Page 1 Q173D(S)CPU/Q172D(S)CPU Motion Controller User's Manual -Q172DCPU -Q173DCPU -Q172DCPU-S1 -Q173DCPU-S1 -Q172DSCPU -Q173DSCPU...
Page 2: Safety Precautions
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.
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 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 servo motor are for holding applications, and must not be used for normal braking.
Page 6 CAUTION 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.
Page 7 CAUTION The Motion controller, servo amplifier and servo motor are precision machines, so do not drop or apply strong impacts on them. Securely fix the Motion controller, servo amplifier and servo motor to the machine according to the instruction manual. If the fixing is insufficient, these may come off during operation. Always install the servo motor with reduction gears in the designated direction.
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 servo motor. 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 servo motor. 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.
Page 10 (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.
Page 11 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 Electric 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.
Page 12: Revisions
REVISIONS The manual number is given on the bottom left of the back cover. Print Date Manual Number Revision Jan., 2008 IB(NA)-0300133-A First edition Feb., 2009 IB(NA)-0300133-B [Additional model] MELSOFT MT Works2, MT Developer2, Software for SV43, Q10UDH/ Q13UDH/Q20UDH/Q26UDH/Q03UDE/Q04UDEH/Q06UDEH/ Q10UDEH/Q13UDEH/Q20UDEH/Q26UDEH, Q17DCCPU-V, QX40-S1/QX41-S1/QX42-S1/QX82-S1, MR-J3- -RJ004, MR-J3- -RJ080, MR-J3W-B [Additional correction/partial correction]...
Page 13 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 14: Table Of Contents
INTRODUCTION Thank you for choosing the Mitsubishi Electric 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.
Page 15 3. DESIGN 3- 1 to 3-16 3.1 System Designing Procedure ........................3- 1 3.2 External Circuit Design ..........................3- 4 3.2.1 Power supply circuit design ......................3- 8 3.2.2 Safety circuit design .......................... 3- 9 3.3 Layout Design within the Control Panel ....................3-11 3.3.1 Mounting environment........................
Page 16 APPENDIX 1.4 Forced stop input cable ....................App- 8 APPENDIX 1.5 Internal I/F connector cable ..................App- 9 APPENDIX 1.6 RIO cable ........................App-14 APPENDIX 1.7 SSCNET cables (SC-J3BUS M-C) manufactured by Mitsubishi Electric System & Service Co., Ltd..................App-15 APPENDIX 2 Exterior Dimensions ......................App-16 APPENDIX 2.1 Motion CPU module ....................
Page 17: About Manuals
About Manuals The following manuals are also related to this product. When necessary, order them by quoting the details in the tables below. Related Manuals (1) Motion controller Manual Number Manual Name (Model Code) 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 IB-0300133 module, Q172DEX Synchronous encoder interface module, Q173DPX Manual pulse generator interface (1XB927)
Page 18 (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 units, SH-080483ENG (13JR73) extension cables, memory card battery, and the maintenance/inspection for the system, trouble shooting, error codes and others.
Page 19: Manual Page Organization
(3) Servo amplifier Manual Number Manual Name (Model Code) SSCNET /H Interface AC Servo MR-J4-_B_(-RJ) Servo amplifier Instruction Manual SH-030106 This manual explains the I/O signals, parts names, parameters, start-up procedure and others for AC (1CW805) Servo MR-J4-_B_(-RJ) Servo amplifier. SSCNET /H Interface Multi-axis AC Servo MR-J4W2-_B/MR-J4W3-_B/MR-J4W2-0303B6 Servo amplifier Instruction Manual SH-030105...
Page 20: Discontinued Models
DISCONTINUED MODELS The following models are described in this manual, but are no longer produced. For the onerous repair term after discontinuation of production, refer to "WARRANTY". Model Production discontinuation Q61P-A1 March 2009 Q61P-A2 March 2009 Q64P February 2010 SW6RNC-GSVPRO September 2014 QD75MH1 September 2018...
Page 21 MEMO A - 20...
Page 22: Overview
1 OVERVIEW 1. OVERVIEW 1.1 Overview This User's Manual describes the hardware specifications and handling methods of the Motion Controller for the Q series PLC Multiple CPU system. The Manual also describes those items related to the specifications of the option module for the Motion controller, Manual pulse generator, Synchronous encoder and cables.
Page 23 1 OVERVIEW Generic term/Abbreviation Description (Note-3) SSCNET /H High speed synchronous network between Motion controller and servo amplifier (Note-3) SSCNET (Note-3) SSCNET (/H) General name for SSCNET /H, SSCNET General name for "system using the servo motor and servo amplifier for absolute Absolute position system position"...
Page 24 1 OVERVIEW MEMO 1 - 3...
Page 25: Differences Between Q173D(S)Cpu/Q172D(S)Cpu And Q173Hcpu/Q172Hcpu
1 OVERVIEW 1.2 Differences between Q173D(S)CPU/Q172D(S)CPU and Q173HCPU/Q172HCPU Item Q173DSCPU Q172DSCPU Q173DCPU(-S1) Q172DCPU(-S1) 0.22ms/ 1 to 4 axes 0.22ms/ 1 to 4 axes 0.44ms/ 1 to 6 axes 0.44ms/ 5 to 10 axes 0.44ms/ 1 to 6 axes SV13 0.44ms/ 5 to 10 axes 0.88ms/ 7 to 18 axes 0.88ms/11 to 24 axes 0.88ms/ 7 to 8 axes...
Page 26 1 OVERVIEW Q173HCPU Q173HCPU 0.44ms/ 1 to 3 axes 0.88ms/ 4 to 10 axes 0.44ms/ 1 to 3 axes 1.77ms/11 to 20 axes 0.88ms/ 4 to 8 axes 3.55ms/21 to 32 axes 0.88ms/ 1 to 5 axes 1.77ms/ 6 to 14 axes 0.88ms/ 1 to 5 axes 3.55ms/15 to 28 axes 1.77ms/ 6 to 8 axes...
Page 27: Restrictions By The Software's Version
1 OVERVIEW 1.3 Restrictions by the Software's Version There are restrictions in the function that can be used by the version of the operating system software and programming software. The combination of each version and a function is shown in Table1.1. Table 1.1 Restrictions by the Software's Version (Note-1), (Note-2) Operating system software version...
Page 28 1 OVERVIEW Programming software version MELSOFT MT Works2 (MT Developer2) Section of reference Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1) MR Configurator2 MR Configurator SV13/SV22 SV13/SV22 SV43 — — — — — Section 2.2 1.39R 1.06G — — (Note-5) 1.39R 1.06G 1.06G 1.01B — — —...
Page 29 1 OVERVIEW Table 1.1 Restrictions by the Software's Version (continued) (Note-1), (Note-2) Operating system software version Function Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1) SV13/SV22 SV13/SV22 SV43 — Vision system dedicated function (MVOUT) Motion SFC operation control instruction — Program control (IF - ELSE - IEND, SELECT -CASE - SEND, FOR -NEXT, BREAK) Display format depending on the error setting data information —...
Page 30 1 OVERVIEW Programming software version MELSOFT MT Works2 (MT Developer2) Section of reference Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1) MR Configurator2 MR Configurator SV13/SV22 SV13/SV22 SV43 1.39R — — (Note-4) 1.39R 1.39R — — (Note-4) 1.39R — — — — (Note-4) — — — —...
Page 31 1 OVERVIEW Table 1.1 Restrictions by the Software's Version (continued) (Note-1), (Note-2) Operating system software version Function Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1) SV13/SV22 SV13/SV22 SV43 Improvement of absolute positioning operation for servo driver VC /VPH series manufactured by CKD Nikki Denso Co., Ltd., Not support and stepping motor module AlphaStep/5-phase manufactured by ORIENTAL MOTOR Co., Ltd.
Page 32 1 OVERVIEW Programming software version MELSOFT MT Works2 (MT Developer2) Section of reference Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1) MR Configurator2 MR Configurator SV13/SV22 SV13/SV22 SV43 — — — (Note-5) — —: There is no restriction by the version. (Note-1): SV13/SV22 is the completely same version. (Note-2): The operating system software version can be confirmed in the operating system software (CD-ROM), MT Developer2 or GX Works2/ GX Developer.
Page 33: Programming Software Version
1 OVERVIEW 1.4 Programming Software Version The programming software versions that support Motion CPU are shown below. MELSOFT MT Works2 (MT Developer2) Motion CPU MR Configurator2 MR Configurator SV13/SV22 SV43 (Note-1) 1.39R Q173DSCPU 1.10L Not support (Note-1) Q172DSCPU 1.39R 1.10L Not support (Note-2) (Note-3)
Page 34: System Configuration
2 SYSTEM CONFIGURATION 2. SYSTEM CONFIGURATION This section describes the Motion controller system configuration, precautions on use of system and configured equipment. 2.1 Motion System Configuration (1) Equipment configuration in system (a) Q173DSCPU/Q172DSCPU Extension of the Q series module Power supply module/ QnUD(E)(H)CPU/QnUDVCPU/ Motion module I/O module/Intelligent function...
Page 35 2 SYSTEM CONFIGURATION (b) Q173DCPU(-S1)/Q172DCPU(-S1) Extension of the Q series module Power supply module/ QnUD(E)(H)CPU/QnUDVCPU/ Motion module I/O module/Intelligent function Q5 B extension base unit I/O module/Intelligent function (Q172DLX, Q172DEX, Q173DPX) module of the Q series (Q52B, Q55B) module of the Q series (Note-3) (Note-2) Safety signal module...
Page 36 2 SYSTEM CONFIGURATION (2) Peripheral device configuration for the Q173D(S)CPU/ Q172D(S)CPU The following (a)(b)(c) can be used. (a) USB configuration (b) RS-232 configuration (c) Ethernet configuration Motion CPU module PLC CPU module PLC CPU module (Q17 DSCPU/Q17 DCPU-S1) (QnUD(E)(H)CPU/QnUDVCPU) (QnUD(H)CPU) PLC CPU module (QnUDE(H)CPU/QnUDVCPU) RS-232 communication cable...
Page 37: Q173Dscpu/Q172Dscpu System Overall Configuration
2 SYSTEM CONFIGURATION 2.1.1 Q173DSCPU/Q172DSCPU System overall configuration Motion CPU control module Main base unit PLC CPU/ (Q3 DB) Motion CPU PERIPHERAL I/F Q61P QnUD Q17 DS QI60 Q6 AD Q172D Q172D Q173D Panel personal I/O module/ Q6 DA computer Intelligent function module 100/200VAC...
Page 38 2 SYSTEM CONFIGURATION CAUTION Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system. The ratings and characteristics of the parts (other than Motion controller, servo amplifier and servo motor) used in a system must be compatible with the Motion controller, servo amplifier and servo motor.
Page 39: Q173Dcpu(-S1)/Q172Dcpu(-S1) System Overall Configuration
2 SYSTEM CONFIGURATION 2.1.2 Q173DCPU(-S1)/Q172DCPU(-S1) System overall configuration Motion CPU control module PLC CPU/ Main base unit PERIPHERAL I/F Motion CPU (Q3 DB) (Note-1) Q61P QnUD Q17 D QI60 Q6 AD Q172D Q172D Q173D Panel personal I/O module/ Q6 DA computer Intelligent function module 100/200VAC...
Page 40: Function Explanation Of The Motion Cpu Modules
2 SYSTEM CONFIGURATION 2.1.3 Function explanation of the Motion CPU modules (1) The following servo amplifiers can be controlled in Motion CPU module. • Q173DSCPU/Q173DCPU(-S1) : Up to 32 axes per 2 lines (up to 16 axes per 1 line) •...
Page 41: Restrictions On Motion Systems
2 SYSTEM CONFIGURATION 2.1.4 Restrictions on Motion systems (1) Combination of Multiple CPU system (a) Motion CPU module cannot be used as standalone module. Be sure to install the universal model PLC CPU module to CPU No.1. For Universal model PLC CPU module, "Multiple CPU high speed transmission function"...
Page 42 2 SYSTEM CONFIGURATION (2) Motion modules (a) Installation position of Q172DEX and Q173DSXY is only the main base (Note-1) unit. It cannot be used on the extension base unit. (b) Q172DLX/Q173DPX can be installed on any of the main base unit/ extension base unit.
Page 43 2 SYSTEM CONFIGURATION (3) Other restrictions (a) Motion CPU module cannot be set as the control CPU of intelligent function module (excluding some modules) or Graphic Operation Terminal(GOT). (b) Be sure to use the battery. (c) There are following methods to execute the forced stop input. •...
Page 44 2 SYSTEM CONFIGURATION (g) The following are restrictions for the communication type depending on the operation cycle. Communication type Operation cycle SSCNET /H SSCNET • The maximum number of control axes per line is four axes. • MR-J4W3- B (software version A2 or •...
Page 45 2 SYSTEM CONFIGURATION (i) When a Multiple CPU system is configured, make sure to configure the modules so that the total current consumption of individual modules on the main base does not exceed the 5VDC output capacity of power supply module.
Page 46: Checking Serial Number And Operating System Software Version
2 SYSTEM CONFIGURATION 2.2 Checking Serial Number and Operating System Software Version Checking for the serial number of Motion CPU module and Motion module, and the operating system software version is described below. 2.2.1 Checking serial number (1) Motion CPU module (Q173DSCPU/Q172DSCPU) (a) Rating plate The rating plate is situated on the side face of the Motion CPU module.
Page 47 2 SYSTEM CONFIGURATION (2) Motion CPU module (Q173DCPU(-S1)/Q172DCPU(-S1)) (a) Rating plate The rating plate is situated on the side face of the Motion CPU module. The SERIAL line displays the Motion CPU module serial No. (b) Front of Motion CPU module The serial number is displayed on the protruding portion situated on the lower front side of the Motion CPU module.
Page 48 2 SYSTEM CONFIGURATION (3) Motion module (Q172DLX/Q172DEX/Q173DPX/Q173DSXY) (a) Rating plate The rating plate is situated on the side face of the Motion module. The SERIAL line displays the Motion CPU module serial No. (b) Front of Motion module The serial No. is displayed on the protruding portion situated on the lower front side of the Motion module.
Page 49: Checking Operating System Software Version
2 SYSTEM CONFIGURATION 2.2.2 Checking operating system software version Ver.! The operating system software version can be checked on the system monitor screen in GX Works2/GX Developer. Select [Product Information List] button on the system monitor screen displayed on [Diagnostics] – [System monitor] of GX Works2/GX Developer to check on the product information list.
Page 50 2 SYSTEM CONFIGURATION REMARK (1) "Serial number of Motion CPU module" and "Operating system software version" on the system monitor (Product Information List) screen of GX Works2/GX Developer was corresponded from the Motion CPU modules manufactured in early October 2007. (2) The operating system software version can also be checked on the system monitor screen in CD-ROM of operating system software or MT Developer2.
Page 51: System Configuration Equipment
2 SYSTEM CONFIGURATION 2.3 System Configuration Equipment (1) Motion controller related module Current (Note-1) Part name Model name Description consumption Remark 5VDC[A] Up to 32 axes control, Operation cycle 0.22ms or more, Built-in Ethernet, Built-in interface in Motion CPU (Incremental synchronous (Note-2) 1.75 Q173DSCPU...
Page 52 2 SYSTEM CONFIGURATION Motion controller related module (continued) Current (Note-1) Part name Model name Description consumption Remark 5VDC[A] Program capacity 200k steps, LD instruction processing speed 0.0095μs, Q20UDEHCPU 0.49 Built-in Ethernet port Program capacity 260k steps, LD instruction processing speed 0.0095μs, Q26UDEHCPU 0.49 Built-in Ethernet port...
Page 53 2 SYSTEM CONFIGURATION Motion controller related module (continued) Current (Note-1) Part name Model name Description consumption Remark 5VDC[A] Resolution: 4194304pulse/rev Permitted axial loads Radial load: Up to 19.6N, Q171ENC-W8 0.25 Thrust load: Up to 9.8N Serial absolute Permitted speed: 3600r/min synchronous Resolution: 262144pulse/rev encoder...
Page 54 Cable for forced stop input is not attached to the Motion CPU module. Please purchase the cable for length according to system separately. (Note-7): These modules can be used in Q172DLX. It cannot be controlled using Q173DPX. (Note-8): Please contact your nearest Mitsubishi Electric sales representative for the cable of less than 30m(98.43ft.). 2 - 21...
Page 55 2 SYSTEM CONFIGURATION (2) PLC module which can be controlled by Motion CPU Current consumption 5VDC[A] Part name Model name Remark (Note-1) QX10 0.05 (TYP, All points ON) QX10-TS 0.05 (TYP, All points ON) QX28 0.05 (TYP, All points ON) QX40 0.05 (TYP, All points ON) QX40-TS...
Page 56 2 SYSTEM CONFIGURATION PLC module which can be controlled by Motion CPU (continued) Current consumption 5VDC[A] Part name Model name Remark (Note-1) Voltage input Q68ADV 0.64 Q62AD-DGH 0.33 Current input Q66AD-DG 0.42 Analogue input Q68ADI 0.64 module Q64AD 0.63 Voltage/current input Q64AD-GH 0.89 Q68AD-G...
Page 57 2 SYSTEM CONFIGURATION (b) SSCNET compatible equipment Part name Model name Description Remarks MR-J3- B MR-J3W- B For 2-axis type MR-J3- B-RJ006 For fully closed control MR-J3 series servo Refer to the servo amplifier instruction amplifier manuals. MR-J3- B-RJ004 For linear servo motor MR-J3- B-RJ080W For direct drive motor MR-J3- B Safety...
Page 58: General Specifications
2 SYSTEM CONFIGURATION 2.4 General Specifications General specifications of the Motion controller are shown below. Item Specification Operating ambient temperature 0 to 55°C (32 to 131°F) Storage ambient temperature -25 to 75°C (-13 to 167°F) Operating ambient humidity 5 to 95% RH non-condensing Storage ambient humidity 5 to 95% RH...
Page 59: Specifications Of Equipment And Settings
2 SYSTEM CONFIGURATION 2.5 Specifications of Equipment and Settings 2.5.1 Name of parts for CPU module This section explains the names and setting of the module. (1) Name of parts (a) Q173DSCPU/Q172DSCPU With battery cover open Front face of Q172DSCPU Front face of Q173DSCPU Q173DSCPU Q172DSCPU...
Page 60 2 SYSTEM CONFIGURATION (b) Q173DCPU(-S1)/Q172DCPU(-S1) Front face of Q172DCPU(-S1) Front face of Q173DCPU(-S1) Q172DCPU-S1 Q173DCPU-S1 STOP RUN STOP RUN CAUTION CAUTION FRONT FRONT Bottom Side face (Note) (Note): Unusable (Under manufacturer test) 2 - 27...
Page 61 2 SYSTEM CONFIGURATION Name Application 1) 7-segment LED Indicates the operating status and error information. Rotary function select 1 switch • Set the operation mode. (SW1) (Normal operation mode, Installation mode, Mode operated by ROM, etc) • Each switch setting is 0 to F. (Note): Switch setting of factory default Rotary function select 2 switch •...
Page 62 2 SYSTEM CONFIGURATION Name Application 18) Battery holder Holder to support the battery (Q6BAT). 19) Battery cover Cover for battery (Q6BAT). Battery for backup of program, parameters, motion devices (#), devices of latch (Note-5) 20) Battery data and absolute position data. (Note-1): Be sure to use the cable for forced stop input (sold separately).
Page 63 2 SYSTEM CONFIGURATION Item 7-segment LED Remark Stopped the Motion SFC program (SV13/SV22)/ STOP Steady "STP" display Motion program (SV43) with the PLC READY flag (M2000) OFF. Executed the Motion SFC program (SV13/SV22)/ Steady "RUN" display Motion program (SV43) with the PLC READY flag (M2000) ON.
Page 64 2 SYSTEM CONFIGURATION (3) Rotary switch assignment (a) Rotary function select 1 switch (SW1) (Note) Setting Rotary switch Mode Description Normal mode Normal operation mode Installed the operating system software using Installation mode MT Developer2 (Note): Do not set other than the above setting. (b) Rotary function select 2 switch (SW2) (Note) Rotary switch...
Page 65 2 SYSTEM CONFIGURATION (b) Operation mode overview Operation mode 7-segment LED Operation overview • Steady "INS" display at the 7-segment LED. • Operating system software can be installed. Installation • It is STOP status regardless of the RUN/STOP switch position at the front side of mode Motion CPU module.
Page 66 2 SYSTEM CONFIGURATION (c) Ethernet IP address display mode overview 7-segment LED Operation overview (Note) IP address (ex. 192.168.3.39) Subnet mask pattern (Note) (ex. 255.255.255.0) Default router IP (Note) address (ex. 192.168.3.1) Link status Disconnect Connect (10Mbps) Full duplex Connect (100Mbps) Half duplex (Note): When the Ethernet parameters are not written in the Motion CPU, the addresses are...
Page 67 2 SYSTEM CONFIGURATION (6) SV13/SV22 Motion control specifications/performance specifications (a) Motion control 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 0.22ms/ 1 to 4 axes 0.22ms/ 1 to 4 axes 0.44ms/ 1 to 6 axes 0.44ms/ 5 to 10 axes...
Page 68 2 SYSTEM CONFIGURATION Motion control specifications (continued) Item Q173DSCPU Q172DSCPU Q173DCPU(-S1) Q172DCPU(-S1) Number of output points 32 points SV13 Watch data: Motion control data/Word device Virtual mode switching method: Limit switch output Number of output points 32 points function Advanced synchronous control method: Number of output points 32 points SV22 Number of output points 64 points ...
Page 69 2 SYSTEM CONFIGURATION Motion control specifications (continued) Item Q173DSCPU Q172DSCPU Q173DCPU(-S1) Q172DCPU(-S1) Q172DLX 4 modules usable 2 modules usable 4 modules usable 1 module usable Number of Q172DEX 6 modules usable 4 modules usable Motion related 3 modules usable (Note-11) modules 4 modules usable Q173DPX...
Page 70 2 SYSTEM CONFIGURATION (b) Motion SFC performance specifications Item Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1) Code total (Motion SFC chart + Motion SFC 652k bytes 543k bytes Operation control + Transition) program capacity Text total (Operation control + Transition) 668k bytes 484k bytes Number of Motion SFC programs 256 (No.0 to 255) Motion SFC chart size/program Up to 64k bytes (Included Motion SFC chart comments)
Page 71 2 SYSTEM CONFIGURATION (7) SV43 Motion control specifications/performance specifications (a) Motion control specifications Item Q173DCPU(-S1) Q172DCPU(-S1) Number of control axes Up to 32 axes Up to 8 axes 0.44ms/ 1 to 4 axes Operation cycle 0.88ms/ 5 to 12 axes 0.44ms/ 1 to 4 axes (default) 1.77ms/13 to 28 axes...
Page 72 2 SYSTEM CONFIGURATION (b) Motion program performance specifications Item Q173DCPU(-S1)/Q172DCPU(-S1) Total of program files 504k bytes Program capacity Number of programs Up to 1024 (No. 1 to 1024) Unary operation, Addition and subtraction operation, Arithmetic operation Multiplication and division operation, Remainder operation Operation controls Comparison operation Equal to, Not equal to...
Page 73 2 SYSTEM CONFIGURATION (9) Internal I/F connector (a) The pin layout of the internal I/F connector Use the internal I/F connector on the front of the Motion CPU to connect to manual pulse signals and incremental synchronous encoder signals. The following is the pin layout of the internal I/F connector as viewed from the front.
Page 74 2 SYSTEM CONFIGURATION (b) Input signal/Mark detection 1) Specifications of input signal/mark detection input signal Item Specifications Number of input points 4 points Input method Positive common/Negative common shared Common terminal arrangement 4 points/common (Common contact: COM) Isolation method Photocoupler Rated input voltage 24VDC Rated input current (I...
Page 75 2 SYSTEM CONFIGURATION (c) Manual pulse generator/Incremental synchronous encoder input 1) Specifications of manual pulse generator/incremental synchronous encoder Item Specifications Signal input form Phase A/Phase B (Note-1) Maximum input pulse frequency 1Mpps (After magnification by 4, up to 4Mpps) Pulse width 1µs or more Leading edge/trailing edge time 0.25µs or less...
Page 76 2 SYSTEM CONFIGURATION POINT Use a manual pulse generator or an incremental synchronous encoder that consumes less than 0.2[A] of current. 2) Interface between manual pulse generator (differential-output type)/ incremental synchronous encoder Input or Signal name Pin No. Wiring example Internal circuit Specification Description...
Page 77 2 SYSTEM CONFIGURATION 4) Connection examples of manual pulse generator/incremental synchronous encoder • Differential-output type Using external power supply Using internal power supply (recommended) Manual pulse generator/ Manual pulse generator/ Incremental synchronous Incremental synchronous Motion CPU Motion CPU encoder side encoder side Shield Shield...
Page 78 2 SYSTEM CONFIGURATION (e) Axis No. of manual pulse generator/synchronous encoder The axis No. of synchronous encoder built-in interface in Motion CPU is set depending on the axis No. assigned to Q172DEX and Q173DPX. 1) Any built-in interface in Motion CPU will automatically be assigned an axis No.
Page 79: Power Supply Module
2 SYSTEM CONFIGURATION 2.5.2 Power supply module (1) Power supply module specifications Power supply modules specifications (Q61P-A1, Q61P-A2, Q61P, Q62P) Item Q61P-A1 Q61P-A2 Q61P Q62P Base loading position Q series power supply module loading slot Applicable base unit Q35DB, Q38DB, Q312DB, Q63B, Q65B, Q68B, Q612B 100 to 120VAC 200 to 240VAC 100 to 240VAC (+10%/-15%)
Page 80 2 SYSTEM CONFIGURATION Power supply modules specifications (Q63P, Q64P, Q64PN, Q61P-D) Item Q63P Q64P Q64PN Q61P-D Base loading position Q series power supply module loading slot Applicable base unit Q35DB, Q38DB, Q312DB, Q63B, Q65B, Q68B, Q612B 100 to 120VAC/200 to 24VDC (+30%/-35%) 240VAC (+10%/-15%) 100 to 240VAC (+10%/-15%)
Page 81 2 SYSTEM CONFIGURATION Power supply modules specifications (Q63P, Q64P, Q64PN, Q61P-D) (continued) Item Q63P Q64P Q64PN Q61P-D RAV1.25 to 3.5, RAV2 to 3.5, thickness 0.8mm or less. Applicable solderless terminal Two solderless terminals can be connected to one terminal. Applicable tightening torque 0.66 to 0.89 N•m 98(H) ×...
Page 82 2 SYSTEM CONFIGURATION POINTS (Note-3): Allowable momentary power failure time (1) For AC input power supply • If the momentary power failure time is within 20ms, the system detects an AC down and suspends the operation processing. However, the system continues operations after the power comes back.
Page 83 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 84 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. AC input (5VDC error, overload, internal circuit failure, blown fuse) power supply •...
Page 85 2 SYSTEM CONFIGURATION Name Application • Power input terminals connected to a power supply of 100VAC. (Q61P-A1) • Power input terminals connected to a power supply of 200VAC. (Q61P-A2) • Power input terminals connected to a power supply of 100VAC to 200VAC. 7) Power input terminals (Q61P, Q61P-D, Q62P, Q64PN) •...
Page 86 2 SYSTEM CONFIGURATION (3) Selection of the power supply module The power supply module is selected according to the total of current consumption of the modules, and peripheral devices supplied by its power module. 5VDC internal current consumption of shared equipment with PLC might be changed.
Page 87: Base Unit And Extension Cable
2 SYSTEM CONFIGURATION 2.5.3 Base unit and extension cable This section describes the specifications of the extension cables for the base units (Main base unit or extension base unit), and the specification standards of the extension base unit. 5VDC internal current consumption of base unit might be changed. Be sure to refer to the MELSEC-Q series PLC Manuals.
Page 88 2 SYSTEM CONFIGURATION 2) Type not requiring power supply module Type Q52B Q55B Item Number of I/O modules Possibility of extension Extendable Applicable module Q series modules 5VDC internal current 0.08 0.10 consumption [A] Fixing hole size M4 screw hole or 4.5 hole (for M4 screw) Exterior dimensions 106(W) 98(H) 44.1(D)
Page 89 2 SYSTEM CONFIGURATION (3) Names of parts of the base unit Names of parts of the base unit are described below. (a) Main base unit (Q35DB, Q38DB, Q312DB) POWER I/O0 I/O1 I/O4 I/O5 I/O6 I/O7 I/O8 I/O9 I/O10 I/O2 I/O3 I/O11 I / O11 Q312DB...
Page 90 2 SYSTEM CONFIGURATION (4) I/O allocations It is possible to allocate unique I/O No.s for each Motion CPU independently of the PLC’s I/O No.s. (I/O No.s are unique between the Q series PLC CPU within a given system, but the I/O No.s of the Motion CPU are unique for each Motion CPU.) ON/OFF data input to the Motion CPU is handled via input devices PX , while...
Page 91: Q172Dlx Servo External Signals Interface Module
2 SYSTEM CONFIGURATION 2.5.4 Q172DLX Servo external signals interface module Q172DLX receives external signals (servo external signals) required for positioning control. (1) Q172DLX name of parts Q172DLX CTRL Q172DLX Name Application Hook used to fix the module to the base unit. Module fixing hook (Single-motion installation) Display the servo external input status from the external...
Page 92 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] 0.06 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 93 2 SYSTEM CONFIGURATION (3) Connection of servo external signals interface module (a) Servo external signals There are the following servo external signals. (Upper stroke limit is limit value of address increase direction/lower stroke limit is limit value of an address decrease direction.) The Q172DLX is assigned a set of input No.s per axis.
Page 94 2 SYSTEM CONFIGURATION (b) The pin layout of the CTRL connector Use the CTRL connector on the front of the Q172DLX module to connect to servo external signals. The following is the pin layout of the Q172DLX CTRL connector as viewed from the front.
Page 95 2 SYSTEM CONFIGURATION (4) Interface between CTRL connector and servo external signal Input or Signal name Pin No. Wiring example Internal circuit Specification Description Output FLS1 Supply voltage FLS2 12 to 24 VDC (10.2 to 26.4 VDC, FLS3 stabilized power FLS4 supply) Upper stroke...
Page 96: Q172Dex Synchronous Encoder Interface Module
2 SYSTEM CONFIGURATION 2.5.5 Q172DEX Synchronous encoder interface module Q172DEX receive external signals required for serial absolute synchronous encoder. The installation position of Q172DEX is only main base. (1) Q172DEX name of parts Q172DEX SY.ENC TREN SY.ENC1 SY.ENC2 Q172DEX Name Application Hook used to fix the module to the base unit.
Page 97 2 SYSTEM CONFIGURATION POINT (1) Input indicator LED of the serial absolute synchronous encoder signal turns ON at the normal connection (first switching to virtual mode). (2) Input indicator LED of the tracking enable signal turns ON at the following conditions.
Page 98 2 SYSTEM CONFIGURATION (c) Serial absolute synchronous encoder input Item Specifications Applicable types Q171ENC-W8 Q170ENC Applicable signal types Differential-output type: (SN75C1168 or equivalent) Transmission method Serial communications Synchronous method Counter-clock-wise (viewed from end of shaft) Communication speed 2.5Mbps Position detection method Absolute (ABS) method Resolution 4194304pulse/rev (22bit)
Page 99 2 SYSTEM CONFIGURATION (3) Select to number of the synchronous encoder modules Synchronous encoders are available in voltage-output type (incremental), differential-output type (incremental) and serial absolute output type. Q172DEX can be connected to only serial absolute output type. When using the incremental synchronous encoder of voltage-output type or differential-output type, must be used Q173DPX or built-in interface in Motion CPU of Q173DSCPU/Q172DSCPU.
Page 100 2 SYSTEM CONFIGURATION (4) Connection of synchronous encoder interface module. (a) Connection with serial absolute synchronous encoder Use the SY.ENC connector on the front of the Q172DEX module to connect to serial absolute synchronous encoder. When tracking enable signal is not used, use the Q170ENCCBL M encoder cable between the serial absolute synchronous encoder and SY.ENC connector.
Page 101 2 SYSTEM CONFIGURATION (5) Interface between SY.ENC connector and external equipment Input or Signal Pin No. Wiring example Internal circuit Specification Description Output name Transmission method: serial communications Position detection method: absolute Serial absolute synchronous encoder 10 18 19 20 Input 5VDC 1 2 3 11 12...
Page 102 2 SYSTEM CONFIGURATION (6) Details of encoder cable connections (Note-1) (a) When not using tracking enable signal SY.ENC side connector Synchronous encoder side connector 10120-3000PE (connector) D/MS3106B22-14S (plug) 10320-52F0-008(connector case) D/MS3057-12A (cable clamp) SD plate :Twisted pair cable Q170ENCCBL2M to Q170ENCCBL50M(50m (164.04ft.) or less) (Note-1), (Note-2) (b) When using tracking enable signal SY.ENC side connector...
Page 103 2 SYSTEM CONFIGURATION (7) Connection of the battery This section describes the battery specifications, handling precautions and installation of the Q172DEX. (a) Specifications The specifications of the battery for memory back-up are shown in the table below. Battery Specifications Model name A6BAT/MR-BAT Item Thionyl chloride lithium primary battery...
Page 104 2 SYSTEM CONFIGURATION (c) Battery life (Note-1) Battery life (Total power failure time) [h] Actual service Guaranteed Guaranteed (Note-5) Power-on value (Note-3) (Note-4) Module type Battery type value value Backup time time ratio (Reference value) after alarm (MIN) (TYP) (Note-2) (TYP) (75°C (167°F)) (40°C (104°F))
Page 105: Q173Dpx Manual Pulse Generator Interface Module
2 SYSTEM CONFIGURATION 2.5.6 Q173DPX Manual pulse generator interface module Q173DPX receives signals required for Manual pulse and Incremental synchronous encoder (Voltage-output/Open-collector type/Differential-output type) input. (1) Q173DPX name of parts Q173DPX PLS.A PLS.B TREN PULSER Q173DPX Name Application Hook used to fix the module to the base unit. Module fixing hook (Single-motion installation) Display the input status from the external equipment.
Page 106 2 SYSTEM CONFIGURATION Name Application Detection setting of TREN1 signal Dip switch 1 SW1 SW2 TREN is detected at leading edge of TREN signal. Dip switch 2 TREN is detected at trailing edge (Note-1) Dip switches of TREN signal. Detection setting of TREN2 signal Dip switch 3 SW3 SW4 TREN is detected at leading...
Page 107 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] 0.38 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) Tracking enable signal input Item Specifications Number of input points...
Page 108 2 SYSTEM CONFIGURATION (3) Connection of manual pulse generator Manual pulse generators of the voltage-output/open-collector type and differential-output type can be connected. Both connection methods are different. (Refer to this section (5).) When the manual pulse generator is connected to the Q173DPX, it cannot be connected to the built-in interface in Motion CPU.
Page 109 2 SYSTEM CONFIGURATION (5) Connection of manual pulse generator interface module (a) The pin layout of the PULSER connector Use the PULSER connector on the front of the Q173DPX module to connect to manual pulse signals and incremental synchronous encoder signals.
Page 110 2 SYSTEM CONFIGURATION (b) Interface between PULSER connector and manual pulse generator (Differential-output type)/Incremental synchronous encoder Input or PIN No. Signal name Wiring example Internal circuit Specification Description Output For connection manual Rated input voltage A17 A12 pulse generator 5.5VDC or less Manual HA P Phases A, B...
Page 111 2 SYSTEM CONFIGURATION (c) Interface between PULSER connector and manual pulse generator (Voltage-output/Open-collector type)/ Incremental synchronous encoder. Input or Pin No. Signal name Wiring example Internal circuit Specification Description Output For connection manual Rated input voltage Manual pulse generator 5.5VDC or less pulse Phases A, B A20 A15 A10...
Page 112 2 SYSTEM CONFIGURATION (6) Connection examples of manual pulse generator (a) Differential-output type Using external power supply Using internal power supply (recommended) Manual pulse Manual pulse Q173DPX generator side Q173DPX generator side HA P HA P HA N HA N HB P HB P HB N...
Page 113: Q173Dsxy Safety Signal Module
2 SYSTEM CONFIGURATION 2.5.7 Q173DSXY Safety signal module Q173DSXY is used to input/output the safety signal. (1) Q173DSXY name of parts Q173DSXY Q173DSXY Motion Name Application Hook used to fix the module to the base unit. Module fixing hook (Single-motion installation) Display the input status from the external equipment.
Page 114 2 SYSTEM CONFIGURATION Name Application RIO communication for Motion CPU RIO2 connector (For connection to Q173DSXY installed on the right) Set station number of safety signal module. Rotary switch for station (Note) Setting Station number number setting Station number 1 (Module 1) Station number 2 (Module 2) Station number 3 (Module 3) (Note): Do not set other than the above setting.
Page 115 A6CON1 (Attachment), A6CON2, A6CON3, A6CON4 (Optional) external connection Connector/terminal block A6TBXY36 (Optional), conversion module FA-LTB40P (Optional: Mitsubishi Electric Engineering Co., Ltd. make) Cable for connector/terminal block AC50TB (included with A6TBXY36), conversion module FA-CBL FMV-M (included with FA-LTB40P) Number of modules...
Page 116 2 SYSTEM CONFIGURATION (c) The pin layout of the Motion IO connector/PLC IO connector Use the Motion IO connector and PLC IO connector on the front of the Q173DSXY module to connect to I/O signals. The following is the pin layout of the Q173DSXY Motion IO connector and PLC IO connector as viewed from the front.
Page 117 2 SYSTEM CONFIGURATION (3) Interface between Motion IO connector/PLC IO connector and servo external signal Signal name Input or (Note-1) Pin No. Wiring example Internal circuit Specification Output Motion IO PLC IO (Note-2) MC-X00 PLC-X00 Supply voltage MC-X01 PLC-X01 24VDC MC-X02 PLC-X02 MC-X03...
Page 118 2 SYSTEM CONFIGURATION POINTS (1) Wire the I/O power supply input (24VDC, 0V common) supplied to Q173DSXY to two pins of each conversion modules. (2) Separate all external wirings into 2 lines to configure the safety circuit. Do not wire between the two terminal block conversion modules for I/O power supply supplied to Q173DSXY (24VDC, 0V common).
Page 119 2 SYSTEM CONFIGURATION (4) Wiring example for the safety signal module (a) Wiring example for door signal to safety signal module and AC contactor. Wiring example to shut off contactor by the following methods are shown in the diagram below. •...
Page 120 2 SYSTEM CONFIGURATION (b) Wiring example for door signal to safety signal module and STO terminal. Wiring example to wire the following methods are shown in the diagram below. • Shut-off signal from the Motion CPU side of safety signal module •...
Page 121 2 SYSTEM CONFIGURATION 2) MR-J3- BS use External power supply Servo amplifier with STO Safety signal module 24VDC (MR-J3- BS) (Q173DSXY) Motion CPU side Motion IO 1B01 Drive power shut-off signal 1B09 STO1+ Shut-off signal STO1- 1A19 Shut-off confirmation Shut-off confirmation 1A18 signal signal...
Page 122 2 SYSTEM CONFIGURATION (c) Wiring example for external pulse input to safety signal module. The wiring diagram for external pulse input signal and safety signal module shows below. Safety module performs the safety diagnostics of external pulse generator, therefore you need to wire them so that external pulse generator is supplied power by the safety signal module, and the generated pulse becomes input signal of safety signal module.
Page 123: Manual Pulse Generator/Serial Absolute Synchronous Encoder
2 SYSTEM CONFIGURATION 2.5.8 Manual pulse generator/Serial absolute synchronous encoder (1) Manual pulse generator specifications Item Specifications Model name MR-HDP01 (Note-1) Ambient temperature -10 to 60°C (14 to 140°F) Pulse resolution 25pulse/rev(100 pulse/rev after magnification by 4) Output method Voltage-output/Output current: Up to 20mA Power supply voltage 4.5 to 13.2VDC Current consumption [mA]...
Page 124 2 SYSTEM CONFIGURATION (2) Serial absolute synchronous encoder specifications Item Specifications (Note-1), (Note-2) (Note-1), (Note-2) Q171ENC-W8 Q170ENC Model name Ambient temperature -5 to 55°C (23 to 131°F) Resolution 4194304pulse/rev 262144pulse/rev Transmission method Serial communications (Connected to Q172DEX) Direction of increasing addresses CCW (viewed from end of shaft) Dustproof/Waterproof Dustproof/Waterproof...
Page 125: Sscnet Cables
2 SYSTEM CONFIGURATION 2.5.9 SSCNET cables Between the Motion CPU module and servo amplifiers, or servo amplifier and servo amplifier connected by SSCNET cable. When using the Q172D(S)CPU, SSCNET cable for connection to servo amplifier can be used for only 1 line. (Connect to CN1.) When using the Q173D(S)CPU, SSCNET cables for connection to servo amplifier can be used for up to 2 lines.
Page 126 2 SYSTEM CONFIGURATION (2) Connection between the Q173D(S)CPU and servo amplifiers Connect the SSCNET cables to the following connectors. Refer to Section 4.2.1 for the connection and disconnection of SSCNET cable. Motion CPU module SSCNET cable length MR-J3BUS M use 1) 3m(9.84ft.) MR-J3BUS M-A use 1) 20m(65.62ft.)
Page 127 2 SYSTEM CONFIGURATION (3) Connection between the Q172D(S)CPU and servo amplifiers Connect the SSCNET cables to the following connectors. Refer to Section 4.2.1 for the connection and disconnection of SSCNET cable. Motion CPU module SSCNET cable length MR-J3BUS M use 1) 3m(9.84ft.) MR-J3BUS M-A use 1) 20m(65.62ft.)
Page 128 2 SYSTEM CONFIGURATION (4) Setting of the axis No. and axis select rotary switch of servo amplifier Axis No. is used to set the axis numbers of servo amplifiers connected to SSCNET connector(CN ) in the program. The following range can be set in the Motion CPU module. Axis No.
Page 129 2 SYSTEM CONFIGURATION Table 2.1 Correspondence between dno.s and axis select rotary switches of servo amplifier SSCNET (/H) Axis select rotary switch SSCNET (/H) Axis select rotary switch (Note) (Note) dno. dno. line of servo amplifier line of servo amplifier "0"...
Page 130: Battery
2 SYSTEM CONFIGURATION 2.5.10 Battery This section describes the battery specifications and handling precautions used in the Motion CPU. (1) Battery specifications Model name Q6BAT Item Classification Manganese dioxide lithium primary battery Initial voltage [V] Nominal current [mAh] 1800 Storage life Actually 5 years (Room temperature) Lithium content [g] 0.57...
Page 131 2 SYSTEM CONFIGURATION (2) Data back-up of Motion CPU module by the battery Be sure to use the battery. • For Q173DSCPU/Q172DSCPU Set the battery (Q6BAT) to battery holder. • For Q173DCPU(-S1)/Q172DCPU(-S1) Set the battery (Q6BAT) to battery holder unit (Q170DBATC). The programs, parameters, motion devices(#), latch range devices and absolute position data of SRAM built-in Motion CPU module are not backed up without using the battery.
Page 132 2 SYSTEM CONFIGURATION CAUTION Do not short a battery. Do not charge a battery. Do not disassemble a battery. Do not burn a battery. Do not overheat a battery. Do not solder the battery terminal. The programs, parameters, motion devices(#), latch range devices and absolute position data of SRAM built-in Motion CPU module are not backed up without using the battery.
Page 133 2 SYSTEM CONFIGURATION (b) Q173DCPU(-S1)/Q172DCPU(-S1) 1) Set Q6BAT to Battery holder unit(Q170DBATC). 2) Connect the lead connector of Q6BAT to the connector (BATTERY) of Q170DBATC. 3) Connect between the connector (BAT) of Motion CPU module and connector (CPU) of Q170DBATC. Motion CPU module Battery holder unit (Q170DBATC)
Page 134: Forced Stop Input Terminal
2 SYSTEM CONFIGURATION 2.5.11 Forced stop input terminal (1) Table of the forced stop input terminal specifications Item Specifications Number of input points Forced stop signal : 1 point Input method Sink/Source type Rated input current 2.4mA Isolation method Photocoupler 20.4 to 26.4VDC Operating voltage range (+10/ -15%, ripple ratio 5% or less)
Page 135 2 SYSTEM CONFIGURATION MEMO 2 - 102...
Page 136: Design
3 DESIGN 3. DESIGN 3.1 System Designing Procedure System designing procedure is shown below. Motion control system design Select the Motion CPU module according to number of control axes. 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 137 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 138 3 DESIGN CAUTION Do not touch the heat radiating fins of controller or servo amplifier, regenerative resistor and servo motor, 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 servo motor shaft or coupled machines, as these parts may lead to injuries.
Page 139: External Circuit Design
3 DESIGN 3.2 External Circuit Design As to the ways to design the external circuits of the Motion system, this section describes the method and instructions for designing the power supply circuits and safety circuits, etc. (Example: Q173DSCPU/Q172DSCPU and MR-J4- B use) (1) Sample system circuit design for motion control 3-phase 200 to 230VAC...
Page 140 3 DESIGN POINT <Example> For control axis 1, axis 2 and axis 3 (1) (Note-1): Make the forced stop input cable within 30m(98.43ft.). The forced stop by the forced stop terminal of input module is also possible. Servo error detection (2) (Note-2): Motion SFC program example is shown in the right record.
Page 141 3 DESIGN (2) System design circuit example of the PLC I/O (a) System design circuit example(when not using ERR terminal of power supply module) Power supply FOR AC FOR AC/DC Power supply Transformer Transformer Transformer Input switched when Fuse Fuse power supply established Fuse CPU module...
Page 142 3 DESIGN (b) System design circuit example(when using ERR terminal of power supply module) Power supply FOR AC/DC Transformer Transformer Input switched when Fuse Fuse power supply established CPU module SM52 DC power RUN/STOP circuit SM403 interlocked with RA1 Fuse (run monitor relay) Set time for DC power supply to be established.
Page 143: 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 lines Separate the lines for Multiple CPU system power supplies from the lines for I/O devices and servo amplifiers as shown below.
Page 144: Safety Circuit Design
3 DESIGN 3.2.2 Safety circuit design (1) Concept of safety circuits When the Multiple CPU system is powered on and off, normal control output may not be done momentarily due to a delay or a startup time difference between the Multiple CPU system power supply and the external power supply (DC in particular) for the control target.
Page 145 3 DESIGN (b) The forced stop of all servo amplifiers is possible in a lump by using the forced stop input of input modules. After forced stop, the forced stop factor is removed and the forced stop canceled. (The servo error detection signal does not turn on with the forced stop.) The forced stop input can be set by allocation of the device number in the parameter setting of system setting.
Page 146: Layout Design Within The Control Panel
3 DESIGN 3.3 Layout Design within the Control Panel 3.3.1 Mounting environment Mount 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 147: Calculating Heat Generation By Motion Controller
3 DESIGN 3.3.2 Calculating heat generation by Motion controller The ambient temperature inside the panel storing the Motion controller must be suppressed to an ambient temperature of 55°C(131°F) or less, which is specified for the Motion controller. For the design of a heat releasing panel, it is necessary to know the average power consumption (heating value) of the devices and instruments stored inside.
Page 148 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 external power supply section of the intelligent function module 5 + I...
Page 149 3 DESIGN (7) Example of average power consumption calculation (Q173DCPU use) (a) System configuration Q38DB Q61P Q03UD Q173D QX40 QX40 Q172D Q172D Q173D QY10 QY10 (b) 5VDC current consumption of each module Q03UDCPU (Note) : 0.33 [A] Q173DCPU : 1.25 [A] QX40 (Note) : 0.05 [A]...
Page 150: 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 Motion CPU module selection Motion CPU module Manual pulse generator pcs. selection Incremental synchronous encoder pcs.
Page 151 3 DESIGN MEMO 3 - 16...
Page 152: 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 153 4 INSTALLATION AND WIRING (3) Tighten the module fixing screws and terminal block screws within the tightening torque range specified below. Location of screw Tightening torque range [N•m] Motion CPU module fixing screw (M3 13 screw) 0.36 to 0.48 Module fixing screw (M3 12 screw) 0.36 to 0.48 I/O module terminal block screw (M3 screw)
Page 154 4 INSTALLATION AND WIRING (c) Place the left-hand side pear-shaped hole of the base unit onto the left-hand side screw. Panel (d) Fit the mounting screws into the holes at the bottom of the base unit, and then retighten the all mounting screws. (Note): Mount a main base unit to a panel, with no module installed in the right- end slot.
Page 155: Instructions For Mounting The Base Unit
4 INSTALLATION AND WIRING 4.1.2 Instructions for mounting the base unit When mounting the Motion controller to an enclosure or similar, fully consider its operability, maintainability and environmental resistance. (1) Fitting dimensions Fitting dimensions of each base unit are as follows: 5-fixing screw (M4 14) POWER I/O0...
Page 156 4 INSTALLATION AND WIRING (2) Module mounting position Keep the clearances shown below between the top/bottom faces of the module and other structures or parts to ensure good ventilation and facilitate module replacement. (Note): It is impossible to mount the main base unit by DIN rail. Top of panel or wiring duct Base unit 40mm...
Page 157 4 INSTALLATION AND WIRING (4) Mounting surface Mount the base unit on a flat surface. If the mounting surface is not even, this may strain the printed circuit boards and cause malfunctions. (5) Mounting of unit in an area where the other devices are mounted Avoid mounting base unit in proximity to vibration sources such as large magnetic contractors and no-fuse circuit breakers;...
Page 158: Installation And Removal Of Module
4 INSTALLATION AND WIRING 4.1.3 Installation and removal of module This section describes 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 base unit (a) Installation Base unit...
Page 159 4 INSTALLATION AND WIRING POINTS (1) When installing the module, always insert the module fixing projection into the module fixing hole of the base unit. At that time, securely insert the module fixing projection so that it does not come off from the module fixing hole. If the module is forcibly installed without the latch being inserted, the module connector and module will be damaged.
Page 160 4 INSTALLATION AND WIRING (b) Removal Push When using the module fixing screws, remove them. Module fixing hook Support the module with both hands and securely press the module fixing hook with your finger. Base unit Module Module connector Pull the module based on the supporting point of module bottom while pressing the module fixing hook.
Page 161: Instructions For Mounting Of The Battery Holder Unit
4 INSTALLATION AND WIRING 4.1.4 Instructions for mounting of the battery holder unit When mounting the battery holder unit (Q170DBATC) to an enclosure or similar, fully consider its mounting position and orientation. (1) Module mounting position Mount the battery holder unit within 50cm(1.64ft.) or less (Battery cable length: 50cm(1.64ft.)) from the Motion controller.
Page 162: Connection And Disconnection Of Cable
4 INSTALLATION AND WIRING 4.2 Connection and Disconnection 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 163 4 INSTALLATION AND WIRING (4) 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. Especially, as optical fiber for MR-J3BUS M and MR-J3BUS M-A is made of synthetic resin, it melts down if being left near the fire or high temperature.
Page 164 4 INSTALLATION AND WIRING (c) Lateral pressure If lateral pressure is added on the SSCNET cable, the cable itself distorts, internal optical fiber gets stressed, and then transmission loss will increase. At worst, the breakage of SSCNET cable may occur. As the same condition also occurs at cable laying, do not tighten up SSCNET cable with a thing such as nylon band (TY-RAP).
Page 165 4 INSTALLATION AND WIRING • Bundle fixing Optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius, and it should not be twisted. When bundling the cable, fix and hold it in position by using cushioning such as sponge or rubber which does not contain migratable plasticizing.
Page 166 4 INSTALLATION AND WIRING POINTS (1) Be sure to connect SSCNET cable with the above connector. If the connection is mistaken, between the Motion CPU module and servo amplifier cannot be communicated. (2) Forced removal of the SSCNET cable from the Motion CPU module will damage the Motion CPU modules and SSCNET cables.
Page 167 4 INSTALLATION AND WIRING POINTS (9) Migrating plasticizer is used for vinyl tape. Keep the MR-J3BUS M, and MR-J3BUS M-A cables away from vinyl tape because the optical characteristic may be affected. Optical cord Cable SSCNET cable Cord Cable MR-J3BUS M MR-J3BUS M-A MR-J3BUS M-B : Normally, cable is not affected by plasticizer.
Page 168: Battery Cable
4 INSTALLATION AND WIRING 4.2.2 Battery cable (1) Handling the battery cable (a) Precautions for handling the battery cable • For connection or removal of the battery cable, do it surely while holding a connector. Base unit Motion CPU module Battery Panel connector (BAT)
Page 169 4 INSTALLATION AND WIRING POINT (1) Forcibly removal the battery cable from the battery holder unit will damage the battery holder unit, battery cable. (2) As for the battery cable, the shape of connector is different on Motion CPU side and battery holder side. Be sure to connect after confirming shape. (3) The programs, parameters, motion devices (#), latch range devices and absolute position data of SRAM built-in Motion CPU module are not backed up if the battery connector is not connect correctly.
Page 170: Forced Stop Input Cable
4 INSTALLATION AND WIRING 4.2.3 Forced stop input cable (1) Precautions for handling the forced stop input cable • For connection or removal of the forced stop input cable, do it surely while holding a forced stop input connector. Motion CPU module (2) Connection of the forced stop input cable •...
Page 171: Internal I/F Connector Cable
4 INSTALLATION AND WIRING 4.2.4 Internal I/F connector cable (1) Precautions on use of Internal I/F connector cable When using the modules in a place where there is large vibration or impact, fix the internal I/F connector cable to the control panel. Base unit Q173DSCPU/Q172DSCPU Panel...
Page 172: Mounting Of Battery
4 INSTALLATION AND WIRING 4.3 Mounting of Battery (1) Handling the battery lead wire (a) Q173DSCPU/Q172DSCPU 1) Precautions for mounting the battery • Set the battery to the battery holder correctly after confirming "+" side and "-" side for the battery. 2) Precautions for handling the battery lead wire •...
Page 173 4 INSTALLATION AND WIRING (b) Q173DCPU(-S1)/Q172DCPU(-S1) 1) Precautions for handling the battery lead wire • For connection or removal of the battery lead wire, do it surely while holding a battery lead connector. Do not hold lead wire Battery lead wire Q6BAT M I T S U B I S H I Battery lead connector...
Page 174: Mounting Of Serial Absolute Synchronous Encoder
4 INSTALLATION AND WIRING 4.4 Mounting of Serial Absolute Synchronous Encoder This section describes precautions for handling the serial absolute synchronous encoder. (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 serial absolute synchronous encoder through a coupling.
Page 175: Wiring
4 INSTALLATION AND WIRING 4.5 Wiring 4.5.1 Instructions for wiring DANGER Completely turn off the externally supplied power used in the system before installation or placing wiring. Not doing so 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 176 4 INSTALLATION AND WIRING (b) Do not bundle the 100VAC and 24VDC wires with, or run them close to, the main circuit (high voltage, large current) and I/O signal lines (including common line). Reserve a distance of at least 100mm (3.94inch) from adjacent wires. (c) Momentary power failure may be detected or the Multiple CPU system may be reset due to surge caused by lightning.
Page 177 4 INSTALLATION AND WIRING (g) Wiring of 200m (656.17ft.) or longer distance will give rise to leakage currents due to the line capacity, resulting in a fault. Refer to the troubleshooting chapter of the I/O Module User's Manual. (h) As a countermeasure against the power surge due to lightning, separate the AC wiring and DC wiring and connect a surge absorber for lightning (Refer to Section 4.5.1(1)).
Page 178: Connecting To The Power Supply Module
4 INSTALLATION AND WIRING 4.5.2 Connecting to the power supply module The following diagram shows the wiring example of power lines, grounding lines, etc. to the main and extension base units. Main base unit 100/200VAC (Q38DB) Q61P CPU module (Note-1) ERR.
Page 179 4 INSTALLATION AND WIRING POINT (1) Use the thickest possible (up to 2mm ) wires for the 100/200VAC and 24VDC power cables. Be sure to twist these wires starting at the connection terminals. For wiring a terminal block, be sure to use a solderless terminal. To prevent a short circuit should any screws loosen, use solderless terminals with insulation sleeves of 0.8mm (0.03inch) or less.
Page 180: Start-Up Procedures
5 START-UP PROCEDURES 5. START-UP PROCEDURES 5.1 Check Items Before Start-up Table 5.1 Check items before start-up Part name Confirmation Items Check Reference (1) Check that the main base unit is Q35DB, Q38DB or Q312DB. 2.5.3 (2) Check that the model name of module is correct. (3) Check that the installation order is correct.
Page 181 5 START-UP PROCEDURES Part name Confirmation Items Check Reference (1) Check that the Q172DEX is installed to I/O slot 3 to 11 of the main base unit. 2.1.4 (2) Check that the Q172DLX/Q173DPX is installed to I/O slot 3 to 11 when installation to the main base unit.
Page 182: Start-Up Adjustment Procedure
5 START-UP PROCEDURES 5.2 Start-up Adjustment Procedure The mode indicated in the brackets [ ] at top left of START each step is the mode for checking or setting using MT Developer2/GX Works2/GX Developer. Turn OFF power supply PLC CPU Check that the power supply of Multiple Motion CPU CPU system is OFF.
Page 183 5 START-UP PROCEDURES [Servo data setting] CAUTION Positioning parameters setting Set the following positioning parameters Set parameter values to those that are compatible using MT Developer2. with the Motion controller, servo amplifier, (1) Fixed parameters servo motor and regenerative resistor model name (2) Home position return data Motion CPU and the system name application.
Page 184 5 START-UP PROCEDURES Check external inputs to Q172DEX Refer to Section 2.5.5 Check the wiring of following external inputs by monitoring of MT Developer2 or LED indicators. (1) Serial absolute synchronous encoder setting Check external inputs to Q173DPX Refer to Section 2.5.6 Motion CPU Check the wiring of following external inputs by monitoring of MT Developer2 or LED...
Page 185 5 START-UP PROCEDURES [Test mode servo start-up (Initial check) ] Check servo amplifier Axis No. and error description of servo amplifier which detected errors are displayed on initial check screen. Check that the mounted servo amplifiers operate correctly. [Test mode servo start-up (Upper/lower stroke limit check) ]...
Page 186: Operating System Software Installation Procedure
5 START-UP PROCEDURES 5.3 Operating System Software Installation Procedure The operating system software must be installed to the Motion CPU module by using the MT Developer2. The installation procedure is shown below. START Set a rotary switch1 (SW1) of Motion Set to installation mode.
Page 187 5 START-UP PROCEDURES POINTS (1) When the software security key function is used in Q173DSCPU/Q172DSCPU, if the software security key of the operating system software already installed in Motion CPU is different from that embedded to the operating system software to be installed, "Clear all" is executed at installation.
Page 188: Trial Operation And Adjustment Checklist
5 START-UP PROCEDURES 5.4 Trial Operation and Adjustment Checklist At the worksite, copy the following table for use as a check sheet. Check Work Step Item Check Items Check that each module is installed correctly. Check that each connector is connected correctly. Check each terminal screw for looseness.
Page 189 5 START-UP PROCEDURES MEMO 5 - 10...
Page 190: 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 191: 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. 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.
Page 192 6 INSPECTION AND MAINTENANCE CAUTION After maintenance and inspections are completed, confirm that the position detection of the absolute position detector function is correct. Do not short circuit, charge, overheat, incinerate or disassemble the batteries. The electrolytic capacitor will generate gas during a fault, so do not place your face near the Motion controller or servo amplifier.
Page 193: Daily Inspection
6 INSPECTION AND MAINTENANCE 6.2 Daily Inspection The items that must be inspected daily are shown below. Table 6.1 Daily Inspection Item Inspection item Inspection Criterion Action Check that the fixing screws Retighten the Mounting of base unit are not loose and the cover The screws and cover must be mounted securely.
Page 194: 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 195: Life
6 INSPECTION AND MAINTENANCE 6.4 Life The following parts must be changed periodically as listed below. However, if any part is found faulty, it must be changed immediately even when it has not yet reached the end of its life, which depends on the operating method and environmental conditions.
Page 196: Battery
6 INSPECTION AND MAINTENANCE 6.5 Battery The battery installed in the Motion CPU module is used for data retention during the power failure of the program memory and latch device. Special relays (SM51, SM52, SM58 or SM59) turn on due to the decrease of battery voltage. Even if the special relays turn on, the program and retained data are not erased immediately.
Page 197: Battery Life
6 INSPECTION AND MAINTENANCE 6.5.1 Battery life The battery life is shown below. (Note-1) Battery life (Total power failure time) [h] Actual service Guaranteed Guaranteed (Note-5) value Power-on Backup time (Note-3) (Note-4) Module type Battery type value value time ratio (Reference value) after alarm (MIN)
Page 198 6 INSPECTION AND MAINTENANCE POINT (1) Do not use the battery exceeding its guaranteed life. (2) When the battery hours (total power failure time) may exceed its guaranteed value, take the following measure. • Perform ROM operation to protect a program even if the battery dies at the Multiple CPU system power-OFF.
Page 199: Battery Replacement Procedure
6 INSPECTION AND MAINTENANCE 6.5.2 Battery replacement procedure (1) Battery replacement procedure of the Motion CPU module When the battery has been exhausted, replace the battery with a new one in accordance with the procedure shown below. POINTS When replacing the battery, pay attention to the following. (1) The Multiple CPU power supply must be on for 10 minutes or longer before dismounting the battery.
Page 200 6 INSPECTION AND MAINTENANCE (a) Q173DSCPU/Q172DSCPU battery replacement procedure Replacing Battery Turn on the Multiple CPU system power supply for 10 minutes or longer. Turn off the Multiple CPU system power supply. Internal I/F connector cable Remove the internal I/F connector cable from Motion CPU.
Page 201 6 INSPECTION AND MAINTENANCE (b) Q173DCPU(-S1)/Q172DCPU(-S1) battery replacement procedure Replacing Battery <Battery holder unit(Q170DBATC)> Lead wire Turn ON the Multiple CPU system power supply. Disconnect the lead connector from the battery connector. Remove the old battery from its holder. (Battery error occurs.
Page 202 6 INSPECTION AND MAINTENANCE (2) Q172DEX module battery replacement procedure When the battery has been exhausted, replace the battery with a new one in accordance with the procedure shown below. POINT When replacing the battery, pay attention to the following. (1) The Multiple CPU power supply must be on for 10 minutes or longer before dismounting the battery.
Page 203: Resuming Operation After Storing The Motion Controller
This symbol mark is according to the directive 2006/66/EC Article 20 Information for end-users and Annex II. Your MITSUBISHI ELECTRIC product is designed and manufactured with high quality materials and components which can be recycled and/or reused. This symbol means that batteries and accumulators, at their end-of-life, should be disposed of separately from your household waste.
Page 204: Troubleshooting
6 INSPECTION AND MAINTENANCE 6.6 Troubleshooting This section describes the various types of trouble that occur when the system is operated, and causes and corrective actions of these troubles. 6.6.1 Troubleshooting basics The basic three points that must be followed in the troubleshooting are as follows. (1) Visual inspection Visually check the following.
Page 205: Troubleshooting Of Motion Cpu Module
6 INSPECTION AND MAINTENANCE 6.6.2 Troubleshooting of Motion CPU module 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 (Hardware Design, Maintenance and Inspection) of their respective modules.
Page 206 6 INSPECTION AND MAINTENANCE (a) Flowchart for when "POWER" LED turns off The following shows the flowchart for when "POWER" LED of the power supply module turns off at the power supply ON or during operation. "POWER" LED turns off Supply power.
Page 207 6 INSPECTION AND MAINTENANCE Remove all modules other than the power supply module from the base unit. The base unit that includes the Does "POWER" corresponding power module is faulty. LED turn on? (Replace it with a normal base unit.) Does "POWER"...
Page 208 6 INSPECTION AND MAINTENANCE (b) Flowchart for when " ." does not flash in the first digit of 7-segment LED The following shows the flowchart for when " ." does not flash in the first digit of 7-segment LED. " ." does not flash in the first digit of 7-segment LED.
Page 209 6 INSPECTION AND MAINTENANCE (c) Flowchart for when the 7-segment LED stops with an initializing item (b00 to o99) The following shows the flowchart for when the 7-segment LED stops with an initializing item (b00 to o99). The 7-segment LED stopped with an initializing item (b00 to o99) Wait approximately 1 minute with the initializing item displayed (b00 to o99)
Page 210 6 INSPECTION AND MAINTENANCE Did the 7-segment LED display "AL" "L01"? A hardware fault Check operation in the order starting Write the project data to the Motion with the minimum system. CPU module. If the module will not work, explain the error symptom and get advice from our sales representative for the modules with failure.
Page 211 6 INSPECTION AND MAINTENANCE (d) Flowchart for when "A00" displays on 7-segment LED "A00" displays when the operating system software is not installed. The following shows the flowchart for when "A00" displays on 7-segment LED at the power supply ON or operation start. "A00"...
Page 212 6 INSPECTION AND MAINTENANCE (e) Flowchart for when "E " displays on 7-segment LED "E " displays when a hardware fault or software fault occurs. The following shows the flowchart for when "E " displays on 7-segment LED at the power supply ON or operation start. "...
Page 213 6 INSPECTION AND MAINTENANCE (f) Flowchart for when "AL" "L01" displays on 7-segment LED ""AL" (flashes 3 times) Steady "L01" display" displays at the system setting error occurrence. The following shows the flowchart for when ""AL" (flashes 3 times) Steady "L01" display" displays during operation. "AL"...
Page 214 6 INSPECTION AND MAINTENANCE (g) Flowchart for when "AL" "A1" " " displays on 7-segment LED. ""AL" (flashes 3 times) Steady "A1" display " "" displays at the self- diagnosis error occurrence. The following shows the flowchart for when ""AL" (flashes 3 times) Steady "A1"...
Page 215 6 INSPECTION AND MAINTENANCE (h) Flowchart for when "BT " displays on 7-segment LED "BT1" or "BT2" displays when the battery voltage is lowered. "BT1" or "BT2" displays at the following cases. • BT1: Battery voltage 2.7V or less • BT2: Battery voltage 2.5V or less The following shows the flowchart for when "BT1"...
Page 216 6 INSPECTION AND MAINTENANCE (i) Flowchart for when " . . ." displays on 7-segment LED " . . ." displays at the WDT error occurrence. The following shows the flowchart for when " . . ." displays on 7-segment LED during operation.
Page 217 6 INSPECTION AND MAINTENANCE (j) Flowchart for when servo amplifier does not start The following shows the flowchart for when servo amplifier does not start. Servo amplifier does not start. Is there error display Remove the error cause. on 7-segment LED of Motion CPU module? Does servo amplifier start? Set the target axis in the system...
Page 218: Confirming Error Code
6 INSPECTION AND MAINTENANCE (k) Flowchart for when "AL" "S01" displays on 7-segment LED ""AL" (flashes 3 times) Steady "S01" display" displays at the servo error occurrence. The following shows the flowchart for when ""AL" (flashes 3 times) Steady "S01" display" displays on 7-segment LED during operation. "AL"...
Page 219: Internal Input Circuit Troubleshooting
6 INSPECTION AND MAINTENANCE 6.6.4 Internal input circuit troubleshooting This section describes possible problems with internal input circuits and their corrective actions. (1) Internal input circuit troubleshooting The following describes possible problems with internal input circuits and their corrective actions. Table 6.4 Internal Input Circuit Troubleshooting and Corrective Action Condition Cause...
Page 220 6 INSPECTION AND MAINTENANCE (b) Calculate the connecting resistor value R as indicated below. To satisfy the 0.9 [mA] OFF current of the Motion CPU, the resistor R to be connected may be the one where 3.1 [mA] or more will flow. : Iz = Z(Input impedance): R R ...
Page 221 6 INSPECTION AND MAINTENANCE MEMO 6 - 32...
Page 222: Emc Directives
Voltage Directives are required to declare that and print a "CE mark" on their products. (1) Authorized representative in Europe Authorized representative in Europe is shown below. Name : Mitsubishi Electric Europe B.V. Address : Gothaer strase 8, 40880 Ratingen, Germany 7.1 Requirements for Compliance with the EMC Directive The EMC Directive specifies that products placed on the market must be so constructed that they "do not cause excessive electromagnetic interference...
Page 223: Standards Relevant To The Emc Directive
7 EMC DIRECTIVES 7.1.1 Standards relevant to the EMC directive The standards relevant to the EMC Directive are listed in table below. Certification Test item Test details Standard value (Note-2) 30M-230MHz QP : 40dBµV/m EN55011:2007/A2:2007 Radio waves from the product are (10m (32.81ft.) in measurement range) (Note-1) Radiated emission...
Page 224: Installation Instructions For Emc Directive
7 EMC DIRECTIVES 7.1.2 Installation instructions for EMC directive (1) Installation Motion controller is an open type device and must be installed inside a control panel for use. This not only ensures safety but also ensures effective shielding of Motion controller-generated electromagnetic noise.
Page 225 7 EMC DIRECTIVES (3) Cables The cables extracted from the control panel contain a high frequency noise component. On the outside of the control panel, therefore, they serve as antennas to emit noise. To prevent noise emission, use shielded cables for the cables which are connected to the I/O modules and intelligent function modules and may be extracted to the outside of the control panel.
Page 226 7 EMC DIRECTIVES (4) Precautions relevant to the electrostatic discharge There is a weak part to electrostatic discharge in the surface of the module. 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.
Page 227: Parts Of Measure Against Noise
(The noise filter has the effect of reducing conducted noise of 10 MHz or less.) • Noise ferrite (Recommended product) Manufacturer Model name Mitsubishi Electric FR-BLF Soshin Electric HF3010A-UN The precautions required when installing a noise filter are described below.
Page 228 (1.97 to 3.94 inch) • Cable clamp (Recommended product) Manufacturer Model name AERSBAN-DSET Mitsubishi Electric AERSBAN-ESET AD75CK CAUTION Do not ground the cable clamp to the top of control panel. Doing so may lead to damage by drop of screws, etc. during installation or removing the cable clamp.
Page 229: Example Of Measure Against Noise
7 EMC DIRECTIVES 7.1.4 Example of measure against noise Control panel : AD75CK cable clamp : Ferrite core (ZCAT3035-1330) Q61P QnUD Q17 D(S) QI60 QX / Q6 AD Q172D Q173D Q172D : Ferrite core (ZCAT2032-0930) (It is packed together with internal I/F connector set) Battery holder Encoder...
Page 230 7 EMC DIRECTIVES (2) In wiring inside the panel, the power line connected to the power or servo amplifier and the communication cable such as bus connection cable or network cable must not be mixed. If the cables are installed closely with each other for wiring reasons, using a separator (made of metal) can make the cables less influenced by noise.
Page 231 7 EMC DIRECTIVES MEMO 7 - 10...
Page 232: Appendices
Standard outside panel Long bending Long distance (Note-1) MR-J3BUSM-B life cable (Note-1) : For the cable of less than 30[m](98.43[ft.]), contact your nearest Mitsubishi Electric sales representative. (2) Specifications Description SSCNET cable model MR-J3BUS M MR-J3BUS M-A MR-J3BUS M-B 0.15 0.3 to 3...
Page 233 APPENDICES POINTS (1) If the end face of cord 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) Do not add impossible power to the connector of the SSCNET cable.
Page 234 APPENDICES • MR-J3BUS03M to MR-J3BUS3M Refer to the table of this section (1) for cable length (L). [Unit: mm(inch)] Protective tube (Note) (3.94) (3.94) (Note): Dimension of connector part is the same as that of MR-J3BUS015M. • 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).
Page 235: 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 products. If the required length is not found in our products, 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 236 APPENDICES (2) Q170ENCCBL M (a) Model explanation Type: Q170ENCCBL M Symbol Cable length [m(ft.)] 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 this section (1), and make the cable as shown in the following connection diagram.
Page 237 APPENDICES (3) Q170ENCCBL M-A (a) Model explanation Type: Q170ENCCBL M-A Symbol Cable length [m(ft.)] 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 (MR-J3CN2) for encoder cable given on this section (1), and make the cable as shown in the following connection diagram.
Page 238: Appendix 1.3 Battery Cable
APPENDICES APPENDIX 1.3 Battery cable Generally use the battery cable available as our products. If the required length is not found in our products, fabricate the cable on the customer side. Make the battery cable within 0.5m(1.64ft.). (1) Q170DBATCBL M (a) Model explanation Type : Q170DBATCBL M Symbol...
Page 239: Appendix 1.4 Forced Stop Input Cable
APPENDICES APPENDIX 1.4 Forced stop input cable Generally use the forced stop input cable available as our products. If the required length is not found in our products, fabricate the cable on the customer side. Make the forced stop input cable within 30m(98.43ft.). (1) Q170DEMICBL M (a) Model explanation Type : Q170DEMICBL M...
Page 240: Appendix 1.5 Internal I/F Connector Cable
APPENDICES APPENDIX 1.5 Internal I/F connector cable Fabricate the internal I/F connector cable on the customer side. CAUTION When fabricating the internal I/F connector cable, do not make incorrect connection. Doing so may cause an operation failure or damage the module. When fabricating the internal I/F connector cable, be sure to attach a ferrite core (ZCAT2030-0930).
Page 241 APPENDICES (1) Differential-output type (a) Connection diagram Make the cable within 30m(98.43ft.). Attach a ferrite core included with the internal I/F connector set within 1 to 5(0.39 to 1.97)[cm(inch)] from the Motion CPU module. 1) When using an external power supply Ferrite core (TDK make) CPU module side Solderless terminal...
Page 242 APPENDICES 2) When using an internal power supply Solderless terminal Ferrite core (TDK make) CPU module side Type: ZCAT2032-0930 View A HDR-E50MSG1+ (Connector) HDR-E50LPH (Connector case) Differential-output type Manual pulse generator/ incremental synchronous encoder side Input signal/mark detection input side DICOM Shell : Twisted pair cable...
Page 243 APPENDICES (2) Voltage-output/Open-collector type (a) Connection diagram Make the cable within 10m(32.81ft.). Attach a ferrite core included with the internal I/F connector set within 1 to 5(0.39 to 1.97)[cm(inch)] from the Motion CPU module. 1) When using an external power supply Ferrite core (TDK make) CPU module side Solderless terminal...
Page 244 APPENDICES 2) When using an internal power supply Solderless terminal Ferrite core (TDK make) CPU module side Type: ZCAT2032-0930 View A HDR-E50MSG1+ (Connector) HDR-E50LPH (Connector case) Voltage-output/Open-collector type Manual pulse generator/ incremental synchronous encoder side Input signal/mark detection input side DICOM Shell : Twisted pair cable...
Page 245: Appendix 1.6 Rio Cable
APPENDICES APPENDIX 1.6 RIO cable Generally use the RIO cable available as our products. If the required length is not found in our products, fabricate the cable on the customer side. Make the RIO cable within 0.5m(1.64ft.). (1) Q173DSXYCBL M (a) Model explanation Type: Q173DSXYCBL M Symbol...
Page 246: Appendix 1.7 Sscnet Cables (Sc-J3Bus M-C) Manufactured By Mitsubishi Electric
APPENDICES APPENDIX 1.7 SSCNET cables (SC-J3BUS M-C) manufactured by Mitsubishi Electric System & Service Co., Ltd. POINTS • For the details of the SSCNET cables, contact your local sales office. • Do not look directly at the light generated from CN1A/CN1B connector of servo amplifier or the end of SSCNET cable.
Page 247: Appendix 2 Exterior Dimensions
APPENDICES APPENDIX 2 Exterior Dimensions APPENDIX 2.1 Motion CPU module (1) Q172DSCPU [Unit: mm (inch)] Q172DSCPU STOP RUN PULL FRONT 41.1(1.62) 6(0.24) 26(1.02) 120.3(4.74) 27.4(1.08) (2) Q173DSCPU [Unit: mm (inch)] Q173DSCPU STOP RUN PULL FRONT 41.1(1.62) 6(0.24) 26(1.02) 120.3(4.74) 27.4(1.08) App - 16...
Page 248 APPENDICES (3) Q172DCPU [Unit: mm (inch)] Q172DCPU STOP RUN CAUTION FRONT 23(0.91) 119.3(4.70) 27.4(1.08) (4) Q173DCPU [Unit: mm (inch)] Q173DCPU STOP RUN CAUTION FRONT 23(0.91) 119.3(4.70) 27.4(1.08) App - 17...
Page 249 APPENDICES (5) Q172DCPU-S1 [Unit: mm (inch)] Q172DCPU-S1 STOP RUN CAUTION FRONT 23(0.91) 119.3(4.70) 27.4(1.08) (6) Q173DCPU-S1 [Unit: mm (inch)] Q173DCPU-S1 STOP RUN CAUTION FRONT 23(0.91) 119.3(4.70) 27.4(1.08) App - 18...
Page 250: Appendix 2.2 Servo External Signals Interface Module (Q172Dlx)
APPENDICES APPENDIX 2.2 Servo external signals interface module (Q172DLX) [Unit: mm (inch)] Q172DLX CTRL Q172DLX 23(0.91) 90(3.54) 45(1.77) 27.4(1.08) APPENDIX 2.3 Synchronous encoder interface module (Q172DEX) [Unit: mm (inch)] Q172DEX SY.ENC TREN SY.ENC1 SY.ENC2 Q172DEX 4.2(0.17) 23(0.91) 90(3.54) 39(1.54) 27.4(1.08) App - 19...
Page 251: Appendix 2.4 Manual Pulse Generator Interface Module (Q173Dpx)
APPENDICES APPENDIX 2.4 Manual pulse generator interface module (Q173DPX) [Unit: mm (inch)] Q173DPX PLS.A PLS.B TREN PULSER Q173DPX 23(0.91) 90(3.54) 45(1.77) 27.4(1.08) APPENDIX 2.5 Safety signal module (Q173DSXY) [Unit: mm (inch)] Q173DSXY Q173DSXY Motion 23(0.91) 90(3.54) 45(1.77) 27.4(1.08) App - 20...
Page 252: Appendix 2.6 Power Supply Module
APPENDICES APPENDIX 2.6 Power supply module [Unit: mm (inch)] (1) Q61P-A1, Q61P-A2, Q61P, Q61P-D, Q62P, Q63P Q61P POW ER PULL MITSUBISHI 90(3.54) 55.2(2.17) (2) Q64P [Unit: mm (inch)] Q64P POW ER PULL MITSUBISHI 115(4.53) 55.2(2.17) App - 21...
Page 253 APPENDICES (3) Q64PN [Unit: mm (inch)] Q64PN POW ER PULL MITSUBISHI 115(4.53) 55.2(2.17) App - 22...
Page 254: Appendix 2.7 Battery Holder Unit (Q170Dbatc)
APPENDICES APPENDIX 2.7 Battery holder unit (Q170DBATC) [Unit: mm (inch)] 2- 5.3(0.21) (Fixing screw M5 14) 40(1.57) 80(3.15) App - 23...
Page 255: Appendix 2.8 Connector
APPENDICES APPENDIX 2.8 Connector (1) Cable connector for serial absolute synchronous encoder (3M Japan Limited make (MDR type)) Type Number of pins Type Connector Connector case Solder connection type 10120-3000PE 10320-52F0-008 (Quick release metal latch type) Solder connection type 10120-3000PE 10320-52A0-008 (Threaded type) Insulation displacement type...
Page 256 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 20.9 2- 0.5(0.02) 29.7(1.17) (2) Cable connector for serial absolute synchronous encoder (3M Japan Limited make (SCR type)) Type Plug: 36210-0100PL Shell: 36310-3200-008 [Unit: mm (inch)]...
Page 257 APPENDICES (3) SSCNET cable connector [Unit: mm (inch)] 4.8(0.19) (0.07) (0.09) 17.6 0.2 (0.69 0.01) (0.31) 20.9 0.2 (0.82 0.01) (4) Battery cable connector (a) Battery holder side (Tyco Electronics Japan G.K. make) Type Connector : 1376477-3 Terminal : 1376476-1 [Unit: mm (inch)] 8.3 (0.33) 8.2 (0.32)
Page 258 APPENDICES (5) Forced stop input connector (Molex, LLC make) Type Connector : 5557-02R-210 Terminal : 5556PBTL [Unit: mm (inch)] 10.6 (0.42) (0.21) (0.14) (6) Internal I/F connector (HONDA TSUSHIN KOGYO CO., LTD. make) Type Connector : HDR-E50MSG1+ (Soldering type) HDR-E50MAG1+ (AWG30) (Pressure-displacement type) HDR-E50MG1+ (AWG28) (Pressure-displacement type) Connector case : HDR-E50LPH [Unit: mm (inch)]...
Page 259 APPENDICES (7) RIO connector (Molex, LLC make) Type Connector: 55103-300 Terminal: 50351-8100 [Unit: mm (inch)] 9.7(0.38) 7.5(0.30) 8(0.31) App - 28...
Page 260: Appendix 2.9 Manual Pulse Generator (Mr-Hdp01)
APPENDICES APPENDIX 2.9 Manual pulse generator (MR-HDP01) [Unit: mm (inch)] 3.6(0.14) 27.0 3 Studs (M4 10) (1.06) PCD72, equi-spaced +5to M3 6 8.89 Packing t=2.0 3- 4.8(0.19) (0.63) (0.79) (0.35) (0.30) equi-spaced Space The figure of a processing disc App - 29...
Page 261: Appendix 2.10 Serial Absolute Synchronous Encoder
APPENDICES APPENDIX 2.10 Serial absolute synchronous encoder (1) Q171ENC-W8 [Unit: mm (inch)] 85(3.35) 58.5(2.30) 29(1.14) 30(1.18) 7(0.28) 2(0.08) 14(0.55) 8.72 (0.34) Cross-section diagram AA' 4- 5.5(0.22) 42(1.65) 37.5(1.48) (2) Q170ENC [Unit: mm (inch)] 85(3.35) 58.5(2.30) 29(1.14) 30(1.18) 7(0.28) 2(0.08) 14(0.55) 8.72 (0.34) Cross-section...
Page 262 WARRANTY Please confirm the following product warranty details before using this product. Gratis Warranty Term and Gratis Warranty Range We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider.
Page 263 Precautions for Choosing the Products (1) For the use of our Motion controller, its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in Motion controller, and a backup or fail-safe function should operate on an external system to Motion controller when any failure or malfunction occurs.
Page 264 IB(NA)-0300133-M(1912)MEE MODEL: Q173D-U-E MODEL CODE: 1XB927 HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission.

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Melsec-q172dcpu-s1 Melsec-q173dcpu Melsec-q173dscpu Melsec-q172dscpu Melsec q series Melsec-q173dcpu-s1

Mitsubishi Electric Melsec-Q172DCPU User Manual

1 Overview

2 System Configuration

3 Design

4 Installation and Wiring

5 Start-Up Procedures

6 Inspection and Maintenance

7 Emc Directives

APPENDIX 1 Cables

APPENDIX 1.1 SSCNET Cables

APPENDIX 1.2 Serial Absolute Synchronous Encoder Cable

APPENDIX 1.3 Battery Cable

APPENDIX 1.4 Forced Stop Input Cable

APPENDIX 1.5 Internal I/F Connector Cable

APPENDIX 1.6 RIO Cable

APPENDIX 1.7 SSCNET Cables (SC-J3BUS M-C) Manufactured by Mitsubishi Electric

APPENDIX 2 Exterior Dimensions

APPENDIX 2.1 Motion CPU Module

APPENDIX 2.2 Servo External Signals Interface Module (Q172DLX)

APPENDIX 2.3 Synchronous Encoder Interface Module (Q172DEX)

APPENDIX 2.4 Manual Pulse Generator Interface Module (Q173DPX)

APPENDIX 2.5 Safety Signal Module (Q173DSXY)

APPENDIX 2.6 Power Supply Module

APPENDIX 2.7 Battery Holder Unit (Q170DBATC)

APPENDIX 2.8 Connector

APPENDIX 2.9 Manual Pulse Generator (MR-HDP01)

APPENDIX 2.10 Serial Absolute Synchronous Encoder

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