Mitsubishi Electric Q-Series Q170MSCPU - Manuals

A - 4 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 bra...

A - 6 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 temperature According to...

A - 8 (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 mainte...

A - 9 (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 i...

A - 10 (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 ca...

A - 11 REVISIONS The manual number is given on the bottom left of the back cover. Print Date Manual Number Revision Apr., 2013 IB(NA)-0300212-A First edition Japanese Manual Number IB(NA)-0300205 This manual confers no industrial property rights or any rights of any other kind, nor does it confer an...

A - 14 7.1.4 Example of measure against noise .................................................................................................. 7- 8 APPENDICES APP- 1 to APP-42 APPENDIX 1 Differences Between Q170MSCPU and Q173DSCPU/Q172DSCPU .............................APP- 1 APPENDIX 1.1 Differen...

A - 15 About Manuals The following manuals are also related to this product. In necessary, order them by quoting the details in the tables below. Related Manuals (1) Motion controller Manual Name Manual Number (Model Code) Q170MSCPU Motion controller User's Manual This manual explains specifications...

A - 16 (2) PLC Manual Name Manual Number (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, extension cables, memory card battery, and the maintenance/inspection for the system, ...

1 - 1 1 1 OVERVIEW 1. OVERVIEW 1.1 Overview This User's Manual describes the hardware specifications and handling methods of the Motion Controller Q170MSCPU for the Q series PLC Multiple CPU system. The Manual also describes those items related to the specifications of the option module for the Moti...

1 - 4 1 OVERVIEW Comparison of hardware (continued) Item Q170MSCPU Q170MSCPU-S1 Q170MCPU Communication speed 50Mbps Standard cable Up to 20m (65.62ft.) between stations Maximum overall distance 320m(1049.87ft.) (20m (65.62ft.) ×16 axes) Transmission distance Long distance cable Up to 50m (164.04ft.)...

1 - 5 1 OVERVIEW (2) Comparison of SV13/SV22 Motion control specifications/ performance specifications (a) Comparison of Motion control specifications Item Q170MSCPU Q170MSCPU-S1 Q170MCPU Number of control axes Up to 16 axes SV13 0.22ms/ 1 to 4 axes 0.44ms/ 5 to 10 axes 0.88ms/11 to 16 axes 0.44ms/ ...

1 - 6 1 OVERVIEW Comparison of Motion control specifications (continued) Item Q170MSCPU Q170MSCPU-S1 Q170MCPU ROM operation function Provided External input signal Q172DLX, External input signals (FLS/RLS/DOG) of servo amplifier, Internal I/F (DI), Bit device Q172DLX or External input signals (FLS/R...

1 - 7 1 OVERVIEW (b) Comparison of Motion SFC performance specifications Item Q170MSCPU(-S1) Q170MCPU Code total (Motion SFC chart + Operation control + Transition) 652k bytes 543k bytes Motion SFC program capacity Text total (Operation control + Transition) 668k bytes 484k bytes Number of Motion SF...

1 - 8 1 OVERVIEW Comparison of Motion SFC performance specifications (continued) Item Q170MSCPU(-S1) Q170MCPU Number of multi execute programs Up to 256 Number of multi active steps Up to 256 steps/all programs Normal task Execute in main cycle of Motion controller Fixed cycle Execute in fixed cycle...

1 - 9 1 OVERVIEW (c) Comparison of Mechanical system program specifications Item Q170MSCPU(-S1) Q170MCPU Virtual servomotor Drive module Synchronous encoder PLS Roller Ball screw mm, inch Rotary table degree Control units Output module Cam mm, inch, degree, PLS mm, inch, PLS Program language Dedicat...

1 - 12 1 OVERVIEW 1.3 Programming Software Version The programming software versions that support Motion CPU are shown below. MELSOFT MT Works2 (MT Developer2) Motion CPU SV13/SV22 MR Configurator2 Q170MSCPU Q170MSCPU-S1 1.56J 1.19V

2 - 1 2 2 SYSTEM CONFIGURATION 2. SYSTEM CONFIGURATION This section describes the Motion controller (Q170MSCPU) system configuration, precautions on use of system and configured equipments. 2.1 Motion System Configuration (1) Equipment configuration in Q170MSCPU system M I T S U B I S H I L I T H I ...

2 - 5 2 SYSTEM CONFIGURATION 2.1.2 Q170MSCPU System internal configuration (1) What is Multiple CPU system for Q170MSCPU ? A Multiple CPU system for Q170MSCPU is a system in which between the PLC CPU area and Motion CPU area are connected with the Multiple CPU high speed bus in order to control the ...

2 - 6 2 SYSTEM CONFIGURATION 2.1.3 Function explanation of the Q170MSCPU 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...

2 - 7 2 SYSTEM CONFIGURATION (i) PLC I/O modules and intelligent function modules (excluding some 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...

2 - 8 2 SYSTEM CONFIGURATION 2.1.4 Restrictions on Motion controller (1) Q170MSCPU 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. (2) It takes about 10 seconds to startup (state that can be cont...

2 - 10 2 SYSTEM CONFIGURATION (20) The module name displayed by "System monitor" - "Product information list" of GX Works2 is different depending on the function version of Motion modules (Q172DLX, Q173DPX). (Note): Even if the function version "C" is displayed, it does not c...

2 - 11 2 SYSTEM CONFIGURATION 2.2 Checking Serial Number and Operating System Software Version Checking for the serial number of Motion controller and Motion module, and the operating system software version are shown below. 2.2.1 Checking serial number (1) Motion controller (Q170MSCPU) (a) Rating p...

2 - 12 2 SYSTEM CONFIGURATION (2) Motion module (Q172DLX/Q173DPX) (a) Rating plate The rating plate is situated on the side face of the Motion module. (b) Front of Motion module The serial No. is printed in the projection parts forward of the lower side of Motion module. SERIAL DATE 2011-06 C1605499...

2 - 13 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 Works2. Select [Product Information List] button on the system monitor screen displayed on [Diagnostics] – [System monitor] of GX Wor...

2 - 18 2 SYSTEM CONFIGURATION (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 (Q170MSCPU use)" or "Q06UDHCPU (Q170MSCPU-S1 use)". Refer to the MELSEC-Q series PLC Manuals...

2 - 19 2 SYSTEM CONFIGURATION (7) Programming software packages (a) Motion controller engineering environment Part name Model name MELSOFT MT Works2 (MT Developer2 (Note-1) ) SW1DNC-MTW2-E (Note-1): This software is included in Motion controller engineering environment "MELSOFT MT Works2". (...

2 - 20 2 SYSTEM CONFIGURATION 2.4 General Specifications General specifications of the Motion controller are shown below. Item Specification Operating ambient temperature 0 to 55°C (32 to 131°F) Storage ambient temperature -25 to 75°C (-13 to 167°F) Operating ambient humidity 5 to 95% RH , non-conde...

2 - 23 2 SYSTEM CONFIGURATION Motion control specifications (continued) Item Specification Security function Provided (Protection by software security key or password) All clear function Provided Remote operation Remote RUN/STOP, Remote latch clear SSCNET /H Up to 6 data/axis (Communication data: Up...

2 - 24 2 SYSTEM CONFIGURATION (b) Motion SFC performance specifications Item Specification Code total (Motion SFC chart + Operation control + Transition) 652k bytes Motion SFC program capacity Text total (Operation control + Transition) 668k bytes Number of Motion SFC programs 256 (No.0 to 255) Moti...

2 - 26 2 SYSTEM CONFIGURATION PLC control specifications (continued) Specification Item Q170MSCPU Q170MSCPU-S1 Extension base unit Number of extensions 7 extension (Up to 64 slots) (Note-1) (Q52B/Q55B/Q63B/Q65B/Q68B/Q612B usable) PC type when program is made by GX Works2 Q03UDCPU Q06UDHCPU (Note-1):...

2 - 29 2 SYSTEM CONFIGURATION (5) 7-segment LED display The LED displays/flashes in the combination with errors. Item 7-segment LED Remark Start Initializing It takes about 10 seconds to initialize (RUN/STOP display). Execute the power cycle of the Motion controller if the operation stopped at initi...

2 - 30 2 SYSTEM CONFIGURATION Item 7-segment LED Remark Self diagnostic error (Error related for Multiple CPU) " AL" flashes 3 times Steady " A1" display (Self-diagnosis error) 4-digits error code is displayed in two sequential flashes of 2-digits each. (ex. error code [3012]) Settin...

2 - 31 2 SYSTEM CONFIGURATION (7) Operation mode (a) Rotary switch setting and operation mode Rotary switch setting (Note-1) SW1 SW2 Operation mode A Any setting (Except C) Installation mode 0 0 Mode operated by RAM 0 6 Mode operated by ROM 0 8 Ethernet IP address display mode Any setting C SRAM cle...

2 - 32 2 SYSTEM CONFIGURATION POINTS (1) Be sure to turn OFF the Motion controller's power supply before the rotary switch setting change. (2) It is recommended to shift to the mode operated by ROM after the programs and parameters are fixed. The erasing of the programs and parameters can be avoided...

2 - 34 2 SYSTEM CONFIGURATION (b) Input signal/Mark detection 1) Specifications of input signal/mark detection input signal Item Specifications Number of input points 4 points Input method Positive common/Negative common shared Common terminal arrangement 4 points/common (Common contact: COM1) Isola...

2 - 35 2 SYSTEM CONFIGURATION (c) Output signal 1) Specifications of output signal Item Specifications Number of output points 2 points Output method Sink/Source type Common terminal arrangement 2 points/common (Common contact: COM2) Isolation method Photocoupler Rated load voltage 24VDC 10% Maximum...

2 - 36 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 frequency 1Mpps (After magnification by 4, up to 4Mpps)...

2 - 37 2 SYSTEM CONFIGURATION 2) Interface between manual pulse generator (differential-output type)/ incremental synchronous encoder Input orOutput Signal name Pin No. Wiring example Internal circuit Specification Description Input Manualpulsegenerator,phase A Powersupply SG Manualpulsegenerator,ph...

2 - 38 2 SYSTEM CONFIGURATION 3) Interface between manual pulse generator (voltage-output/open- collector type)/incremental synchronous encoder A B Pin No. Wiring example Internal circuit Specification Description For connection manualpulse generator/incrementalsynchronous encoderPhases A, B Phase d...

2 - 39 2 SYSTEM CONFIGURATION 4) Connection examples of manual pulse generator/incremental synchronous encoder (Note-1): The 5V(P5)DC power supply from the Q170MSCPU must not be used if a separate power supply is applied to the manual pulse generator/incremental synchronous encoder. If a separate po...

2 - 40 2 SYSTEM CONFIGURATION (f) Axis No. of manual pulse generator/incremental synchronous encoder Any incremental synchronous encoder connected to the Q170MSCPU's internal I/F will automatically be assigned an axis No. one integer greater than the number of encoders connected to any Q173DPX modul...

2 - 42 2 SYSTEM CONFIGURATION (11) Forced stop input connector The pins layout (from front view) and connection of the forced stop input connector is shown below. Pin No. Signal name 3 EMI.COM 2 No connect (Note-1) 1 EMI 3 1 2 (Note-1): Do not connect to any of the terminal is explained as "No c...

2 - 43 2 SYSTEM CONFIGURATION (12) Selection of the modules used in the extension base unit The modules used in the extension base unit are selected according to the total of current consumption of the modules, and peripheral devices (Manual pulse generator, Incremental synchronous encoder, etc.) su...

2 - 45 2 SYSTEM CONFIGURATION Power supply module specifications (continued) Item Q61P Q62P Q63P Q64PN Applicable wire size 0.75 to 2mm 2 Applicable crimping terminal RAV1.25 to 3.5, RAV2 to 3.5 Applicable tightening torque 0.66 to 0.89 N•m Exterior dimensions [mm(inch)] 98(H) × 55.2(W) × 90(D) (3.8...

2 - 47 2 SYSTEM CONFIGURATION (2) Names of Parts and Setting This section describes the names of the parts of each power module. • Q61P (100 to 240VAC input, 5VDC 6A output) • Q62P (100 to 240VAC input, 5VDC 3A/24VDC 0.6A output) • Q63P (24VDC input, 5VDC 6A output) • Q64PN (100 to 240VAC input, 5VD...

2 - 48 2 SYSTEM CONFIGURATION POINTS (1) The Q63P is dedicated for inputting a voltage of 24VDC. Do not input a voltage of except 24VDC into it or trouble may occur on the Q63P. (2) Ensure that the earth terminals LG and FG are grounded. (Ground resistance : 100 or loss) Since the LG terminal has a ...

2 - 49 2 SYSTEM CONFIGURATION 2.5.3 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 ...

2 - 50 2 SYSTEM CONFIGURATION (2) Extension cable specifications The list below describes the specifications of the extension cables which can be used. Type Item QC05B QC06B QC12B QC30B QC50B QC100B Cable length [m(ft.)] 0.45(1.48) 0.6(1.97) 1.2(3.94) 3.0(9.84) 5.0(16.40) 10.0(32.81) Application Con...

2 - 51 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 (Q5 B, Q6 B) • Q52B, Q55B IN I/O0 I/O1 I/O2 I/O3 I/O4 OUT 4) 1) 2) 3) 5) 6) • Q63B, Q65B, Q68B, Q612B I/O7 I/O8 I/O9 I/O10 I/O11 IN OUT P...

2 - 52 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 ...

2 - 55 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...

2 - 56 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. (Attachment) RLS1 FLS1 Pin No. B20 B19 B18 B1...

2 - 57 2 SYSTEM CONFIGURATION (4) Interface between CTRL connector and servo external signal Stop signal input RLS FLS STOP DOG/CHANGE B1 B2 Supply voltage12 to 24 VDC(10.2 to 26.4 VDC,stabilized powersupply) Power supply (Note) Low level1.8 VDC or less/0.18mA or less Common terminalsfor servo exter...

2 - 59 2 SYSTEM CONFIGURATION No. Name Application Detection setting of TREN1 signal SW1 SW2 Dip switch 1 OFF OFF ON ON ON OFF TREN is detected at leading edge of TREN signal. Dip switch 2 OFF ON TREN is detected at trailing edge of TREN signal. Detection setting of TREN2 signal SW3 SW4 Dip switch 3...

2 - 60 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...

2 - 61 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 ...

2 - 62 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. The following is the pin layo...

2 - 63 2 SYSTEM CONFIGURATION (b) Interface between PULSER connector and manual pulse generator (Differential-output type)/Incremental synchronous encoder 5V SG A A B B Power supply 5VDC (Note-2) A17 A12 A7 A16 A11 A6 B16 B11 B6 B17 B12 B7 Ž è “® ƒp ƒ‹ ƒT ^I NC“¯ Š ú ƒG ƒ“ ƒR [ ƒ_ 1 2 3 Signal name ...

2 - 64 2 SYSTEM CONFIGURATION (c) Interface between PULSER connector and manual pulse generator (Voltage- output/Open-collector type)/Incremental synchronous encoder. A 5V Input Powersupply SG No connect B Power supply 5VDC Manualpulsegenerator,phase BHB P5 (Note) (Note-1) : The 5V(P5)DC power suppl...

2 - 67 2 SYSTEM CONFIGURATION 2.5.7 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...

2 - 69 2 SYSTEM CONFIGURATION 2.5.8 Battery This section describes the battery specifications and, handling precautions used in the Motion controller. (1) Battery specifications Model name Item Q6BAT Q7BAT Classification Manganese dioxide lithium primary battery Initial voltage [V] 3.0 Nominal curre...

2 - 71 2 SYSTEM CONFIGURATION Table 2.1 Battery life of Q6BAT/Q7BAT (continued) Battery life (Total power failure time) [h] (Note-2) Motion controller Battery type Battery consumption (Note-1) Power-on time ratio (Note-3) Guaranteed value (Note-4) (MIN) (75°C (167°F)) Guaranteed value (Note-5) (TYP)...

2 - 72 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 not backed up without usin...

3 - 1 3 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 2.5.4 Select the number of Q172DLX's and ...

3 - 2 3 DESIGN Layout design based on the design environment such astemperatures and vibrations in consideration of heat generatedfrom modules and handling of module installation. Power supply circuit design Safety circuit design Layout design within control panel Design the power supply circuit whi...

3 - 3 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 ...

3 - 4 3 DESIGN 3.2 External Circuit Design As to the ways to design the external circuits of the Motion system, this section describes the method and instructions for designing the power supply circuits and safety circuits, etc. (Example: Q170MSCPU and MR-J4- B use) (1) Sample system circuit design ...

3 - 5 3 DESIGN RA4 C L1L2L3 U W V L11L21 CN1A CN1B DICOM ALM EM2/1 DOCOM MR-J4-B M B (Note-4) RA4 U V W (Note-3) Ground Electro-magneticbrake U RA3 B L1L2L3 U W V L11L21 CN1A CN1B DICOM ALM EM2/1 DOCOM MR-J4-B M B (Note-4) RA3 U V W (Note-3) Ground Electro-magneticbrake U SSCNET /H MC1 MCCB2 (Note-5...

3 - 8 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 lines, radiated and induced noises from other equipment, servo amplifiers and their cables, and electromagnetic noises from conductors. To avoid s...

3 - 10 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 s...

3 - 11 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) ...

3 - 13 3 DESIGN (5) Average power consumption of the input section of the internal input circuit and input module (Power consumption for simultaneous ON points) W IN = I IN E Number of input points Simultaneous ON rate [W] I IN : Input current (Effective value for AC) [A] E : Input voltage (Voltage ...

3 - 14 3 DESIGN (7) Example of average power consumption calculation (a) System configuration QJ71LP21-25 Q170MSCPU Q55B MR-HDP01 MR-HDP01 QX40 QY40P Q62DAN Q173DPX Incremental synchronous encoder (b) 5VDC/24VDC current consumption of each module Model name 5VDC 24VDC Q170MSCPU 2.50 [A] 0.08 [A] (In...

3 - 15 3 DESIGN (g) Average power consumption of the input section of the internal input circuit and input module W IN = 0.005 24 4 1 + 0.004 24 16 1 = 2.016 [W] (h) Power consumption of the external power supply section of the intelligent function module. W S = 0.15 24 = 3.60 [W] (i) Power consumpt...

3 - 16 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 Manual pulse generator pcs. Incremental synchronous encoder pcs. Motion controller selection Number of I/O points points Manual pulse g...

4 - 1 4 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...

4 - 2 4 INSTALLATION AND WIRING (3) Tighten the module fixing screws and terminal block screws within the tightening torque range specified below. Location of screw Tightening torque range [N•m] Motion controller fixing screw (M5 screw) 2.75 to 3.63 (Note-1) Motion controller FG fixing screw (M4 12 ...

4 - 4 4 INSTALLATION AND WIRING (b) Base unit 1) Q52B, Q55B IN I/O0 I/O1 I/O2 I/O3 I/O4 OUT Ws 2 W Hs 2 H Ws 1 Hs 1 4-fixing screw (M4 14) 2) Q63B, Q65B, Q68B, Q612B, 5-fixing screw (M4 14) I/O7 I/O8 I/O9 I/O10 I/O11 IN OUT POWER I/O0 I/O1 I/O2 I/O3 I/O4 I/O5 I/O6 Ws 2 Ws 1 Ws 3 W Hs 2 H Hs 1 Q52B Q...

4 - 5 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 10mm(0.39inch)or more 70mm(2.76inch)or more Top of...

4 - 6 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 con...

4 - 8 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 si...

4 - 9 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. Rem...

4 - 13 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 mounting the battery Set the battery to the battery holder correctly ...

4 - 16 4 INSTALLATION AND WIRING (3) Battery holder (For Q7BAT) (a) Mounting Battery holder 2) Connect the battery lead connectorto the battery connector. 3) END Make sure that the battery holderis installed in the Motion controllersecurely. Adjust the battery holder to the installation grooves, and...

4 - 18 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. If the bend radius is less than the mi...

4 - 19 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. Es...

4 - 20 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 opt...

4 - 22 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) Forced removal of the SSCNET cable from the Motion controller will damage the Motion cont...

4 - 23 4 INSTALLATION AND WIRING POINTS (9) Migrating plasticizer is used for vinyl tape. Keep the MR-J3BUS M, and MR-J3BUS M-A cables away from vinyl tape because the optical characteristic may be affected. Optical cord Cable SSCNET cable Cord Cable MR-J3BUS M MR-J3BUS M-A MR-J3BUS M-B : Normally, ...

4 - 24 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 inp...

4 - 25 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 (2) Connection of the 24VDC power...

4 - 26 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 opera...

4 - 28 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 fau...

4 - 30 4 INSTALLATION AND WIRING POINT (1) Use a different 24VDC power supply for the Motion controller and for I/O signals. (2) Use a different 24VDC power supplies for the Motion controller and the electromagnetic brake of the servo motor. (3) Refer to Section 2.5.1(10) for the pin layout of 24VDC...

4 - 31 4 INSTALLATION AND WIRING 4.3.3 Wiring of connector Specialised tools are not required for wiring the 24VDC power supply connector and forced stop input connector because plugs with spring connection are used. (1) Applicable wire size and wire fabrication (a) Applicable wire size The applicab...

4 - 32 4 INSTALLATION AND WIRING (2) Inserting wire 1) Press the connector release with a tool such as a flathead screwdriver. 2) While holding the release down, insert the wire all the way in. Release 1) 2) Wire (Note): When using a ferrule, make sure the bumpy side is facing towards the release. W...

5 - 1 5 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 sp...

5 - 3 5 START-UP PROCEDURES 5.2 Start-up Adjustment Procedure Install the operating system software to theMotion controller using MT Developer2. (1) Check the installation position and condition of each modules.(2) Check the connecting condition of connectors.(3) Check that all terminal screws are t...

5 - 7 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. Turn ON the Motion controller's power supply. Set a r...

5 - 8 5 START-UP PROCEDURES POINTS (1) When the software security key function is used in Motion controller, if the software security key of the operating system software already installed in Motion CPU is different from that embedded to the operating system software to be installed, "Clear all&...

6 - 1 6 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. Mishandling of a ba...

6 - 4 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 1 Mounting of Motion controller 2 Mounting of base unit Check that the fixing screws are not loose and the cover...

6 - 7 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. • PLC CPU area : Clock data, Latch devices ...

6 - 8 6 INSPECTION AND MAINTENANCE 6.5.1 Battery life The battery life is shown below. Table 6.4 Battery life of Q6BAT/Q7BAT Battery life (Total power failure time) [h] (Note-2) Motion controller Battery type Battery consumption (Note-1) Power-on time ratio (Note-3) Guaranteed value (Note-4) (MIN) (...

6 - 11 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) The Motion controller power supply must...

6 - 14 6 INSPECTION AND MAINTENANCE 6.5.3 Resuming operation after storing the Motion controller When the operation is to be resumed after being stored with the battery removed or the battery has gone flat during storage, the contents for the data (Refer to Section 6.5) of RAM built-in Motion contro...

6 - 17 6 INSPECTION AND MAINTENANCE (1) Troubleshooting flowchart The following show the contents of the troubles classified into a variety of groups according to the types of events. Error-occurrence description (a) "Flowchart for when "POWER" LED turns off" "POWER" LED turn...

6 - 24 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...

6 - 27 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)...

6 - 31 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 fl...

6 - 32 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" LED is on, monitor the specia...

6 - 33 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...

6 - 34 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. I R : Iz = Z(Input impedance): R R Iz I R × Z(Input impe...

7 - 1 7 7 EMC DIRECTIVES 7. EMC DIRECTIVES Compliance to the EMC Directive, which is one of the EU Directives, has been a legal obligation for the products sold in European countries since 1996 as well as the Low Voltage Directive since 1997. Manufacturers who recognize their products are compliant ...

7 - 3 7 EMC DIRECTIVES 7.1.2 Installation instructions for EMC Directive (1) Installation Motion controller is an open type device and must be installed inside a control panel for use. This not only ensures safety but also ensures effective shielding of Motion controller-generated electromagnetic no...

7 - 4 7 EMC DIRECTIVES (3) Cables The cables extracted from the control panel contain a high frequency noise component. On the outside of the control panel, therefore, they serve as antennas to emit noise. To prevent noise emission, use shielded cables for the cables which are connected to the I/O m...

7 - 6 7 EMC DIRECTIVES 7.1.3 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 ...

7 - 7 7 EMC DIRECTIVES (3) Cable clamp It is also possible to ground the exposed shielded part of the cable to the panel with the AD75CK cable clamp (Mitsubishi). • Ground the shield at a position 20 to 30cm (7.87 to 11.81 inch) away from the module. • When the cables pulled out from the control pan...

APP - 1 APP. APPENDICES APPENDICES APPENDIX 1 Differences Between Q170MSCPU and Q173DSCPU/Q172DSCPU This section describes the differences between Q170MSCPU and Q173DSCPU/ Q172DSCPU, and the details of change. The specifications of Q170MSCPU are equal to those of Q172DSCPU. Refer to the following ma...

APP - 2 APPENDICES APPENDIX 1.1 Differences of parameters Table 1.1 Differences of parameters Item Q170MSCPU Q173DSCPU/Q172DSCPU Amplifier setting [Axis No.] 1 to 16 [Amplifier type] • Communication type "SSCNET /H" use MR-J4(W)-B(-RJ) • Communication type "SSCNET " use MR-J3(W)-B MR...

APP - 4 APPENDICES APPENDIX 1.3 Differences of CPU display and I/O assignment Table 1.3 Differences of CPU display and I/O assignment Item Q170MSCPU Q173DSCPU/Q172DSCPU CPU display • Motion CPU area : Q170MSCPU-PCPU • PLC CPU area : Q03UDCPU (Q170MSCPU use) Q06UDHCPU (Q170MSCPU-S1 use) • Motion CPU ...

APP - 6 APPENDICES APPENDIX 1.4 Differences of I/O signals Table 1.4 Differences of I/O signals Item Q170MSCPU Q173DSCPU/Q172DSCPU I/O signal • Q170MSCPU's internal I/F (Note-1) (Input 4 points, output 2 points) • PLC I/O module • Intelligent function module • Built-in interface in Motion CPU (Note-...

APP - 8 APPENDICES 2) Bit device Bit device Setting range Detection accuracy [µs] Signal detection direction (Leading edge/Trailing edge) X(PX) 0 to 1FFF (Note-1) Y(PY) 0 to 1FFF M 0 to 8191 (Note-2) B 0 to 1FFF SM 0 to 1999 U \G 10000.0 to (10000+p-1).F (Note-3) • Operation cycle 222[µs] : 222 • Op...

APP - 9 APPENDICES APPENDIX 2 Creation of Project There are following methods to create the Q170MSCPU project. (1) Create the new project. (2) Convert the project for Q170MCPU/Q17 D(S)CPU/ Q17 HCPU(-T)/Q17 CPUN(-T)/Q17 CPU. (3) Create the new project using the sample data. Refer to the help of MT De...

APP - 11 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 dat...

APP - 12 APPENDICES (b) When the sample data is overwritten to the created project. 1) Motion CPU area END START Start-up MT Developer2. Create the project. Divert the following sample data in the basic setting of System setting. Base setting Multiple CPU setting Sample data Save folder C:\Program F...

APP - 13 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 Mu...

APP - 14 APPENDICES (b) PLC CPU area (GX Works2) 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. Select the [Import Multip...

APP - 15 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 automaticrefresh • I/O assignment Number of slots of themain base Points occupied by...

APP - 17 APPENDICES (7) Description of sample data (a) Motion CPU area 1) SV13 (Q170MS_SV13_MT2) a) Base setting Setting items Description Stage 1 Nothing Stage 2 Nothing Stage 3 Nothing Stage 4 Nothing Stage 5 Nothing Stage 6 Nothing Extension base Stage 7 Nothing b) Multiple CPU setting Setting it...

APP - 20 APPENDICES (b) PLC CPU area 1) SV13 (Q170MS_SV13_GX2) When using Q170MSCPU-S1, change the PLC type to "Q06UDH" in the change PLC type of GX Works2. a) I/O assignment • I/O assignment Setting items Description Slot PLC PLC 1 2 3 4 5 6 7 Type PLC No.1 PLC No.2 Empty Empty Empty Empty ...

APP - 21 APPENDICES c) Auto refresh settings • PLC No.1 Auto refresh CPU specific send range(U3E0\) No. Point Start End Start End 1 28 M3072 M3519 — G17022 G17049 2 118 D640 D757 — G17050 G17167 • PLC No.2 Auto refresh CPU specific send range(U3E1\) No. Point Start End Start End 1 46 M2000 M2735 — G...

APP - 29 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 t...

APP - 31 APPENDICES APPENDIX 4.2 Forced stop input cable Fabricate the forced stop input cable on the customer side. Make the forced stop input cable within 30m(98.43ft.). (1) Connection diagram FK-MCP1.5/3-ST-3.81 (Connector) EMI.COM EMI 2 3 1 EMI.COM EMI 2 3 1 Solderless terminal size: R1.25-35 (N...

APP - 33 APPENDICES (2) Voltage-output/Open-collector type (a) Connection diagram Make the cable within 10m(32.81ft.). : Twisted pair cable (Note-1): When voltage-output/open-collector type is used, open between SEL and SG.(Note-2): Use cable of wire size AWG28. FG 24 HBL 1312262511 HBH HAL HAH HB H...

APP - 34 APPENDICES APPENDIX 4.5 SSCNET cables (SC-J3BUS M-C) manufactured by Mitsubishi Electric System & Service POINTS • For the details of the SSCNET cables, contact your local sales office. • Do not look directly at the light generated from CN1A/CN1B connector of servo amplifier or the end ...

APP - 36 APPENDICES APPENDIX 5.2 Servo external signals interface module (Q172DLX) [Unit: mm (inch)] Q172DLX Q172DLX CTRL 90(3.54) 98(3. 86) 45(1.77) 4 (0 .16) 23(0.91) 27.4(1.08) APPENDIX 5.3 Manual pulse generator interface module (Q173DPX) [Unit: mm (inch)] Q173DPX Q173DPX 12 3 PLS.A 12 3 PLS.B 1...

APP - 42 APPENDICES APPENDIX 5.7 Manual pulse generator (MR-HDP01) [Unit: mm (inch)] 72 (2.83) 0.2 +2 -0 6 2 10 60 20 70 30 80 90 12V 0V A B +5to 0 50 40 Space The figure of a processing disc equi-spaced 3- 4.8(0.19) (2 .4 4) Packing t=2.0 16 20 (0.63) (0.79) 3.6(0.14) 0.5 27.0 (1.06) 1 80(3. 15 ) 0...

WARRANTY Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen du...

6. Precautions for Choosing the Products (1) For the use of our Motion controller, its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in Motion controller, and a backup or fail-safe function should operate on an external system to Motio...