Mitsubishi Electric MR-MQ100 User Manual
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Mitsubishi Electric MR-MQ100 User Manual

Mitsubishi Electric MR-MQ100 User Manual

Motion controller
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Summary of Contents for Mitsubishi Electric MR-MQ100

  • 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. In this manual, the safety instructions are ranked as "DANGER"...
  • 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 servomotor are for holding applications, and must not be used for normal braking.
  • Page 6 CAUTION Set the sequence function program capacity setting, device capacity, latch validity range, I/O assignment setting, and validity of continuous operation during error detection to values that are compatible with the system application. The protective functions may not function if the settings are incorrect.
  • Page 7 CAUTION Always install the servomotor with reduction gears in the designated direction. Failing to do so may lead to oil leaks. Store and use the unit in the following environmental conditions. Conditions Environment Motion controller/Servo amplifier Servomotor Ambient 0°C to +40°C (With no freezing) According to each instruction manual.
  • Page 8 (4) Wiring CAUTION Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal screws for tightness after wiring. Failing to do so may lead to run away of the servomotor. After wiring, install the protective covers such as the terminal covers to the original positions. Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF) on the output side of the servo amplifier.
  • Page 9 (6) Usage methods CAUTION Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the Motion controller, servo amplifier or servomotor. Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection. 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 (9) About processing of waste When you discard Motion controller, servo amplifier, a battery (primary battery) and other option articles, please follow the law of each country (area). CAUTION This product is not designed or manufactured to be used in equipment or systems in situations that can affect or endanger human life.

  • Page 12: Revisions

    This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

  • Page 13: Table Of Contents

    2- 1 to 2-38 2.1 Motion System Configuration ........................2- 1 2.1.1 MR-MQ100 System overall configuration ..................2- 3 2.1.2 Function explanation of the MR-MQ100 Motion controller ..............2- 4 2.1.3 Restrictions on Motion controller ......................2- 4 2.2 Checking Serial Number..........................2- 5 2.3 System Configuration Equipment......................2- 6 2.4 General Specifications ..........................2- 8...
  • Page 14 4. INSTALLATION AND WIRING 4- 1 to 4-16 4.1 Motion controller Installation ........................4- 1 4.1.1 Instructions for handling ........................4- 1 4.1.2 Motion controller Installation .......................4- 2 4.1.3 Instructions for mounting the Motion controller ..................4- 3 4.2 Connection and disconnection of Cable....................4- 6 4.2.1 SSCNET cable ..........................4- 6 4.2.2 24VDC power supply cable .......................
  • Page 15 7.2.7 Synchronous encoder axis command signal list................7- 8 7.2.8 Common device list..........................7- 9 7.2.9 Common device list (Command device) ................... 7-12 7.3 Data Registers............................7-13 7.3.1 Common device list (Command device) ................... 7-13 7.3.2 Axis monitor device list........................7-15 7.3.3 Control change register list ........................ 7-16 7.3.4 Virtual servomotor axis monitor device list ..................
  • Page 16 APPENDIX 1.1 SSCNET cables......................App- 1 APPENDIX 1.2 24VDC power supply cable...................App- 4 APPENDIX 1.3 Internal I/F connector cable...................App- 5 APPENDIX 2 Exterior Dimensions ......................App-10 APPENDIX 2.1 MR-MQ100 ........................App-10 APPENDIX 2.2 Battery holder ........................App-11 APPENDIX 2.3 Connector ........................App-12 A - 15...

  • Page 17: About Manuals

    (1XB931) lists, error lists and others. (Optional) Motion Controller Setup Guidance(for MR-MQ100) (MT Developer2 Version1) IB-0300152 This manual describes those items related to the setup of the Motion controller programming software MT Developer2 (for MR-MQ100).
  • Page 18 (2) Servo amplifier Manual Number Manual Name (Model Code) SSCNET Compatible MR-J3- B Servo amplifier Instruction Manual SH-030051 This manual explains the I/O signals, parts names, parameters, start-up procedure and others for (1CW202) MR-J3- B Servo amplifier. (Optional) SSCNET interface 2-axis AC Servo Amplifier MR-J3W- B Servo amplifier Instruction Manual SH-030073 This manual explains the I/O signals, parts names, parameters, start-up procedure and others for 2-axis...
  • Page 19 MEMO A - 18...

  • Page 20: Overview

    This User's Manual describes the hardware specifications, the software specifications and handling methods of the Motion controller. This manual explains the changes between the MR-MQ100 and Q173DCPU / Q172DCPU. Refer to the other motion controller manuals for details of each function.
  • Page 21 1 OVERVIEW REMARK For information about each module and design methods for programs and parameters, refer to the following manuals. Item Reference Manual Operation method for MT Developer2 Help of each software • Performance specification Q173DCPU/Q172DCPU Motion controller • Design method for common parameter Programming Manual (COMMON) •...
  • Page 22 1 OVERVIEW 1.2 Comparison between MR-MQ100 and Q173DCPU/Q172DCPU Items MR-MQ100 Q173DCPU Q172DCPU 0.44ms/ 1 to 4 axes Operation cycle 0.88ms/ 5 to 12 axes 0.44ms/ 1 to 4 axes SV22 0.44ms/ 1 axis (default) 1.77ms/13 to 28 axes 0.88ms/ 5 to 8 axes 3.55ms/29 to 32 axes...

  • Page 23: Combination Of Software Version And A Function

    1 OVERVIEW 1.3 Combination of software version and a function There are combination 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 below. (1) Combination of software version and a function Programming software Section of...

  • Page 24: System Configuration

    2 SYSTEM CONFIGURATION 2. SYSTEM CONFIGURATION This section describes MR-MQ100 system configurations and usage precautions. 2.1 Motion System Configuration (1) Equipment configuration for MR-MQ100 system (Note-1) MITSUBISHI LITHIUM BATTERY Battery Motion controller (MR-MQ100) (Q6BAT) (Note-2) I T S U I S H...
  • Page 25 2 SYSTEM CONFIGURATION (2) Peripheral device configuration for the MR-MQ100 system Peripheral connection options are shown below. Motion controller (MR-MQ100) Ethernet cable Computer Part Connection Cable Ethernet Model name name type type standard Connection Straight 10BASE-T Ethernet with HUB cable Compliant with Ethernet standards, category 5 or higher.

  • Page 26: Mr-Mq100 System Overall Configuration

    Refer to section 13.5 for details. POINT The latest operating system software "SW9DNC-SV22QW" is preinstalled in the MR-MQ100. There is no need for customer installation. 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 .

  • Page 27: Function Explanation Of The Mr-Mq100 Motion Controller

    (5) The Motion controller uses the servo amplifier’s "stroke limit" and "DOG signal" inputs. (6) The MR-MQ100 has 4 digital inputs and 2 digital outputs. (The input signals can be used as "Mark detection signals") (7) RS-422 communication I/F functionality has been added to the internal I/F connector of the Motion controller.

  • Page 28: Checking Serial Number

    The serial number is printed on the bottom area of the face of the motion controller. PULL MITSUBISHI Rating plate PASSED MOTION CONTROLLER MODEL Q170MCPU Serial number B8Y054306 SERIAL 80M1 IND. CONT. EQ US LISTED MITSUBISHI ELECTRIC JAPAN Serial number display plate 2 - 5...

  • Page 29: System Configuration Equipment

    Length 2m(6.56ft.), With solderless terminal R1.25-3.5, With EMI terminal 24VDC power included with Q170MPWCON Connector for 24VDC power supply cable supply connector set MR-MQ100 • MR-MQ100 MR-J3- B MR-J3BUS M • Standard code for inside panel • 0.15m(0.49ft.), 0.3m(0.98ft.), 0.5m(1.64ft.), 1m(3,28ft.), 3m(9.84ft.) • MR-MQ100 MR-J3- B...
  • Page 30 CD-ROM (1 disk) (b) Motion controller engineering environment Part name Model name Medium MELSOFT MT Works2 for MR-MQ100 SW1DNC-MTW2MQ-E CD-ROM (1 disk) (Note-1) (MT Developer2 (Note-1) : This software is included in Motion controller engineering environment "MELSOFT MT Works2". (c) Servo set up software package...

  • Page 31: General Specifications

    2 SYSTEM CONFIGURATION 2.4 General Specifications General specifications of MR-MQ100 Motion Controller are shown below. Item Specification Operating ambient temperature 0 to 55°C (32 to 131°F) (Note-3) Storage ambient temperature -25 to 75°C (-13 to 167°F) Operating ambient humidity 5 to 95% RH...

  • Page 32: Specifications Of Equipment And Settings

    2 SYSTEM CONFIGURATION 2.5 Specifications of Equipment and Settings 2.5.1 Name of parts for MR-MQ100 This section explains the names and settings of the module. (1) MR-MQ100 CAUTION Close the clear cover, after using the rotary switches. 2 - 9...
  • Page 33 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. Rotary function select 2 switch (Shipped from the factory in SW1 "0", SW2 "0"...
  • Page 34 2 SYSTEM CONFIGURATION (2) 7-segment LED display The LED displays/flashes in the combination with errors. Item 7-segment LED Remark It takes about 10 seconds to initialize (RUN/STOP display). Execute the power cycle of the Motion controller if the operation stopped at initializing. It may be Start Initializing Motion controller's hardware fault when it is not...
  • Page 35 2 SYSTEM CONFIGURATION POINT (1) When an error is displayed on the 7-segment LED, confirm the error number etc. using MT Developer2. (2) Refer to the Motion controller error batch monitor of MT Developer2 or error list of the programming manual for error details. (3) Rotary switch assignment (a) Rotary function select switch 1 (SW1) (Note)
  • Page 36 2 SYSTEM CONFIGURATION (4) Operation mode (a) Rotary switch setting and operation mode (Note) Rotary switch setting Operation mode Any setting (Except C) Installation mode Mode operated by RAM Mode operated by ROM Ethernet IP address display mode (Note) Any setting SRAM clear (Note) : The programs, parameters, absolute position data, and latch data built-in Motion controller are cleared.
  • Page 37 2 SYSTEM CONFIGURATION (c) Ethernet IP address display mode overview 7-segment LED Operation overview • IP address Example(192.168.3.39) • Subnet mask pattern Example(255.255.255.0) • Default router IP address Example(192.168.3.1) Disconnect • Link status Connect (10Mbps) Full duplex Connect (100Mbps) Half duplex (Note): When the Ethernet parameters are not written in the Motion controller , the address are displayed as follows.

  • Page 38: Mr-Mq100 Hardware And Wiring

    POINT (Note-1) : Input power supply MR-MQ100 is rated for use with a 24VDC input power supply only. The MR-MQ100 unit breaks down when 28VDC or more is input. (Note-2) : Select 24VDC power supply and electric wire within the range of 21.6 to 26.4VDC including any input ripple or spike voltage measured at...
  • Page 39 2 SYSTEM CONFIGURATION (b) Pin layout of the Internal I/F connector Use the internal I/F connector on the front of the MR-MQ100 to connect to manual pulse signals and incremental synchronous encoder signals. The following is the pin layout of the MR-MQ100's internal I/F connector as viewed from the front.
  • Page 40 2 SYSTEM CONFIGURATION (2) Input signal/ Mark detection (a) Specifications of input signal/ mark detection input signal Item Specifications Number of input points 4 points Input method Positive common/ Negative common shared Isolation method Photo coupler Rated input voltage 24VDC Rated input current (I Approx.5mA 21.6 to 26.4VDC...
  • Page 41 2 SYSTEM CONFIGURATION (3) Output signal (a) Specification of output signal Item Specifications Number of output points 2 points Output method Sink/Source type Isolation method Photo coupler Rated load voltage 24VDC +/ -10% Maximum load current (l 40mA/point, 80mA/common 21.6 to 26.4VDC External supply power (24VDC +/ -10%, ripple ratio 5% or less) Maximum voltage drop at ON (V...
  • Page 42 2 SYSTEM CONFIGURATION (4) Manual pulse generator/ Incremental synchronous encoder input (a) Specification of manual pulse generator/ Incremental synchronous encoder Item Specifications Signal input form Phase A/ Phase B 1Mpps Maximum input pulse frequency (After magnification by 4, up to 4Mpps) 1 µ...
  • Page 43 Power supply (Note-1) : The 5VDC power supply from the MR-MQ100 must not be used if a separate power supply is applied to the Manual pulse generator/ incremental synchronous encoder. If a separate power supply is used, be sure it is 5V voltage. Anything else may cause a failure.
  • Page 44 Power supply (Note) : The 5VDC power supply from the MR-MQ100 must not be used if a separate power supply is applied to the Manual pulse generator/ incremental synchronous encoder. If a separate power supply is used, be sure it is 5V voltage. Anything else may cause a failure.
  • Page 45 FG(Shell) Twist pair cable (Note-1) : The 5VDC power supply from the MR-MQ100 must not be used if a separate power supply is applied to the Manual pulse generator/ incremental synchronous encoder. If a separate power supply is used, be sure it is 5V stabilized. Anything else may cause a failure.
  • Page 46 2 SYSTEM CONFIGURATION (6) RS-422 communication I/F Item Specifications Communication mode Full-duplex Synchronous method Asynchronous communication method Data transmission speed 9600/ 19200/ 38400bps Start bit Data bit Data type Parity bit Stop bit Cable length [m(ft)] Up to 30 (98.43) 2 - 23...

  • Page 47: Connecting Of 24Vdc Power Supply Connector Of Mr-Mq100

    2.5.3 24VDC power supply connector (1) Connecting of 24VDC power supply connector (a) Pin layout of the 24VDC power supply connector MR-MQ100 requires 24VDC. The pins layout (from front view) of the 24VDC connector is shown below. 24V(+) (b) DC24V power supply cable Connect 24V(+) to the 24VDC power supply connector as shown in the table below.
  • Page 48 0.1 to 0.65mm 1827587-2 terminal CAUTION 24V(+) pin is upper side and 24G pin is lower side of 24VDC connector of MR-MQ100. If the polarity is wrong, the unit may be damaged. Recommend the use of twisted pair cabling for 24VDC input.

  • Page 49: Sscnet Cables And Connection Method

    This section describes how to connect between the Motion controller and servo amplifier. SSCNET cabling is used between the Motion controller and servo amplifier. (1) Connection between the MR-MQ100 and servo amplifier PULL SSCNETⅢ cable length ･ MR-J3BUS□M use 　①≦3m(9.84ft)
  • Page 50 2 SYSTEM CONFIGURATION POINT (1) Be sure to connect SSCNET cable as per above. If the connection is incorrect, communication between the Motion controller and servo amplifier is not possible. (2) The SSCNET connector has a cap to protect the optical device inside from dust.
  • Page 51 2 SYSTEM CONFIGURATION (3) Setting of the axis No. and axis select rotary switch of servo amplifier Axis No. is used in the program to set the axis numbers of any servo amplifiers connected to the motion controller via SSCNET . Set the axis select rotary switch of the servo amplifier to "0", because the axis number is fixed in the "system structure"...

  • Page 52: Battery

    2 SYSTEM CONFIGURATION 2.5.5 Battery Below explains the specification, install procedure and handling of the Motion controller battery. (1) Battery specifications Model name Q6BAT Q7BAT Item Classification Manganese dioxide lithium primary battery Initial voltage [V] Nominal current [mAh] 1800 5000 Storage life 5 years typical (Room temperature) 5 years typical (Room temperature)
  • Page 53 2 SYSTEM CONFIGURATION (2) Data back-up of the Motion controller by the battery Be sure to set the battery to the Motion controller. Set the battery (Q6BAT/Q7BAT) to battery holder. The data (Refer to Section 6.5.) of SRAM built-in Motion controller are backed up without using the battery.
  • Page 54 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 data (Refer to Section 6.5.) of SRAM built-in Motion controller are backed up without using the battery.
  • Page 55 2 SYSTEM CONFIGURATION (3) Motion Controller connection procedure (a) Connection of the battery connector Connect the battery connector first, then store the connector and lead wire into the battery holder. PUSH (b) Install the battery holder to the motion controller Be sure that the battery's lead wire is contained completely inside the battery holder.
  • Page 56 2 SYSTEM CONFIGURATION (4) Handling the battery lead wire (a) Precautions for handling the battery lead wire • Be sure to securely hold the battery lead wire connector while connecting or removing the battery connection. Do not hold lead wire Battery lead connector PUSH (b) Connection of the battery lead wire...

  • Page 57: Software Specification Of Mr-Mq100

    2 SYSTEM CONFIGURATION 2.5.6 Software specification of MR-MQ100 (1) Motion control specifications Item Specifications Number of control axes 1 axis Operation cycle (default) 0.44ms/ 1 axis Interpolation functions None (Note-3) PTP(Point to Point) control, Speed control, Speed-position control Fixed-pitch feed, Constant speed control, Position follow-up control,...
  • Page 58 2 SYSTEM CONFIGURATION Motion control specifications (continued) Item Specifications Clock Function Provided "Write Protection" or "Read/Write Protection" can be set for "Motion SFC program", Security function "Servo program", "Mechanical system program" and "CAM data". All clear function Provided Remote Operation Remote RUN/STOP, Remote latch clear Digital Oscilloscope function Provided...
  • Page 59 2 SYSTEM CONFIGURATION (2) Motion SFC performance specifications Item Specifications Code total (Motion SFC chart + Operation control 543k bytes Motion SFC program + Transition) capacity Text total 484k bytes (Operation control + Transition) Number of Motion SFC programs 256 (No.0 to 255) Motion SFC chart size/program Up to 64k bytes (Included Motion SFC chart comments) Number of Motion SFC steps/program...
  • Page 60 2 SYSTEM CONFIGURATION (3) Mechanical system program specifications Item Specifications Number of control axes 1 axis Synchronous control, PTP (Point to Point) control, speed control, fixed-pitch feed, Control method constant-speed control, position follow-up control, speed-switching control Virtual servomotor Drive module Synchronous encoder Roller mm, inch...
  • Page 61 2 SYSTEM CONFIGURATION (3) Mechanical system program specifications (Continued) Item Specifications PTP (Point to Point) control, speed control, fixed-pitch feed, constant-speed control, Control methods position follow-up control PTP control : Selection of absolute or incremental data method Fixed-pitch feed : Incremental data method Method Constant-speed control : Both absolute and incremental data method can be used together Positioning...

  • Page 62: Design

    3 DESIGN 3. DESIGN 3.1 System Design Procedure Design a system which uses the Motion controller using the following procedure. Motion control system design Check the below items,based on the control mode and the servo external signal. When there is mechanical home position and home position return is made: Proximity dog required For speed control: Speed-position switching control signal required When overrun prevention is necessary: Stroke limit required...
  • Page 63 3 DESIGN CAUTION Provide appropriate circuits external to the Motion controller to prevent cases where danger may result from abnormal operation of the overall system in the event of an external power supply fault or the Motion controller failure. Mount the Motion controller, servo amplifier, servomotor and regenerative resistor on incombustible material.
  • Page 64 3 DESIGN CAUTION Do not touch the heat radiating fins of controller or servo amplifier, regenerative resistor and servomotor, etc. while the power is ON and for a short time after the power is turned OFF. In this timing, these parts become very hot and may lead to burns. Always turn the power OFF before touching the servomotor shaft or coupled machines, as these parts may lead to injuries.

  • Page 65: External Circuit Design

    Servo normal output (Servo normal:0N 24VDC SSCNETⅢ Alarm:OFF) Note-1 interface power supply 24VDC +24V power 24VG supply +24V 24VDC power supply for MR-MQ100 24VDC +24V power 24VG supply 24VDC power supply for electromagnetic brake ＋24V 24VDC power supply Operation Operation ready...
  • Page 66 3 DESIGN POINT <Example> For control axis 1 (1) (Note-1) : Motion SFC program example is shown in the right record. (2) (Note-2) : It is also possible to use a full wave rectified power supply as the Servo error detection power supply for the electromagnetic brake.

  • Page 67: 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 Motion controller power supplies from the lines for I/O devices and servo amplifiers as shown below.
  • Page 68 3 DESIGN (2) Grounding Without proper grounding, the Motion controller may malfunction as it is affected by various noises such as electric path noises from the power supply systems, radiated and induced noises from other equipment, servo amplifiers and their cables, and electromagnetic noises from conductors.

  • Page 69: Safety Circuit Design

    3 DESIGN 3.2.2 Safety circuit design (1) Concept of safety circuits When the Motion controller is powered on and off, normal control output may momentarily not be possible due to a delay or startup time difference between the Motion controller power supply and the external power supply (DC in particular) for the control target.

  • Page 70: Mounting Environment

    3 DESIGN 3.3 Control Panel Layout Design 3.3.1 Mounting environment Mount the Motion controller system in the following environment conditions. (1) Ambient temperature within the range of 0 to 55°C (32 to 131°F) . (2) Ambient humidity within the range of 5 to 95[%]RH. (3) No condensing due to sudden temperature changes.
  • Page 71 Install the MR-MQ100 to the left of the servo amplifier. Separate the interval between MR-MQ100 and the servo amplifier by 1mm (0.04inch) or more. Leave at least 30mm (1.18inch) of space between the MR-MQ100 and any object to its left. 3 - 10...

  • Page 72: Calculating Heat Generation By 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. "Use the "Power consumption" on section 2.5.2 "MR-MQ100 hardware and wiring" (1) Unit specification. From the power consumption, calculate a rise in ambient temperature inside the control panel.
  • Page 73 3 DESIGN MEMO 3 - 12...

  • Page 74: Installation And Wiring

    4 INSTALLATION AND WIRING 4. INSTALLATION AND WIRING 4.1 Motion Controller Installation 4.1.1 Handling Instructions 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 75: Motion Controller Installation

    4 INSTALLATION AND WIRING 4.1.2 Motion Controller Installation Be sure to fix the motion controller to the control panel using fixing screws. Not doing so could result in vibration that may cause erroneous operation. Mount the motion controller in the following procedure. (a) Temporarily fasten the bottom side screw.
  • Page 76 4 INSTALLATION AND WIRING 4.1.3 Motion Controller Mounting Instructions When mounting the Motion controller to an enclosure or similar, fully consider its operability, maintainability and environmental resistance. (1) Fitting dimensions 7mm(0.28inch) 30mm(1.18inch) (2) Motion controller mounting position Make space for air flow between the upper side and bottom side of the control panel and the motion controller.
  • Page 77 Install the MR-MQ100 to the left of the servo amplifier. Separate the interval between MR-MQ100 and the servo amplifier by 1mm (0.04inch) or more. Leave at least 30mm (1.18inch) of space between the MR-MQ100 and any object to its left. (3) Motion controller mounting orientation (a) Mount the Motion controller in the orientation shown below to ensure good ventilation for heat release.
  • Page 78 4 INSTALLATION AND WIRING (6) Distances from other devices In order to avoid the effects of radiated noise and heat, provide the clearances indicated below between the Motion controller and devices that generate noise or heat (contactors and relays). • In front of the Motion controller : 100 mm (3.94 inch) or more •...

  • Page 79: Sscnet Cable

    4 INSTALLATION AND WIRING 4.2 Cable Connection and Disconnection 4.2.1 SSCNET cable (1) Precautions for handling the SSCNET cable • Do not stomp on the SSCNET cable. • When laying the SSCNET cable, be sure to secure the minimum cable bend radius or more.
  • Page 80 4 INSTALLATION AND WIRING (4) Precautions of SSCNET cable wiring The SSCNET cable is made from optical fiber. If the optical fiber undergoes major shock, lateral pressure, haul, sudden bending or twisting, its insides may distort or break, and optical transmission will not be possible. Since the optical fiber for MR-J3BUS M, MR-J3BUS M-A is made of synthetic resin, it may melt if left near fire or high temperature.
  • Page 81 Install the MR-MQ100 to the left of the servo amplifier. Separate the interval between MR-MQ100 and the servo amplifier by 1mm (0.04inch) or more. Leave at least 30mm (1.18inch) of space between the MR-MQ100 and any object to its left. 4 - 8...
  • Page 82 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 laying cable, fix and hold it in position with using cushioning such as sponge or rubber which does not contain plasticizing material.
  • Page 83 4 INSTALLATION AND WIRING POINT (1) Be sure to connect SSCNET cable with the above connector. If the connection is mistaken, between the Motion controller and servo amplifier cannot be communicated. (2) Forcible removal the SSCNET cable from the Motion controller may damage the Motion controller and SSCNET cables.
  • Page 84 4 INSTALLATION AND WIRING POINT (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. Cable Optical cord SSCNET cable Cord Cable MR-J3BUS M MR-J3BUS M-A MR-J3BUS M-B...

  • Page 85: 24Vdc Power Supply Cable

    4 INSTALLATION AND WIRING 4.2.2 24VDC power supply cable (1) Precautions for handling the 24VDC power supply cable • For connection or removal of the 24VDC power supply cable, do it surely while holding a connector of 24VDC power supply cable. Motion controller Hook 24VDC...

  • Page 86: Wiring

    4 INSTALLATION AND WIRING 4.3 Wiring 4.3.1 Wiring Instructions DANGER Completely turn off the externally supplied power used in the system before installation or removal of the module. 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 87 4 INSTALLATION AND WIRING (c) Noise due to a lightning surge may cause an instantaneous power failure or reset of the motion controller. As a counter-measures to lightning surges, connect a surge absorber as shown below. Using the surge absorber for lightening can reduce the influence of lightening.
  • Page 88 4 INSTALLATION AND WIRING (f) As a countermeasure against a power surge due to lightning, separate the AC wiring and DC wiring and connect a surge absorber (Refer to Section 4.3.1(1)). Failure to do so increases the risk of I/O device failure due to lightning. (3) Grounding For grounding, follow the steps (a) to (c) shown below.

  • Page 89: Connecting To The Power Supply Module

    (Note) : Connect to power input terminals of I/O signals that require 24VDC. POINT (1) Use a different 24VDC power supply for MR-MQ100 and for I/O components. (2) Use different 24VDC power supplies for the MR-MQ100 and the electromagnetic brake of the servomotor.

  • Page 90: Trial Operation And Adjustment

    (7) Check that the FG terminal screws are tightened correctly. (8) Check that the FG terminal screws are tightening torque is as 4.1.1 MR-MQ100 specified. Motion controller (9) Check that the 24VDC power supply wire is twisted as tightly as 4.3.1...

  • Page 91: Trial Operation And Adjustment Procedure

    5 TRIAL OPERATION AND ADJUSTMENT 5.2 Trial Operation and Adjustment Procedure The mode indicated in the brackets [ ] at top left of Servo start-up procedure each step is the mode for checking or setting using MT Developer2. Turn OFF Motion controller power supply Motion Check that the power supply of Motion controller...
  • Page 92 5 TRIAL OPERATION AND ADJUSTMENT (Note) : An error may occur if the power is turned on before system setting. In the case, reset the Turn ON power supply again Multiple CPU system after system setting. Refer to the "Q173DCPU/Q172DCPU Motion Cycle the power of the Motion Controller.
  • Page 93 5 TRIAL OPERATION AND ADJUSTMENT DANGER When performing wiring work or inspections, [Programming] turn the power OFF, wait at least ten minutes, and then check the voltage with a tester, etc.. Create Motion programs Failing to do so may lead to electric shocks. Motion Create the Motion programs using controller...
  • Page 94 5 TRIAL OPERATION AND ADJUSTMENT [Test mode JOG operation ] Check machine operation CAUTION Check the followings by making the machine The system must have a mechanical operate with the JOG operation of MT Developer2. allowance so that the machine itself can stop (1) Machine operates correctly even if the stroke limits switch is passed (no vibration, hunting, etc.

  • Page 95: Operating System Software Installation Procedure

    5 TRIAL OPERATION AND ADJUSTMENT 5.3 Operating System Software Installation Procedure The operating system software can be installed to the Motion controller from a computer running MT Developer2. The installation procedure is shown below. START Set the first rotary switch (SW1) of the Set to installation mode.

  • Page 96: Trial Operation And Adjustment Checklist

    5 TRIAL OPERATION AND ADJUSTMENT 5.4 Trial Operation and Adjustment Checklist At the worksite, copy the following table for use as a check sheet. Check Work Step Item Trial Operation and Adjustment Confirmation Check that each module is installed correctly. Check that each connector is connected correctly.
  • Page 97 5 TRIAL OPERATION AND ADJUSTMENT MEMO 5 - 8...

  • Page 98: Inspection And Maintenance

    6 INSPECTION AND MAINTENANCE 6. INSPECTION AND MAINTENANCE In order that you can use the motion controller in normal and optimal conditions at all times, this section describes those items that must be maintained or inspected daily or at regular intervals. DANGER Do not touch the terminals while power is on.
  • Page 99 6 INSPECTION AND MAINTENANCE 6.1 Maintenance 6.1.1 Inspection Instructions In order to ensure safe and normal operation of the Motion controller, the below items must be inspected. DANGER Never open the front case while the power is ON or the unit is running, as this may lead to electric shocks.
  • Page 100 6 INSPECTION AND MAINTENANCE CAUTION Do not short circuit, charge, overheat, incinerate or disassemble the batteries. The electrolytic capacitor will generate gas during a fault, so do not place your face near the Motion controller or servo amplifier. The electrolytic capacitor and fan will deteriorate. Periodically change these to prevent secondary damage from faults.

  • Page 101: 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 Mounting of Retighten the screws are not loose and The screws and cover must be mounted securely.

  • Page 102: Periodic Inspection

    Even if the lowering of a Check the 7-segment LED on the "BT1" or "BT2" must not be battery capacity is not front side of MR-MQ100. displayed. shown, replace the battery with a new one if the service Check the length of term after...

  • Page 103: 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 104: Battery

    6 INSPECTION AND MAINTENANCE 6.5 Battery The battery installed in the Motion controller is used for data retention of the program memory and latch device during a power failure. Special relays SM51, SM52, SM58, or SM59 turn on due to a decrease in battery voltage.

  • Page 105: Battery Life

    6 INSPECTION AND MAINTENANCE 6.5.1 Battery life The battery life is shown below. Battery life (Total power failure time) [h] (Note-1) Actual service value Power-on time Guaranteed value Guaranteed value Module type (Note-5) Backup time after alarm ratio (Note-3) (Note-4) (Reference value) (Note-6) (Note-2)
  • Page 106 6 INSPECTION AND MAINTENANCE POINT (1) Do not use any battery having exceeded 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 Motion controller power-OFF.

  • Page 107: Battery Replacement Procedure

    6 INSPECTION AND MAINTENANCE 6.5.2 Battery replacement procedure (1) Battery replacement procedure of the Battery holder unit When the battery has been exhausted, replace the battery with a new one in accordance with the procedure shown below. POINT When replacing the battery, pay attention to the following. (1) Back up the data using MT Developer2 before starting replacement.

  • Page 108: 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 109: 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 110 6 INSPECTION AND MAINTENANCE 6.6.2 Motion Controller Troubleshooting This section gives error code descriptions and details corrective actions. (1) Troubleshooting flowchart The following shows the issues classified into a variety of groups according to the types of events. Error-occurrence description "POWER"...
  • Page 111 6 INSPECTION AND MAINTENANCE (a) Flowchart for when the "POWER" LED turns off The following shows the flowchart when the "POWER" LED turns off while turning on the or during operation. "POWER" LED turns off Is there power? Supply power. Does "POWER"...
  • Page 112 6 INSPECTION AND MAINTENANCE Remove the internal I/F connector from the Motion controller. Does "POWER" LED turn on? A manual pulse generator or a synchronous encoder break down. the cable is disconnected. (A normal manual pulse generator or normal synchronous encoders are exchanged.) Does "POWER"...
  • Page 113 6 INSPECTION AND MAINTENANCE (b) 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. Does "POWER" LED turn on? "Flowchart for when "POWER" LED turns off"...
  • Page 114 6 INSPECTION AND MAINTENANCE (c) Flowchart for when "A00" displays on 7-segment LED "A00" displays when the operating system software is not installed. The following shows the flowchart when the "A00" displays at the power supply ON or operation start. "A00"...
  • Page 115 6 INSPECTION AND MAINTENANCE (d) 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 when the "AL" (flashes 3 times) Steady "L01" display" displays during operation. "AL"...
  • Page 116 6 INSPECTION AND MAINTENANCE (e) Flowchart for when "AL" "A1" " " displays on 7-segment LED. ""AL" (flashes 3 times) Steady "A1" display " "" displays at the self- diagnosis error occurrence. : 4-digits error code is displayed in two sequential flashes of 2-digits each. "AL"...
  • Page 117 6 INSPECTION AND MAINTENANCE (f) 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 "BT "...
  • Page 118 6 INSPECTION AND MAINTENANCE (g) 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 119 6 INSPECTION AND MAINTENANCE (h) 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 controller? Does servo amplifier start? the control power supply of servo...
  • Page 120 6 INSPECTION AND MAINTENANCE (i) 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 121: Confirming Error Code

    6 INSPECTION AND MAINTENANCE 6.6.3 Confirming error code The error code and error message can be read using MT Developer2. The procedure for reading error is as follows. (1) Connect a computer to the PERIPHERAL I/F of the Motion controller. (2) Start MT Developer2.

  • Page 122: I/O Circuit Troubleshooting

    Motion Motion turned controller controller OFF. <Calculation example of Example 1> If a switch with LED display is connected to MR-MQ100, and current of 4 [mA] is leaked. MR-MQ100 Leakage current 4[mA] Input module 3.6[kΩ] 24[VDC] (a) Because the condition for OFF voltage (0.9[mA]) of MR-MQ100 is not satisfied.
  • Page 123 6 INSPECTION AND MAINTENANCE (b) Calculate the connecting resistor value R as indicated below. To satisfy the 0.9 [mA] OFF current of the MR-MQ100, the resistor R to be connected may be the one where 3.1 [mA] or more will flow.

  • Page 124: Positioning Dedicated Signals

    7 POSITIONING DEDICATED SIGNALS 7. POSITIONING DEDICATED SIGNALS The device list that can be used with the Motion controller is shown below. 7.1 Device List The range of devices that can be used is shown below. Device Numeric Class Type Device Name Points Setting range...

  • Page 125: Internal Relays

    7 POSITIONING DEDICATED SIGNALS 7.2 Internal relays The available numbers of axes are below. Real mode : 1 axis Virtual mode: Virtual axes=8, Output axis=1, Synchronous encoder=1 7.2.1 Internal relay list Device No. Purpose Remark User device (2000 points) M2000 Common device (320 points) M2320...
  • Page 126 7 POSITIONING DEDICATED SIGNALS Device No. Purpose Remark M8192 Not available (4096 points) M12287 It can be used as an user device. (Note-1) : It can be used as a user device in real mode only. (Note-2) : Do not set "M4000 to M5487" as the latch range in Virtual mode. (Note-3) : "Cam axis command signals"...

  • Page 127: Axis Status List

    7 POSITIONING DEDICATED SIGNALS 7.2.2 Axis status list Refer to "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for details. Axis Device No. Signal name M2400 Signal Signal name Refresh cycle Fetch cycle M2419 direction 0 Positioning start complete 1 Positioning complete 2 In-position Operation cycle 3 Command in-position...

  • Page 128: Axis Command Signal List

    7 POSITIONING DEDICATED SIGNALS 7.2.3 Axis command signal list Refer to "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for details. Axis No. Device No. Signal name M3200 to M3219 Signal Signal name Refresh cycle Fetch cycle direction 0 Stop command Operation cycle 1 Rapid stop command 2 Forward rotation JOG start command...

  • Page 129: Virtual Servomotor Axis Status List

    7 POSITIONING DEDICATED SIGNALS 7.2.4 Virtual servomotor axis status list Refer to "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (VIRTUAL MODE)" for details. Axis No. Device No. Signal name M4000 to M4019 M4020 to M4039 Virtual Refresh Fetch Signal M4040 to M4059 Signal name Real Ball...

  • Page 130: Virtual Servomotor Axis Command Signal List

    7 POSITIONING DEDICATED SIGNALS 7.2.5 Virtual servomotor axis command signal list Refer to "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (VIRTUAL MODE)" for details. Axis No. Device No. Signal name M4800 to M4819 M4820 to M4839 Virtual Refresh Fetch Signal M4840 to M4859 Signal name Real Ball...

  • Page 131: Synchronous Encoder Axis Status List

    7 POSITIONING DEDICATED SIGNALS 7.2.6 Synchronous encoder axis status list Refer to "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (VIRTUAL MODE)" for details. Axis No. Device No. Signal name M4640 to M4643 Signal Signal name Real Virtual Refresh cycle Fetch cycle direction 0 Error detection Immediately...

  • Page 132: Common Device List

    7 POSITIONING DEDICATED SIGNALS 7.2.8 Common device list Refer to "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for details. Device Signal Remark Device Signal Remark Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle direction (Note-4) direction (Note-4) Command...
  • Page 133 7 POSITIONING DEDICATED SIGNALS Common device list (Continued) Remark Remark Device Signal Device Signal Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle (Note-4) (Note-4) direction direction M2119 M2188 M2120 M2189 M2121 M2190 M2122 M2191 Unusable — —...
  • Page 134 (Note-1): Axes 1 to 8 can be set as a Virtual axis. (Up to 3 axes can be used). Axis 1 can be set as a Real axis. (Note-2): Device areas for axis9 or larger cannot be used with the MR-MQ100 . (Note-3): This signal is unusable in real mode.

  • Page 135: Common Device List (Command Device)

    7 POSITIONING DEDICATED SIGNALS 7.2.9 Common device list (Command device) Refer to "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for details. Remark Device No. Signal name Refresh cycle Fetch cycle Signal direction (Note-1), (Note-2) Main cycle M3072 PLC ready flag M2000 M3073 Speed switching point specified flag...

  • Page 136: Data Registers

    7 POSITIONING DEDICATED SIGNALS 7.3 Data Registers 7.3.1 Data register list Real Virtual Device No. Purpose Remark mode mode Real mode : Axis status Axis monitor device Virtual mode : Output (20 points) module Not available — — (620 points) Real mode : Axis status D640...
  • Page 137 7 POSITIONING DEDICATED SIGNALS POINT (1) Total number of points for the user devices 6632 points (2) (Note-1) : Current value of synchronous encoder is updated in Real mode. (3) This manual describes only details for data registers used in the virtual mode. If it is required, refer to the "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)".

  • Page 138: Axis Monitor Device List

    7 POSITIONING DEDICATED SIGNALS 7.3.2 Axis monitor device list Refer to "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for details. Axis Device No. Signal name D0 to D19 Signal Signal name Real Virtual Refresh cycle Unit direction Feed current value/ roller cycle speed Command unit...

  • Page 139: Control Change Register List

    7 POSITIONING DEDICATED SIGNALS 7.3.3 Control change register list Refer to "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for details. Axis Device No. Signal name D640, D641 D642, D643 Signal Signal name Real Virtual Fetch cycle Unit direction D644, D645 D646, D647 Command Command...

  • Page 140: Virtual Servomotor Axis Monitor Device List

    7 POSITIONING DEDICATED SIGNALS 7.3.4 Virtual servomotor axis monitor device list Refer to "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (VIRTUAL MODE)" for details. Axis No. Device No. Signal name D800 to D809 D810 to D819 Refresh Fetch Signal D820 to D829 Signal name Real Virtual...

  • Page 141: Synchronous Encoder Axis Monitor Device List

    7 POSITIONING DEDICATED SIGNALS 7.3.5 Synchronous encoder axis monitor device list Refer to "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (VIRTUAL MODE)" for details. Axis No. Device No. Signal name D1120 to D1129 Refresh Signal Signal name Real Virtual Fetch cycle cycle direction Operation...

  • Page 142: Common Device List

    7 POSITIONING DEDICATED SIGNALS 7.3.7 Common device list Refer to "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for details. Device Signal Device Signal Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle direction direction Manual pulse generator 1 At the manual pulse Command D704...

  • Page 143: Motion Registers

    7 POSITIONING DEDICATED SIGNALS 7.4 Motion registers The motion registers (#0 to #12287) are available as the Motion controller-dedicated devices. they can be used in operation control(F/FS) program or transition (G) programs. Motion device Item Specifications Motion register (#) Number of points 12288 points (#0 to #12287) Data size 16-bit/points...

  • Page 144: Axis Monitor Device 2

    7 POSITIONING DEDICATED SIGNALS 7.4.2 Axis monitor device 2 Information for the axis is stored in the monitor devices. Refer to "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for details. Axis Device No. Signal name #8000 to #8019 Signal Signal name signal description Refresh cycle...

  • Page 145: Motion Error History Devices

    7 POSITIONING DEDICATED SIGNALS 7.4.3 Motion error history devices The Motion error history devices are shown below. Refer to "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for details. Refresh Fetch Signal direction Device No. Signal name cycle cycle Status Command Seventh error information in past #8640 to #8651...
  • Page 146 7 POSITIONING DEDICATED SIGNALS 7.4.4 Mark detection devices (1) Mark detection monitor devices Mark detection Device No. Signal name function No. #8896 to #8975 Signal Signal name Refresh cycle direction #8976 to #9055 Mark detection data current monitor Operation cycle Number of marks detected At mark detection #9056 to #9135...
  • Page 147 7 POSITIONING DEDICATED SIGNALS (2) Mark detection setting devices Mark detection Device No. Signal name function No. #7912 to #7919 Signal Signal name Fetch cycle direction Command Registration code Main cycle device Mark detection Device No. Signal name function No. #7920 to #7939 #7940 to #7959 Signal...

  • Page 148: Devices For Extension Io Unit

    7 POSITIONING DEDICATED SIGNALS 7.4.5 Devices for extension IO unit (1) Analog output devices Axis No. Device No. Signal name #8736 to #8737 Pin No. of Signal Signal name Fetch cycle direction MR-J3-D01 Operation cycle 0.8 [ms] or less : 0.8 [ms] 0 Analog output ANO1 CN20-4 Command...

  • Page 149: Special Relays/Special Registers

    7 POSITIONING DEDICATED SIGNALS 7.5 Special relays/Special registers 7.5.1 Special relays Special relays are internal relays whose applications are fixed in the Motion controller. For this reason, they cannot be used in the same way as the normal internal relays by the Motion SFC programs.
  • Page 150 7 POSITIONING DEDICATED SIGNALS Special relay list Set by Name Meaning Details Remark (When set) • Turns ON if an error occurs as a result of diagnosis. • Remains ON even if the condition is restored to normal OFF : No error thereafter.
  • Page 151 7 POSITIONING DEDICATED SIGNALS Special relay list (Continued) Set by Name Meaning Details Remark (When set) • When the PLC ready flag (M2000) turns from OFF to ON, ON : PCPU READY the fixed parameters, servo parameters and limit switch PCPU READY completion SM500...

  • Page 152: Special Registers

    7 POSITIONING DEDICATED SIGNALS 7.5.2 Special registers Special registers are internal registers whose applications are fixed in the Motion controller. For this reason, it is not possible to use these registers in Motion SFC programs in the same way that normal registers are used. However, data can be written as needed in order to control the Motion controller.
  • Page 153 7 POSITIONING DEDICATED SIGNALS Special register list Set by Name Meaning Details Remark (When set) • Error codes for any errors discovered during diagnosis are stored as BIN data. • Refer to "APPENDIX 3" for details of the error code. Diagnostic error •...
  • Page 154 7 POSITIONING DEDICATED SIGNALS Special register list (Continued) Set by Name Meaning Details Remark (When set) SD16 SD17 SD18 SD19 SD20 Error individual Error individual — SD21 information information SD22 SD23 S (Occur an error) SD24 SD25 SD26 • Every time the input voltage falls to or below 85[%] of the rating (DC power) AC/DC DOWN Number of times SD53...
  • Page 155 7 POSITIONING DEDICATED SIGNALS Special register list (Continued) Set by Name Meaning Details Remark (When set) • The year (last two digits) and month are stored as BCD code. Example : July, 2006 Clock data H0607 SD210 (Year, Month) Year Month •...
  • Page 156 7 POSITIONING DEDICATED SIGNALS Special register list (Continued) Set by Name Meaning Details Remark (When set) • The loading status (loading: 1/non-loading: 0) of the servo amplifier checked in initial process, and stored as the bit data. Servo amplifier SD502 : b0 (Axis 1) SD502 Servo amplifier loading...

  • Page 157: I/O Devices

    7 POSITIONING DEDICATED SIGNALS 7.6 I/O devices 7.6.1 Input device list Device No. Purpose User devices [PX assignment] (4096 points) X1000 Not available (3584 points) X1E00 Input devices for extension IO unit  (16 points 1 axis) X1E10 Not available (496 points) X1FFF 7.6.2 Output device list...

  • Page 158: Input Device

    7 POSITIONING DEDICATED SIGNALS 7.6.3 Input device Axis Device No. Signal name X1E00 to X1E0F Pin No. of Signal name Fetch cycle Signal direction MR-J3-D01 0 Input signal DI0 CN10-1 1 Input signal DI1 CN10-2 2 Input signal DI2 CN10-3 3 Input signal DI3 CN10-4 4 Input signal DI4...
  • Page 159 7 POSITIONING DEDICATED SIGNALS MEMO 7 - 36...

  • Page 160: Parameters For Positioning Control 8- 1 To

    8 PARAMETERS FOR POSITIONING CONTROL 8. PARAMETERS FOR POSITIONING CONTROL 8.1 Fixed Parameters (1) The user sets the fixed parameters for each axis based on the mechanical system requirements, etc. (2) Fixed parameters are set using MT Developer2. (3) Refer to "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)"...

  • Page 161: Parameter Block

    8 PARAMETERS FOR POSITIONING CONTROL 8.2 Parameter Block (1) Parameter blocks allow for easy setting changes by allowing data such as acceleration/deceleration control to be set once and then reused for multiple positioning processes. (2) A maximum of 64 parameter blocks can be created. (3) Parameter blocks can be set using MT Developer2.
  • Page 162 8 PARAMETERS FOR POSITIONING CONTROL POINT The data set in the parameter block is used in positioning control, home position return and JOG operation. (1) The parameter block No. used in the positioning control is set using MT Developer2 during creation of the servo program. If it is not set, control is executed with the contents of parameter block No.1.

  • Page 163: Jog Operation Data

    8 PARAMETERS FOR POSITIONING CONTROL 8.3 JOG Operation Data (1) The settings for JOG operation is executed. (2) Individual start or simultaneous start can be used in JOG operation. (3) JOG operation can be executed using the Motion SFC program or test mode of MT Developer2.

  • Page 164: Home Position Return

    8 PARAMETERS FOR POSITIONING CONTROL 8.4 Home Position Return (1) Use home position return immediately after power supply ON or at other times when confirmation of axis location is required. Six methods for home position return are as follows. • Proximity dog type •...
  • Page 165 8 PARAMETERS FOR POSITIONING CONTROL Table 8.4 Home position return data list Setting range Indirect setting Initial inch degree Units Item value Valid/ Number Setting range Units Setting range Units Setting range Units Setting range Units invalid of words Home position 0: Reverse direction (Address decrease direction) return direction 1: Forward direction (Address increase direction)
  • Page 166 8 PARAMETERS FOR POSITIONING CONTROL Remarks Item Home position • The home position return direction is set. return direction • The home position return method is set. • The proximity dog type or count type are recommended for servo amplifier’s/systems which do not support absolute value. Home position return method •...
  • Page 167 8 PARAMETERS FOR POSITIONING CONTROL MEMO 8 - 8...

  • Page 168: Servo Programs For Positioning Control

    9 SERVO PROGRAMS FOR POSITIONING CONTROL 9. SERVO PROGRAMS FOR POSITIONING CONTROL Servo programs specify the type of the positioning data required to execute positioning control in the Motion controller. This chapter describes the configuration and setting method of the servo programs. 9.1 Servo Program Composition Area This section describes the composition of servo programs and the area in which they are stored.

  • Page 169: Servo Program Area

    9 SERVO PROGRAMS FOR POSITIONING CONTROL (3) Positioning data ..This is the required data for executing servo instructions. The data required is fixed for each servo instruction. The following applies for the servo program shown in Figure 9.1: • Axis used and Data which must be set in order to positioning address execute the servo instruction.

  • Page 170: Servo Instructions

    9 SERVO PROGRAMS FOR POSITIONING CONTROL 9.2 Servo Instructions The servo instructions used in the servo programs are shown below. Refer to the "Q173DCPU/Q172DCPU Motion Controller (SV13/SV22) Programming Manual (Motion SFC)" for details of the current value change control (CHGA, CHGA-E, CHGA-C).
  • Page 171 9 SERVO PROGRAMS FOR POSITIONING CONTROL (2) Servo instruction list The servo program servo instructions and available positioning data used are shown in Table 9.2. Refer to Section 9.3 for details of the servo instruction positioning data. Table 9.2 Servo instruction list Positioning data Common Arc/Helical...
  • Page 172 9 SERVO PROGRAMS FOR POSITIONING CONTROL Refer to "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for details. Servo instructions which need multiple axes like "Linear Interpolation control" and "Circular Interpolation control" are set in Virtual mode. Positioning data Parameter block Others (Note-2) Number of steps —...
  • Page 173 9 SERVO PROGRAMS FOR POSITIONING CONTROL Table 9.2 Servo Instruction List (continued) Positioning data Common Arc/Helical Instruction Processing symbol — Virtual enable Number of steps Number of indirect words — Absolute central point-specified circular interpolation CW Absolute central point-specified circular interpolation CCW Incremental central point-specified circular interpolation CW...
  • Page 174 9 SERVO PROGRAMS FOR POSITIONING CONTROL Positioning data Parameter block Others (Note-2) Number of steps — — — — — — — — Note-2 Note-2 Note-2 Note-2 Note-2 — 1(B) 1(B) 1(B) 1(B) 1(B) 7 to 22 10 to 27 9 to 26 10 to 27 : Must be set.
  • Page 175 9 SERVO PROGRAMS FOR POSITIONING CONTROL Table 9.2 Servo Instruction List (continued) Positioning data Common Arc/Helical Instruction Processing symbol Virtual enable — Number of steps Number of indirect words — FEED-1 1-axis fixed-pitch feed start 2-axes linear interpolation FEED-2 fixed-pitch feed start 3-axes linear interpolation FEED-3 fixed-pitch feed start...
  • Page 176 9 SERVO PROGRAMS FOR POSITIONING CONTROL Positioning data Parameter block Others (Note-2) Number of steps — — — — — — — — Note-2 Note-2 Note-2 Note-2 Note-2 — 1(B) 1(B) 1(B) 1(B) 1(B) 4 to 17 5 to 19 7 to 21 3 to 15 3 to 16...
  • Page 177 9 SERVO PROGRAMS FOR POSITIONING CONTROL Table 9.2 Servo Instruction List (continued) Positioning data Common Arc/Helical Instruction Processing symbol — Virtual enable Number of steps — Number of indirect words Speed control with fixed position stop absolute specification PFSTART Position follow-up control start CPSTART1 1-axis constant-speed control start CPSTART2...
  • Page 178 9 SERVO PROGRAMS FOR POSITIONING CONTROL Positioning data Parameter block Others (Note-2) Number of steps — — — — — — — — Note-2 Note-2 Note-2 Note-2 Note-2 — 1(B) 1(B) 1(B) 1(B) 1(B) 6 to 19 4 to 16 3 to 15 3 to 17 4 to17...
  • Page 179 9 SERVO PROGRAMS FOR POSITIONING CONTROL Table 9.2 Servo Instruction List (continued) Positioning data Common Arc/Helical Instruction Processing symbol — Virtual enable Number of steps — Number of indirect words INC-1 INC-2 INC-3 INC-4 Constant-speed control passing point incremental specification Constant-speed control passing point helical incremental specification CPEND...
  • Page 180 9 SERVO PROGRAMS FOR POSITIONING CONTROL Positioning data Parameter block Others (Note-2) Number of steps — — — — — — — — Note-2 Note-2 Note-2 Note-2 Note-2 — 1(B) 1(B) 1(B) 1(B) 1(B) 2 to 10 3 to 11 4 to 12 5 to 13 5 to 14...
  • Page 181 9 SERVO PROGRAMS FOR POSITIONING CONTROL Table 9.2 Servo Instruction List (continued) Positioning data Common Arc/Helical Instruction Processing symbol — Virtual enable Number of steps — Number of indirect words FOR-TIMES FOR-ON Repeat range start setting FOR-OFF NEXT Repeat range end setting START Simultaneous start ZERO...
  • Page 182 9 SERVO PROGRAMS FOR POSITIONING CONTROL Positioning data Parameter block Others (Note-2) Number of steps — — — — — — — — Note-2 Note-2 Note-2 Note-2 Note-2 — 1(B) 1(B) 1(B) 1(B) 1(B) 2 to 3 5 to 10 : Must be set.

  • Page 183: Positioning Data

    9 SERVO PROGRAMS FOR POSITIONING CONTROL 9.3 Positioning Data The positioning data set in the servo programs is shown in Table 9.3. Refer to "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for details. Table 9.3 Positioning data Setting value using MT Developer2 Setting range Name Explanation...
  • Page 184 9 SERVO PROGRAMS FOR POSITIONING CONTROL Setting value using the Motion SFC program (Indirect setting) Indirect setting Processing at the setting error Setting range Error item information Possible/ Number of Control using Not start (Stored in SD517) not possible used words default value inch degree...
  • Page 185 9 SERVO PROGRAMS FOR POSITIONING CONTROL Table 9.3 Positioning data (Continued) Setting value using MT Developer2 Setting range Name Explanation Default value inch degree • Set at the auxiliary point-specified circular -214748364.8 to Absolute -21474.83648 -2147483648 interpolation. 214748364.7 0 to 359.99999 data method to 21474.83647 to 2147483647...
  • Page 186 9 SERVO PROGRAMS FOR POSITIONING CONTROL Setting value using the Motion SFC program (Indirect setting) Indirect setting Processing at the setting error Setting range Error item information Possible/ Number of used Control using Not start (Stored in SD517) not possible words default value inch...
  • Page 187 9 SERVO PROGRAMS FOR POSITIONING CONTROL Table 9.3 Positioning data (Continued) Setting value using MT Developer Setting range Name Explanation Default value inch degree Repeat condition Set the repeat conditions between FOR- (Number of TIMES instruction and NEXT instruction. 1 to 32767 repetitions) Repeat condition Set the repeat conditions between FOR-...
  • Page 188 9 SERVO PROGRAMS FOR POSITIONING CONTROL Table 9.3 Positioning data (Continued) Setting value using the Motion SFC program (Indirect setting) Indirect setting Processing at the setting error Setting range Error item information Possible/ Number of used Control using (Stored in SD517) Not start not possible words...
  • Page 189 9 SERVO PROGRAMS FOR POSITIONING CONTROL MEMO 9 - 22...

  • Page 190: Motion Sfc Programs

    10 MOTION SFC PROGRAMS 10. MOTION SFC PROGRAMS 10.1 Motion SFC Performance Specifications This chapter describes the Motion SFC program. Refer to "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)" for details. (a) Motion SFC Performance Specifications Item Specifications Code total (Motion SFC chart + Operation control 543k bytes Motion SFC program capacity...
  • Page 191 10 MOTION SFC PROGRAMS (a) Motion SFC Performance Specifications(continued) Item Specifications I/O (X/Y) points 8192 points I/O (PX/ PY) points Internal I/F (Input 4 points/ Output 2 points) internal relays 12288 points Link relays 8192 points Annunciators relays 2048 points Number of devices Special relays (SM)

  • Page 192: Motion Sfc Chart Symbol List

    10 MOTION SFC PROGRAMS 10.2 Motion SFC Chart Symbol List Motion SFC program components are shown below. The operation sequence or transition control is expressed by connecting these symbols with directed lines in the Motion SFC program. Symbol Classification Name List Representation Function (Code size (byte))
  • Page 193 10 MOTION SFC PROGRAMS Symbol Classification Name List representation Function (Code size (byte)) • If preceded by a motion control step, transitions to the next step after meeting transition condition Gn (G0 to G4095) without waiting for the motion operating completion.
  • Page 194 10 MOTION SFC PROGRAMS Symbol Classification Name List representation Function (Code size (byte)) • If preceded by a motion control step, waits for motion operation completion and then transitions to the next step after meeting transition condition Gn (G0 to IFBm G4095).

  • Page 195: Branch And Coupling Chart List

    10 MOTION SFC PROGRAMS 10.3 Branch and Coupling Chart List Branch and coupling patterns which specify step and transition sequences in the Motion SFC charts are shown below. Name List Motion SFC chart symbol Function (Code size (byte)) representation • Steps and transitions connected in series are List processed in order from top to bottom.
  • Page 196 10 MOTION SFC PROGRAMS Combining basic type branches/couplings provides the following application types. List Name Motion SFC chart symbol Function representation • After a selective branch, a parallel branch can be CALL Kn performed. IFBm IFT1 SFT Gn IFBm PABm Selective branch IFT1 IFT2...
  • Page 197 10 MOTION SFC PROGRAMS List Name Motion SFC chart symbol Function representation • After a selective branch, a selective branch can be CALL Kn performed. IFBm IFT1 SFT Gn IFBm+1 IFBm IFT1 Selective branch IFT1 IFT2 SFT Gn’ IFBm+1 Selective branch IFT1 IFT2 JMP IFEm+1...
  • Page 198 10 MOTION SFC PROGRAMS List Name Motion SFC chart symbol Function representation • The selective coupling point and parallel branch (JMP IFEm) point can be the same. IFEm Note that in the Motion SFC chart, this type is PABm displayed in order of a selective coupling PAT1 parallel branch, as shown on the left.
  • Page 199 10 MOTION SFC PROGRAMS 10.4 Operation/Transition Control Specifications (1) Table of Operation/Transition Control Specifications Item Specifications Remark Returns a numeric result. Calculation expression Expressions for calculating indirectly specified data using constants D100+1,SIN(D100), etc. and word devices. Bit conditional Returns a true or false result. M0, !M0, M1*M0, Expression expression...
  • Page 200 10 MOTION SFC PROGRAMS Table of the operation control/transition control specification (continued) Item Specifications Remark 16-bit integer type (signed) -32768 to 32767 (None) K10, D100, etc. 16-bit integer type (unsigned) 0 to 65535 32-bit integer type (signed) -2147483648 to 2147483647 Data type 2000000000, W100L, etc.
  • Page 201 10 MOTION SFC PROGRAMS (2) Table of the operation control/transition instruction Usable step transition's Classification Symbol Function Format Basic steps conditional F/FS expression Substitution (D)=(S) — Addition (S1)+(S2) — Subtraction (S1)-(S2) — Binary operation Multiplication (S1)*(S2) — Division (S1)/(S2) — Remainder (S1)%(S2) —...
  • Page 202 10 MOTION SFC PROGRAMS Table of the operation control/transition instruction (continued) Usable step transition's Classification Symbol Function Format Basic steps conditional F/FS expression (None) Logical acknowledgment (Conditional expression) Logical negation !(Conditional expression) (Conditional expression) * Logical operation Logical AND (conditional expression) (Conditional expression) + Logical OR (conditional expression)

  • Page 203: Program Parameters

    10 MOTION SFC PROGRAMS 10.5 Program Parameters Set the following parameters for every Motion SFC program. Item Setting range Initial value Remark Start setting Automatically started or not Not setting Can be either a normal, event or NMI task. Normal task When you have set the event task, further set the event.

  • Page 204: Device Descriptions

    10 MOTION SFC PROGRAMS 10.6 Device Descriptions Word and bit device descriptions are shown below. (1) Word device descriptions Device descriptions 64-bit 32-bit Device No. (n) specified ranges 16-bit floating-point integer type integer type type ("n" is even No.) ("n" is even No.) Data register 0 to 8191 Link register...
  • Page 205 10 MOTION SFC PROGRAMS MEMO 10 - 16...

  • Page 206: Mechanical System Program

    11 MECHANICAL SYSTEM PROGRAM 11. MECHANICAL SYSTEM PROGRAM This section describes virtual mode of the mechanical system program. In the mechanical system program (Mechanical support language), mechanical hardware that historically has been used to perform synchronous control such as gears, shafts, belts, pulleys, cams and variable speed changers, etc.

  • Page 207: Mechanical Module Connection Diagram

    11 MECHANICAL SYSTEM PROGRAM 11.1 Mechanical Module Connection Diagram The mechanical module connection diagram depicts a virtual system composed of user arranged mechanical modules. Configuration of the mechanical module connection is shown in Fig. 11.1 below. Indicates rotation direction Virtual axis Drive module Transmission module Virtual main shaft...
  • Page 208 11 MECHANICAL SYSTEM PROGRAM (1) Block The term "block" is one set of mechanical modules beginning after a virtual transmission module (gear) connected to the virtual main shaft and ending at the output module. Refer to Section 11.2 for the number of mechanical modules which can be connected in a single block.
  • Page 209 11 MECHANICAL SYSTEM PROGRAM (a) Transmission modules which can be used in the above "A" and "B" 1) A clutch, speed change gear, and "clutch + speed change gear" can be used in "A" and "B". 2) There are no restrictions on connection constraints if a "clutch + speed change gear"...

  • Page 210: Mechanical Module List

    11 MECHANICAL SYSTEM PROGRAM 11.2 Mechanical Module List An overview of the mechanical modules used in the virtual mode connection diagram is shown in Table 11.1. Refer to the "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (VIRTUAL MODE)" for details of the mechanical modules. Table 11.1 Mechanical Module List Mechanical Module Maximum Number of Usable...

  • Page 211: Device Range

    11 MECHANICAL SYSTEM PROGRAM 11.3 Device range The below devices can be used for "Indirect setting" of "Transmission module" and "Output module" in Mechanical support language. (1) Bit devices Table 11.2 Bit devices List Name Setting range Input relay X0000 to X1FFF Output relay Y0000 to Y1FFF Internal relay...

  • Page 212: Communication

    12 COMMUNICATION 12. COMMUNICATION Connection compatibility of the Motion controller with the dedicated software and GOT is shown below. Transfer MT Developer2 Peripheral device interface RS-422 communication I/F (Note-1) Direct connection PERIPHERAL I/F Connection via HUB :Possible : Impossible Note-1: Functionality varies by version. Please see Section 1.3 for details. 12.1 Connection to peripheral devices There are two ways to communicate between the Motion controller and a computer: "Direct connection"...
  • Page 213 12 COMMUNICATION (1) Direct connection settings Select "Ethernet Port Direct connection" on the Transfer Setup screen. Transfer Setup (Online > Transfer Setup) 1) Select "Ethernet Board" for PC side I/F. 2) Select "CPU Module" for CPU side I/F. Select the "Ethernet Port Direct Connection" on the CPU side I/F Detail Setting of PLC Module screen.
  • Page 214 12 COMMUNICATION (2) Note (a) When you want to use a hub, refer to next section "Hub Connection" Computer PULL (b) Do not connect to a LAN with "Direct connection" setting. The LAN line will become busy and may effect communication of other equipment on the LAN. (c) IP address setting does not matter when using a direct connection.

  • Page 215: Hub Connection

    12 COMMUNICATION 12.1.2 Hub Connection The Motion controller can be connected to multiple computers through a hub. Computer PULL Ethernet cable (straight cable) Ethernet cable (straight cable) PERIPHERAL I/F (Ethernet) Panel computer (1) Hub connection settings Before connection with a hub can be made, the Motion controller’s settings must be changed using a direct connection method.
  • Page 216 12 COMMUNICATION (c) "Open Setting" of the Motion controller Select TCP or UDP to correspond to current setting of the computer. TCP is recommended, because of the quality of the communication. "Open Setting" (System Setting > Basic Setting > Built-in Ethernet Port Setting > Open Setting) (d) Writing parameters Write parameters to the Motion controller.
  • Page 217 12 COMMUNICATION (g) Transfer Setup of the computer (MT Developer2) Select "Connection via Hub" on the Transfer Setup screen. Transfer Setup (Online > Transfer Setup) Select "Ethernet Board" Select "CPU Module" . Choose this setting. "CPU side I/F Detailed Setting of PLC Module" Select "Connection via Hub"...
  • Page 218 12 COMMUNICATION (2) Hub connection setting (a) IP Address The IP address of the Motion controller has to be considered when the IP address of the computer is already set. The below setting is one example. (For instance, the IP address of the computer is [192.168.1.1]) The IP address of the computer For instance [192.168.1.1] is already set as...
  • Page 219 12 COMMUNICATION (b) Up to 16 different equipment can access the Motion controller. (c) Hub The hub can be either a 10BASE-T or 100BASE-TX port. (It has to meet IEEE802.3 100BASE-TX or IEEE802.3 10BASE-T) (d) The Ethernet cables must to be installed away from power cabling lines. (e) The connections cannot be guaranteed under below conditions: •...

  • Page 220: Setting Cpu Name

    12 COMMUNICATION 12.1.3 Setting CPU name (1) HUB connection setting When setting up a connection to a hub, a label and comments can be added to each controller in the CPU Name Setting tab of the Basic Settings window. (Communication is still available even without defining a Label and/or Comment.) "CPU Name Setting"...

  • Page 221: Connection With Got

    Q170MIOCBL1M-A The GOT side is a pigtail cable. (GOT communication I/F) Q170MIOCBL1M-B The GOT side is D-SUB (9pin). (1) Connection between the MR-MQ100 and GOT Diagram of the connection between the MR-MQ100 and GOT (GT1020) is shown below. MR-MQ100 PULL...

  • Page 222: Auxiliary Function

    13 AUXILIARY FUNCTION 13. AUXILIARY FUNCTION 13.1 Mark detection function The mark detect function latches various data such as "real current value", etc. when a mark sensor (Digital input signal) input changes state. Items Specification Digital input signals DI1, DI2, DI3 and DI4 Valid on leading (rising) edge, Input Module Detect Direction Valid on trailing (falling) edge.
  • Page 223 13 AUXILIARY FUNCTION [Devices list] Items Contents Value Taking cycle Unit #7912=H434D #7913=H414D #7912,#7913 Registration codes #7914=H4B52 #7914,#7915 #7915=H4544 Main cycle #7916,#7917 These devices make the "Mark #7916=H4554 #7918,#7919 detection function" valid #7917=H5443 #7918=H4144 #7919=H4154 Setting range Fetch cycle/ Mark detection function Contents Unit /Monitor value...
  • Page 224 13 AUXILIARY FUNCTION [Data setting] (1) Mark detection device settings Up to 4 mark detection functions can be set. (a) Registration code (#7912,#7913,#7914,#7915,#7916,#7917,#7918,#7919) When the specified data are set to "#7912 to #7919", the mark detection functions become valid. If anything other than the specified data is set, the mark detection functions are invalid and at next power on, this incorrect data in "#7912 to #7919"...
  • Page 225 13 AUXILIARY FUNCTION (c) Mark detection signal compensation time (#7921+20m) [Unit : µ s] Use these devices to compensate delay of sensors and so on. Setting values Contents Decrease in sensor delay. [ µ s] -32768 to -1 Increase in sensor delay. [ µ s] 0 to 32767 (d) Latch data type (#7922+20m) Select data type to latch, at the mark sensors are detected.
  • Page 226 13 AUXILIARY FUNCTION (h) Mark detection mode (#7930+20m) Select the mark detection mode. See the below table. Setting values Contents Continuous detection mode. Specified number of detections mode. 1 to 32 The data continues to be latched until the specified number of detections (#8898+80m) is reached.
  • Page 227 13 AUXILIARY FUNCTION (d) Latch data storage area (#8912,#8913+80m to #8974,#8975+80m) There are 32 storage areas for detection. • Continuous detection mode (#7930+20m=0) The latch data is stored to #8912, #8913+80m upon every mark detection. Latch data storage area Latch data #8912, #8913 +80m •...
  • Page 228 13 AUXILIARY FUNCTION (2) Timing of the mark detection function (Continuous detection mode). Latch data is stored to "Latch data storage area" upon mark detection. "Number of Marks detected" is incremented by 1. Mark detection setting verification flag Mark signals (Raising edge mode) Mark detection data Current value...

  • Page 229: High-Speed Reading Of Specified Data

    [inch],[PLS] Execute stroke amount Optional address (Fixed to 4 bytes) (2) Signals used Signals Read timing Number of setting points PX devices (MR-MQ100) 0.4[ms] (3) Devices that can be assigned Word devices Devices 0 to 8191 0 to 1FFF POINT (1) When using 2 words of data, assign to an even number device.

  • Page 230: Mc Protocol Communication

    13 AUXILIARY FUNCTION 13.3 MC Protocol Communication PERIPHERAL I/F of the Motion controller enables communication using the MC (Note-1) protocol External devices such as personal computers and display devices read/write device data from/to the Motion controller using the MC protocol. External devices monitor the operation of the Motion controller, analyze data, and manage production by reading/writing device data.
  • Page 231 13 AUXILIARY FUNCTION (a) Communication data code Select a communication data code used for the MC protocol, "Binary code" or "ASCII code". (b) Enable online change (MC protocol) Check the checkbox to enable online change when writing data to the Motion controller from the external device that communicates using the MC protocol.
  • Page 232 13 AUXILIARY FUNCTION (2) Command list When the PERIPHERAL I/F of the Motion controller communicates using the MC protocol, commands listed in table below can be executed. Status of Motion controller Command Number of Function (Subcommand) Description processed points STOP (Note-1) Write Write...
  • Page 233 13 AUXILIARY FUNCTION (3) Available devices The devices available in commands used in the MC protocol communication function is shown below. Device code Classification Device Device number range Remarks ASCII code Binary code (Note-1) Internal system Special relay 000000 to 002255 Decimal —...
  • Page 234 13 AUXILIARY FUNCTION (e) Response message receive processing Figure below shows an example of the response message receive processing on the external device side. Communication processing on the external device side Request message send processing Response message receive processing TCP connection is closed. Is TCP connection open? Receive the rest of response messages.
  • Page 235 13 AUXILIARY FUNCTION (5) Error codes for communication using MC protocol Table below shows the error codes, error descriptions, and corrective actions that will be sent from the Motion contrller to an external device when an error occurs during communication using the MC protocol. Error code Description Corrective action...

  • Page 236: Synchronous Encoder For Drive Module

    13.4 Synchronous encoder for drive module The synchronous encoder is used to operate the virtual axis (virtual main shaft, virtual auxiliary input axis) with the external input pulse. Item MR-MQ100 The current value immediately before power supply OFF is Power cycle stored.

  • Page 237: Connection Of Extension Io Unit (Mr-J3-D01)

    The extension IO unit (MR-J3-D01) for digital I/O signal, and analog I/O can be controlled by the motion controller. Contact your local sales office for more details. 13.5.1 Connection of extension IO unit (MR-J3-D01) (1) Connection between the MR-MQ100 and servo amplifiers PULL Extension IO unit CN1A...
  • Page 238 13 AUXILIARY FUNCTION (4) Restrictions on the extension IO unit When the extension IO unit (MR-J3-D01) is used, it is not necessary to set from MT Works2. However, when using the servo amplifier’s data monitor function, the following restrictions should be noted for the I/O expansion unit. Number of Analog Analog...

  • Page 239: I/O Devices

    13 AUXILIARY FUNCTION 13.5.2 I/O devices (1) Analog output Pin No. of Device No. Signal name MR-J3-D01 Analog output ANO1 #8736 CN20-4 Analog output ANO2 #8737 CN20-14 POINT (1) The analog output voltage instruction is specified within the range of -10000 to 10000 mV.
  • Page 240 13 AUXILIARY FUNCTION POINT (1) When the motion controller’s power supply is turned on, the input device is cleared to 0. (4) Output signal Pin No. of Device No. Signal name MR-J3-D01 Output signal DO0 Y1E00 CN10-22 Output signal DO1 Y1E01 CN10-23 Output signal DO2...

  • Page 241: Related Servo Amplifier Parameters

    13 AUXILIARY FUNCTION 13.5.3 Related servo amplifier parameters The relevant servo amplifier parameters are shown below. POINT • For any parameter whose symbol is preceded by *, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid.

  • Page 242: Error Code

    14 ERROR CODE 14. ERROR CODE MR-MQ100 detects errors as below. Refer to each programming manuals for details. Error items Manuals Self-diagnosis errors Q173DCPU/Q172DCPU Motion controller Programming Manual(COMMON) System setting errors IB(NA)-0300134 Servo program setting errors Q173DCPU/Q172DCPU Motion controller SV13/SV22...

  • Page 243: System Setting Errors

    14 ERROR CODE Below table shows Self-diagnosis errors. Table 14.1 Self-diagnosis errors error code Common Error Individual Error data 7 segments Operating status item error message (SD0) data(SD5 to SD15) (SD16 to SD26) of CPU Power supply 1500 DC DOWN —...

  • Page 244: Servo Program Setting Error

    14 ERROR CODE 14.3 Servo program setting error MR-MQ100 has the same "Servo program setting errors" as Q173DCPU/Q172DCPU except for the below error. Refer to "Q173DCPU/Q172DCPU Motion controller SV13/SV22 Programming Manual (REAL MODE)" for all other errors. Table 14.3 Servo programming setting error...
  • Page 245 14 ERROR CODE MEMO 14 - 4...

  • Page 246: Emc Directives

    JAPAN (1) Authorized representative in Europe Authorized representative in Europe is shown below. Name : Mitsubishi Electric Europe BV Address : Gothaer strase 8, 40880 Ratingen, Germany 15.1 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 (emissions) and are not unduly affected by electromagnetic interference (immunity)".

  • Page 247: Standards Relevant To The Emc Directive

    15 EMC DIRECTIVES 15.1.1 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 248: Installation Instructions For Emc Directive

    15 EMC DIRECTIVES 15.1.2 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 249 15 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 and may be extracted to the outside of the control panel.

  • Page 250: Parts Of Measure Against Noise

    Figure 15.4 Precautions on noise filter (b) Ground the noise filter grounding terminal to the control cabinet with the shortest wire possible (approx. 10cm (3.94 inch)). • Noise ferrite (Recommended product) Manufacturer Model name Mitsubishi electric FR-BLF Soshin Electric HF3010A-UN 15 - 5...
  • Page 251 Motion controller Inside control panel 20 to 30cm (7.87 to 11.81 inch) AD75CK 5 to 10cm (1.97 to 3.94 inch) • Cable clamp (Recommended product) Manufacturer Model name AERSBAN-DSET Mitsubishi electric AERSBAN-ESET AD75CK 15 - 6...

  • Page 252: Example Of Measure Against Noise

    15 EMC DIRECTIVES 15.1.4 Example of measure against noise The example of corrective action to use noise suppression modules is shown below. Control panel A : AD75CK cable clamp Motion controller : Ferrite core (Recommended product: ZCAT3035-1330) Ethernet cable Ethernet cable PULL (Shield tuisted pair of category 5 or more) NF : NFB (NF30CS2P10A)
  • Page 253 15 EMC DIRECTIVES MEMO 15 - 8...

  • Page 254: Appendices

    APPENDICES APPENDICES APPENDIX 1 Cables In this cable connection diagram, maker names of connectors are omitted. Refer to "APPENDIX 2.3 Connector" for maker names of connectors. APPENDIX 1.1 SSCNET cables Generally use the SSCNET cables available as our products. (1) Model explanation Numeral in the column of cable length on the table is a symbol put in the "...
  • Page 255 APPENDICES POINT (1) If the end face of code tip for the SSCNET cable is dirty, optical transmission is interrupted and it may cause malfunctions. If it becomes dirty, wipe with a bonded textile, etc. Do not use solvent such as alcohol. (2) If the end face of code tip for SSCNET cable is dirty, optical transmission is interrupted and it may cause malfunctions.
  • Page 256 APPENDICES • MR-J3BUS03M to MR-J3BUS3M [Unit: mm(inch)] Refer to the table of this section (1) for cable length (L). 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 257: Appendix 1.2 24Vdc Power Supply Cable

    Type: Q170MPWCBL M- Symbol Cable type Without EMI terminal None With EMI terminal Symbol Cable length [m(ft.)] 2(6.56) (b) Q170MPWCBL2M (Without EMI terminal) MR-MQ100 side Solderless terminal 2A 2B 1A 1B 1827587-2 (Terminal) 1-1827864-2 (Connector) Solderless terminal size: R1.25-3.5 24V(+) 24V(+)
  • Page 258 APPENDICES APPENDIX 1.3 Internal I/F connector cable Fabricate the MR-MQ100's internal I/F connector cable on the customer side. (1) Connection diagram with differential-output type Make the cable within 30m (98.43ft.). MR-MQ100 Differential-output type Manual pulse generator/ Incremental synchronous encoder side...
  • Page 259 APPENDICES (2) Connection diagram with voltage-output/ open-collector type Make the cable within 30m (98.43ft.). MR-MQ100 voltage-output/ open-collector type Manual pulse generator/ Incremental synchronous 5VGND encoder side (Note) COM2 Output COM2 DOCOM COM1 Input/Mark detection input side COM1 DICOM Shell : Twisted pair cable (Note) : When "Voltage-output/Open-collector type"...

  • Page 260: Appendix 1.3 Internal I/F Connector Cable

    APPENDICES (3) Internal I/F connector cable (a) Q170MIOCBL1M-A Type: Q170MIOCBL M- Symbol Cable type The GOT side is cable covering The GOT side is D-SUB (9pin) Symbol Cable length [m(ft.)] 1(3.28) App - 7...
  • Page 261 APPENDICES (b) Connection diagram with Q170MIOCBL1M-A E N C MR-MQ100 side DI/DO MR-MQ100 Manual pulse generator/ Incremental synchronous encoder side COM2 Output COM2 COM2 COM1 Input/Mark detection input side COM1 COM1 GOT side (terminal block) Yellow(Dot mark:Red) RXDL Yellow(Dot mark:Black)
  • Page 262 APPENDICES (c) Connection diagram with Q170MIOCBL1M-B E N C MR-MQ100 side DI/DO MR-MQ100 Manual pulse generator/ Incremental synchronous encoder side COM2 Output COM2 COM2 COM1 Input/ Mark detection input side COM1 COM1 RXDL RXDH TXDL TXDH Shell Shell App - 9...

  • Page 263: Appendix 2 Exterior Dimensions

    APPENDICES APPENDIX 2 Exterior Dimensions APPENDIX 2.1 MR-MQ100 [unit : mm(inch)] With battery (Q6BAT) Without battery 7(0.28) 135(5.31) 4.6(0.18) 30(1.18) 30(1.18) App - 10...

  • Page 264: Appendix 2.2 Battery Holder

    APPENDICES APPENDIX 2.2 Battery holder (1) Battery holder (For Q6BAT) [unit : mm(inch)] 2.4(0.09) 47.2(1.86) 1.5(0.06) 26.2(1.03) PUSH 49.6(1.95) 3.1(0.12) 22.6(0.89) (2) Large capacity battery holder (For Q7BAT) [unit : mm(inch)] 2.4(0.09) 47.2(1.86) 27.7(1.09) 1.5(0.06) 26.2(1.03) PUSH 18(0.71) 45.9(1.81) 2(0.08) 27.4(1.08) App - 11...

  • Page 265: Appendix 2.3 Connector

    APPENDICES APPENDIX 2.3 Connector (1) 24VDC power supply connector (Tyco Electronics AMP K.K. make) Type connector : 1-1827864-2 Terminal : 1827587-2 [unit : mm(inch)] 12.45(0.49) 9(0.35) (0.23) (2) Internal I/F connector (HONDA TSUSHIN KOGYO CO. make) Item Type Core size (AWG) Remark soldering type connector HDR-E50MSG1+...
  • Page 266 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) App - 13...
  • Page 267 APPENDICES MEMO App - 14...
  • Page 268 WARRANTY Please confirm the following product warranty details before using this product. 1. 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"...
  • Page 269 6. 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 272 Phone: +380 (0)44 / 490 92 29 Fax: +380 (0)44 / 248 88 68 Mitsubishi Electric Europe B.V. /// FA - European Business Group /// Gothaer Straße 8 /// D-40880 Ratingen /// Germany Tel.: +49(0)2102-4860 /// Fax: +49(0)2102-4861120 /// info@mitsubishi-automation.com /// www.mitsubishi-automation.com...

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