Mitsubishi Electric Q Series User Manual
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Mitsubishi Electric Q Series User Manual

Mitsubishi Electric Q Series User Manual

Motion controller
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  • 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 Users manual of the QCPU module to use for a description of the PLC system safety precautions.
  • Page 3 For Safe Operations 1. Prevention of electric shocks DANGER Never open the front case or terminal covers while the power is ON or the unit is running, as this may lead to electric shocks. Never run the unit with the front case or terminal cover removed. The high voltage terminal and charged sections will be exposed and may lead to electric shocks.
  • Page 4 3. For injury prevention CAUTION Do not apply a voltage other than that specified in the instruction manual on any terminal. Doing so may lead to destruction or damage. Do not mistake the terminal connections, as this may lead to destruction or damage. Do not mistake the polarity ( + / - ), as this may lead to destruction or damage.
  • Page 5 CAUTION The 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

    INTRODUCTION Thank you for choosing the Mitsubishi Motion controller Q170MCPU. 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. CONTENTS Safety Precautions ............................A- 1 Revisions ................................A-11...
  • Page 14 4. INSTALLATION AND WIRING 4- 1 to 4-28 4.1 Module Installation ........................... 4- 1 4.1.1 Instructions for handling ........................4- 1 4.1.2 Instructions for mounting the modules ..................... 4- 3 4.1.3 Installation and removal of module to the base unit................. 4- 9 4.1.4 Mounting and removal of the battery holder..................
  • Page 15 8. EMC DIRECTIVES 8- 1 to 8- 8 8.1 Requirements for Compliance with the EMC Directive ................8- 1 8.1.1 Standards relevant to the EMC Directive ..................8- 2 8.1.2 Installation instructions for EMC Directive..................8- 3 8.1.3 Parts of measure against noise ......................8- 5 8.1.4 Example of measure against noise ....................

  • Page 16: About Manuals

    About Manuals The following manuals are also related to this product. In necessary, order them by quoting the details in the tables below. Related Manuals (1) Motion controller Manual Number Manual Name (Model Code) Q170MCPU Motion controller User's Manual This manual explains specifications of the Q170MCPU Motion controller, Q172DLX Servo external signal IB-0300156 interface module, Q173DPX Manual pulse generator interface module, Servo amplifiers, SSCNET (1XB941)
  • Page 17 (2) PLC Manual Number Manual Name (Model Code) QCPU User's Manual (Hardware Design, Maintenance and Inspection) This manual explains the specifications of the QCPU modules, power supply modules, base units, SH-080483ENG extension cables, memory card battery, and the maintenance/inspection for the system, trouble shooting, (13JR73) error codes and others.
  • Page 18 (3) 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

    1.1 Overview This User's Manual describes the hardware specifications and handling methods of the Motion Controller Q170MCPU 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 and cables.
  • Page 21 Item Reference Manual PLC CPU area, peripheral devices for PLC program design, MELSEC-Q series PLC Manuals, I/O modules and intelligent function module Manual relevant to each module Operation method for MT Developer2 Help of each software •...

  • Page 22: Comparison Between Q170Mcpu And Q173Dcpu/Q172Dcpu

    1 OVERVIEW 1.2 Comparison between Q170MCPU and Q173DCPU/Q172DCPU (1) Comparison of hardware Item Q170MCPU Q173DCPU Q172DCPU Power supply Built-in (24VDC) Power supply module (24VDC, 100VAC, 200VAC) PLC CPU area Q03UDCPU or equivalent (20k steps) QnUD(E)(H)CPU Program capacity 20k steps 30k to 260k steps LD instruction processing speed 0.02µs 0.0095 to 0.02µs...
  • Page 23 1 OVERVIEW (2) Comparison of Motion control specifications Item Q170MCPU Q173DCPU Q172DCPU Number of control axes Up to 16 axes Up to 32 axes Up to 8 axes 0.44ms/ 1 to 6 axes 0.44ms/ 1 to 6 axes 0.44ms/ 1 to 6 axes SV13 0.88ms/ 7 to 18 axes 0.88ms/ 7 to 16 axes...
  • Page 24 1 OVERVIEW Comparison of Motion control specifications (continued) Item Q170MCPU Q173DCPU Q172DCPU Clock data setting Clock synchronization between Multiple CPU Made compatible by setting battery to servo amplifier. Absolute position system (Possible to select the absolute data method or incremental method for each axis) Number of SSCNET systems 1 system 2 systems...
  • Page 25 1 OVERVIEW (3) Comparison of Motion SFC performance specifications Item Q170MCPU Q173DCPU/Q172DCPU 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)
  • Page 26 1 OVERVIEW (4) Comparison of Mechanical system program specifications Item Q170MCPU Q173DCPU Q172DCPU Virtual servomotor Drive module Synchronous encoder Roller Control units mm, inch Output Ball screw module Rotary table degree mm, inch, PLS Program language Dedicated instructions (Servo program + mechanical system program) Virtual servomotor Drive module Total 24...
  • Page 27 1 OVERVIEW (5) Comparison of PLC CPU area control and performance Item Q170MCPU Q173DCPU/Q172DCPU PLC CPU area Q03UDCPU or equivalent (20k steps) QnUD(E)(H)CPU Control method Sequence program control method I/O control mode Refresh mode Relay symbol language (ladder), logic symbolic language (list), Sequence control language MELSAP3 (SFC), MELSAP-L, Structured text (ST) LD instruction...
  • Page 28 1 OVERVIEW Comparison of PLC CPU area control and performance (continued) Item Q170MCPU Q173DCPU/Q172DCPU Device initial values Number of extension 1 extension (Q52B/Q55B usable) 7 extensions • Extension base unit use: Connection after the extension base Extension base unit unit of stage 1 Bus connection on main base unit or GOT bus connection •...

  • Page 29: Restrictions By The Software's Version Or Serial Number

    1 OVERVIEW 1.3 Restrictions by the software's version or serial number There are restrictions in the function that can be used by the version of the operating system software and programming software, or the serial number of Motion controller. The combination of each version and a function is shown below. Operating system Programming software version Serial number of...

  • Page 30: System Configuration

    This section describes the Motion controller (Q170MCPU) system configuration, precautions on use of system and configured equipments. 2.1 Motion System Configuration (1) Equipment configuration in Q170MCPU system Extension of the Q series module Forced stop input cable Motion module (Q170DEMICBL M)
  • Page 31 2 SYSTEM CONFIGURATION (2) Peripheral device configuration for the Q170MCPU The following (a)(b)(c) can be used. (a) USB configuration (b) RS-232 configuration (c) Ethernet configuration Motion controller Motion controller Motion controller (Q170MCPU) (Q170MCPU) (Q170MCPU) RS-232 communication cable (Note-1) USB cable Ethernet cable (QC30R2) Personal computer...

  • Page 32: Q170Mcpu System Overall Configuration

    2 SYSTEM CONFIGURATION 2.1.1 Q170MCPU System overall configuration Motion controller Q170MCPU USB/RS-232 PERIPHERAL I/F Panel personal computer Personal computer IBM PC/AT SSCNET cable (MR-J3BUS M(-A/-B)) 24VDC Forced stop input cable SSCNET (Q170DEMICBL M) Forced stop input (24VDC) MR-J3- B model Servo amplifier, Up to 16 axes P Manual pulse generator/ Incremental synchronous encoder External input signals of servo amplifier...

  • Page 33: Q170Mcpu System Internal Configuration

    Multiple CPU Multiple CPU processor high speed high speed transmission transmission memory memory Q series PLC system bus PLC I/O module PLC intelligent Motion module 24VDC (DI/O) function module (Proximity dog signal, manual (A/D, D/A, Network etc.) pulse generator input)

  • Page 34: Function Explanation Of The Q170Mcpu Motion Controller

    2 SYSTEM CONFIGURATION 2.1.3 Function explanation of the Q170MCPU Motion controller (1) Whole (a) The Multiple CPU high speed bus is equipped with between the PLC CPU area and Motion CPU area. With this reserved Multiple CPU high speed bus, data transfer of 0.88ms period is possible for up to 14k words.
  • Page 35 2 SYSTEM CONFIGURATION (i) PLC I/O modules can be controlled with the Motion CPU area. (Refer to Section 2.3(2).) (j) Wiring is reduced by issuing the external signal (upper/lower stroke limit signal, proximity dog signal) via the servo amplifier. 2 - 6...

  • Page 36: Restrictions On Motion Controller

    2 SYSTEM CONFIGURATION 2.1.4 Restrictions on Motion controller (1) Only extension base unit (Q52B/Q55B) of type not requiring power supply module can be used. (2) Q170MCPU Multiple CPU system is composed of the PLC CPU area (CPU No.1 fixed) and Motion CPU area (CPU No.2 fixed). Other CPU (CPU No.3, CPU No.4) cannot be set.
  • Page 37 2 SYSTEM CONFIGURATION (15) Be sure to use the cable for forced stop input. The forced stop cannot be released without using it. Fabricate the cable for forced stop input on the customer side or purchase our products (sold separately). (16) When the operation cycle is 0.4[ms], set the system setting as the axis select rotary switch of servo amplifier "0 to 7".

  • Page 38: Checking Serial Number And Operating System Software Version

    MODEL Q170MCPU EJECT Serial number B8Y054306 SERIAL 80M1 IND. CONT. EQ US LISTED MITSUBISHI ELECTRIC JAPAN EXT.IO FRONT 24VDC Serial number B 8Y 054306 PUSH (c) System monitor (product information list) The serial number can be checked on the system monitor screen in GX Developer.
  • Page 39 Q172DLX 12/24VDC 2/4mA Serial number B86054999 SERIAL 80M1 IND. CONT. EQ. US LISTED CLASS2 ONLY MITSUBISHI ELECTRIC CTRL JAPAN Q172DLX Serial number B86054999 REMARK The serial number display was corresponded from the Motion modules manufactured in early April 2008. 2 - 10...

  • Page 40: Checking Operating System Software Version

    2 SYSTEM CONFIGURATION 2.2.2 Checking operating system software version The operating system software version can be checked on the system monitor screen in GX Developer. Select [Product Inf. List] button on the system monitor screen displayed on [Diagnostics] – [System monitor] of GX Developer. Serial number of Motion controller Operating system software version...

  • Page 41: 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] Power supply, PLC CPU, Motion CPU, all-in-one type (Attachment battery (Q6BAT), Internal I/F connector, 24VDC power supply connector and connector for forced stop input cable) •...
  • Page 42 (Note-4) : 5VDC internal current consumption of shared equipments with PLC might be changed. Be sure to refer to the MELSEC-Q series PLC Manuals. (Note-5) : Please contact your nearest Mitsubishi sales representative for the cable of less than 30m(98.43ft.).
  • Page 43 2 SYSTEM CONFIGURATION (2) PLC module which can be controlled by Motion CPU area Current consumption Part name Model name Description Remark (Note-1) 5VDC[A] 0.05 QX10 100-120VAC, 7-8mA, 16 points, Terminal block (TYP, All points ON) 0.05 QX40 24VDC/4mA, Positive common, 16 points, Terminal block (TYP, All points ON) High response, 24VDC/6mA, Positive common, 16 points, 0.06...
  • Page 44 0.38 (Note-1) : 5VDC internal current consumption of shared equipments with PLC might be changed. Be sure to refer to the MELSEC-Q series PLC Manuals. (Note-2) : Connectors are not provided. (3) PLC module which can be controlled by PLC CPU area They are the same modules as the PLC modules which can be controlled by the universal model QCPU "Q03UDCPU".
  • Page 45 2 SYSTEM CONFIGURATION (5) Operating system software Application Software package Conveyor assembly use SV13 SW8DNC-SV13QG Automatic machinery use SV22 SW8DNC-SV22QF (a) Operating system type/version 1) Confirmation method in the operating system (CD-ROM) a) OS software type b) OS software version c) Serial number Example) When using Q170MCPU, SV22 and OS version 00G.
  • Page 46 2 SYSTEM CONFIGURATION (6) Programming software packages (a) Motion controller engineering environment Part name Model name MELSOFT MT Works2 SW1DNC-MTW2-E (Note-1 (MT Developer2 (Note-1) : This software is included in Motion controller engineering environment "MELSOFT MT Works2". (b) PLC software package Model name Software package GX Developer...

  • Page 47: 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) (Note-3) 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 48: Specifications Of Equipment

    2 SYSTEM CONFIGURATION 2.5 Specifications of Equipment 2.5.1 Q170MCPU Motion controller This section describes the specification of the Motion controller. (1) Basic specifications of Q170MCPU Item Specification Input voltage 21.6 to 26.4VDC (Note-1), (Note-2) (24VDC +/ -10%, ripple ratio 5% or less) 24VDC power supply Inrush current 100A 1ms or less (at 24VDC input)
  • Page 49 2 SYSTEM CONFIGURATION (2) Motion control specifications/performance specifications (a) Motion control specifications Item Specification Number of control axes Up to 16 axes 0.44ms/ 1 to 6 axes SV13 0.88ms/ 7 to 16 axes Operation cycle 0.44ms/ 1 to 4 axes (default) SV22 0.88ms/ 5 to 12 axes...
  • Page 50 2 SYSTEM CONFIGURATION Motion control specifications (continued) Item Specification Security function Provided All clear function Provided Remote operation Remote RUN/STOP, Remote latch clear Digital oscillation function Provided Made compatible by setting battery to servo amplifier. Absolute position system (Possible to select the absolute data method or incremental method for each axis) Number of SSCNET 1 system (Note-3)
  • Page 51 2 SYSTEM CONFIGURATION (b) Motion SFC performance specifications Item Specification Code total (Motion SFC chart + Operation control + 543k bytes Motion SFC program capacity Transition) Text total 484k bytes (Operation control + Transition) Number of Motion SFC programs 256 (No.0 to 255) Motion SFC chart size/program Up to 64k bytes (Included Motion SFC chart comments) Number of Motion SFC steps/program...
  • Page 52 2 SYSTEM CONFIGURATION (3) PLC control specifications Item Specification Program capacity, number of I/O points and number of extensions PLC CPU area were limited to Q03UDCPU Control method Sequence program control method I/O control mode Refresh mode Relay symbol language (ladder), logic symbolic language (list), Sequence control language MELSAP3 (SFC), MELSAP-L, Structured text (ST) LD instruction...
  • Page 53 2 SYSTEM CONFIGURATION PLC control specifications (continued) Item Specification Number of extensions 1 extension (Q52B/Q55B usable) • Extension base unit use : Connection after the extension base unit of Extension base unit GOT bus connection stage 1 • Extension base unit not use : Direct bus connection to Motion controller PC type when program is made by GX Developer Q03UDCPU (4) Q170MCPU names of parts...
  • Page 54 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 (Factory default in SW1 "A", SW2 "0"...
  • Page 55 2 SYSTEM CONFIGURATION Name Application Indicates the operating status of the PLC CPU area. • ON : Detection of self-diagnosis error which will not stop operation, except battery error. (When operation continued at error detection is set in the 13) "ERR." LED parameter setting.) •...
  • Page 56 2 SYSTEM CONFIGURATION (5) 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 57 2 SYSTEM CONFIGURATION Item 7-segment LED Remark " AL" flashes 3 times Steady " A1" display Setting error of the Multiple CPU system (Self-diagnosis error) Self diagnostic error Refer to the "Q173DCPU/Q172DCPU Motion (Error related for Multiple CPU) controller Programming Manual (COMMON)" for 4-digits error code is details.
  • Page 58 2 SYSTEM CONFIGURATION (7) Operation mode (a) Rotary switch setting and operation mode 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 data (Refer to Section 6.5) of RAM built-in Motion controller are cleared.
  • Page 59 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 controller, the addresses...
  • Page 60 2 SYSTEM CONFIGURATION (8) Internal I/F connector (a) The pin layout of the Q170MCPU's internal I/F connector Use the internal I/F connector on the front of the Q170MCPU 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 61 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 Isolation method Photocoupler Rated input voltage 24VDC Rated input current (I Approx.
  • Page 62 2 SYSTEM CONFIGURATION (c) Output signal 1) Specifications of output signal Item Specifications Number of output points 2 points Output method Sink/Source type Isolation method Photocoupler Rated load voltage 24VDC Maximum load current (I 40mA/point, 80mA/common 21.6 to 26.4VDC External power supply (24VDC 10%, ripple ratio 5% or less) Maximum voltage drop at ON (V...
  • Page 63 2 SYSTEM CONFIGURATION (d) 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 Maximum input pulse 1Mpps (After magnification by 4, up to 4Mpps) frequency Pulse width 1µs or more Leading edge/trailing edge 0.25µs or less...
  • Page 64 2 SYSTEM CONFIGURATION 2) Interface between manual pulse generator (differential-output type)/ incremental synchronous encoder Input or Signal name Pin No. Wiring example Internal circuit Specification Description Output For connection manual Rated input voltage pulse generator/ Manual 5.5VDC or less incremental pulse synchronous encoder generator,...
  • Page 65 2 SYSTEM CONFIGURATION 3) Interface between manual pulse generator (voltage-output/open- collector type)/incremental synchronous encoder Input or Signal name Pin No. Wiring example Internal circuit Specification Description Output For connection manual Rated input voltage Manual pulse generator/ 5.5VDC or less pulse incremental generator, synchronous encoder...
  • Page 66 2 SYSTEM CONFIGURATION 4) Connection examples of manual pulse generator/incremental synchronous encoder Differential-output type Voltage-output/Open-collector type Manual pulse generator/ Manual pulse generator/ Incremental synchronous Incremental synchronous Q170MCPU Q170MCPU encoder side encoder side Signal name Signal name (Note-1) (Note-2) (Note-1) Shield Shell : Twist pair cable Shield...
  • Page 67 2 SYSTEM CONFIGURATION (f) Axis No. of manual pulse generator/incremental synchronous encoder Any incremental synchronous encoder connected to the Q170MCPU's internal I/F will automatically be assigned an axis No. one integer greater than the number of encoders connected to any Q173DPX modules. The setting for the axis No.
  • Page 68 2 SYSTEM CONFIGURATION (10) 24VDC power supply connector 24VDC power supply is supplied from the 24VDC power supply connector of the front face of the Motion controller. The pins layout (from front view) and connection of the 24VDC power supply connector is shown below.
  • Page 69 Incremental synchronous encoder, etc.) supplied by the Motion controller and Motion controller internal power supply. 5VDC internal current consumption of shared equipments with PLC might be changed. Be sure to refer to the MELSEC-Q series PLC Manuals. (a) Calculation example of module selection <System configuration>...

  • Page 70: Extension Base Unit And Extension Cable

    This section describes the specifications of the extension cables for the base units (Extension base unit), and the specification standards of the extension base unit. 5VDC internal current consumption of base unit might be changed. Be sure to refer to the MELSEC-Q series PLC Manuals. (1) Extension base unit specifications Type...
  • Page 71 2 SYSTEM CONFIGURATION (3) Names of parts of the extension base unit Names of parts of the extension base unit are described below. (a) Extension base unit (Q52B, Q55B) I/O0 I/O1 I/O2 I/O3 I/O4 Name Application Extension cable Connector for connecting an extension cable (for signal communications with the extension connector base unit) Protective cover of extension cable connector.
  • Page 72 2 SYSTEM CONFIGURATION (4) I/O allocations It is possible to allocate unique I/O No.s for each Motion CPU area independently of the PLC CPU area’s I/O No.s. ON/OFF data input to the Motion CPU area is handled via input devices PX while ON/OFF data output from the Motion CPU area is handled via output devices PY It is not mandatory to match the I/O device PX/PY No.s used in the Motion...

  • Page 73: Q172Dlx Servo External Signals Interface Module

    2 SYSTEM CONFIGURATION 2.5.3 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 74 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 75 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 76 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 77 2 SYSTEM CONFIGURATION (4) Interface between CTRL connector and servo external signal Input or Signal name Wiring example Internal circuit Specification Description Pin No. Output FLS1 Supply voltage FLS2 12 to 24 VDC (10.2 to 26.4 VDC, FLS3 Upper stroke stabilized power FLS4 5.6k...

  • Page 78: Q173Dpx Manual Pulse Generator Interface Module

    2 SYSTEM CONFIGURATION 2.5.4 Q173DPX Manual pulse generator interface module Q173DPX receive 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 79 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 80 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 Exterior dimensions [mm(inch)] 98(H) 27.4(W) 90(D) (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 81 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 internal I/F.
  • Page 82 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 83 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 Rated input voltage For connection Manual 5.5VDC or less manual pulse HA P pulse generator...
  • Page 84 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 Manual Rated input voltage For connection 5.5VDC or less pulse manual pulse generator, generator...
  • Page 85 2 SYSTEM CONFIGURATION (6) Connection examples of manual pulse generator Manual pulse generator Manual pulse generator (Voltage-output/Open-collector type) (Differential-output type) Q173DPX Manual pulse Q173DPX Manual pulse generator side generator side Signal name Signal name HA P HA N HB P HB N (Note-1) Shield...

  • Page 86: Manual Pulse Generator

    2 SYSTEM CONFIGURATION 2.5.5 Manual pulse generator (1) Manual pulse generator specifications Item Specifications (Note-1) Model name MR-HDP01 Ambient temperature -10 to 60°C(14 to 140°F) Pulse resolution 25PLS/rev(100 PLS/rev after magnification by 4) Output method Voltage-output/Output current : Up to 20mA (Note-2) Power supply voltage 4.5 to 13.2VDC...

  • Page 87: Sscnet Cables

    2 SYSTEM CONFIGURATION 2.5.6 SSCNET cables Between the Motion controller and servo amplifiers, or servo amplifier and servo amplifier connected by SSCNET cable. Up to 16 servo amplifies can be connected. (1) SSCNET cable specifications Model name Cable length [m(ft.)] Description MR-J3BUS015M 0.15 (0.49)
  • Page 88 2 SYSTEM CONFIGURATION (3) 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 in the program. Axis No. of 1 to 16 can be set. Axis No.

  • Page 89: Battery

    2 SYSTEM CONFIGURATION 2.5.7 Battery This section describes the battery specifications and, handling precautions used in the Motion controller. (1) Battery specifications Model name Q6BAT Q7BAT Item Classification Manganese dioxide lithium primary battery Initial voltage [V] Nominal current [mAh] 1800 5000 Storage life Actually 5 years (Room temperature)
  • Page 90 2 SYSTEM CONFIGURATION (2) Data back-up of 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 RAM built-in Motion controller are backed up without using the battery.
  • Page 91 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 RAM built-in Motion controller are backed up without using the battery.

  • Page 92: Forced Stop Input Terminal

    2 SYSTEM CONFIGURATION 2.5.8 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 93 2 SYSTEM CONFIGURATION MEMO 2 - 64...

  • Page 94: Design

    3 DESIGN 3. DESIGN 3.1 System Designing Procedure System designing procedure is shown below. Motion control system design Select the operating system software to be installed according to the machinery and equipment to be controlled. Refer to section 2.5.3 Select the number of Q172DLX's and design according to the each axis control system and whether servo external signals are required or not.
  • Page 95 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 96 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 97: 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. (1) Sample system circuit design for Motion CPU area 3-phase 200 to 230VAC Q170MCPU...
  • Page 98 3 DESIGN POINT <Example> For control axis 1 and axis 2 (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 Servo error detection possible. [F 1] (2) (Note-2) : Motion SFC program example is shown in the right record.
  • Page 99 3 DESIGN (2) System design circuit example of the PLC CPU area Power supply Transformer Transformer Input switched when Fuse Fuse power supply established PLC CPU area SM52 DC power RUN/STOP circuit (-) ( ) SM403 interlocked with RA1 Fuse (run monitor relay) Set time for DC power...

  • Page 100: 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's power supplies from the lines for I/O devices and servo amplifiers as shown below.
  • Page 101 3 DESIGN (2) 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 102: 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 not be done momentarily due to a delay or a startup time difference between the Motion controller power supply and the external power supply (DC in particular) for the control target.
  • Page 103 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 104: 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 105: 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 106 3 DESIGN (5) Average power consumption of the input section of the internal input circuit and input module (Power consumption for simultaneous ON points) Number of input points Simultaneous ON rate [W] : Input current (Effective value for AC) [A] E : Input voltage (Voltage in actual use) [V] (6) Power consumption of the external power supply section of the intelligent function module...
  • Page 107 — (Note) : 5VDC internal current consumption of shared equipments with PLC might be changed. Be sure to refer to the MELSEC-Q series PLC Manuals. (c) Total power consumption for logic 5VDC circuits of all modules = (2.00 + 0.20 + 0.05 + 0.38 + 0.06 2 + 0.065 + 0.55 + 0.33 + 0.10)
  • Page 108 3 DESIGN (g) Average power consumption of the input section of the internal input circuit and input module = 0.005 1 + 0.004 1 = 2.016 [W] (h) Power consumption of the external power supply section of the intelligent function module. = 0.12 24 = 2.88 [W] (i) Power consumption of overall system...

  • Page 109: 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 controller Manual pulse generator pcs. selection Incremental synchronous encoder pcs. Number of I/O points points Manual pulse generator pcs.

  • Page 110: 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 111 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] (Note-1) 2.75 to 3.63 Motion controller fixing screw (M5 screw) Motion controller FG fixing screw (M4 12 screw) 0.82 to 1.11 Module fixing screw (M3...

  • Page 112: Instructions For Mounting The Modules

    4 INSTALLATION AND WIRING 4.1.2 Instructions for mounting the modules When mounting the Motion controller, base unit to an enclosure or similar, fully consider its operability, maintainability and environmental resistance. (1) Fitting dimensions (a) Motion controller [Unit: mm (inch)] 38(1.50) 7(0.28) 3-fixing screw (M5) MITSUBISHI...
  • Page 113 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. (a) Motion controller Top of panel or wiring duct 40mm(1.58inch) or more 100mm...
  • Page 114 4 INSTALLATION AND WIRING (3) Module mounting orientation (a) Mount the Motion controller in the orientation shown below to ensure good ventilation for heat release. (b) Do not use it in either of the orientations shown below. Vertical Flat Upside down (4) Mounting surface Mount the Motion controller and base unit on a flat surface.
  • Page 115 4 INSTALLATION AND WIRING (6) Distances from the other devices In order to avoid the effects of radiated noise and heat, provide the clearances indicated below between the Motion controller/base unit and devices that generate noise or heat (contactors and relays, etc.). •...
  • Page 116 4 INSTALLATION AND WIRING (7) Mounting method for the modules (a) Motion controller Mount a Motion controller in the following procedure. 1) Fit the one Motion controller bottom mounting screws into the enclosure. Panel 2) Place the bottom side notch of the Motion controller onto the bottom side screw.
  • Page 117 4 INSTALLATION AND WIRING CAUTION Do not touch the heat radiating fins of controller or servo amplifier's, 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. Remove the modules while paying attention.

  • Page 118: Installation And Removal Of Module To The Base Unit

    4 INSTALLATION AND WIRING 4.1.3 Installation and removal of module to the base unit This section describes how to install and remove a 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 Securely insert the module...
  • Page 119 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 120 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 121: Mounting And Removal Of The Battery Holder

    4 INSTALLATION AND WIRING 4.1.4 Mounting and removal of the battery holder Mounting and removal procedure of the battery holder to the Motion controller is shown below. (1) Handling the battery lead wire (a) Precautions for handling the battery lead wire •...
  • Page 122 4 INSTALLATION AND WIRING (2) Battery holder (For Q6BAT) (a) Mounting Connect the battery lead connector Motion to the battery connector for Motion controller controller. Battery connector (Q170MCPU side) Battery lead Secure the connector beneath the connector battery disconnection prevention (Battery side) hook.
  • Page 123 4 INSTALLATION AND WIRING (b) Removal 1), 2) Pull the battery holder while Motion controller pushing the battery holder fixing tab, and remove the holder from the Motion controller. Move the connector away from the battery disconnection prevention Battery holder fixing tab hook, and then remove it by pulling straight out.
  • Page 124 4 INSTALLATION AND WIRING (3) Battery holder (For Q7BAT) (a) Mounting Connect the battery lead connector Motion to the battery connector for Motion controller controller. Battery connector (Q170MCPU side) Neatly place the lead wires and connector into the battery holder. Battery lead connector (Battery side)
  • Page 125 4 INSTALLATION AND WIRING (b) Removal 1), 2) Pull the battery holder while Motion controller pushing the battery holder fixing tab, and remove the holder from the Motion controller. Remove the connector from the battery holder by pulling straight Battery holder fixing tab out.

  • Page 126: 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 127 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 128 4 INSTALLATION AND WIRING (d) Twisting If SSCNET cable is twisted, it will become the same stress added condition as when local lateral pressure or bend is added. Consequently, transmission loss increases, and the breakage of SSCNET cable may occur at worst. (e) Disposal When incinerating optical cable (cord) used for SSCNET cable, hydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may...
  • Page 129 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 130 4 INSTALLATION AND WIRING POINTS (1) Be sure to connect SSCNET cable with the above connector. If the connection is mistaken, between the Motion controller and servo amplifier cannot be communicated. (2) Forcibly removal the SSCNET cable from the Motion controller will damage the Motion controller and SSCNET cables.
  • Page 131 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. Cable Optical cord SSCNET cable Cord Cable MR-J3BUS M MR-J3BUS M-A MR-J3BUS M-B : Normally, cable is not affected by plasticizer.

  • Page 132: Forced Stop Input Cable

    4 INSTALLATION AND WIRING 4.2.2 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 connector of forced stop input cable. Motion controller (2) Connection of the forced stop input cable •...

  • Page 133: 24Vdc Power Supply Cable

    4 INSTALLATION AND WIRING 4.2.3 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 24VDC (2) Connection of the 24VDC power supply cable...

  • Page 134: Wiring

    4 INSTALLATION AND WIRING 4.3 Wiring 4.3.1 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 135 4 INSTALLATION AND WIRING (b) Do not bundle the 24VDC power supply 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 Motion controller may be reset due to surge caused by lightening.
  • Page 136 4 INSTALLATION AND WIRING (e) Where wiring runs through piping, ground the piping without fail. (f) Run the 24VDC input line away from the 100VAC and 200VAC lines. (g) Wiring of 200m (656.17ft.) or longer distance will give rise to leakage currents due to the line capacity, resulting in a fault.

  • Page 137: Connecting To The Power Supply

    4 INSTALLATION AND WIRING 4.3.2 Connecting to the power supply The following diagram shows the wiring example of power lines, grounding lines, etc. to the Motion controller. 100/200VAC 24VDC Fuse 24VDC 24VDC Connect to power input terminals of I/O signals that require 24VDC. POINT (1) Use a different 24VDC power supply for the Motion controller and for I/O signals.

  • Page 138: 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 for looseness, rattling or distorted installation. 4.1.2 (2) Check that the module fixing screw tightening torque is as specified. 4.1.1 (3) Check that the wire sizes of cables are correct.
  • Page 139 5 START-UP PROCEDURES Part name Confirmation Items Check Reference (1) Check that the wire size of cable is correct. (2) Check that the terminal block screws are tightened correctly. Refer to the I/O Module (3) Check that the cables connected to each terminal of terminal block Type Building Block correspond to the signal names.

  • Page 140: 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 Developer. Turn OFF Motion controller's power supply Check that the power supply of Motion controller is OFF.
  • Page 141 5 START-UP PROCEDURES Check pulse input signal of internal I/F Refer to Section 2.5.1 Check the wiring of pulse input signals of internal I/F by monitoring of MT Developer2. (1) Check that the current value storage register (D1120, D1121) counts when a manual pulse generator or incremental synchronous encoder is used.
  • Page 142 5 START-UP PROCEDURES [Programming] DANGER Create Motion programs Motion CPU Create the Motion programs using area When performing wiring work or inspections, turn MT Developer2. the power OFF, wait at least ten minutes, and then check the voltage with a tester, etc. [Programming] Failing to do so may lead to electric shocks.
  • Page 143 5 START-UP PROCEDURES [Test mode JOG operation ] CAUTION Check machine operation Check the followings by making the The system must have a mechanical allowance so machine operate with the JOG operation of that the machine itself can stop even if the stroke MT Developer2.

  • Page 144: 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 controller by using the peripheral device and MT Developer2. The installation procedure is shown below. START Set a rotary switch1 (SW1) of Motion Set to installation mode.
  • Page 145 5 START-UP PROCEDURES POINTS (1) The operating system software was not installed at the time of Motion controller purchase. Be sure to install the operating system software to be used before a system start. (2) The operating system software is installed to the Motion CPU area. It has already been installed to the PLC CPU area.

  • Page 146: 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 147 5 START-UP PROCEDURES MEMO 5 - 10...

  • Page 148: 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 149: 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 150 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 151: 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 Mounting of Motion Check that the fixing Retighten the The screws and cover must be mounted securely. controller screws are not loose and screws.

  • Page 152: 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 153: 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 154: Battery

    6 INSPECTION AND MAINTENANCE 6.5 Battery The battery installed in the Motion controller is used for data retention during the power failure of the program memory and latch device. The data stored in the RAM built-in Motion controller are shown below. •...

  • Page 155: 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 value Guaranteed value Guaranteed value Battery type Power-on time (Note-5) (Note-3) (Note-4) Backup time after alarm (Note-2) ratio (Reference value) (MIN) (75°C (167°F))

  • Page 156: Battery Replacement Procedure

    6 INSPECTION AND MAINTENANCE 6.5.2 Battery replacement procedure 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) Back up the data using MT Developer2 before starting replacement. (2) Firstly back up the data stored in the Motion controller to the personal computer which is installed MT Developer2 then replace the battery with a new one.
  • Page 157 6 INSPECTION AND MAINTENANCE (1) Q6BAT Replacing Battery Motion controller Turn off the Motion controller's power supply. 1), 2) Pull the battery holder while pushing Battery holder fixing tab the battery holder fixing tab, and remove the holder from the Motion controller.
  • Page 158 6 INSPECTION AND MAINTENANCE (2) Q7BAT Replacing Battery Motion controller Turn off the Motion controller's power supply. 1), 2) Pull the battery holder while pushing Battery holder the battery holder fixing tab, and fixing tab remove the holder from the Motion controller.

  • Page 159: 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 160: 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 161: Troubleshooting Of Motion Controller

    6 INSPECTION AND MAINTENANCE 6.6.2 Troubleshooting of Motion controller This section describes the contents of troubles for the error codes and corrective actions of the troubles. As for troubleshooting of PLC CPU area, refer to the QCPU User's Manual (Hardware Design, Maintenance and Inspection) of their respective modules.
  • Page 162 6 INSPECTION AND MAINTENANCE (1) Troubleshooting flowchart The followings show the contents of the troubles classified into a variety of groups according to the types of events. Error-occurrence description "POWER" LED turns off (a) "Flowchart for when "POWER" LED turns off" "...
  • Page 163 6 INSPECTION AND MAINTENANCE (a) Flowchart for when "POWER" LED turns off The following shows the flowchart for when "POWER" LED turns off at the power supply ON or during operation. "POWER" LED turns off Supply power. Is there a power supply? Does "POWER"...
  • Page 164 6 INSPECTION AND MAINTENANCE The manual pulse generator, incremental synchronous encoder or connection cable is faulty. Does "POWER" (Replace it with a normal manual LED turn on? pulse generator, incremental synchronous encoder or connection cable.) Does "POWER" LED turn on? Remove all modules from the extension base unit.
  • Page 165 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 166 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 for when "A00" displays on 7-segment LED at the power supply ON or operation start. "A00"...
  • Page 167 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 for when ""AL" (flashes 3 times) Steady "L01" display" displays during operation. "AL"...
  • Page 168 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. The following shows the flowchart for when ""AL" (flashes 3 times) Steady "A1"...
  • Page 169 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 170 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 171 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? Set the target axis in the system...
  • Page 172 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 173 6 INSPECTION AND MAINTENANCE (j) Flowchart for when "MODE" LED does not turn on The following shows the flowchart for when "MODE" LED does not turn on at Motion controller’s power-on. "MODE" LED does not turn on Connect a personal computer and Motion controller.
  • Page 174 6 INSPECTION AND MAINTENANCE (k) Flowchart for when "MODE" LED is flickering The following shows the flowchart for when "MODE" LED flickers at Motion controller’s power-on, at operation start or during operation. "MODE" LED is flickering. Have the forced Cancel forced ON/OFF. ON/OFF settings made? Does "MODE"...
  • Page 175 6 INSPECTION AND MAINTENANCE (l) Flowchart for when "RUN" LED turns off The following shows the flowchart for when "RUN" LED turns off during operation. "RUN" LED turns off. (a) "Flowchart for when "POWER" Does "POWER" LED LED turns off" turn on ? Is "ERR."...
  • Page 176 6 INSPECTION AND MAINTENANCE (m) When "RUN" LED is flickering If the "RUN" LED flickers, follow the steps below. When the programs or parameters are written into the Motion controller during STOP status and then the RUN/STOP/RESET switch is set from STOP to RUN, the RUN LED flickers.

  • Page 177: Confirming Error Code

    6 INSPECTION AND MAINTENANCE (o) When "USER" LED turns on If the "USER" LED turns on, follow the steps described below. "USER" LED turns on when an error is detected by the CHK instruction or the annunciator (F) turns on. If "USER"...

  • Page 178: Internal I/O Circuit Troubleshooting

    6 INSPECTION AND MAINTENANCE 6.6.4 Internal I/O circuit troubleshooting This section describes possible problems with internal I/O circuits and their corrective actions. (1) Internal input circuit troubleshooting The following describes possible problems with internal input circuits and their corrective actions. Internal Input Circuit Troubleshooting and Corrective Action Condition Cause...
  • Page 179 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 controller, the resistor R to be connected may be the one where 3.1 [mA] or more will flow. : Iz = Z(Input impedance): R ×...

  • Page 180: Positioning Dedicated Signals

    7 POSITIONING DEDICATED SIGNALS 7. POSITIONING DEDICATED SIGNALS The usable devices in Motion controller (Q170MCPU) are shown below. 7.1 Device List Table 7.1 Device list Device Direction Points Operating range Name Code Input 8192 X0 to X1FFF Hexadecimal Output 8192 Y0 to Y1FFF Hexadecimal (Note-1)

  • Page 181: Internal Relays

    7 POSITIONING DEDICATED SIGNALS 7.2 Positioning Dedicated Signals The device list of positioning dedicated signals is shown below. Refer to the following manuals for details of positioning dedicated signals. Manual Name Manual Number Q173DCPU/Q172DCPU Motion controller Programming Manual IB-0300134 (COMMON) Q173DCPU/Q172DCPU Motion controller Programming Manual IB-0300135 (Motion SFC)
  • Page 182 7 POSITIONING DEDICATED SIGNALS SV13 SV22 Device No. Application Device No. Application M3840 M3840 Unusable (160 points) M4000 Virtual servo motor axis status (Note-2), (Note-3) (20 points 16 axes) M4320 User device (Note-1) (320 points) M4640 Synchronous encoder axis status (Note-3) (4 points 8 axes)

  • Page 183: Data Registers

    7 POSITIONING DEDICATED SIGNALS 7.2.2 Data Registers Table 7.3 Data register list SV13 SV22 Device No. Application Device No. Application Axis monitor device Axis monitor device (20 points 16 axes) (20 points 16 axes) Real mode……each axis Virtual mode….output module D320 User device D320...

  • Page 184: Motion Registers

    7 POSITIONING DEDICATED SIGNALS 7.2.3 Motion Registers Table 7.4 Motion register list Device No. Application User device (8000 points) #8000 Monitor device (640 points) #8640 Motion error history device (96 points) #8736 Unusable (3552 points) #12287 It can be used as an user device. 7.2.4 Special Relays Table 7.5 Special relay list Device No.
  • Page 185 7 POSITIONING DEDICATED SIGNALS MEMO 7 - 6...

  • Page 186: 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 8.1 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 187: Standards Relevant To The Emc Directive

    8 EMC DIRECTIVES 8.1.1 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 188: Installation Instructions For Emc Directive

    8 EMC DIRECTIVES 8.1.2 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 189 8 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 190: Parts Of Measure Against Noise

    8 EMC DIRECTIVES 8.1.3 Parts of measure against noise (1) Ferrite core A ferrite core has the effect of reducing noise in the 30MHz to 100MHz band. It is not required to fit ferrite cores to cables, but it is recommended to fit ferrite cores if shield cables pulled out of the enclosure do not provide sufficient shielding effects.
  • Page 191 (AD75CK), etc. 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 8 - 6...

  • Page 192: Example Of Measure Against Noise

    8 EMC DIRECTIVES 8.1.4 Example of measure against noise Control panel A : AD75CK cable clamp Motion controller : Ferrite core (Recommended product: ZCAT3035-1330) Ethernet cable Ethernet cable (Shield tuisted pair of category 5 or more) SSCNET cable Internal I/F connector cable Manual pulse generator/Synchronous encoder/DIO Control panel B...
  • Page 193 8 EMC DIRECTIVES MEMO 8 - 8...

  • Page 194: Appendices

    APPENDICES APPENDICES APPENDIX 1 Differences Between Q170MCPU and Q173DCPU/Q172DCPU This section describes the differences between Q170MCPU and Q173DCPU/ Q172DCPU, and the contents of change. Refer to the following manuals for contents in common with Q173DCPU/Q172DCPU. Manual name Manual number Q173DCPU/Q172DCPU Motion controller IB-0300134 Programming Manual (COMMON) Q173DCPU/Q172DCPU Motion controller...

  • Page 195: Appendix 1.1 Differences Of Devices

    APPENDICES APPENDIX 1.1 Differences of devices Table 1.1 Differences of devices Device No. Name Description Remark Q173DCPU/ Q170MCPU Q172DCPU This register stores the starting program No. at the servo program starting. • FFFF ..JOG operation Execute • FFFE..Manual pulse generator operation D12+20n D12+20n program No.

  • Page 196: Appendix 1.2 Differences Of Parameters

    APPENDICES APPENDIX 1.2 Differences of parameters Table 1.2 Differences of parameters Item Q170MCPU Q173DCPU/Q172DCPU Stage 1 ....Nothing Stage 1 to 7 ..Nothing 2 Slots 2 Slots 5 Slots 3 Slots Extension base GOT (Bus connection) 5 Slots Stage 2 ....Nothing 8 Slots GOT (Bus connection) 10 Slots/GOT (Bus connection)
  • Page 197 APPENDICES Table 1.4 Differences of mechanical system programs Maximum number of usable Mechanical module Q170MCPU Q173DCPU Q172DCPU Number Number Number per block Number per block Number per block Number Number Number Number Auxiliary Auxiliary Auxiliary Motion Motion Name Appearance Connection Connection Connection Motion...

  • Page 198: Appendix 1.4 Differences Of Error Codes

    APPENDICES APPENDIX 1.4 Differences of error codes Table 1.5 Differences of error codes Error code Q170MCPU QnUD(E)(H)CPU • A module is mounted on the settable slot • A module is mounted on the 65th slot or or later slot. later slot. •...
  • Page 199 APPENDICES (3) Servo program setting error (Error code: 51) Error code Name Description Error processing Corrective action Rapid stop The rapid stop deceleration Control with the setting value Set the rapid stop deceleration time deceleration time time is bigger than the setting of deceleration time.

  • Page 200: Appendix 1.5 Differences Of Peripheral Device Interface

    APPENDICES APPENDIX 1.5 Differences of peripheral device interface Table 1.6 Differences of peripheral device interface Item Q170MCPU Q173DCPU/Q172DCPU Connect to the USB connector/ Connect to the PLC CPU RS-232 connector of PLC CPU module. RS-232 area. Direct connection Connect to the PERIPHERAL I/F PERIPHERAL I/F Connection via —...
  • Page 201 APPENDICES 1) Communication setting in MT Developer2 side Set the items on the Transfer Setup screen in MT Developer2 as shown below. a) Select [Ethernet Board] for PC side I/F. b) Select [PLC Module] for CPU side I/F. Select the "Ethernet Port Direct Connection" on the CPU side I/F Detailed Setting of PLC Module screen.
  • Page 202 APPENDICES 2) Precautions Precautions for direct connection are shown below. a) Connection to LAN line When the Motion controller is connected to LAN line, do not perform communication using direct connection. If performed, the communication may put a load to LAN line and adversely affect communications of other devices.
  • Page 203 APPENDICES (b) Connection via HUB Between the Motion controller and MT Developer2 can be connected via HUB. Ethernet cable (Straight cable) Ethernet cable (Straight cable) PERIPHERAL I/F MT Developer2 Panel computer 1) Setting in Motion controller side Set the items on the Built-in Ethernet Port Setting in Basic Setting as shown below.
  • Page 204 APPENDICES b) Select the protocol ("TCP" or "UDP" ) to be used, in accordance with the external device on the Built-in Ethernet Port Open Setting screen. Select "TCP" to emphasize communication reliability. • Enabling the parameters of Motion controller Using Ethernet direct connection or USB/RS-232 connection, write the settings in parameter to the Motion controller by selecting [Online] - [Write to CPU] in MT Developer2.
  • Page 205 APPENDICES 2) Communication setting in MT Developer2 side Set the items on the Transfer Setup screen in MT Developer2 as shown below. a) Select [Ethernet Board] for PC side I/F. b) Select [PLC Module] for CPU side I/F. Select the "Connection via HUB" on the CPU side I/F Detailed Setting of PLC Module screen, and set the Motion controller IP address.
  • Page 206 APPENDICES POINT The Find CPU function can be used for specifying the Motion controller IP address in the connection via HUB. This function can be activated in [Find CPU (Built-in Ethernet port) on Network] of CPU side I/F Detailed Setting of PLC Module screen, finds the Motion controller connected to the same HUB as MT Developer2, and displays a list.
  • Page 207 APPENDICES 3) Precautions Precautions for connection via HUB are shown below. a) When the personal computer that can connect to LAN line is used, set the same value for Motion controller IP address as the following personal computer IP address. Motion controller IP address Set the same value as the...
  • Page 208 APPENDICES b) The maximum number of devices that can access to one Motion controller simultaneously is 16. c) Hubs with 10BASE-T or 100BASE-TX ports can be used. (The ports must comply with the IEEE802.3 100BASE-TX or IEEE802.3 10BASE-T standards.) d) The Ethernet cables must to be installed away from power cabling/lines.

  • Page 209: Appendix 1.6 Mc Protocol Communication

    APPENDICES APPENDIX 1.6 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 210 APPENDICES (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 211 APPENDICES (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 enabled disabled...
  • Page 212 APPENDICES (3) Available devices The devices available in commands used in the MC protocol communication function is shown below. (a) PLC CPU area Device code Classification Device Device number range (Default) Remarks ASCII code Binary code (Note-1) Internal system Special relay 000000 to 002047 Decimal device...
  • Page 213 APPENDICES (b) Motion CPU area Device code Classification Device Device number range (Default) Remarks ASCII code Binary code (Note-1) Internal system Special relay 000000 to 002255 Decimal — device Special register 000000 to 002255 Decimal Input 000000 to 001FFF Hexadecimal Including actual input device PX.
  • Page 214 APPENDICES (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 215 APPENDICES (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 216: Appendix 1.7 Differences Of Cpu Display And I/O Assignment

    APPENDICES APPENDIX 1.7 Differences of CPU display and I/O assignment Table 1.7 Differences of CPU display and I/O assignment Item Q170MCPU Q173DCPU/Q172DCPU • Motion CPU area : Q170MCPU-PCPU • Motion CPU : Q173DCPU, Q172DCPU CPU display • PLC CPU area : Q170MCPU-SCPU •...
  • Page 217 APPENDICES (2) Setting of I/O assignment Set the I/O assignment points in [I/O assignment] of PC parameter of GX Developer. (a) When the Base mode is set to "Auto" (default). 16 points are set to empty slot of the main base. Therefore, the first address of the extension base is set to "70".

  • Page 218: Appendix 1.8 Differences Of I/O Signals

    APPENDICES APPENDIX 1.8 Differences of I/O signals Table 1.8 Differences of I/O signals Item Q170MCPU Q173DCPU/Q172DCPU (Note-1) • Q170MCPU's internal I/F I/O signal • PLC I/O module • PLC I/O module (Note-1): Real input device (PX) or real output device (PY) is in units of 16 points. •...
  • Page 219 APPENDICES (3) High-speed reading of specified data This function is used to store the specified positioning data in the specified device (D, W, U \G). The signal from input module controlled in the Motion CPU area is used as a trigger. Refer to the "Q173DCPU/Q172DCPU Motion Controller Programming Manual (COMMON)"...

  • Page 220: Appendix 1.9 Differences Of Synchronous Encoder

    APPENDICES APPENDIX 1.9 Differences of synchronous encoder Table 1.9 Differences of synchronous encoder Item Q170MCPU Q173DCPU/Q172DCPU The current value immediately before power supply OFF is stored. Power cycle "0" is stored. (The travel value is not added in Current value storage register power supply OFF.) (D1120+10n, D1121+10n) Real mode...
  • Page 221 APPENDICES (4) Clutch of the external input mode The external input clutch can be used in only the synchronous encoder axis of Q173DPX. If the external input clutch is set in the synchronous encoder axis of the Q170MCPU's internal I/F, a minor error (error code: 4060) will occur, and the related system cannot be operated.

  • Page 222: Appendix 1.10 Mark Detection Function

    APPENDICES APPENDIX 1.10 Mark detection function Any motion control data and all device data can be latched at the input timing of the mark detection signal. Also, data within a specific range can be latched by specifying the data detection range. The following three modes are available for execution of mark detection.
  • Page 223 APPENDICES (1) Operations Operations done at mark detection are shown below. • Calculations for the mark detection data are estimated at leading edge/trailing edge of the mark detection signal. However, when the Specified Number of Detections mode is set, the current mark detection is checked against the counter value for number of mark detections and then it is determined whether or not to latch the current detection data.
  • Page 224 APPENDICES (2) Mark detection setting The mark detection setting parameters are shown below. Up to 32 mark detections setting can be registered. Item Setting range Mark detection signal Q170MCPU's internal I/F (DI)/Device (Bit device (X, Y, M, B, SM, U \G)) Mark detection signal detection Valid on leading edge/Valid on trailing edge (Note-1)
  • Page 225 APPENDICES (b) Mark detection signal detection direction Set whether to execute the mark detection to valid on leading edge (OFF to ON) or valid on trailing edge (OFF to ON) of input signal. Set the input signal detection direction of Q170MCPU's internal I/F (DI) in the "Q170M I/O Setting"...
  • Page 226 APPENDICES (d) Mark detection data Set the data to latch at mark detection. 1) Motion control data Item Unit Data type Axis No. setting range Remarks Feed current value [µm], 10 [inch], Real current value [degree], [PLS] Motor real current value 32-bit integer type Servo command value Position feed back...
  • Page 227 APPENDICES 4) Estimate calculation Set the estimate calculation to "Valid/Invalid" at the word device data setting. Estimate calculation Ring counter value Normal data — 16-bit integer type K1 to K32767, H0001 to H7FFF Valid K1 to K2147483647, Ring counter 32-bit integer type H00000001 to H7FFFFFFF 64-bit floating-point type K2.23E-308 to K1.79E+308 Invalid...
  • Page 228 APPENDICES (e) Mark detection data storage device Set the mark detection data storage device (first device to use in the "Specified Number of Detections mode" or "Ring Buffer mode"). When using the "Specified Number of Detections mode" or "Ring Buffer mode", reserve the device area to accommodate the number of detections.
  • Page 229 APPENDICES 1) Direct designation Data type Setting range 16-bit integer type K-32768 to K32767, H0000 to HFFFF 32-bit integer type K-2147483648 to K2147483647, H00000000 to HFFFFFFFF 64-bit floating-point type K-1.79E+308 to K-2.23E-308, K0, K2.23E-308 to K1.79E+308 2) Indirect designation (Note-1) Setting range Word device Remarks...
  • Page 230 APPENDICES (h) Number of mark detections counter The counter value is incremented by 1 at mark detection. Preset the initial value (0, etc.) in the user program to execute the mark detection in "Specified Number of Detections mode" or "Ring Buffer mode". This setting can be ignored when the continuous detection mode is selected.

  • Page 231: Appendix 2 Creation Of Project

    APPENDICES APPENDIX 2 Creation of project There are following methods to create the Q170MCPU project. (1) Create the new project. (2) Convert the project for Q17 DCPU/Q17 HCPU(-T)/Q17 CPUN(-T)/ Q17 CPU. (3) Create the new project using the sample data. Refer to the help of MT Developer2 for creation method of project.

  • Page 232: Appendix 2.1 Sample Data

    APPENDICES APPENDIX 2.1 Sample data An easy setting can be achieved for the parameter setting such as the automatic refresh setting of Multiple CPU setting and I/O assignment setting by using the sample data. Creation of project using the sample data is suitable for the machine control in the sequence program.
  • Page 233 APPENDICES (4) Precautions (a) By using the sample data, the positioning dedicated signals of the Motion CPU area are changed to the device value of PLC CPU area by the automatic refresh. It needs to set again the automatic refresh setting after rewriting the sample data to transmit the data to the positioning dedicated signal using the Motion SFC program.
  • Page 234 APPENDICES (b) When the sample data is overwritten to the created project. 1) Motion CPU area START Start-up MT Developer2. Create the project. Divert the following sample data Sample data in the basic setting of System Save folder setting. C:\Program Files\MELSOFT\MTD2\SampleData\MT2 Base setting Project name Multiple CPU setting...
  • Page 235 APPENDICES (6) Operation procedure for sample data Refer to the help of MT Developer2 for details. (a) Motion CPU area (MT Developer2) 1) Multiple CPU setting a) Diversion of sample data Divert the sample data by selecting the [Import Multiple CPU Parameter] button of the base setting or Multiple CPU setting of the basic setting of system setting.
  • Page 236 APPENDICES (b) PLC CPU area (GX Developer) 1) Multiple CPU settings / I/O assignment a) Diversion of sample data Divert the sample data by selecting the [Import Multiple CPU Parameter] button of the Multiple CPU settings or I/O assignment of the PLC parameter setting.
  • Page 237 APPENDICES b) Confirm the sample data Compare the Auto refresh settings screen with the contents of this section (7), and then confirm the sample data are diverted correctly. • Multiple CPU settings Data of automatic refresh • I/O assignment Points occupied by empty slot Number of slots of the main base...
  • Page 238 APPENDICES 2) Device comment The device comment data is allocated in the Multiple CPU high speed transmission area setting for the positioning dedicated signal. The device can be used while confirming the comment to execute the control for the Motion CPU area in the PLC CPU area. a) Select the device comment "COMMENT"...
  • Page 239 APPENDICES (7) Description of sample data (a) Motion CPU area 1) SV13 (Q170M_SV13_MT2) a) Base setting Setting items Description Stage 1 Nothing Extension base Stage 2 Nothing b) Multiple CPU setting Setting items Description Operating mode All station stop by stop error of CPU 1/2 Multiple CPU synchronous startup setting Set CPU No.
  • Page 240 APPENDICES 2) SV22 (Q170M_SV22_MT2) a) Base setting Setting items Description Stage 1 Nothing Extension base Stage 2 Nothing b) Multiple CPU setting Setting items Description Operating mode All station stop by stop error of CPU 1/2 Multiple CPU synchronous startup setting Set CPU No.
  • Page 241 APPENDICES (b) PLC CPU area 1) SV13 (Q170M_SV13_GX1) a) I/O assignment • I/O assignment Setting items Description Slot Type PLC No.1 PLC No.2 Empty Empty Empty Empty Empty Empty Empty Points 0 point 0 point 0 point 0 point 0 point 0 point 0 point Start XY...
  • Page 242 APPENDICES c) Auto refresh settings • PLC No.1 Auto refresh CPU specific send range(U3E0\) Point Start Start M3072 M3519 — G17022 G17049 D640 D757 — G17050 G17167 • PLC No.2 Auto refresh CPU specific send range(U3E1\) Point Start Start M2000 M2735 —...
  • Page 243 APPENDICES 2) SV22 (Q170M_SV22_GX1) a) I/O assignment • I/O assignment Setting items Description Slot Type PLC No.1 PLC No.2 Empty Empty Empty Empty Empty Empty Empty Points 0 point 0 point 0 point 0 point 0 point 0 point 0 point Start XY 3E00 3E10...
  • Page 244 APPENDICES c) Auto refresh settings • PLC No.1 Auto refresh CPU specific send range(U3E0\) Point Start Start M3072 M3519 — G16980 G17007 M4800 M5471 — G17008 G17049 D640 D757 — G17050 G17167 • PLC No.2 Auto refresh CPU specific send range(U3E1\) Point Start Start...
  • Page 245 APPENDICES (8) Automatic refresh of sample data The data to the internal relay and data register of PLC CPU area are transmitted to the positioning dedicated signals of Motion CPU area via the Multiple CPU high speed transmission area. The positioning dedicated signals of Motion CPU area can be controlled by only control of the sequence program of PLC CPU area.

  • Page 246: Appendix 3 Processing Times

    APPENDICES APPENDIX 3 Processing Times APPENDIX 3.1 Processing time of operation control/Transition instruction (1) Operation instructions Processing time of operation instructions Processing time [µs] Classifications Symbol Instruction Operation expression Q170MCPU #0=#1 D800=D801 U3E1\G10000=U3E1\G10001 #0L=#2L Substitution D800L=D802L U3E1\G10000L=U3E1\G10002L #0F=#4F D800F=D804F U3E1\G10000F=U3E1\G10004F #0=#1+#2 D800=D801+D802 U3E1\G10000=U3E1\G10001+U3E1\G10002...
  • Page 247 APPENDICES Processing time of operation instructions (continued) Processing time [µs] Classifications Symbol Instruction Operation expression Q170MCPU #0L=#2L/#4L D800L=D802L/D804L U3E1\G10000L=U3E1\G10002L/U3E1\G10004L Division #0F=#4F/#8F D800F=D804F/D808F Binary U3E1\G10000F=U3E1\G10004F/U3E1\G10008F operation #0=#1%#2 D800=D801%D802 U3E1\G10000=U3E1\G10001%U3E1\G10002 Remainder #0L=#2L%#4L D800L=D802L%D804L U3E1\G10000L=U3E1\G10002L%U3E1\G10004L #0= ~ #1 D800= ~ D801 U3E1\G10000= ~ U3E1\G10001 Bit inversion #0L= ~ #2L (complement)
  • Page 248 APPENDICES Processing time of operation instructions (continued) Processing time [µs] Classifications Symbol Instruction Operation expression Q170MCPU #0=-#1 D800=-D812 U3E1\G10000=-U3E1\G10001 #0L=-#2L Sign inversion Sign D800L=-D802L (complement of 2) U3E1\G10000L=-U3E1\G10002L #0F=-#4F D800F=-D804F U3E1\G10000F=-U3E1\G10004F #0F=SIN(#4F) Sine D800F=SIN(D804F) U3E1\G10000F=SIN(U3E1\G10004F) #0F=COS(#4F) Cosine D800F=COS(D804F) U3E1\G10000F=COS(U3E1\G10004F) #0F=TAN(#4F) Tangent D800F=TAN(D804F) U3E1\G10000F=TAN(U3E1\G10004F)
  • Page 249 APPENDICES Processing time of operation instructions (continued) Processing time [µs] Classifications Symbol Instruction Operation expression Q170MCPU #0=BIN(#1) D800=BIN(D801) U3E1\G10000=BIN(U3E1\G10001) BCD→BIN conversion #0L=BIN(#2L) D800L=BIN(D802L) Standard U3E1\G10000L=BIN(U3E1\G10002L) function #0=BCD(#1) D800=BCD(D801) U3E1\G10000=BCD(U3E1\G10001) BIN→BCD conversion #0L=BCD(#2L) D800L=BCD(D802L) U3E1\G10000L=BCD(U3E1\G10002L) #0=SHORT(#2L) D800=SHORT(D802L) Converted into 16-bit U3E1\G10000=SHORT(U3E1\G10002L) SHORT integer type #0=SHORT(#4F)
  • Page 250 APPENDICES Processing time of operation instructions (continued) Processing time [µs] Classifications Symbol Instruction Operation expression Q170MCPU SET M1000 = M0 ON (normally open SET M1000 = X100 (None) contact) SET M1000 = PX0 (Note) (Completion of condition) Bit device SET M1000 = U3E1\G10000.0 status SET M1000 = !M0 SET M1000 = !X100...
  • Page 251 APPENDICES Processing time of operation instructions (continued) Processing time [µs] Classifications Symbol Instruction Operation expression Q170MCPU SET M1000 = M0+M1 SET M1000 = X100+X101 Logical Logical OR 11.0 operation SET M1000 = PX0+PX1 (Note) SET M1000 = U3E1\G10000.0+U3E1\G10000.1 SET M1000 = #0==#1 SET M1000 = D800==D801 SET M1000 = U3E1\G10000==U3E1\G10001 SET M1000 = #0L==#2L...
  • Page 252 APPENDICES Processing time of operation instructions (continued) Processing time [µs] Classifications Symbol Instruction Operation expression Q170MCPU SET M1000 = #0>#1 SET M1000 = D800>D801 SET M1000 = U3E1\G10000>U3E1\G10001 SET M1000 = #0L>#2L More than > SET M1000 = D800L>D802L (Completion of condition) SET M1000 = U3E1\G10000L>U3E1\G10002L SET M1000 = #0F>#4F SET M1000 = D800F>D804F...
  • Page 253 APPENDICES Processing time of operation instructions (continued) Processing time [µs] Classifications Symbol Instruction Operation expression Q170MCPU MULTW H800,#0,K1,M0 MULTW H800,D800,K1,M0 MULTW H800,U3E1\G10000,K1,M0 MULTW H800,#0,K10,M0 MULTW H800,D800,K10,M0 Write device data to CPU MULTW H800,U3E1\G10000,K10,M0 MULTW shared memory of the self MULTW H800,#0,K100,M0 23.5 MULTW H800,D800,K100,M0 MULTW H800,U3E1\G10000,K100,M0...
  • Page 254 APPENDICES Processing time of operation instructions (continued) Processing time [µs] Classifications Symbol Instruction Operation expression Q170MCPU TIME K1 TIME #0 Others TIME Time to wait TIME D800 TIME U3E1\G10000 APP - 61...
  • Page 255 APPENDICES (2) Transition conditional expressions Processing time of transition conditional expressions Processing time [µs] Classifications Symbol Instruction Operation expression Q170MCPU ON (Normally open X100 (None) contact) (Note) (Completion of condition) Bit device U3E1\G10000.0 status !X100 OFF (Normally closed contact) !PX0 (Note) (Completion of condition) !U3E1\G10000.0...
  • Page 256 APPENDICES Processing time of transition conditional expressions (continued) Processing time [µs] Classifications Symbol Instruction Operation expression Q170MCPU #0<#1 D800<D801 U3E1\G10000<U3E1\G10001 #0L<#2L Less than < D800L<D802L (Completion of condition) U3E1\G10000L<U3E1\G10002L #0F<#4F D800F<D804F U3E1\G10000F<U3E1\G10004F #0<=#1 D800<=D801 U3E1\G10000<=U3E1\G10001 #0L<=#2L Less than or equal to <= D800L<=D802L (Completion of condition)
  • Page 257 APPENDICES (3) Processing time by the combination F and G (program described in F/G is NOP) F alone G alone GSUB JMP/coupling (Note) (Note) Processing time [µs] 14.0 13.5 15.5 22.0 14.5 Q170MCPU (Note): Varies greatly with the started or cleared program. Parallel branch (2 Pcs.) Parallel branch (5 Pcs.) At branch...

  • Page 258: Appendix 3.2 Processing Time Of Motion Dedicated Plc Instruction

    APPENDICES APPENDIX 3.2 Processing time of Motion dedicated PLC instruction Processing time of Motion dedicated PLC instruction Processing time [µs] Classifications Symbol Instruction (Condition) Q170MCPU (PLC CPU area) Min. Max. D.SFCS Start request of the specified Motion SFC program 62.0 95.0 Multiple CPU high speed D.SVST Start request of the specified servo program...

  • Page 259: Appendix 4 Cables

    APPENDICES APPENDIX 4 Cables In this cable connection diagram, maker names of connectors are omitted. Refer to "APPENDIX 5.5 Connector" for maker names of connectors. APPENDIX 4.1 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 260 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 261 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 262: Appendix 4.2 Forced Stop Input Cable

    APPENDICES APPENDIX 4.2 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...

  • Page 263: Appendix 4.3 24Vdc Power Supply Cable

    APPENDICES APPENDIX 4.3 24VDC power supply cable (1) Connection diagram (a) Q170MPWCBL2M (Without EMI connecter) Q170MCPU side Solderless terminal 2A 2B 1A 1B 1827587-2 (Terminal) 1-1827864-2 (Connector) Solderless terminal size: R1.25-3.5 24V(+) 24V(+) 24V(+) : Twisted pair cable (Note) : Use a cable of wire size AWG22. (b) Q170MPWCBL2M-E (With EMI connecter) Q170MCPU side Solderless terminal...

  • Page 264: Appendix 4.4 Internal I/F Connector Cable

    APPENDICES APPENDIX 4.4 Internal I/F connector cable Fabricate the Q170MCPU's internal I/F connector cable on the customer side. (1) Differential-output type (a) Connection diagram Make the cable within 30m(98.43ft.). Solderless terminal Q170MCPU side HDR-E50MSG1+ (Connector) HDR-E50LPH (Connector case) Differential-output type Manual pulse generator/ incremental synchronous encoder side 5VGND...
  • Page 265 APPENDICES (2) Voltage-output/Open-collector type (a) Connection diagram Make the cable within 10m(32.81ft.). Solderless terminal Q170MCPU side HDR-E50MSG1+ (Connector) HDR-E50LPH (Connector case) Voltage-output/open-collect type Manual pulse generator/ incremental synchronous encoder side 5VGND (Note-1) COM2 Output signal side COM2 DOCOM COM1 Input signal/mark detection input side COM1 DICOM DICOM...

  • Page 266: Appendix 5 Exterior Dimensions

    APPENDICES APPENDIX 5 Exterior Dimensions APPENDIX 5.1 Motion controller (Q170MCPU) [Unit: mm (inch)] 38(1.50) 7(0.28) MITSUBISHI Q170MCPU MITSUBISHI Q170MCPU MODE MODE ERR. ERR. USER USER BAT. BAT. PULL PULL BOOT BOOT POWER POWER RESET STOP RESET STOP RS-232 RS-232 EJECT EJECT EXT.IO EXT.IO...

  • Page 267: Appendix 5.2 Servo External Signals Interface Module (Q172Dlx)

    APPENDICES APPENDIX 5.2 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 5.3 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) APP - 74...

  • Page 268: Appendix 5.4 Battery Holder

    APPENDICES APPENDIX 5.4 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) 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 - 75...

  • Page 269: Appendix 5.5 Connector

    APPENDICES APPENDIX 5.5 Connector (1) 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) (2) Forced stop input connector (Molex Incorporated make) Type Connector : 5557-02R-210 Terminal : 5556PBTL [Unit: mm (inch)] 10.6 (0.42) (0.21)
  • Page 270 APPENDICES (3) 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) (4) Internal I/F connector (HONDA TSUSHIN KOGYO CO., LTD.) Type Connector Soldering type connector : HDR-E50MSG1+ Pressure-displacement type connector : HDR-E50MAG1+ (AWG#30) : HDR-E50MG1+ (AWG#28) Connector case : HDR-E50LPH...

  • Page 271: Appendix 5.6 Manual Pulse Generator (Mr-Hdp01)

    APPENDICES APPENDIX 5.6 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 processing a disc APP - 78...
  • Page 272 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 273 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 276 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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