)

(4 points

10.2 to 26.4VDC

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

0.4ms/0.6ms/1ms

(CPU parameter setting, Default 0.4ms)

A6CON1(Attachment),

A6CON2, A6CON3(Optional)

A6TBXY36, A6TBX Y54, A6TBXY70(Optional)

98(H)

(3.86(H) 1.08(W) 3.52(D) )

8 axes)

1ms

0.3mm

27.4(W) 89.3(D)

2 - 38

2 SYSTEM CONFIGURATION

(3) Connection of servo external sig nal s i nterface module

(a) Servo external si g nals

There are the following servo external signals. The Q172LX is assigned a set of input No.s per axis. Make the system setting of the positioning software package to determine the I/O No.s

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)

corresponding to the axis No.s.

POINT

Signal No. 1 to 8 can be assigned to the specified axis. To make assignment, make the system settings of the positioning software package.

For detection of upper and lower stroke limits.

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

Number of points

on one Q172LX

32 points

(4 points/8 axes)

2 - 39

2 SYSTEM CONFIGURATION

(b) The pin layout of the CTRL connector

Use the CTRL connector at the Q172LX module front to connect the servo external signals. The following pin layout of the Q172LX CTRL connector viewed from the front. The pin layout and connection description of the CTRL connector are described below.

Signal No.

Pin No.

B20 B19 B18 B17 B16 B15 B14 B13 B12 B11 B10

B9 B8 B7

B6 B5 B4 B3 B2 B1

CTRL connector

Signal Name

DOG1/CHANGE1

DOG2/CHANGE2

DOG3/CHANGE3

DOG4/CHANGE4

FLS1 RLS1 STOP1

FLS2 RLS2 STOP2

FLS3 RLS3 STOP3

FLS4 RLS4 STOP4

No connect No connect

COM COM

Pin No. Signal Name

A20 A19 A18 A17 A16 A15 A14 A13 A12 A11 A10

A9 A8 A7

A6 A5 A4 A3 A2 A1

FLS5 RLS5 STOP5

DOG5/CHANGE5

FLS6 RLS6 STOP6

DOG6/CHANGE6

FLS7 RLS7 STOP7

DOG7/CHANGE7

FLS8 RLS8 STOP8

DOG8/CHANGE8

No connect No connect

Signal No.

Applicable connector model name A6CON1 type soldering type connector

FCN-361J040-AU connector FCN-360C040-B connector cover

(FUJITSU TAKAMISAWA COMPONENT LIMITED)

A6CON2 type Crimp-contact type connector A6CON3 type Pressure-displacement 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 programing manual.

STOP Stop signal RLS Lower stroke limit FLS Upper stroke limit

(Attachment)

(Optional)

2 - 40

2 SYSTEM CONFIGURATION

Input or Output

Input

DOG/CHANGE1 DOG/CHANGE2 DOG/CHANGE3

DOG/CHANGE4 DOG/CHANGE5 DOG/CHANGE6 DOG/CHANGE7

DOG/CHANGE8

(4) Interface between CTRL connector and servo external signal

Signal name Internal circuit

FLS1 FLS2 FLS3 FLS4 FLS5 FLS6 FLS7 FLS8

RLS1 RLS2 RLS3 RLS4 RLS5 RLS6 RLS7 RLS8

STOP1 STOP2 STOP3 STOP4 STOP5 STOP6 STOP7 STOP8

Power supply

CTRL

connector

B20 B16 B12 B8 A20 A16 A12 A8

B19 B15 B11 B7 A19 A15 A11 A7

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

B1 B2

LED

0 4 8 C 10 14 18 1C

1 5 9 D 11 15 19 1D

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

Wiring example

Upper stroke

limit input

Lower stroke

limit input

Stop signal

input

Proximity dog /Speed-position switching signal

12VDC to 24VDC

5.6K

Specification

Supply voltage

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

High level

10.0 VDC or more/

2.0mA or more

Low level

1.8 VDC or less/

0.18mA or less

Description

FLS

RLS

STOP

DOG/CHANGE

Common terminals for motion control signals,external signal.

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 t o 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 or may not provide the brake output, damaging the module. Always wire the cables when power is off. Not doing so can damage the output circuit if any of

the output signal cables makes contact with the power supply or the output signal cables make

contact with each other. Use extreme care when wiring the cables. Wrong wiring can damage the internal circuitry.

2 - 41

2 SYSTEM CONFIGURATION

2.4.5 Q172EX Serial absolute synchronous encoder inter face module

Q172EX receive external signals required for serial absolute synchronous encoder.

(1) Q172EX

Q172EX

SY.ENC 1

TREN 1

SY.ENC1

LITHIUM BATTERY

MITSUBISHI

SY.ENC2

Q172EX

No.

1) Module fixing hook

2) Mode judging LED

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

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

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

7) Battery connector For connection of battery lead wire.

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

Name Application

Hook used to fix the module to the base unit. (Quick release installation)

Display the input status from the external equipment. LED Details

Indicates to display the signal input status of SY.ENC 1, 2

each serial absolute synchronous encoder.

(When the serial absolute synchronous encoder

cable connected property, LED is turned on.)

Module fixing screw hole

Battery (A6BAT/MR-BAT)

TREN 1, 2

Hole for the screw used to fix to the base unit (M3×12 screw : Purchase from the other supplier)

For Serial absolute synchronous encoder battery backup.

Indicates to display the signal status of tracking

enable.

2 - 42

2 SYSTEM CONFIGURATION

(2) Performance specifications

Item Specifications Number of inputs Tracking enable signal : 2 points Input method Sink/Source type Isolation method Photocoupler Rated input voltage 12/24VDC Rated input current 12VDC 2mA/24VDC 4mA

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

OFF voltage/current 1.8VDC or less/0.18mA or less Input resistance Approx. 5.6K

Response time

Common terminal arrangement 1 point/common (Common terminal: TREN.COM) Indicates to display ON indication (LED)

Item Specifications

Applicable signal types Differential-output type : (SN75C11168 or equivalent) Transmission method Serial communications Synchronous method Counter-clock-wise (view ed from end of shaft) Communication speed 2.5Mbps Applicable types MR-HENC Position detection method Absolute(ABS) method Resolution 16384PLS/rev(14bit) Number of modules 2/module External connector type 20 pin connector Applicable connector for the external connection Applicable wire UL20276 AWG#22 6Pair

Recommended cables

Cable length Max . 30m(98.4ft.) Back up the absolute position. Depends on A6BAT/MR-BAT.

Battery service life time(value in actual)

Number of I/O occupying points 32 points(I/O allocation: Intelligent, 32 points) Internal current consumption(5VDC)[A] 0.07

Exterior dimensions[mm(inch)] Weight [kg] 0.15

(a) Tracking enable signal input

10.2 to 26.4VDC

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

OFF to ON ON to OFF

(CPU parameter setting, Default 0.4ms)

0.4ms/0.6ms/1ms

(b) Serial absolute synchronous encoder input

MR-J2CNS(Optional)

MR-JHSCBL!M-H

(!=cable length 2m(6.56ft.), 5m(16.4ft.), 10m(32.8ft.), 20m(65.6ft.),

(Note)

30m(98.4ft.) )

15000[ h ], (Example of encoders 2, Ambient temperature 40°C (104°F) ) 30000[ h ], (Example of encoders

(Note) : You can use these cables when the tracking enable signal is not used. When the tracking enable signal is used, fabricate the cable on the customer side.

2 - 43

98(H)

(3.86(H)

, Ambient temperature 40°C (104°F) )

27.4(W) 89.3(D)

1.08(W) 3.52(D) )

2 SYSTEM CONFIGURATION

(3) Select to number of the synchronous encoder modules.

Synchronous encoders are available in voltage output type(incremental), differential output type(incremental) and serial absolute output type(MR-HENC). Q172EX can be connected to only serial absolute output type(MR-HENC). When using the incremental synchronous encoder of voltage output type or differential output type, must be used Q173PX. (The synchronous encoders are used only in the SV22 virtual mode.) In addition, the usable numbers of synchronous encoders differ depending on the modules. The following number of serial absolute synchronous encoders and incremental synchronous encoders combined can be used.

• Tracking enable signal

Tracking enable signal of Q172EX is used as a high-speed reading function. It can not be used, as the input start signal which start the input form synchronous encoders When using the inputs start signal which start the input from synchronous encoder, must be used Q173PX. (Type of synchronous encoder is voltage output(incremental)or differential output(incremental). )

Tracking enable signal input High-speed reading function 2 points

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

External input signal of the

synchronous encoder

Motion CPU module Synchronous encoder

Q173CPU(N)

Q172CPU(N)

Max. 12 modules

( Q172EX: Max. 6 modules )

Max. 8 modules

( Q172EX: Max. 4 modules )

Item

Number of points

on one Q172EX

2 - 44

2 SYSTEM CONFIGURATION

(4) Connection of synchronous encoder interface module.

(a) Connection with serial absolute synchronous encoder

(MR-HENC)

Use the SY.ENC connector at the Q172EX module front to connect the serial absolute synchronous encoder(MR-HENC). When tracking enable signal is not used, use the MR-JHSCBL!M-H encoder cable between the serial absolute synchronous encoder (MRHENC) and SY.ENC connector. The following pin layout of the Q172EX SY.ENC connector viewed from the front. The pin layout and connection description of the SY.ENC connector are described below.

SY.ENC connector

Pin No.

1 LG 11 LG 2 LG 12 LG 3 LG 13 LG 4 TREN 14 TREN.CO 5 No connect 15 No connect 6 MD 16 MDR 7 MR 17 MRR 8 No connect 18 P5 9 BAT 19 P5

10 P5 20 P5

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

Signal name

Pin No.

Signal

name

Applicable connector model names 10120-3000VE connector 10320-52F0-008 connector cover (3M make)

(b) Interface with external eq uipment

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

1) Wiring precautions

Q173CPU(N)/ Q172CPU(N)

Ensure the connector lock after connecting the connector.

Q172EX

Q173CPU(N)/Q172CPU(N) : Motion CPU module Q172EX : Seria l absolute synchronous

encoder interface module

SY.ENC connector

Serial absolute synchronous encoder cable (MR-JHSCBL M-H)

Serial absolute synchronous encoder (MR-HENC)

2 - 45

2 SYSTEM CONFIGURATION

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

Input or Output

Signal name

MR 7

MRR 17

P5 10 18 19 20

LG 1 2 3 11 12

Input

BAT 9

Pin No.

SY.ENC connector

Wiring example

Serial

absolute

synchronous

encoder

Internal circuit Specification Description

Transmission method: serial communications

Position detection method: absolute

5VDC

Battery

TREN 4

TREN.

COM

plate

12VDC to 24VDC

5.6K

CAUTION

Always use a shield cable for connection of the SY.ENC connector and external equipment,

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

the influence of electromagnetic interface. (Separate them 200mm (0.66 ft.) or more away.) Connect the shield wire of the connection cable to the FG terminal of the external equipment. When increasing the cable length, use the cable 30m(98.36ft.) or less. Note that the cable

should be run in the shortest possible distance to avoid induced noise.

Always wire the cables when power is off. Not doing so can damage the output circuit if any of

the contact with each other. Use extreme care when wiring the cables. Wrong wiring can damage the internal circuit.

2 - 46

2 SYSTEM CONFIGURATION

(6) Details of encoder cable connections

(a) When not using tracking enable signal

SY.ENC side connector

10120-3000VE

Synchronous encoder side connector

MS3106B20-29S

SY.ENC side connector

10120-3000VE

Synchronous encoder side connector MS3106B20-29S

P5 19 LG P5 20 LG 12

MR 7 MRR 17

BT 9 LG

Plate

MR-JHSCBL5M-H (Less than 10m(32.79ft.) )

R C

F G

(Note-1),(Note-3)

P5 19 LG

LG 12 P5 18

LG 3 P5 10 LG

MR 7 MRR 17

BT 9 LG 1

Plate

MR-JHSCBL10M-H to MR-JHSCBL30M-H (10 to 30m) (32.79 to 98.36ft.)

(Note-1),(Note-4)

R C D F

24VDV

(Note-2)

(Note-5)

Synchronous encoder side connector

MS3106B20-29S

R C D F

SY.ENC side connector 10120-3000VE

P5 LG P5 LG

MR MRR

BT LG

TREN 4 TREN.COM 14

19 11 20 12

7 17

9 1

PlateSD

24VDV

Cable length 10m(32.79ft.)

Model name for encoder connector set (MR-J2CNS)

(Note-1) : Encoder cables are the same as HC-SFS/HC-RFS/HC-UFS(2000r/min) series motor cable. (Note-2) : Encoder connector sets are the same as HC-SFS/HC-RFS/HC-UFS(2000r/min) series motor encoder connector set. (Note-3) : Be sure to use a wire model name AWG#24. (Note-4) : Be sure to use a wire model name AWG#22. (Note-5) : When using tracking enable signal, fabricate the encoder cable by customer side.

Synchronous encoder side connector

MS3106B20-29S

R C D

F G

(Note-3) (Note-4)

SY.ENC side connector 10120-3000VE

P5 19 LG 11

P5 LG P5 18 LG 3 P5 10 LG 2

MR 7 MRR 17

BT 9 LG 1

TREN 4 TREN.COM 14

Plate

Cable length 10 to 30m (32.79 to 98.36ft.)

(b) When using tracking enable signal

2 - 47

2 SYSTEM CONFIGURATION

(7) Connection of the battery

This section describes the battery specifications, handling precautions and installation of the Q172EX.

(a) Specifications

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

Battery Specifications

Model name

Item Classification Manganese dioxide lithium primary battery Normal voltage[V] 3.6 Battery discharge capacity [mAh] 1600 Battery warranty period 5 years

Applications Exterior dimensions[mm(inch)] 16(0.63) × 30(1.18)

For backup absolute positioning data of the serial absolute

synchronous encoder(MR-HENC)

A6BAT/MR-BAT

(b) Battery replacement

Battery is sup plied to the serial absolute synchronous encorder by the encoder cable.

For Battery replacement procedure, refer to section 6.4.2.

Battery connector

A6BAT /MR-BAT

LITHIUM BATTERY

MITSUBISHI

MR-HENC 1 pcs. 10000 30000 MR-HENC 2 pcs. 5000 15000

Do not short a battery. Do not disassemble a battery. Do not burn a battery. Do not overheat a battery. Do not solder the battery terminals.

Battery service life time

Guaranteed time(MIN) [ h ] Actual time(TYP) [ h ]

CAUTION

2 - 48

2 SYSTEM CONFIGURATION

2.4.6 Q173PX Manual pulse generator i nterface module

Q173PX receive external signals required for Manual pulse generator and Incremental

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

(1) Q173PX

Q173PX

PLS.A

1 2 3

PULSER

PLS.B

1 2 3

TREN

1 2 3

1) Module fixing hook

2) Mode judging LED

3) PULSER connector

4) Module loading lever Used to load the module to the base unit. Module fixing screw

5) hole

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

Name Application

Hook used to fix the module to the base unit. (Quick release installation)

Display the input status from the external equipment. LED Details

PLS.A 1 to 3 PLS.B 1 to 3

Input signal status of the Manual pulse generator/Incremental synchronous encoder phases A and B

TREN 1 to 3 Tracking enable signal

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

Hole for the screw used to fix to the base unit (M3×12 screw : Purchase from the other supplier)

Q173PX

2 - 49

2 SYSTEM CONFIGURATION

(2) Performance specifications

Number of inputs Tracking enable signal : 3 points Input method Sink/Source type Isolation method Photocoupler Rated input voltage 12/24VDC Rated input current 12VDC 2mA/24VDC 4mA

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

OFF voltage/current 1.8VDC or less/0.18mA or less Input resistance Approx. 5.6K

Response time

Common terminal arrangement 1 point/common(Common contact: TREN.COM ) Indicates to display ON indication(LED)

(a) Tracking enable signal input

Item Specifications

OFF to ON ON to OFF

(b) Manual pulse generator/Incremental synchronous encoder

Number of modules 3/module

Open collector type

(26LS31 or equivalent) Input frequency Max. 200kpps (After magnification by 4)

Applicable types

External connector type 40 pin connector Applicable wire size Applicable connector for the external connection Applicable connector/ Terminal block converter module

Cable length

Number of I/O occupying points 32 points(I/O allocation: Intelligent, 32 points) Internal current consumption(5VDC)[A] 0.11

Exterior dimensions[mm(inch)] Weight [kg] 0.15

input

Item Specifications

Voltage-output/ Open collector type Differential-output type

10.2 to 26.4VDC

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

0.4ms/0.6ms/1ms

(CPU parameter setting, Default 0.4ms)

High-voltage 3.0 to 5.25VDC Voltage-output/ Low-voltage 0 to 1.0VDC High-voltage 2.0 to 5.25VDC Differential-output type Low-voltage 0 to 0.8VDC

Voltage-output type/Open-collector type (5VDC), Recommended product: MR-HDP01 Differential-output type: (26LS31 or equivalent) Selectable by connector wiring

0.3mm

A6CON1(Attachment)

A6CON2, A6CON3(Optional)

A6TBXY36, A6TBX Y54, A6TBXY70(Optional)

30m (98.36ft.)

(Open collector type: 10m (32.79ft.) )

27.4(W) 89.3(D)

98(H)

(3.86(H) 1.08(W) 3.52(D) )

2 - 50

2 SYSTEM CONFIGURATION

(3) Connection of manual pulse generator

Manual pulse generators are available in voltage output/open collector type and differential output type. Since these types differ in connection method, design according to the connection method of section 2.4.6 (5). In addition the usable numbers of manual pulse generator which can be used with each CPU modules are max. 3 modules.

Motion CPU module Manual pulse generator

Q173CPU(N) Q172CPU(N)

Max. 3 modules

( Q173PX: Max. 1 module )

(4) Connection of incremental synchronous encoder

Incremental synchronous encoders are available in voltage output/Open collector type and differential output type. Since these types differ in connection method, design according to the connection method of section 2.4.6 (5). Serial type absolute synchronous encoder (MR-HENC) not connected to Q173PX. Then connect to Q172EX. In addition, the usable numbers of synchronous encoders differ depending on the modules. The following number of serial absolute synchronous encoders and incremental synchronous encoders combined can be used.

Motion CPU module Synchronous encoder

Q173CPU(N)

Q172CPU(N)

Max. 12 modules

( Q173PX: Max. 4 modules )

Max. 8 modules

( Q173PX: Max. 3 modules )

• Tracking enable signal

Tracking enable signal of Q173PX is used to start the input from incremental synchronous encoders. The external input signal of the incremental synchronous encoder is indicated below. This signal is used as the input start signal or high-speed reading function from incremental synchronous encoder.

External input signal of the

incremental synchronous encoder

Item

Number of points on

one Q173PX

Tracking enable signal input High-speed readings function

Each 1 point

( Total 3 points )

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2 SYSTEM CONFIGURATION

(5) Connection of manual pulse generator inter face module

(a) The pin layout of the PULSER connector

Use the PULSER connector at the Q173PX module front to connect the manual pulse signals, incremental synchronous encoder signals. The following pin layout of the Q173PX PULSER connector viewed from the front. The pin layout and connection description of the PULSER connector are described below.

Pin No.

B20 B19 B18 B17 B16 B15 B14 B13 B12 B11 B10

B9 B8 B7 B6 B5 B4 B3 B2 B1

PULSER co nnector

Signal Name

HB1

5V HA1N HB1N

HB2

5V HA2N

HB2N

HB3

5V HA3N

HB3N

No connect

TREN1 TREN2

TREN3

Pin No. Signal Name

A20 A19 A18 A17 A16 A15 A14 A13 A12 A11

A10 A9 A8 A7 A6 A5 A4 A3 A2 A1

HA1

HPSEL1

HA1P HB1P

HA2 SG

HPSEL2

HA2P HB2P

HA3 SG

HPSEL3

HA3P HB3P

No connect

TREN1 TREN2

TREN3

Applicable connector model name A6CON1 type soldering type connector

FCN-361J040-AU connector FCN-360C040-B connector cover

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

Input type from manual pulse generator/incremental synchronous

1) :

(FUJITSU TAK AM ISAWA COMPONENT LIMITED)

(attachment)

(Optional)

encoder switched by HPSEL . Not connection : Voltage-output type/open collector type. HPSEL -SG connection : Diffrential-output type. (Switching is possible for each input 1 to 3) Voltage output/open collector type

2) : Connect the A-phase signal to HA1P/HA2P/HA3P, and the B-phase signal to HB1P/HB2P/HB3P. Differential output type

3) : 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.

Connect the shield cable between manual pulse generator /incremental

4) :

synchronos encoder and Q173PX at the FG signal.

2 - 52

2 SYSTEM CONFIGURATION

(b) Interface between PULSER connector and manual pulse

generator(Differential output type)/Incr emental synchronous encoder

Interface between Manual pulse generator( Di fferential output ty pe) / Incremental synchronous encoder

Input or Output

Power supply

Input

Signal name

Manual pulse generator, phase A

Manual pulse generator, phase B

Select type signal HPSEL

(Note-1)

HA P

HA N

HB P

HB N

Pin No.

PULSER connector

Voltage-Output

type

123

A17 A12 A7

B12 B7

B17

A16 A11 A6

B16 B11 B6

A18 A13 A8

B18 B13 B8

A19 A14 A9 B19 B14 B9

Wiring example Internal circuit Specification Description

Manual pulse

generator/

synchronous

encoder

(Note-2)

Rated input voltage

Power supply

5VDC

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 Phases A, B

Pulse width

20 s or more

5 s

or more

(Duty ratio: 50% 25%)

Phase A Phase B

(1) Positioning address increses if Phase A leads Phase B. (2) Positioning address decreses if Phase B leads Phase A.

or more

Rise, fall time 1 s or less. Phase difference

2.5 s or more

(Note-1) :

(Note-2) :

The 5V(P5)DC power supply from the Q173PX must not be connected if a separated power supply is used as the Manual pulse generator/Incremental synchronous encoder power supply. Use a 5V stabilized power supply as a separated power supply. Any other power supply may cause a failure. When used to the Manual pulse generator(differential-output type)/Incremental synchronous encoder, connection of HPSEL and SG.

2 - 53

2 SYSTEM CONFIGURATION

generator (Voltage output/Open collector ty pe) / Incremental synchronous encoder.

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

Input or

Signa l name

Output

Manual pulse generator, phase A

Manual pulse

Input

generator, phase B

Select type signal HPSEL

(Note)

Power supply

Pin No.

PULSER connector

Voltage-Output

type

123

A20

A15 A10

B20 B15 B10

A18 A13 A8

B18 B13 B8

A19 A14 A9 B19 B14 B9

Wiring example Internal circuit

Manual pulse

generator/

synchronous

encoder

No connect

Power supply

5VDC

Specification

Rated input voltage

5.5VDC or less

HIGH level

3 to 5.25VDC/ 2mA or less

LOW level

1VDC or less/ 5mA or more

Description

For connection manual pulse generator Phases A, B

Pulse width

20 s or more

5 s

or more

(Duty ratio: 50% 25%)

Rise, fall time 1 s or less Phase difference

Phase A Phase B

(1) Positioning address increses if Phase A leads Phase B. (2) Positioning address decreses if Phase B leads Phase A.

or more

2.5 s or more

The 5V(P5)DC power supply from the Q173PX must not be connected if a separated power

(Note) :

supply is used as the Manual pulse generator/Incremental synchronous encoder power supply. Use a 5V stabilized power supply as a separated power supply. Any other power supply may cause a failure.

(d) Interface between PULSER connector and tracking enabl e

signal

Interface between tracking enable signal

Input or Output

Input

Signal name

Tracking enable

TREN

Pin No.

PULSER co nne ct o r

1 2 3

A4 A3 A2

B4 B3 B2

Wiring example Internal circuit Specification Description

Tracking enable signal input.

12V to 24VDC

2 - 54

2 SYSTEM CONFIGURATION

(6) Connection examples of manual pulse gener ator

Connection of manual pulse generator Connection of manual pulse generator (Voltage-output/Open collector type) (Differential-output type)

Q173PX

Signal name

HA HB SG SG SG P5 FG

:1 to 3

Manual pulse

generator side

A B

(Note-2)

shield

(Note-1) : The 5VDC(P5) power supply from the Q173PX must not be connected if a separate

power supply is used as the Manual pulse generator/Incremental synchronous encoder power supply. If a separate power supply is used as the manual pulse generator power supply, use a 5V stabilized power supply. Any other power supply may cause a failure.

(Note-2) : Connect HPSEL ! to the SG terminal if a separate power supply is used as the

manual pulse generator/Incremental synchronous encoder power supply.

(Note-1)

Q173PX

Signal name

HA P HA N

HB P HB N

SG P5 FG SG

HPSEL

:1 to 3

Manual pulse

generator side

(Note-2)

A A B

B 0V 5V

(Note-1)

CAUTION

If a separate power supply is used as the manual pulse generator/incremental synchronous

encoder power supply, use a 5V stabilized power supply. Any other pow er supply may cause a failure.

2 - 55

2 SYSTEM CONFIGURATION

2.4.7 Manual pulse generator/Serial absol ute synchronous encoder (1) Table of the Manual pulse generator specifications

Item Specifications Model name MR-HDP01 Pulse resolution 25PLS/rev(100 PLS/rev after magnification by 4)

Output method

Power supply voltage 4.5 to 13.2VDC Current consumption 60mA Life time 100 rev olutions (at 200r/min)

Permitted axial loads

Operation temperature -10 to 60°C(14 to 140°F) Weight [kg(lb)] 0.4(0.88) Number of max. revolution Instantaneous Max. 600r/min. normal 200r/min Pulse signal status 2 signals : A phase, B : phase, 90° phase difference Friction torque 0.1N/m(at 20°C (68°F) )

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

Output current = Max. 20mA

Radial load : Max. 19.6N Thrust load : Max. 9.8N

(2) Table of the Serial absolute synchronous encoder specifications

Item Specifications Model name MR-HENC Resolution 16384PLS/rev Transmission method Serial communications(connected to Q172EX) Direction of increasing

addresses Protective construction Dust-proof, Oil-proof(IP52)

Permitted speed 4300r/min

Permitted axial loads

Runout at input shaft tip

Recommended coupling Bellows coupling Permitted angular acceleration Operation temperature -5 to 55°C(23 to 131°F) Internal current consumption 0.15A

Weight [kg(lb)] 1.5 (3.3)

Connecting cable

Communications method Differential driver/receiver conforming to RS422A Transmission distance Max . 30m(98.4ft.)

CCW(viewed from end of shaft)

Radial load : Max. 98N Thrust load : Max. 49N

0.02mm(0.00079 inch) or less, 15mm(0.59 inch) from tip

40000rad/s

MR-JHSCBL!M-H

=Cable length : 2m(6.56ft.), 5m(16.4ft.),

10m(32.8ft.), 20m(65.6ft.), 30m(98.4ft.)

2 - 56

2 SYSTEM CONFIGURATION

2.4.8 Connection method with SSCNET cables and termination connector

This section explains how to connect between Motion CPU module and servo amplifiers. Connected between the Motion CPU module and servo amplifiers by the SSCNET. When using the Q172CPU(N), can be used only one SSCNET line for connection to servo amplifier(Connect to CN1). The Q173CPU(N) can be used up to four SSCNET lines for servo amplifier connection(Connect to CN1). One SSCNET line allows connection of up to eight servo amplifies. Also, SSCNET cables or termination connector are different depending on the servo amplifiers.

(1) Connection between Q173CPU( N) and ser vo amplifiers

(a) When using the Dividing unit/external battery

Q173CPU(N) Motion CPU module

SSCNET cable over all length per 1 line

1)+total of 3) 30m(98.36ft.)

CN1

1) Q173DV Dividing unit

SSCNET CN1

MITSUBISHI

LITHIUM BATTERY

SSCNET CN2

Q173CPU

(Note-1)

SSCNET CN3

SSCNET CN4

CN1A CN1B

Servo amplifier

MR-H-BN/

MR-J2 -B

SSCNET LINE1

CN1A

CN1B

Servo amplifier

MR-H-BN/ MR-J2 -B

SSCNET LINE2

CN1A CN1B

Servo amplifier

MR-H-BN/

MR-J2 -B

CN1A CN1B

Servo amplifier

MR-H-BN/ MR-J2 -B

(Note-1) : When using the external battery, set the Battery (A6BAT/MR-BAT) into the Dividing unit (Q173DV).

2 - 57

2 SYSTEM CONFIGURATION

(b) When using the Dividing cable

Q173CPU(N) Motion CPU module

CN1

SSCNET cable over all length per 1 line

2)+total of 3) 30m(98.36ft.)

CN1A CN1B

Servo amplifier

MR-H-BN/

MR-J2 -B

CN1A CN1B

Servo amplifier

MR-H-BN/

MR-J2 -B

SSCNET LINE1

SSCNET LINE2

CN1A CN1B

Servo amplifier

MR-H-BN/

MR-J2 -B

CN1A CN1B

Servo amplifier

MR-H-BN/ MR-J2 -B

2 - 58

2 SYSTEM CONFIGURATION

No. Part name Model name Description

Motion CPU to

Dividing unit SSCNET cable

Motion CPU to

servo amplifier SSCNET cable

Servo amplifier/Dividing

unit to servo amplifier SSCNET cable

4) Termination connector

(Note-1)

Q173DVCBL!M

Q173J2B CBL!M

Q173HB

MR-J2HBUS!M

MR-J2HBUS!M-A

MR-HBUS!M

MR-TM • Connected to the last MR-H-BN by SSCNET

MR-A-TM • Connected to the last MR-J2!-B by SSCNET

(Note-1) : Branch from a connector on the Q173CPU(N) side according to the number of lines. (Note-2) : !=cable length (Note-3) :

(Note-2)

(Note-2) ,(Note-3)

CBL!M

(Note-2)

=SSCNET LINE No.(none(LINE1), 2(LINE1/2), 3(LINE1/2/3), 4(LINE1/2/3/4))

• Connection between Q173CPU(N) and Q173DV

0.5m(1.64ft.), 1m(3.2 8 ft.)

• Connection between Q173CPU(N) and the first MR-J2!-B

0.5m(1.64ft.), 1m(3.2 8 ft.) , 5 m(1 6 .4 ft.)

• Connection between Q173CPU(N) and the first

MR-H-BN

0.5m(1.64ft.), 1m(3.2 8 ft.) , 5 m(1 6 .4 ft.)

• Connection between MR-J2!-B and MR-J2!-B

• Connection between Q173DV and MR-J2!-B

0.5m(1.64ft.), 1m(3.2 8 ft.) , 5 m(1 6 .4 ft.)

• Connection between Q173DV and MR-H-BN

• Connection between MR-H-BN and MR-J2!-B

0.5m(1.64ft.), 1m(3.2 8 ft.) , 5 m(1 6 .4 ft.)

• Connection between MR-H-BN and MR-H-BN

0.5m(1.64ft.), 1m(3.2 8 ft.) , 5 m(1 6 .4 ft.)

2 - 59

2 SYSTEM CONFIGURATION

(2) Connection between Q172CPU( N) and ser vo amplifiers

(a) When not using the external battery

Q172CPU(N) Motion CPU module

CN1

SSCNET cable over all length per 1 line

1)+total of 3) 30m(98.36ft.)

CN1A CN1B

Servo amplifie r

MR-H-BN/

MR-J2 -B

CN1A CN1B

Servo amplifie r

MR-H-BN/

MR-J2 -B

(b) When using the external battery

Q172CPU(N) Motion CPU module

SSCNET cable over all length per 1 line

2)+total of 3) 30m(98.36ft.)

CN1

MITSUBISHI

BAT

LITHIUM BATTERY

CPU

Battery unit (Q170BAT)

CN1A CN1B

Servo amplifier

MR-H-BN/ MR-J2 -B

CN1A CN1B

Servo amplifier

MR-H-BN/ MR-J2 -B

2 - 60

2 SYSTEM CONFIGURATION

No. Part name Model name Description

Motion CPU to

servo amplifier SSCNET cable

Motion CPU to servo amplifier

SSCNET cable (For connection of the Battery module)

Servo amplifier to

servo amplifier SSCNET cable

4) Termination connector

Q172J2BCBL!M

Q172HBCBL!M

Q172J2BCBL!M-B

Q172HBCBL!M-B

MR-J2HBUS!M

MR-J2HBUS!M-A

MR-HBUS!M

MR-TM • Connected to the last MR-H-BN by SSCNET

MR-A-TM • Connected to the last MR-J2!-B by SSCNET

(Note-1)

• Connection between Q172CPU(N) and MR-J2!-B

0.5m(1.64ft.), 1m(3.2 8 ft.) , 5 m(1 6 .4 ft.)

• Connection between Q172CPU(N) and MR-H-BN

0.5m(1.64ft.), 1m(3.2 8 ft.) , 5 m(1 6 .4 ft.)

• Connection between Q172CPU(N) and MR-J2!-B, Q170BA

0.5m(1.64ft.), 1m(3.2 8 ft.) , 5 m(1 6 .4 ft.)

• Connection between Q172CPU(N) and MR-H-BN, Q170BAT

0.5m(1.64ft.), 1m(3.2 8 ft.) , 5 m(1 6 .4 ft.)

• Connection between MR-J2!-B and MR-J2!-B

0.5m(1.64ft.), 1m(3.2 8 ft.) , 5 m(1 6 .4 ft.)

• Connection between MR-H-BN and MR-J2!-B

0.5m(1.64ft.), 1m(3.2 8 ft.) , 5 m(1 6 .4 ft.)

• Connection between MR-H-BN and MR-H-BN

0.5m(1.64ft.), 1m(3.2 8 ft.) , 5 m(1 6 .4 ft.)

(Note-1) : !=cable length

2 - 61

2 SYSTEM CONFIGURATION

(3) Cable specifications

(a) Q172J2BCBL!M (-B)

Model name Item Cable length [m(ft.)] 0.5(1.64) 1(3.28) 5(16.4)

(b) Q172HBCBL!M (-B)

Model name Item Cable length [m(ft.)] 0.5(1.64) 1(3.28) 5(16.4)

(d) Q173HB CBL!M

Model name Item Cable length [m(ft.)] 0.5(1.64) 1(3.28) 5(16.4)

(e) Q173DVCBL!M

Model name Item Cable length [m(ft.)] 0.5(1.64) 1(3.28)

(f) MR-HBUS!M

Model name Item Cable length [m(ft.)] 0.5(1.64) 1(3.28) 5(16.4)

(g) MR-J2HBUS!M (-A)

Model name Item Cable length [m(ft.)] 0.5(1.64) 1(3.28) 5(16.4)

Q172J2BCBL05M(-B) Q172J2BCBL1M(-B) Q172J2BCBL5M(-B)

Q172HBCBL05M(-B) Q172HBCBL1M(-B) Q172HBCBL5M(-B)

Q173J2B

= SSCNET LINE No. : none(LINE 1), 2(LINE 2), 3(LINE 3), 4(LINE 4)

Q173HB

= SSCNET LINE No. : none(LINE 1), 2(LINE 2), 3(LINE 3), 4(LINE 4)

MR-HBUS05M MR-HBUS1M MR-HBUS5M

MR-J2HBUS05M(-A) MR-J2HBUS1M(-A) MR-J2HBUS5M(-A)

CBL05M Q173J2B CBL1M Q173J2B CBL5M

CBL05M Q173HB CBL1M Q173HB CBL5M

Q173DVCBL05M Q173DVCBL1M

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2 SYSTEM CONFIGURATION

(4) Connection example w i th servo amplifiers

As the SSCNET cables or termination connector is different depending on the servo amplifiers, refer to the following connection example. The SSCNET cables and termination connector used in the connection example are any of the models shown in the following table. When absolute position detection control is executed, installed battery(MR-BAT/ A6BAT) to servo amplifier.

Part name Model name Depiction in connection example

Servo amplifier to servo amplifier SSCNET cable

MR-HBUS!M

MR-J2HBUS!M

MR-J2HBUS!M-A

Motion CPU to servo amplifier SSCNET cable

Motion CPU to Dividing unit SSCNET cable

Termination connector

Q173HB CBL!M/ Q172HBCBL!M(-B)

Q173J2B Q172J2BCBL!M(-B)

Q173DVCBL!M

MR-TM

MR-A-TM

CBL!M/

(a) MR-H-BN configuration

Motion CPU module

Q173CPU(N) /Q172CPU(N)

MR-H-BN MR-H-BN MR-H-BN

Termination connector

Battery

MR-BAT, A6BAT

Q172CPU(N) configuration : Q172HBCBL M Q173CPU(N) configuration : Q173HB CBL M

Battery

MR-BAT, A6BAT

Battery

MR-BAT, A6BAT

2 - 63

2 SYSTEM CONFIGURATION

(b) MR-J2!-B configuration

Motion CPU module

Q173CPU(N) /Q172CPU(N)

MR-J2 -B

Termination connector

Battery

MR-BAT, A6BAT

Battery

MR-BAT, A6BAT

Battery

MR-BAT, A6BAT

Q172CPU(N) configuration : Q172J2BCBL M Q173CPU(N) configuration : Q173J2B CBL M

Motion CPU module

Q173CPU(N) /Q172CPU(N)

Motion CPU module

Q173CPU(N) /Q172CPU(N)

Motion CPU module

Q173CPU(N) /Q172CPU(N)

MR-J2 -B MR-J2 -B

Battery

MR-BAT, A6BAT

Battery

MR-BAT, A6BAT

MR-H-BN

Battery

MR-BAT, A6BAT

Q172CPU(N) configuration : Q172J2BCBL M Q173CPU(N) configuration : Q173J2B CBL M

MR-H-BN MR-H-BNMR-J2 -B

Battery

MR-BAT, A6BAT

Battery

MR-BAT, A6BAT

Battery

MR-BAT, A6BAT

Q172CPU(N) configuration : Q172HBCBL M Q173CPU(N) configuration : Q173HB CBL M

MR-J2 -B MR-J2 -BMR-H-BN

Termination connector

Battery

MR-BAT, A6BAT

Battery

MR-BAT, A6BAT

Battery

MR-BAT, A6BAT

Q172CPU(N) configuration : Q172J2BCBL M Q173CPU(N) configuration : Q173J2B CBL M

2 - 64

2 SYSTEM CONFIGURATION

(d) When using the external battery

As the SSCNET cable used depend on the servo amplifiers, when using the external battery, refer to the following connection example.

1) Example of Q173CPU(N)

Motion CPU module

Q173CPU(N)

Q173DVCBL M

Q173DV

Battery

Motion CPU module

Q173CPU(N)

Q173DVCBL M

Q173DV

Battery

2) Example of Q172CPU(N)

Motion CPU module

Q172CPU(N)

• MR-H-BN + MR-J2!-B + MR-H-BN configuration

MR-H-BN MR-H-BNMR-J2 -B

MR-BAT, A6BAT

Battery

MR-BAT, A6BAT

Battery

MR-BAT, A6BAT

• MR-J2!-B + MR-H-BN + MR-J2!-B configuration

MR-H-BNMR-J2 -B MR-J2 -B

MR-BAT, A6BAT

Battery

MR-BAT, A6BAT

Battery

MR-BAT, A6BAT

• MR-H-BN + MR-J2!-B + MR-H-BN configuration

Q172HBCBL M-B

MR-J2 -BMR-H-BN MR-H-BN

Battery

MR-BAT, A6BAT

Battery

MR-BAT, A6BAT

Termination connector

Battery

MR-BAT, A6BAT

Q170BAT

Battery

MR-BAT, A6BAT

Battery

MR-BAT, A6BAT

Motion

CPU module

Q172CPU(N)

• MR-J2!-B + MR-H-BN + MR-J2!-B configuration

Q172J2BCBL M-B

MR-J2 -B MR-J2 -BMR-H-BN

Q170BAT

Battery

MR-BAT, A6BAT

Battery

MR-BAT, A6BAT

Battery

MR-BAT, A6BAT

Termination connector

2 - 65

2 SYSTEM CONFIGURATION

(5) Setting of the servo amplifier axis numbers(dno.) and axis N o.

The axis No.s are used to set the axis numbers of the SSCNET connected servo amplifiers in the program. Axis No.s 1 to 32 can be set for the Q173CPU(N), 1 to 8 for the Q172CPU(N). To set the axis No.s, assign the axis No.s to the axis numbers(dno.) set with the axis selection switches(rotary switch) of the servo amplifiers(Positions 0 to 7 of the rotary switch correspond to d1 to d8 on the system settings screen.) to each SSCNET line in the system settings of the positioning software package. You cannot set the same axis number(dno.) and axis No.(dno.) more than once.

Correspondences between dno.s and rotary switches of servo amplifier

SSCNET

LINE

(Note)

dno.

1 1 “0” 1 2 “0” 2 1 “1” 2 2 “1” 3 1 “2” 3 2 “2” 4 1 “3” 4 2 “3” 5 1 “4” 5 2 “4” 6 1 “5” 6 2 “5” 7 1 “6” 7 2 “6” 8 1 “7” 8 2 “7”

Servo amplifier's

rotary switch

dno.

(Note)

SSCNET

LINE

Servo amplifier's

rotary switch

SSCNET

LINE

(Note)

dno.

1 3 “0” 1 4 “0” 2 3 “1” 2 4 “1” 3 3 “2” 3 4 “2” 4 3 “3” 4 4 “3” 5 3 “4” 5 4 “4” 6 3 “5” 6 4 “5” 7 3 “6” 7 4 “6” 8 3 “7” 8 4 “7”

(Note) : dno. is the servo amplifier axis numbers displayed in the system settings of the positioning

software package. Set the axis No. relative to the dno. in system settings.

Servo amplifier's

rotary switch

dno.

(Note)

SSCNET

LINE

Servo amplifier's

rotary switch

The Dividing unit (Q173DV) and the SSCNET cables (Q173J2B CBL!M/ Q173HB

CBL!M) between the Motion CPU and servo amplifiers divide signals allocated in CN1 of the Q173CPU(N) into each of the four lines. The following table shows correspondence between the connector No. after the division and the SSCNET line No. .

Correspondences between SSCNET LINE No. and connector No.

SSCNET LINE No. Connector No. of the Dividing unit Connector No. of the SSCNET cable

1 SSCNET CN1 1 2 SSCNET CN2 2 3 SSCNET CN3 3 4 SSCNET CN4 4

(Note) : SSCNET LINE No. Q173CPU(N) : 4 lines / Q172CPU (N) : 1 line.

2 - 66

2 SYSTEM CONFIGURATION

2.4.9 External battery

This section describes the battery specifications which used Motion CPU, handling

Item Classification Manganese dioxide lithium primary battery Normal voltage [V] 3.6 Battery discharge capacity [mAh] 1600 Battery warranty period 5 years

Applications Exterior dimensions [mm(inch)] 16×30

precautions and equipments.

(1) External battery speci ficati ons( For M otion C PU module)

Model name

(For IC-RAM back-up of the Q173CPU(N)/Q172CPU(N))

A6BAT/MR-BAT

Continuous power off

(2) Q173CPU(N)/Q172CPU(N ) back- up by the external battery.

When using the external battery, set the external battery(A6BAT/MR-BAT) in the system setti ng s.

Item

Guaranteed time (MIN) Actual time(TYP)

[ h ] [ h ]

Continuous power off time External battery use 60000 240000

(3) External battery and SSC N ET cable

When using the external battery, install A6BAT/MR-BAT to the Dividing unit or

Item

Q173CPU(N) Q173DV Q173DVCBL!M

Q172CPU(N) Q170BAT

Battery unit. Also be sure the following cables.

Installation location of

the external battery

Q172J2BCBL!M-B (For MR-J2!-B)/

Q172HBCBL!M-B (For MR-H-BN)

SSCNET cable

CAUTION

Do not shot a battery. Do not disassemble a battery. Do not burn a battery. Do not overheat a battery. Do not solder the battery terminal. When using the external battery, be sure to select " the external battery use " in the system

settings. If not setting the external battery, the back-up data of Motion CPU, may not back up, since the battery voltage detection error is not det ected.

2 - 67

2 SYSTEM CONFIGURATION

(a) Connection with Q173CPU( N )

Connection procedure of Q173CPU(N) and A6BAT/MR-BAT

1) Set the A6BAT/MR-BAT to the Dividing unit(Q173DV)

2) Connect the A6BAT/MR-BAT connector to the BAT connector of the

3) Connect between Q173CPU(N) and Q173DV by the SSCNET cable

Connection between Q173CPU(N) and Dividing unit (Q173DV). Q173DVCBL M

Q173DV.

(Q173DVCBL!M)

A6BAT/MR-BAT

Q173CPU

Q173CPU(N) Motion CPU mdule

SSCNET CN1

MITSUBISHI

LITHIUM BATTERY

SSCNET CN2

CN1

Dividing unit (Q173DV)

SSCNET CN3

SSCNET CN4

SSCNET LINE1

CN1A CN1B

Servo amplifier

MR-H-BN/ MR-J2 -B

(b) Connection with Q172CPU( N )

Connection procedure of Q172CPU(N) and A6BAT/MR-BAT

1) Set the A6BAT/MR-BAT to the Battery unit (Q170BAT).

2) Connect the A6BAT/MR-BAT connector to the BAT connector of the Q170BAT.

3) Connect between Q172CPU(N) and Q170BAT by the SSCNET cable.

Q172CPU(N) Motion CPU module

CN1

Battery unit (Q170BAT)

MITSUBISHI

BAT

LITHIUM BATTERY

CPU

A6BAT/MR-BAT

Connection between MR-J2 -B Q172J2BCBL M-B Connection between MR-H-BN Q172HBCBL M-B (Note) : Connection cable length of Q170BAT can use to 0.5m(1.64ft.).

500mm

(1.64ft.)

CN1A CN1B

Servo amplifier

MR-H-BN/ MR-J2 -B

2 - 68

2 SYSTEM CONFIGURATION

2.4.10 Cooling fan unit (Q170FAN) (Q173CPU /Q172C PU onl y)

This section explains the specifications of the Cooling fan unit(Q170FAN) used for the Motion CPU module.

(1) Removable conditions of the Cooling fan unit

It is possible to remove the Cooling fan unit (Q170FAN) in order to disperse heat from inside the Motion CPU module according to the number of Motion CPU module and ambient temperature conditions. Removable/Not removable of the Cooling fan unit (Q170FAN) by number of Motion CPU module and ambient temperature is as follows.

(a) When using only one Motion CPU module

It is possible to remove the Cooling fan unit if the ambient temperature in

which the Motion CPU module will be operating is 0 to 40°C (32 to 104°F) .

(b) When using two or more Motion CPU module

Do not remove the Cooling fan unit(Q170FAN).

Ambient temperature

of the Motion CPU

Number of the Motion CPU 1 module Removable Not removable

0 to 40°C

(32 to 104°F)

Over 40 to 55°C

(Over 104 to 131°F)

2 modules or more Not removable

(2) Cooling fan unit specifications

Model name

Item Type Cooling fan Operating ambient

Temperature °C (°F ) Operating voltage range [V] 4.3 to 5.8 Rated current [A] 0.08 Rated rotational speed [r/min] 7500 Service life time 30000 hours rated voltage continuous operation (at 40°C (104°F) ) Application For cooling Motion CPU module Weight [kg] 0.01

As a guideline for preventive maintenance, the module should be inspected every six months and replaced approximately every two to three y ears even if the accumulated number of operating hours is less than the service life time shown above (Refer to section 6.3 Periodic Inspections.)

Q170FAN

0 to 70

(

32 to 158

)

2 - 69

2 SYSTEM CONFIGURATION

(3) In point of the layout design wi thi n the contr ol panel

Leave 50mm(1.97inch) or more clearance between the top of the modules and structures or parts.

Top of control panel, wiring duct, or other components

Cooling fan unit (Q170FAN)

The wind blows lies

50mm (1.97inch) min.

PLC CPU

Power supply

Motion CPU

2 - 70

3 DESIGN

3. DESIGN

3.1 System Designing Procedure

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

Motion control system design

Select the CPU module according to number of control axes.

Select the motion functions to be installed accdording to the machinery and equipment to be controll ed (selection of the programing so ftware packages according to the OS software packages).

Select the number of Q172LX's and design according to the each axis control system and whether servo external signals are required or not. When there is mechanical home position and dog type home position return is made: Proximity dog required For speed control: Speed-position switching control required When overrun prevention is necessary: Stroke limit required When each axis stop is necessary: STOP signal required

Select Q173PX, Q172EX and design accoding to whether manual pulse generators and synchronous encoders are requir ed or not.

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

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

Select the CPU base unit, extension base units, extens ion power supply module and extens ion cables, and make I/O assignment according to necessary number of Q172LX's, Q172EX's, Q173PX's, QX 's, QY P's and the number of I/O modules.

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

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

Refer to section 2.4.5 Refer to section 2.4.6

Refer to a MELSEC-Q series manual.

Refer to section 2.4.4 Refer to section 2.4.5 Refer to section 2.4.6

Refer to the servo amplifier manual.

Refer to section 2.4.8

3 - 1

3 DESIGN

Extenal circuit design

Power supply circuit design

Design the power supply circuit which supplies power to such system components as the Motion controller, I/O equipment and servo amplifiers, etc., taking into consideration the protective coord ination and noise suppression techniques.

Safty circuit design

Design the operation-ready circuit which stops the system at occurrence of any alarm such as a Motion controller or servo amplifier alarm or the emergency stop, the circuit which avoids a malfunction while power is instable at power-on, and the electromagnetic brake circuit for servo motors.

Layout design within control panel

Temperatures and vibrations in consid eration of heat generated from modules, and handling of the modules installed. Carry out layout design from such aspects as installation environment, etc. .

Refer to section 3.2

Refer to section 3.2.1

Refer to section 3.2.2

Refer to section 3.3

CAUTION

Provide appropriate circuits external to the Motion CPU to prevent cases where danger

may resu lt from

Motion CPU failure

abnormal operation of the overall system in the event of a power supply fault or

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

material. Direct installation on flammable material or near flammable material may lead to fires.

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, fires 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 fires.

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 fires.

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

Doing so may lead to destruction or damage.

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

3 - 2

3 DESIGN

CAUTION

Do not touch the servo amplifier's heat radiating fins, 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 head to burns.

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

may lead to injuries.

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

Doing so may lead to injuries. Always install a leakage breaker on the Motion controller and servo amplifier power source. If installation of a magnetic contactor for power shut off during an error, etc., is specified in the

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

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

power shat off. Use the Motion controller, servo amplifier, servomotor and regenerative resistor with the combinations

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

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

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

the system.

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

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

forced stop, servo OFF or when the power is shut OFF, use both dynamic brakes and magnetic brakes. The dynamic brakes must be used only during the emergency stop, the forced stop and errors where

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

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

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

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

used in a system must be compatible with the Motion controller, servo amplifier and servomotor. Install a cover on the shaft so that the rotary parts of the servomotor are not touched during operation. There may be some cases where holding by the magnetic brakes is not possible due to the service

life time 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.

3 - 3

3 DESIGN

3.2 External Circuit Desig n

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

(1) Sample system circuit desig n for motion contr ol

3-phase

200/220VAC

Power Supply

200VAC 200VAC

FG LG

24VDC

Power supply

Q61P-A2

24V

24G

NFB

CP1

CP2

PLC CPU

Qn(H)CPU

Number of inputs: 8 axes/module

Motion CPU Input module

Q173CPU(N)/ Q172CPU(N)

Servo external signals interfac e module

Q172LX

FLS1

DOG8/ CHANGE8

FLS1

DOG8/ CHANGE8

COM

QX40

Forced stop

COM

Output module

QY10

PYm

G24

EMG

Output of Motion CPU

PYm

CP3

Ra1

Servo amplifier output situation (On : servo normal output, OFF : alarm abnormal

Ra1

3 - 4

Emergency St op

EMG

Operation Ready

OFF

3 DESIGN

POINT

1) (Note-1) : The following is the Motion SFC program example.

2) (Note-2) : It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake.

3) (Note-3) : It is also possible t o use forced stop signal of t he servo amplifier.

4) It recommends using one leakage breaker for one servo amplifier. When electric power is supplied to multiple servo amplifiers for one lea kage breaker, select the wire connected to the servo amplifier according to the capacity of the leakage breaker.

5) (Note-4) : Only the point has des cribed the servo amplifier MR-J2M-B. Refer to "MR-J2M-B Servo amplifier Instruction Ma nual" for details.

6) (Note-5) : For information about connection of the SSCNET cable and termination connector refer to section 2.4.8 (4).

Circuit example when using MR-H-BN

CP4

(Note-4)

MR-H -B N

S T

R1 S1

COM MBR

EM1 EM2

< Example> For control axis 1 and axis 2

Servo error detection

[F 1]

SET PYm

[G 1]

M2408 M2428

[F 2]

RST PYm

PYm ON with initial (ON : normal)

Servo error detection of the axis 1, axis 2.

OFF : abnormal(error)

END

Ra2

Ground

Erectomagnetic brake (Note-2)

Ra2

U V W

DC24V

(Note-3)

CP5

CP6

CP7

+24V

24VDC

Power supply

24G

Circuit example when using MR-J2-B/MR-J2S-B

(Note-4)

MR-J2-B/

MR-J2S-B

L11 L12

COM MBR

EM1 SG

U V W

(Note-3)

DC24V

U V

Ground

Ra3

Circuit example when using MR-J2M-B

(Note-4)

MR-J2M-B

L2 L3

L11 L12

VIN

MBR

EM1

U V W

(Note-3)

Ra4

DC24V

U V W

Ground

Circuit example when using MR-J2-03B5

Ra1

P24

MR-J2-03B5

P24G P24L

EMI

U V W E

B1 B2

U V W

Ground

Erectomagnetic brake (Note-2)

Erectomagnetic brake

(Note-2)

Ra3

(Note-5)

Ra4

3 - 5

3 DESIGN

Power supply

(2) System design circuit example of the PLC I/O

(a) System design circui t ex ampl e( when not using ERR contact of

power supply module)

Power supply

Using AC and DCUsing AC

Start switch

Fuse

Stop switch

outut module

Output module

Transformer

CPU

SM52

SM403

Program

RA1

MC2

MC1

Input module

RA1

MC1

MC2

DC power supply established signal input

START/STOP circuit

Starting possible when the PLC RUN output RA1 is ON

Alarm output (lamp or buzzer)

RA1 switched ON by SM403

Turns output equipment power off when STOP occurs.

on emergency stop, on stop at upper/ lower limit switch.

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

Start switch

Stop switch

Output module

The power-ON procedure is as follows:

For AC For AC/DC

1) Switch power ON.

2) Set CPU to RUN.

3) Turn ON the start switch.

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

1) Switch power ON.

2) Set CPU to RUN.

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

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

5) Turn ON the start switch.

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

3 - 6

Transformer

Fuse

SM52

SM403

M10

RA1

RA2

Transformer

CPU

MC1 N0 M10

Program

Input module

MC2

MC1

RA1

MC1

MC2

Fuse

DC power

supply

(-) (+)

Fuse

RA2

Set TM to time to establish DC input signal

A voltage relay is recommended

Alarm output (lamp or buzzer)

RA1 switched ON by SM403

Turns output equipment power off when STOP occurs on emergency stop,on stop at upper/ lower limit switch.

3 DESIGN

(b) System design circui t ex ampl e( when using ERR contact of

power supply module)

Power supply

Using AC and DC

DC power supply established signal input

START/STOP circuit

Starting possible when the PLC RUN output RA1 is ON

Start switch

Transformer

Fuse

SM403

Stop switch

RA1

RA2

output module

SM52

MC1 N0 M10

M10

Program

RA3

Transformer

CPU

Input module

RA1

Fuse

DC power

supply

(-)

(+)

Fuse

Set TM to time to establish DC input signal

RA2

A voltage relay is recommended

Alarm output (lamp or buzzer)

RA3 switched OFF by ERR

Turns output equipment power off when ERR switch OFF

on emergency stop, on stop at upper/lower limit switch.

Power supply module

ERR

output module

MC2

MC1

RA3

MC1

MC2

The power-ON procedure is as follows: For AC/DC

1) Switch power ON.

2) Set CPU to RUN.

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

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

5) Turn ON the start switch.

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

3 - 7

3 DESIGN

3.2.1 Power supply circui t design

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

(1) Separation and protective coordi nation ( l eakag e cur rent pr otecti on,

over current protection) of power suppl y l i nes

When wiring, separate the lines of Multiple CPU system power supplies from those of the I/O equipment and servo amplifier as shown below. When there is much noise, connect an insulation transformer.

Main power supply

100/200VAC

200VAC

NFB

(2) Grounding

The motion system may malfunction as it is affected by various noises such as electric path noises from the power supply lines, radiated and induced noises from other equipment, servo amplifiers and their cables, and electromagnetic noises from conductors. To avoid such troubles, connect the earthing ground of each equipment and the shield grounds of the shielded cables to the earth. Also use ferrite cores to prevent the sneak noises from the SSCNET. For grounding, use the exclusive ground terminal wire of each equipment or a single-point earth method to avoid grounding by common wiring, where possible, since noises may sneak from other equipment due to common impedances.

PLC power supply

I/O power supply

Main circuit power supply

Servo amplifier power supply

Insulation transformer

NFB

Multiple CPU system

I/O devices

Main circuit devic

Servo amplifier

Panel personal computer

100/200VAC

Line noise filter

Multiple CP U system

SSCNET

Servo amplifier

Ferrite cores

3 - 8

3 DESIGN

3.2.2 Safety circuit design (1) Concept of safety circuits

When the Motion controller is powered on-off, proper outputs may not be provided temporarily due to the delays and rise times of the Motion controller power supply and external I/O control power supplies (especially DC). Therefore, the circuit must be made up to enable the Motion controller to be powered on first. Also, abnormal operations may be performed when the external power supply becomes faulty or the Motion controller fails. Constructed circuit of the parts (emergency stop, protective and interlock circuits, etc.) which may lead to machine breakdown and accidents due to abnormal operations at externally of the Motion controller in a fail-safe viewpoint, to prevent these abnormal operations from leading to the abnormal operation of the whole system.

(2) Emergency stop circui t

The circuit should be constructed outside the Motion controller or servo amplifier. Shut off the power supply to the external servo amplifier by this circuit, make the magnetic brakes of the servomotor operated.

(3) Forced stop circuit

(a) It is possible to effect the forced stop all axes of the external servo amplifier

Forced stop

(MR-H!BN/MR-J2!-B) at once via the forced stop input of the input modules. After the forced stop, remove the forced stop factor and cancel the forced stop. (The servo error detection signal does not turn on with the forced stop.) It is possible to set the forced stop input No. by the parameter setting of the system setti ng . The forced stop wiring example is shown below.

Input module (Example : QX10)

TB1

Internal circuit

LED

TB16

TB17

100VAC

(Note): It is possible to set the forced stop (Xn) of the system settings at the user side.

3 - 9

3 DESIGN

Item

Emergency stop

Forced stop

(b) It is also possible to use the forced stop signal of the servo amplifier.

Refer to manual of the servo amplifier about servomotor capacity. Operation status of the emergency stop and the forced stop are as follows.

Operation of

the signal ON

Servo OFF

Shut off the power supply to the external servo amplifier by external circuit, make the servomotor stopped. The servomotor is stopped according to the stop instruction from Motion controller to the servo amplifier.

Remark

3 - 10

3 DESIGN

3.3 Layout Design withi n The Control Panel

3.3.1 Installation environment

Install the Motion controller system in the following environment conditions. (1) Ambient temperature is a range the following conditions.

Number of

the Motion CPU

1 0 to 40°C (32 to 104°F)

2 or more

Q173CPUN/

Q172CPUN

0 to 55°C (32 to 131 °F)

(2) Ambient humidity is in a range from 5% to 95% RH

(3) No condensing from sudden temperature changes

(4) No corrosive or inflammable gas

(5) There must not be a lot of conductible dust, iron filings, oil mist, or salt, organic

solvents

(6) No direct sunlight

(7) No strong electrical or magnetic fields

(8) No direct vibrations or shocks on the Motion controller

Q173CPU/Q172CPU

With Cooling fan unit

(Shipped from the factory)

(Note-1) : It is need to install the Cooling fan unit(Q170FAN).

Without Cooling fan unit

—

(Note-1)

3 - 11

MITSUBISHI Q172CPU, Q173CPU User Guide

Specifications and Main Features

Frequently Asked Questions

User Manual

SAFETY PRECAUTIONS

REVISIONS

INTRODUCTION

CONTENTS

About Manuals

1. OVERVIEW

1.1 Overview

2. SYSTEM CONFIGURATION

2.1 Motion System Configuration

2.1.1 Q173CPU(N) System ov eral l config urati on

2.1.2 Q172CPU(N) System ov eral l config urati on

2.1.3 Function explanation of the Q173CPU(N)/Q172CPU ( N ) M oti on CPU modul es

2.1.4 Restrictions on motion systems

2.2 System Configuration Equipment

2.3 General Specifications

2.4 Specifications of Equipment and Settings

2.4.1 Q173CPU(N)/Q172CPU(N) (1) Q173CPU(N)/Q172CPU( N) N ame of parts

2.4.2 Power supply module (1) Table of the power supply module specificati ons

2.4.3. Base unit and extension cable

2.4.4 Q172LX Servo external si g nal s i nterface module

2.4.5 Q172EX Serial absolute synchronous encoder inter face module

2.4.6 Q173PX Manual pulse generator i nterface module

2.4.7 Manual pulse generator/Serial absol ute synchronous encoder (1) Table of the Manual pulse generator specifications

2.4.8 Connection method with SSCNET cables and termination connector

2.4.9 External battery

2.4.10 Cooling fan unit (Q170FAN) (Q173CPU /Q172C PU onl y)

3. DESIGN

3.1 System Designing Procedure

3.2 External Circuit Desig n

3.2.1 Power supply circui t design

3.2.2 Safety circuit design (1) Concept of safety circuits

3.3 Layout Design withi n The Control Panel

3.3.1 Installation environment