Mitsubishi Electronics Q173CPUN, Q172CPU9N User Manual

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MOTION CONTROLLERS

Q173CPU

Q172CPU

(N)

User's Manual

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 QCPU module to use for a description of the PLC system safety precautions. These SAFETY PRECAUTIONS classify the safety precautions into two categories: "DANGER" 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. Always 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.

A - 1

For Safe Operations

1. Prevention of electric shocks

DANGER

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

this may lead to electric shocks.

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

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

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

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

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

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

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

or less) Do not ground commonly with other devices.

100

The wiring work and inspections must be done by a qualified technician.

Wire the units after installing the Motion controller, servo amplifier and servomotor. Failing to do

so may lead to electric shocks or damage.

Never operate the switches with wet hands, as this may lead to electric shocks.

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

may lead to electric shocks.

Do not touch the Motion controller, servo amplifier or servomotor terminal blocks while the

power is ON, as this may lead to electric shocks.

Do not touch the built-in power supply, built-in grounding or signal wires of the Motion controller

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

2. For fire prevention

CAUTION

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

inflammable material. Direct installation on flammable material or near flammable material may lead to fire.

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

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

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

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

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

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

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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, etc.,

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

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

these parts may lead to injuries.

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

Doing so may lead to injuries.

4. Various precautions

Strictly observe the following precautions.

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

(1) System structure

CAUTION

Always install a leakage breaker on the Motion controller and servo amplifier power source.

If installation of an electromagnetic contactor for power shut off during an error, etc., is specified

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

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

and the power shut off.

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

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

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

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

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

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

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

emergency stop, servo OFF or power supply OFF, use dynamic brakes.

Make sure that the system considers the coasting amount even when using dynamic brakes.

A - 3

CAUTION

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

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

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

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

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

applications, and must not be used for normal braking.

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

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

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

compatible with the system.

Use wires and cables within the length of the range described in the instruction manual.

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

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

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

operation.

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

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

(2) Parameter settings and programming

CAUTION

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

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

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

the operation mode, servo amplifier and servo power supply module. The protective functions may not function if the settings are incorrect.

Set the mechanical brake output and dynamic brake output validity parameters to values that

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

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

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

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CAUTION

Set the servomotor encoder type (increment, absolute position type, etc.) parameter to a value

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

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

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

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

system application. The protective functions may not function if the settings are incorrect.

Use the program commands for the program with the conditions specified in the instruction

manual.

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

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

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

specified in the instruction manual.

The input devices and data registers assigned to the link will hold the data previous to when

communication is terminated by an error, etc. Thus, an error correspondence interlock program specified in the instruction manual must be used.

Use the interlock program specified in the 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 mass.

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

transport the servomotor with machine installed on it.

Do not stack products past the limit.

When transporting the Motion controller or servo amplifier, never hold the connected wires or

cables.

When transporting the servomotor, never hold the cables, shaft or detector.

When transporting the Motion controller or servo amplifier, never hold the front case as it may

fall off.

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

the edges.

Install the unit according to the instruction manual in a place where the mass can be withstood.

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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 reduction gears in the designated direction. Failing to do so

may lead to oil leaks.

Store and use the unit in the following environmental conditions.

Environment

Ambient

temperature

Ambient humidity

Storage

temperature

Atmosphere

Altitude

Vibration

Motion controller/Servo amplifier Servomotor

According to each instruction manual.

Indoors (where not subject to direct sunlight).

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

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

According to each instruction manual

Conditions

0°C to +40°C (With no freezing)

(32°F to +104°F)

80% RH or less

(With no dew condensation)

-20°C to +65°C

(-4°F to +149°F)

When coupling with the 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 preventing vinyl bags and

store.

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

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(4) Wiring

CAUTION

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

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

After wiring, install the protective covers such as the terminal covers to the original positions.

Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF)

on the output side of the servo amplifier.

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

servomotor to operate abnormally.

Do not connect a commercial power supply to the servomotor, as this may lead to trouble.

Do not mistake the direction of the surge absorbing diode

installed on the DC relay for the control signal output of brake signals, etc. Incorrect installation may lead to signals not being output when trouble occurs or the protective functions not functioning.

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)

Control 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

(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 electromagnetic obstacles to a minimum by installing a noise filter or by using

wire shields, etc. Electromagnetic obstacles may affect the electronic devices used near the Motion controller or servo amplifier.

When using the CE Mark-compliant equipment, refer to 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 Q62P Q63P Q64P

100 to 120VAC

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

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

200 to 240VAC

-15%

200 to 240VAC

-15%

Conditions

100 to 240VAC

20ms or less

-15%

24VDC

-35%

100 to 120VAC

(7) Corrective actions for errors

CAUTION

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

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

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

with electromagnetic brakes or install a brake mechanism externally.

Use a double circuit construction so that the electromagnetic brake operation circuit can be

operated by emergency stop signals set externally.

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

Servomotor

RA1

Shut off with the emergency stop signal(EMG).

EMG

-15%

+10%

-15%

(85 to 132VAC/

170 to 264VAC)

Electromagnetic brakes

24VDC

A - 8

CAUTION

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

release.

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

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

(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 static electricity buildup.

Do not perform a megger test (insulation resistance measurement) during inspection.

When replacing the Motion controller or servo amplifier, always set the new module settings

correctly.

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

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

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

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

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

absolute position detector function is correct.

Do not short circuit, charge, overheat, incinerate or disassemble the batteries.

The electrolytic capacitor will generate gas during a fault, so do not place your face near the

Motion controller or servo amplifier.

The electrolytic capacitor and fan will deteriorate. Periodically replace these to prevent

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

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(9) About processing of waste

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

CAUTION

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

that can affect or endanger human life.

When considering this product for operation in special applications such as machinery or

systems used in passenger transportation, medical, aerospace, atomic power, electric power, or submarine repeating applications, please contact your nearest Mitsubishi sales representative.

Although this product was manufactured under conditions of strict quality control, you are

strongly advised to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the product is likely to cause a serious accident.

(10) General cautions

CAUTION

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

partitions removed to explain detailed sections. When operating the product, always return the covers and partitions to the designated positions, and operate according to the instruction manual.

A - 10

REVISIONS

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

Print Date Manual Number Revision 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 Windows2000

•

ROM operation

•

MODE LED Installation mode/ROM writing mode

•

BOOT LED Installation mode/ROM writing mode

[Partial correction]

Sep., 2003 IB(NA)-0300040-C [Addition model]

Q173CPUN-T/Q172CPUN-T, A31TU-D3K13/A31TU-DNK13, Q172EX-S1, Q173PX-S1, Q64AD, Q68ADV, Q68ADI, Q62DA, Q64DA, Q68DAV, Q68DAI, A6TBXY36, A6TBXY54, A6TBX70, Q170TUD3CBL3M, Q170TUDNCBL3M, Q170TUDNCBL03M-A, Q170TUTM, A31TUD3TM, FR-V5 [Addition function] For WindowsXP, Home position return function [Additional correction/partial correction] Safety precautions, About processing of waste, Discard of internal rechargeable battery, Instructions for installation of operation system software, Troubleshooting, Precautions for air transportation of battery, etc,

Mar., 2006 IB(NA)-0300040-D [Addition model]

Q62P, Q172EX-S2, Q172EX-S3, Q170ENC [Additional correction/partial correction] Safety precautions, Operating environment of personal computer, System design circuit example, Operating system software installation procedure, Warranty, Model code(1CT780

1XB780), etc.

0- , Software for SV43

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.

A - 11

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 2-100

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...................................................................................... 2-10

2.1.3 Function explanation of the Q173CPU(N)/Q172CPU(N) Motion CPU modules ............................ 2-12

2.1.4 Restrictions on Motion systems ........................................................................................................ 2-13

2.2 System Configuration Equipment............................................................................................................ 2-15

2.3 General Specifications .............................................................................................................................2-24

2.4 Specifications of Equipment and Settings............................................................................................... 2-26

2.4.1 Name of parts for CPU module ........................................................................................................ 2-26

2.4.2 Power supply module........................................................................................................................ 2-36

2.4.3 Base unit and extension cable.......................................................................................................... 2-43

2.4.4 Q172LX Servo external signals interface module ............................................................................ 2-46

2.4.5 Q172EX Serial absolute synchronous encoder interface module................................................... 2-51

2.4.6 Q173PX Manual pulse generator interface module......................................................................... 2-61

2.4.7 Manual pulse generator/Serial absolute synchronous encoder ...................................................... 2-70

2.4.8 A31TU-D3

2.4.9 SSCNET cables, terminal connector and connection method ........................................................ 2-82

2.4.10 External battery ............................................................................................................................... 2-96

2.4.11 Cooling fan unit (Q170FAN) (Q173CPU/Q172CPU only) ............................................................. 2-99

/A31TU-DN Teaching unit (Japanese version only) ................................................ 2-72

3. DESIGN 3- 1 to 3-20

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

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

3.2.1 Power supply circuit design .............................................................................................................. 3-12

3.2.2 Safety circuit design ..........................................................................................................................3-13

3.3 Layout Design within The Control Panel ................................................................................................. 3-15

3.3.1 Installation environment ....................................................................................................................3-15

3.3.2 Layout design of the base units ........................................................................................................ 3-16

3.3.3 Calculating heat generation by Motion controller ............................................................................. 3-17

3.4 Design Checklist ...................................................................................................................................... 3-20

A - 12

4. INSTALLATION AND WIRING 4- 1 to 4-20

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 SSCNET cable ..................................................................................................................................4- 7

4.2.2 SSC I/F communication cable .......................................................................................................... 4- 8

4.2.3 Battery cable...................................................................................................................................... 4- 9

4.2.4 Cable for teaching unit ...................................................................................................................... 4-10

4.3 Installation of the Serial Absolute Synchronous Encoder....................................................................... 4-12

4.4 Replacement of the Cooling fan unit (Q170FAN) (Q173CPU/Q172CPU only) ..................................... 4-14

4.5 Wiring........................................................................................................................................................ 4-15

4.5.1 Instructions for wiring ........................................................................................................................ 4-15

4.5.2 Wiring to the power supply module .................................................................................................. 4-18

4.6 Installation/Wiring Checklist ..................................................................................................................... 4-19

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

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

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

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

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

6. INSPECTION AND MAINTENANCE 6- 1 to 6-28

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

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

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

6.3 Periodic Inspection................................................................................................................................... 6- 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 Discard of internal rechargeable battery ................................................................................................. 6-11

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

6.6.1 Basics of troubleshooting.................................................................................................................. 6-13

6.6.2 Troubleshooting of Motion CPU module and I/O modules ..............................................................6-14

6.6.3 I/O modules troubleshooting............................................................................................................. 6-25

6.7 Confirm method of Error Code ................................................................................................................ 6-28

A - 13

APPENDICES App- 1 to App-37

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

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

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

APPENDIX 1.3 Cable for the teaching unit ...........................................................................................App-14

APPENDIX 2 Exterior Dimensions ............................................................................................................App-20

APPENDIX 2.1 CPU module .................................................................................................................App-20

APPENDIX 2.2 Servo external signals interface module (Q172LX) ....................................................App-24

APPENDIX 2.3 Serial absolute synchronous encoder interface module

(Q172EX/Q172EX-S1/Q172EX-S2/Q172EX-S3).......................................................App-24

APPENDIX 2.4 Manual pulse generator interface module (Q173PX/Q173PX-S1).............................App-25

APPENDIX 2.5 Power supply module (Q61P-A1, Q61P-A2, Q62P, Q63P, Q64P) ............................App-26

APPENDIX 2.6 Dividing unit (Q173DV), Battery unit (Q170BAT) ........................................................App-27

APPENDIX 2.7 Connector .....................................................................................................................App-28

APPENDIX 2.8 Manual pulse generator (MR-HDP01) .........................................................................App-33

APPENDIX 2.9 Serial absolute synchronous encoder (MR-HENC/Q170ENC) ..................................App-34

APPENDIX 2.10 Teaching unit (A31TU-D3

APPENDIX 2.11 Cooling fan unit (Q170FAN) (Q173CPU/Q172CPU only) ........................................App-36

/A31TU-DN ) ..............................................................App-35

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 User's Manual and Building Block I/O Module User's Manual.

Related Manuals

(1) Motion controller

Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual

(Motion SFC)

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

programming, error codes and others of the Motion SFC.

(Optional)

Manual Name

Manual Number

(Model Code)

IB-0300042

(1XB781)

Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual

(REAL MODE)

This manual explains the servo parameters, positioning instructions, device list, error list and others.

(Optional)

Q173CPU(N)/Q172CPU(N) Motion controller (SV22) Programming Manual

(VIRTUAL MODE)

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 parameters, positioning instructions, device list, error list and others.

(Optional)

Q173CPU(N)/Q172CPU(N) Motion controller (SV43) Programming Manual

This manual describes the dedicated instructions to execute the positioning control by Motion program of

EIA language (G-code).

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

programming, debugging, servo parameters, positioning instructions device list and error list and others.

(Optional)

IB-0300043

(1XB782)

IB-0300044

(1XB783)

IB-0300070

(1CT784)

A - 15

(2) PLC

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

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

extension cables, memory card battery and others.

(Optional)

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

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

with the QCPU.

(Optional)

QCPU User's Manual (Multiple CPU System)

This manual explains the functions, programming methods and cautions and others to construct the

Multiple CPU system with the QCPU.

(Optional)

QCPU (Q Mode)/QnACPU Programming Manual (Common Instructions)

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

micro computer program.

(Optional)

QCPU (Q Mode)/QnACPU Programming Manual (PID Control Instructions)

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

(Optional)

QCPU (Q Mode)/QnACPU Programming Manual (SFC)

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

debugging, error codes and others of MELSAP3.

(Optional)

I/O Module Type Building Block User's Manual

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

conversion modules and others.

(Optional)

Manual Name

Manual Number

(Model Code)

SH-080483ENG

(13JR73)

SH-080484ENG

(13JR74)

SH-080485ENG

(13JR75)

SH-080039

(13JF58)

SH-080040

(13JF59)

SH-080041

(13JF60)

SH-080042

(13JL99)

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, Teaching unit and cables.

Generic term/Abbreviation Description

Q173CPU(N)/Q172CPU(N),

Motion CPU or Motion CPU module

Q172LX/Q172EX/Q173PX

or Motion module

MR-H-BN Servo amplifier model MR-H BN

MR-J2-B Servo amplifier model MR-J2S- B/MR-J2M-B/MR-J2- B/MR-J2-03B5

AMP or Servo amplifier

QCPU, PLC CPU

or PLC CPU module

Multiple CPU system

or Motion system

CPUn

Programming software package General name for "MT Developer" and "GX Developer"

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

SV13

SV22

SV43 Operating system software for machine tool peripheral use: SW5RN-SV43Q

MT Developer Abbreviation for Integrated start-up support software package "MT Developer"

GX Developer

Manual pulse generator

or MR-HDP01

Serial absolute synchronous encoder

or MR-HENC/Q170ENC

SSCNET

Absolute position system

(Note-2)

In this manual, the following abbreviations are used.

Q173CPUN/Q172CPUN/Q173CPUN-T/Q172CPUN-T/Q173CPU/Q172CPU

Motion CPU module

Q172LX Servo external signals interface module/

Q172EX(-S1/-S2/-S3) Serial absolute synchronous encoder interface module

Q173PX(-S1) Manual pulse generator interface module

General name for "Servo amplifier model MR-H

MR-J2- B/MR-J2-03B5, Vector inverter FREQROL-V500 series"

Qn(H)CPU

Abbreviation for "Multiple PLC system of the Q series"

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

system"

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

SW6RN-SV13Q

Operating system software for automatic machinery use (Motion SFC) :

SW6RN-SV22Q

Abbreviation for MELSEC PLC programming software package "GX Developer

(Version 6 or later)"

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

Abbreviation for "Serial absolute synchronous encoder (MR-HENC/Q170ENC)"

High speed serial communication between Motion controller and servo amplifier

General name for "System using the servomotor and servo amplifier for absolute

position"

BN/MR-J2S- B/MR-J2M-B/

(Note-1)

Cooling fan unit Cooling fan unit (Q170FAN)

1 - 1

1 OVERVIEW

Generic term/Abbreviation Description

Dividing unit Dividing unit (Q173DV)

Battery unit Battery unit (Q170BAT)

A0BD-PCF A10BD-PCF/A30BD-PCF SSC I/F board

SSC I/F communication cable Abbreviation for "Cable for SSC I/F board/card"

Teaching Unit

or A31TU-D3

Intelligent function module

Vector inverter (FR-V500) Vector inverter FREQROL-V500 series

/A31TU-DN

A31TU-D3

Abbreviation for "MELSECNET/H module/Ethernet module/CC-Link module/

Serial communication module"

/A31TU-DN Teaching unit

(Note-3)

(Note-1) : Q172EX can be used in SV22.

(Note-2) : SSCNET: S

(Note-3) : Teaching unit can be used in SV13.

REMARK

ervo System Controller NETwork

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

PLC CPU, peripheral devices for PLC program design, I/O modules

and intelligent function module

Operation method for MT Developer Help of each software

• Multiple CPU system configuration

• Performance specification

• Design method for common parameter

SV13/SV22

SV22

(Virtual mode)

SV43

• Auxiliary and applied functions

• Design method for positioning control program in

• Design method for positioning control parameter

• Design method for mechanical system program

• Multiple CPU system configuration

• Performance specification

• Design method for common parameter

• Design method for Motion program

• Motion dedicated PLC instruction

• Design method for positioning control parameter

refer to the following manuals relevant to each module.

Item Reference Manual

Manual relevant to each module

Q173CPU(N)/Q172CPU(N) Motion controller

(SV13/SV22) Programming Manual (Motion SFC)

the real mode

Q173CPU(N)/Q172CPU(N) Motion controller

(SV13/SV22) Programming Manual (REAL MODE)

Q173CPU(N)/Q172CPU(N) Motion controller

(SV22) Programming Manual (VIRTUAL MODE)

Q173CPU(N)/Q172CPU(N) Motion controller

(SV43) Programming Manual

1 - 2

2 SYSTEM CONFIGURATION

2. SYSTEM CONFIGURATION

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

2.1 Motion System Configuration

(Note)

precautions on use of system and configured equipments.

This section describes the equipment configuration, configuration with peripheral devices and system configuration in the Q173CPU(N)/Q172CPU(N) system.

(1) Equipment configuration in Q173CPU(N) system

Q173CPU(N) System configuration

Is the teaching unit used?

Is this system

continuously power off for 1000

hours or more running?

YES

Use a Q173CPUN-T.

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).

Should the

dividing unit be used to divide

SSCNET Lines?

of the amplifier used at 1st axis

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

Is the type

of each SSCNET system

the same?

YES

Is only 1st

SSCNET system used?

Is 1st and 2nd

SSCNET system used?

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.

(Note) : Continuous power failure time which can be backed up on the internal rechargeable battery is different depending on the charge time. It is possible to continuously power off for 1100 hours because of char

e of 40 hours. Refer to the section 2.4.1(8) for details.

2 - 1

2 SYSTEM CONFIGURATION

(a) When using the Dividing unit/external battery

Extension of the Q series module

Motion module

(Q172LX , Q172EX, Q173PX)

(Note-1)

MITSUBISHI

LITHIUM BATT ERY

Battery

(A6BAT/MR-BAT)

Power supply module/

QCPU/ I/O module/ Intelligent

function module of the Q series

CPU base unit

(Q33B, Q35B, Q38B, Q312B)

Motion CPU module

(Q173CPU(N))

SSCNET cable

(Q173DVCBL M)

SSCNET CN1

SSCNET CN2

SSCNET CN3

SSCNET CN4

MITSUBISHI

LITHIUM BATTE RY

Q173CPU

Dividing unit

(Q173DV)

(Note-5)

Extension cable

(QC B)

(Note-2)

Short-circuit connector for

the teaching unit

(Q170TU TM)

(Note-3)

Cable for the teaching unit

(Q170TUD CBL M(-A))

(Note-4)

Short-circuit connector for

the teac hing uni t

(A31TUD3TM)

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

(Note-5) (Note-6)

SVO ON

Teaching unit

(A31TU-D3 , A31TU-DN )

SSCNET cable

for MR-H-BN

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

SSCNET cable

for MR-J2 -B

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

(Note-1) : When using the external battery, be sure to set the

MITSUBISHI

Battery(A6BAT/MR-BAT) to the Dividing unit(Q173DV). Battery(A6BAT/MR-BAT) is optional. (Note-2) : It is possible to use only Q173CPUN-T. It is packed together with Q173CPUN-T.

Servo amplifier

(MR-H-BN)

Servo amplifier

(MR-J2 -B)

(Note-3) : It varies by the connecting teaching unit. (Note-4) : It is packed together with Q170TUD CBL M. (Note-5) : When using the A31TU-D3 /A31TU-DN , be sure to use the Q173CPUN-T. (Note-6) : A31TU-D3 /A31TU-DN corresponds to only Japanese. It does not correspond to display for English.

2 - 2

2 SYSTEM CONFIGURATION

(b) When using the Dividing cable

Extension of the Q series module

Motion module

(Q172LX, Q172EX, Q173PX)

Power supply module/ QCPU/ 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 )

MITSUBIS HI

(Note-4)

Extension cable

(QC B)

(Note-1)

Short-circuit connector for

the teachi ng unit

(Q170TUTM)

(Note-2)

Cable for th e teaching un it

(Q170TUD CBL M(-A))

(Note-3)

Motion module

(Q172LX, Q172EX, Q173PX)

Q6 B extension base unit

(Q63B, Q65B, Q68B, Q612B)

Power supp ly module/ I/O module/Intelligent function module of the Q series

(Note-5)

(Note-4)

SVO ON

Teaching unit

(A31TU-D3 , A31TU-DN )

Servo amplifi er

(MR-H-BN)

Servo amplifier

(MR-J2 -B)

Short-circuit connector for the

teaching unit

(A31TUD3TM)

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

(Note-1) : It is possible to use only Q173CPUN-T. It is packed together with Q173CPUN-T. (Note-2) : It varies by the connecting teaching unit. (Note-3) : It is packed together with Q170TUD CBL M. (Note-4) : When using the A31TU-D3 /A31TU-DN , be sure to use the Q173CPUN-T. (Note-5) : A31TU-D3 /A31TU-DN corresponds to only Japanese.

It does not corres

ond to display for English.

2 - 3

2 SYSTEM CONFIGURATION

(2) Equipment configuration in Q172CPU(N) system

Q172CPU(N) System configuration

Is the teaching unit used?

(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

Use a Q172CPUN-T.

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

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

rechargeable 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 2.4.1 (8) 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-1)

BAT

LITHIUM BATTERY

CPU

PASSED

Battery unit (Q170BAT)

MITSUBISHI

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

CPU base unit

(Q33B, Q35B, Q38B, Q312B)

(Note-5)

Motion CPU module

(Q172CPU(N))

Extension cable

(QC B)

(Note-2)

Short-circuit connector for

the teaching unit

(Q170TU TM)

(Note-3)

Q17BAT

DATE

SSCNET cable

for MR-H-BN

(Q172HBCBL -M) (Q172J2BCBL M-B)

SSCNET cable

for MR-J2 -B

Cable for the teaching unit

(Q170TUD CBL M(-A))

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

(Note-5)

(Note-6)

SVO ON

Teaching unit

(A31TU-D3 , A31TU-DN )

(Note- 4)

MITSUBISHI

LITHIUM BATTERY

Battery

(A6BAT/MR-BAT)

Servo amplifier

(MR-H-BN)

Servo amplifier

(MR-J2 -B)

Short-circuit connector for

the teaching unit

(A31TUD3TM)

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

(Note-1) : When using the external battery, be sure to use the SSCNET cable(Q172J2BCBL M-B/Q172HBCBL M-B) and to set the battery (A6BAT/MR-BAT). Also install the battery(A6BAT/MR-BAT)in the Battery unit(Q170BAT). Battery(A6BAT/MR-BAT) is optional. (Note-2) : It is possible to use only Q172CPUN-T. It is packed together with Q172CPUN-T. (Note-3) : It varies by the connecting teaching unit. (Note-4) : It is packed together with Q170TUD CBL M. (Note-5) : When using the A31TU-D3 /A31TU-DN , be sure to use the Q172CPUN-T. (Note-6) : A31TU-D3 /A31TU-DN corresponds to only Japanese. It does not correspond to display for English.

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/ QCPU/ 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

MITSUBISHI

(Note-4)

Extension cable

(QC B)

(Note-1)

Short-circuit connector for

the teaching unit

(Q170TUTM)

(Note-2)

Cable for the teaching unit

(Q170TUD CBL M(-A))

(Note-3)

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

(Note-4)

(Note-5)

SVO ON

Teaching unit

(A31TU-D3 , A31TU-DN )

Servo amplifier

(MR-H-BN)

Servo amplifier (MR-J2 -B)

2 - 6

Short-circuit connector for

the teaching unit

(A31TUD3TM)

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

(Note-1) : It is possible to use only Q172CPUN-T. It is packed together with Q172CPUN-T. (Note-2) : It varies by the connecting teaching unit. (Note-3) : It is packed together with Q170TUD CBL M. (Note-4) : When using the A31TU-D3 /A31TU-DN , be sure to use the Q172CPUN-T. (Note-5) : A31TU-D3 /A31TU-DN corresponds to only Japanese. It does not correspond to display for English.

2 SYSTEM CONFIGURATION

(3) Peripheral device configuration for the Q173CPU(N)/ Q172CPU(N)

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

(a) RS-232 configuration

(b) USB configuration

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/XP only)

Motion CPU module

(Q173CPU(N), Q172CPU(N))

SSC I/F communication cable

(Q170CDCBL M,

Q170BDCBL M)

MITSUBISHI

SSCNET

CARD

A30CD-PCF

SSC I/F Card/Board

(A30CD-PCF/A 0BD-PCF)

Personal computer

(Note) : For information about GPP functions of PLC CPU, 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 overall configuration

Motion CPU control module

QI60

CPU base unit (Q3 B)

Q61P-A

PLC CPU/ Motion CPU

Q173

Qn(H)

CPU(N)

CPU

Q172EX

Q172LX Q172PX

Q6 AD

Q6 DA

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

100/200VAC

Personal Computer

IBM PC/AT

USB/RS-232

Teaching unit A31TU-D3 /A31TU-DN

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

Extension cable

(Note-1)

Cable for the teaching unit

(Q170TUD CBL M(-A))

SSC I/F Communication cable (Q170CDCBL M/

Q170BDCBL M)

SSC I/F Card/Board (A30CD-PCF/A 0BD-PCF)

Extension base unit

(Q6 B)

l p p u s

r e

u d

UP to 7 extensions

Dividing unit (Q173DV)

MITSUBISHI

LITHIUM BATTERY

SSCNET SYSTEM1

SSCNET cable

M E

(Note-2)

Analogue input/output

Input/output (Up to 256 points)

Interrupt signals (16 points)

Manual pulse generator 3/module

(MR-HDP01)

Serial absolute synchronous encoder cable (MR-JHSCBL M-H/Q170ENCCBL M)

Serial absolute synchronous encoder 2/module

(MR-HENC/Q170ENC)

External input signals

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

Speed-position switching

SSCNET SYS TEM2

Terminal connector

d8d1

M E

MR-H BN/MR-J2S- B/MR-J2M-B/MR-J2- B/MR-J2-03B5 model Servo amplifier, Vector inverter(FR-V500), Up to 32 axes

(Up to 1 mo dule)

(Up to 6 modules)

SSCNET SYST EM3

Terminal connector

Number of Inputs

8 axes/module

(Up to 4 modules)

SSCNET SYSTEM4

Terminal connector

d8d1

M E

Terminal connector

M E

(Note-1) : Be sure to use the Q173CPUN-T. A31TU-D3 /A31TU-DN corresponds to only Japanese. It does not correspond to display for English.

Note-2) : QI60 can be used in SV13/SV22.

2 - 8

2 SYSTEM CONFIGURATION

CAUTION

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

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

system.

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

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

servomotor.

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

servomotor and regenerative resistor model and the system application. The protective functions may

not function if the settings are incorrect.

When a teaching unit is used, the cable for the teaching unit is necessary between the Motion CPU

(Q173CPUN-T/Q172CPUN-T) and teaching unit. And, connect the short-circuit connector for teaching

unit, after removing the teaching unit or when not using it.

2 - 9

2 SYSTEM CONFIGURATION

2.1.2 Q172CPU(N) System overall configuration

Motion CPU control module

QI60

CPU base unit

(Q3 B)

Q61P-A

PLC CPU/ Motion CPU

Q172

Qn(H)

CPU(N)

CPU

Q172EX

Q172LX Q172PX

Q6 AD

Q6 DA

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

100/200VAC

Battery unit (Q170BAT)

Personal Computer

IBM PC/AT

USB/RS-232

Teaching unit A31TU-D3 /A31TU-DN

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

Extension cable

(Note-1)

Cable for the teaching unit

(Q170TUD CBL M(-A))

SSC I/F Communication cable (Q170CDCBL M/

Q170BDCBL M)

SSC I/F Card/Board (A30CD-PCF/A 0BD-PCF)

Extension base unit

(Q6 B)

l p p u s

u d

o P

UP to 7 extensions

LITHIUM BATTERY

(Note-2)

Analogue input/output

MITSUBISHI

Input/output (Up to 256 points)

Interrupt signals (16 points)

Manual pulse generator 3/module

SSCNET cable

SSCNET SYST EM1

(MR-HDP01)

Serial absolute synchronous encoder cable (MR-JHSCBL M-H/Q170ENCCBL M)

Serial absolute synchronous encoder 2/module

(MR-HENC/Q170ENC)

External input signals

FLS : Upper stroke limit RLS : Lower stroke limit

STOP : Stop signal DOG/CHANGE : Proximity dog/ Speed-position switching

d1 d2 d3

MR-H BN/MR-J2S- B/MR-J2M-B/MR-J2- B/ MR-J2-03B5 model Servo amplifier, Vector inverter(FR-V500), Up to 8 axes

(Note-1) : Be sure to use the Q172CPUN-T. A31TU-D3 /A31TU-DN corresponds to only Japanese. It does not correspond to display for English.

(Up to 1 module)

(Up to 4 mo dules)

Number of Inputs

8 axes/module

(Up to 1 module)

Terminal connector

2 - 10

2 SYSTEM CONFIGURATION

CAUTION

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

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

system.

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

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

servomotor.

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

servomotor and regenerative resistor model and the system application. The protective functions may

not function if the settings are incorrect.

When a teaching unit is used, the cable for the teaching unit is necessary between the Motion CPU

(Q173CPUN-T/Q172CPUN-T) and teaching unit. And, connect the short-circuit connector for teaching

unit, after removing the teaching unit or when not using it.

2 - 11

2 SYSTEM CONFIGURATION

2.1.3 Function explanation of the Q173CPU(N)/Q172CPU(N) Motion CPU modules

(1) Up to 32 axes servo amplifiers per 4 systems (up to 8 axes per 1 system) can be

used in Q173CPU(N). Up to 8 axes servo amplifiers per 1 system can be used in Q172CPU(N).

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

cycle and executed at fixed cycle (0.88[ms], 1.77[ms], 3.55[ms], 7.11[ms],

14.2[ms]).

(3) It is possible to execute a download of servo parameters to servo amplifier, servo

ON/OFF to servo amplifier and position commands, etc. by connecting between the Q173CPU(N)/Q172CPU(N) and servo amplifier with SSCNET cable.

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

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

(5) It is possible to use the signals such as stroke limit signals and synchronous

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

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

according to programs described in Motion SFC program by setting the Q173CPU(N)/Q172CPU(N) as the control CPU of Q series PLC I/O modules (When the Motion SFC is used as the operating system software.). (Refer to Section 2.2 (2) for Q series PLC I/O modules that can be controlled by Motion CPU.)

(7) It is possible to exchange a data among CPUs such as automatic refresh, as the

Q series PLC Multiple CPU system.

(8) There is no restriction for installation position of Q172LX/Q173PX(-S1)/

Q172EX(-S1) among modules controlled by Motion CPU. The installation position of Q172EX-S2/S3 is only CPU base unit. Set the installation position in the system settings.

(9) It is possible to change a servo program, monitor or execute JOG operation by

connecting the teaching unit (A31TU-D3 (Q173CPUN-T/Q172CPUN-T only).

(10) It is possible to execute the high-resolution (262144[PLS/rev]) synchronous

control by connecting the serial absolute synchronous encoder (Q170ENC) to Q172EX-S2/S3.

/A31TU-DN ).

2 - 12

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 CPU.

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

future function expansion.

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

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

(4) Personal computer CPU unit must be installed on the right side of Motion CPU

module. Motion CPU module cannot be installed in a position to the right of personal computer CPU unit.

(5) Make sure to use the PLC CPU module in "Q mode".

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

module or Graphic Operation Terminal (GOT).

(7) SSCNET cable which connects the Motion CPU and servo amplifier, and the

teaching unit connecting cable which connects the Motion CPU and A31TUD3

/A31TU-DN

secure sufficient space for pulling out the cable when designing the control panel.

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

must be set the parameters of Q series multiple PLC system for each PLC CPU. Motion CPU module must also be set to support the Multiple CPU system in the system settings.

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

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

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

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

(11) Installation position of the Q172EX-S2/S3

(Note-1) : Teaching unit can be used in SV13. It cannot be used in SV22/SV43.

(Note-2) : Q172EX can be used in SV22. It cannot be used in SV13/SV43.

B extension base unit. PLC CPU must be used as the control

(Note-1)

are pulled from the bottom part of unit. Make sure to

(Note-2)

, Q173PX, etc.). They will not

(Note-2)

is only CPU base unit.

2 - 13

2 SYSTEM CONFIGURATION

(12) 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

(13) When the backup time (when it is charged for 40 hours) for internal rechargeable

battery of Motion CPU is 1100 hours (Guaranteed time)/4300 hours (Actual time). Set the external battery if the power failure time exceeds guaranteed time. (Refer to Section 2.4.10 External battery)

Item

Internal rechargeable

(Note)

battery

External battery 60000 240000

Charging time: 8 hours or more

Charging time: 40 hours or more

(Note):Internal rechargeable battery is charged while power ON.

Continuous power failure time [h]

Guaranteed time (MIN) Actual time (TYP)

200 500

1100 4300

2 - 14

2 SYSTEM CONFIGURATION

2.2 System Configuration Equipment

Part name Model name

Q172CPUN Up to 8 axes control 1.14

Q172CPUN-T Up to 8 axes control, For teaching unit 1.45

Motion CPU

module

Servo external

signals

interface module

Serial absolute

synchronous

encoder

interface module

Manual pulse

generator

interface module

PLC CPU module

Power supply

(Note-3)

module

CPU base unit

Extension base

unit

Q172CPU Up to 8 axes control, With cooling fan unit 1.62

Q173CPUN Up to 32 axes control 1.25

Q173CPUN-T Up to 32 axes control, For teaching unit 1.56

Q173CPU Up to 32 axes control, With cooling fan unit 1.75

Q172LX

Q172EX

Q172EX-S1

Q172EX-S2

Q172EX-S3

Q173PX

Q173PX-S1

Q00CPU Program capacity 8k steps 0.25

Q01CPU Program capacity 14k steps 0.27

Q02CPU Program capacity 28k steps 0.60

Q02HCPU Program capacity 28k steps 0.64

Q06HCPU Program capacity 60k steps 0.64

Q12HCPU Program capacity 124k steps 0.64

Q25HCPU Program capacity 252k steps 0.64

Q61P-A1 100 to 120VAC input, 5VDC 6A output

Q61P-A2 200 to 240VAC input, 5VDC 6A output

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

(1) Table of Motion controller related module

(Note-1)

Description

Servo external signal input 8 axes

(FLS, RLS, STOP, DOG/CHANGE×8)

Serial absolute synchronous encoder MR-HENC interface×2,

Tracking input 2 points

(Note-2)

Serial absolute synchronous encoder MR-HENC interface×2,

Tracking input 2 points, Memory built-in for data exchange

Serial absolute synchronous encoder Q170ENC interface×2,

Tracking input 2 points

Serial absolute synchronous encoder Q170ENC interface×2,

Tracking input 2 points, Memory built-in for data exchange

Manual pulse generator MR-HDP01/Incremental synchronous encoder

interface ×3, Tracking input 3 points

Manual pulse generator MR-HDP01/Incremental synchronous encoder

interface ×3, Tracking input 3 points, Memory built-in for data exchange

Current

consumption

5VDC[A]

0.05

0.07

0.11

——

0.105

0.110

0.114

Remark

2 - 15

2 SYSTEM CONFIGURATION

Part name Model name

QC05B Length 0.45m(1.48ft.)

QC06B Length 0.6m(1.97ft.)

Extension cable

Manual pulse

generator

Teaching unit

Cable for the

teaching unit

Short-circuit

connector for

teaching unit

Serial absolute

synchronous

encoder

Serial absolute

synchronous

encoder cable

QC12B Length 1.2m(3.94ft.)

QC30B Length 3m(9.84ft.)

QC50B Length 5m(16.40ft.)

QC100B Length 10m(32.81ft.)

MR-HDP01

A31TU-D3K13 For SV13, With 3-position deadman switch, Only Japanese

A31TU-DNK13 For SV13, Without deadman switch, Only Japanese

Q170TUD3CBL3M

Q170TUDNCBL3M

Q170TUDNCBL03M-A

Q170TUTM

A31TUD3TM

MR-HENC

Q170ENC

MR-JHSCBL M-H

Q170ENCCBL

Table of Motion controller related module (continued)

(Note-1)

Description

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

Permitted axial loads Radial load: Up to 19.6N

Thrust load: Up to 9.8N

Permitted speed: 200r/min(Normal rotation), Voltage output

Q173CPUN-T/Q172CPUN-T

(Attachment: Short-circuit connector (A31TUD3TM) for teaching unit)

Q173CPUN-T/Q172CPUN-T

(Attachment: Short-circuit connector (A31TUD3TM) for teaching unit)

Exchange cable for direct connection Q173CPUN-T/Q172CPUN-T

A31TU-DN

Short-circuit connector for teaching unit for direct connection to

Q173CPUN-T/Q172CPUN-T

It is packed together with Q173CPUN-T/Q172CPUN-T.

Short-circuit connector for teaching unit for connection to connect with

Q170TUD3CBL3M/Q170TUDNCBL3M

It is packed together with Q170TUD3CBL3M/Q170TUDNCBL3M.

Resolution: 16384PLS/rev

Permitted axial loads Radial load: Up to 98N

Thrust load: Up to 49N

Permitted speed: 4300r/min

Resolution: 262144PLS/rev

Permitted axial loads Radial load: Up to 19.6N

Thrust load: Up to 9.8N

Permitted speed: 3600r/min

Serial absolute synchronous encoder

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

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

motors)

Serial absolute synchronous encoder Q170ENC

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

50m(164.04ft.)

, 0.3m(0.98ft.)

A31TU-D3 , 3m(9.84ft.)

A31TU-DN , 3m(9.84ft.)

Q172EX

Q172EX-S2/-S3

Current

consumption

5VDC[A]

——

0.06

0.26

——

0.15

0..20

——

Remark

2 - 16

2 SYSTEM CONFIGURATION

Part name Model name

MR-J2CNS

Connector set for

serial absolute

synchronous

encoder cable

Q170ENCCNS

Q172HBCBL M

Q172HBCBL M-B

Q172J2BCBL M

Q172J2BCBL M-B

Q173HB CBL M Q173CPU(N) Servo amplifier (MR-H BN)

SSCNET cable

Q173J2B CBL M Q173CPU(N) Servo amplifier MR-J2 -B

Table of Motion controller related module (continued)

(Note-1)

Description

Q172EX(-S1) side connector

Connector :10120-3000VE

Connector case : 10320-52F0-008

MR-HENC side connector

Plug : MS3106B20-29S

Cable clump : MS3057-12A

Q172EX-S2/-S3 side connector

Connector :10120-3000VE

Connector case : 10320-52F0-008

Q170ENC side connector

Plug : MS3106B22-14S

Cable clump : MS3057-12A

• Q172CPU(N)

• MR-H

Q172CPU(N)

(Q170BAT)

• Q172CPU(N)

• Servo amplifier (MR-J2

• Dividing unit (Q173DV)

Q172CPU(N)

(Q170BAT)

Servo amplifier (MR-H BN)

BN FR-V5NS

(Note-5)

Servo amplifier (MR-H BN) and Battery unit

Servo amplifier (MR-J2 -B)

(Note-4)

-B)

FR-V5NS

(Note-5)

Servo amplifier (MR-J2 -B)

(Note-4)

(Note-5)

(Note-4)

and Battery unit

Current

consumption

Remark

5VDC[A]

——

Q173DVCBL M Q173CPU(N) Dividing unit(Q173DV)

FR-V5NSCBL

• Q172CPU(N)

• FR-V5NS

(Note-5)

FR-V5NS

(Note-5)

MR-HBUS M Servo amplifier (MR-H BN) Servo amplifier (MR-H BN)

MR-J2HBUS M-A

MR-J2HBUS

• Servo amplifier (MR-H

BN) Servo amplifier (MR-J2 -B)

• Servo amplifier (MR-H BN) Dividing unit (Q173DV)

• Servo amplifier (MR-J2

• Servo amplifier (MR-J2 -B)

(Note-4)

-B)

Servo amplifier (MR-J2 -B)

(Note-4)

Dividing unit (Q173DV)

(Note-4)

SSC I/F board A30BD-PCF ISA bus loading type, 2ch/board

——

SSC I/F card A30CD-PCF PCMCIA TYPE II, 1ch/card

Cable for SSC I/F

board

Cable for SSC I/F

card

Q170BDCBL

Q170CDCBL

Dividing unit Q173DV

Q173CPU(N)/Q172CPU(N)

3m(9.84ft.), 5m(16.40ft.), 10m(32.81ft.)

Q173CPU(N)/Q172CPU(N)

3m(9.84ft.), 5m(16.40ft.), 10m(32.81ft.)

SSC I/F board

SSC I/F card

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

(Attachment: Battery holder for IC-RAM memory backup)

——

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

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

Battery A6BAT

(Motion SFC programs(SV13/SV22), Servo programs(SV13/SV22),

——

Motion programs(SV43), Parameters)

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

2 - 17

2 SYSTEM CONFIGURATION

Part name Model name

Q172CPU(N)

connector set

Q173CPU(N)

connector set

Q173DV

connector set

Connector/terminal

block conversion

module

Cable for

connector/terminal

block conversion

module

Q172CON

Q173CON

Q173DVCON

A6TBXY36

A6TBXY54

A6TBX70 For positive common sink type input module (3-wire type)

AC05TB Length 0.5m (1.64ft.)

AC10TB Length 1m (3.28ft.)

AC20TB Length 2m (6.56ft.)

AC30TB Length 3m (9.84ft.)

AC50TB Length 5m (16.40ft.)

AC80TB Length 8m (26.25ft.)

AC100TB Length 10m(32.81ft.)

(Note-1) : =Number of systems (none: 1 system, 2: 2 systems, 4: 4 systems)

(Note-2) : Q172EX-S1 and Q173PX-S1 can be used is only the operating system software of special specification that

(Note-3) : Be sure to use the power supply module within the range of power supply capacity.

(Note-4) : MR-J2S- B/MR-J2M-B/MR-J2- B/MR-J2-03B5 type servo amplifier

(Note-5) : SSCNET communication option for vector inverter

(Note-6) : Crimping terminal is not sold in Mitsubishi. The following jig is requested to be procured by customers.

Table of Motion controller related module (continued)

(Note-1)

Description

Connector for Q172CPU(N)

Connector : HDR-E14MG1

Case : HDR-E14LPA5

Q173CPU(N) side connector set

Connector : HDR-E26MG1

Case : HDR-E26LPA5

Q173CPU(N) side connector set

Connector : HDR-E26MG1

Case : HDR-E26LPA5

Q173DV side connector set

Connector : 10126-3000VE

Case : 10326-52F0-008

For positive common sink type input module, sink type output module

(standard type)

For positive common sink type input module, sink type output module (2-

wire type)

=Cable length (05: 0.5m(1.64ft.), 1: 1m(3.28ft.), 2: 2m(6.56ft.), 3: 3m(9.84ft.), 5: 5m(16.40ft.), 10: 10m(32.81ft.),

20: 20m(65.62ft.), 30: 30m(98.43ft.))

needs data exchange function.

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

(Note-6)

Current

consumption

5VDC[A]

——

Remark

2 - 18

2 SYSTEM CONFIGURATION

(2) Q series PLC module which 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

Analogue module

Contact output

module

Sink Type

Transisto

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

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

Q68ADV 8ch, A/D conversion, Voltage input

Q68ADI 8ch, A/D conversion, Current input

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

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

Q68DAV 8ch, D/A conversion, Voltage output

Q68DAI 8ch, D/A conversion, Current output

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, 16 points(16 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 Remark

Marked " ": connectors are not provided.

2 - 19

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

Terminal connector MR-TM Connected to the last servo amplifier (MR-H BN) by SSCNET.

SSCNET cable

Encoder cable

Encoder connector set

MR-H

MR-HBUS M

MR-J2HBUS M-A

Q172HBCBL

MR-HSCBL M

MR-EN1CBL M-H

MR-JCCBL M-L

MR-JCCBL

MR-JSCNS

MR-EN1CNS

The following servo amplifier series can be used.

(a) MR-H BN

KBN

(Note-1) : MR-J2S- B/MR-J2M-B/MR-J2- B/MR-J2-03B5 type servo amplifier

(Note-2) : SSCNET communication option for vector inverter

Refer to catalogue of the servo amplifier.

MR-H

BN MR-H BN

0.5m(1.64ft.), 1m(3.28ft.), 5m(16.40ft.)

• Q173DV

• MR-H

0.5m(1.64ft.), 1m(3.28ft.), 5m(16.40ft.)

MR-H

0.5m(1.64ft.), 1m(3.28ft.), 5m(16.40ft.)

HA-LH

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

HA-FF, HC-MF/UF(3000r/min)

M-H

Servo amplifier side connector for HA-LH

Encoder side connector set

When the vector inverter (FR-V5

MR-H BN

BN MR-J2 -B

BN FR-V5NS

K, HC-SF/RF/UF(2000r/min) series motor MR-H BN

(Note-1)

(Note-2)

MR-H BN

K, HC-SF/RF/UF(2000r/min) series motor,

0- ) is connected, fix the ferrite core to the SSCNET cable.

2 - 20

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 series

servo amplifier

Battery MR-BAT Back-up for the absolute position detection.

Terminal connector MR-A-TM

SSCNET cable

Encoder cable

Encoder connector set

MR-J2S-

MR-J2M- DU Drive unit

MR-J2M-P8B Interface unit

MR-J2M-BU

MR-J2-

MR-J2-03B5

MR-J2HBUS M-A

MR-J2HBUS M

Q172J2BCBL

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

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

(Note-1) : MR-J2S- B/MR-J2M-B/MR-J2- B/MR-J2-03B5 type servo amplifier

(Note-2) : SSCNET communication option for vector inverter

Refer to catalogue of the servo amplifier.

Base unit

Refer to catalogue of the servo amplifier.

Connected to the last servo amplifier(MR-J2S-

03B5) by SSCNET

• Q173DV

• MR-H

0.5m(1.64ft.), 1m(3.28ft.), 5m(16.40ft.)

• MR-J2

0.5m(1.64ft.), 1m(3.28ft.), 5m(16.40ft.)

MR-J2

0.5m(1.64ft.), 1m(3.28ft.), 5m(16.40ft.)

Long fixing life

encoder cable

Long fixing life

encoder cable

M-H

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 electromagnetic brake) and HC-

AQ 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.

When the vector inverter (FR-V5

MR-H BN

BN MR-J2 -B

(Note-1)

-B

MR-J2 -B

(Note-1)

-B

Q173DV

(Note-1)

-B

FR-V5NS

• HC-SFS/RFS/UFS(2000r/min) series motor

MR-J2S-

• HC-SF/RF/UF(2000r/min) series motor

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

• HC-MFS/KFS/UFS(3000r/min) series motor

MR-J2S-

• HC-MF/UF(3000r/min) and HA-FF series motor

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

HC-AQ series motor

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

HC-AQ series motor

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

(Motor cable for servomotor with electromagnetic brake)

(Note-1)

(Note-2)

B/MR-J2M-B

0- ) is connected, fix the ferrite core to the SSCNET cable.

B/MR-J2M-B/MR-J2- B/MR-J2-

MR-J2- B

MR-J2-03B5

2 - 21

2 SYSTEM CONFIGURATION

Part name Model name Description

FR-V520- K FR-V500 series vector

inverter

SSCNET cable

FR-V540-

Q172J2BCBL M

FR-V5NSCBL

Refer to catalogue of the vector inverter.

• MR-J2

0.5m(1.64ft.), 1m(3.28ft.), 5m(16.40ft.)

• Q172CPU(N)

• FR-V5NS

0.5m(1.64ft.), 1m(3.28ft.), 5m(16.40ft.), 10m(32.81ft.), 20m(65.62ft.)

(Note-1) : MR-J2S- B/MR-J2M-B/MR-J2- B/MR-J2-03B5 type servo amplifier

(Note-2) : SSCNET communication option for vector inverter

When the vector inverter (FR-V5

-B

(Note-1)

(Note-2)

FR-V5NS

0- ) is connected, fix the ferrite core to the SSCNET cable.

(Note-2)

(4) Software packages

Part name Model name Details

SW6RNC-GSVPROE

MT Developer

SW6RNC-GSVSETE

(Note) : Operating environment of the MT Developer is WindowsNTR4.0/WindowsR98/WindowsR2000/ WindowsRXP

English version) only.

(a) Operating system software packages

Application

For conveyor assembly SV13

(Motion SFC)

For automatic machinery SV22

(Motion SFC)

For machine tool peripheral SV43

Q173CPU(N) Q172CPU(N)

SW6RN-SV13QB SW6RN-SV13QD

SW6RN-SV22QA SW6RN-SV22QC

SW5RN-SV43QA SW5RN-SV43QC

(b) Integrated start-up support software package

Conveyor assembly software : SW6RN-GSV13P

Automatic machinery software : SW6RN-GSV22P

SW6RNC-GSVE

(Integrated start-up support

software

(1 CD-ROM) )

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

A30CD-PCF (SSC I/F card (PCMCIA TYPE II 1CH/card) )

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

Machine tool peripheral software : SW6RN-GSV43P

Cam data creation software : SW3RN-CAMP

Digital oscilloscope software : SW6RN-DOSCP

Communication system software : SW6RN-SNETP

Document print software : SW3RN-DOCPRNP,

SW20RN-DOCPRNP

(Note-2)

Software package

Installation manual

SW6RNC-GSVPROE

2 - 22

Size

2 SYSTEM CONFIGURATION

(5) Operating environment of personal computer

Operating environment is shown below.

Item

CPU Pentium133MHz or more Pentium II 233MHz or more Pentium II 450MHz or more

Memory

capacity

Hard disk free

space

Disk drive 3.5inch (1.44MB) floppy disk drive, CD-ROM disk drive

Display 800×600 pixels, 256 colors or more

WindowsNT

or later)

Recommended 32MB or more Recommended 64MB or more Recommended 192MB or more

IBM PC/AT with which WindowsNT4.0/98/2000/XP English version operates normally.

4.0(Service Pack 2

(Note)

or WindowsR98

Windows

Hard disk free space is as following list.

2000 WindowsRXP

(Note) : Impossible to use USB connection.

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

Model name

SW6RN-GSV13P 60MB 38MB

SW6RN-GSV22P 60MB 42MB

SW6RN-GSV43P 45MB 29MB

SW3RN-CAMP 2MB 3MB

SW6RN-DOSCP 30MB 5MB

SW6RN-SNETP

SW3RN-DOCPRNP 30MB 5MB

SW20RN-DOCPRNP 30MB 5MB

(Note-1) : WindowsNTR, WindowsRare either registered trademarks or trademarks of Microsoft Corporation

in the United States and/or other countries.

(Note-2) : Pentium

United States and other countries.

Custom (When all selection) 60.5MB

are trademarks or registered trademarks of Intel Corporation or its subsidiaries in the

SW6RNC-GSVE SW6RNC-GSVHELPE

Standard 60MB

3MB

(6) Related software packages

(a) PLC software package

Model name Software package

GX Developer SW D5C-GPPW -E

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

POINTS

(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 Be sure to use the small size fonts.

4.0/WindowsR98/WindowsR2000/ WindowsRXP.

2 - 23

2 SYSTEM CONFIGURATION

2.3 General Specifications

General specifications of Q173CPU(N)/Q172CPU(N) module are shown below.

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(6561.68ft.) 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 fixed 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 environment 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 an operation failure. When using the PLC under pressure, please contact your sales

representative.

2 - 24

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 preventing vinyl bags and store. When storing for a long time, please contact with our sales representative.

2 - 25

2 SYSTEM CONFIGURATION

2.4 Specifications of Equipment and Settings

2.4.1 Name of parts for CPU module

This section explains the names and setting of the module.

(1) Q173CPUN(-T)/Q172CPUN(-T)

Put your finger here to open the cover.

Front face

Q17 CPUN T

MODE

RUN ERR.

M.RUN

BOOT

CN2

PULL

CN1

USB

RS-232

BAT.

FRONT

SSCNET

10)

11)

12)

With front cover open

MODE

RUN ERR.

M.RU N

BAT.

BOOT

ON SW

1 2 3 4 5

STOP RUN

RESET L CLR

20)

13)

14)

15)

Side face

16)

Q172CPUN(-T)

Bottom

19)

20)

Q173CPUN(-T)

18)

19)

20)

18)

17)

2 - 26

2 SYSTEM CONFIGURATION

(2) Q173CPU/Q172CPU

Front face

Q17 CPU

MODE

M.RUN

BOOT

PULL

RUN ERR.

BAT.

SSCNET

FRONT

CN2

CN1

10)

With front cover open

MODE

RUN ERR.

M.R UN

BAT.

BOOT

ON SW

1 2 3 4 5

STOP RUN

RESET L CLR

13)

14)

15)

USB

RS-232

Put your finger here to open the cover.

Side face

22)

21)

Q172CPU

11)

12)

Bottom

Q173CPU

16)

19)

18)

19)

18)

17)

2 - 27

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) M. RUN LED

6) BAT. LED • Lit : Battery error occurrence (External battery use)

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 RS-232 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 RS-232 connector.

(Note)

• Lit(green)

• Lit(orange)

• Lit : Motion CPU normal start

• Not lit : Motion CPU fault

• Lit : LED turns on at following error occurrence.

• Flickers : Detection of self diagnostic error which will stop the operation.

• Not lit : Normal

• Lit : During motion control

• Flickers : Latch clear start

• Not lit : Not during motion control or detection of self diagnostic error which will stop the

• Lit

• Not lit

• Connector used to connect the memory card to the Motion CPU. (The Motion CPU make use

of the memory card by operating system software package.)

• Connector for connection with USB-compatible peripheral device. (Connector type B)

• It can be connected by USB-dedicated cable.

• Connector for connection with a peripheral device.

• It can be connected by RS-232 connection cable (QC30R2)

: Normal mode

: Installation mode • mode written in ROM

LED turns off when the trouble occurred at Motion CPU start or WDT error

occurrence.

1) WDT error

2) System setting error

3) Servo error

4) Self diagnostic error which will not stop the operation (except battery error)

5) Operating system software is not installed.

operation

: Mode operated by ROM

: Mode operated by RAM/Installation mode • mode written in ROM

CPU module

RS-232 cable

2 - 28

Q6HLD-R2

2 SYSTEM CONFIGURATION

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

No. Name Application

Dip switches

ON SW

13)

14) RUN/STOP 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)

Q172CPU(N)

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

Dip switch 5

(Installation •

ROM writing

switch)

Move to RUN/STOP.

RUN : Motion SFC program(SV13/SV22)/Motion program(SV43) is started.

STOP : Motion SFC program(SV13/SV22)/Motion program(SV43) is stopped.

RESET : Set the switch to the

L.CLR : Clear the latch area all data which set with the parameters.

(LATCH CLEAR also clears data outside the latch area at this time.)

(Note-1)

Latch clear operating method

1) Set the

2) Move the

flickers. (

3) Move the

SW2

OFF

ON : Installation mode • mode written in ROM

OFF : Normal mode (Mode operated by RAM/Mode operated by ROM)

• Turn ON dip switch 5 when installed the operating system software into the

Motion CPU module from the peripheral device. After completing the installation,

move to switch and re-start.

Applies a reset after an operation error and initialized the operation.

RUN/STOP" switch to "STOP".

RESET/L.CLR" switch to "L.CLR" several times until the "M. RUN LED"

M. RUN LED" flickers : Latch clear completed. )

RESET/L.CLR" switch to "L.CLR" once more. ("M. RUN LED" turn off.)

SW3

OFF

RESET" position once to reset the hardware.

Mode operated by RAM

Must not be set

Mode operated by ROM

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

18) CN1 connector

19) CN2 connector Connector connect between personal computer via SSCNET

20) TU connector

21) Cooling fan connector

22) Cooling fan unit

(Note-1) : It is not possible to reset the Multiple CPU system by each of the PLC CPU/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 PLC CPU.

(Note-2) : For example of the Q173CPU(N), the connector CN1 divide signals allocated each of SSCNET SYSTEM 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 systems.

(Note-3) : Q173CPUN-T/Q172CPUN-T only. Teaching unit corresponds to only Japanese.

(Note-4) : When connecting the teaching unit, be sure to use the cable which adjusts to the model name of teaching unit.

(Note-5) : Q173CPU/Q172CPU only. Teaching unit corresponds to only Japanese.

(Note-2)

Connector connect between Motion CPU module and servo amplifier

(Note-3)(Note-4)

Connector connect between Motion CPU module and teaching unit

(Note-5)

Connector connect between Motion CPU module and Cooling fan unit (Q170 FAN)

(Note-5)

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

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

2 - 29

2 SYSTEM CONFIGURATION

Item Q173CPUN Q173CPUN-T Q173CPU Q172CPUN Q172CPUN-T Q172CPU

Teaching unit —— Usable —— —— Usable ——

Internal current

consumption(5VDC) [A]

Mass [kg] 0.23 0.24 0.22 0.22 0.23 0.21

Exterior dimensions

[mm(inch)]

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

(a) Module specifications

1.25 1.56

98(3.86)(H) 27.4(1.08)(W)

114.3(4.50)(D)

(Note)

1.75 1.14 1.45

118(4.65)(H)

27.4(1.08)(W)

89.3(3.52)(D)

(Note) : Current consumption 0.26[A] of the teaching unit is included.

98(3.86)(H)

114.3(4.50)(D)

(Note)

27.4(1.08)(W)

1.62

118(4.65)(H)

27.4(1.08)(W)

89.3(3.52)(D)

(5) SV13/22 Motion control specifications/performance specifications

Item Q173CPUN(-T) Q173CPU Q172CPUN(-T) Q172CPU

(a) Motion control specifications

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

0.88ms/ 1 to 8 axes

Operation cycle

(default)

SV13

SV22

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

0.88ms/1 to 8 axes

0.88ms/1 to 4 axes

1.77ms/5 to 8 axes

7.11ms/25 to 32 axes

Interpolation functions

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

Helical interpolation (3 axes)

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

Control modes

Constant speed control, Position follow-up control, Speed switching control,

High-speed oscillation control, Synchronous control (SV22)

Acceleration/

deceleration control

Automatic trapezoidal acceleration/deceleration,

S-curve acceleration/deceleration

Compensation Backlash compensation, Electronic gear

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

Servo program capacity 14k steps

Number of positioning

points

(Positioning data can be designated indirectly)

3200 points

Programming tool IBM PC/AT

Peripheral I/F USB/RS-232/SSCNET

Teaching operation

function

Home position return

function

Proximity dog type (2 types), Count type (3 types), Data set type (2 types), Dog cradle type,

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

Provided (Q173CPUN-T/Q172CPUN-T, SV13 use)

Stopper type(2 types), Limit switch combined type

JOG operation function Provided

Manual pulse generator

operation function

Possible to connect 3 modules

2 - 30

2 SYSTEM CONFIGURATION

Item Q173CPUN(-T) Q173CPU Q172CPUN(-T) Q172CPU

Motion control specifications (continued)

Synchronous encoder

operation function

M-code function

Limit switch output

function

Absolute position system

Number of SSCNET I/F 5CH

Motion related interface

module

(Note-1) : Be sure to use the Dividing unit (Q170DV) or Dividing cable (Q173J2B CBL M/Q173HB CBL M).

(Note-2) : When using the incremental synchronous encoder by using SV22, you can use above number of modules.

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

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 points

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): When the vector inverter is used, only the increment method.

Q172LX : 4 modules usable Q172LX : 1 module usable

Q172EX : 6 modules usable Q172EX : 4 modules usable

Q173PX : 4 modules usable

(Note-1)

2CH

(Note-2)

Q173PX : 3 modules usable

(Note-2)

2 - 31

2 SYSTEM CONFIGURATION

Motion SFC program capacity

(b) Motion SFC performance specifications

Item Q173CPU(N)/Q172CPU(N)

Code total (Motion SFC chart+ Operation control+ Transition) Text total (Operation control+ Transition) Number of Motion SFC programs 256(No.0 to 255)

Motion SFC chart size/program

287k bytes

224k bytes

Up to 64k bytes

(Included Motion SFC chart comments)

Motion SFC program

Operation control program (F/FS) / Transition program (G)

Execute specification

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

Number of Motion SFC steps/program Up to 4094 steps

Number of selective branches/branch 255 Number of parallel branches/branch 255 Parallel branch nesting Up to 4 levels

Number of operation control programs

Number of transition programs 4096(G0 to G4095)

Code size/program Up to approx. 64k bytes (32766 steps) ( ) nesting/block Up to 32

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

Number of operand/block

( ) nesting/block Up to 32 levels

Operation control Descriptive Expression

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

Executed task

program

Transition program

Normal task Execute 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)

(operand: constants, word device, bit devices)

Calculation expression/bit conditional expression

Calculation expression/bit conditional

expression/comparison conditional expression

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

Execute when input ON is set among interrupt

Execute with interrupt instruction (S(P).GINT) from

Execute when input ON is set among interrupt module

Up to 64

Execute in fixed cycle

module QI60 (16 points).

PLC CPU.

QI60 (16 points).

2 - 32

2 SYSTEM CONFIGURATION

(6) SV43 Motion control specifications/performance specifications

Item Q173CPUN Q173CPU Q172CPUN Q172CPU

Operation cycle

(default)

Interpolation functions

Control modes PTP(Point to Point) control, Constant-speed positioning, High-speed oscillation control Acceleration/ deceleration control

Compensation Backlash compensation, Electronic gear

Programming language Dedicated instruction (EIA language)

Motion program capacity 248k bytes

Number of programs 1024 Number of simultaneous start programs

Number of positioning points

Number of I/O (X/Y) points 8192 points Number of real I/O (PX/PY) points

Programming tool IBM PC/AT

Peripheral I/F USB/RS-232/SSCNET

Teaching operation function None

Home position return function

JOG operation function Provided Manual pulse generator operation function

M-code function

Limit switch output function

Skip function Provided Override ratio setting function Override ratio setting : 0 to 100 [%]

Absolute position system

Number of SSCNET I/F 5CH

Motion related interface module

(Note-1) : Be sure to use the Dividing unit (Q170DV) or Dividing cable (Q173J2B CBL M/Q173HB CBL M).

(a) Motion control specifications

0.88ms/ 1 to 4 axes

1.77ms/ 5 to 12 axes

3.55ms/13 to 24 axes

7.11ms/25 to 32 axes

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

Helical interpolation (3 axes)

Automatic trapezoidal acceleration/deceleration,

S-curve acceleration/deceleration

Axis designation program: 32 Control program: 16

Approx. 10600 points

(Positioning data can be designated indirectly)

Total of 256 points

Proximity dog type (2 types), Count type (3 types), Data set type (2 types),

Dog cradle type, Stopper type (2 types), Limit switch combined type

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

Possible to connect 3 modules

M-code output function provided

M-code completion wait function provided

Number of output points 32 points

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): When the vector inverter is used, only the increment method.

Q172LX : 4 modules usable Q172LX : 1 module usable Q173PX : 1 module usable Q173PX : 1 module usable

(Note-1)

2CH

0.88ms/1 to 4 axes

1.77ms/5 to 8 axes

Axis designation program: 8 Control program: 16

2 - 33

2 SYSTEM CONFIGURATION

Program capacity

Operation controls

G-codes Positioning command

M-codes Output command to data register M**** Special M-codes Program control command M00, M01, M02, M30, M98, M99, M100 Variable Device variable PX, PY, B, F, D, W, #

Functions

Instructions

Number of controls

Total of program files 248k bytes Number of programs Up to 1024 (No. 1 to 1024)

Arithmetic operation

Comparison operation Equal to, Not equal to

Logical operation

Trigonometric function SIN, COS, TAN, ASIN, ACOS, ATAN

Numerical function

Start/end CALL, CLEAR

Home position return CHGA

Speed/torque setting TL, CHGV, CHGT Motion control WAITON, WAITOFF, EXEON, EXEOFF

Jump/repetition processing

Data operation

Number of program calls (GOSUB, GOSUBE) Number of program calls (M98) Up to 8

(b) Motion program performance specifications

Item Q173CPU(N)/Q172CPU(N)

Unary operation, Additive operation,

Multiplicative operation, Remainder operation

Logical shift operation, Logical negation, Logical AND,

Logical OR, Exclusive OR

G00, G01, G02, G03, G04, G09, G12, G13, G23, G24, G25, G26, G28, G30, G32, G43, G44, G49, G53, G54, G55, G56,

G61, G64, G90, G91, G92, G98, G99, G100, G101

ABS, SQR, BIN, LN, EXP, BCD, RND, FIX, FUP, INT, FLT,

DFLT, SFLT

CALL, GOSUB, GOSUBE, IF…GOTO,

IF…THEN…ELSE…END, WHILE…DO

BMOV, BDMOV, FMOV, BSET, BRST, SET, RST, MULTW, MULTR, TO, FROM, ON, OFF, IF…THEN…SET/RST/OUT,

Up to 8

2 - 34

2 SYSTEM CONFIGURATION

(7) Selection of Q172EX, Q173PX

Item

Q173CPU(N) 12 modules

Q172CPU(N) 8 modules

Module selection Q172EX Q173PX

(8) Q173CPU(N)/Q172CPU(N) internal rechargeable 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 external battery will be necessary if there is a possibility that a continuous power off that lasts longer than the continuous power failure hours for the internal rechargeable battery specified in the table below may occur, for example when transporting the system on a ship.

Internal rechargeable

(Note)

battery

Synchronous encoder

Serial absolute Incremental

Item

Charging time: 8 hours or more

Charging time: 40 hours or more

Manual pulse generator

3 modules

Continuous power failure time [h]

Guaranteed time (MIN) Actual time (TYP)

200 500

1100 4300

2 - 35

2 SYSTEM CONFIGURATION

2.4.2 Power supply module

(1) Table of the power supply module specifications

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

External output voltage —— 24VDC±10%

protection

Overvoltage protection

Efficiency 70% or more 65% 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 0.59 to 0.78 N•m

Exterior dimensions[mm(inch)]

Mass [kg] 0.31 0.39

(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 3A

24VDC —— 0.6A

5VDC 6.6A or more 3.3A or more Overcurrent

24VDC —— 0.66A or more

5VDC 5.5 to 6.5V

This section describes the power supply modules specifications.

Performance specifications

Q61P-A1 Q61P-A2 Q62P

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

(85 to 132VAC)

2,830VAC rms / 3 cycles (Altitude : 2000m (6561.68ft.) )

Across inputs and outputs (LG and FG separated), across inputs and LG/FG, across outputs and LG/FG. 10M

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

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

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

(170 to 264VAC)

20ms or less

Across inputs/LG and outputs/FG

24VDC, 0.5A

98(H) × 55.2(W) × 90(D)

(3.86(H) × 2.17(W) × 3.54(D) )

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

(85 to 264VAC)

2 - 36

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

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 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 0.59 to 0.78 N•m

Exterior dimensions[mm(inch)]

Mass [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) × 3.54(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 (6561.68ft.) )

Across inputs and outputs (LG and FG separated), across inputs and LG/FG, across outputs and LG/FG 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

98(H) × 55.2(W) × 115(D)

(3.86(H) × 2.17(W) × 4.53(D) )

or more by insulation

2 - 37

2 SYSTEM CONFIGURATION

POINTS

(Note-1) : Overcurrent protection

The overcurrent protection device shuts off the 5VDC or 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 - 38

2 SYSTEM CONFIGURATION

(2) Names of Parts and Setting

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

9) 1)

(a) Q61P-A1, Q61P-A2, Q62P, Q63P, Q64P

Q61P-A1

Q61P-A2

9) 1)

POWER

INPUT

100-120VAC

50/60Hz 105VA OUTPUT 5VDC 6A

ERR.

24VDC 0.5A

(FG)

(LG)

INPUT 100-120VAC

10)

Q62P

9) 1)

Q62P

INPUT

100-240VAC

50/60Hz 105VA OUTPUT 5VDC 3A 24VDC 0.6A

10)

ERR.

24V

24VDC 0.5A

(FG)

(LG)

INPUT

100-240VAC

Q62P

9) 1)

POWER

Q64P

10)

Q61P-A 2

INPUT

200-240VAC

50/60Hz 105VA OUTPUT 5VDC 6A

24VDC 0.5A

INPUT

200-240VAC

Q61P - A2

ERR.

POWER

(FG)

(LG)

Q63P

9) 1)

Q61P-A2

INPUT

100-120/200-240VAC

50/60Hz 160VA OUTPUT 5VDC 8.5A

INPUT

100-120/200-240VAC

Q61P-A2

10)

24VDC 0.5A

ERR.

(FG)

(LG)

POWER

Q61P-A2

INPUT

100-120/200-240VAC

50/60Hz 160VA OUTPUT 5VDC 8.5A

INPUT 100-120/200-240VAC

Q61P-A2

10)

ERR.

24VDC 0.5A

POWER

(FG)

(LG)

2 - 39

2 SYSTEM CONFIGURATION

No. Name Application

1) POWER LED 5VDC power indicator LED

ERR

terminals

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

6) +24V, 24G terminals Used to supply 24VDC power to inside the output module. (using external wiring)

7) Terminal screw M3.5 7

8) Terminal cover Protective cover of the terminal block

9) Module fixing screw

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

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

Normally off when loaded in an extension base unit.

• Used to connect a 100VAC or 200VAC power supply.(Q61P-A1, Q61P-A2, Q62P, Q64P)

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

Used to fix the module to the base unit.

12 screw, tightening torque : 0.36 to 0.48 N•m)

(M3

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.

Operates normally.

CPU cannot be operated.

(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 LG and FG. (Ground resistance: 100

less)

2 - 40

2 SYSTEM CONFIGURATION

(3) Selection of the power supply module

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 in consideration of the current consumption of the peripheral device connected to the MR-HENC, MR-HDP01 or A31TU-D3 For information about the current consumption of 5VDC of the I/O modules, special function module, and peripheral device, refer to the QCPU 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-1)

Manual pulse generator interface module

Manual pulse generator MR-HDP01

Teaching unit

Serial absolute synchronous encoder

Cooling fan unit Q170FAN Cooling fan of the Motion CPU module

(Note-1) : Select the power supply module in consideration of the current consumption of connecting peripheral device (MR-HENC/

(Note-2) : Current consumption of A31TU-D3

(Note-1)

Q170ENC or MR-HDP01).

The current consumption of Motion controller is as follows.

Q173CPUN Up to 32 axes control

Q173CPUN-T Up to 32 axes control, For teaching unit

Q173CPU Up to 32 axes control, With cooling fan unit

Q172CPUN Up to 8 axes control

Q172CPUN-T Up to 8 axes control, For teaching unit

Q172CPU Up to 8 axes control, With cooling fan unit

Q172LX

Q172EX

Q172EX-S1

Q172EX-S2

Q172EX-S3

Q173PX

Q173PX-S1

A31TU-D3K13 For SV13, With 3-position deadman switch

A31TU-DNK13 For SV13, Without deadman switch

MR-HENC

Q170ENC

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

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

Serial absolute synchronous encoder MR-HENC interface×2, Tracking input 2 points, Memory built-in for data exchange

Serial absolute synchronous encoder Q170ENC interface×2, Tracking input 2 points

Serial absolute synchronous encoder Q170ENC interface×2, Tracking input 2 points, Memory built-in for data exchange

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

Manual pulse generator MR-HDP01/Incremental synchronous encoder interface×3, Tracking input 3 points, Memory built-in for data exchange

Pulse resolution: 25PLS/rev (100 PLS/rev after magnification by 4) Permitted axial loads Radial load: up to 19.6N/Thrust load: Up to 9.8N Permitted speed: 200r/min (Normal rotation), Voltage output

Resolution: 16384PLS/rev Permitted axial loads Radial load: up to 98N/Thrust load: up to 49N Permitted speed: 4300r/min

Resolution: 262144PLS/rev Permitted axial loads Radial load: up to 19.6N/Thrust load: up to 9.8N Permitted speed: 3600r/min

/A31TU-DN is included.

/A31TU-DN , etc.)

Current

consumption

5VDC [A]

1.25

(Note-2)

1.56

1.75

1.14

(Note-2)

1.45

1.62

0.05

0.07

0.11

0.06

0.26

0.15

0.20

0.08

2 - 41

2 SYSTEM CONFIGURATION

(4) Example of the power supply selection calculation

(When using the Q173CPUN-T.)

(a) System configuration

Q61P-A1

Q02H

CPU

Q173 CPUN-T

Q172LX Q172EX QX40 QX40 QY10 QY10

Q173PX

Q38B

A31TU-D3K13

MR-HENC

MR-HDP01

(b) 5VDC current consumption of each module

Q02HCPU : 0.64 [A] Q173PX : 0.11 [A] Q173CPUN-T

(Note)

: 1.56 [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]

(Note) : Current consumption of A31TU-D3K13(0.26A) is included.

= 0.64 + 1.56 + 0.05 + 0.07 + 0.15 + 0.11 + 0.06

2 + 0.114 = 3.774[A]

2 + 0.05 2 + 0.43

Select of the power supply module(Q61P-A1(100VAC)6A) according to this

internal current consumption 3.774[A].

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

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

2 - 42

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 specifications

(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)]

Mass [kg] 0.21 0.25 0.35 0.45

Attachment Fixing screw M4 14 4 pieces (DIN rail fixing adapter is optional)

DIN rail fixing adapter type

Q33B Q35B Q38B Q312B

0.105 0.110 0.114 0.121

189(W)

(7.44(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)

(12.91(W) 3.86(H)

1.74(D) )

98(H)

439(W) 98(H)

44.1(D)

(17.28(W) 3.86(H)

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)]

Mass [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)

(7.44(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)

(12.91(W) 3.86(H)

98(H)

44.1(D)

1.74(D) )

(17.28(W) 3.86(H)

Q6DIN1

2 - 43

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 QCPU system.

Type

Item

Cable length[m(ft.)] 0.45(1.48) 0.6(1.97) 1.2(3.94) 3.0(9.84) 5.0(16.40) 10.0(32.8)

Application

Mass [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 between the

extension base units.

POINT

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

(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

CPU

3) 6)

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

DIN rail adapter fixing

6) hole

Hole for fixing this base unit onto the panel of the control panel (for M4

Hole for fixing DIN rail adapter

I/11

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

0358

screw)

2 - 44

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 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.

, while

I/O Allocations

8123 45670

Q25H

CPU

O U T

Power supply

module

CPU No.1

Q25H

CPU

CPU No.2 CPU No.3

Q173

CPU(N)

QX41

X0 to X1F

Module of

control

CPU No.1

QY41

Y20 to Y3F

Module of

control

CPU No.1

QY41

Y40 to Y5F

Module of

control

CPU No.2

Q172LX

Intelligent

32 points

(X60 to X7F)

Module of

control

CPU No.3

QX41

PX0 to PX1F

(Y80 to Y9F)

Module of

control

CPU No.3

QY41

PY20 to PY3F

(YA0 to YBF)

Module of

control

CPU No.3

QY41

YC0 to YDF

Module of

control

CPU No.1

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

Refer to the Programming Manual of the operating system software about the I/O allocation setting method,. Refer to the QCPU User's Manual(Function Explanation, Program Fundamentals) 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 - 45

2 SYSTEM CONFIGURATION

2.4.4 Q172LX Servo external signals interface module

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

(1) Q172LX name of parts

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

This LED is not turned on if it is not set the Q172LX in the

system settings.

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.

POINT

Mode judging LED turns ON at the following conditions. (1) DOG/CHANGE

(a) Q172LX is set on the system setting display of SW6RN-GSV

(b) DOG/CHANGE signal is input.

2 - 46

2 SYSTEM CONFIGURATION

(2) Performance specifications

(a) Module specifications

Item Specifications

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)]

Mass [kg] 0.15

Number of input points

Input method Sink/Source type

Isolation method Photocoupler

Rated input voltage 12/24VDC

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

Operating voltage range

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

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

Input resistance Approx. 5.6K

Response time of the

Upper/Lower stroke limit and

STOP signal

Response time of the

proximity dog, Speed-

position switching signal

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

Indicates to display ON indication (LED)

External connector type 40 pin connector

Applicable wire size

Applicable connector for the external

connection

Applicable connector/

Terminal block converter module

(b) Input

Item Specifications

OFF to ON

ON to OFF

OFF to ON

ON to OFF

27.4(W) 90(D)

98(H)

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

Servo external signals : 32 points

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

Proximity dog/Speed-position switching signal)

1ms

0.3mm

8 axes)

(4 points

10.2 to 26.4VDC

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

0.4ms/0.6ms/1ms

(CPU parameter setting, Default 0.4ms)

A6CON1 (Attachment),

A6CON2, A6CON3 (Optional)

A6TBXY36, A6TBXY54, A6TBXY70 (Optional)

2 - 47

2 SYSTEM CONFIGURATION

(3) Connection of servo external signals interface module

(a) Servo external signals

There are the following servo external signals. (Upper stroke limit is limit value of address increase direction/lower stroke limit is limit value of an address decrease direction.) The 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.

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 - 48

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

CTRL connector

Signal Name

DOG1/CHANGE1

DOG2/CHANGE2

DOG3/CHANGE3

DOG4/CHANGE4

FLS1

RLS1

STOP1

FLS2

RLS2

STOP2

FLS3

RLS3

STOP3

FLS4

RLS4

STOP4

No connect

COM

Pin No. Signal Name

A20

A19

A18

DOG5/CHANGE5

A17

A16

A15

A14

DOG6/CHANGE6

A13

A12

A11

A10

DOG7/CHANGE7

DOG8/CHANGE8

FLS5

RLS5

STOP5

FLS6

RLS6

STOP6

FLS7

RLS7

STOP7

FLS8

RLS8

STOP8

No connect

Signal No.

Applicable connector model name A6CON1 type soldering type connector

FCN-361J040-AU connector

FCN-360C040-B connector cover

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

(FUJITSU TAKAMISAW A COMPONENT LIMITED)

For information about signal details, refer to

the programming manual.

(Attachment)

(Optional)

STOP Stop signal RLS Lower stroke limit FLS Upper stroke limit

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

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

conversion module

TB ( :Length [ft.]) : Connector/terminal block

conversion cable

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.

2 - 49

2 SYSTEM CONFIGURATION

(4) Interface between CTRL connector and servo external signal

Input or Output

Input

Signal name Internal circuit

FLS1 FLS2 FLS3 FLS4 FLS5 FLS6 FLS7 FLS8

RLS1 RLS2 RLS3 RLS4 RLS5 RLS6 RLS7 RLS8

STOP1 STOP2 STOP3 STOP4 STOP5 STOP6 STOP7 STOP8

DOG/CHANGE1

DOG/CHANGE2 DOG/CHANGE3

DOG/CHANGE4

DOG/CHANGE5

DOG/CHANGE6

DOG/CHANGE7 DOG/CHANGE8

Power supply

(Note)

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.

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

CAUTION

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

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

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

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

2 - 50

2 SYSTEM CONFIGURATION

2.4.5 Q172EX Serial absolute synchronous encoder interface module

Q172EX receive external signals required for serial absolute synchronous encoder.

(1) Q172EX/Q172EX-S1/Q172EX-S2/Q172EX-S3 name of parts

Q172EX

SY.ENC 1

TREN

SY.ENC1

LITHIUM BATTERY

MITSUBISHI

SY.ENC2

Q172EX

(Note): The installation position of Q172EX-S2/Q172EX_S3 is only CPU base unit.

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 - 51

2 SYSTEM CONFIGURATION

(2) Performance specifications

Memory for data exchange None Provided None Provided

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)]

Mass [kg] 0.15

Number of input points 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)

(a) Module specifications

Item

(b) Tracking enable signal input

Item Specifications

OFF to ON

ON to OFF

Specifications

Q172EX Q172EX-S1 Q172EX-S2 Q172EX-S3

98(H)

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

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

(CPU parameter setting, Default 0.4ms)

27.4(W) 90(D)

10.2 to 26.4VDC

0.4ms/0.6ms/1ms

2 - 52

2 SYSTEM CONFIGURATION

Item Specifications

Applicable signal types Differential-output type : (SN75C1168 or equivalent)

Transmission method Serial communications

Synchronous method Counter-clock-wise (viewed 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

Connecting cable

Cable length Up to 30m (98.43ft.)

Back up the absolute position. Depends on A6BAT/MR-BAT.

Battery service life time(value in actual)

MR-J2CNS(Optional)

MR-JHSCBL

=cable length 2m(6.56ft.), 5m(16.40ft.), 10m(32.81ft.), 20m(65.62ft.),

(

30m(98.43ft.) )

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

30000[ h ], (Example of encoders1, Ambient temperature 40°C (104°F) )

(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.

(Note)

M-H

2 - 53

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(-S1) can be connected to only serial absolute output type(MR-HENC). Q172EX-S2/-S3 can be connected to only serial absolute output type (Q170ENC). 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 cannot be used, as the input start signal which start the input form serial absolute 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)

Up to 12 modules

( Q172EX: Up to 6 modules )

Up to 8 modules

( Q172EX: Up to 4 modules )

Item

Number of points

on one Q172EX

2 - 54

2 SYSTEM CONFIGURATION

(4) Connection of synchronous encoder interface module.

(a) Connection with serial absolute synchronous encoder

(MR-HENC/Q170ENC)

Use the SY.ENC connector at the Q172EX module front to connect the serial absolute synchronous encoder(MR-HENC/Q170ENC). When tracking enable signal is not used, use the MR-JHSCBL Q170ENCCBLM encoder cable between the serial absolute synchronous encoder (MR-HENC/Q170ENC) 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.

M-H/

SY.ENC connector

Pin No.

1LG11 L

2 LG 12 LG

3 LG 13 No connect

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), MDR(16Pin).

Signal

name

Pin No.

Signal

name

pplicable connector

model names

10120-3000VE connector

10320-52F0-008 connector cover

(3M m ake)

(b) Interface with external equipment

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

1) Wiring precautions Ensure the connector lock after connecting the connector.

Q173CPU(N)/ Q172CPU(N)

Q172EX

Q173CPU(N)/Q172CPU(N) : Motion CPU module

Q172EX : Serial absolute synchronous encoder interface module

SY.ENC connector

Serial absolute synchronous encoder cable (MR-JHSCBL M-H/Q170ENCCBL M)

Serial absolute synchron ous encoder (MR-HENC/Q170 ENC)

2 - 55

2 SYSTEM CONFIGURATION

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

Input or Output

Input

Signal name

MR 7

MRR 17

P5 10 18 19 20

LG 1 2 3 11 12

BAT 9

(Note)

TREN 4

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

5.6K

(Note)

TREN.

COM

plate

12VDC to 24VDC

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

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 to minimize the

influence of electromagnetic interface. (Separate them more than 200mm (0.66 ft.) 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(98.43ft.) 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 may damage the circuit of modules. Wire the cable correctly. Wrong wiring may damage the internal circuit.

2 - 56

2 SYSTEM CONFIGURATION

(6) Details of encoder cable connections

(a) Q172EX(-S1)

1) 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

11 P5 20 LG 12

MR 7 MRR 17

LG 1

Plate

:Twisted pair cable :Twisted pair cable

MR-JHSCBL5M-H (Less than 10m(32.81ft.) )

(Note-1),(Note-3)

SY.ENC side connector 10120-3000VE

P5 LG P5

MR MRR

TREN 4

TREN.COM 14

2) When using tracking enable signal

19 11 20 12

7 17

PlateSD

24VDC

:Twisted pair cable :Twisted pair cable

Cable length 10m (32.81ft.)

Model name for encoder connector set (MR-J2CNS)

R C D

F G

Synchronous encoder side connector

MS3106B20-29S

R C D

F G

(Note-3)

P5 19 LG

11 P5 20 LG 12

P5 18 LG 3 P5

10 LG

2 MR 7

MRR 17 BT 9

LG 1

Plate

MR-JHSCBL10M-H to MR-JHSCBL30M-H (10 to 30m (32.81 to 98.43ft.))

(Note-5)

R C D F G

(Note-1),(Note-4)

SY.ENC side connector 10120-3000VE

P5 19 LG

P5 20 LG 12

P5 18 LG 3 P5 LG

MR 7 MRR 17

BT 9

LG 1

TREN 4

TREN.COM 14

Cable length 10 to 30m (32.81 to 98.43ft.)

10 2

Plate

(Note-2)

24VDC

Synchronous encoder side connector

MS3106B20-29S

R C D F G

(Note-4)

(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.

2 - 57

2 SYSTEM CONFIGURATION

(b) Q172EX-S2/Q172EX-S3

1) When not using tracking enable signal

SY.ENC side connector

10120-3000VE (connector) 10320-52F0-008(connector case)

(Note-1)

Synchronous encoder side connector(plug)

MS3106B22-14S(cable clump)

P5 LG

BAT LG MR MRR MD MDR

SDplate

2) When using tracking enable signal

SY.ENC side connector 10120-3000VE (connector)

10320-52F0-008(connector case)

19 11

S R

20 12

9 1 7

:Twisted pair cable

K L H J

Q170ENCCBL2M to Q170ENCCBL50M(50m (164.04ft.) or less)

(Note-1), (Note-2)

Synchronous encoder side connector(plug)

MS3106B22-14S(cable clump)

P5 LG

BAT LG MR MRR MD MDR

SDplate TREN 4 TREN.COM 14

19 11

20 12

9 1 7

24VDC

:Twisted pair cable

Cable length 50m(164.04ft.) or less

S R

K L H J

(Note-1) : Be sure to use a wire model name AWG24.

(Note-2) : When using tracking enable signal, fabricate the encoder cable by customer side.

2 - 58

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

A6BAT/MR-BAT

Classification Manganese dioxide lithium primary battery

Normal voltage[V] 3.6

Battery discharge capacity [mAh] 1600

Battery warranty period 5 years

Lithium content [g] 0.48

Applications

For backup absolute positioning data of the serial absolute

synchronous encoder (MR-HENC/Q170ENC)

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

(Note) : The 44th Edition of the IATA (International Air Transportation Association) Dangerous Goods Regulations

was effected in January 1st, 2003 and administered immediately.

In this edition, the provisions relating to lithium and lithium ion batteries have been revised to strengthen

regulations on the air transportation of battery.

This battery is not dangerous goods (not class 9). Therefore, these batteries of 24 units or less are not

subject to the regulations.

These batteries more than 24 units require packing based on Packing Instruction 903.

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

For more information, contact Mitsubishi.

(b) Battery replacement

For Battery replacement procedure, refer to section 6.4.2.

Battery is supplied to the serial absolute synchronous encoder by the encode cable.

A6BAT /MR-BAT

LITHIUM BATTERY

MITSUBISHI

Battery connecto

2 - 59

2 SYSTEM CONFIGURATION

MR-HENC 1 pcs. 10000 30000

MR-HENC 2 pcs. 5000 15000

Q170ENC 1 pcs. 8000 24000

Q170ENC 2 pcs. 4000 12000

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

Battery service life time

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

CAUTION

2 - 60

2 SYSTEM CONFIGURATION

2.4.6 Q173PX Manual pulse generator interface 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-S1 name of parts

Q173PX-S1

PLS.A

PLS.B

PULSER

TREN

1 2 3

123456

KSD06S

Q173PX

No.

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

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

This LED is not turned on if it is not set the Q173PX in

the system settings.

Input connector of the Manual pulse generator/Incremental

synchronous encoder.

Hole for the screw used to fix to the base unit

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

2 - 61

2 SYSTEM CONFIGURATION

No.

Dip switches

Name Application

(Note-1)(Note-2)

123456

(Shipped from the

factory in OFF

position)

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

(Note-1) : When using the Q173PX-S1 only.

(Note-2) : The function is different according to the operating system software installed.

POINTS

The lighting condition of input display LED is shown below. (1) PLS.A 1 to 3, PLS.B 1 to 3

• Q173PX is set on the system setting display of SW6RN-GSV

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

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

• Manual pulse generator signal is input.

(2) TREN 1 to 3

• Q173PX is set on the system setting display of SW6RN-GSV

• Tracking signal is input.

Detection setting of TREN1 signal

Dip switch 1

Dip switch 2

Dip switch 3

Dip switch 4

Dip switch 5

Dip switch 6

SW1 SW2

OFF OFF

ON ON

ON OFF

OFF ON

Detection setting of TREN2 signal

SW3 SW4

OFF OFF

ON ON

ON OFF

OFF ON

Detection setting of TREN3 signal

SW5 SW6

OFF OFF

ON ON

ON OFF

OFF ON

TREN is detected when

TREN signal turns off to on.

TREN is detected when TREN

signal turns on to off.

TREN is detected when

TREN signal turns off to on.

TREN is detected when TREN

signal turns on to off.

TREN is detected when

TREN signal turns off to on.

TREN is detected when TREN

signal turns on to off.

2 - 62

2 SYSTEM CONFIGURATION

(2) Performance specifications

Memory for data exchange None Provided

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)]

Mass [kg] 0.15

Number of input points Tracking enable signal : 3 points

Input method Sink/Source type

Isolation method Photocoupler

Rated input voltage 12/24VDC

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

Operating voltage range

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

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

Input resistance Approx. 5.6K

Response time

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

Indicates to display ON indication(LED)

(a) Module specifications

Item

(b) Tracking enable signal input

Item Specifications

OFF to ON

ON to OFF

Specifications

Q173PX Q173PX-S1

27.4(W) 90(D)

98(H)

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

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)

2 - 63

2 SYSTEM CONFIGURATION

Number of modules 3/module

Open collector type

(26LS31 or equivalent)

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

Applicable types

External connector type 40 pin connector

Applicable wire size

Applicable connector for the external

connection

Cable length

input

Item Specifications

Voltage-output/

Open collector type

Differential-output type

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)

0.3mm

A6CON1(Attachment)

A6CON2, A6CON3(Optional)

30m (98.43ft.)

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

2 - 64

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 up to 3 modules.

Motion CPU module Manual pulse generator

Q173CPU(N)

Q172CPU(N)

Up to 3 modules

( Up to 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/Q170ENC) 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)

Up to 12 modules

( Q173PX: Up to 4 modules )

Up to 8 modules

( Q173PX: Up to 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

Input start function from incremental

synchronous encoder

Each 1 point

( Total 3 points )

2 - 65

2 SYSTEM CONFIGURATION

(5) Connection of manual pulse generator interface 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.

PULSER connector

Pin No.

B20

B19

B18

B17

B16

B15

B14

B13

B12

B11

B10

Signal Name

HB1

HA1N

HB1N

HB2

HA2N

HB2N

HB3

HA3N

HB3N

No connect

TREN1

TREN2

TREN3

Pin No. Signal Name

A20

A19

A18

A17

A16

A15

A14

A13

A12

A11

A10

HA1

HPSEL1

HA1P

HB1P

HA2

HPSEL2

HA2P

HB2P

HA3

HPSEL3

HA3P

HB3P

No connect

TREN1

TREN2

TREN3

Applicable connector model name A6CON1 type soldering type connector

FCN-361J040-AU connector

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 TAKAMISAWA COMPONENT LIMITED)

(Attachment)

(Optional)

encoder switched by HPSEL . Not connection : Voltage-output type/open collector type. HPSEL -SG connection : Differential-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) :

synchronous encoder and Q173PX at the FG signal.

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

2 - 66

2 SYSTEM CONFIGURATION

(b) Interface between PULSER connector and manual pulse

generator (Differential output type)/Incremental synchronous encoder

Interface between Manual pulse generator (Differential output type)/ Incremental synchronous encoder

Input or Output

Input

Power supply

Signal name

Manual pulse generator, phase A

Manual pulse generator, phase B

Select type signal HPSEL

(Note-1)

PULSER connector

Voltage-Output

123

A17 A12 A7

HA P

B17

HA N

A16 A11 A6

HB P

B16 B11 B6

HB N

A18 A13 A8

B18 B13 B8

A19 A14 A9

B19 B14 B9

Pin No.

type

B12 B7

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 increases if Phase A leads Phase B.

(2) Positioning address decreases 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. Connect HPSEL to the SG terminal if the manual pulse generator (differential output type) /incremental synchronous encoder is used.

2 - 67

2 SYSTEM CONFIGURATION

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

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

(Note)

PULSER connector

Voltage-Output

123

A20

B20 B15 B10

A18 A13 A8

B18 B13 B8

A19 A14 A9

B19 B14 B9

Input or Output

Input

Power supply

Signal name

Manual pulse generator, phase A

Manual pulse generator, phase B

Select type signal HPSEL

Pin No.

type

A15 A10

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 addr ess increases if Phase A leads Phase B. (2) Positioning address decreases 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 enable

signal

Interface between tracking enable signal

Input or Output

Input

Signal name

Tracking enable

(Note)

TREN

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

Pin No.

PULSER connector

1 2 3

A4 A3 A2

B4 B3 B2

Wiring example Internal circuit Specification Description

Tracking enable signal input.

12V to 24VDC

2 - 68

2 SYSTEM CONFIGURATION

(6) Connection examples of manual pulse generator

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

Q173PX

Signal name

: 1 to 3

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

(Note-2) : Connect HPSEL

Manual pulse

generator side

(Note-2)

shield

:Twisted pair cable

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.



type/incremental synchronous encoder is used.

(Note-1)

to the SG terminal if the manual pulse generator (differential output

Q173PX

Signal name

HA P HA N

HB P

HB N

P5 FG

HPSEL

: 1 to 3

(Note-2)

Manual pulse

generator side

:Twisted pair cable

(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 power supply may cause a failure.

2 - 69

2 SYSTEM CONFIGURATION

2.4.7 Manual pulse generator/Serial absolute synchronous encoder

(1) Table of the Manual pulse generator specifications

Item Specifications

Model name MR-HDP01

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

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

Output method

Power supply voltage 4.5 to 13.2VDC

Current consumption [mA] 60

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

Permitted axial loads

Mass [kg] 0.4

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

Pulse signal status

Friction torque 0.1N/m(at 20°C (68°F) )

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

Output current = Up to 20mA

Radial load : Up to 19.6N

Thrust load : Up to 9.8N

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

2 - 70

2 SYSTEM CONFIGURATION

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

Resolution 16384PLS/rev 262144PLS/rev

Connectable encoder Q172EX(-S1) Q172EX-S2/-S3

Transmission method Serial communications

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

Protective construction IP52

Permitted speed at power ON 4300r/min 3600r/min

(2) Table of the Serial absolute synchronous encoder specifications

Item

Specifications

MR-HENC Q170ENC

Dustproof/Waterproof

(IP65: Except for the shaft-

through portion.)

(Note-1)

Permitted speed at power OFF

Permitted axial loads

Runout at input shaft tip 0.02mm(0.00079 inch) or less,15mm(0.59 inch) from tip

Recommended coupling Bellows coupling

Permitted angular acceleration

Internal current consumption [A] 0.15 0.2

Mass [kg(lb)] 1.5 0.6

Connecting cable

Communications method Differential driver/receiver conforming to RS422A

Transmission distance Up to 30m(98.43ft.) Up to 50m(164.04ft.)

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

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

(Note-1)

500r/min

Radial load : Up to 98N

Thrust load : Up to 49N

MR-JHSCBL

=Cable length :

2m(6.56ft.), 5m(16.40ft.),

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

30m(98.43ft.)

M-H

40000rad/s

Radial load : Up to 19.6N

Thrust load : Up to 9.8N

Q170ENCCBL

=Cable length:

2m(6.56ft.), 5m(16.40ft.),

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

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

2 - 71

2 SYSTEM CONFIGURATION

2.4.8 A31TU-D3 /A31TU-DN Teaching unit (Japanese version only)

Teaching unit A31TU-D3 /A31TU-DN can be easily set the teaching of positioning point, each parameter settings, creation of servo program, servo monitor, servo test, and so on without the peripheral devices. (Motion CPU module Q173CPUN-T/ Q172CPUN-T is usable only. Refer to the A31TU-D Teaching Unit Operating Manual for the usable operating system software and version.)

(1) Selection of the teaching unit

There are no deadman switch and emergency stop terminal for the external

(Normally closed contact, double contact)

Normally closed contact is released by

pushing switch.

Normally closed contact is connected by

turning to the right this switch.

Connect directly the emergency stop

switch of A31TU-DN

(Normally closed contact input)

The emergency stop state of Motion CPU

occurs by pushing the emergency stop

switch of A31TU-DN

Q170TUDNCBL3M

(Control panel connecting type)

Q170TUDNCBL03M-A

(Direct connecting type)

Item A31TU-D3 A31TU-DN

3-position deadman switch

Emergency stop switch

(Push lock return reset type)

Terminal for external safety circuit

Emergency stop input to Motion CPU

Connecting cable with Motion CPU

safety circuit in a A31TU-DN Use the A31TU-D3 safety circuit

(Note)

to raise safety more by the deadman switch or external

Refer to the following table for selection of the teaching unit.

Provided

(Normally open contact, double contact)

Normally open contact is connected by

gripping/releasing this switch.

Provided

(Normally closed contact, double contact)

Normally closed contact is released by

pushing switch.

Normally closed contact is connected by

turning to the right this switch.

Provided

(Emergency stop switch × 2,

Deadman switch × 2,

Emergency stop input to Motion CPU × 1)

Connect to the external safety circuit.

(Normally closed contact input)

The emergency stop state of Motion CPU

occurs by releasing the normally closed

contact of external safety circuit.

Q170TUD3CBL3M

(Control panel connecting type)

——

Provided

——

Remark

It is used as the following cases.

• When the deadman switch is used.

• When the double contact raises safety by

attaching the external safety circuit.

2 - 72

It is used as the following cases.

• When the deadman switch is not used.

• When the teaching unit is used with

simple connecting.

2 SYSTEM CONFIGURATION

REMARK

External safety circuit Construct the circuit (power supply OFF of servomotor, etc.) of parts which may occur machine breakdown and accidents due to abnormal operations outside of the Motion CPU in a fail-safe viewpoint, to avoid abnormal operations of whole system.

CAUTION

If the teaching unit A31TU-D3 is released during operation, the emergency stop state of Motion

CPU occurs, and the servomotor becomes coasting state.

2 - 73

2 SYSTEM CONFIGURATION

(2) A31TU-D3 /A31TU-DN Name of parts

A31TU

DISABLE

ENABLE

MONITOR

PROGRAM

DATA

INSTRUCTION

WRITE

STORE

FUNCTION

SHIFT

AXIS NO.

TEST

STOP

;

DELETE

ERROR RESET

ITEM

CLEAR

OVERRIDE

INDIRECT

STEP -

3C2

STEP +

MDI

RETURN

CAN

JOG +

JOG -

EMG.STOP

No. Name Application

1) Display

DISABLE/ENABLE key

2) select switch

Emergency stop switch

3) EMG.STOP button

4 lines × 16 characters LCD display

(With back-lighted auto light off)

Switch the operation of teaching unit to DISABLE/ENABLE

Input the emergency stop signal to the Motion CPU.

The emergency stop state of Motion CPU occurs by pushing the switch,

and the servomotor stops and becomes coasting state.

The emergency stop state is released by turning to the right this switch.

4) Operation keys

5) Contrast adjusting switch

3-position deadman switch

6) (A31TU-D3

only)

7) Internal buzzer

Operation key of the teaching unit

Adjust the contrast of display.

The emergency stop signal is input to the Motion CPU by the external

safety circuit.

The Motion CPU will be in the state which can be operated by holding the

middle position of enable switch.

The emergency stop state of Motion CPU occurs by gripping or releasing

this switch, and the servomotor stops and becomes coasting state.

Buzzer sounds at the operation key input or any alarm occurrence.

(It is possible to switch off the buzzer at the key input by setting.)

2 - 74

2 SYSTEM CONFIGURATION

(3) Teaching unit specifications

Operation

Display method 4 lines × 16 characters LCD display

Interface Conforming RS-422

Protective construction IP54 equivalent

Ambient temperature 0 to 40°C (32 to 104°F)

5VDC power supply Supplied from Motion CPU

5VDC consumption current [A] 0.26

Mass [kg] 1.74 (Including cable 5m (16.40ft.))

POINTS

(1) The total extended distance of cable between the Motion CPU and teaching

unit is within [30m(98.43ft.)] including the A31TU-D3 [5m(16.40ft.)]

(2) The teaching unit is shipped, a protection sheet is attached in the surface of

the display and operation key to prevent the crack for conveyance. Remove a protection sheet to use. Operation and display check without removing a protection sheet are possible, however adhesives may remain in a teaching unit by secular change.

(3) When the servomotor is operated by the JOG feed, etc. using the teaching unit

(A31TU-D3 middle position. The emergency stop state of Motion CPU occurs by gripping or releasing this switch, and the servomotor stops and becomes coasting state.

(4) Connection between the teaching unit and Motion CPU

(a) Connection between the teaching unit (A31TU-D3 ) and

1) Connect the cable for teaching unit (Q170TUD3CBL3M) between the

2) Connect the connector for external safety circuit (connector for

3) Connect the teaching unit (A31TU-D3

Items

Language Japanese

Tact switch 28 keys for SV

ENABLE/DISABLE switch Operation enable/disable

Emergency stop switch Push lock return reset type

Deadman switch 3-position switch None

Contrast adjusting switch Shade/light

A31TU-D3

Specifications

A31TU-DN

/A31TU-DN cable

) with deadman switch, operate it pushing the deadman switch at

Motion CPU (Q173CPUN-T/Q172CPUN-T)

TU connector of Motion CPU (Q173CPUN-T/Q172CPUN-T) and control panel. (Refer to the exterior dimensions of "APPENDIX 1.3 Cable for the teaching unit" and "APPENDIX 2.7 Connector", when it is fit to the control panel.)

emergency stop switch × 2 sets, connector for deadman switch × 2 sets and connector for emergency stop input to Motion CPU the external safety circuit.

) to the cable for teaching unit

(Q170TUD3CBL3M) connected to the control panel.

× 1 set) to

2 - 75

2 SYSTEM CONFIGURATION

4) When the teaching unit (A31TU-D3

Connection example between the cable for teaching unit (Q170TUD3CBL3M) and external safety circuit is shown below.

) is not used, connect the shortcircuit connector for teaching unit (A31TUD3TM) to the control panel side connector of the cable for teaching unit (Q170TUD3CBL3M).

PROGRAM

DATA

INSTRUCTION

ITEM

;

DELETE

WRITE

STORE

FUNCTION

ERROR

SHIFT

RESET

AXIS

JOG -

NO.

A31TU-D3

DISABLE

A31TU

MONITOR

TEST

STOP

CLEAR

OVERRIDE

INDIRECT

STEP -

3C2

STEP +

MDI

RETURN

CAN

JOG +

ENABLE

EMG.STOP

Control panel

MELSEC

Q173CPUN-T/Q172CPUN-T

Q172EX

Q173PX-S1

QX40

Q173CPUN-T

Q02HCPU

Q61P-A1

PULL

MODE

POWER

MODE

RUN

ERR.

USER

M.RUN

BAT.

BOOT

FRONT

SSCNET

CN2

CN1

PULL

USB

RS-232

0 1 2 3 4 5 6 7

8 9 A B C D E F

PLS.A

PLS.B

TREN

SY.ENC

TREN

SY.ENC1

PULSER

SY.ENC2

Q173PX

Q172EX

Q170TUD3CBL3M

Deadman switch

Servo amplifier

MITSUBISHI

Emergency stop input

MITSUBISHI

Deadman contact point

Emergenc y stop contact po int

A31TUD3TM

When the A31TU-D3 is not used.

Main circuit power supply

External safety circuit (Relay, MC, etc.)

CAUTION

Do not use it in the combination of the teaching unit without deadman switch (A31TU-DN ) and

cable for teaching unit with deadman switch (Q170TUD3CBL3M). The protective function stops working.

When the teaching unit (A31TU-D3 ) is not used in the Motion CPU (Q173CPUN-T/

Q172CPUN-T), connect the short-circuit connector for teaching unit (A31TUD3TM) to the control panel side connector of the cable for teaching unit (Q170TUD3CBL3M). If it is not connected, the emergency stop state of Motion CPU occurs, and the servomotor becomes coasting state.

2 - 76

2 SYSTEM CONFIGURATION

(b) Connection between the teaching unit (A31TU-DN ) and

There are following two connecting method.

• When the connector is connected to the control panel.

• When the connector is connected directly in the control panel.

1) When the connector is connected to the control panel.

Motion CPU (Q173CPUN-T/Q172CPUN-T)

a) Connect the cable for teaching unit (Q170TUDNCBL3M) between

the TU connector of Motion CPU (Q173CPUN-T/Q172CPUN-T) and control panel. (Refer to the exterior dimensions of "APPENDIX 1.3 Cable for the teaching unit" and "APPENDIX 2.7 Connector", when it is fit to the control panel.)

b) Connect the teaching unit (A31TU-DN

unit (Q170TUDNCBL3M) connected to the control panel.

c) When the teaching unit (A31TU-DN

short-circuit connector for teaching unit (A31TUD3TM) to the control panel side connector of the cable for teaching unit (Q170TUDNCBL3M).

) to the cable for teaching

) is not used, connect the

2 - 77

2 SYSTEM CONFIGURATION

Connection example between the cable for teaching unit (Q170TUDNCBL3M) is shown below.

PROGRAM

DATA

INSTRUCTION

ITEM

;

DELETE

WRITE

STORE

FUNCTION

ERROR

SHIFT

RESET

AXIS

JOG -

NO.

A31TU-DN

A31TU

MONITOR

TEST

STOP

CLEAR

OVERRIDE

INDIRECT

STEP -

3C2

STEP +

MDI

RETURN

CAN

JOG +

DISABLE

ENABLE

EMG.STOP

Control panel

MELSEC

Q61P-A1

Q173CPUN-T/Q172CPUN-T

Q172EX

Q173PX-S1

QX40

Q173CPUN-T

Q02HCPU

POWER

MODE

RUN

ERR.

M.RUN

USER

BAT.

BOOT

FRONT

SSCNET

CN2

CN1

PULL

USB

PULL

USB

RS-232

0 1 2 3 4 5 6 7

8 9 A B C D E F

PLS.A

PLS.B

TREN

SY.ENC

TREN

SY.ENC1

PULSER

SY.ENC2

Q173PX

Q172EX

Q170TUDNCBL3M

No deadman switch

Servo amplifier

MITSUBISHI

Main circuit power supply

A31TUD3TM

When the A31TU-DNK is not used.

CAUTION

Do not use it in the combination of the teaching unit with deadman switch (A31TU-D3 ) and cable for

teaching unit without deadman switch (Q170TUDNCBL3M). The protective function stops working.

When the teaching unit (A31TU-DN ) is not used in the Motion CPU (Q173CPUN-T/

Q172CPUN-T), connect the short-circuit connector for teaching unit (A31TUD3TM) to the control panel side connector of the cable for teaching unit (Q170TUDNCBL3M). If it is not connected, the emergency stop state of Motion CPU occurs, and the servomotor becomes coasting state.

2 - 78

2 SYSTEM CONFIGURATION

2) When the connector is connected directly in the control panel.

Connection example between the cable for teaching unit (Q170TUDNCBL03M-A) is shown below.

a) Connect the cable for teaching unit (Q170TUDNCBL03M-A) to the

TU connector of Motion CPU (Q173CPUN-T/Q172CPUN-T) after connecting to the teaching unit (A31TU-DN

b) When the teaching unit (A31TU-DN

) is not used, connect the

short-circuit connector for teaching unit (Q170TUTM) after removing a TU connector of cable for teaching unit (Q170TUDNCBL03M-A) from a TU connector of Motion CPU (Q173CPUN-T/Q172CPUN-T).

PROGRAM

DATA

INSTRUCTION

ITEM

;

DELETE

WRITE

STORE

FUNCTION

ERROR

SHIFT

RESET

AXIS

JOG -

NO.

A31TU-DN

DISABLE

A31TU

MONITOR

TEST

STOP

CLEAR

OVERRIDE

INDIRECT

STEP -

3C2

STEP +

MDI

RETURN

CAN

JOG +

ENABLE

EMG.STOP

Control panel

MELSEC

Q173CPUN-T/Q172CPUN-T

Q172EX

Q173PX-S1

QX40

Q173CPUN-T

Q02HCPU

Q61P-A1

POWER

MODE

RUN

ERR.

M.RUN

USER

BAT.

BOOT

FRONT

SSCNET

CN2

CN1

PULL

USB

PULL

USB

RS-232

0 1 2 3 4 5 6 7

8 9 A B C D E F

PLS.A

PLS.B

TREN

SY.ENC

TREN

SY.ENC1

PULSER

SY.ENC2

Q173PX

Q172EX

Q170TUDNCBL03M-A

Q170TUTM

When the A31TU-DN is not used.

Servo amplifier

MITSUBISHI

No deadman switch

Main circuit power supply

2 - 79

2 SYSTEM CONFIGURATION

CAUTION

Do not connect the A31TU-D3 to the cable for teaching unit (Q170TUDNCBL03M-A). The protective

function stops working.

Be sure to fix the relay portion of a connector which has connected the cable for teaching unit

(Q170TUDNCBL03M-A) with teaching unit (A31TU-DN

for the connector of Motion CPU (Q173CPUN-T/Q172CPUN-T). A connector may be damaged. Do not pull a teaching unit (A31TU-DN ). A connector may be damaged. When a teaching unit (A31TU-DN ) is removed, first be sure to remove a TU connector of Motion

CPU (Q173CPUN-T/Q172CPUN-T) so that impossible power is not applied for the connector.

If a connector of teaching unit (A31TU-DN

CPU (Q173CPUN-T/Q172CPUN-T), a TU connector of Motion CPU (Q173CPUN-T/

Q172CPUN-T) may be damaged. When the teaching unit (A31TU-DN ) is not used in the Motion CPU (Q173CPUN-T/

Q172CPUN-T), connect the short-circuit connector for teaching unit (Q170TUTM) after removing a TU connector of cable for teaching unit (Q170TUDNCBL03M-A) from a TU connector of Motion CPU (Q173CPUN-T/Q172CPUN-T). If it is not connected, the emergency stop state of Motion CPU occurs, and the servomotor becomes coasting state.

) is removed connecting a TU connector of Motion

) so that impossible power is not applied

2 - 80

2 SYSTEM CONFIGURATION

Connect a short-circuit connector for teaching unit (Q170TUTM) to a TU connector of Motion CPU (Q173CPUN-T/Q172CPUN-T).

Connection example without teaching unit (A31TU-D3

/A31TU-DN ) is

shown below.

Control panel

MELSEC

Q02HCPU

Q61P-A1

POWER

PULL

Q173CPUN-T/Q172CPUN-T

Q172EX

Q173PX-S1

QX40

Q173CPUN-T

MODE

RUN

ERR.

M.RUN

USER

BAT.

BOOT

FRONT

SSCNET

CN2

CN1

PULL

USB

RS-232

PLS.A

PLS.B

0 1 2 3 4 5 6 7

8 9 A B C D E F

TREN

SY.ENC

TREN

SY.ENC1

PULSER

SY.ENC2

Q173PX

Q172EX

Q170TUTM

When the A31TU-D3 / A31TU-DN is not used.

Servo amplifier

MITSUBISHI

Main circuit power supply

CAUTION

When the teaching unit (A31TU-D3 /A31TU-DN ) is not used in the Motion CPU (Q173CPUN-T/

Q172CPUN-T), connect the short-circuit connector for teaching unit (Q170TUTM) to a TU connector

of Motion CPU (Q173CPUN-T/Q172CPUN-T). If it is not connected, the emergency stop state of

Motion CPU occurs, and the servomotor becomes coasting state.

2 - 81

Mitsubishi Electronics Q173CPUN, Q172CPU9N User Manual

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 overall configuration

2.1.2 Q172CPU(N) System overall configuration

2.1.3 Function explanation of the Q173CPU(N)/Q172CPU(N) Motion CPU modules

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 Name of parts for CPU module

2.4.2 Power supply module

2.4.3. Base unit and extension cable

2.4.4 Q172LX Servo external signals interface module

2.4.5 Q172EX Serial absolute synchronous encoder interface module

2.4.6 Q173PX Manual pulse generator interface module

2.4.7 Manual pulse generator/Serial absolute synchronous encoder