Mitsubishi Q173DSCPU, Q172DSCPU, Q173DSPU, Q172DSPU USER MANUAL

SAFETY PRECAUTIONS

(Please read these instructions before using this equipment.)

Before using this product, please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly. These precautions apply only to this product. Refer to the Q173D(S)CPU/Q172D(S)CPU Users manual for a description of the Motion controller safety precautions. In this manual, the safety instructions are ranked as "DANGER" and "CAUTION".

Indicates that incorrect handling may cause hazardous

Depending on circumstances, procedures indicated by results. In any case, it is important to follow the directions for usage.

Please save this manual to make it accessible when required and always forward it to the end user.

DANGER

CAUTION

conditions, resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight personal injury or physical damage.

CAUTION may also be linked to serious

A - 1

For Safe Operations

1. Prevention of electric shocks

DANGER

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

may lead to electric shocks.

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

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

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

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

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

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

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

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

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

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

incombustible. Installing them directly or close to combustibles will lead to fire. If a fault occurs in the Motion controller or servo amplifier, shut the power OFF at the servo

amplifier’s power source. If a large current continues to flow, fire may occur. When using a regenerative resistor, shut the power OFF with an error signal. The regenerative

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

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

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

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

may lead to fire.

A - 2

3. For injury prevention

CAUTION

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

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

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

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

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

Doing so may lead to injuries.

4. Various precautions

Strictly observe the following precautions.

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

(1) System structure

CAUTION

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

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

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

the power shut off.

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

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

Use the Motion controller, base unit and motion module with the correct combinations listed in the

instruction manual. Other combinations may lead to faults.

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

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

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

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

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

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

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

brakes.

A - 3

CAUTION

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

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

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

and must not be used for normal braking.

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

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

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

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

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

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

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

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

(2) Parameter settings and programming

CAUTION

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

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

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

the operation mode, servo amplifier and servo power supply module. The protective functions

may not function if the settings are incorrect. Set the mechanical brake output and dynamic brake output validity parameters to values that are

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

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

application. The protective functions may not function if the setting is incorrect. Set the servomotor encoder type (increment, absolute position type, etc.) parameter to a value

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

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

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

settings are incorrect. 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.

A - 4

CAUTION

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

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

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

specified in the instruction manual. The input devices and data registers assigned to the link will hold the data previous to when

communication is terminated by an error, etc. Thus, an error correspondence interlock program

specified in the instruction manual must be used. Use the interlock program specified in the intelligent function module's instruction manual for the

program corresponding to the intelligent function module.

(3) Transportation and installation

CAUTION

Transport the product with the correct method according to the mass.

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

transport the servomotor with machine installed on it. Do not stack products past the limit. When transporting the Motion controller or servo amplifier, never hold the connected wires or

cables. When transporting the servomotor, never hold the cables, shaft or detector. When transporting the Motion controller or servo amplifier, never hold the front case as it may fall

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

edges. Install the unit according to the instruction manual in a place where the mass can be withstood. Do not get on or place heavy objects on the product. Always observe the installation direction. Keep the designated clearance between the Motion controller or servo amplifier and control panel

inner surface or the Motion controller and servo amplifier, Motion controller or servo amplifier and

other devices. Do not install or operate Motion controller, servo amplifiers or servomotors that are damaged or

that have missing parts. Do not block the intake/outtake ports of the Motion controller, servo amplifier and servomotor with

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

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

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

the instruction manual. If the fixing is insufficient, these may come off during operation.

A - 5

CAUTION

Always install the servomotor with reduction gears in the designated direction. Failing to do so

may lead to oil leaks.

Store and use the unit in the following environmental conditions.

Environment

Motion controller/Servo amplifier Servomotor

Ambient

temperature

Ambient humidity According to each instruction manual.

Storage

temperature

Atmosphere

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

Vibration According to each instruction manual

According to each instruction manual.

Indoors (where not subject to direct sunlight).

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

Conditions

0°C to +40°C (With no freezing)

(32°F to +104°F)

80% RH or less

(With no dew condensation)

-20°C to +65°C

(-4°F to +149°F)

When coupling with the synchronous encoder or servomotor shaft end, do not apply impact such

as by hitting with a hammer. Doing so may lead to detector damage.

Do not apply a load larger than the tolerable load onto the synchronous encoder and servomotor

shaft. Doing so may lead to shaft breakage.

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

or servo amplifier. Place the Motion controller and servo amplifier in static electricity preventing vinyl bags and store. When storing for a long time, please contact with our sales representative.

Also, execute a trial operation. When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine

are used for disinfecting and protecting wooden packaging from insects, they cause malfunction

when entering our products.

Please take necessary precautions to ensure that remaining materials from fumigant do not

enter our products, or treat packaging with methods other than fumigation (heat method).

Additionally, disinfect and protect wood from insects before packing products.

A - 6

(4) Wiring

CAUTION

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

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

on the output side of the servo amplifier.

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

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

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

when trouble occurs or the protective functions not functioning.

Servo amplifier

DOCOM

24VDC

Servo amplifier

DOCOM

24VDC

Control output signal

DICOM

For the sink output interface For the source output interface

Control output signal

DICOM

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

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

lead to the cables coming off during operation. Do not bundle the power line or cables.

(5) Trial operation and adjustment

CAUTION

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

movements may occur depending on the machine.

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

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

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

Before starting test operation, set the parameter speed limit value to the slowest value, and

make sure that operation can be stopped immediately by the forced stop, etc. if a hazardous

state occurs.

A - 7

(6) Usage methods

CAUTION

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

Motion controller, servo amplifier or servomotor.

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

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

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

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

Motion controller or servo amplifier. When using the CE Mark-compliant equipment, refer to the User's manual for the Motion

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

inverters and other equipment. Use the units with the following conditions.

Item Conditions

Input power According to each instruction manual.

Input frequency According to each instruction manual.

Tolerable momentary power failure According to each instruction manual.

(7) Corrective actions for errors

CAUTION

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

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

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

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

operated by emergency stop signals set externally.

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

Servo motor

RA1

Electromagnetic brakes

Shut off with the emergency stop signal (EMG).

EMG

24VDC

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

release.

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

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

restarts suddenly.)

A - 8

(8) Maintenance, inspection and part replacement

CAUTION

Perform the daily and periodic inspections according to the instruction manual.

Perform maintenance and inspection after backing up the program and parameters for the Motion

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

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

human body. Failure to do so may cause the module to fail or malfunction.

Do not directly touch the module's conductive parts and electronic components.

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

or wood, plastic or vinyl that may cause static electricity buildup.

Do not perform a megger test (insulation resistance measurement) during inspection. When replacing the Motion controller or servo amplifier, always set the new module settings

correctly.

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

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

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

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

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

absolute position detector function is correct.

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

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

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

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

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

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

A - 9

(9) About processing of waste

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

CAUTION

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

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

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

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

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

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

(10) General cautions

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

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

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

manual.

A - 10

REVISIONS

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

Print Date Manual Number Revision Jan., 2008 IB(NA)-0300133-A First edition Feb., 2009 IB(NA)-0300133-B [Additional model]

MELSOFT MT Works2, MT Developer2, Software for SV43, Q10UDH/ Q13UDH/Q20UDH/Q26UDH/Q03UDE/Q04UDEH/Q06UDEH/ Q10UDEH/Q13UDEH/Q20UDEH/Q26UDEH, Q17DCCPU-V, QX40-S1/QX41-S1/QX42-S1/QX82-S1, MR-J3MR-J3-

-RJ080, MR-J3W-B

[Additional correction/partial correction]

Safety precautions, About Manuals, Checking serial number and operating system software version, Connector for forced stop input cable Q170DEMICOM, Exterior dimensions (Motion CPU module, Motion module), Warranty

Sep., 2010 IB(NA)-0300133-C [Additional model]

QX40H, QX70H, QH80H, QX90H, MR-J3-

[Additional correction/partial correction]

Safety precautions, About Manuals, Restrictions by the software's version, Battery transportation, Symbol for the new EU battery directive, EMC directive

Sep., 2011 IB(NA)-0300133-D [Additional model]

Q173DCPU-S1, Q172DCPU-S1, Q35DB, Q64PN, Q50UDEHCPU, Q100UDEHCPU, GX Works2, MR Configurator2

[Additional correction/partial correction]

Safety precautions, About Manuals, Restrictions by the software's version, Sample system circuit design for motion control

Dec., 2011 IB(NA)-0300133-E [Partial correction]

Section 4.2.1 Partial change of sentence

Mar., 2012 IB(NA)-0300133-F [Additional model]

Q173DSCPU, Q172DSCPU, Q173DSXY, Q171ENC-W8, MR-J4MR-J4W-

[Additional correction/partial correction]

About Manuals, Manual Page Organization, Restrictions by the software's version, Programming software version, Internal I/F connector set Q170DSIOCON, Internal I/F connector specifications, RIO cable Q173DSXYCBL

M, General specifications, Sample system circuit design for Motion control, Mounting of battery, Battery replacement procedure, Internal input circuit troubleshooting, Exterior dimensions (Serial absolute synchronous encoder)

Sep., 2012 IB(NA)-0300133-G [Additional correction/partial correction]

About Manuals, Restrictions by the software's version, Programming software version, Start-up adjustment procedure, Operating system software installation procedure

-RJ004,

A - 11

Print Date

Apr., 2013

Nov., 2013

Manual Number Revision

IB(NA)-0300133-H

[Additional model]

Q03UCVCPU, Q04UCVCPU, Q06UCVCPU, Q13UCVCPU, Q26UCVCPU, Q24DHCCPU-V, MR-J4-

[Additional correction/partial correction]

Safety precautions, About Manuals, Restrictions by the software's version, PLC module which can be controlled by Motion CPU, Start-up adjustment procedure, Electronic circuit symbols changed (compliant with new JIS symbols)

IB(NA)-0300133-J

[Additional model]

Q24DHCCPU-LS

[Additional correction/partial correction]

Safety precautions, Restrictions by the software's version, Serial absolute synchronous encoder cable Q170ENCCBL absolute synchronous encoder cable connector set MR-J3CN2

B-RJ, LJ72MS15

M-A, Serial

Japanese Manual Number IB(NA)-0300125

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 - 12

INTRODUCTION

Thank you for choosing the Mitsubishi Motion controller Q173D(S)CPU/Q172D(S)CPU. Before using the equipment, please read this manual carefully to develop full familiarity with the functions and performance of the Motion controller you have purchased, so as to ensure correct use.

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

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

Contents ......................................................................................................................................................... A-13

About Manuals ............................................................................................................................................... A-16

Manual Page Organization ............................................................................................................................ A-18

1. OVERVIEW 1- 1 to 1-10

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

1.2 Differences between Q173D(S)CPU/Q172D(S)CPU and Q173HCPU/Q172HCPU ............................ 1- 4

1.3 Restrictions by the Software's Version .................................................................................................... 1- 6

1.4 Programming Software Version............................................................................................................... 1-10

2. SYSTEM CONFIGURATION 2- 1 to 2-100

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

2.1.1 Q173DSCPU/Q172DSCPU System overall configuration .............................................................. 2- 4

2.1.2 Q173DCPU(-S1)/Q172DCPU(-S1) System overall configuration ................................................... 2- 6

2.1.3 Function explanation of the Motion CPU modules ........................................................................... 2- 7

2.1.4 Restrictions on Motion systems ........................................................................................................ 2- 8

2.2 Checking Serial Number and Operating System Software Version ....................................................... 2-12

2.2.1 Checking serial number .................................................................................................................... 2-12

2.2.2 Checking operating system software version................................................................................... 2-15

2.3 System Configuration Equipment ............................................................................................................ 2-17

2.4 General Specifications ............................................................................................................................. 2-24

2.5 Specifications of Equipment and Settings ............................................................................................... 2-25

2.5.1 Name of parts for CPU module ........................................................................................................ 2-25

2.5.2 Power supply module ........................................................................................................................ 2-45

2.5.3 Base unit and extension cable .......................................................................................................... 2-53

2.5.4 Q172DLX Servo external signals interface module ......................................................................... 2-56

2.5.5 Q172DEX Synchronous encoder interface module ......................................................................... 2-61

2.5.6 Q173DPX Manual pulse generator interface module ...................................................................... 2-71

2.5.7 Q173DSXY Safety signal module..................................................................................................... 2-79

2.5.8 Manual pulse generator/Serial absolute synchronous encoder ...................................................... 2-89

2.5.9 SSCNET

2.5.10 Battery ............................................................................................................................................. 2-96

2.5.11 Forced stop input terminal ............................................................................................................ 2-100

cables ............................................................................................................................. 2-91

3. DESIGN 3- 1 to 3-16

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

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

A - 13

3.2.1 Power supply circuit design .............................................................................................................. 3- 8

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

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

3.3.1 Mounting environment....................................................................................................................... 3-11

3.3.2 Calculating heat generation by Motion controller ............................................................................. 3-12

3.4 Design Checklist ...................................................................................................................................... 3-15

4. INSTALLATION AND WIRING 4- 1 to 4-28

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

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

4.1.2 Instructions for mounting the base unit ............................................................................................ 4- 4

4.1.3 Installation and removal of module ................................................................................................... 4- 7

4.1.4 Instructions for mounting of the battery holder unit .......................................................................... 4-10

4.2 Connection and Disconnection of Cable ................................................................................................. 4-11

4.2.1 SSCNET

4.2.2 Battery cable ...................................................................................................................................... 4-17

4.2.3 Forced stop input cable ..................................................................................................................... 4-19

4.2.4 Internal I/F connector cable .............................................................................................................. 4-20

4.3 Mounting of Battery .................................................................................................................................. 4-21

4.4 Mounting of Serial Absolute Synchronous Encoder ............................................................................... 4-23

4.5 Wiring ........................................................................................................................................................ 4-24

4.5.1 Instructions for wiring ........................................................................................................................ 4-24

4.5.2 Connecting to the power supply module .......................................................................................... 4-27

cable ............................................................................................................................... 4-11

5. START-UP PROCEDURES 5- 1 to 5-10

5.1 Check Items Before Start-up ................................................................................................................... 5- 1

5.2 Start-up Adjustment Procedure ............................................................................................................... 5- 3

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

5.4 Trial Operation and Adjustment Checklist ............................................................................................... 5- 9

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

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- 5

6.4 Life ............................................................................................................................................................ 6- 6

6.5 Battery ...................................................................................................................................................... 6- 7

6.5.1 Battery life .......................................................................................................................................... 6- 8

6.5.2 Battery replacement procedure ........................................................................................................ 6-10

6.5.3 Resuming operation after storing the Motion controller ................................................................... 6-14

6.5.4 Symbol for the new EU battery directive .......................................................................................... 6-14

6.6 Troubleshooting ....................................................................................................................................... 6-15

6.6.1 Troubleshooting basics ..................................................................................................................... 6-15

6.6.2 Troubleshooting of Motion CPU module .......................................................................................... 6-16

6.6.3 Confirming error code ....................................................................................................................... 6-26

6.6.4 Internal input circuit troubleshooting ................................................................................................. 6-27

A - 14

7. EMC DIRECTIVES 7- 1 to 7-10

7.1 Requirements for Compliance with the EMC Directive........................................................................... 7- 1

7.1.1 Standards relevant to the EMC directive .......................................................................................... 7- 2

7.1.2 Installation instructions for EMC directive ........................................................................................ 7- 3

7.1.3 Parts of measure against noise ........................................................................................................ 7- 6

7.1.4 Example of measure against noise .................................................................................................. 7- 8

APPENDICES App- 1 to App-28

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

APPENDIX 1.1 SSCNET

APPENDIX 1.2 Serial absolute synchronous encoder cable ................................................................App- 4

APPENDIX 1.3 Battery cable .................................................................................................................App- 7

APPENDIX 1.4 Forced stop input cable ................................................................................................App- 8

APPENDIX 1.5 Internal I/F connector cable ..........................................................................................App- 9

APPENDIX 1.6 RIO cable ..................................................................................................................... App-12

APPENDIX 1.7 SSCNET

System & Service ........................................................................................................ App-13

APPENDIX 2 Exterior Dimensions ........................................................................................................... App-14

APPENDIX 2.1 Motion CPU module .................................................................................................... App-14

APPENDIX 2.2 Servo external signals interface module (Q172DLX) ................................................. App-17

APPENDIX 2.3 Synchronous encoder interface module (Q172D EX) ................................................. App-17

APPENDIX 2.4 Manual pulse generator interface module (Q173DPX) .............................................. App-18

APPENDIX 2.5 Safety signal module (Q173DSXY) ............................................................................ App-18

APPENDIX 2.6 Power supply module .................................................................................................. App-19

APPENDIX 2.7 Battery holder unit (Q170DBATC) .............................................................................. App-21

APPENDIX 2.8 Connector .................................................................................................................... App-22

APPENDIX 2.9 Manual pulse generator (MR-HDP01) ........................................................................ App-27

APPENDIX 2.10 Serial absolute synchronous encoder ...................................................................... App-28

cables .........................................................................................................App- 1

cables (SC-J3BUS M-C) manufactured by Mitsubishi Electric

A - 15

About Manuals

The following manuals are also related to this product.

In necessary, order them by quoting the details in the tables below.

Related Manuals

(1) Motion controller

Q173D(S)CPU/Q172D(S)CPU Motion controller User's Manual

This manual explains specifications of the Motion CPU modules, Q172DLX Servo external signal interface

module, Q172DEX Synchronous encoder interface module, Q173DPX Manual pulse generator interface

module, Power supply modules, Servo amplifiers, SSCNET

maintenance/inspection for the system, trouble shooting and others.

Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (COMMON)

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

parameters, auxiliary/applied functions, error lists and others.

Manual Name

cables and Synchronous encoder, and the

Manual Number

(Model Code)

IB-0300133

(1XB927)

IB-0300134

(1XB928)

Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)

This manual explains the functions, programming, debugging, error lists for Motion SFC and others.

Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)

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

Q173D(S)CPU/Q172D(S)CPU Motion controller (SV22) Programming Manual (VIRTUAL MODE)

This manual explains the dedicated instructions to use the synchronous control by virtual main shaft,

mechanical system program create mechanical module, servo parameters, positioning instructions, device

lists, error lists and others.

Q173DSCPU/Q172DSCPU Motion controller (SV22) Programming Manual (Advanced Synchronous Control)

This manual explains the dedicated instructions to use the synchronous control by synchronous control

parameters, device lists, error lists and others.

Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (Safety Observation)

This manual explains the details, safety parameters, safety sequence program instructions, device lists

and error lists and others for safety observation function by Motion controller.

Motion controller Setup Guidance (MT Developer2 Version1)

This manual explains the items related to the setup of the Motion controller programming software

MT Developer2.

IB-0300135

(1XB929)

IB-0300136

(1XB930)

IB-0300137

(1XB931)

IB-0300198

(1XB953)

IB-0300183

(1XB945)

IB-0300142

( — )

A - 16

(2) PLC

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

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

extension cables, memory card battery, and the maintenance/inspection for the system, trouble shooting,

error codes and others.

Manual Name

Manual Number

(Model Code)

SH-080483ENG

(13JR73)

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

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

with the QCPU.

QCPU User's Manual (Multiple CPU System)

This manual explains the Multiple CPU system overview, system configuration, I/O modules,

communication between CPU modules and communication with the I/O modules or intelligent function

modules.

QnUCPU User's Manual (Communication via Built-in Ethernet Port)

This manual explains functions for the communication via built-in Ethernet port of the CPU module.

MELSEC-Q/L Programming Manual (Common Instruction)

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

micro computer program.

MELSEC-Q/L/QnA Programming Manual (PID Control Instructions)

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

MELSEC-Q/L/QnA Programming Manual (SFC)

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

debugging, error codes and others of MELSAP3.

I/O Module Type Building Block User's Manual

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

conversion modules and others.

SH-080807ENG

(13JZ27)

SH-080485ENG

(13JR75)

SH-080811ENG

(13JZ29)

SH-080809ENG

(13JW10)

SH-080040

(13JF59)

SH-080041

(13JF60)

SH-080042

(13JL99)

MELSEC-L SSCNET /H Head Module User's Manual

This manual explains specifications of the head module, procedures before operation, system

configuration, installation, wiring, settings, and troubleshooting.

A - 17

SH-081152ENG

(13JZ78)

(3) Servo amplifier

SSCNET /H interface MR-J4- B Servo amplifier Instruction Manual

This manual explains the I/O signals, parts names, parameters, start-up procedure and others for

MR-J4-

B Servo amplifier.

Manual Name

Manual Number

(Model Code)

SH-030106

(1CW805)

SSCNET /H interface Multi-axis AC Servo MR-J4W- B Servo amplifier Instruction Manual

This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Multi-

axis AC Servo MR-J4W

- B Servo amplifier.

SSCNET interface MR-J3- B Servo amplifier Instruction Manual

This manual explains the I/O signals, parts names, parameters, start-up procedure and others for

MR-J3-

B Servo amplifier.

SSCNET interface 2-axis AC Servo Amplifier MR-J3W- B Servo amplifier Instruction Manual

This manual explains the I/O signals, parts names, parameters, start-up procedure and others for 2-axis AC Servo Amplifier MR-J3W-

B Servo amplifier.

SSCNET Compatible Linear Servo MR-J3- B-RJ004 Instruction Manual

This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Linear

Servo MR-J3-

B-RJ004 Servo amplifier.

SSCNET Compatible Fully Closed Loop Control MR-J3- B-RJ006 Servo amplifier Instruction Manual

This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Fully

Closed Loop Control MR-J3-

B-RJ006 Servo amplifier.

SSCNET Interface Direct Drive Servo MR-J3- B-RJ080W Servo amplifier Instruction Manual

This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Direct

Drive Servo MR-J3-

B-RJ080W Servo amplifier.

SH-030105

(1CW806)

SH-030051

(1CW202)

SH-030073

(1CW604)

SH-030054

(1CW943)

SH-030056

(1CW304)

SH-030079

(1CW601)

SSCNET interface Drive Safety integrated MR-J3- B Safety Servo amplifier Instruction Manual

This manual explains the I/O signals, parts names, parameters, start-up procedure and others for safety

integrated MR-J3-

B Safety Servo amplifier.

Manual Page Organization

The symbols used in this manual are shown below.

Symbol Description

QDS

Symbol that indicates correspondence to only Q173DSCPU/Q172DSCPU.

Symbol that indicates correspondence to only Q173DCPU(-S1)/Q172DCPU(-S1).

A - 18

SH-030084

(1CW205)

1 OVERVIEW

1. OVERVIEW

1.1 Overview

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

Generic term/Abbreviation Description

Q173D(S)CPU/Q172D(S)CPU or Motion CPU (module)

Q172DLX/Q172DEX/Q173DPX/ Q173DSXY or Motion module

MR-J4(W)- B Servo amplifier model MR-J4- B/MR-J4W- B

MR-J3(W)- B Servo amplifier model MR-J3- B/MR-J3W- B

AMP or Servo amplifier

QCPU, PLC CPU or PLC CPU module QnUD(E)(H)CPU/QnUDVCPU

Multiple CPU system or Motion system Abbreviation for "Multiple PLC system of the Q series"

CPUn

Operating system software General name for "SW7DNC-SV Q /SW8DNC-SV Q "

SV13

SV22

SV43

Programming software package General name for MT Developer2/GX Works2/GX Developer/MR Configurator

MELSOFT MT Works2

MT Developer2

GX Works2

GX Developer

MR Configurator

MR Configurator2

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

Serial absolute synchronous encoder or Q171ENC-W8/Q170ENC

(Note-2)

In this manual, the following abbreviations are used.

Q173DSCPU/Q172DSCPU/Q173DCPU/Q172DCPU/Q173DCPU-S1/ Q172DCPU-S1 Motion CPU module

Q172DLX Servo external signals interface module/ Q172DEX Synchronous encoder interface module Q173DPX Manual pulse generator interface module/ Q173DSXY Safety signal module

General name for "Servo amplifier model MR-J4- B/MR-J4W- B/MR-J3- B/ MR-J3W- B"

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

Operating system software for conveyor assembly use (Motion SFC) : SW8DNC-SV13Q

Operating system software for automatic machinery use (Motion SFC) : SW8DNC-SV22Q

Operating system software for machine tool peripheral use : SW7DNC-SV43Q

Abbreviation for "Motion controller engineering environment MELSOFT MT Works2"

(Note-2)

General name for "MR Configurator/MR Configurator2"

Abbreviation for "Motion controller programming software MT Developer2 (Version 1.00A or later)"

Abbreviation for "Programmable controller engineering software MELSOFT GX Works2 (Version 1.15R or later)"

Abbreviation for "MELSEC PLC programming software package GX Developer (Version 8.48A or later)"

Abbreviation for "Servo setup software package MR Configurator (Version C0 or later)"

Abbreviation for "Servo setup software package MR Configurator2 (Version 1.01B or later)"

Abbreviation for "Serial absolute synchronous encoder (Q171ENC-W8/ Q170ENC)"

(Note-1)

1 - 1

1 OVERVIEW

Generic term/Abbreviation Description

SSCNET /H

SSCNET

SSCNET (/H)

Absolute position system

Battery holder unit Battery holder unit (Q170DBATC)

Intelligent function module

SSCNET /H head module

(Note-3)

General name for SSCNET /H, SSCNET

(Note-3)

(Note-1): Q172DEX can be used in SV22.

(Note-2): This software is included in Motion controller engineering environment "MELSOFT MT Works2".

(Note-3): SSCNET: Servo System Controller NETwork

High speed synchronous network between Motion controller and servo amplifier

General name for "system using the servomotor and servo amplifier for absolute position"

General name for module that has a function other than input or output such as A/D converter module and D/A converter module.

Abbreviation for "MELSEC-L series SSCNET /H head module (LJ72MS15)"

REMARK

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

PLC CPU, peripheral devices for sequence program design,

I/O modules and intelligent function module

Operation method for MT Developer2 Help of each software

• Multiple CPU system configuration

SV13/SV22/

SV43

SV13/SV22

SV22

(Virtual mode)

SV22

(Advanced

synchronous

control)

• Performance specification

• Design method for common parameter

• Auxiliary and applied functions (common)

• Design method for Motion SFC program

• Design method for Motion SFC parameter

• Motion dedicated PLC instruction

• Design method for positioning control

program in the real mode

• Design method for positioning control

parameter

• Design method for safety observation

parameter

• Design method for user made safety

sequence program

• Design method for mechanical system

program

• Design method for synchronous control

parameter

to the following manuals relevant to each module.

Item Reference Manual

Manual relevant to each module

Q173D(S)CPU/Q172D(S)CPU Motion controller

Programming Manual (COMMON)

Q173D(S)CPU/Q172D(S)CPU Motion controller

(SV13/SV22) Programming Manual (Motion SFC)

Q173D(S)CPU/Q172D(S)CPU Motion controller

(SV13/SV22) Programming Manual (REAL MODE)

Q173D(S)CPU/Q172D(S)CPU Motion controller

Programming Manual (Safety Observation)

Q173D(S)CPU/Q172D(S)CPU Motion controller (SV22)

Programming Manual (VIRTUAL MODE)

Q173DSCPU/Q172DSCPU Motion controller (SV22)

Programming Manual (Advanced Synchronous Control)

1 - 2

1 OVERVIEW

MEMO

1 - 3

1 OVERVIEW

1.2 Differences between Q173D(S)CPU/Q172D(S)CPU and Q173HCPU/Q172HCPU

Item Q173DSCPU Q172DSCPU Q173DCPU(-S1) Q172DCPU(-S1)

0.22ms/ 1 to 4 axes

SV13

Operation cycle

(default)

SV22

SV43 — —

Model name of operating

system software

Peripheral I/F

Main base unit Multiple CPU high speed main base unit (Q35DB/Q38DB/Q312DB)

Color of base cover Gray

Mounting on panel Be sure to mount the unit by unit fixing screws.

DIN rail Unusable

CPU module No.1 Universal model (QnUD(E)(H)CPU/QnUDVCPU)

Installation orders CPU No.2

or later

CPU empty slot Settable between CPU modules

PLC CPU module Universal model (QnUD(E)(H)CPU/QnUDVCPU)

Motion CPU module Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1)

Combination of Motion

CPU modules

Installation on main base

unit

Function select switch Rotary switch 1, Rotary switch 2

RESET/L.CLR switch None

LED indication 7-segment LED display

Battery Demand

Battery holder unit — Q170DBATC

Forced stop input

Cable for forced stop input Demand

Motion module Q172DLX/Q172DEX/Q173DPX/Q173DSXY Q172DLX/Q172DEX/Q173DPX/Q173DSXY

Installation on main base

unit

Multiple CPU high speed

transmission memory for data

transfer between CPU

modules

0.44ms/ 5 to 10 axes

0.88ms/11 to 24 axes

1.77ms/25 to 32 axes

0.44ms/ 1 to 6 axes

0.88ms/ 7 to 16 axes

1.77ms/17 to 32 axes

USB/RS-232/Ethernet (via PLC CPU)

PERIPHERAL I/F (Motion CPU)

Combination with Q173DCPU(-S1)/Q172DCPU(-S1) Combination with Q173DSCPU/Q172DSCPU

Q172DLX/Q172DEX/Q173DPX: Impossible to install on I/O slots of 0 to 2

0.22ms/ 1 to 4 axes

0.44ms/ 5 to 10 axes

0.88ms/11 to 16 axes

0.44ms/ 1 to 6 axes

0.88ms/ 7 to 16 axes

No restriction

Be sure to install Motion CPU modules by unit fixing screws.

• Use EMI connector of Motion CPU module

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

0.44ms/ 1 to 6 axes

0.88ms/ 7 to 18 axes

1.77ms/19 to 32 axes

0.44ms/ 1 to 4 axes

0.88ms/ 5 to 12 axes

1.77ms/13 to 28 axes

3.55ms/29 to 32 axes

DNC-SV Q

USB/RS-232/Ethernet (via PLC CPU)

PERIPHERAL I/F (Motion CPU)

Included

0.44ms/ 1 to 6 axes

0.88ms/ 7 to 8 axes

0.44ms/ 1 to 4 axes

0.88ms/ 5 to 8 axes

(Note-1)

ote-

1 - 4

1 OVERVIEW

Q173HCPU Q173HCPU

Clear

Usable

High performance model (Qn(H)CPU)

Not settable between CPU modules

High performance model (Qn(H)CPU)

Q173HCPU(-T)/Q172HCPU(-T)

Dip switch 1 to 5

Provided

Q170HBATC

—

Q172LX/Q172EX/Q173PX

0.44ms/ 1 to 3 axes

0.88ms/ 4 to 10 axes

1.77ms/11 to 20 axes

3.55ms/21 to 32 axes

0.88ms/ 1 to 5 axes

1.77ms/ 6 to 14 axes

3.55ms/15 to 28 axes

7.11ms/29 to 32 axes

USB/SSCNET

Main base unit

(Q33B/Q35B/Q38B/Q312B)

Mount the unit by unit fixing screws when using

system in a place where the vibration or impact is

Install Motion CPU modules on the right-hand side of

PLC CPU module.

Combination with Q173CPUN(T)/Q172CPUN(-T)

Install Motion CPU modules by unit fixing screws

when using them in a place where the vibration or

impact is large.

Each LED of MODE, RUN, ERR, M.RUN, BAT and

Add Q6BAT at continuous power failure for 1 month

• Use device set by forced stop input setting in the

system setting.

No restriction

(Note-1) : Q173DCPU-S1/Q172DCPU-S1 only

0.44ms/ 1 to 3 axes

0.88ms/ 4 to 8 axes

0.88ms/ 1 to 5 axes

1.77ms/ 6 to 8 axes

RN-SV Q

large.

BOOT

or more

—

1 - 5

1 OVERVIEW

1.3 Restrictions by the Software's Version

There are restrictions in the function that can be used by the version of the operating system software and programming software. The combination of each version and a function is shown in Table1.1.

Table 1.1 Restrictions by the Software's Version

00G

00H

00L

00N

ote-1), (Note-

00B

00C

—

00C

Not support

Operating system software version

Function

Checking Motion controller's serial number and operating

system software version in GX Developer

Advanced S-curve acceleration/deceleration

(Except constant-speed control (CPSTART) of servo

program.)

Direct drive servo

MR-J3-

Servo amplifier display servo error code (#8008+20n) — 00H 00B

0.44ms fixed-cycle event task — 00H

444μs coasting timer (SD720, SD721) — 00H 00B

Synchronous encoder current value monitor in real mode — 00H

Display of the past ten times history in current value history

monitor

Amplifier-less operation — 00H

Servo instruction (Home position return (ZERO), high

speed oscillation (OSC)) and manual pulse generator

operation in mixed function of virtual mode/real mode

Advanced S-curve acceleration/deceleration in constant-

speed control (CPSTART) of servo program.

External input signal (DOG) of servo amplifier in home

position return of count type and speed/position switching

control

Communication via PERIPHERAL I/F

Motion SFC operation control instruction

Type conversion (DFLT, SFLT)

Vision system dedicated function (MVOPEN, MVLOAD,

MVTRG, MVPST, MVIN, MVFIN, MVCLOSE, MVCOM)

Home position return of scale home position signal

detection type

Real time display function in digital oscilloscope function

B-RJ080W

Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1)

SV13/SV22 SV13/SV22 SV43

— 00D —

— 00H

— 00H 00B

— 00H 00C

— 00H

— 00K

—

1 - 6

1 OVERVIEW

Programming software version

MELSOFT MT Works2 (MT Developer2)

Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1)

SV13/SV22 SV13/SV22 SV43

— — — — — (Note-5), (Note-6)

1.39R 1.06G — — (Note-4)

— — — — — (Note-3)

— — — — (Note-6)

— — — — (Note-3)

1.39R

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

(Note-2): The operating system software version can be confirmed in the operating system software (CD-ROM), MT Developer2 or

(Note-3): Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (COMMON)

(Note-4): Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)

(Note-5): Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)

(Note-6): Q173D(S)CPU/Q172D(S)CPU Motion controller (SV22) Programming Manual (VIRTUAL MODE)

(Note-7): Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (Safety Observation)

(Note-8): Q173DSCPU/Q172DSCPU Motion controller (SV22) Programming Manual (Advanced Synchronous Control)

— — — — — Section 2.2

1.39R 1.06G — — (Note-5)

1.39R 1.06G 1.06G 1.01B C2

1.39R 1.06G Not support — — (Note-3)

1.39R 1.09K — — (Note-6)

1.39R 1.09K — — (Note-5)

1.39R

GX Works2/GX Developer. (Refer to "Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (COMMON) Section

1.3, 1.4".)

1.15R

1.17T

Not support — —

Not support — — (Note-3)

— — — (Note-4)

— — (Note-4)

Not support — — (Note-5)

Not support — —

MR Configurator2 MR Configurator

—: There is no restriction by the version.

Section of reference

1 - 7

1 OVERVIEW

Table 1.1 Restrictions by the Software's Version (continued)

Operating system software version

Function

Rapid stop deceleration time setting error invalid function

Vision system dedicated function (MVOUT)

Motion SFC operation control instruction

Program control (IF - ELSE - IEND, SELECT -CASE -

SEND, FOR -NEXT, BREAK)

Display format depending on the error setting data

information of motion error history device (#8640 to #8735)

Product information list device (#8736 to #8751) — 00S

Safety observation function — 00S

Feed current value update command (M3212+20n) valid in

speed control (

External forced stop input ON latch (SM506) 00B 00S

Operation method (SD560) 00B Not support

Advanced synchronous control 00B Not support

Limit switch output function expansion 00B Not support

Driver communication function (SSCNET )

Intelligent function module support

SSCNET /H head module connection

Cam auto-generation (CAMMK) easy stroke ratio cam

Acceleration/deceleration time change function

Home position return of dogless home position signal

reference type

Setting range expansion of backlash compensation

amount

Multiple CPU synchronous control

Cam axis length per cycle change during synchronous

control

Servo driver VC series

manufactured by Nikki Denso Co., Ltd.

Inverter FR-A700 series — —

Synchronous encoder via servo amplifier 00D Not support

Driver communication function (SSCNET /H) 00D Not support

)

SSCNET

SSCNET /H 00D Not support

— 00L

Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1)

SV13/SV22 SV13/SV22 SV43

— 00S

— 00R

— 00S

00B Not support

00C Not support

ote-1), (Note-

1 - 8

1 OVERVIEW

Programming software version

MELSOFT MT Works2 (MT Developer2)

Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1)

SV13/SV22 SV13/SV22 SV43

— — — — (Note-5)

1.39R

— — — — (Note-5), (Note-6)

1.39R

—

1.47Z

1.34L 1.15R — — (Note-5)

1.56J Not support — — (Note-5)

1.34L 1.15R — — (Note-5)

1.68W Not support — Not support (Note-8)

1.68W Not support — Not support (Note-3)

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

(Note-2): The operating system software version can be confirmed in the operating system software (CD-ROM), MT Developer2 or

(Note-3): Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (COMMON)

(Note-4): Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)

(Note-5): Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)

(Note-6): Q173D(S)CPU/Q172D(S)CPU Motion controller (SV22) Programming Manual (VIRTUAL MODE)

(Note-7): Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (Safety Observation)

(Note-8): Q173DSCPU/Q172DSCPU Motion controller (SV22) Programming Manual (Advanced Synchronous Control)

1.39R

— — — — (Note-4)

—

— Not support

1.56J Not support

GX Works2/GX Developer. (Refer to "Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (COMMON) Section

1.3, 1.4".)

1.39R

Not support

—

Not support

— — (Note-4)

— — (Note-7)

— — (Note-5)

— — (Note-3)

— — (Note-8)

— — (Note-3)

MR Configurator2 MR Configurator

— —

—: There is no restriction by the version.

Section of reference

(Note-3)

(Note-4)

(Note-5)

(Note-8)

1 - 9

1 OVERVIEW

1.4 Programming Software Version

Motion CPU

Q173DSCPU

Q172DSCPU

Q173DCPU-S1

Q172DCPU-S1

Q173DCPU 1.00A 1.03D 1.00A

Q172DCPU 1.00A 1.03D 1.00A

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

MELSOFT MT Works2 (MT Developer2)

SV13/SV22 SV43

(Note-1)

1.39R

1.00A

(Note-1)

(Note-2)

1.03D

(Note-2)

1.03D

(Note-1): Use version 1.47Z or later to use advanced synchronous control method.

(Note-2): Use version 1.12N or later to communicate via PERIPHERAL I/F.

(Note-3): Use version 1.23Z or later to communicate via PERIPHERAL I/F.

(Note-4): Use version C1 or later to use MR Configurator combination with MT Developer2.

1.10L Not support

(Note-3)

MR Configurator2 MR Configurator

1.00A

(Note-4)

1 - 10

2 SYSTEM CONFIGURATION

2. SYSTEM CONFIGURATION

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

2.1 Motion System Configuration

(1) Equipment configuration in system

Motion modul e

(Q172DLX, Q172DEX, Q173DPX)

(a) Q173DSCPU/Q172DSCPU

Power supply module/

QnUD(E)(H)CPU/QnUDVCPU/

I/O module/Intelligent function

module of th e Q series

Main base unit

(Q35DB, Q 38DB, Q31 2DB)

Extension cable

(QC B)

Extension of the Q series module

(Note-2)

Motion module

(Q172DLX, Q173DPX)

Q6 B extension base unit

(Q63B, Q65B, Q68B, Q612B)

Safety signal module

(Q173DSXY)

RIO cable

(Q173DSXYCBL M)

Motion CPU module

(Q173DSCPU/Q172DSCPU)

SSCNET cable

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

Servo amplifier

(MR-J3(W)- B)

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

(Note-1): Be sure to install the Battery (Q6BAT). It is packed together with Q173DSCPU/Q172DSCPU. (Note-2): Q172DEX cannot be used in the extension base unit. Install it to the main base unit.

Forced st op input cab le

(Q170DEMICBL M)

(Note-1)

LITHIUM BATTERY

PROGRAMMABLE CONTROLL ER

TYPE Q6BAT

Battery

(Q6BAT)

Servo amplifier

(MR-J4(W)- B)

MITSUBISHI

Power supply module/

I/O module/Intelligent function

module of the Q series

2 - 1

2 SYSTEM CONFIGURATION

(b) Q173DCPU(-S1)/Q172DCPU(-S1)

Power supply module/

QnUD(E)(H)CPU/QnUDVCPU/

I/O module/Intelligent function

module of th e Q series

Extension of the Q series module

(Note-2)

Motion module

(Q172DLX, Q173DPX)

Motion modul e

(Q172DLX, Q172DEX, Q173DPX)

(Note-3)

Safety signal module

(Q173DSXY)

(Note-3)

RIO cable

(Q173DSXYCBL M)

Main base unit

(Q35DB, Q 38DB, Q31 2DB)

Motion CPU module

(Q173DCPU(-S1)/

Q172DCPU(-S1))

SSCNET cable

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

Servo amplifier

(MR-J3(W)- B)

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

(Note-1): Be sure to install the Battery (Q6BAT) to the Battery holder unit (Q170DBATC). It is packed together with Q173DCPU(-S1)/Q172DCPU(-S1). (Note-2): Q172DEX cannot be used in the extension base unit. Install it to the main base unit. (Note-3): Q173DCPU-S1/Q172DCPU-S1 only.

Extension cable

(QC B)

Forced st op input cab le

(Q170DEMICBL M)

(Note-1)

Battery holder unit

(Q170DBATC)

(Note-1)

LITHIUM BATTERY

PROGRAMMABLE CONTROLL ER

TYPE Q6BAT

Battery

(Q6BAT)

MITSUBISHI

Q6 B extension base unit

(Q63B, Q65B, Q68B, Q612B)

Power supply module/

I/O module/Intelligent function

module of the Q series

2 - 2

2 SYSTEM CONFIGURATION

(2) Peripheral device configuration for the Q173D(S)CPU/

Q172D(S)CPU

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

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

PLC CPU module

(QnUD(E)(H)CPU/QnUDVCPU)

PLC CPU module

(QnUD(H)CPU)

Motion CPU module

(Q17 DSCPU/Q17 DCPU-S1)

PLC CPU module

(QnUDE(H)CPU/QnUDVCPU)

USB cable

Personal computer

RS-232 communication cable

(QC30R2)

Personal computer Personal computer

(Note-1): Corresponding Ethernet cables

Part name Connection type Cable type Ethernet standard Specification

Connection with HUB Straight cable

Ethernet cable

Direct connection Crossover cable

1) Connecting to Motion CPU module

10BASE-T

100BASE-TX

10BASE-T

100BASE-TX

[Selection criterion of cable]

• Category : 5 or higher

• Diameter of lead : AWG26 or higher

• Shield : Copper braid shield and drain wire

Compliant with Ethernet standards, category 5 or higher.

• Shielded twisted pair cable (STP cable)

Copper braid shield and aluminium layered type shield

2) Connecting to PLC CPU module Refer to the "QnUCPU User's Manual (Communication via Built-in Ethernet Port)".

Ethernet cable

(Note-1)

2 - 3

2 SYSTEM CONFIGURATION

2.1.1 Q173DSCPU/Q172DSCPU System overall configuration

Motion CPU control module

u o

Serial absolute synchronous encoder cable (Q170ENCCBL M)

Serial absolute synchronous encoder 2/module

(Q171ENC-W8)

Upper stroke limit Lower stroke limit STOP signal

Proximity dog/Speed-pos ition switching

LJ72MS15L61P

MELSEC-L series SSCNET /H head module (LJ72MS15)

Q173DSCPU: 2 lines (Up to 8 stations (Up to 4 stations/line)) Q172DSCPU: 1 line (Up to 4 stations)

PERIPHERAL I/F

Panel personal computer

100/200VAC

Personal Computer IBM PC/AT

Extension base unit (Q6 B)

Extension cable (QC B)

Serial absolute synchronous encoder cable (Q170ENCCBL M-A)

Serial absolute synchronous

encoder (Q171ENC-W8)

UP to 7 extensions

Line 2 SSCNET (/H) (CN2)

(Note-2)

Main base unit

(Q3 DB)

Q61P

QnUD CPU

USB/RS-232/

(Note-1)

Ethernet

Battery (Q6BAT)

Forced stop input cable (Q170DEMICBL M)

EMI forced stop input (24VDC)

l p p u s

u d

o P

d01

d16

MR-J3(W)- B/MR-J4(W)- B model Servo amplifier

Q173DSCPU: 2 lines (Up to 32 axes (Up to 16 axes/line)) Q172DSCPU: 1 line (Up to 16axes)

External input signals of servo amplifier

Proximity dog/Speed-pos ition switching Upper stroke limit Lower stroke limit

PLC CPU/ Motion CPU

Q17 DS CPU

QI60

QX QY

Q6 AD Q172DLXQ172DEXQ173D

Q6 DA

Intelligent

function module

Interrupt signals (16 points)

Manual pulse generator/

Incremental synchronous encoder 1/module

Input signal/Mark detection input signal (4 points)

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

Line 1 SSCNET (/H) (CN1)

d01

d16

l a n

r e

t x e

o v r e S

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

Analogue input/output

Input/output (Up to 256 points)

l u d

I/O module/ Intelligent function module

Manual pulse generator 3/module

(MR-HDP01)

External input s ignals

External input signals

LJ72MS15L61P

I/O module/ Intelligent function module

(Note-1): QnUDE(H)CPU/QnUDVCPU only (Note-2): MR-J4- B-RJ only

Number of Inputs

8 axes/module

2 - 4

2 SYSTEM CONFIGURATION

CAUTION

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

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

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

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

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

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

2 - 5

2 SYSTEM CONFIGURATION

2.1.2 Q173DCPU(-S1)/Q172DCPU(-S1) System overall configuration

Motion CPU control module

Q173D PX

Serial absolute synchronous encoder 2/module (Q170ENC)

I/O module/ Intelligent function module

Manual pulse generator 3/module

(MR-HDP01)

External input signals

Panel personal computer

PERIPHERAL I/F

(Note-1)

Main base unit

(Q3 DB)

100/200VAC

Personal Computer IBM PC/AT

Battery holder unit Q170DBATC

EMI forced stop input (24VDC)

PLC CPU/ Motion CPU

QnUD

Q61P

CPU

USB/RS-232/

(Note-2)

Ethernet

Forced stop input cable (Q170DEMICBL M)

Q17 D CPU

QI60

Q6 AD Q172DLXQ172D

Q6 DA

Interrupt signals (1 6 points)

Serial absolute synchronous encoder cable (Q170ENCCBL M)

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

Analogue input/output

Input/output (Up to 256 points)

Number of Inputs

8 axes/module

Extension base unit (Q6 B)

Extension cable (QC B)

l p p u s

l u

UP to 7 extensions

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

Line 2 SSCNET (CN2)

Line 1 SSCN ET (CN1)

d01

d16

d01

MR-J3(W)- B model Servo amplifier

Q173DCPU(-S1): 2 lines (Up to 32 axes (Up to 16 axes/line)) Q172DCPU(-S1): 1 line (Up to 8 axes)

External input signals of servo amplifier

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

(Note-1): Q173DCPU-S1/Q172DCPU-S1 only (Note-2): QnUDE(H)CPU/QnUDVCPU only

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.

d16

2 - 6

2 SYSTEM CONFIGURATION

2.1.3 Function explanation of the Motion CPU modules

(1) The following servo amplifiers can be controlled in Motion CPU module.

Q173DSCPU/Q173DCPU(-S1) : Up to 32 axes per 2 lines (up to 16 axes per 1

line) Q172DSCPU : Up to 16 axes per 1 line Q172DCPU(-S1) : Up to 8 axes per 1 line

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

cycle and executed at fixed cycle (Min. 0.22ms: Q173DSCPU/Q172DSCPU use).

(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 Motion CPU module and servo amplifier with SSCNET

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

installing the corresponding operating system software in the Motion CPU module.

(5) Motion modules (Q172DLX/Q172DEX/Q173DPX) are controlled with the Motion

CPU module, and the signals such as stroke limit signals connected to Motion modules and synchronous encoder can be used as motion control.

(6) PLC I/O modules and intelligent function modules (excluding some modules) can

be controlled with the Motion CPU module. (Refer to Section 2.3 (2) for modules that can be controlled with Motion CPU module.)

(7) Data exchange between CPU modules is possible by Multiple CPU high speed

transmission memory or automatic refresh in the Multiple CPU system.

(8) Wiring is reduced by issuing the external signal (upper/lower stroke limit signal,

proximity dog signal) via the servo amplifier.

cable.

2 - 7

2 SYSTEM CONFIGURATION

2.1.4 Restrictions on Motion systems

(1) Combination of Multiple CPU system

(a) Motion CPU module cannot be used as standalone module.

Be sure to install the universal model PLC CPU module to CPU No.1. For Universal model PLC CPU module, "Multiple CPU high speed transmission function" must be set in the Multiple CPU settings.

(b) Only Multiple CPU high speed main base unit (Q35DB/Q38DB/Q312DB)

can be used.

Q172DCPU(-S1) and Q173HCPU(-T)/Q172HCPU(-T)/Q173CPUN(-T)/ Q172CPUN(-T) cannot be used. The combination of Q173DSCPU/Q172DSCPU/Q173DCPU(-S1)/ Q172DCPU(-S1) can be used.

(d) Up to four modules of universal model PLC CPU modules/Motion CPU

modules can be installed from the CPU slot (the slot on the right side of power supply module) to slot 2 of the main base unit. CPU modules called as CPU No.1 to CPU No.4 from the left sequentially. There is no restriction on the installation order of CPU No.2 to No.4. For CPU module except CPU No.1, an empty slot can be reserved for addition of CPU module. An empty slot can be set between CPU modules. However, the installation condition when combining with the High performance PLC CPU module/Process CPU module/PC CPU module/ C controller module is different depending on the specification of CPU modules, refer to the Manuals of each CPU modules.

(e) It takes about 10 seconds to startup (state that can be controlled) of Motion

CPU. Make a Multiple CPU synchronous startup setting suitable for the system.

(f) Execute the automatic refresh of the Motion CPU modules and universal

model PLC CPU modules by using the automatic refresh of Multiple CPU high speed transmission area setting. When the High performance PLC CPU module/Process CPU module/PC CPU module/C controller module is installed in the combination of Multiple CPU system, the Motion CPU module cannot be execute the automatic refresh with these modules.

(g) Use the Motion dedicated PLC instructions that starts by "D(P).". The Motion

dedicated PLC instructions that starts by "S(P)." cannot be used. When the High performance PLC CPU module/Process CPU module/PC CPU module/C controller module is installed in the combination of Multiple CPU system, the Motion dedicated PLC instruction from these modules cannot be executed.

2 - 8

2 SYSTEM CONFIGURATION

(2) Motion modules

(a) Installation position of Q172DEX

unit. It cannot be used on the extension base unit.

(b) Q172DLX/Q173DPX can be installed on any of the main base unit/

extension base unit.

slot 0 to 2 of the main base unit. Wrong installation might damage the main base unit.

(d) Q173DSXY cannot be used in Q173DCPU/Q172DCPU.

(e) Q172EX(-S1/-S2/-S3)/Q172LX/Q173PX(-S1) for Q173HCPU(-T)/

Q172HCPU(-T)/Q173CPUN(-T)/Q172CPUN(-T)/Q173CPU/Q172CPU cannot be used.

(f) Be sure to use the Motion CPU as the control CPU of Motion modules

(Q172DLX, Q172DEX 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.

(g) Q173DSXY is managed with PLC CPU.

The Motion CPU to connect Q173DSXY is only CPU No.2 in the Multiple CPU system. Q173DSXY cannot be used for the CPU No. 3 or 4.

(Note-1): Q172DEX can be used in SV22. It cannot be used in SV13/SV43.

(Note-1)

and Q173DSXY is only the main base

(Note-1)

/Q173DPX cannot be installed in CPU slot and I/O

(Note-1)

, Q173DPX, etc.) for Motion CPU. They will not

2 - 9

2 SYSTEM CONFIGURATION

(3) Other restrictions

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

module (excluding some modules) or Graphic Operation Terminal(GOT).

(b) Be sure to use the battery.

• Use a EMI connector of Motion CPU module

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

(d) Forced stop input for EMI connector of Motion CPU module cannot be

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

(e) Be sure to use the cable for forced stop input (sold separately). The forced

stop cannot be released without using it.

(f) Set "SSCNET

system setting to communicate with the servo amplifiers. MR-J4(W)can be used by setting "SSCNET

(g) There are the following restrictions when "SSCCNET

communication method. When the operation cycle is 0.2[ms], set the system setting and the axis select rotary switch of servo amplifier to "0 to 3". If the axis select rotary switch of servo amplifier is set to "4 to F", the servo amplifiers are not recognized. When the operation cycle is 0.4[ms], set the system setting and the axis select rotary switch of servo amplifier to "0 to 7". If the axis select rotary switch of servo amplifier is set to "8 to F", the servo amplifiers are not recognized. There is no restriction when "SSCNET

(Note): The setting of axis select rotary switch differs according to the servo

(h) Maximum number of control axes of servo amplifier is shown below.

• Operation cycle is 0.2[ms]: 4 axes per line

• Operation cycle is 0.4[ms]: 8 axes per line There is no restriction when "SSCNET

QDS

(i) When the operation cycle is "default setting", the operation cycle is set

depending on the number of axes used. However, when "SSCNET in the SSCNET communication setting and the number of axes used of servo amplifier is 9 axes or more per line, the operation cycle of 0.8 [ms] or more is set. (Refer to Section 2.5.1(6).)

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

B can be used by setting "SSCNET /H", and MR-J3(W)- B

QDS

" is set as

QDS

/H" is set in the SSCNET setting.

amplifier. Refer to the "Servo amplifier Instruction Manual" for details.

/H" is set in the SSCNET setting.

" is set

QDS

2 - 10

2 SYSTEM CONFIGURATION

(j) MR-J4W3-

support operation cycle 0.2 [ms]. Set 0.4[ms] or more as operation cycle to use MR-J4W3-

QDS

MR-J4W 3[ms]. However, when using operation cycle 0.2 [ms], some functions are restricted. Refer to the "Servo amplifier Instruction Manual" for details.

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

applicable servo amplifier at MR-J4Wapplicable servo amplifier and subsequent servo amplifiers cannot be connected. Set "Not used" to the applicable axis with a dip switch for the axis which is not used by MR-J4W-

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

modules so that the total current consumption of individual modules on the main base does not exceed the 5VDC output capacity of power supply module. (Refer to Section 2.5.2 (3) "Selection of the power supply module".)

(m) It is impossible to mount the main base unit by DIN rail when using the

Motion CPU module. Doing so could result in vibration that may cause erroneous operation.

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

of GX Works2/GX Developer is different depending on the function version of Motion modules (Q172DLX, Q172DEX, Q173DPX).

(Note): Even if the function version "C" is displayed, it does not correspond

Q172DLX Q172LX Q172DLX

Q172DEX MOTION-UNIT Q172DEX

Q173DPX MOTION-UNIT Q173DPX

(o) Use the Graphic Operation Terminal (GOT) that supports Motion CPU

(Q173D(S)CPU/Q172D(S)CPU). (Refer to the "GOT1000 Series Connection Manual (Mitsubishi Products)".)

B (Software version "A2" or before) and MR-J3W- B does not

B (Software version "A2" or before) and MR-J3W- B.

B (Software version "A3" or later) supports operation cycle 0.2

to the online module change.

Module name

Function version "B" Function version "C"

B use, all axes connected to

QDS

Model display

2 - 11

2 SYSTEM CONFIGURATION

2.2 Checking Serial Number and Operating System Software Version

Checking for the serial number of Motion CPU module and Motion module, and the operating system software version are shown below.

2.2.1 Checking serial number

(1) Motion CPU module (Q173DSCPU/Q172DSCPU)

(a) Rating plate

Q173DSCPU

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

(b) Front of Motion CPU module

The serial number is printed in the projection parts forward of the lower side of Motion CPU module.

Serial number

STOP RUN

EMI

PERIPHERAL I/F

CN1CN2

EXT.I/F

PULL

FRONT RIO

N2X234999

MITSUBISHI

MOTION CONT ROLLER

MODEL

Q173DSCPU

SERIAL

80M1

US LISTED

IND. CONT.EQ.

N2X234999

KCC-REI-MEKTC510A792G61 DATE:2011-11

PASSED

5VDC 1.75A

Serial number

Rating plate

MITSUBISHI ELECTRIC CORPORATION

MADE IN JAPAN

See Q173DSCPU Instruction manua l.

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

2 - 12

2 SYSTEM CONFIGURATION

(2) Motion CPU module (Q173DCPU(-S1)/Q172DCPU(-S1))

(a) Rating plate

Q173DCPU-S1

STOP RUN

EMI

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

(b) Front of Motion CPU module

The serial number is printed in the projection parts forward of the lower side of Motion CPU module.

CAUTION

Serial number

CN1

CN2

M16349999

FRONT BAT RIO

MITSUBISHI

MOTION CONTROLLER

MODEL

Q173DCPU-S1

PERIPHERAL I/F

0026924699D0

SERIAL

M16349999

80M1 IND. CONT. EQ.

US LISTED

MITSUBISHI ELECTRIC CORPORATION

See Q17 3DC PU- S1 I nst ruc tio n ma nua l.

KCC-REI-MEK-TC5 10A692051

PASSED

5VDC 1.30 A

MADE IN JAPAN

DATE:2011-06

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

REMARK

The serial number display was corresponded from the Motion CPU modules manufactured in early October 2007.

Rating plate

Serial number

2 - 13

2 SYSTEM CONFIGURATION

(3) Motion module (Q172DLX/Q172DEX/Q173DPX/Q173DSXY)

(a) Rating plate

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

(b) Front of Motion module

The serial No. is printed in the projection parts forward of the lower side of Motion module.

Q172DLX

Serial number

Q172DLX

CTRL

C16054999

MITSUBISHI

MOTION I/F UNIT

MODEL

Q172DLX

SERIAL DATE

2011-06

80M1 IND. CONT. EQ.

US LISTED

MITSUBISHI ELECTRIC CORPORATION

MADE IN JAPAN BC370C224H01

See Q17 2DL X In str uct ion man ual .

KCC-REI-MEK-

TC510A646G51

C16054999

PASSED

5VDC 0.06A24VDC 0.16A

Rating plate

Serial numbe

REMARK

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

2 - 14

2 SYSTEM CONFIGURATION

2.2.2 Checking operating system software version

The operating system software version can be checked on the system monitor screen in GX Works2/GX Developer. Select [Product Information List] button on the system monitor screen displayed on [Diagnostics] – [System monitor] of GX Works2/GX Developer.

Ver.!

Serial number of Motion CPU module

Operating system software version

<Screen: GX Works2>

Ver.!

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

2 - 15

2 SYSTEM CONFIGURATION

REMARK

(1) "Serial number of Motion CPU module" and "Operating system software

version" on the system monitor (Product Information List) screen of GX Works2/GX Developer was corresponded from the Motion CPU modules manufactured in early October 2007.

(2) The operating system software version can also be checked on the system

monitor screen in CD-ROM of operating system software or MT Developer2. Refer to Section 1.3.4 of the "Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (COMMON)" for details.

2 - 16

2 SYSTEM CONFIGURATION

2.3 System Configuration Equipment

Part name

Motion CPU

module

Servo external

signals interface

module

Synchronous

encoder

interface module

Manual pulse

generator

interface module

Safety signal

module

PLC CPU

(Note-3)

module

(1) Motion controller related module

Model name

Q173DSCPU

Q172DSCPU

Q173DCPU

Q173DCPU-S1

Q172DCPU

Q172DCPU-S1

Q172DLX

Q172DEX

Q173DPX

Q173DSXY Input 20 points (2 paths), Output 12 points (2 paths) 0.20

Q03UDCPU Program capacity 30k steps, LD instruction processing speed 0.02μs 0.33

Q04UDHCPU Program capacity 40k steps, LD instruction processing speed 0.0095μs 0.39

Q06UDHCPU Program capacity 60k steps, LD instruction processing speed 0.0095μs 0.39

Q10UDHCPU Program capacity 100k steps, LD instruction processing speed 0.0095μs 0.39

Q13UDHCPU Program capacity 130k steps, LD instruction processing speed 0.0095μs 0.39

Q20UDHCPU Program capacity 200k steps, LD instruction processing speed 0.0095μs 0.39

Q26UDHCPU Program capacity 260k steps, LD instruction processing speed 0.0095μs 0.39

Q03UDECPU

Q04UDEHCPU

Q06UDEHCPU

Q10UDEHCPU

Q13UDEHCPU

(Note-1)

Up to 32 axes control, Operation cycle 0.22[ms] or more,

Built-in Ethernet, Built-in interface in Motion CPU (Incremental synchronous

encoder interface 1ch, Input signal/Mark detection input signal 4 points)

(Attachment battery (Q6BAT))

Up to 16 axes control, Operation cycle 0.22[ms] or more,

Built-in Ethernet, Built-in interface in Motion CPU (Incremental synchronous

encoder interface 1ch, Input signal/Mark detection input signal 4 points)

(Attachment battery (Q6BAT))

Up to 32 axes control, Operation cycle 0.44[ms] or more

(Attachment battery holder unit and battery (Q6BAT))

Up to 32 axes control, Operation cycle 0.44[ms] or more,

Built-in Ethernet

(Attachment battery holder unit and battery (Q6BAT))

Up to 8 axes control, Operation cycle 0.44[ms] or more

(Attachment battery holder unit and battery (Q6BAT))

Up to 8 axes control, Operation cycle 0.44[ms] or more,

Built-in Ethernet

(Attachment battery holder unit and battery (Q6BAT))

Servo external signal input 8 axes

(FLS, RLS, STOP, DOG/CHANGE ×8)

Serial absolute synchronous encoder Q171ENC-W8/Q170ENC

interface ×2, Tracking input 2 points, with A6BAT

Manual pulse generator MR-HDP01/Incremental synchronous encoder

interface ×3, Tracking input 3 points

Program capacity 30k steps, LD instruction processing speed 0.02μs,

Built-in Ethernet port

Program capacity 40k steps, LD instruction processing speed 0.0095μs,

Built-in Ethernet port

Program capacity 60k steps, LD instruction processing speed 0.0095μs,

Built-in Ethernet port

Program capacity 100k steps, LD instruction processing speed 0.0095μs,

Built-in Ethernet port

Program capacity 130k steps, LD instruction processing speed 0.0095μs,

Built-in Ethernet port

Description

Current

consumption

5VDC[A]

(Note-2)

1.75

(Note-2)

1.44

1.25

1.30

1.25

1.30

0.06

0.19

0.38

0.46

0.49

Remark

2 - 17

2 SYSTEM CONFIGURATION

Part name

PLC CPU

(Note-3)

module

C Controller

(Note-3)

module

Power supply

(Note-4)

module

Main base unit

(Note-3)

Extension base

(Note-3)

unit

Extension cable

Serial absolute

synchronous

encoder

Model name

Q20UDEHCPU

Q26UDEHCPU

Q50UDEHCPU

Q100UDEHCPU

Q03UDVCPU

Q04UDVCPU

Q06UDVCPU

Q13UDVCPU

Q26UDVCPU

Q12DCCPU-V

Q24DHCCPU-V

Q24DHCCPU-LS

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

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

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

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

Q63P 24VDC input, 5VDC 6A output

Q64P 100 to 120VAC/200 to 240VAC input, 5VDC 8.5A output

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

Q35DB Multiple CPU high speed bus (4 slots), Number of I/O modules : 5 slots 0.23

Q38DB Multiple CPU high speed bus (4 slots), Number of I/O modules : 8 slots 0.23

Q312DB Multiple CPU high speed bus (4 slots), Number of I/O modules : 12 slots 0.24

Q63B Number of I/O modules installed 3 slots 0.11

Q65B Number of I/O modules installed 5 slots 0.11

Q68B Number of I/O modules installed 8 slots 0.12

Q612B Number of I/O modules installed 12 slots 0.13

QC05B Length 0.45m(1.48ft.)

QC06B Length 0.6m(1.97ft.)

QC12B Length 1.2m(3.94ft.)

QC30B Length 3m(9.84ft.)

QC50B Length 5m(16.40ft.)

QC100B Length 10m(32.81ft.)

Q171ENC-W8

Q170ENC

Motion controller related module (continued)

(Note-1)

Program capacity 200k steps, LD instruction processing speed 0.0095μs,

Built-in Ethernet port

Program capacity 260k steps, LD instruction processing speed 0.0095μs,

Built-in Ethernet port

Program capacity 500k steps, LD instruction processing speed 0.0095μs,

Built-in Ethernet port

Program capacity 1000k steps, LD instruction processing speed 0.0095μs,

Built-in Ethernet port

Program capacity 30k steps, LD instruction processing speed 0.0019μs,

High-speed type

Program capacity 40k steps, LD instruction processing speed 0.0019μs,

High-speed type

Program capacity 60k steps, LD instruction processing speed 0.0019μs,

High-speed type

Program capacity 130k steps, LD instruction processing speed 0.0019μs,

High-speed type

Program capacity 260k steps, LD instruction processing speed 0.0019μs,

High-speed type

CPU: SH4A, Endian format: Little endian, OS: VxWorks

CPU: SH4A, Endian format: Little endian,

OS: No pre-installed operating system (Operating system installed by user)

Resolution: 4194304PLS/rev Permitted axial loads Radial load: Up to 19.6N, Thrust load: Up to 9.8N Permitted speed: 3600r/min

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

2 - 18

Description

6.4

6.8.1

Current

consumption

5VDC[A]

0.49

0.50

0.58

0.97

2.80

——

0.25

0.20

Remark

2 SYSTEM CONFIGURATION

Part name

Serial absolute

synchronous

encoder cable

Connector set

for serial

absolute

synchronous

encoder cable

Internal I/F

connector set

Manual pulse

generator

Battery holder

(Note-5)

unit

Battery

Cable for forced stop input

Connector for

forced stop input

cable

Connector/termi

nal block

conversion module

Cable for

connector/

terminal block

conversion

module

(Note-6)

(Note-7)

Model name

Q170ENCCBL

Q170ENCCBL M-A

Q170ENCCNS

MR-J3CN2

Q170DSIOCON

MR-HDP01

Q170DBATC Battery holder for Q6BAT (Attachment battery cable) ——

Q6BAT

A6BAT For data backup of Q171ENC-W8/Q170ENC

Q170DEMICBL

Q170DEMICON Connector for forced stop input cable production ——

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.) ——

Motion controller related module (continued)

(Note-1)

Serial absolute synchronous encoder Q171ENC-W8/Q170ENC

Q172DEX

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

50m(164.04ft.)

Serial absolute synchronous encoder Q171ENC-W8

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

50m(164.04ft.)

Q172DEX side connector

Connector :10120-3000PE

Connector case : 10320-52F0-008

Q171ENC-W8/Q170ENC side connector

Plug : D/MS3106B22-14S

Cable clamp : D/MS3057-12A

MR-J4-

Plug : 36210-0100PL

Shell : 36310-3200-008

Q171ENC-W8 side connector

Plug : D/MS3106B22-14S

Cable clamp : D/MS3057-12A

Incremental synchronous encoder/Mark detection signal interface

connector

With ferrite core

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

For data backup of SRAM built-in Motion CPU

(Programs, Parameters, Motion devices(#), Devices of latch range,

Absolute position data)

Length 0.5m(1.64ft), 1m(3.28ft), 3m(9.84ft), 5m(16.40ft), 10m(32.81ft),

15m(49.21ft), 20m(65.62ft), 25m(82.02ft), 30m(98.43ft)

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)

B-RJ side connector

Description

MR-J4- B-RJ

Current

consumption

5VDC[A]

——

0.06

——

Remark

2 - 19

2 SYSTEM CONFIGURATION

Part name

SSCNET

cable

RIO cable

SSCNET /H

head module

(Note-3)

Model name

MR-J3BUS

MR-J3BUS M-A

MR-J3BUS M-B

(Note-8)

Q173DSXYCBL01M Length 0.1m (0.33ft.) ——

Q173DSXYCBL05M Length 0.5m (1.64ft.) ——

LJ72MS15

Motion controller related module (continued)

(Note-1)

• Q173DSCPU/Q172DSCPU

MR-J4(W)-

(Note-1): =Cable length (015: 0.15m(0.49ft.), 03: 0.3m(0.98ft.), 05: 0.5m(1.64ft.), 1: 1m(3.28ft.), 2: 2m(6.56ft.),

(Note-2): The manual pulse generator or incremental synchronous encoder that consumes less than 0.2[A] of

(Note-3): 5VDC internal current consumption of shared equipments with PLC might be changed.

(Note-4): Be sure to use the power supply module within the range of power supply capacity.

(Note-5): Battery Q6BAT is not attached to Battery holder unit Q170DBATC. Please purchase it separately.

(Note-6): Be sure to use the cable for forced stop input (sold separately). The forced stop cannot be released

(Note-7): These modules can be used in Q172DLX. It cannot be controlled using Q173DPX.

(Note-8): Please contact your nearest Mitsubishi sales representative for the cable of less than 30m(98.43ft.).

• Q173D(S)CPU/Q172D(S)CPU

MR-J3(W)-

• Standard cord for inside panel

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

• Q173DSCPU/Q172DSCPU

MR-J4(W)-

• Q173D(S)CPU/Q172D(S)CPU

MR-J3(W)-

• Standard cable for outside panel

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

• Q173DSCPU/Q172DSCPU

MR-J4(W)-

Q173D(S)CPU/Q172D(S)CPU

MR-J3(W)-

• Long distance cable

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

Maximum link points: Input 64 bytes, Output 64 bytes

Transmission cycle 222μs, 444μs, 888μs

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

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

without using it.

Cable for forced stop input is not attached to the Motion CPU module. Please purchase the cable for

length according to system separately.

Current

Description

MR-J4(W)- B/

B MR-J4(W)- B/MR-J4(W)- B LJ72MS15

MR-J3(W)- B/

B MR-J3(W)- B

MR-J4(W)- B/

B MR-J4(W)- B/MR-J4(W)- B LJ72MS15

MR-J3(W)- B/

B MR-J3(W)- B

MR-J4(W)- B/

B MR-J4(W)- B/MR-J4(W)- B LJ72MS15

MR-J3(W)- B/

B MR-J3(W)- B

3: 3m(9.84ft.), 5: 5m(16.40ft.), 10: 10m(32.81ft.), 20: 20m(65.62ft.), 25: 25m(82.02ft.),

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

consumption

5VDC[A]

——

0.55

Remark

2 - 20

2 SYSTEM CONFIGURATION

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

Part name Model name

QX10 0.05 (TYP, All points ON)

DC (Positive common)

Input module

Output module

Input/Output

composite

module

Interrupt module QI60 0.06 (TYP, All points ON)

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

DC sensor

DC (Negative common)

Relay

Triac QY22 0.25 (TYP, All points ON)

Sink Type

Transistor

TTL•CMOS (Sink)

DC Input/

Transistor output

Independent QY68A 0.11 (TYP, All points ON)

Source Type

QX10-TS 0.05 (TYP, All points ON)

QX28 0.05 (TYP, All points ON)

QX40 0.05 (TYP, All points ON)

QX40-TS 0.05 (TYP, All points ON)

QX40-S1 0.06 (TYP, All points ON)

QX40H 0.08 (TYP, All points ON)

QX41 0.075 (TYP, All points ON)

QX41-S1 0.075 (TYP, All points ON)

QX41-S2 0.075 (TYP, All points ON)

QX42 0.09 (TYP, All points ON)

QX42-S1 0.09 (TYP, All points ON)

QX70 0.055 (TYP, All points ON)

QX70H 0.08 (TYP, All points ON)

QX71 0.07 (TYP, All points ON)

QX72 0.085 (TYP, All points ON)

QX80 0.05 (TYP, All points ON)

QX80-TS 0.05 (TYP, All points ON)

QX80H 0.08 (TYP, All points ON)

QX81 0.075 (TYP, All points ON)

QX81-S2 0.075 (TYP, All points ON)

QX82 0.09 (TYP, All points ON)

QX82-S1 0.09 (TYP, All points ON)

QX90H 0.08 (TYP, All points ON)

QY10 0.43 (TYP, All points ON)

QY10-TS 0.43 (TYP, All points ON)

QY18A 0.24 (TYP, All points ON)

QY40P 0.065 (TYP, All points ON)

QY40P-TS 0.065 (TYP, All points ON)

QY41P 0.105 (TYP, All points ON)

QY42P 0.15 (TYP, All points ON)

QY50 0.08 (TYP, All points ON)

QY80 0.08 (TYP, All points ON)

QY80-TS 0.08 (TYP, All points ON)

QY81P 0.095 (TYP, All points ON)

QY82P 0.16 (TYP, All points ON)

QY70 0.095 (TYP, All points ON)

QY71 0.15 (TYP, All points ON)

QH42P 0.13 (TYP, All points ON)

QX48Y57 0.08 (TYP, All points ON)

QX41Y41P 0.13 (TYP, All points ON)

Current consumption 5VDC[A]

(Note-1)

Remark

Refer to the MELSEC-Q series PLC

Manuals.

2 - 21

2 SYSTEM CONFIGURATION

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

Part name Model name

Voltage input Q68ADV 0.64

Q62AD-DGH 0.33

Analogue input

module

Analogue output

module

Analogue input/output module Q64AD2DA 0.17

High-speed

counter module

Positioning

module

Simple Motion

module

Control unit of displacement sensor

Current input

Voltage/current input

Voltage output Q68DAVN 0.38

Current output Q68DAIN 0.38

Voltage/current output

Differential input QD62D 0.38

5/12/24VDC input/

Differential input

Open collector output

Differential output

SSCNET compatible

SSCNET

/H compatible

Q66AD-DG 0.42

Q68ADI 0.64

Q64AD 0.63

Q64AD-GH 0.89

Q68AD-G 0.46

Q62DAN 0.33

Q62DA-FG 0.37

Q64DAN 0.34

Q66DA-G 0.62

QD65PD2 0.23

QD75P1 0.40

QD75P2 0.46

QD75P4 0.58

QD75D1 0.52

QD75D2 0.56

QD75D4 0.82

QD75MH1 0.15

QD75MH2 0.15

QD75MH4 0.16

QD77MS2 0.60

QD77MS4 0.60

QD77MS16 0.75

UQ1-01 0.50

UQ1-02 0.50

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

Be sure to refer to the manuals for each module.

(3) Servo amplifier

Part name Model name Description Remarks

MR-J4 series

servo amplifier

MR-J3 series

servo amplifier

MR-J4-

MR-J4- B-RJ

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

MR-J3-

MR-J3W- B For 2-axis type

MR-J3- B-RJ006 For fully closed control

MR-J3- B-RJ004 For linear servo motor

MR-J3- B-RJ080W For direct drive motor

MR-J3- B Safety For drive safety servo

Current consumption 5VDC[A]

(Note-1)

Refer to the MELSEC-Q series PLC

Manuals.

Refer to the MELSEC-Q QD75MH

Positioning Module User's Manual

(Details).

Refer to the MELSEC-Q QD77MS

Simple Motion Module User's Manual

(Positioning Control).

Refer to the manual of OPTEX FA

CO., LTD.

Refer to the servo amplifier

instruction manuals.

Remark

2 - 22

2 SYSTEM CONFIGURATION

Conveyor assembly use SV13

Automatic machinery use SV22

Machine tool peripheral use SV43

(4) Operating system software

Application

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

(5) Programming software packages

(a) Motion controller engineering environment

Part name Model name

MELSOFT MT Works2 (MT Developer2

(Note-1): This software is included in Motion controller engineering environment "MELSOFT MT Works2".

(6) Related software packages

(a) PLC software package

Model name Software package

GX Works2 SW1DNC-GXW2-E

GX Developer SW8D5C-GPPW-E

(b) Servo set up software package

Model name Software package

MR Configurator2 SW1DNC-MRC2-E

MR Configurator

POINTS

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

Q173DSCPU

SW8DNC-SV13QJ SW8DNC-SV13QL SW8DNC-SV13QB SW8DNC-SV13QD

SW8DNC-SV22QJ SW8DNC-SV22QL SW8DNC-SV22QA SW8DNC-SV22QC

(Note-1)

— — SW7DNC-SV43QA SW7DNC-SV43QC

at the time of product purchases.

)

Q172DSCPU

Software package

(Note-1)

(Note-1): Q173DSCPU/Q172DSCPU is not supported.

Q173DCPU(-S1) Q172DCPU(-S1)

SW1DNC-MTW2-E

MRZJW3-SETUP221E

or guide-book from the other supplier.

2 - 23

2 SYSTEM CONFIGURATION

2.4 General Specifications

Item Specification

Operating ambient temperature 0 to 55°C (32 to 131°F)

Storage ambient temperature -25 to 75°C (-13 to 167°F)

Operating ambient humidity 5 to 95% RH, non-condensing

Storage ambient humidity 5 to 95% RH, non-condensing

Vibration resistance

Shock resistance

Operating ambience No corrosive gases

Operating altitude

Mounting location Inside control panel

Overvoltage category

Pollution level

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

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

(Note-2): This indicates the section of the power supply to which the equipment is assumed to be connected between the public electrical

power distribution network and the machinery within premises.

2.5 Specifications of Equipment and Settings

2.5.1 Name of parts for CPU module

With battery cover open

Q173DSCPU

STOP RUN

EMI

PERIPHERAL I/F

CN1CN2

EXT.I/F

This section explains the names and setting of the module.

(1) Name of parts

(a) Q173DSCPU/Q172DSCPU

Front face of Q172DSCPU Front face of Q173DSCPU

Q172DSCPU

17)

20)

STOP RUN

EMI

PERIPHERAL I/F

CN1

EXT.I/F

PULL

FRONT RIO

14)

16)

Q173DSCPU

STOP RUN

EMI

CN1CN2

FRONT RIO

14)

PERIPHERAL I/F

16)

EXT.I/F

PULL

11)

12)

10)

BottomSide face

15)

19)18)

2 - 25

(

)

2 SYSTEM CONFIGURATION

(b) Q173DCPU(-S1)/Q172DCPU(-S1)

Front face of Q172DCPU(-S1)

Q172DCPU-S1

STOP RUN

EMI

CAUTION

Front face of Q173DCPU(-S1)

Q173DCPU-S1

STOP RUN

EMI

CAUTION

10)

11)

CN1

FRONT BAT RIO

14)

PERIPHERAL I/F

CN1

CN2

FRONT BAT RIO

Side face

Bottom

(Note)

14)

PERIPHERAL I/F

13)

15)

12)

(Note): Unusable

Under manufacturer test

2 - 26

2 SYSTEM CONFIGURATION

No. Name Application

1) 7-segment LED Indicates the operating status and error information.

Rotary function select 1 switch

2) (SW1)

Rotary function select 2 switch

3) (SW2)

4) RUN/STOP switch

Forced stop input connector

(Note-1)

(EMI)

EMI

EMI.COM

EMI

SSCNET

(Note-2)

SSCNET

(Note-2), (Note-3)

CN1 connector

CN2 connector

• Set the operation mode.

(Normal operation mode, Installation mode, Mode operated by ROM, etc)

• Each switch setting is 0 to F.

(Note): Switch setting of factory default

• Q173DSCPU/Q172DSCPU : SW1 "0", SW2 "0" position

• Q173DCPU(-S1)/Q172DCPU(-S1) : SW1 "A", SW2 "0" position

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.

Input to stop all axes of servo amplifier in a lump.

EMI ON (opened) : Forced stop

EMI OFF (24VDC input) : Forced stop release

Connector to connect the servo amplifier of line 1 (up to 16 axes).

Connector to connect the servo amplifier of line 2 (up to 16 axes).

8) Serial number display Displays the serial number described on the rating plate.

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

(Note-4)

Module fixing hook

10)

Hook used to fix the module to the base unit. (Auxiliary use for installation)

11) Module fixing screw Screw used to fix to the base unit. (M3×13)

12) Module fixing projection Hook used to fix to the base unit.

(Note-5)

Battery connector (BAT)

13)

Connector to connect the battery holder unit Q170DBATC.

For communication I/F with peripheral devices.

• Lower LED

Remains flashing : It communicates with the peripheral devices.

ON : It does not communicate with the peripheral devices.

• Upper LED

Data transmission speed

PERIPHERAL I/F connector

14)

(Note-6)

ON : 100Mbps

OFF : 10Mbps

Item Specification

Communication mode Full-duplex/Half-duplex

Transmission

Transmission method Base band

Data transmission speed 100Mbps/10Mbps

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

(Note-6)

RIO connector

15)

16) Internal I/F connector

17) Battery connector Connector to connect the battery (Q6BAT).

Connector to connect the safety signal module (Q173DSXY).

Connector to connect the manual pulse generator/incremental synchronous

encoder, or to input the input signal/mark detection input signal.

(Voltage-output/open-collector type, Differential-output type)

2 - 27

2 SYSTEM CONFIGURATION

No. Name Application

18) Battery holder Holder to support the battery (Q6BAT).

19) Battery cover Cover for battery (Q6BAT).

(Note-5)

20)

Battery

(Note-1): Be sure to use the cable for forced stop input (sold separately). The forced stop cannot be released without using it. If the cable for

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

(Note-2): Put the SSCNET cable in the duct or fix the cable at the closest part to the Motion CPU module with bundle material in order to

prevent SSCNET cable from putting its own weight on SSCNET connector.

(Note-3): Q173DSCPU/Q173DCPU(-S1) only

(Note-4): This screw is auxiliary use for module installation to the main base unit. Be sure to fix modules to the main base unit using

supplied fixing screws.

(Note-5): Be sure to use the battery. The programs, parameters, motion devices(#), devices of latch data and absolute position data of

SRAM built-in Motion CPU module are not backed up if the battery is not set correctly.

(Note-6): Q173DSCPU/Q172DSCPU/Q173DCPU-S1/Q172DCPU-S1 only

Battery for backup of program, parameters, motion devices (#), devices of latch

data and absolute position data.

(2) 7-segment LED display

Item 7-segment LED Remark

Start

The LED displays/flashes in the combination with errors.

It takes about 10 seconds to initialize (RUN/STOP

display).

Execute the power cycle of the Motion controller if

the operation stopped at initializing. It may be

Initializing

Motion controller's hardware fault when it is not

improved.

Explain the error symptom (LED display) and get

advice from our sales representative for the

modules with failure.

Initialization and self-diagnosis of safety

Initializing

(Safety observation

function use)

Normal " " remains flashing Normal operation

Installation mode

Mode operated by

RAM

Operation

mode

STOP

Mode operated by

ROM

Steady "INS" display,

" remains flashing

" " remains flashing

Steady " . " display,

" remains flashing

Steady "STP" display

RUN

Steady "RUN" display

observation function is executed at power supply

ON. It takes about 15 seconds to execute

initialization and self-diagnosis of safety

observation function.

Mode to install the operating system software via

personal computer.

Mode to operate based on the user programs and

parameters stored in the SRAM built-in Motion

CPU module.

Mode to operate after the user programs and

parameters stored in the FLASH ROM built-in

Motion CPU are read to the SRAM built-in Motion

CPU.

Stopped the Motion SFC program (SV13/SV22)/

Motion program (SV43) with the PLC READY flag

(M2000) OFF.

Executed the Motion SFC program (SV13/SV22)/

Motion program (SV43) with the PLC READY flag

(M2000) ON.

2 - 28

2 SYSTEM CONFIGURATION

Item 7-segment LED Remark

Early stage warning

Battery

error

Operating system software

not installed

System setting error

Servo error

WDT error

(2.7V or less)

Final stage warning

(2.5V or less)

Steady "BT1" display

Steady "BT2" display

"A00" remains flashing

" AL" flashes 3 times

Steady " L01" display

" AL" flashes 3 times

Steady " S01" display

Steady "..." display

Displayed at battery voltage 2.7V or less.

Refer to Section "6.5 Battery".

Displayed at battery voltage 2.5V or less.

Refer to Section "6.5 Battery".

It becomes the status of installation mode when

the operating system software is not installed.

System setting error of the Motion CPU

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

Motion controller Programming Manual

(COMMON)" for details.

Servo error of the Motion CPU

Refer to the Programming Manual of the

operating system software used for details.

Hardware fault or software fault

Refer to the Programming Manual of the

operating system software used for details.

Self-diagnostic error

(Error related for Multiple CPU)

" AL" flashes 3 times

Steady " A1" display

Setting error of the Multiple CPU system

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

Motion controller Programming Manual

(COMMON)" for details.

POINTS

(Self-diagnosis error)

4-digits error code is

displayed in two

sequential flashes of 2-

digits each.

(ex. error code [3012])

(1) An error is displayed at the 7-segment LED, confirm the error code etc. using

MT Developer2.

(2) Refer to the Motion CPU error batch monitor of MT Developer2 or error list of

Programming Manual for error details.

2 - 29

2 SYSTEM CONFIGURATION

(3) Rotary switch assignment

Rotary switch

(a) Rotary function select 1 switch (SW1)

(Note)

Setting

0 Normal mode Normal operation mode

A Installation mode

(b) Rotary function select 2 switch (SW2)

(Note)

Setting

0 Mode operated by RAM

6 Mode operated by ROM

C SRAM clear SRAM "0" clear

Ethernet IP address

display mode

Mode Description

Installed the operating system software using

MT Developer2

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

Normal operation mode

(Operation by the setting data and parameters

stored in the SRAM built-in Motion CPU module.)

Mode to operate based on the setting data and

parameters wrote to the FLASH ROM built-in

Motion CPU module.

Mode to display the Ethernet IP address.

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

CAUTION

Be sure to turn OFF the Multiple system power supply before the rotary switch setting change.

2 - 30

2 SYSTEM CONFIGURATION

(4) Operation mode

Operation mode 7-segment LED Operation overview

Installation

mode

Mode operated

by RAM

Mode operated

by ROM

Ethernet IP

address display

mode

SRAM clear

Refer to next

page (c)

(a) Rotary switch setting and operation mode

Rotary switch setting

SW1 SW2

A Any setting (Except C) Installation mode

0 0 Mode operated by RAM

0 6 Mode operated by ROM

0 8 Ethernet IP address display mode

Any setting C SRAM clear

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

(Note-2): The programs, parameters, motion devices(#), devices of latch data and absolute

position data of SRAM built-in Motion CPU module are cleared.

(Note-1)

Operation mode

(Note-2)

(b) Operation mode overview

• Steady "INS" display at the 7-segment LED.

• Operating system software can be installed.

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

Motion CPU module.

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

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

• It operates based on the user programs and parameters stored in the SRAM built-in

Motion CPU module.

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

FLASH ROM built-in Motion CPU.

• " . " remains flashing in the first digit and steady " . " display in the second digit of

7-segment LED.

• Operation starts after the user programs and parameters stored in the FLASH ROM

built-in Motion CPU module are read to the SRAM built-in Motion CPU module at

power supply on or reset of the Multiple CPU system.

If the ROM writing is not executed, even if the user programs and parameters are

changed using the MT Developer2 during mode operated by ROM, operation starts

with the contents of the FLASH ROM built-in Motion CPU module at next power

supply on or reset.

Also, If the ROM writing is not executed, even if the auto tuning data are reflected

on the servo parameter of Motion CPU by operation in the auto-tuning setting,

operation starts with the contents of the FLASH ROM built-in Motion CPU module

at next power supply on or reset.

• Refer to next page "(c) Ethernet IP address display mode overview".

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

Motion CPU module.

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

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

• The programs, parameters, motion devices(#), devices of latch data and absolute

position data of SRAM built-in Motion CPU module are cleared by turning ON the

Multiple CPU system's power supply after the rotary switch 2 is set to "C".

2 - 31

2 SYSTEM CONFIGURATION

POINTS

(1) Be sure to turn OFF the Multiple CPU system's power supply before the rotary

switch setting change.

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

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

Disconnect

7-segment LED Operation overview

IP address (ex. 192.168.3.39)

Subnet mask pattern

(Note)

(ex. 255.255.255.0)

Default router IP address (ex. 192.168.3.1)

Link status

(Note)

Connect (10Mbps)

Connect (100Mbps)

(Note): When the Ethernet parameters are not written in the Motion CPU, the addresses are

displayed as follows.

• IP address : 192.168.3.39

• Subnet mask pattern : 255.255.255.0

• Default router IP address : 192.168.3.1

Full duplex

Half duplex

2 - 32

2 SYSTEM CONFIGURATION

(5) Basic specifications of Q173D(S)CPU/Q172D(S)CPU

Item Q173DSCPU Q172DSCPU Q173DCPU Q173DCPU-S1 Q172DCPU Q172DCPU-S1

Internal current consumption

(5VDC) [A]

Mass [kg] 0.38 0.33

Exterior dimensions [mm(inch)]

(Note-1): The current consumption (0.2[A]) of manual pulse generator/incremental synchronous encoder connected to the internal I/F

connector is not included.

(a) Module specifications

(Note-1)

1.75

120.5 (4.74)(H)

120.3 (4.74)(D)

1.44

(Note-1)

27.4 (1.08)(W)

1.25 1.30 1.25 1.30

98 (3.85)(H)

27.4 (1.08)(W) 119.3 (4.70)(D)

(6) SV13/SV22 Motion control specifications/performance

specifications

Item Q173DSCPU Q172DSCPU Q173DCPU(-S1) Q172DCPU(-S1)

Number of control axes Up to 32 axes Up to 16 axes Up to 32 axes Up to 8 axes

SV13

Operation cycle

(default)

SV22

Interpolation functions

Control modes

Acceleration/

deceleration control

Compensation Backlash compensation, Electronic gear, Phase compensation (SV22)

Programming language

Servo program capacity 16k steps

Number of positioning points 3200 points (Positioning data can be designated indirectly)

Peripheral I/F

Home position return function

JOG operation function Provided

(a) Motion control specifications

0.22ms/ 1 to 4 axes

0.44ms/ 5 to 10 axes

0.88ms/ 11 to 24 axes

1.77ms/25 to 32 axes

0.44ms/ 1 to 6 axes

0.88ms/ 7 to 16 axes

1.77ms/17 to 32 axes

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

PTP(Point to Point) control, Speed control,

Speed-position control, Fixed-pitch feed,

Constant speed control, Position follow-up control,

Speed control with fixed position stop,

Speed switching control,

High-speed oscillation control,

Speed-torque control,

Synchronous control (SV22 (Virtual mode

switching method/Advanced synchronous control

Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration,

Motion SFC, Dedicated instruction,

Mechanical support language (SV22)

USB/RS-232/Ethernet (Via PLC CPU)

PERIPHERAL I/F (Motion CPU)

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, Scale home position signal detection type,

Dogless home position signal reference type

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

0.22ms/ 1 to 4 axes

0.44ms/ 5 to 10 axes

0.88ms/ 11 to 16 axes

0.44ms/ 1 to 6 axes

0.88ms/ 7 to 16 axes

method))

Advanced S-curve acceleration/deceleration

Helical interpolation (3 axes)

(Note-1)

0.44ms/ 1 to 6 axes

0.88ms/ 7 to 18 axes

1.77ms/19 to 32 axes

0.44ms/ 1 to 4 axes

0.88ms/ 5 to 12 axes

1.77ms/13 to 28 axes

3.55ms/29 to 32 axes

PTP(Point to Point) control, Speed control,

Speed-position control, Fixed-pitch feed,

Constant speed control, Position follow-up control,

Speed control with fixed position stop,

Speed switching control,

High-speed oscillation control,

Synchronous control (SV22)

Motion SFC, Dedicated instruction,

Mechanical support language (SV22)

USB/RS-232/Ethernet (Via PLC CPU)

PERIPHERAL I/F (Motion CPU)

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, Scale home position signal detection type

0.44ms/ 1 to 6 axes

0.88ms/ 7 to 8 axes

0.44ms/ 1 to 4 axes

0.88ms/ 5 to 8 axes

(Note-2)

2 - 33

2 SYSTEM CONFIGURATION

Item Q173DSCPU Q172DSCPU Q173DCPU(-S1) Q172DCPU(-S1)

Manual pulse generator

operation function

Synchronous encoder operation

(Note-4)

(Note-5)

SV13

SV22

Mark detection

mode setting

Mark detection

signal

Mark detection

setting

SSCNET

function

M-code function M-code output function provided, M-code completion wait function provided

Limit switch output

function

ROM operation function Provided

Multiple CPU synchronous control

External input signal

High-speed reading function

(Note-7)

Forced stop

Number of I/O points

Mark detection

function

Clock function Provided

Security function

All clear function Provided

Remote operation Remote RUN/STOP, Remote latch clear

Optional data

monitor

function

Digital oscilloscope function

Absolute position system

Motion control specifications (continued)

Possible to connect 3 modules (Q173DPX use)

Possible to connect 1 module

(Built-in interface in Motion CPU use)

Possible to connect 12 module (SV22 use)

(Q172DEX + Q173DPX + Built-in interface in

Motion CPU + Via device

+ Via servo amplifier

Virtual mode switching method:

Number of output points 32 points

Advanced synchronous control method:

Number of output points 64 points  2 settings

Output timing compensation

Watch data: Motion control data/Word device

Q172DLX, External input signals (FLS/RLS/DOG)

of servo amplifier,

Built-in interface in Motion CPU (DI), Bit device

(Via built-in interface in Motion CPU,

Via input module,

Via tracking of Q172DEX/Q173DPX)

Total 256 points

(Built-in interface in Motion CPU (Input 4 points) +

I/O module + Intelligent function module)

Continuous detection mode,

Specified number of detection mode,

Ring buffer mode

Built-in interface in Motion CPU (4 points),

Bit device, DOG/CHANGE signal of Q172DLX

(Protection by software security key or password)

(Communication data: Up to 6 points/axis)

(Real-time waveform can be displayed)

Sampling data: Word 16CH, Bit 16CH

Up to 6 data/axis

Motion buffering method

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

(Note-5), (Note-6)

Watch data: Motion control data/Word device

Provided None

Provided

Motion controller forced stop (EMI connector, System setting),

32 settings

Provided

(Communication data: Up to 3 points/axis)

Made compatible by setting battery to servo amplifier.

(Note-3)

(Note-5)

)

Number of output points 32 points

Forced stop terminal of servo amplifier

Up to 3 data/axis

Possible to connect 3 modules (Q173DPX use)

Possible to connect 12

modules (SV22 use)

(Q172DEX + Q173DPX)

Number of output points 32 points

Watch data: Motion control data/Word device

Q172DLX or External input signals

(FLS/RLS/DOG) of servo amplifier

(Via input module, Via tracking of

Q172DEX/Q173DPX)

Total 256 points

(Protection by password)

Motion buffering method

(Real-time waveform can be displayed)

Sampling data: Word 4CH, Bit 8CH

Possible to connect 8

modules (SV22 use)

(Q172DEX + Q173DPX)

Provided

(I/O module)

None

Provided

None

2 - 34

2 SYSTEM CONFIGURATION

Item Q173DSCPU Q172DSCPU Q173DCPU(-S1) Q172DCPU(-S1)

SSCNET

communication

(Note-8)

Driver communication function

(Note-10)

Number of

Motion related

modules

Number of SSCNET /H head

module connection stations

(Note-1): SV22 virtual mode only

(Note-2): Q173DCPU-S1/Q172DCPU-S1 only

(Note-3): When the manual pulse generator is used via the built-in interface in Motion CPU, the Q173DPX cannot be used.

(Note-4): Any incremental synchronous encoder connected to the built-in interface in Motion CPU will automatically be assigned an

(Note-5): SV22 advanced synchronous control only

(Note-6): Servo amplifier (MR-J4-

(Note-7): This cannot be used in SV22 advanced synchronous control.

(Note-8): The servo amplifiers for SSCNET cannot be used.

(Note-9): SSCNET

(Note-10): Servo amplifier (MR-J3-

(Note-11): When using the incremental synchronous encoder (SV22 use), you can use above number of modules.

Communication

method

Number of

lines

Q172DLX 4 modules usable 2 modules usable 4 modules usable 1 module usable

Q172DEX 6 modules usable 4 modules usable

Q173DPX

Axis No. one integer greater than the number of encoders connected to any Q172DEX modules and Q173DPX modules.

and SSCNET /H cannot be combined in the same line.

For Q173DSCPU, SSCNET

When connecting the manual pulse generator, you can use only 1 module.

Motion control specifications (continued)

SSCNET

(Note-9)

2 lines

Up to 8 stations usable

(Up to 4 stations/line)

B-RJ) only.

or SSCNET /H can be set every line.

B/MR-J4- B) only.

/H, SSCNET SSCNET

1 line

Provided None

4 modules usable

Up to 4 stations usable

(Note-9)

(Note-11)

2 lines 1 line

3 modules usable

Unusable

(Note-11)

2 - 35

2 SYSTEM CONFIGURATION

Code total

Motion SFC program

capacity

Motion SFC program

Operation control

program

(F/FS)

Transition program

(G)

Execute specification

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

Number of real I/O points (PX/PY)

(Motion SFC chart + Operation control +

Transition)

Text total

(Operation control + Transition)

Number of Motion SFC programs 256 (No.0 to 255)

Motion SFC chart size/program Up to 64k bytes (Included Motion SFC chart comments)

Number of Motion SFC steps/program Up to 4094 steps

Number of selective branches/branch 255

Number of parallel branches/branch 255

Parallel branch nesting Up to 4 levels

Number of operation control programs

Number of transition programs 4096(G0 to G4095)

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

Number of blocks(line)/program Up to 8192 blocks (in the case of 4 steps(min)/blocks)

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

Number of operand/block Up to 64 (operand: constants, word device, bit devices)

( ) nesting/block Up to 32 levels

Descriptive

expression

Number of multi execute programs Up to 256

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

Executed

task

(b) Motion SFC performance specifications

Item Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1)

652k bytes 543k bytes

668k bytes 484k bytes

4096 with F(Once execution type) and FS(Scan execution type)

combined. (F/FS0 to F/FS4095)

Operation control

program

Transition program

Normal task Execute in main cycle of Motion CPU

Event task

(Execution

can be

masked.)

NMI task Execute when input ON is set among interrupt module QI60 (16 points).

Fixed cycle

External interrupt Execute when input ON is set among interrupt module QI60 (16 points).

PLC interrupt Execute with interrupt instruction (D(P).GINT) from PLC CPU.

Calculation expression,

bit conditional expression,

branch/repetition processing

Calculation expression/bit conditional expression/

comparison conditional expression

Execute in fixed cycle

(0.22ms, 0.44ms, 0.88ms, 1.77ms,

3.55ms, 7.11ms, 14.2ms)

256 points

(Built-in interface in Motion CPU

(Input 4 points) + I/O module +

Intelligent function module)

(0.44ms, 0.88ms, 1.77ms, 3.55ms,

Calculation expression,

bit conditional expression

Execute in fixed cycle

7.11ms, 14.2ms)

256 points

(I/O module)

2 - 36

2 SYSTEM CONFIGURATION

(7) SV43 Motion control specifications/performance specifications

Item Q173DCPU(-S1) Q172DCPU(-S1)

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

Operation cycle

(default)

Interpolation functions Linear interpolation (Up to 4 axes), Circular interpolation (2 axes), Helical interpolation (3 axes)

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

Acceleration/deceleration control Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration

Compensation Backlash compensation, Electronic gear

Programming language Dedicated instruction (EIA language)

Motion program capacity 504k bytes

Number of programs 1024

Number of simultaneous start

programs

Number of positioning points Approx. 10600 points (Positioning data can be designated indirectly)

Peripheral I/F

Home position return function

JOG operation function Provided

Manual pulse generator

operation function

M-code function M-code output function provided, M-code completion wait function provided

Limit switch output function

Skip function Provided

Override ratio setting function Override ratio setting : -100 to 100[%]

ROM operation function Provided

External input signal Q172DLX or External input signals (FLS/RLS/DOG) of servo amplifier

High-speed reading function Provided (Via input module, Via tracking of Q173DPX)

Forced stop

Number of I/O points Total 256 points (I/O module)

Clock function Provided

Security function Provided (Protection by password)

All clear function Provided

Remote operation Remote RUN/STOP, Remote latch clear

Digital oscilloscope function Provided

Absolute position system

SSCNET communication

(Note-2)

Number of Motion related modules

Communication method

Number of lines

Q172DLX 4 modules usable 1 module usable

Q173DPX 1 modules usable

(a) Motion control specifications

0.44ms/ 1 to 4 axes

0.88ms/ 5 to 12 axes

1.77ms/13 to 28 axes

3.55ms/29 to 32 axes

Axis designation program : 32

Control program : 16

USB/RS-232/Ethernet (Via PLC CPU)

PERIPHERAL I/F (Motion CPU)

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, Scale home position signal detection type

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

Possible to connect 3 modules (Q173DPX use)

Number of output points 32 points

Watch data: Motion control data/Word device

Motion controller forced stop (EMI connector, System setting),

Forced stop terminal of servo amplifier

Made compatible by setting battery to servo amplifier.

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

SSCNET

2 lines 1 line

(Note-1): Q173DCPU-S1/Q172DCPU-S1 only

(Note-2): The servo amplifiers for SSCNET cannot be used.

0.44ms/ 1 to 4 axes

0.88ms/ 5 to 8 axes

Axis designation program : 8

Control program : 16

(Note-1)

2 - 37

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 X, Y, M, B, F, D, W, #, U \G

Functions

Instructions

Number of controls

Total of program files 504k 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 ABS, SQR, BIN, LN, EXP, BCD, RND, FIX, FUP, INT, FLT, DFLT, SFLT

Start/end CALL, CLEAR

Home position return CHGA

Speed/torque setting CHGV, CHGT, TL

Motion control WAITON, WAITOFF, EXEON, EXEOFF

Jump/repetition processing

Data operation

Program calls (GOSUB/GOSUBE) Up to 8

Program calls (M98) Up to 8

(b) Motion program performance specifications

Item Q173DCPU(-S1)/Q172DCPU(-S1)

Unary operation, Addition and subtraction operation, Multiplication and

division 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, G57, G58, G59, G61,

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

CALL, GOSUB, GOSUBE, IF…GOTO,

IF…THEN…ELSE IF...ELSE...END,

WHILE…DO…BREAK...CONTINUE...END

BMOV, BDMOV, FMOV, BSET, BRST, SET, RST, MULTW, MULTR,

TO, FROM, ON, OFF, IF…THEN…SET/RST/OUT, PB

(8) Selection of Q172DEX, Q173DPX

Item

Q173DSCPU

Q172DSCPU

Q173DCPU(-S1)

Q172DCPU(-S1) 8 modules

Module selection Q172DEX Q173DPX

Synchronous encoder

Serial absolute Incremental

12 modules

Manual pulse generator

3 modules

2 - 38

2 SYSTEM CONFIGURATION

(9) Internal I/F connector

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

Use the internal I/F connector on the front of the Motion CPU to connect to manual pulse signals and incremental synchronous encoder signals. The following is the pin layout of the internal I/F connector as viewed from

the front.

(Note-3)

(Note-4)

(Note-2) (Note-1) (Note-2) (Note-4) (Note-2) (Note-1) (Note-2) (Note-4)

QDS

Internal I/F connector

Pin No. Signal Name Pin No. Signal Name

1 2 3 4 5 6 7 8 9

N N

t t t t t t t t t t t t

t t t t t t t t t

(Note-4)

Applicable connector model name

(Note-1): Voltage-output/open-collector type Connect the A-phase signal to HA, and the B-phase signal to HB. (Note-2): Differential-output type Connect the A-phase signal to HAH, and the A-phase inverse signal to HAL. Connect the B-phase signal to HBH, and the B-phase inverse signal to HBL. (Note-3): "COM" is the common terminal of DI1, DI2, DI3 and DI4. (Note-4): Do not connect to any of the terminal is explained as "No connect".

HDR type connector (HONDA TSUSHIN KOGYO CO., LTD.) HDR-E50MSG1+ connector HDR-E50LPH connector case

2 - 39

2 SYSTEM CONFIGURATION

(b) Input signal/Mark detection

Number of input points 4 points

Input method Positive common/Negative common shared

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

Isolation method Photocoupler

Rated input voltage 24VDC

Rated input current (IIN) Approx. 5mA

Operating voltage range

ON voltage/current 17.5VDC or more/3.5mA or more

OFF voltage/current 5VDC or less/0.9mA or less

Input resistance Approx. 5.6k

Response time

1) Specifications of input signal/mark detection input signal

Item Specifications

OFF to ON

ON to OFF

Input or

output

2) Interface between input signal/mark detection input signal

Signal name

(24VDC

Pin No.

1234

21.6 to 26.4VDC

10%, ripple ratio 5% or less)

1ms

Wiring

example

Internal circuit Description

(Note-1)

COM

Input

Input/

Mark detection

signal input

6543

(Note-1): =1 to 4

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

24VDC

(Note-2)

Signal input,

Mark detection

signal input

2 - 40

2 SYSTEM CONFIGURATION

1) Specifications of manual pulse generator/incremental synchronous

Signal input form Phase A/Phase B

Differential-output

type

(26LS31 or

equivalent )

encoder

Item Specifications

Maximum input pulse

frequency

Pulse width 1µs or more

Leading edge/trailing edge

time

Phase difference 0.25µs or more

High-voltage 2.0 to 5.25VDC

Low-voltage 0 to 0.8VDC

Differential voltage 0.2V

Cable length Up to 30m (98.43ft.)

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

0.25µs or less

1 s or more

0.5 s or more

Voltage-output/

Open-collector

type

Phase A

0.25 s or more

Example of waveform

Phase B

0.25 s or less 0.25 s or less

(Note): Duty ratio 50%

Maximum input pulse

frequency

(After magnification by 4, up to 800kpps)

200kpps

Pulse width 5µs or more

Leading edge/trailing edge

time

1.2µs or less

Phase difference 1.2µs or more

High-voltage 3.0 to 5.25 VDC

Low-voltage 0 to1.0VDC

Cable length Up to 10m (32.81ft.)

5 s or more

2.5 s or more 2.5 s or more

Phase A

1.2 s or more

Example of waveform

Phase B

1.2 s or less

(Note): Duty ratio 50%

1.2 s or less

POINT

Use a manual pulse generator or an incremental synchronous encoder that

consumes less than 0.2[A] of current.

2 - 41

2 SYSTEM CONFIGURATION

2) Interface between manual pulse generator (differential-output type)/

Input or Output

Input

Power supply

Signal name Pin No. Wiring example Internal circuit Specification Description

A+

HAH

A-

HAL

B+

HBH

B-

HBL

(Note-1)

Manual pulse generator, phase A

Manual pulse generator, phase B

incremental synchronous encoder

38 39

13 40 41

generator/

Incremental

synchronous

encoder

Manual

pulse

Power supply

5VDC

Rated input voltage

5.5VDC or less

HIGH level

2.0 to 5.25VDC

LOW level

0.8VDC or less

26LS31 or equivalent

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

Pulse width

1 s or more

0.5 s

or more

(Duty ratio: 50%)

Leading edge, Trailing edge time 0.25 s or less Phase difference

Phase A

Phase B

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

0.25 s or more

(Note-1): The 5V(P5)DC power supply of system must not be used if a separate power supply is applied to the manual pulse generator/incremental synchronous encoder. If a separate power supply is used, be sure it is 5V voltage. Anything else may cause a failure.

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

Input or

Input or Output

Output

Input

Power supply

Signal name

Manual pulse generator, phase A HA

Manual pulse generator, phase B HB

(Note-1)

collector type)/incremental synchronous encoder

Pin No. Wiring example Internal circuit Specification Description

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

Pulse width

5 s or more

2.5 s

or more

(Duty ratio: 50%)

Leading edge, Trailing edge time 1.2 s or less Phase difference

Phase A

Phase B

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

1.2 s or more

38 39

13 40 41

Manual

pulse

generator /

Incremental

synchronous

encoder

Power supply

5VDC

Rated input voltage

5.5VDC or less

HIGH level 3 to 5.25VDC/ 2mA or less

LOW level 1VDC or less/ 5mA or more

2 - 42

2 SYSTEM CONFIGURATION

4) Connection examples of manual pulse generator/incremental

Manual pulse generator/

Motion CPU

Signal name

HAH

HAL

HBH

HBL

Shell

Shield

: Twist pair cable

Incremental synchronous encoder side

synchronous encoder

(Note-1)

Motion CPU

Signal name

Shell

Voltage-output/Open-collector typeDifferential-output type

Manual pulse generator/ Incremental synchronous encoder side

Shield

: Twist pair cable

(Note-1)

CAUTION

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

encoder, be sure it is 5V voltage. Anything else may cause a failure. Always wire the cables when power is off. Not doing so may damage the circuit of modules. Wire the cable correctly. Wrong wiring may damage the internal circuit. 5V terminal is the power supply for the manual pulse generator/incremental synchronous

encoder. Do not apply a voltage and do not use it for other purposes.

(d) Connection of manual pulse generator/incremental synchronous encoder

Manual pulse generators/incremental synchronous encoders of the voltageoutput/open-collector type and differential-output type can be connected. Both connection methods are different. (Refer to this section (9)(a).)

Motion CPU module

Q173DSCPU (Built-in interface in Motion CPU)

Q172DSCPU (Built-in interface in Motion CPU)

Connectable manual pulse generator/

incremental synchronous encoder

Up to 1 module

2 - 43

2 SYSTEM CONFIGURATION

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

The axis No. of synchronous encoder built-in interface in Motion CPU is set depending on the axis No. assigned to Q172DEX and Q173DPX.

1) Any built-in interface in Motion CPU will automatically be assigned an

2) Motion module installed to the smallest slot number of the Main base

3) Axis No. P1 to P12 of the synchronous encoder can be used.

4) Axis No. P1 to P3 of the manual pulse generator can be used.

The setting example for the axis No. of manual pulse generator/synchronous encoder is shown below. (Example) Q173DSCPU use (Q172DEX: 2 modules, Q173DPX: 2 modules)

axis No. one integer greater than the number of encoders connected to any Q172DEX and Q173DPX.

unit is the 1st.

When the manual pulse generator is used with the built-in interface in Motion CPU, Q173DPX cannot be used.

1st 2nd 3rd

Q61P Q172DEXQ173D

Q03UD CPU

QX40 QX40 Q172D

Q173DS CPU

Q38DB

Q61P

4th

Q173D PX

Built-in interface in Motion CPU

P11

Q65B

P8 to P10

P6, P7

P3 to P5

P1, P2

POINTS

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

2 - 44

2 SYSTEM CONFIGURATION

2.5.2 Power supply module

(1) Power supply module specifications

Power supply modules specifications (Q61P-A1, Q61P-A2, Q61P, Q62P)

Item Q61P-A1 Q61P-A2 Q61P Q62P

Base loading position Q series power supply module loading slot

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

100 to 120VAC

Input power supply

Input frequency 50/60Hz ±5%

Input voltage distortion factor 5% or less

Max. input apparent power 105VA 130VA 105VA

Inrush current 20A 8ms or less

Rated output current

External output voltage —— 24VDC±10%

Overcurrent protection

Overvoltage protection

Efficiency 70% or more 65% or more

Allowable momentary power failure time

Dielectric withstand voltage

Insulation resistance

Noise immunity

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

Fuse Built-in (Unchangeable by user)

Contact output section

Terminal screw size M3.5 screw

Applicable wire size 0.75 to 2mm2

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

Applicable tightening torque 0.66 to 0.89 N•m

Exterior dimensions[mm(inch)]

Mass [kg] 0.31 0.40 0.39

(Note-1)

(Note-2)

(Note-3)

Application ERR contact

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

24VDC —— 0.66A or more

5VDC 5.5 to 6.5V

(+10%/-15%)

(85 to 132VAC)

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

LG/FG 10M

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

• Noise voltage IEC61000-4-4, 2kV

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

200 to 240VAC

(+10%/-15%)

(170 to 264VAC)

20ms or less

Across inputs/LG and outputs/FG

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

or more by insulation resistance tester (500VDC)

24VDC, 0.5A

Mechanical : 20 million times or more

98(H) × 55.2(W) × 90(D)

(3.86(H) × 2.17(W) × 3.54(D) )

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

(85 to 264VAC)

(Note-4)

2 - 45

2 SYSTEM CONFIGURATION

Power supply modules specifications (Q63P, Q64P, Q64PN)

Item Q63P Q64P Q64PN

Base loading position Q series power supply module loading slot

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

100 to 120VAC/200 to

Input power supply

Input frequency —— 50/60Hz ±5%

Input voltage distortion factor —— 5% or less

Max. input apparent power 45W 160VA

Inrush current

Rated output current

Overcurrent protection

Overvoltage protection

Efficiency 70% or more

Permissible instantaneous power off time

Dielectric withstand voltage

Insulation resistance

Noise immunity

Operation indicator

Fuse Built-in (Unchangeable by user)

Contact output section

Terminal screw size M3.5 screw

Applicable wire size 0.75 to 2mm2

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

Applicable tightening torque 0.66 to 0.89 N•m

Exterior dimensions[mm(inch)]

Mass [kg] 0.33 0.40 0.47

(Note-1)

(Note-2)

(Note-3)

Application ERR contact

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 9.9A or more

24VDC ——

5VDC 5.5 to 6.5V

24VDC ——

24VDC (+30%/-35%)

(15.6 to 31.2VDC)

100A 1ms or less

(at 24VDC input)

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

500VAC across primary and

5VDC

or more by insulation

10M resistance tester

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

LED indication

(Normal: ON (Green),

Error: OFF)

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))

240VAC (+10%/-15%)

(85 to 132VAC/170 to

264VAC)

20A 8ms or less

Across inputs/LG and outputs/FG

2,830VAC rms/3 cycles

(Altitude : 2000m (6561.68ft.) )

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

LED indication

(Normal: ON (Green),

Error: OFF)

24VDC, 0.5A

Mechanical: 20 million times or more

(Note-5)

98(H) × 55.2(W) × 115(D)

(3.86(H) × 2.17(W) × 4.53(D))

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

(85 to 264VAC)

(Note-4)

LED indication

(Normal: ON (Green),

Error: OFF)

or more by

2 - 46

2 SYSTEM CONFIGURATION

POINTS

(Note-1): Overcurrent protection

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

(Note-2): Overvoltage protection

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

(Note-3): Allowable momentary power failure period

(1) For AC input power supply

(2) For DC input power supply

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

AC down to be detected, but operation will continue.

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

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

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

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

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

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

than 24VDC.

2 - 47

2 SYSTEM CONFIGURATION

POINTS

(Note-4): Inrush current

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

(Note-5): During the operation, do not allow the input voltage to change from

200VAC level (170 to 264VAC) to 100VAC level (85 to 132VAC). If changed, the POWER LED turns OFF and the system operation stops.

2 - 48

2 SYSTEM CONFIGURATION

(2) Names of Parts and Setting

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

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

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

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

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

• Q63P (24VDC input, 5VDC 6A output)

• Q64P (100 to 120VAC/200 to 240VAC input, 5VDC 8.5A output)

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

(Q62P only)

10)

Q62P POWER

INPUT

100-240VAC

50/60Hz 105VA

OUTPUT 5VDC 3A/24VDC 0.6A

ERR.

+24V

24G

24VDC

0.5A

(FG)

(LG)

INPUT

100-240VAC

Q62P

2 - 49

2 SYSTEM CONFIGURATION

No. Name Application

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

AC input

power supply

POWER

1) LED

DC input

power supply

AC input

power supply

ERR

2) terminals

DC input

power supply

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

4) LG terminal

5) Power input terminals

+24V, 24G terminals

6) (Q62P only)

7) Terminal screw M3.5 7 screw

8) Terminal cover Protective cover of the terminal block

9) Module fixing screw hole

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

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

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

• AC power supply is not ON

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

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

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

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

• DC power supply is not ON

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

• Turned ON when the whole system operates normally.

• This terminal turns OFF (opens) when the AC power is not input, a stop error (including a

reset) occurs in the CPU module, or the fuse is blown.

• In a Multiple CPU system configuration, turned OFF (opens) when a stop error occurs in

any of the CPU modules.

Normally OFF when loaded in an extension base unit.

• Turned ON when the whole system operates normally.

• This terminal turns OFF (opens) when the DC power is not input, a stop error (including a

reset) occurs in the CPU module, or the fuse is blown.

• In a Multiple CPU system configuration, turned OFF (opens) when a stop error occurs in

any of the CPU modules.

Normally OFF when loaded in an extension base unit.

Grounding for the power supply filter. The potential of Q61P-A1, Q61P-A2, Q61P, Q62P,

Q64P and Q64PN terminal is 1/2 of the input voltage.

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

(Q61P-A1, Q61P-A2, Q64P)

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

(Q61P, Q62P, Q64PN)

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

(Q63P)

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

Used to fix the module to the base unit.

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

2 - 50

2 SYSTEM CONFIGURATION

POINTS

(1) The Q61P-A1 is dedicated for inputting a voltage of 100VAC.

Do not input a voltage of 200VAC into it or trouble may occur on the Q61P-A1.

Power module type

Q61P-A1 Operates normally.

Power supply module does

Q61P-A2

(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) Q64P automatically switches the input range 100/200VAC.

Therefore, it is not compatible with the intermediate voltage (133 to 169VAC). The CPU module may not operate normally if the above intermediate voltage is applied.

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

(Ground resistance :

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

(5) When the Q61P-A1, Q61P-A2, Q61P, Q62P, Q63P, Q64P or Q64PN is loaded on

the extension base unit, a system error cannot be detected by the ERR terminal.

(The ERR terminal is always OFF.)

not cause trouble. CPU module cannot be operated.

100VAC 200VAC

100

or loss)

Supply power voltage

Power supply module causes trouble.

Operates normally.

2 - 51

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 modules, and peripheral devices supplied by its power module. 5VDC internal current consumption of shared equipments with PLC might be changed. Be sure to refer to the MELSEC-Q series PLC Manuals.

(a) Calculation example of power supply selection

Q61P QX40 QX40 Q173DPXQ172DLX Q172DEXQ173DS

CPU

QY10 QY10Q03UD

Q38DB

Incremental synchronous encoder

Q171ENC-W8

MR-HDP01

• 5VDC current consumption of each module Q03UDCPU : 0.33 [A] Q171ENC-W8 : 0.25 [A] Q173DSCPU : 1.75 [A] Q173DPX : 0.38 [A] Incremental synchronous encoder : 0.20 [A] MR-HDP01 : 0.06 [A] QX40 : 0.05 [A] QY10 : 0.43 [A] Q172DLX : 0.06 [A] Q38DB : 0.23 [A] Q172DEX : 0.19 [A]

• Power consumption of overall modules I

5V = 0.33 + 1.75 + 0.20 + 0.05

2 + 0.43

2 + 0.23 = 4.47[A]

2 + 0.06 + 0.19 + 0.25 + 0.38 + 0.06

Select of the power supply module (Q61P (100/240VAC) 6A) according to this internal current consumption 4.47[A].

POINT

Configure the system in such a way that the total current consumption at 5VDC of all the modules is the allowable value or less.

2 - 52

2 SYSTEM CONFIGURATION

2.5.3. Base unit and extension cable

This section describes the specifications of the extension cables for the base units (Main base unit or extension base unit), and the specification standards of the extension base unit. 5VDC internal current consumption of base unit might be changed. Be sure to refer to the MELSEC-Q series PLC Manuals.

(1) Base unit specifications

(a) Main base unit specifications

Type

Item

Number of I/O modules 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] 0.32 0.41 0.54

Attachment Fixing screw M4 14 5 pieces (DIN rail fixing adapter is optional)

(Note): It is impossible to mount the main base unit by DIN rail when using the Motion CPU module.

Doing so could result in vibration that may cause erroneous operation.

245(W) 98(H) 44.1(D)

(9.65(W) 3.86(H) 1.74(D))

Q35DB Q38DB Q312DB

0.23 0.23 0.24

328(W)

(12.91(W) 3.86(H) 1.74(D))

98(H) 44.1(D)

439(W)

(17.28(W) 3.86(H) 1.74(D))

98(H) 44.1(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 0.28 0.38

Attachment Fixing screw M4 14 4 pieces

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

Q63B Q65B Q68B Q612B

0.11 0.11 0.12

189(W)

(7.44(W) 3.86(H)

98(H)

44.1(D)

1.74(D))

245(W) 98(H)

(9.65(W) 3.86(H)

44.1(D)

1.74(D))

44.1(D)

(12.91(W) 3.86(H)

1.74(D))

(Note)

328(W) 98(H)

439(W)

44.1(D)

(17.28(W) 3.86(H)

1.74(D))

0.13

98(H)

0.48

2 - 53

)

2 SYSTEM CONFIGURATION

(2) Extension cable specifications

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

Type

Item

Cable length[m(ft.)] 0.45(1.48) 0.6(1.97) 1.2(3.94) 3.0(9.84) 5.0(16.40) 10.0(32.81)

Application

Mass [kg] 0.15 0.16 0.22 0.40 0.60 1.11

be used.

QC05B QC06B QC12B QC30B QC50B QC100B

Connection between the main 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) Main base unit (Q35DB, Q38DB, Q312DB)

5) 4)

OUT

POWER

I/O0CPU I/O7

I/O1

I/O3I/O2

I/O5

I/O4

I/O6

I/O9I/O8

I/O10

I/O11

Q312DB

No. Name Application

Extension cable

1) connector

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

extension base unit)

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

2) Base cover

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

cover must be removed with a tool such as nippers.

Connector for installing the Q series power supply module, CPU module, Motion module,

I/O modules, and intelligent function module.

3) Module connector

To the connectors located in the spare space where these modules are not installed,

attach the supplied connector cover or the blank cover module (QG60) to prevent entry of

dirt.

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

5) Base mounting hole Hole for mounting this base unit onto the panel of the control panel (for M4 screw)

(Note): It is impossible to mount the main base unit by DIN rail when using the Motion CPU module. Doing so could result in

vibration that may cause erroneous operation.

2 - 54

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

812345670

QnUD

CPU

Power supply

module

CPU No.1

QnUD

CPU

CPU No.2 CPU No.3

Q173D

CPU

QX41

X0 to X1F

Module of

control

CPU No.1

QY41P

Y20 to Y3F

Module of

control

CPU No.1

QY41P

Y40 to Y5F

Module of

control

CPU No.2

Q172DLX

Intelligent

32 points

(60 to 7F)

Module of

control

CPU No.3

QX41

PX0 to PX1F

(X80 to X9F)

Module of

control

CPU No.3

QY41P

PY20 to PY3F

(YA0 to YBF)

Module of

control

CPU No.3

QY41P

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 Q173D(S)CPU/Q172D(S)CPU Motion Controller Programming Manual (COMMON) about the I/O allocation setting method, and refer to the "QnUCPU User's Manual (Function Explanation, Program Fundamentals)" about the I/O allocation setting method of the PLC 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 - 55

2 SYSTEM CONFIGURATION

2.5.4 Q172DLX Servo external signals interface module

Q172DLX receives external signals (servo external signals) required for positioning control.

(1) Q172DLX name of parts

Q172DLX

CTRL

No. Name Application

1) Module fixing hook

2) Input indicator LED

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

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

5) Module fixing screw hole

6) Module fixing projection Projection used to fix to the base unit.

7) Serial number display Display the serial number described on the rating plate.

Hook used to fix the module to the base unit.

(Single-motion installation)

Display the servo external input status from the external

equipment.

LED Details

0 to 1F

The proximity dog/speed-position switching signal (DOG/ CHANGE) does not turn ON without setting Q172DLX in the system setting.

Hole for the screw used to fix to the base unit.

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

Display for servo external signal input status of each axis.

Q172DLX

POINT

Input indicator LED of the proximity dog/speed-position switching signal (DOG/ CHANGE) turns ON at the following conditions.

• Q172DLX is set on the system setting of MT Developer2.

• The proximity dog/speed-position switching signal (DOG/CHANGE) is input.

2 - 56

2 SYSTEM CONFIGURATION

(2) Performance specifications

Number of I/O occupying points 32 points(I/O allocation: Intelligent, 32 points)

Internal current consumption(5VDC) [A] 0.06

Exterior dimensions [mm(inch)]

Mass [kg] 0.15

Number of input points

Input method Sink/Source type

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

Isolation method Photocoupler

Rated input voltage 12/24VDC

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

Operating voltage range

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

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

Input resistance Approx. 5.6k

Response time of the

Upper/Lower stroke limit and

STOP signal

Response time of the

proximity dog, Speed-

position switching signal

Operation indicator ON indication (LED)

External connector type 40 pin connector

Applicable wire size

Applicable connector for the external

connection

Applicable connector/

Terminal block converter module

(a) Module specifications

Item Specifications

(b) Input

Item Specifications

OFF to ON

ON to OFF

OFF to ON

ON to OFF

98(H)

27.4(W) 90(D)

(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, A6CON4 (Optional)

A6TBXY36, A6TBXY54, A6TBX70 (Optional)

2 - 57

2 SYSTEM CONFIGURATION

(3) Connection of servo external signals interface module

(a) Servo external signals

There are the following servo external signals. (Upper stroke limit is limit value of address increase direction/lower stroke limit is limit value of an address decrease direction.) The Q172DLX is assigned a set of input No.s per axis. Make the system setting of MT Developer2 to determine the I/O No.s corresponding to the

Servo external signal Application

Upper stroke limit input (FLS)

Lower stroke limit input (RLS)

Stop signal input (STOP) For stopping under speed or positioning control.

Proximity dog/

Speed-position switching input

(DOG/CHANGE)

axis No.s.

For detection of upper and lower stroke limits.

For detection of proximity dog at proximity dog or count

type home position return or for switching from speed to

position switching control.

Number of points

on one Q172DLX

32 points

(4 points/8 axes)

2 - 58

)

2 SYSTEM CONFIGURATION

(b) The pin layout of the CTRL connector

Use the CTRL connector on the front of the Q172DLX module to connect to servo external signals. The following is the pin layout of the Q172DLX CTRL connector as viewed from the front.

CTRL connector

Pin No.

Signal No. Signal No.

B20

B19

B18

B17

B16

B15

B14

B13

B12

B11

B10

Signal Name

DOG1/CHANGE1

DOG2/CHANGE2

DOG3/CHANGE3

DOG4/CHANGE4

FLS1

RLS1

STOP1

FLS2

RLS2

STOP2

FLS3

RLS3

STOP3

FLS4

RLS4

STOP4

No connect

COM

Pin No. Signal Name

A20

A19

A18

A17

A16

A15

A14

A13

A12

A11

A10

FLS5

RLS5

STOP5

DOG5/CHANGE5

FLS6

RLS6

STOP6

DOG6/CHANGE6

FLS7

RLS7

STOP7

DOG7/CHANGE7

FLS8

RLS8

STOP8

DOG8/CHANGE8

No connect

Applicable connector model name

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

(FUJITSU COMPONENT LIMITED)

(Attachment

FCN-360C040-B connector cover

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

(Optional)

A6CON4 type soldering type connector

DOG/CHANGE, STOP, RLS, FLS functions of each axis(1 to 8)

DOG/CHANGE Proximity dog/Speed-position switching signal

For information about signal details, refer to

the programming manual.

STOP Stop signal RLS Lower stroke limit FLS Upper stroke limit

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

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

converter module

TB ( :Length [m]) : Connector/terminal block

converter module cable

POINT

Signal No. 1 to 8 can be assigned to the specified axis. Make the assignment in the system settings of MT Developer2.

2 - 59

2 SYSTEM CONFIGURATION

(4) Interface between CTRL connector and servo external signal

Input or

Output

Input

Signal name Internal circuitLED Wiring example Specification DescriptionPin No.

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

RLS8 STOP1 STOP2 STOP3 STOP4 STOP5 STOP6 STOP7 STOP8

DOG/CHANGE1 DOG/CHANGE2 DOG/CHANGE3 DOG/CHANGE4 DOG/CHANGE5 DOG/CHANGE6 DOG/CHANGE7 DOG/CHANGE8

Power supply

(Note)

B1 B2

0 4 8 C

Upper stroke

limit input

14 18 1C

1 5 9 D

Lower stroke

limit input

15 19 1D

2 6 A E

Stop signal input

16 1A 1E

3 7 B F

Proximity dog/

Speed-position switching signal

17 1B 1F

12VDC to 24VDC

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

High level

10.0 VDC or more/

2.0mA or more

Low level

1.8 VDC or less/

0.18mA or less

FLS

RLS

STOP

DOG/CHANGE

Common terminals for servo external input signal.

B20 B16 B12

B8 A20 A16 A12

A8 B19 B15 B11

B7 A19 A15 A11

A7 B18 B14 B10

B6 A18 A14 A10

A6 B17 B13

B5 A17 A13

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

CAUTION

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

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

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

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

2 - 60

2 SYSTEM CONFIGURATION

2.5.5 Q172DEX Synchronous encoder interface module

Q172DEX receive external signals required for serial absolute synchronous encoder. The installation position of Q172DEX is only main base.

(1) Q172DEX name of parts

Q172DEX

SY.ENC

121

TREN

SY.ENC1

MITSUBISHI

LITHIUM BATTERY

9) 7)4)

SY.ENC2

Q172DEX

10)

No. Name Application

1) Module fixing hook

Hook used to fix the module to the base unit.

(Single-motion installation)

Display the input status from the external equipment.

LED Details

Display for signal input status of each serial

2) Input indicator LED

SY.ENC

1, 2

absolute synchronous encoder. (LED turns ON at the normal connection (first switching to virtual mode).)

TREN

1, 2

Display for signal status of tracking enable.

The tracking enable signal does not turn ON without

setting Q172DEX in the system setting.

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

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

5) Module fixing screw hole

Hole for the screw used to fix to the base unit

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

6) Module fixing projection Projection used to fix to the base unit.

7) Battery connector For connection of battery lead wire.

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

Battery

9) (A6BAT/MR-BAT)

For Serial absolute synchronous encoder battery backup.

10) Serial number display Display the serial number described on the rating plate.

2 - 61

2 SYSTEM CONFIGURATION

POINT

(1) Input indicator LED of the serial absolute synchronous encoder signal turns

ON at the normal connection (first switching to virtual mode).

(2) Input indicator LED of the tracking enable signal turns ON at the following

conditions.

• Q172DEX is set in the system setting of MT Developer2.

• The tracking enable signal is input.

(2) Performance specifications

Number of I/O occupying points 32 points(I/O allocation: Intelligent, 32 points)

Internal current consumption(5VDC)[A] 0.19

Exterior dimensions [mm(inch)]

Mass [kg] 0.15

Number of input points Tracking enable signal : 2 points

Input method Sink/Source type

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

Isolation method Photocoupler

Rated input voltage 12/24VDC

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

Operating voltage range

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

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

Input resistance Approx. 5.6k

Response time

Operation indicator ON indication (LED)

(a) Module specifications

Item Specifications

(b) Tracking enable signal input

Item Specifications

OFF to ON

ON to OFF

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 - 62

2 SYSTEM CONFIGURATION

Applicable types Q171ENC-W8 Q170ENC

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

Position detection method Absolute (ABS) method

Resolution 4194304PLS/rev (22bit) 262144PLS/rev (18bit)

Number of modules 2/module

External connector type 20 pin connector

Applicable connector for

the external connection

Applicable wire MB14B0023 12Pair

Connecting cable

Cable length Up to 50m (164.04ft.)

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

Battery service life time

(value in actual)

Item Specifications

(Note-1): 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.

Q170ENCCNS (Optional)

Q170ENCCBL

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

(

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

12000[h], (Example of encoders 2)

24000[h], (Example of encoders

(Note-1)

2 - 63

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. Q172DEX can be connected to only serial absolute output type. When using the incremental synchronous encoder of voltage-output type or differential-output type, must be used Q173DPX or built-in interface in Motion CPU of Q173DSCPU/Q172DSCPU. (The synchronous encoders are used in the SV22 virtual mode or SV22 advanced synchronous control.) 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 Applicable types Connectable synchronous encoder

Q173DSCPU

Q172DSCPU

Q173DCPU(-S1)

Q172DCPU(-S1) Up to 8 modules (Q172DEX: Up to 4 modules )

• Tracking enable signal

Tracking enable signal of Q172DEX is used in high-speed reading function or high-speed input request signal. The external input signal of the synchronous encoder is indicated below.

External input signal of the

synchronous encoder

Tracking enable signal input

Q171ENC-W8

Q170ENC

Up to 12 modules (Q172DEX: Up to 6 modules )

Item

High-speed reading function

High-speed input request signal

Number of points on

one Q172DEX

2 points

2 - 64

2 SYSTEM CONFIGURATION

(4) Connection of synchronous encoder interface module.

(a) Connection with serial absolute synchronous encoder

Use the SY.ENC connector on the front of the Q172DEX module to connect to serial absolute synchronous encoder. When tracking enable signal is not used, use the Q170ENCCBL encoder cable between the serial absolute synchronous encoder and SY.ENC connector. The following is the pin layout of the Q172DEX SY.ENC connector as viewed from the front.

SY.ENC connector

Pin No. Signal name Pin No. Signal name

111

10 20

1 LG 11 LG

2 LG 12 LG

3 LG 13 No connect

4 TREN 14 TREN.COM

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

Applicable connector

model names

10120-3000PE connector

10320-52F0-008 connector case

(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.

Synchronous encoder interface module (Q172DEX)

2 - 65

SY.ENC connector

Serial absolute synchronous encoder cable (Q170ENCCBL M)

Serial absolute synchronous encoder

2 SYSTEM CONFIGURATION

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

Input or Output

Signal name

MDR

Pin No.

Wiring example Internal circuit Specification Description

Transmission method: serial communications

Position detection method: absolute

Serial

absolute

synchronous

encoder

10 18 19 20

1 2 3 11 12

plate

5VDC

Battery

12VDC to 24VDC

Input

MRR

BAT

TREN

(Note)

TREN.

COM

(Note)

(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 50m(164.04ft.) 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 - 66

2 SYSTEM CONFIGURATION

(6) Details of encoder cable connections

(a) When not using tracking enable signal

SY.ENC side connecto 10120-3000PE (connector) 10320-52F0-008(connector case)

(Note-1)

Synchronous encoder side connecto D/MS3106B22-14S (plug) D/MS3057-12A (cable clamp)

P5 19 LG 11

P5 20 LG 12

P5 18 LG 2

BAT 9 LG 1 MR 7 MRR 17 MD 6 MDR 16

SD plate

:Twisted pair cable

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

(b) When using tracking enable signal

SY.ENC side connecto 10120-3000PE (connector) 10320-52F0-008(connector case)

S R

K L H J

(Note-1), (Note-2)

Synchronous encoder side connecto D/MS3106B22-14S (plug) D/MS3057-12A (cable clamp)

P5 19 LG 11

P5 20 LG 12

P5 18 LG 2

BAT 9 LG 1 MR 7 MRR 17 MD 6 MDR 16

SD plate TREN 4 TREN.COM 14

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 - 67

2 SYSTEM CONFIGURATION

(7) Connection of the battery

This section describes the battery specifications, handling precautions and installation of the Q172DEX.

(a) Specifications

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

Battery Specifications

Model name

Item

Classification

Manganese dioxide lithium primary battery

Normal voltage [V]

Nominal current [mAh]

Storage life

Lithium content [g]

Applications

For backup absolute positioning data of the serial absolute

Exterior dimensions [mm(inch)]

(Note) : The following points are changed for lithium metal batteries transportation by sea or air due to

Recommendations of the United Nations Rev. 15 and ICAO-TI 2009-2010 edition.

1) A package containing 24 cells or 12 batteries or less that are not contained in equipment are no

longer exempt from the following: attachment of a handling label, submission of the Shipper's

Declaration for Dangerous Goods, and a 1.2m (3.94ft.) drop test.

2) A battery handling label (size: 120 x 110mm (4.72 x 4.33inch)) is required. Emergency telephone

number must be filled out in the additional handling information of the Shipper's Declaration for

Dangerous Goods.

3) New label design containing battery illustration must be used (in air transportation only).

CAUTION!

A6BAT/MR-BAT

3.6

1600

5 years

0.48

synchronous encoder

16(0.63) × 30(1.18)

IF DAMAGED

Lithium Metal batteries

DO NOT LOAD OR TRANSPORT

PACKAGE IF DAMAGED

For more information,call

+81-3-3218-3639 International

Fig.2.1 Example of Label with Battery Illustration

• Transportation precaution for customers

Documentations like the handling label in the specified design and the Shipper's Declaration for

Dangerous Goods are required for air and sea transportation. Please attach documentations like the

handling label in the specified design and the Shipper's Declaration for Dangerous Goods to the

package.

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

For more information, contact Mitsubishi.

2 - 68

2 SYSTEM CONFIGURATION

(b) Battery replacement

For Battery replacement procedure, refer to section 6.5.2.

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

A6BAT/MR-BAT

Battery connecto

MITSUBISHI

LITHIUM BATTERY

Module type Battery type

Internal

Q172DEX

battery

(A6BAT/

MR-BAT)

(Note-1) : The actual service value indicates the average value, and the guaranteed time indicates the minimum time.

(Note-2) : The power-on time ratio indicates the ratio of Multiple CPU system power-on time to one day (24 hours).

(When the total power-on time is 17 hours and the total power-off time is 7 hours, the power-on time ratio is 70%.)

(Note-3) : The guaranteed value (MIN) ; equivalent to the total power failure time that is calculated based on the characteristics value of

the memory (SRAM) supplied by the manufacturer and under the storage ambient temperature range of -25°C to 75°C (-13 to

167°F)

(operating ambient temperature of 0°C to 55°C (32 to 131°F)).

(Note-4) : The guaranteed value (TYP) ; equivalent to the total power failure time that is calculated based on the normal air-conditioned

environment (40°C (104°F)).

(Note-5) : The actual service value (Reference value) ; equivalent to the total power failure time that is calculated based on the measured

value and under the storage ambient temperature of 25°C (77°F). This value is intended for reference only, as it varies with

characteristics of the memory.

Q171ENC-W8/

Q170ENC

Q171ENC-W8/

Q170ENC

(Note-1)

Battery life (Total power failure time) [h]

Actual service

value

(Reference value)

(25°C (77°F))

(40°C (104°F))

Guaranteed

(Note-4)

value

(TYP)

(75°C (167°F))

Guaranteed

(Note-3)

value

(MIN)

Power-on

time ratio

(Note-2)

0% 3000 8000 24000

30% 4000 11000 34000

50% 6000 16000 43800

70% 10000 26000 43800

100% 43800 43800 43800

0% 1500 4000 12000

30% 2000 5500 17000

50% 3000 8000 21900

70% 5000 13000 21900

100% 43800 43800 43800

(Note-5)

(TYP)

Backup time

after alarm

(After Error

code 1152

occurrence)

POINTS

The self-discharge influences the life of battery without the connection to Q172DEX.

The external battery should be exchanged approximately every 4 or 5 years.

Exchange the battery with a new one in 4 to 5 years even if a total power failure

time is guaranteed value or less.

2 - 69

2 SYSTEM CONFIGURATION

CAUTION

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

human body. Failure to do so may cause the module to fail or malfunction.

Do not directly touch the module's conductive parts and electronic components. Touching them

could cause an operation failure or damage the module.

2 - 70

2 SYSTEM CONFIGURATION

2.5.6 Q173DPX Manual pulse generator interface module

Q173DPX receives signals required for Manual pulse and Incremental synchronous

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

(1) Q173DPX name of parts

Q173DPX

PLS.A

1 2 3

PLS.B

1 2 3

TREN

1 2 3

PULSER

61 2345

Q173DPX

No.

1) Module fixing hook

2) Input indicator LED

3) PULSER connector

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

5) Module fixing screw hole

Name Application

Hook used to fix the module to the base unit.

(Single-motion installation)

Display the input status from the external equipment.

LED Details

PLS.A 1 to 3

PLS.B 1 to 3

Display for input signal status of manual

pulse generator/incremental synchronous

encoder phases A, B

TREN 1 to 3 Display for signal status of tracking enable.

The manual pulse generator/incremental synchronous

encoder phases A, B and tracking enable signal does not

turn ON without setting Q173DPX in the system setting.

Input connector of the Manual pulse generator/Incremental

synchronous encoder.

Hole for the screw used to fix to the base unit

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

2 - 71

Mitsubishi Q173DSCPU, Q172DSCPU, Q173DSPU, Q172DSPU USER MANUAL

Specifications and Main Features

Frequently Asked Questions

User Manual

SAFETY PRECAUTIONS

REVISIONS

INTRODUCTION

CONTENTS

About Manuals

Manual Page Organization

1. OVERVIEW

1.1 Overview

1.2 Differences between Q173D(S)CPU/Q172D(S)CPU and Q173HCPU/Q172HCPU

1.3 Restrictions by the Software's Version

1.4 Programming Software Version

2. SYSTEM CONFIGURATION

2.1 Motion System Configuration

2.1.1 Q173DSCPU/Q172DSCPU System overall configuration

2.1.2 Q173DCPU(-S1)/Q172DCPU(-S1) System overall configuration

2.1.3 Function explanation of the Motion CPU modules

2.1.4 Restrictions on Motion systems

2.2 Checking Serial Number and Operating System Software Version

2.2.1 Checking serial number

2.2.2 Checking operating system software version

2.3 System Configuration Equipment

2.4 General Specifications

2.5 Specifications of Equipment and Settings

2.5.1 Name of parts for CPU module

2.5.2 Power supply module

2.5.3. Base unit and extension cable

2.5.4 Q172DLX Servo external signals interface module

2.5.5 Q172DEX Synchronous encoder interface module

2.5.6 Q173DPX Manual pulse generator interface module