Mitsubishi Electric Q173HCPU User Manual
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Mitsubishi Electric Q173HCPU User Manual

Q series motion controller
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MOTION CONTROLLERS
Q173HCPU
Q172HCPU
User's Manual

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Summary of Contents for Mitsubishi Electric Q173HCPU

  • Page 1 MOTION CONTROLLERS Q173HCPU Q172HCPU User's Manual...

  • Page 2: Safety Precautions

    SAFETY PRECAUTIONS (Read these precautions before using.) When using this equipment, thoroughly read this manual and the associated manuals introduced in this manual. Also pay careful attention to safety and handle the module properly. These precautions apply only to this equipment. Refer to the Users manual of the QCPU module to use for a description of the PLC system safety precautions.
  • Page 3 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.
  • Page 4 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.
  • Page 5 CAUTION 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.
  • Page 6 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.
  • Page 7 CAUTION Securely fix the Motion controller and servo amplifier to the machine according to the instruction manual. If the fixing is insufficient, these may come off during operation. Always install the servomotor with reduction gears in the designated direction. Failing to do so may lead to oil leaks.
  • Page 8 (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.
  • Page 9 (6) Usage methods CAUTION Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the Motion controller, servo amplifier or servomotor. Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection. The units must be disassembled and repaired by a qualified technician.
  • Page 10 CAUTION If an error occurs, remove the cause, secure the safety and then resume operation after alarm release. The unit may suddenly resume operation after a power failure is restored, so do not go near the machine. (Design the machine so that personal safety can be ensured even if the machine restarts suddenly.) (8) Maintenance, inspection and part replacement CAUTION...
  • Page 11 (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.

  • Page 12: Revisions

    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.

  • Page 13: Table Of Contents

    2.1.1 Q173HCPU System overall configuration ..................2- 3 2.1.2 Q172HCPU System overall configuration ..................2- 5 2.1.3 Function explanation of the Q173HCPU/Q172HCPU Motion CPU modules ......... 2- 7 2.1.4 Restrictions on Motion systems......................2- 9 2.2 System Configuration Equipment......................2-11 2.3 General Specifications ..........................
  • Page 14 4. INSTALLATION AND WIRING 4- 1 to 4-22 4.1 Module Installation ........................... 4- 1 4.1.1 Instructions for handling ........................4- 1 4.1.2 Instructions for installation of the base unit ..................4- 3 4.1.3 Installation and removal of module....................4- 5 4.2 Installation and Removal of Cable......................
  • Page 15 APPENDICES App- 1 to App-27 APPENDIX 1 Cables..........................App- 1 APPENDIX 1.1 SSCNET cables......................App- 1 APPENDIX 1.2 Serial absolute synchronous encoder cable..............App- 5 APPENDIX 1.3 Cable for the teaching unit ...................App- 7 APPENDIX 1.4 Battery cable.........................App-13 APPENDIX 2 Exterior Dimensions ......................App-14 APPENDIX 2.1 CPU module .........................App-14 APPENDIX 2.2 Servo external signals interface module (Q172LX) ............App-17 APPENDIX 2.3 Serial absolute synchronous encoder interface module (Q172EX-S2/Q172EX-S3).App-17...

  • Page 16: About Manuals

    This manual explains the Multiple CPU system configuration, performance specifications, common IB-0300111 (1XB911) parameters, auxiliary/applied functions and others. (Optional) Q173HCPU/Q172HCPU Motion controller (SV13/SV22) Programming Manual (Motion SFC) IB-0300112 This manual explains the functions, programming, debugging, error codes and others of the Motion SFC. (1XB912) (Optional)
  • Page 17 (2) PLC Manual Number Manual Name (Model Code) QCPU User's Manual (Hardware Design, Maintenance and Inspection) This manual explains the specifications of the QCPU modules, power supply modules, base modules, SH-080483ENG (13JR73) extension cables, memory card battery and others. (Optional) QCPU User's Manual (Function Explanation, Program Fundamentals) This manual explains the functions, programming methods and devices and others to create programs SH-080484ENG...

  • Page 18: Overview

    1. OVERVIEW 1.1 Overview This User's Manual describes the hardware specifications and handling methods of the Motion Controller's Model Q173HCPU/Q172HCPU for the Q series PLC Multiple CPU system. The Manual also describes those items related to the specifications of the option module for the Motion controller, Manual pulse generator, Synchronous encoder, Teaching unit and cables.
  • Page 19 • Design method for common parameter Programming Manual (COMMON) • Auxiliary and applied functions (common) • Design method for Motion SFC program Q173HCPU/Q172HCPU Motion controller (SV13/SV22) • Design method for Motion SFC parameter Programming Manual (Motion SFC) • Motion dedicated PLC instruction SV13/SV22 •...

  • Page 20: System Configuration

    (Note-3) : It varies by the connecting teaching unit. (Note-4) : It is packed together with Q170TUD CBL M. (Note-5) : When using the A31TU-D3 /A31TU-DN , be sure to use the Q173HCPU-T/Q172HCPU-T. (Note-6) : A31TU-D3 /A31TU-DN corresponds to only Japanese.
  • Page 21 2 SYSTEM CONFIGURATION (2) Peripheral device configuration for the Q173HCPU/Q172HCPU The following (a)(b) can be used. (a) USB configuration (b) SSCNET configuration Motion CPU module Motion CPU module (Q173HCPU, Q172HCPU) (Q173HCPU, Q172HCPU) SSC I/F communication cable (Q170CDCBL M, USB cable...

  • Page 22: Q173Hcpu System Overall Configuration

    Proximity dog Upper stroke limit Lower stroke limit UP to 7 extensions (Note-1) : Be sure to use the Q173HCPU-T. A31TU-D3 /A31TU-DN corresponds to only Japanese. It does not correspond to display for English. (Note-2) : QI60 can be used in SV13/SV22.
  • Page 23 When a teaching unit is used, the cable for the teaching unit is necessary between the Motion CPU (Q173HCPU-T/Q172HCPU-T) and teaching unit. And, connect the short-circuit connector for teaching unit, after removing the teaching unit or when not using it.

  • Page 24: Q172Hcpu System Overall Configuration

    Proximity dog Upper stroke limit Lower stroke limit UP to 7 extensions (Note-1) : Be sure to use the Q173HCPU-T. A31TU-D3 /A31TU-DN corresponds to only Japanese. It does not correspond to display for English. (Note-2) : QI60 can be used in SV13/SV22.
  • Page 25 When a teaching unit is used, the cable for the teaching unit is necessary between the Motion CPU (Q173HCPU-T/Q172HCPU-T) and teaching unit. And, connect the short-circuit connector for teaching unit, after removing the teaching unit or when not using it.

  • Page 26: Function Explanation Of The Q173Hcpu/Q172Hcpu Motion Cpu Modules

    2.1.3 Function explanation of the Q173HCPU/Q172HCPU Motion CPU modules (1) Up to 32 axes servo amplifiers per 2 systems (up to 16 axes per 1 system) can be used in Q173HCPU. Up to 8 axes servo amplifiers per 1 system can be used in Q172HCPU.
  • Page 27 2 SYSTEM CONFIGURATION (11) The maximum distance between the Motion CPU and servo amplifier, servo amplifier and servo amplifier of the SSCNET cable on the same bus was set to 50(164.04)[m(ft.)], and the flexibility improved at the Motion system design. (12) Motion CPU becomes difficult to be influenced of an electromagnetic noise from servo amplifier, etc.

  • Page 28: Restrictions On Motion Systems

    2 SYSTEM CONFIGURATION 2.1.4 Restrictions on Motion systems (1) It is not allowed to use the Motion CPU as the control CPU of a module installed on the QA1S6 B extension base unit. PLC CPU must be used as the control CPU.
  • Page 29 (11) When combining the Q173HCPU(-T)/Q172HCPU(-T) with Q173CPU(N)/ Q172CPU(N)/Q173CPUN-T/Q172CPUN-T, set as following combination. If it is used in combination except for the following, the Q173HCPU(-T)/ Q172HCPU(-T) does not operate normally, such as Q173HCPU(-T)/ Q172HCPU(-T) does not start or communication error with servo amplifier will occur.

  • Page 30: System Configuration Equipment

    Current (Note-1) Part name Model name Description consumption Remark 5VDC[A] Q173HCPU Up to 32 axes control, Operation cycle 0.4[ms] or more 1.25 Up to 32 axes control, Operation cycle 0.4[ms] or more, Q173HCPU-T 1.56 For teaching unit Motion CPU module Q172HCPU Up to 8 axes control, Operation cycle 0.4[ms] or more...
  • Page 31 Permitted speed: 200r/min(Normal rotation), Voltage output Battery holder Q170HBATC Battery holder for Q6BAT (Attachment battery cable) —— (Note-4) unit For IC-RAM memory backup of Q173HCPU/Q172HCPU module Q6BAT (Motion SFC programs (SV13/SV22), Servo programs (SV13/SV22), Battery —— Motion programs (SV43), Parameters) A6BAT...
  • Page 32 Length 5m (16.40ft.) —— module AC80TB Length 8m (26.25ft.) —— AC100TB Length 10m(32.81ft.) —— • Q173HCPU/Q172HCPU MR-J3- B • MR-J3- B MR-J3- B MR-J3BUS M —— • Standard code for inside panel • 0.15m(0.49ft.), 0.3m(0.98ft.), 0.5m(1.64ft.), 1m(3,28ft.), 3m(9.84ft.) • Q173HCPU/Q172HCPU MR-J3- B •...
  • Page 33 2 SYSTEM CONFIGURATION (2) Q series PLC module which can be control by Motion CPU Model Part name Description Remark name QX10 100-120VAC, 7-8mA, 16 points, Terminal block QX40 24VDC/4mA, Positive common, 16 points, Terminal block QX41 24VDC/4mA, Positive common, 32 points, Connector QX42 24VDC/4mA, Positive common, 64 points, Connector 12VDC/5V, Positive common/Negative common shared, 16 points, Terminal...
  • Page 34 MR-J3- B-RJ006 Battery MR-J3BAT Back-up for the absolute position detection (4) Software packages (a) Operating system software packages Software package Application Q173HCPU Q172HCPU For conveyor assembly SV13 SW6RN-SV13QK SW6RN-SV13QM (Motion SFC) For automatic machinery SV22 SW6RN-SV22QJ SW6RN-SV22QL (Motion SFC)
  • Page 35 2 SYSTEM CONFIGURATION (5) Operating environment of personal computer Operating environment is shown below. IBM PC/AT with which WindowsNT 4.0/ Windows 98/ Windows 2000/Windows English version operates normally. WindowsNT Item (Note) Windows 2000 Windows (Service Pack 2 or later) or Windows Pentium 133MHz or more Pentium...
  • Page 36 2 SYSTEM CONFIGURATION (6) Related software packages (a) PLC software package Model name Software package GX Developer SW D5C-GPPW-E (Note) : =used "6" or later. (b) Servo set up software package Model name Software package MR Configurator MRZJW3-SETUP221E POINTS (1) When the operation of Windows is not unclear in the operation of this software, refer to the manual of Windows or guide-book from the other supplier.

  • Page 37: General Specifications

    2 SYSTEM CONFIGURATION 2.3 General Specifications General specifications of Q173HCPU/Q172HCPU module are shown below. Item Specification Operating ambient 0 to 55°C temperature (32 to 131°F) Storage ambient -25 to 75°C (Note-3) temperature (-13 to 167°F) Operating ambient 5 to 95% RH...
  • Page 38 2 SYSTEM CONFIGURATION CAUTION The Motion controller must be stored and used under the conditions listed in the table of specifications above. When not using the module for a long time, disconnect the power line from the Motion controller or servo amplifier. Place the Motion controller and servo amplifier in static electricity preventing vinyl bags and store.

  • Page 39: Specifications Of Equipment And Settings

    2 SYSTEM CONFIGURATION 2.4 Specifications of Equipment and Settings 2.4.1 Name of parts for CPU module This section explains the names and setting of the module. (1) Q173HCPU(-T)/Q172HCPU(-T) Front face With front cover open Q17 HCPU-T MODE MODE ERR. ERR.
  • Page 40 2 SYSTEM CONFIGURATION Name Application 1) Module fixing hook • Hook used to fix the module to the base unit.(Quick release installation) • Lit(green) : Normal mode 2) MODE LED (Mode judging) • Lit(orange) : Installation mode • mode written in ROM •...
  • Page 41 SSCNET connector. (Note-3) : Q173HCPU/Q173HCPU-T only. Teaching unit corresponds to only Japanese. (Note-4) : Q172HCPU/Q172HCPU-T only. Teaching unit corresponds to only Japanese. (Note-5) : When connecting the teaching unit, be sure to use the cable which adjusts to the model name of teaching unit.
  • Page 42 2 SYSTEM CONFIGURATION (3) Basic specifications of Q173HCPU/Q172HCPU (a) Module specifications Item Q173HCPU Q173HCPU-T Q172HCPU Q172HCPU-T Teaching unit —— Usable —— Usable Internal current consumption (Note) (Note) 1.25 1.56 1.14 1.45 (5VDC) [A] Mass [kg] 0.23 0.24 0.22 0.23 Exterior dimensions [mm(inch)] 104.6 (4.11)(H)
  • Page 43 2 SYSTEM CONFIGURATION Motion control specifications (continued) Item Q173HCPU Q173HCPU-T Q172HCPU Q172HCPU-T Manual pulse generator Possible to connect 3 modules operation function Synchronous encoder Possible to connect 12 modules Possible to connect 8 modules operation function M-code output function provided...
  • Page 44 2 SYSTEM CONFIGURATION (b) Motion SFC performance specifications Item Q173HCPU/Q172HCPU Code total (Motion SFC chart + Operation control 543k bytes Motion SFC program capacity + Transition) Text total 484k bytes (Operation control + Transition) Number of Motion SFC programs 256 (No.0 to 255)
  • Page 45 2 SYSTEM CONFIGURATION (5) SV43 Motion control specifications/performance specifications (a) Motion control specifications Item Q173HCPU Q172HCPU Number of control axes Up to 32 axes Up to 8 axes 0.88ms/ 1 to 5 axes Operation cycle 1.77ms/ 6 to 14 axes 0.88ms/ 1 to 5 axes...
  • Page 46 2 SYSTEM CONFIGURATION (b) Motion program performance specifications Item Q173HCPU/Q172HCPU Total of program files 248k bytes Program capacity Number of programs Up to 1024 (No. 1 to 1024) Unary operation, Addition and subtraction operation, Multiplication Arithmetic operation and division operation, Remainder operation...
  • Page 47 • Initial charging of the Q173HCPU/Q172HCPU Turn on the power supply and charge the internal rechargeable battery for eight hours or more, before starting to use the Q173HCPU/Q172HCPU. It is possible to provide backup power for the IC-RAM memory for at least 200 hours by charging the internal rechargeable battery for eight hours or more, even if it is empty.

  • Page 48: Power Supply Module

    2 SYSTEM CONFIGURATION 2.4.2 Power supply module (1) Table of the power supply module specifications This section describes the power supply modules specifications. Item Q61P-A1 Q61P-A2 Q61P Q62P Base loading position Power supply module loading slot Applicable base unit Q33B, Q35B, Q38B, Q312B, Q65B, Q68B, Q612B 100 to 120VAC 200 to 240VAC 100 to 240VAC (+10%/-15%)
  • Page 49 2 SYSTEM CONFIGURATION The power supply module specifications (continued) Item Q63P Q64P Base loading position Power supply module loading slot Applicable base unit Q33B, Q35B, Q38B, Q312B, Q65B, Q68B, Q612B 24VDC (+30%/-35%) 100 to 120VAC/200 to 240VAC (+10%/-15%) Input power supply (15.6 to 31.2VDC) (85 to 132VAC/170 to 264VAC) Input frequency...
  • Page 50 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.
  • Page 51 2 SYSTEM CONFIGURATION POINTS (Note-3) : Allowable momentary power failure period (1) For AC input power supply (QX10, etc.) • An instantaneous power failure lasting less than 20ms will cause AC down to be detected, but operation will continue. • 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.
  • Page 52 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) •...
  • Page 53 2 SYSTEM CONFIGURATION Name Application ON (green): Normal (5VDC output, momentary power failure within 20ms) : • AC power supply is ON, however, the power supply module is out of order. (5VDC error, internal circuit failure, blown fuse) • Over current protection or over voltage protection operated. •...
  • Page 54 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 Supply power voltage module type 100VAC 200VAC Power supply module causes Q61P-A1 Operates normally.
  • Page 55 (Hardware Design, Maintenance and Inspection). The current consumption of Motion controller is as follows. Current Part name Model name Description consumption 5VDC [A] Q173HCPU Up to 32 axes control 1.25 (Note-2) Q173HCPU-T Up to 32 axes control, For teaching unit 1.56 Motion CPU module...
  • Page 56 2 SYSTEM CONFIGURATION (4) Example of the power supply selection calculation (When using the Q173HCPU-T.) (a) System configuration Q38B Q173PX Q61P Q173H Q172LX Q172EX QX40 QX40 QY10 QY10 Q02H CPU-T MR-HDP01 A31TU-D3K13 MR-HDP01 Q170ENC (b) 5VDC current consumption of each module Q02HCPU : 0.64 [A]...

  • Page 57: Base Unit And Extension Cable

    2 SYSTEM CONFIGURATION 2.4.3. Base unit and extension cable This section describes the specifications of the extension cables for the base units (CPU base unit or extension base unit) used in the system, and the specification standards of the extension base unit. (1) Table of the base unit specifications (a) CPU base unit specifications Type...
  • Page 58 2 SYSTEM CONFIGURATION (2) Table of the extension cable specifications The list below describes the specifications of the extension cables which can be used for the PLC CPU system. Type QC05B QC06B QC12B QC30B QC50B QC100B Item Cable length[m(ft.)] 0.45(1.48) 0.6(1.97) 1.2(3.94) 3.0(9.84)
  • Page 59 (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 Q173HCPU/Q172HCPU Motion Controller Programming Manual (COMMON) about the I/O allocation setting method,.

  • Page 60: Q172Lx Servo External Signals Interface Module

    2 SYSTEM CONFIGURATION 2.4.4 Q172LX Servo external signals interface module Q172LX receives external signals (servo external signals) required for positioning control. (1) Q172LX name of parts Q172LX CTRL Q172LX Name Application Hook used to fix the module to the base unit. Module fixing hook (Quick release installation) Display the servo external input status from the external...
  • Page 61 2 SYSTEM CONFIGURATION (2) Performance specifications (a) Module specifications Item Specifications Number of I/O occupying points 32 points(I/O allocation: Intelligent, 32 points) Internal current consumption(5VDC) [A] 0.05 98(H) 27.4(W) 90(D) Exterior dimensions [mm(inch)] (3.86(H) 1.08(W) 3.54(D) ) Mass [kg] 0.15 (b) Input Item Specifications...
  • Page 62 2 SYSTEM CONFIGURATION (3) Connection of servo external signals interface module (a) Servo external signals There are the following servo external signals. (Upper stroke limit is limit value of address increase direction/lower stroke limit is limit value of an address decrease direction.) The Q172LX is assigned a set of input No.s per axis.
  • Page 63 2 SYSTEM CONFIGURATION (b) The pin layout of the CTRL connector Use the CTRL connector at the Q172LX module front to connect the servo external signals. The following pin layout of the Q172LX CTRL connector viewed from the front. The pin layout and connection description of the CTRL connector are described below.
  • Page 64 2 SYSTEM CONFIGURATION (4) Interface between CTRL connector and servo external signal Input or CTRL Signal name Wiring example Internal circuit Specification Description connector Output FLS1 Supply voltage FLS2 12 to 24 VDC (10.2 to 26.4 VDC, FLS3 Upper stroke stabilized power FLS4 5.6k...

  • Page 65: Q172Ex Serial Absolute Synchronous Encoder Interface Module

    2 SYSTEM CONFIGURATION 2.4.5 Q172EX Serial absolute synchronous encoder interface module Q172EX receive external signals required for serial absolute synchronous encoder. The installation position of Q172EX is only CPU base. (1) Q172EX-S2/Q172EX-S3 name of parts Q172EX-S2 SY.ENC TREN SY.ENC1 SY.ENC2 Q172EX Name Application...
  • Page 66 2 SYSTEM CONFIGURATION (2) Performance specifications (a) Module specifications Specifications Item Q172EX-S2 Q172EX-S3 Memory for data exchange None Provided Number of I/O occupying points 32 points(I/O allocation: Intelligent, 32 points) Internal current consumption(5VDC)[A] 0.07 98(H) 27.4(W) 90(D) Exterior dimensions [mm(inch)] (3.86(H) 1.08(W) 3.54(D) ) Mass [kg] 0.15...
  • Page 67 2 SYSTEM CONFIGURATION (c) Serial absolute synchronous encoder input Item Specifications Applicable signal types Differential-output type : (SN75C1168 or equivalent) Transmission method Serial communications Synchronous method Counter-clock-wise (viewed from end of shaft) Communication speed 2.5Mbps Applicable types Q170ENC Position detection method Absolute (ABS) method Resolution 262144PLS/rev (18bit)
  • Page 68 The following number of serial absolute synchronous encoders and incremental synchronous encoders combined can be used. Motion CPU module Synchronous encoder Up to 12 modules Q173HCPU ( Q172EX: Up to 6 modules ) Up to 8 modules Q172HCPU ( Q172EX: Up to 4 modules ) •...
  • Page 69 (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. Q173HCPU/Q172HCPU:Motion CPU module QX40 Q172EX Q173PX-S1 MELSEC Q172EX : Serial absolute synchronous...
  • Page 70 2 SYSTEM CONFIGURATION (5) Interface between SY.ENC connector and external equipment Signal Pin No. Input or Wiring example Internal circuit Specification Description SY.ENC connector name Output Transmission method: Serial serial communications absolute Position detection synchronous method: absolute encoder 10 18 19 20 5VDC 1 2 3 11 12 Battery...
  • Page 71 2 SYSTEM CONFIGURATION (6) Details of encoder cable connections (Note-1) (a) When not using tracking enable signal Synchronous encoder side connector(plug) SY.ENC side connector 10120-3000VE (connector) MS3106B22-14S(cable clump) 10320-52F0-008(connector case) SDplate :Twisted pair cable Q170ENCCBL2M to Q170ENCCBL50M(50m (164.04ft.) or less) (Note-1), (Note-2) (b) When using tracking enable signal Synchronous encoder side connector(plug)
  • Page 72 2 SYSTEM CONFIGURATION (7) Connection of the battery This section describes the battery specifications, handling precautions and installation of the Q172EX. (a) Specifications The specifications of the battery for memory back-up are shown in the table below. Battery Specifications Model name A6BAT/MR-BAT Item Manganese dioxide lithium primary battery...
  • Page 73 2 SYSTEM CONFIGURATION (c) Battery service life time Battery service life time Guaranteed time(MIN) Actual time(TYP) Q170ENC 1 pcs. 8000 24000 Q170ENC 2 pcs. 4000 12000 CAUTION Do not short a battery. Do not charge a battery. Do not disassemble a battery. Do not burn a battery.

  • Page 74: Q173Px Manual Pulse Generator Interface Module

    2 SYSTEM CONFIGURATION 2.4.6 Q173PX Manual pulse generator interface module Q173PX receive external signals required for Manual pulse generator and Incremental synchronous encoder (Voltage-output/Open collector type/Differential-output type). (1) Q173PX/Q173PX-S1 name of parts Q173PX-S1 PLS.A PLS.B TREN PULSER Q173PX Name Application Hook used to fix the module to the base unit.
  • Page 75 2 SYSTEM CONFIGURATION Name Application Detection setting of TREN1 signal Dip switch 1 TREN is detected when TREN signal turns off to on. Dip switch 2 Dip switches TREN is detected when TREN (Note-1)(Note-2) signal turns on to off. Detection setting of TREN2 signal Dip switch 3 TREN is detected when TREN signal turns off to on.
  • Page 76 2 SYSTEM CONFIGURATION (2) Performance specifications (a) Module specifications Specifications Item Q173PX Q173PX-S1 Memory for data exchange None Provided Number of I/O occupying points 32 points(I/O allocation: Intelligent, 32 points) Internal current consumption(5VDC)[A] 0.11 98(H) 27.4(W) 90(D) Exterior dimensions [mm(inch)] (3.86(H) 1.08(W) 3.54(D) ) Mass [kg] 0.15...
  • Page 77 In addition the usable numbers of manual pulse generator which can be used with each CPU modules are up to 3 modules. Motion CPU module Manual pulse generator Q173HCPU Up to 3 modules ( Up to 1 module ) Q172HCPU...
  • Page 78 The following number of serial absolute synchronous encoders and incremental synchronous encoders combined can be used. Motion CPU module Synchronous encoder Up to 12 modules Q173HCPU ( Q173PX: Up to 4 modules ) Up to 8 modules Q172HCPU ( Q173PX: Up to 3 modules ) •...
  • Page 79 2 SYSTEM CONFIGURATION (5) Connection of manual pulse generator interface module (a) The pin layout of the PULSER connector Use the PULSER connector at the Q173PX module front to connect the manual pulse signals, incremental synchronous encoder signals. The following pin layout of the Q173PX PULSER connector viewed from the front.
  • Page 80 2 SYSTEM CONFIGURATION (b) Interface between PULSER connector and manual pulse generator (Differential output type)/Incremental synchronous encoder Interface between Manual pulse generator (Differential output type)/ Incremental synchronous encoder Pin No. PULSER connector Input or Signal name Voltage-Output Wiring example Internal circuit Specification Description Output...
  • Page 81 2 SYSTEM CONFIGURATION (c) Interface between PULSER connector and manual pulse generator (Voltage output/Open collector type)/ Incremental synchronous encoder. Interface between Manual pulse generator (Voltage-output/Open collector type)/Incremental synchronous encoder Pin No. PULSER connector Input or Specification Signal name Wiring example Internal circuit Description Voltage-Output Output...
  • Page 82 2 SYSTEM CONFIGURATION (6) Connection examples of manual pulse generator Connection of manual pulse generator Connection of manual pulse generator (Voltage-output/Open collector type) (Differential-output type) Q173PX Manual pulse Q173PX Manual pulse generator side generator side Signal name Signal name HA P HA N HB P HB N...

  • Page 83: Manual Pulse Generator/Serial Absolute Synchronous Encoder

    2 SYSTEM CONFIGURATION 2.4.7 Manual pulse generator/Serial absolute synchronous encoder (1) Table of the Manual pulse generator specifications Item Specifications Model name MR-HDP01 Ambient temperature -10 to 60°C(14 to 140°F) Pulse resolution 25PLS/rev(100 PLS/rev after magnification by 4) Voltage-output(power supply voltage -1V or more), Output method Output current = Up to 20mA Power supply voltage...
  • Page 84 2 SYSTEM CONFIGURATION (2) Table of the Serial absolute synchronous encoder specifications Item Specifications (Note-1) Model name Q170ENC Ambient temperature -5 to 55°C(23 to 131°F) Resolution 262144PLS/rev Transmission method Serial communications (Connected to Q172EX-S2/-S3) Direction of increasing CCW(viewed from end of shaft) addresses Dustproof/Waterproof Protective construction...

  • Page 85: A31Tu-D3 /A31Tu-Dn

    (Motion CPU module Q173HCPU-T/ Q172HCPU-T is usable only. Refer to the A31TU-D Teaching Unit Operating Manual for the usable operating system software and version.)
  • Page 86 2 SYSTEM CONFIGURATION REMARK External safety circuit Construct the circuit (power supply OFF of servomotor, etc.) of parts which may occur machine breakdown and accidents due to abnormal operations outside of the Motion CPU in a fail-safe viewpoint, to avoid abnormal operations of whole system. CAUTION If the teaching unit A31TU-D3 is released during operation, the emergency stop state of Motion...
  • Page 87 2 SYSTEM CONFIGURATION (2) A31TU-D3 /A31TU-DN Name of parts DISABLE ENABLE A31TU DATA MONITOR TEST PROGRAM STOP EMG.STOP INSTRUCTION ITEM CLEAR OVERRIDE WRITE DELETE INDIRECT STEP - STORE STEP + FUNCTION RETURN ERROR SHIFT RESET AXIS JOG - JOG + Name Application 4 lines ×...
  • Page 88 Motion CPU (Q173HCPU-T/Q172HCPU-T) 1) Connect the cable for teaching unit (Q170TUD3CBL3M) between the TU connector of Motion CPU (Q173HCPU-T/Q172HCPU-T) and control panel. (Refer to the exterior dimensions of "APPENDIX 1.3 Cable for the teaching unit" and "APPENDIX 2.7 Connector", when it is fit to the control panel.)
  • Page 89 (Q170TUD3CBL3M). The protective function stops working. When the teaching unit (A31TU-D3 ) is not used in the Motion CPU (Q173HCPU-T/ Q172HCPU-T), connect the short-circuit connector for teaching unit (A31TUD3TM) to the control panel side connector of the cable for teaching unit (Q170TUD3CBL3M). If it is not connected, the emergency stop state of Motion CPU occurs, and the servomotor becomes coasting state.
  • Page 90 (Q170TUDNCBL3M). The protective function stops working. When the teaching unit (A31TU-DN ) is not used in the Motion CPU (Q173HCPU-T/Q172HCPU-T), connect the short-circuit connector for teaching unit (A31TUD3TM) to the control panel side connector of the cable for teaching unit (Q170TUDNCBL3M).
  • Page 91 When a teaching unit (A31TU-DN ) is removed, first be sure to remove a TU connector of Motion CPU (Q173HCPU-T/Q172HCPU-T) so that impossible power is not applied for the connector. If a connector of teaching unit (A31TU-DN ) is removed connecting a TU connector of Motion CPU (Q173HCPU-T/Q172HCPU-T), a TU connector of Motion CPU (Q173HCPU-T/Q172HCPU-T) may be damaged.
  • Page 92 CAUTION When the teaching unit (A31TU-D3 /A31TU-DN ) is not used in the Motion CPU (Q173HCPU-T/ Q172HCPU-T), connect the short-circuit connector for teaching unit (Q170TUTM) to a TU connector of Motion CPU (Q173HCPU-T/Q172HCPU-T). If it is not connected, the emergency stop state of Motion CPU occurs, and the servomotor becomes coasting state.

  • Page 93: Sscnet Cables And Connection Method

    When using the Q172HCPU, only 1 SSCNET cable for connection to servo amplifier can be used. (Connect to CN1.) When using the Q173HCPU, up to 2 SSCNET cables for connection to servo amplifier can be used. (Connect to CN1 and CN2.)
  • Page 94 Description (Note) Model name Cable length 0.15m(0.49ft.), 0.3m(0.98ft.), 0.5m(1.64ft.), Standard code for MR-J3BUS M 1m(3.28ft.), 3m(9.84ft.) inside panel • Q173HCPU/Q172HCPU MR-J3- B Standard cable for MR-J3BUS M-A 5m(16.4ft.), 10m(32.81ft.), 20m(65.62ft.) • MR-J3- B MR-J3- B outside panel MR-J3BUS M-B 30m(98.43ft.), 40m(131.23ft.), 50m(164.04ft.)
  • Page 95 2 SYSTEM CONFIGURATION POINTS (1) Be sure to connect SSCNET cable with the above connector. If the connection is mistaken, between the Motion controller and servo amplifier cannot be communicated. (2) SSCNET connector is put a cap to protect light device inside connector from dust.
  • Page 96 Axis No. is used to set the axis numbers of servo amplifiers connected to SSCNET connector(CN ) in the program. Axis No. of 1 to 32 can be set for Q173HCPU, and axis No. of 1 to 8 can be set for Q172HCPU.
  • Page 97 Correspondence between SSCNET system No. and connector No. of CPU SSCNET system No. Connector No. of CPU SSCNET CN1 SSCNET CN2 (Note) : Number of SSCNET systems: Q173HCPU : 2 systems / Q172HCPU : 1 system 2 - 78...

  • Page 98: External Battery

    These batteries more than 24 units require packing based on Packing Instruction 903. If you need the self-certification form for the battery safety test, contact Mitsubishi. For more information, contact Mitsubishi. (2) Q173HCPU/Q172HCPU back-up by the external battery When using the external battery, set the external battery(Q6BAT) in the system settings.
  • Page 99 (3) Connection procedure with Q173HCPU/Q172HCPU (a) Set the Q6BAT to the Battery holder unit(Q170HBATC). (b) Connect the Q6BAT connector to the BAT connector of Q170HBATC. (c) Connect between BAT of Q173HCPU/Q172HCPU and CPU of Q170HBATC. Q173HCPU/Q172HCPU Motion CPU module Battery holder unit...

  • Page 100: Design

    3 DESIGN 3. DESIGN 3.1 System Designing Procedure Design the system which uses the Multiple CPU system in the following procedure. Motion control system design Select the Motion CPU module according to number of control axes and whether teaching unit is required or not. Select the motion functions to be installed according to the machinery and equipment to be controlled (selection of the programming software packages according to the operating system software).
  • Page 101 3 DESIGN Refer to section 3.2 External circuit design Power supply circuit design Refer to section 3.2.1 Design the power supply circuit which supplies power to such system components as the Motion controller, I/O equipment and servo amplifiers, etc., taking into consideration the protective coordination and noise suppression techniques.
  • Page 102 3 DESIGN CAUTION Do not touch the servo amplifier's heat radiating fins, regenerative resistor and servomotor, etc. while the power is ON and for a short time after the power is turned OFF. In this timing, these parts become very hot and may lead to burns. Always turn the power OFF before touching the servomotor shaft or coupled machines, as these parts may lead to injuries.

  • Page 103: External Circuit Design

    (1) Sample system circuit design for motion control 1 3-phase 200/220VAC Servo external Input module Output module Power Supply PLC CPU Motion CPU signals interface Q61P-A2 Q173HCPU/ Qn(H)CPU module QX40 QY10 NFB1 Q172HCPU Q172LX 200VAC FLS1 200VAC Forced stop...
  • Page 104 3 DESIGN POINT < Example> For control axis 1 and axis 2 Servo error detection 1) (Note-1) : The following is the Motion SFC program example. 2) (Note-2) : It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake.
  • Page 105 (2) Sample system circuit design for motion control 2 (For A31TU-DN ) 3-phase 200/220VAC Servo external Input module Output module Power Supply Motion CPU PLC CPU signals interface Qn(H)CPU Q173HCPU-T/ Q61P-A2 module QX40 QY10 NFB1 Q172HCPU-T Q172LX 200VAC FLS1 200VAC Forced stop...
  • Page 106 3 DESIGN POINT < Example> For control axis 1 and axis 2 1) (Note-1) : The following is the Motion SFC program example. Servo error detection 2) (Note-2) : It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake.
  • Page 107 (3) Sample system circuit design for motion control 3 (For A31TU-D3 ) 3-phase 200/220VAC PLC CPU Servo external Input module Output module Power Supply Motion CPU signals interface Qn(H)CPU Q61P-A2 Q173HCPU-T/ module NFB1 QX40 QY10 Q172HCPU-T Q172LX 200VAC FLS1 200VAC Forced stop DOG8/ CHANGE8...
  • Page 108 3 DESIGN POINT < Example> For control axis 1 and axis 2 1) (Note-1) : The following is the Motion SFC program example. Servo error detection 2) (Note-2) : It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake.
  • Page 109 3 DESIGN (4) System design circuit example of the PLC I/O (a) System design circuit example(when not using ERR contact of power supply module) Power supply Using AC Using AC and DC Power supply Transformer Transformer Transformer DC power supply Fuse Fuse established signal input...
  • Page 110 3 DESIGN (b) System design circuit example(when using ERR contact of power supply module) Power supply Using AC and DC Transformer Transformer DC power supply Fuse Fuse established signal input DC power SM52 START/STOP circuit supply Starting possible (-) (+) SM403 when the PLC RUN Fuse...

  • Page 111: Power Supply Circuit Design

    3 DESIGN 3.2.1 Power supply circuit design This section describes the protective coordination and noise suppression techniques of the power supply circuit. (1) Separation and protective coordination (leakage current protection, over current protection) of power supply systems When wiring, separate the lines of Multiple CPU system power supplies from those of the I/O equipment and servo amplifier as shown below.

  • Page 112: Safety Circuit Design

    3 DESIGN 3.2.2 Safety circuit design (1) Concept of safety circuits When the Motion controller is powered on-off, proper outputs may not be provided temporarily due to the delays and rise times of the Motion controller power supply and external I/O control power supplies (especially DC). Also, abnormal operations may be performed when the external power supply becomes faulty or the Motion controller fails.
  • Page 113 3 DESIGN (b) It is also possible to use the forced stop signal of the servo amplifier. Refer to manual of the servo amplifier about servomotor capacity. Operation status of the emergency stop and the forced stop are as follows. Operation of Item Remark...

  • Page 114: Layout Design Within The Control Panel

    3 DESIGN 3.3 Layout Design within The Control Panel 3.3.1 Installation environment Install the Motion controller system in the following environment conditions. (1) Ambient temperature is within the range of 0° to 55°C (32° to 131°F) . (2) Ambient humidity is within the range of 5 to 95[%]RH. (3) No condensing from sudden temperature changes (4) No corrosive or inflammable gas (5) There must not be a lot of conductible dust, iron filings, oil mist, or salt, organic...

  • Page 115: Layout Design Of The Base Units

    3 DESIGN 3.3.2 Layout design of the base units This section describes the precautions related to install a Motion controller in an enclosure. (1) To improve ventilation and permit easy replacement of the module, leave a space of the following table between the top, bottom, side of the module and any other object.

  • Page 116: Calculating Heat Generation By Motion Controller

    For the design of radiation from the storing panel, it is necessary to know the average power consumption (heating value) of the devices and instruments stored in the control panel. Here the method of obtaining the average power consumption of Q173HCPU/ Q172HCPU system is described. From the power consumption, calculate a rise in ambient temperature inside the control panel.
  • Page 117 3 DESIGN (5) Average power consumption of the input section of the input module(Power consumption for simultaneous ON points) Number of input points Simultaneous ON rate [W] : Input current (Effective value for AC) [A] : Input voltage (Voltage in actual use) [V] (6) Power consumption of the power supply section of the intelligent function module 5 + I...
  • Page 118 3 DESIGN (7) Example of average power consumption calculation (Q173HCPU use) (a) System configuration Q38B (b) 5 VDC current consumption of each module Q02HCPU : 0.64 [A] Q173HCPU : 1.25 [A] Q172LX : 0.05 [A] Q172EX-S2 : 0.07 [A] Q173PX : 0.11 [A]...

  • Page 119: Design Checklist

    3 DESIGN 3.4 Design Checklist At the worksite, copy the following table for use as a check sheet. Item Sub Item Design confirmation Check Number of axes axes Number of I/O points points CPU module selection Motion CPU module selection PLC CPU module selection Manual pulse generator pcs.

  • Page 120: Installation And Wiring

    4 INSTALLATION AND WIRING 4. INSTALLATION AND WIRING 4.1 Module Installation 4.1.1 Instructions for handling CAUTION Use the Motion controller in an environment that meets the general specifications contained in this manual. Using this Motion controller in an environment outside the range of the general specifications could result in electric shock, fire, operation failure, and damage to or deterioration of the product.
  • Page 121 4 INSTALLATION AND WIRING (5) When an extension cable is used, do not bind the cable together with the main circuit (high voltage, heavy current) line or lay them close to each other. (6) Install the CPU base unit (by screwing) in the following procedure. (a) Fit the two fixing screws for top of the CPU base unit to the panel.

  • Page 122: Instructions For Installation Of The Base Unit

    4 INSTALLATION AND WIRING 4.1.2 Instructions for installation of the base unit Install the Motion controller module to a panel, etc. , considering enough about operability, maintainability and environmental resistance. (1) Fitting dimensions Fitting dimensions of each base unit are as follows: 4-fixing screw (M4 14) I / O0 I /O1...
  • Page 123 4 INSTALLATION AND WIRING (3) Motion controller installation orientation (a) Since the Motion controller generates heat, it should be fitted on a well ventilated location in the orientation shown below for heat release. (b) Do not use it in either of the orientations shown below. Vertical Flat (4) Installation surface...

  • Page 124: Installation And Removal Of Module

    4 INSTALLATION AND WIRING 4.1.3 Installation and removal of module This section explains how to install and remove a power supply module, PLC CPU module, Motion CPU module, Motion module, I/O module, intelligent function module or another module to and from the base unit. (1) Installation and removal of the module from Q3 B,Q6 The installation and removal procedure of the module from Q3 B/Q6 B base unit are described below.
  • Page 125 4 INSTALLATION AND WIRING (b) Removal from Q3 B and Q6 B Hold the module with both hands, and push the hook on the top of the module with a finger until it stops. Base unit Module Module connector While pushing the hook, and using the bottom of the module as a support, pull the module toward you.

  • Page 126: Installation And Removal Of Cable

    4 INSTALLATION AND WIRING 4.2 Installation and Removal of Cable 4.2.1 SSCNET cable (1) Precautions for handling the SSCNET cable • Do not stamp the SSCNET cable. • When laying the SSCNET cable, be sure to secure the minimum cable bend radius or more.
  • Page 127 4 INSTALLATION AND WIRING POINTS (1) Forcibly removal the SSCNET cable from the Motion CPU module will damage the Motion CPU modules and SSCNET cables. (2) After removal of the SSCNET cable, be sure to put a cap on the SSCNET connector.
  • Page 128 4 INSTALLATION AND WIRING POINTS (10) When keeping the Motion CPU or servo amplifier, be sure to put on a cap to connector part so that a dirt should not adhere to the end of SSCNET connector. (11) SSCNET connector is put a cap to protect light device inside connector from dust.

  • Page 129: Ssc I/F Communication Cable

    4 INSTALLATION AND WIRING 4.2.2 SSC I/F communication cable (1) Precautions for handling the SSC I/F communication cable • Do not stamp the SSC I/F communication cable. • When laying the SSC I/F communication cable, be sure to secure the minimum cable bend radius of 30 mm(1.18 inch) or more.

  • Page 130: Battery Cable

    4 INSTALLATION AND WIRING 4.2.3 Battery cable (1) Precautions for handling the battery cable • For installation or removal of the battery cable, hold surely a battery cable connector. Battery cable CPU/BAT connector Battery holder unit (Q170HBATC) (2) Installation of the battery cable •...

  • Page 131: Cable For Teaching Unit

    TU connector (2) Installation of the cable for teaching unit • For installation of the cable for teaching unit to the Motion CPU (Q173HCPU-T/ Q172HCPU-T), connect it to the TU connector of Motion CPU (Q173HCPU-T/ Q172HCPU-T) while holding a tab of cable for teaching unit. Be sure to insert it until it clicks.
  • Page 132 4 INSTALLATION AND WIRING CAUTION When a teaching unit is removed, the emergency stop and servomotor become coasting state. In systems where coasting of the servomotor will be a problem, use dynamic brakes. 4 - 13...

  • Page 133: Installation Of The Serial Absolute Synchronous Encoder

    4 INSTALLATION AND WIRING 4.3 Installation of the Serial Absolute Synchronous Encoder This section described instructions for handling the Serial absolute synchronous encoder (Q170ENC). (1) If the serial absolute synchronous encoder is linked to a chain, timing belt, or gears, the machine rotating shaft should be supported by a separate bearing and connected to Q170ENC through a coupling.
  • Page 134 4 INSTALLATION AND WIRING CAUTION The Q170ENC contains a glass disk and precision mechanism. Take care when handling it. The encoder performance may deteriorate if it is dropped or subjected to shocks or vibration exceeding the prescribed limits. Do not connect the shaft of Q170ENC directly to machine side rotary shaft. Always after connecting the shaft of Q170ENC to another bearing once, connect the shaft through a flexible coupling.

  • Page 135: Wiring

    4 INSTALLATION AND WIRING 4.4 Wiring 4.4.1 Instructions for wiring DANGER Completely turn off the all lines of the power supply externally before wiring. Not completely turning off all power could result in electric shock or damage to the product. When turning on the power supply or operating the module after wiring, be sure that the module's terminal covers are correctly attached.
  • Page 136 4 INSTALLATION AND WIRING (b) Do not bunch or lay them closely the main circuit (high voltage, large current) cables of the 100VAC and 24VDC with the I/O signal cables. If possible, separate them 100mm (3.94inch) or more away. (c) As a countermeasure to power surge due to thunder, connect a surge absorber for thunder as shown below.
  • Page 137 4 INSTALLATION AND WIRING (g) Wiring of 200m (656.17ft.) or more distance will give rise to leakage currents due to the wiring capacity, resulting in a fault. Refer to the troubleshooting chapter of the I/O Module User's Manual. (3) Grounding To ground the cable, follow the steps (a) to (c) shown below.

  • Page 138: Wiring To The Power Supply Module

    4 INSTALLATION AND WIRING 4.4.2 Wiring to the power supply module The following diagram shows the wiring example of power lines, grounding lines, etc. to the CPU and extension base units. CPU base unit 100/110VAC (Q38B) Q61P CPU module Fuse (Note) 24VDC INPUT...

  • Page 139: Precautions Of Sscnet Cable Wiring

    4 INSTALLATION AND WIRING 4.4.3 Precautions of SSCNET cable wiring SSCNET cable is made from optical fiber. If optical fiber is added a power such as a major shock, lateral pressure, haul, sudden bending or twist, its inside distorts or breaks, and optical transmission will not be available.
  • Page 140 4 INSTALLATION AND WIRING (5) Wiring process of SSCNET cable 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. Leave the following space for wiring.

  • Page 141: Installation/Wiring Checklist

    Check the unit for damage. Check that the installation module model names are correct. Check that the Q173HCPU/Q172HCPU and PLC CPU are installed to the Motion CPU slots/PLC CPU slots. Installation of Check that the Q172LX/Q172EX and Q173PX are installed to the Motion modules to CPU control slots.

  • Page 142: Trial Operation And Adjustment

    Model name Confirmation Items Reference (1) Check that the battery lead connector is connected into the BAT 2.4.10 Q173HCPU/Q172HCPU connector of battery holder unit correctly. Motion CPU module (2) Check that the battery voltage is normal. (Normal value: 3.0V) 2.4.10 (1)

  • Page 143: Trial Operation And Adjustment Procedure

    5 TRIAL OPERATION AND ADJUSTMENT 5.2 Trial Operation and Adjustment Procedure The mode indicated in the brackets [ ] at top left of Servo start-up procedure each step is the mode for checking or setting by the peripheral device. Turn OFF Multiple CPU system power supply PLC CPU Check that the power supply of Multiple Motion CPU...
  • Page 144 5 TRIAL OPERATION AND ADJUSTMENT Refer to Section 2.4.4 Check external inputs to Q172LX Check the wiring of following external inputs by monitoring of the peripheral device. (1) FLS (Upper stroke limit input) (2) RLS (Lower stroke limit input) (3) STOP (Stop signal) Refer to Section 2.4.5 Check external inputs to Q172EX...
  • Page 145 5 TRIAL OPERATION AND ADJUSTMENT DANGER [Programming mode] Never open the front case or terminal cover at Create Motion programs times other than wiring work or periodic Motion CPU inspections even if the power is OFF. The Create the Motion programs by SW6RN-GSV P. insides of the Motion controller and servo amplifier are charged and may lead to electric [Parameter setting...
  • Page 146 5 TRIAL OPERATION AND ADJUSTMENT [Test mode JOG operation ] Check machine operation CAUTION Check the followings by making the machine The system must have a mechanical operate with the JOG operation of peripheral allowance so that the machine itself can stop device.

  • Page 147: Operating System Software Installation Procedure

    5 TRIAL OPERATION AND ADJUSTMENT 5.3 Operating System Software Installation Procedure The operating system software must be installed to the Motion CPU module by using the peripheral device and programming software package. The installation procedure is shown below. Start installation Open the cover at the front of the Refer to Section 2.4.1(2) for install switch.

  • Page 148: Trial Operation And Adjustment Checklist

    5 TRIAL OPERATION AND ADJUSTMENT 5.4 Trial Operation and Adjustment Checklist At the worksite, copy the following table for use as a check sheet. Check Work Step Item Trial Operation and Adjustment Confirmation Check that the each module is installed correctly. Check that the each connector is connected correctly.
  • Page 149 5 TRIAL OPERATION AND ADJUSTMENT MEMO 5 - 8...

  • Page 150: Inspection And Maintenance

    6 INSPECTION AND MAINTENANCE 6. INSPECTION AND MAINTENANCE DANGER Do not touch the terminals while power is on. Doing so could cause electric shock. Correctly connect the battery. Also, do not charge, disassemble, heat, place in fire, short circuit, or solder the battery.

  • Page 151: Maintenance Works

    6 INSPECTION AND MAINTENANCE 6.1 Maintenance Works 6.1.1 Instruction of inspection works In order that can use the Motion controller in safety and normal, those items that must be inspected list below. CAUTION 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.
  • Page 152 6 INSPECTION AND MAINTENANCE CAUTION 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 change these to prevent secondary damage from faults.

  • Page 153: Daily Inspection

    6 INSPECTION AND MAINTENANCE 6.2 Daily Inspection The items that must be inspected daily are listed below. Table 6.1 Daily Inspection Item Inspection item Inspection Criterion Action Check that the fixing screws Installation of the base Retighten the are not loose and the cover is The screws and cover must be installed correctly.

  • Page 154: Periodic Inspection

    6 INSPECTION AND MAINTENANCE 6.3 Periodic Inspection The items that must be inspected one or two times every 6 months to 1 year are listed below. When the equipment is moved or modified, or layout of the wiring is changed, also implement this inspection.

  • Page 155: External Battery

    6 INSPECTION AND MAINTENANCE 6.4 External Battery The special relays (M9006, M9007) turn ON due to the Motion CPU program or the decrease in voltage of memory back-up battery. Even if these special relays turn ON, the program and the contents of memory back-up are not erased immediately.

  • Page 156: Battery Service Life Time

    (Note-1) : The actual time in use means the averaged time, and the guaranteed time means the minimum time. (Note-2) : The external battery for Q173HCPU/Q172HCPU is installed to the Battery holder unit(Q170HBATC). (Note-3) : The internal rechargeable battery for Q173HCPU/Q172HCPU can not be replaced.

  • Page 157: Battery Replacement Procedure

    6 INSPECTION AND MAINTENANCE 6.4.2 Battery replacement procedure (1) Q172EX module battery replacement procedure When the Q172EX module battery has been exhausted, replace the battery with a new one in accordance with the procedure shown below. Before removing the battery, turn ON the power supply for 10 minutes or longer. Even when the battery is removed, the memories are backed up by the capacitor for a while.
  • Page 158 6 INSPECTION AND MAINTENANCE (2) Battery replacement procedure of the Battery holder unit When the battery has been exhausted, replace the battery with a new one in accordance with the procedure shown below. POINTS Replace the battery taking care of the following. (1) Start the replacement operation after backing up the data to the personal computer which is installed the SW6RN-GSV P.

  • Page 159: Discard Of Internal Rechargeable Battery

    6 INSPECTION AND MAINTENANCE 6.5 Discard of internal rechargeable battery (1) Discard procedure of internal rechargeable battery The rechargeable lithium battery is built-in in the Motion CPU module. When you discard the Motion CPU module, discard an internal rechargeable battery according to the following procedure. Discard procedure 1) 2) Push in 4 hooks of the Motion CPU module side 3) Take out a printed circuit board from a case.

  • Page 160: Troubleshooting

    (a) Movement of machine (stopped condition, operating condition) (b) Power supply on/off (c) State of I/O devices (d) Installation condition of the Power supply module, Q173HCPU/Q172HCPU module, PLC CPU module, I/O module, Q172LX/Q172EX/Q173PX Motion module, SSCNET cable, SSC I/F communication cable, Synchronous encoder cable and cable for the teaching unit.

  • Page 161: Troubleshooting Of Motion Cpu Module And I/O Modules

    6 INSPECTION AND MAINTENANCE 6.6.2 Troubleshooting of Motion CPU module and I/O modules This section describes the contents of troubles for the error codes and corrective actions of the troubles. As for troubleshooting of PLC CPU, refer to the QCPU User's Manual (Function Explanation, Program Fundamentals) of their respective modules.
  • Page 162 6 INSPECTION AND MAINTENANCE (a) Flowchart for when "POWER" LED is turned off. The following shows the flowchart when the "POWER" LED is turned off at the power supply ON or during operation. "POWER" LED is turned off Is there a power supply? Supply power supply.
  • Page 163 6 INSPECTION AND MAINTENANCE (b) Flowchart for when "MODE" LED is turned off. The following shows the flowchart when the "MODE" LED is turned off at the power supply ON. "MODE" LED is turned off Is the power supply for all the power Check the wiring and turn on the supplies modules turned on? all power supplies.
  • Page 164 6 INSPECTION AND MAINTENANCE (c) Flowchart for when "RUN" LED is turned off. The following shows the flowchart when the "RUN" LED is turned off during operation. "RUN" LED is turned off. Is "ERR." LED "Flowchart for when "ERR." LED turned on/flickered? is turned on/flickered."...
  • Page 165 6 INSPECTION AND MAINTENANCE (d) Flowchart for when "ERR." LED is turned on/flickered. The following shows the flowchart to be followed when the "ERR." LED is turned on/flickered at the power supply ON or operation start or during operation. "ERR." LED is turned on/flickered. H/W error Confirm error contents for self CPU by PC diagnostics of the GX Developer.
  • Page 166 6 INSPECTION AND MAINTENANCE (e) Flowchart for when "M.RUN" LED is turned off. The following shows the flowchart when the "M.RUN" LED is turned off during operation. "M.RUN" LED is turned off. Is "ERR." LED turned on/flickered? "Flowchart for when "ERR." LED is turned on/flickered."...
  • Page 167 6 INSPECTION AND MAINTENANCE (f) Flowchart for when "BAT." LED is turned on. In the Motion CPU, when the external battery capacity of the Battery holder unit is lowered, the LED is turned on. After replacing the battery with a new one, "BAT." LED is turned off with the executing reset by the RESET/L.CLR switch.
  • Page 168 6 INSPECTION AND MAINTENANCE (g) Flowchart for when output load of output module is not turned The following shows the flowchart when the output load of the output module is not turned on during operation. Output load of output module is not turned on.
  • Page 169 6 INSPECTION AND MAINTENANCE (h) Flowchart for when the peripheral device cannot communicate to the Motion controller. The following shows the flowchart when the Motion CPU cannot communicate with the SW6RN-GSV P during the power supply ON. The peripheral device cannot communicate to the Motion controller.
  • Page 170 6 INSPECTION AND MAINTENANCE Is the communication The communication setting is USB. setting correct? Can the CPU communicate with the SW6RN-GSV P? Explain the error symptom and get advice from our sales representative. Is the USB driver installed Install the USB driver into the in the personal computer with personal computer.
  • Page 171 6 INSPECTION AND MAINTENANCE (i) Flowchart for when the power supply of teaching unit is not turned on. The following shows the flowchart when the power supply of teaching unit is not turned on during the power supply of Motion CPU ON. The power supply of teaching unit is not turned on.

  • Page 172: I/O Modules Troubleshooting

    6 INSPECTION AND MAINTENANCE 6.6.3 I/O modules troubleshooting This section describes troubleshooting with I/O circuits and their corrective actions. (1) Input circuit troubleshooting and corrective action This section describes troubleshooting with input circuits and their corrective actions. Input Circuit Troubleshooting and Corrective Action Condition Cause Corrective action...
  • Page 173 6 INSPECTION AND MAINTENANCE Input Circuit Troubleshooting and Corrective Action (Continued) Condition Cause Corrective action • Sneak path due to the use of two power • Use only one power supply. supplies. • Connect a sneak path prevention diode. (Figure below) Input signal does not Input module...
  • Page 174 6 INSPECTION AND MAINTENANCE (2) Output circuit troubleshooting and corrective action This section describes troubleshooting with output circuits and their corrective actions. Output Circuit Troubleshooting and Corrective Action Condition Cause Corrective action • If load is internally half-wave rectified • Connect a resistor between several tens k (some solenoids are like this).

  • Page 175: Confirm Method Of Error Code

    6 INSPECTION AND MAINTENANCE 6.7 Confirm method of Error Code When an error occurs, the error code and error message can be read by the personal computer(IBM PC/AT) installation of the SW6RN-GSV P. The procedure for reading error codes by the SW6RN-GSV P is as follows. (1) Start the SW6RN-GSV P.

  • Page 176: Appendices

    APPENDICES APPENDICES APPENDIX 1 Cables In this cable connection diagram, maker names of connectors are omitted. Refer to "APPENDIX 2.7 Connector" for maker names of connectors. APPENDIX 1.1 SSCNET cables Generally use the SSCNET cables available as our options. (1) Model explanation Numeral in the column of cable length on the table is a symbol put in the "...
  • Page 177 APPENDICES POINTS (1) If the end face of code tip for the SSCNET cable is dirty, optical transmission is interrupted and it may cause malfunctions. If it becomes dirty, wipe with a bonded textile, etc. Do not use solvent such as alcohol. (2) If the end face of code tip for SSCNET cable is dirty, optical transmission is interrupted and it may cause malfunctions.
  • Page 178 APPENDICES (a) MR-J3BUS M 1) Model explanation Type: MR-J3BUS M- Symbol Cable type Standard code for inside panel None Standard cable for outside panel Long distance cable Symbol Cable length [m(ft.)] 0.15(0.49) 0.3(0.98) 0.5(1.64) 1(3.28) 3(9.84) 5(16.40) 10(32.81) 20(65.62) 30(98.43) 40(131.23) 50(164.04) 2) Exterior dimensions...
  • Page 179 APPENDICES • MR-J3BUS5M-A to MR-J3BUS20M-A,MR-J3BUS30M-B to MR-J3BUS50M-B Refer to the table of this section (1) for cable length (L). Variation [mm(inch)] SSCNET cable MR-J3BUS5M-A to MR-J3BUS20M-A 100(3.94) 30(1.18) MR-J3BUS30M-B to MR-J3BUS50M-B 150(5.91) 50(1.97) [Unit: mm(inch)] (Note) (Note) : Dimension of connector part is the same as that of MR-J3BUS015M. App - 4...

  • Page 180: Appendix 1.2 Serial Absolute Synchronous Encoder Cable

    APPENDICES APPENDIX 1.2 Serial absolute synchronous encoder cable Generally use the serial absolute synchronous encoder cables available as our options. If the required length is not found in our options, fabricate the cable on the customer side. (1) Selection The following table indicates the serial absolute synchronous encoder cables used with the serial absolute synchronous encoder.
  • Page 181 APPENDICES (2) Q170ENCCBL M (a) Model explanation Type: Q170ENCCBL M Cable length [m(ft.)] Symbol 2(6.56) 5(16.40) 10(32.81) 20(65.62) 30(98.43) 50(164.04) (b) Connection diagram When fabricating a cable, use the recommended wire and connector set Q170ENCCNS for encoder cable given on APPENDIX 1.2, and make the cable as show in the following connection diagram.

  • Page 182: Appendix 1.3 Cable For The Teaching Unit

    APPENDICES APPENDIX 1.3 Cable for the teaching unit Generally use the cables for the teaching unit available as our options. If the required length is not found in our options, fabricate the cable on the customer side. (1) Selection The following table indicates the cables used with the cable for the teaching unit. Make selection according to your operating conditions.
  • Page 183 APPENDICES Table 6 Wire specifications Characteristics of one core Finished Core Insulating Number of Structure Conductor Wire model size sheath OD cores [mm] [Number of resistance d[mm] (Note-2) wires/mm] [ /km] (Note-1) UL20276 AWG#28 13pair(CREAM) 0.08 26(13 pairs) 7/0.127 222 or less 0.38 UL20276 AWG#24 18pair(CREAM) 0.08...
  • Page 184 APPENDICES (2) Q170TUD3CBL3M (a) Connection diagram When fabricating a cable, use the recommended wire and connector given on APPENDIX 1.3, and make the cable as show in the following connection diagram. Make the cable within 3m(9.84ft.). Q170TUD3CBL3M HDR-E26FG1 (connector) (connector) DB-25SF-N HDR-E26-LPA5 (connector case)
  • Page 185 APPENDICES (3) Q170TUDNCBL3M (a) Connection diagram When fabricating a cable, use the recommended wire and connector given on APPENDIX 1.3, and make the cable as show in the following connection diagram. Make the cable within 3m(9.84ft.). Q170TUDNCBL3M HDR-E26FG1 (connector) (connector) DB-25SF-N HDR-E26-LPA5 (connector case)
  • Page 186 APPENDICES (4) Q170TUDNCBL03M-A (a) Connection diagram When fabricating a cable, use the recommended wire and connector given on APPENDIX 1.3, and make the cable as show in the following connection diagram. Make the cable within 3m(9.84ft.). Q170TUDNCBL03M-A HDR-E26FG1 (connector) (connector) 17JE-13250-02(D8A) (connector case) HDR-E26-LPA5...
  • Page 187 APPENDICES (5) A31TU-D extended cable (a) Connection diagram When fabricating a cable, use the recommended wire and connector given on APPENDIX 1.3, and make the cable as show in the following connection diagram. The cable overall distance between the Motion CPU and teaching unit is within 30m (98.43ft.) include the A31TU-D cable (5m(16.40ft.)).

  • Page 188: Appendix 1.4 Battery Cable

    APPENDICES APPENDIX 1.4 Battery cable Generally use the battery cable available as our options. If the required length is not found in our options, fabricate the cable on the customer side. Make the battery cable within 0.5m(1.64ft.). (1) Hirose Electric make (DF3 model) Model name Number of pin Terminal...

  • Page 189: Appendix 2 Exterior Dimensions

    APPENDIX 2.1 CPU module (1) Q172HCPU Module [Unit: mm (inch)] Q172HCPU MODE ERR. M.RUN BAT. BOOT FRONT SSCNET PULL 27.4(1.08) 114.3(4.50) (2) Q173HCPU Module [Unit: mm (inch)] Q173HCPU MODE ERR. M.RUN BAT. BOOT FRONT SSCNET PULL 27.4(1.08) 114.3(4.50) App - 14...
  • Page 190 APPENDICES (3) Q172HCPU-T Module [Unit: mm (inch)] Q172HCPU-T MODE ERR. M.RUN BAT. BOOT FRONT SSCNET PULL 27.4(1.08) 114.3(4.50) (4) Q173HCPU-T Module [Unit: mm (inch)] Q173HCPU-T MODE ERR. M.RUN BAT. BOOT FRONT SSCNET PULL 27.4(1.08) 114.3(4.50) App - 15...
  • Page 191 APPENDICES (5) Q173HCPU(-T)/Q172HCPU(-T) Module (with cable) [Unit: mm (inch)] Q173HCPU MODE Q173HCPU(-T)/ ERR. Q172HCPU(-T) M.RUN BAT. module BOOT FRONT SSCNET PULL SSC I/F communication cable 27.4(1.08) App - 16...

  • Page 192: Appendix 2.2 Servo External Signals Interface Module (Q172Lx)

    APPENDICES APPENDIX 2.2 Servo external signals interface module (Q172LX) [Unit: mm (inch)] Q172LX CTRL Q172LX 27.4(1.08) 45(1.77) 90(3.54) APPENDIX 2.3 Serial absolute synchronous encoder interface module (Q172EX-S2/Q172EX-S3) [Unit: mm (inch)] Q172EX-S2 SY.ENC TREN SY.ENC1 SY.ENC2 Q172EX 4.2(0.17) 39(1.54) 27.4(1.08) 90(3.54) App - 17...

  • Page 193: Appendix 2.4 Manual Pulse Generator Interface Module (Q173Px/Q173Px-S1)

    APPENDICES APPENDIX 2.4 Manual pulse generator interface module (Q173PX/Q173PX-S1) (1) Q173PX [Unit: mm (inch)] Q173PX PLS.A PLS.B TREN PULSER Q173PX 27.4(1.08) 45(1.77) 90(3.54) (2) Q173PX-S1 [Unit: mm (inch)] Q173PX-S1 PLS.A PLS.B TREN PULSER Q173PX 27.4(1.08) 90(3.54) 45(1.77) App - 18...

  • Page 194: Appendix 2.5 Power Supply Module (Q61P-A1, Q61P-A2, Q62P, Q63P, Q64P)

    APPENDICES APPENDIX 2.5 Power supply module (Q61P-A1, Q61P-A2, Q61P, Q62P, Q63P, Q64P) [Unit: mm (inch)] (1) Q61P-A1, Q61P-A2, Q61P, Q62P, Q63P Q61P-A1 POWER PULL 90(3.54) 55.2(2.17) (2) Q64P [Unit: mm (inch)] Q64P POWER PULL 115(4.53) 55.2(2.17) App - 19...

  • Page 195: Appendix 2.6 Battery Holder Unit (Q170Hbatc)

    APPENDICES APPENDIX 2.6 Battery holder unit (Q170HBATC) (1) Battery holder unit (Q170HBATC) [Unit: mm (inch)] 2- 5.3(0.21) (Fixing screw M5 14) Q170HBATC PASSED DATE 40(1.57) 80(3.15) App - 20...

  • Page 196: Appendix 2.7 Connector

    APPENDICES APPENDIX 2.7 Connector (1) Honda connectors make (HDR model) (Cable connector for the SSC I/F communication cable/ teaching unit) Type Number of pins Connector Connector case HDR-E14MG1 HDR-E14LPA5 HDR-E26FG1 HDR-E26LPA5 Specified tool: FHAT-0029/FHPT-0004C Maker: Honda connectors These tools are not sold in Mitsubishi. Please purchase them by customers. Type Connector : HDR-E14MG1 Type Connector...
  • Page 197 APPENDICES (2) Sumitomo 3M make (MDR type) (Cable connector for the serial absolute synchronous encoder) Type Number of pins Type Connector Connector case Solder connection type 10120-3000VE 10320-52F0-008 (Quick release metal latch type) Solder connection type 10120-3000VE 10320-52A0-008 (Threaded type) Insulation displacement type (Note) (Note)
  • Page 198 APPENDICES (c) Insulation displacement type(Quick release metal latch type) Type Connector : 10120-6000EL Connector case: 10320-3210-000 [Unit: mm (inch)] Position where e.g. logo is indicated 2- 0.5(0.02) Number of pins 20 pin 29.7(1.17) 20.9(0.82) 33.0(1.30) (3) SSCNET cable connector 4.8(0.19) (0.07) (0.09) 17.6 0.2...
  • Page 199 APPENDICES (4) Hirose Electric make (DF3 model) (Battery cable connector) Type Connector : DF3-2S-2C Terminal : DF3-2428SCC [Unit: mm (inch)] 6(0.24) (5) Q170TUD3CBL(A31TU-D3 side connector) Type Connector : DB-25SF-N (Maker : Japan Aviation Electronics Industry) Screw lock : D20418-J3 (Maker : Japan Aviation Electronics Industry) Installation plate : Not for sale...
  • Page 200 APPENDICES (6) Japan Aviation Electronics Industry make (Cable connector for the teaching unit) Type Connector : DB-25SF-N [Unit: mm (inch)] 53.0(2.09) 2- 3.05 0.13(0.12 0.01) 47.04(1.85) 38.3(1.51) 1.2(0.05) 6.1(0.24) 8.0(0.31) or less 10.8 (0.43) (Note) : Give the processing of the control panel referring to the above chart at cable producing. (7) A31TUD3TM Type Connector : 17JE-23250-02(D8A) (Maker : DDK)

  • Page 201: Appendix 2.8 Manual Pulse Generator (Mr-Hdp01)

    APPENDICES APPENDIX 2.8 Manual pulse generator (MR-HDP01) [Unit: mm (inch)] Packing t =2.0 3.6(0.14) 3 Studs (M4 10) equi-spaced PCD72, 5 to 12V 0V A B M3 6 8.89 27.0 3- 4.8(0.19) (0.35) (0.30) (0.63) (0.79) (1.06) equi-spaced Space The figure of processing a disc APPENDIX 2.9 Serial absolute synchronous encoder (Q170ENC) [Unit: mm (inch)] 84(3.31)

  • Page 202: Appendix 2.10 Teaching Unit (A31Tu-D3 /A31Tu-Dn )

    APPENDICES APPENDIX 2.10 Teaching unit (A31TU-D3 /A31TU-DN ) [Unit: mm (inch)] 153(6.02) DISABLE ENABLE A31TU DATA TEST PROGRAM MONITOR STOP EMG.STOP INSTRUCTION ITEM CLEAR OVERRIDE WRITE DELETE INDIRECT STEP - STORE STEP + FUNCTION RETURN ERROR SHIFT RESET AXIS JOG - JOG + 136(5.35) <Front face>...
  • Page 203 WARRANTY Please confirm the following product warranty details before using this product. Gratis Warranty Term and Gratis Warranty Range If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company.
  • Page 204 MOTION CONTROLLER Qseries (Q173HCPU/Q172HCPU) User's Manual HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN Q173H-U-E MODEL MODEL 1XB910 CODE When exported from Japan, this manual does not require application to the IB(NA)-0300110-C(0609)MEE Ministry of Economy, Trade and Industry for service transaction permission.

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