Mitsubishi Electronics Q173CPUN, Q172CPU9N User Manual

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.

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(6) Usage methods

CAUTION

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

Motion controller, servo amplifier or servomotor.

Always execute a test operation before starting actual operations after the program or

parameters have been changed or after maintenance and inspection.

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.

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REVISIONS

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

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

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

•

For 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

+ 204 hidden pages

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