Mitsubishi Q173DSCPU, Q172DSCPU, Q173DSPU, Q172DSPU Programming 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 Sep., 2007 IB(NA)-0300134-A Sep., 2010 IB(NA)-0300134-B

First edition

[Additional model/function] Software for SV43, Amplifier-less operation function, Q10UD(E)HCPU,

Q13UD(E)HCPU, Q20UD(E)HCPU, Q26UD(E)HCPU, QX40H, QX70H, QH80H, QX90H, MR-J3-

BS [Additional correction/partial correction] Safety precautions, About Manuals, Restrictions by the software's

version, Checking serial number and operating system software version, Servo parameters, Warranty

Sep., 2011 IB(NA)-0300134-C

[Additional model]

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

[Additional function]

External input signal (DOG) of servo amplifier, Communication via PERIPHERAL I/F

[Additional correction/partial correction]

Safety precautions, About Manuals, Restrictions by the software's version

Mar., 2012 IB(NA)-0300134-D

[Additional model]

Q173DSCPU, Q172DSCPU, MR-J4-

[Additional function]

Servo external signal parameters, Software security key, Mark detection function

[Additional correction/partial correction]

About Manuals, Manual Page Organization, Restrictions by the software's version, Programming software version, Individual parameters, Servo parameter change function, Optional data monitor function, Special relays/Special registers list, System setting errors, Differences between Motion CPU

Sep., 2012 IB(NA)-0300134-E

[Additional function]

Advanced synchronous control, High-speed input request signal setting

[Additional correction/partial correction]

About Manuals, Restrictions by the software's version, Programming software version, Individual parameters, Limit switch output function, Protection by password, Mark detection function, Special relays/ Special registers list, Self-diagnosis error, Differences between Motion CPU

Apr., 2013 IB(NA)-0300134-F

[Additional model]

LJ72MS15, Intelligent function module

[Additional function]

Driver communication function, Connection of SSCNET module

[Additional correction/partial correction]

About Manuals, Restrictions by the software's version, System data setting list, Individual parameters, Special relays/Special registers list, System setting error, Self-diagnosis error, Differences between Motion CPU

B, MR-J4W- B,

/H head

A - 11

Print Date

Manual Number Revision

Nov., 2013 IB(NA)-0300134-G

[Additional correction/partial correction]

Safety precautions, Restrictions by the software's version, System data setting list, Optional data monitor function, Driver communication function (SSCNET

/H), Special registers list, System setting error,

Self-diagnosis error, Differences between Motion CPU

Japanese Manual Number IB(NA)-0300126

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 1-32

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

1.2 Features ................................................................................................................................................... 1- 3

1.2.1 Features of Motion CPU ................................................................................................................... 1- 3

1.2.2 Basic specifications of Q173D(S)CPU/Q172D(S)CPU .................................................................... 1- 5

1.3 Hardware Configuration ........................................................................................................................... 1-11

1.3.1 Motion system configuration ............................................................................................................. 1-11

1.3.2 Q173DSCPU/Q172DSCPU System overall configuration .............................................................. 1-14

1.3.3 Q173DCPU(-S1)/Q172DCPU(-S1) System overall configuration ................................................... 1-16

1.3.4 Software packages ............................................................................................................................ 1-17

1.3.5 Restrictions on motion systems ........................................................................................................ 1-19

1.4 Checking Serial Number and Operating System Software Version ....................................................... 1-23

1.4.1 Checking serial number .................................................................................................................... 1-23

1.4.2 Checking operating system software version................................................................................... 1-26

1.5 Restrictions by the Software's Version .................................................................................................... 1-28

1.6 Programming Software Version............................................................................................................... 1-32

2. MULTIPLE CPU SYSTEM 2- 1 to 2-36

2.1 Multiple CPU System ............................................................................................................................... 2- 1

2.1.1 Overview ............................................................................................................................................ 2- 1

2.1.2 Installation position of CPU module .................................................................................................. 2- 2

2.1.3 Precautions for using I/O modules and intelligent function modules ............................................... 2- 3

2.1.4 Modules subject to installation restrictions ....................................................................................... 2- 4

2.1.5 How to reset the Multiple CPU system ............................................................................................. 2- 6

2.1.6 Operation for CPU module stop error ............................................................................................... 2- 7

2.2 Starting Up the Multiple CPU System ..................................................................................................... 2-10

2.2.1 Startup Flow of the Multiple CPU system ......................................................................................... 2-10

2.3 Communication Between the PLC CPU and the Motion CPU in the Multiple CPU System ................. 2-12

2.3.1 CPU shared memory......................................................................................................................... 2-12

2.3.2 Multiple CPU high speed transmission ............................................................................................. 2-15

2.3.3 Multiple CPU high speed refresh function ........................................................................................ 2-30

2.3.4 Clock synchronization between Multiple CPU ................................................................................. 2-34

2.3.5 Multiple CPU synchronous startup ................................................................................................... 2-35

2.3.6 Control instruction from PLC CPU to Motion CPU ........................................................................... 2-36

A - 13

3. COMMON PARAMETERS 3- 1 to 3-28

3.1 System Settings ....................................................................................................................................... 3- 1

3.1.1 System data settings ......................................................................................................................... 3- 2

3.1.2 Common system parameters ........................................................................................................... 3- 5

3.1.3 Individual parameters ........................................................................................................................ 3-11

3.2 I/O Number Assignment. ......................................................................................................................... 3-21

3.2.1 I/O number assignment of each module .......................................................................................... 3-21

3.2.2 I/O number of each CPU modules ................................................................................................... 3-23

3.2.3 I/O number setting ............................................................................................................................. 3-24

3.3 Servo Parameters .................................................................................................................................... 3-25

3.4 Servo External Signal Parameters .......................................................................................................... 3-26

4. AUXILIARY AND APPLIED FUNCTIONS 4- 1 to 4-114

4.1 Limit Switch Output Function ................................................................................................................... 4- 1

4.1.1 Operations ......................................................................................................................................... 4- 1

4.1.2 Limit output setting data .................................................................................................................... 4- 4

4.1.3 Operations (SV22 advanced synchronous control only) ................................................................. 4- 8

4.1.4 Limit output setting data (SV22 advanced synchronous control only) ............................................ 4-10

4.2 Absolute Position System ........................................................................................................................ 4-17

4.2.1 Current value control ......................................................................................................................... 4-19

4.3 High-Speed Reading of Specified Data .................................................................................................. 4-20

4.4 ROM Operation Function ......................................................................................................................... 4-22

4.4.1 Specifications of 7-segment LED/switches ...................................................................................... 4-22

4.4.2 Outline of ROM operation ................................................................................................................. 4-24

4.4.3 Operating procedure of the ROM operation function ....................................................................... 4-29

4.5 Security Function ..................................................................................................................................... 4-31

4.5.1 Protection by password ..................................................................................................................... 4-31

4.5.2 Protection by software security key .................................................................................................. 4-38

4.6 All Clear F unction ..................................................................................................................................... 4-43

4.7 Communication Via Network ................................................................................................................... 4-44

4.7.1 Specifications of the communications via network........................................................................... 4-44

4.8 Monitor Function of the Main Cycle ......................................................................................................... 4-45

4.9 Servo Parameter Read/Change Function ............................................................................................... 4-46

4.10 Optional Data Monitor Function ............................................................................................................. 4-48

4.11 SSCNET Control Function ..................................................................................................................... 4-51

4.11.1 Connect/disconnect function of SSCNET communication ............................................................ 4-52

4.11.2 Amplifier-less operation function .................................................................................................... 4-56

4.12 Remote Operation .................................................................................................................................. 4-60

4.12.1 Remote RUN/STOP ........................................................................................................................ 4-60

4.12.2 Remote latch clear .......................................................................................................................... 4-62

4.13 Communication Function via PERIPHERAL I/F ................................................................................... 4-63

4.13.1 Direct connection............................................................................................................................. 4-63

4.13.2 Connection via HUB ........................................................................................................................ 4-66

4.13.3 MC protocol communication ........................................................................................................... 4-72

4.14 Mark Detection Function ........................................................................................................................ 4-79

4.15 High-speed Input Request Signal Setting (SV22 advanced synchronous control only) ..................... 4-91

4.16 Driver Communication Function ............................................................................................................ 4-94

A - 14

4.16.1 Control details.................................................................................................................................. 4-95

4.16.2 Precautions during control .............................................................................................................. 4-96

4.16.3 Servo parameter............................................................................................................................ 4-100

4.17 Intelligent Function Modules Controlled by Motion CPU .................................................................... 4-101

4.18 Connection of SSCNET

4.18.1 System configuration ..................................................................................................................... 4-104

4.18.2 SSCNET

4.18.3 Data operation of intelligent function module by Motion SFC program ....................................... 4-113

4.18.4 Data of refresh device ................................................................................................................... 4-11 3

4.18.5 Precautions when using SSCNET

APPENDICES APP- 1 to APP-48

APPENDIX 1 Special Relays/Special Registers ...................................................................................... APP- 1

APPENDIX 1.1 Special relays .............................................................................................................. APP- 1

APPENDIX 1.2 Special registers .................................................................................................... APP- 6

APPENDIX 1.3 Replacement of special relays/special registers ........................................................ APP-13

APPENDIX 2 System Setting Errors ........................................................................................................ APP-16

APPENDIX 3 Self-diagnosis Error ............................................................................................................ APP- 19

APPENDIX 4 Differences Between Q173DSCPU/Q172DSCPU/Q173DCPU(-S1)/Q172DCPU(-S1)/

APPENDIX 4.1 Differences between Q173DSCPU/Q172DSCPU/Q173DCPU(-S1)/Q172DCPU(-S1)/

APPENDIX 4.2 Comparison of devices ................................................................................................ APP- 36

APPENDIX 4.3 Differences of the operating system software ............................................................ APP-45

/H head module parameters ....................................................................................... 4-105

Q173HCPU/Q172H CPU .................................................................................................... A PP-32

Q173HCPU/Q172HCPU ............................................................................................. APP-32

/H Head Module ......................................................................................... 4-104

/H head module................................................................... 4-113

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 programming manual describes the common items of each operating system software, such as the Multiple CPU system of the operating system software packages "SW7DNC-SV

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)

(Q173D(S)CPU/Q172D(S)CPU).

In this manual, the following abbreviations are used.

(Note-2)

General name for "MR Configurator/MR Configurator2"

Q " and "SW8DNC-SV Q " for Motion CPU module

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-

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" 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

Motion CPU module/Motion unit

PLC CPU, peripheral devices for sequence program design, I/O modules and intelligent function module

Operation method for MT Developer2 Help of each software

• 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

SV13/SV22

SV22 (Virtual mode)

SV22 (Advanced synchronous control)

• 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

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

Manual relevant to each module

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

1.2 Features

The Motion CPU and Multiple CPU system have the following features.

1.2.1 Features of Motion CPU

(1) Q series PLC Multiple CPU system

(a) Load distribution of processing can be performed by controlling the

complicated servo control with Motion CPU and the machine control or information control with PLC CPU. Therefore, the flexible system configuration can be realized.

(b) The Motion CPU and PLC CPU are selected flexibly, and the Multiple CPU

system up to 4 CPU modules can be realized. The Motion CPU module for the number of axis to be used can be selected.

The PLC CPU module for the program capacity to be used can be selected. (One or more PLC CPU is necessary with the Multiple CPU system.)

(SV13/SV22)/Motion program (SV43) start can be executed from PLC CPU by the Motion dedicated PLC instruction.

(2) High speed operation processing

(a) The minimum operation cycle of the Motion CPU is made 0.22[ms]

(Q173DSCPU/Q172DSCPU use), and it correspond with high frequency operation.

(b) High speed PLC control is possible by the universal model QCPU.

(3) Connection between the Motion controller and servo amplifier with

high speed synchronous network by SSCNET

(a) High speed synchronous network by SSCNET (/H) connect between the

Motion controller and servo amplifier, and batch control the charge of servo parameter, servo monitor and test operation, etc. It is also realised reduce the number of wires.

(b) The maximum distance between the Motion CPU and servo amplifier, servo

amplifier and servo amplifier of the SSCNET set to 100(328.08)[m(ft.)] for SSCNET and the flexibility improved at the Motion system design.

Q173DSCPU : Up to 32 axes Q172DSCPU : Up to 16 axes Q173DCPU(-S1) : Up to 32 axes Q172DCPU(-S1) : Up to 8 axes

(/H)

cable on the same bus was

/H, 50(164.04)[m(ft.)] for SSCNET ,

1 - 3

1 OVERVIEW

(4) The operating system software package for your application needs

By installing the operating system software for applications in the internal flash memory of the Motion CPU, the Motion controller suitable for the machine can be realized. And, it also can correspond with the function improvement of the software package. (a) Conveyor assembly use (SV13)

Offer linear interpolation, circular interpolation, helical interpolation, constant-speed control, speed control, fixed-pitch feed and etc. by the dedicated servo instruction. Ideal for use in conveyors and assembly machines.

(b) Automatic machinery use (SV22)

In addition to the functions (real mode) equivalent to the software package for conveyor assembly use (SV13), provides synchronous control and offers electronic cam control. Ideal for use in automatic machinery.

1) Q173DSCPU/Q172DSCPU Select the operation method from the following methods when installing the operating system software. The operation method can be switched by using MT Developer2.

• Virtual mode switching method:

By using the common device (real mode/virtual mode switching request flag), switching between the positioning control in the real mode and the synchronous control, electronic cam control by mechanical support language (virtual mode) is enabled.

• Advanced synchronous control method:

In addition to the positioning control in the real mode, provides synchronous control by setting the synchronous control parameter (advanced synchronous control) by using the synchronous control start signal for each axis.

2) Q173DCPU(-S1)/Q172DCPU(-S1) By using the common device (real mode/virtual mode switching request flag), switching between the positioning control in the real mode and the synchronous control, electronic cam control by mechanical support language (virtual mode) is enabled.

Offer linear interpolation, circular interpolation, helical interpolation, constantspeed positioning and etc. by the EIA language (G-code). Ideal for use in machine tool peripheral.

1 - 4

1 OVERVIEW

1.2.2 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.

(1) 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)

(2) 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

(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)

1 - 5

1 OVERVIEW

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

JOG operation function Provided

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

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

(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)

(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

1 - 6

1 OVERVIEW

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

Absolute position system

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)

Made compatible by setting battery to servo amplifier.

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

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-RJ) 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)

1 - 7

1 OVERVIEW

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)

Number of devices (Device In the Motion CPU only) (Included the positioning dedicated device)

(Motion SFC chart + Operation control + Transition)

Text total (Operation control + Transition)

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

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

Number of Motion SFC steps/program Up to 4094 steps

Number of selective branches/branch 255

Number of parallel branches/branch 255

Parallel branch nesting Up to 4 levels

Number of operation control programs

Number of transition programs 4096(G0 to G4095)

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

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

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

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

( ) nesting/block Up to 32 levels

Descriptive expression

Number of multi execute programs Up to 256

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

Executed task

Internal relays (M) 12288 points

Link relays (B) 8192 points

Annunciators (F) 2048 points

Special relays (SM) 2256 points

Data registers (D)

Link registers (W) 8192 points

Special registers (SD) 2256 points

Motion registers (#) 12288 points

Coasting timers (FT)

Multiple CPU area devices (U \G)

(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.

(Note-1): 19824 points can be used for SV22 advanced synchronous control. (Note-2): Usable number of points changes according to the system settings.

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)

8192 points

(Note-1)

1 point (888µs)

Up to 14336 points usable

(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)

8192 points

(Note-2)

1 - 8

1 OVERVIEW

(3) 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)

1 - 9

1 OVERVIEW

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

Number of devices (Device In the Motion CPU only) (Included the positioning dedicated device)

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

Internal relays (M) 8192 points

Link relays (B) 8192 points

Annunciators (F) 2048 points

Special relays (SM) 2256 points

Data registers (D) 8192 points

Link registers (W) 8192 points

Special registers (SD) 2256 points

Motion registers (#) 8736 points

Coasting timers (FT) 1 point (888µs)

Multiple CPU area devices (U \G)

(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

Up to 14336 points usable

(Note): Usable number of points changes according to the system settings.

(Note)

1 - 10

1 OVERVIEW

1.3 Hardware Configuration

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

1.3.1 Motion system configuration

Motion module

(Q172DLX, Q172DEX, Q173DPX)

Safety signal module

(Q173DSXY)

(1) Equipment configuration in system

(a) Q173DSCPU/Q172DSCPU

Power supply module/

QnUD(E)(H)CPU/QnUDVCPU/

I/O module/Intelligent function

module of the Q series

Main base unit

(Q35DB, Q 38DB, Q31 2DB)

Motion CPU module

(Q173DSCPU/Q172DSCPU)

Extension cable

(QC B)

Forced stop input cab le

(Q170DEMICBL M)

Extension of the Q series module

(Note-2)

Motion module

(Q172DLX, Q173DPX)

Q6 B extension base unit

(Q63B, Q65B, Q68B, Q612B)

Power supply module/

I/O module/Intelligent function

module of the Q series

RIO cable

(Q173DSXYCBL M)

(Note-1)

MITSUBISHI

LITHIUM BATTERY

PROGRAMMABLE CONTROLL ER

Q6BAT

TYPE

SSCNET cable

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

Servo amplifier

(MR-J3(W)- B)

Battery

(Q6BAT)

Servo amplifier

(MR-J4(W)- B)

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

(Note-1): Be sure to install the Battery (Q6BAT). 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.

1 - 11

+ 250 hidden pages

Mitsubishi Q173DSCPU, Q172DSCPU, Q173DSPU, Q172DSPU Programming Manual

SAFETY PRECAUTIONS

REVISIONS

INTRODUCTION

CONTENTS

About Manuals

Manual Page Organization

1. OVERVIEW

1.1 Overview

1.2 Features

1.2.1 Features of Motion CPU

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

1.3 Hardware Configuration

1.3.1 Motion system configuration