Mitsubishi Electric Q172CPU9(N) - Manuals

Page 2 - SAFETY PRECAUTIONS; DANGER; resulting in death or severe injury.; Depending on circumstances, procedures indicated by

A - 1 SAFETY PRECAUTIONS (Read these precautions before using.) When using this equipment, thoroughly read this manual and the associated manuals introduced in this manual. Also pay careful attention to safety and handle the module properly. These precautions apply only to this equipment. Refer to t...

Page 5 - or servo OFF. These brakes must not be used for normal braking.; CAUTION

A - 4 ! CAUTION In systems where perpendicular shaft dropping may be a problem during the forced stop, emergency stop, servo OFF or power supply OFF, use both dynamic brakes and electromagnetic brakes. The dynamic brakes must be used only on errors that cause the forced stop, emergency stop, or serv...

Page 6 - specified in the instruction manual.; transport the servomotor with machine installed on it.

A - 5 ! CAUTION Set the servomotor encoder type (increment, absolute position type, etc.) parameter to a value that is compatible with the system application. The protective functions may not function if the setting is incorrect. Set the servomotor capacity and type (standard, low-inertia, flat, etc...

Page 8 - Servo amplifier; RA

A - 7 (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 origina...

Page 9 - Motion controller, servo amplifier or servomotor.; Conditions; operated by emergency stop signals set externally.; Servomotor

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 main...

Page 10 - Motion controller and servo amplifier.

A - 9 ! CAUTION If an error occurs, remove the cause, secure the safety and then resume operation after alarm release. The unit may suddenly resume operation after a power failure is restored, so do not go near the machine. (Design the machine so that personal safety can be ensured even if the machi...

Page 15 - APPENDICES

A - 14 APPENDICES App- 1 to App-37 APPENDIX 1 Cables..................................................................................................................................App- 1 APPENDIX 1.1 SSCNET cables........................................................................................

Page 16 - Manual Name; programming, error codes and others of the Motion SFC.

A - 15 About Manuals This manual is only to explain hardware of the Motion controller. The following manuals are related to this product. Referring to this list, please request the necessary manuals. This User's Manual do not describes hardware specification and handling methods of the PLC CPU modul...

Page 17 - extension cables, memory card battery and others.; I/O Module Type Building Block User's Manual; conversion modules and others.

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 modules, extension cables, memory card battery and others. (Optional) SH-080483ENG (13JR73) Q...

Page 18 - OVERVIEW

1 - 1 1 OVERVIEW 1. OVERVIEW 1.1 Overview This User's Manual describes the hardware specifications and handling methods of the Motion Controller's Model Q173CPU(N)/Q172CPU(N) for the Q series PLC Multiple CPU system. The Manual also describes those items related to the specifications of the option m...

Page 20 - SYSTEM CONFIGURATION; Motion System Configuration

2 - 1 2 SYSTEM CONFIGURATION 2. SYSTEM CONFIGURATION This section describes the Q173CPU(N)/Q172CPU(N) system configuration, precautions on use of system and configured equipments. 2.1 Motion System Configuration This section describes the equipment configuration, configuration with peripheral device...

Page 22 - Extension of the Q series module

2 - 3 2 SYSTEM CONFIGURATION (b) When using the Dividing cable MITSUB ISHI Power supply module/QCPU/ I/O module/ Intelligentfunction module of the Q series Motion CPU module (Q173CPU(N)) CPU base unit (Q33B, Q35B, Q38B, Q312B) Extension of the Q series module Servo amplifier (MR-H-BN) Servo amplifie...

Page 31 - Q series PLC Multiple CPU system.

2 - 12 2 SYSTEM CONFIGURATION 2.1.3 Function explanation of the Q173CPU(N)/Q172CPU(N) Motion CPU modules (1) Up to 32 axes servo amplifiers per 4 systems (up to 8 axes per 1 system) can be used in Q173CPU(N). Up to 8 axes servo amplifiers per 1 system can be used in Q172CPU(N). (2) It is possible to...

Page 32 - future function expansion.

2 - 13 2 SYSTEM CONFIGURATION 2.1.4 Restrictions on Motion systems (1) It is not allowed to use the Motion CPU as the control CPU of a module installed on the QA1S6 B extension base unit. PLC CPU must be used as the control CPU. (2) The connector for installation of memory card on the Motion CPU mod...

Page 33 - (12) Number of Motion CPU modules and temperature conditions; ) When using only one Motion CPU module

2 - 14 2 SYSTEM CONFIGURATION (12) Number of Motion CPU modules and temperature conditions (Q173CPU/Q172CPU only) (a) It is possible to remove the Cooling fan unit(Q170FAN) in order to disperse heat from inside the Motion CPU module according to the number of the Motion CPU module and ambient temper...

Page 38 - Trans

2 - 19 2 SYSTEM CONFIGURATION (2) Q series PLC module which can be control by Motion CPU Part name Model name Description Remark AC QX10 100-120VAC, 7-8mA, 16 points, Terminal block QX40 24VDC/4mA, Positive common, 16 points, Terminal block QX41 24VDC/4mA, Positive common, 32 points, Connector QX42 ...

Page 39 - The following servo amplifier series can be used.

2 - 20 2 SYSTEM CONFIGURATION (3) Table of servo amplifier The following servo amplifier series can be used. (a) MR-H BN Part name Model name Description MR-H BN MR-H series servo amplifier MR-H KBN Refer to catalogue of the servo amplifier. Battery MR-BAT Back-up for the absolute position detection...

Page 42 - Operating environment is shown below.; in the United States and/or other countries.; POINTS; of WindowsNT

2 - 23 2 SYSTEM CONFIGURATION (5) Operating environment of personal computer Operating environment is shown below. IBM PC/AT with which WindowsNT4.0/98/2000/XP English version operates normally. Item WindowsNT R 4.0(Service Pack 2 or later) (Note) or Windows R 98 Windows R 2000 Windows R XP CPU Pent...

Page 44 - specifications above.

2 - 25 2 SYSTEM CONFIGURATION ! CAUTION The Motion controller must be stored and used under the conditions listed in the table of specifications above. When not using the module for a long time, disconnect the power line from the Motion controller or servo amplifier. Place the Motion controller and ...

Page 45 - This section explains the names and setting of the module.; Put your finger here to open the cover.; With front cover open; Side face

2 - 26 2 SYSTEM CONFIGURATION 2.4 Specifications of Equipment and Settings 2.4.1 Name of parts for CPU module This section explains the names and setting of the module. (1) Q173CPUN(-T)/Q172CPUN(-T) Front face Q17 CPUN T RS-232 USB MODE RUN ERR. M.RUN BAT. BOOT 2) 8) 3)4)5)6) 7) PULL Put your finger...

Page 46 - Front face

2 - 27 2 SYSTEM CONFIGURATION (2) Q173CPU/Q172CPU Front face Q17 CPU RS-232 USB MODE RUNERR. M.RUN BAT. BOOT 2) 8) 3)4)5)6) 7) PULL Put your finger here to open the cover. FRONT SSCNET CN2 CN1 With front cover open MODE RUNERR. M.RUN BAT. BOOT ON SW 1234 5 STOP RUN RESET L CLR 9) 10) 11) 12) 13) 14)...

Page 47 - CPU module

2 - 28 2 SYSTEM CONFIGURATION No. Name Application 1) Module fixing hook • Hook used to fix the module to the base unit.(Quick release installation) 2) MODE LED (Mode judging) • Lit(green) • Lit(orange) : Normal mode : Installation mode • mode written in ROM • Lit : Motion CPU normal start 3) RUN LE...

Page 49 - Teaching unit

2 - 30 2 SYSTEM CONFIGURATION (4) Basic specifications of Q173CPU(N)/Q172CPU(N) (a) Module specifications Item Q173CPUN Q173CPUN-T Q173CPU Q172CPUN Q172CPUN-T Q172CPU Teaching unit —— Usable —— —— Usable —— Internal current consumption(5VDC) [A] 1.25 1.56 (Note) 1.75 1.14 1.45 (Note) 1.62 Mass [kg] ...

Page 55 - This section describes the power supply modules specifications.

2 - 36 2 SYSTEM CONFIGURATION 2.4.2 Power supply module (1) Table of the power supply module specifications This section describes the power supply modules specifications. Performance specifications Item Q61P-A1 Q61P-A2 Q62P Base loading position Power supply module loading slot Applicable base unit...

Page 56 - The power supply module specifications (continued)

2 - 37 2 SYSTEM CONFIGURATION The power supply module specifications (continued) Performance specifications Item Q63P Q64P Base loading position Power supply module loading slot Applicable base unit Q33B, Q35B, Q38B, Q312B, Q65B, Q68B, Q612B Input power supply 24VDC (+30%/-35%) (15.6 to 31.2VDC) 100...

Page 58 - This section describes the names of the parts of each power module.

2 - 39 2 SYSTEM CONFIGURATION (2) Names of Parts and Setting This section describes the names of the parts of each power module. (a) Q61P-A1, Q61P-A2, Q62P, Q63P, Q64P Q61P-A1 POWER 100-120VAC INPUT 50/60Hz 105VAOUTPUT 5VDC 6A ERR. L + - 24VDC 0.5A (FG) (LG) N L 100-120VAC INPUT 9) 1) 8) 2) 3) 4)5) ...

Page 59 - Application; voltage of 200VAC into it or trouble may occur on the Q61P-A1.

2 - 40 2 SYSTEM CONFIGURATION No. Name Application 1) POWER LED 5VDC power indicator LED 2) ERR terminals Turned OFF (opened) when a stop error occurs in the CPU module. Normally off when loaded in an extension base unit. 3) FG terminal Ground terminal connected to the shield pattern of the printed ...

Page 61 - (b) 5VDC current consumption of each module

2 - 42 2 SYSTEM CONFIGURATION (4) Example of the power supply selection calculation (When using the Q173CPUN-T.) (a) System configuration Q38B Q173PX Q173CPUN-T Q172LX Q172EX QX40 QX40 QY10 QY10 MR-HDP01 Q02H CPU Q61P-A1 MR-HDP01 MR-HENC A31TU-D3K13 (b) 5VDC current consumption of each module Q02HCP...

Page 63 - Names of parts of the base unit are described below.

2 - 44 2 SYSTEM CONFIGURATION (2) Table of the extension cable specifications The list below describes the specifications of the extension cables which can be used for the QCPU system. 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...

Page 64 - POINT

2 - 45 2 SYSTEM CONFIGURATION (4) I/O allocations It is possible to allocate unique I/O No.s for each Motion CPU independently of the PLC’s I/O No.s. (I/O No.s are unique between the Q series PLC CPU within a given system, but the I/O No.s of the Motion CPU are unique for each Motion CPU.) ON/OFF da...

Page 67 - Servo external signal

2 - 48 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...

Page 68 - CTRL connector; conversion module

2 - 49 2 SYSTEM CONFIGURATION (b) The pin layout of the CTRL connector Use the CTRL connector at the Q172LX module front to connect the servo external signals. The following pin layout of the Q172LX CTRL connector viewed from the front. The pin layout and connection description of the CTRL connector...

Page 69 - stroke limit protection.

2 - 50 2 SYSTEM CONFIGURATION (4) Interface between CTRL connector and servo external signal RLS Input orOutput Signal name Internal circuit FLS Stop signal input STOP DOG/CHANGE 12VDC to 24VDC FLS1FLS2FLS3FLS4FLS5FLS6FLS7FLS8 LED B20B16B12 B8A20A16A12 A8 0 4 8 C1014181C RLS1RLS2RLS3RLS4RLS5RLS6RLS7...

Page 74 - M encoder cable between the serial absolute synchronous

2 - 55 2 SYSTEM CONFIGURATION (4) Connection of synchronous encoder interface module. (a) Connection with serial absolute synchronous encoder (MR-HENC/Q170ENC) Use the SY.ENC connector at the Q172EX module front to connect the serial absolute synchronous encoder(MR-HENC/Q170ENC). When tracking enabl...

Page 75 - be run in the shortest possible distance to avoid induced noise.

2 - 56 2 SYSTEM CONFIGURATION (5) Interface between SY.ENC connector and external equipment Pin No. SY.ENC connector Serial absolute synchronous encoder Input or Output Signal name Wiring example 12VDC to 24VDC Input MR 7 MRR 17 P5 10 18 19 20 LG 1 2 3 11 12 BAT 9 TREN 4 TREN. COM 14 SD 5VDC Battery...

Page 76 - ) When not using tracking enable signal

2 - 57 2 SYSTEM CONFIGURATION (6) Details of encoder cable connections (a) Q172EX(-S1) 1) When not using tracking enable signal MR-JHSCBL10M-H to MR-JHSCBL30M-H(10 to 30m (32.81 to 98.43ft.)) P5 19 LG 11 P5 20 LG 12 MR 7 MRR 17 BT 9 LG 1 SD S RC FG N D P5 19 LG 11 P5 20 LG 12 P5 18 LG 3 BT 9 LG 1 SD...

Page 77 - SDplate; ) When using tracking enable signal

2 - 58 2 SYSTEM CONFIGURATION (b) Q172EX-S2/Q172EX-S3 1) When not using tracking enable signal (Note-1) SDplate 2012 18 2 S HJ N R KL SY.ENC side connector 10120-3000VE (connector)10320-52F0-008(connector case) MS3106B22-14S(cable clump) Synchronous encoder side connector(plug) :Twisted pair cable E...

Page 78 - Battery connector

2 - 59 2 SYSTEM CONFIGURATION (7) Connection of the battery This section describes the battery specifications, handling precautions and installation of the Q172EX. (a) Specifications The specifications of the battery for memory back-up are shown in the table below. Battery Specifications Model name ...

Page 79 - Battery service life time; Do not short a battery.

2 - 60 2 SYSTEM CONFIGURATION (c) Battery service life time Battery service life time Guaranteed time(MIN) [ h ] Actual time(TYP) [ h ] MR-HENC 1 pcs. 10000 30000 MR-HENC 2 pcs. 5000 15000 Q170ENC 1 pcs. 8000 24000 Q170ENC 2 pcs. 4000 12000 CAUTION Do not short a battery. Do not charge a battery. Do...

Page 85 - PULSER connector

2 - 66 2 SYSTEM CONFIGURATION (5) Connection of manual pulse generator interface module (a) The pin layout of the PULSER connector Use the PULSER connector at the Q173PX module front to connect the manual pulse signals, incremental synchronous encoder signals. The following pin layout of the Q173PX ...

Page 87 - (d) Interface between PULSER connector and tracking enable

2 - 68 2 SYSTEM CONFIGURATION (c) Interface between PULSER connector and manual pulse generator (Voltage output/Open collector type)/ Incremental synchronous encoder. Interface between Manual pulse generator (Voltage-output/Open collector type)/Incremental synchronous encoder A Manual pulse generato...

Page 91 - Refer to the following table for selection of the teaching unit.

2 - 72 2 SYSTEM CONFIGURATION 2.4.8 A31TU-D3 /A31TU-DN Teaching unit (Japanese version only) Teaching unit A31TU-D3 /A31TU-DN can be easily set the teaching of positioning point, each parameter settings, creation of servo program, servo monitor, servo test, and so on without the peripheral devices. ...

Page 92 - CPU occurs, and the servomotor becomes coasting state.

2 - 73 2 SYSTEM CONFIGURATION REMARK External safety circuit Construct the circuit (power supply OFF of servomotor, etc.) of parts which may occur machine breakdown and accidents due to abnormal operations outside of the Motion CPU in a fail-safe viewpoint, to avoid abnormal operations of whole syst...

Page 94 - ) Connect the cable for teaching unit (Q170TUD3CBL3M) between the

2 - 75 2 SYSTEM CONFIGURATION (3) Teaching unit specifications Specifications Items A31TU-D3 A31TU-DN Language Japanese Tact switch 28 keys for SV ENABLE/DISABLE switch Operation enable/disable Emergency stop switch Push lock return reset type Deadman switch 3-position switch None Operation Contrast...

Page 95 - external safety circuit is shown below.; Control panel; Deadman switch

2 - 76 2 SYSTEM CONFIGURATION 4) When the teaching unit (A31TU-D3 ) is not used, connect the short- circuit connector for teaching unit (A31TUD3TM) to the control panel side connector of the cable for teaching unit (Q170TUD3CBL3M). Connection example between the cable for teaching unit (Q170TUD3CBL3...

Page 96 - ) When the connector is connected to the control panel.

2 - 77 2 SYSTEM CONFIGURATION (b) Connection between the teaching unit (A31TU-DN ) and Motion CPU (Q173CPUN-T/Q172CPUN-T) There are following two connecting method. • When the connector is connected to the control panel. • When the connector is connected directly in the control panel. 1) When the co...

Page 98 - ) When the connector is connected directly in the control panel.

2 - 79 2 SYSTEM CONFIGURATION 2) When the connector is connected directly in the control panel. a) Connect the cable for teaching unit (Q170TUDNCBL03M-A) to the TU connector of Motion CPU (Q173CPUN-T/Q172CPUN-T) after connecting to the teaching unit (A31TU-DN ). b) When the teaching unit (A31TU-DN )...

Page 99 - function stops working.

2 - 80 2 SYSTEM CONFIGURATION ! CAUTION Do not connect the A31TU-D3 to the cable for teaching unit (Q170TUDNCBL03M-A). The protective function stops working. Be sure to fix the relay portion of a connector which has connected the cable for teaching unit (Q170TUDNCBL03M-A) with teaching unit (A31TU-D...

Page 104 - (b) When not using the external battery

2 - 85 2 SYSTEM CONFIGURATION (2) Connection between the Q172CPU(N) and servo amplifiers (a) When using the external battery Battery unit (Note-1) (Q170BAT) CN1 Q172CPU(N)Motion CPUmodule Servo amplifier MITSUBISHI CN1A CN1B MITSUBISHI CN1A CN1B 3) 4) Servo amplifier BAT CPU MITSUBISHI LITHIUM BATTE...

Page 107 - Model name; (4) Connection example with servo amplifiers; Part name

2 - 88 2 SYSTEM CONFIGURATION (h) FR-V5NSCBL Model name Item FR-V5NSCBL005 FR-V5NSCBL01 FR-V5NSCBL05 FR-V5NSCBL10 FR-V5NSCBL20 Cable length [m(ft.)] 0.5(1.64) 1(3.28) 5(16.40) 10(32.81) 20(65.62) (4) Connection example with servo amplifiers As the SSCNET cables or terminal connector is different dep...

Page 115 - every for or five years.

2 - 96 2 SYSTEM CONFIGURATION 2.4.10 External battery This section describes the battery specifications used in the Motion CPU, handling precautions and equipments. (1) External battery specifications(For Motion CPU module) Model name Item A6BAT/MR-BAT Classification Manganese dioxide lithium primar...

Page 116 - ) Connect between Q173CPU(N) and Q173DV by the SSCNET cable

2 - 97 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. When using the external battery, be sure to select "the external battery use" in the syst...

Page 118 - which the Motion CPU module will be operating is 0 to 40°C (32 to 104°F) .; (b) When using two or more Motion CPU module

2 - 99 2 SYSTEM CONFIGURATION 2.4.11 Cooling fan unit (Q170FAN) (Q173CPU/Q172CPU only) This section explains the specifications of the Cooling fan unit (Q170FAN) used for the Motion CPU module. (1) Removable conditions of the Cooling fan unit It is possible to remove the Cooling fan unit (Q170FAN) i...

Page 119 - Top of panel or wiring duct

2 - 100 2 SYSTEM CONFIGURATION (3) In point of the layout design within the control panel Leave 50mm (1.97inch) or more clearance between the top of the modules and structures or parts. Top of panel or wiring duct 50mm(1.97inch) min. Po wer s uppl y PLC CPU Mo tion C P U The wind blows lies Cooling ...

Page 121 - DESIGN; power source. If a large current continues to flow, fire may occur.

3 - 2 3 DESIGN Refer to section 3.2 Refer to section 3.2.1 Refer to section 3.2.2 Refer to section 3.3 Design the power supply circuit which supplies power to such systemcomponents as the Motion controller, I/O equipment and servoamplifiers, etc., taking into consideration the protective coordinatio...

Page 123 - Power Supply; Motion CPU

3 - 4 3 DESIGN 3.2 External Circuit Design As to the ways to design the external circuits of the Motion system, this section explains the method and instructions for designing the power supply circuits and safety circuits, etc. (1) Sample system circuit design for motion control 1 FLS1 CP3 CP1 R S T...

Page 126 - Out of control panel

3 - 7 3 DESIGN POINT 1) (Note-1) : The following is the Motion SFC program example. < Example> For control axis 1 and axis 2 [F 1] SET PYm [G 1] M2408 M2428 Servo error detection [F 2] RST PYm END 4) (Note-4) : It recommends using one leakage breaker for one servo amplifier. When electric powe...

Page 129 - Power supply; Using AC and DC; For AC For

3 - 10 3 DESIGN (4) System design circuit example of the PLC I/O (a) System design circuit example(when not using ERR contact of power supply module) Starting possible when the PLC RUNoutput RA1 is ON START/STOP circuit Turns outputequipmentpower off whenSTOP occurson emergencystop, on stop atupper/...

Page 130 - Power supply module

3 - 11 3 DESIGN (b) System design circuit example(when using ERR contact of power supply module) Interlock circuits asnecessary. Provide external interlockcircuits for conflictingoperations, such asforward rotation andreverse rotation,and for parts that could damage the machine orcause accident if n...

Page 134 - Number of; (3) No condensing from sudden temperature changes

3 - 15 3 DESIGN 3.3 Layout Design within The Control Panel 3.3.1 Installation environment Install the Motion controller system in the following environment conditions. (1) Ambient temperature is within the range of following conditions. Q173CPU/Q172CPU Number of the Motion CPU Q173CPUN(-T)/ Q172CPUN...

Page 135 - force to printed circuit boards and lead to operation failures.

3 - 16 3 DESIGN 3.3.2 Layout design of the base units This section describes the precautions related to install a Motion controller in an enclosure. (1) To improve ventilation and permit easy replacement of the module, leave a space of the following table between the top, bottom, side of the module ...

Page 136 - Calculating average power consumption; : Current consumption of logic 5 VDC circuit of each module

3 - 17 3 DESIGN 3.3.3 Calculating heat generation by Motion controller The ambient temperature inside the control panel storing the Motion controller must be suppressed to a Motion controller operating ambient temperature of 55°C(131°F). It is possible to remove the Cooling fan unit(Q170FAN) dependi...

Page 137 - U : When the ambient temperature inside the control panel; (b) 5 VDC current consumption of each module; PW; (d) Power consumption of a total of 5 VDC logic section of each module

3 - 18 3 DESIGN (6) Power consumption of the power supply section of the intelligent function module W S = I 5V 5 + I 24V 24 + I 100V 100 [W] The total of the power consumption values calculated for each block becomes the power consumption of the overall Motion system. W = W PW + W 5V + W 24V + W OU...

Page 138 - (e) A total of 24 VDC average power consumption of the output module; OUT; (i) Power consumption of overall system

3 - 19 3 DESIGN (e) A total of 24 VDC average power consumption of the output module W 24V = 192 [W] (8A/common) (f) Average power consumption due to voltage drop in the output section of the output module W OUT = 0 [W] (g) Average power consumption of the input section of the input module W IN = 0....

Page 139 - At the worksite, copy the following table for use as a check sheet.

3 - 20 3 DESIGN 3.4 Design Checklist At the worksite, copy the following table for use as a check sheet. Item Sub Item Design confirmation Check Number of axes axes Number of I/O points points Motion CPU module selection CPU module selection PLC CPU module selection Manual pulse generator pcs. Synch...

Page 140 - INSTALLATION AND WIRING; Module Installation; Be; doing so could result in electric shock or damage to the product.; not directly touch; operation failure or give damage to the module.; Location of screw

4 - 1 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...

Page 141 - ) Fit the two fixing screws for top of the CPU base unit to the panel.; Panel

4 - 2 4 INSTALLATION AND WIRING (5) When an extension cable is used, do not bind the cable together with the main circuit (high voltage, heavy current) line or lay them close to each other. (6) Install the CPU base unit (by screwing) in the following procedure. 1) Fit the two fixing screws for top o...

Page 142 - Fitting dimensions of each base unit are as follows:; Hs; (2) Motion controller installation position

4 - 3 4 INSTALLATION AND WIRING 4.1.2 Instructions for installation of the base unit Install the Motion controller module to a panel, etc. , considering enough about operability, maintainability and environmental resistance. (1) Fitting dimensions Fitting dimensions of each base unit are as follows:...

Page 143 - ventilated location in the orientation shown below.; Vertical; are installed; • On the right and left of Motion controller:

4 - 4 4 INSTALLATION AND WIRING (3) Motion controller installation orientation (a) Since the Motion controller generates heat, it should be fitted on a well ventilated location in the orientation shown below. (b) Do not use it in either of the orientations shown below. Vertical Flat (4) Installation...

Page 145 - Module fixing hole

4 - 6 4 INSTALLATION AND WIRING (b) Removal from Q3 B and Q6 B Module fixing hole Module Base unit Moduleconnector Completion Hold the module with bothhands, and push the hook onthe top of the module with afinger until it stops. While pushing the hook, andusing the bottom of the moduleas a support, ...

Page 147 - • Do not stamp the SSC I/F communication cable.; PC connector

4 - 8 4 INSTALLATION AND WIRING 4.2.2 SSC I/F communication cable (1) Precautions for handling the SSC I/F communication cable • Do not stamp the SSC I/F communication cable. • When laying the SSC I/F communication cable, be sure to secure the minimum cable bend radius of 30 mm(1.18 inch) or more. I...

Page 148 - Battery cable

4 - 9 4 INSTALLATION AND WIRING 4.2.3 Battery cable (1) Precautions for handling the battery cable • For installation or removal of the battery cable, hold surely a cable connector. Battery cable CPU/BAT connector Battery unit(Q170BAT) (2) Installation of the battery cable • For installation of the ...

Page 149 - become coasting state.; TU connector; (2) Installation of the cable for teaching unit; damage the Motion CPU modules and the cable for teaching unit.

4 - 10 4 INSTALLATION AND WIRING 4.2.4 Cable for teaching unit (1) Precautions for handling the cable for teaching unit • Do not stamp the cable for teaching unit. • When laying the cable for teaching unit, be sure to secure the minimum cable bend radius of 30 mm(1.18 inch) or more. If the minimum c...

Page 150 - TU; Do not connect

4 - 11 4 INSTALLATION AND WIRING ! CAUTION When a teaching unit is removed, the emergency stop and servomotor become coasting state. In systems where coasting of the servomotor will be a problem, use dynamic brakes. Do not connect the Motion CPU module side connector of the cable for teaching unit (...

Page 151 - Table 4.1 Permitted Shaft Loads; Gear; Fig. 4.1 Example of Encoder Linked to a Gear

4 - 12 4 INSTALLATION AND WIRING 4.3 Installation of the Serial Absolute Synchronous Encoder This section described instructions for handling the Serial absolute synchronous encoder (MR-HENC/Q170ENC). (1) If the serial absolute synchronous encoder is linked to a chain, timing belt, or gears, the mac...

Page 152 - Never hit the end of; few water drops and little oil and dust.

4 - 13 4 INSTALLATION AND WIRING ! CAUTION The MR-HENC/Q170ENC contains a glass disk and precision mechanism. Take care when handling it. The encoder performance may deteriorate if it is dropped or subjected to shocks or vibration exceeding the prescribed limits. Do not connect the shaft of MR-HENC/...

Page 153 - The removal of the cooling fan unit are described below.; The installation of the cooling fan unit are described below.; Completion; When install the cooling fan unit, do not pinch the wire.

4 - 14 4 INSTALLATION AND WIRING 4.4 Replacement of the Cooling fan unit (Q170FAN) (Q173CPU/Q172CPU only) (1) Removal and installation of the cooling fan unit (Q170FAN) (a) Removal of cooling fan unit from Q173CPU/Q172CPU The removal of the cooling fan unit are described below. Completion Remove the...

Page 154 - all power could result in electric shock or damage to the product.; When wiring in the Motion controller,; be sure that it is done correctly by checking the product's rated

4 - 15 4 INSTALLATION AND WIRING 4.5 Wiring 4.5.1 Instructions for wiring ! DANGER Completely turn off the all lines of the power supply externally before wiring. Not completely turning off all power could result in electric shock or damage to the product. When turning on the power supply or operati...

Page 155 - (c) As a countermeasure to power surge due to thunder, connect a surge; (f) Run the 24VDC input line away from the 100VAC and 200VAC lines.

4 - 16 4 INSTALLATION AND WIRING (b) Do not bunch or lay them closely the main circuit (high voltage, large current) cables of the 100VAC and 24VDC with the I/O signal cables. If possible, separate them 100mm (3.94inch) or more away. (c) As a countermeasure to power surge due to thunder, connect a s...

Page 156 - (b) When the Multiple CPU system and the another equipment cannot be; grounding

4 - 17 4 INSTALLATION AND WIRING (g) Wiring of 200m (656.17ft.) or more distance will give rise to leakage currents due to the wiring capacity, resulting in a fault. Refer to the troubleshooting chapter of the I/O Module User's Manual. (3) Grounding To ground the cable, follow the steps (a) to (c) s...

Page 159 - Item

4 - 20 4 INSTALLATION AND WIRING At the worksite, copy the following table for use as a check sheet. (Continued) Item Sub Item Installation/wiring confirmation Check When using Q173DV, check that the Q173CPU(N) and Q173DV are connected to the SSCNET cable. When using the external battery, check that...

Page 160 - TRIAL OPERATION AND ADJUSTMENT; Checklist before Trial Operation

5 - 1 5 TRIAL OPERATION AND ADJUSTMENT 5. TRIAL OPERATION AND ADJUSTMENT 5.1 Checklist before Trial Operation Table 5.1 Checklists before Trial Operation Model name Confirmation Items Reference (1) Check that the battery lead connector is connected into the BAT connector of the Dividing unit correct...

Page 161 - Multiple CPU parameters setting

5 - 2 5 TRIAL OPERATION AND ADJUSTMENT 5.2 Trial Operation and Adjustment Procedure Be sure to ground the Motion controllers, servo amplifiers and servomotors.(Ground resistance: 100 or less)Do not ground commonly with other devices. Set the following positioning parametersfrom the peripheral devise...

Page 163 - PLC CPU

5 - 4 5 TRIAL OPERATION AND ADJUSTMENT Turn ON again the power supply or reset of Multiple CPU system. Create Motion programs Write PLC programs Motion CPU [Programming mode] Create the Motion programs by GSV P. [Parameter setting mode] [Programming mode] Create the PLC programs to start of Motion p...

Page 168 - INSPECTION AND MAINTENANCE; Correctly connect; may cause an operation failure.

6 - 1 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...

Page 169 - absolute position detector function is correct.

6 - 2 6 INSPECTION AND MAINTENANCE 6.1 Maintenance Works 6.1.1 Instruction of inspection works In order that can use the Motion controller in safety and normal, those items that must be inspected list below. ! CAUTION Never open the front case or terminal covers while the power is ON or the unit is ...

Page 171 - The items that must be inspected daily are listed below.; Table 6.1 Daily Inspection; Module ind

6 - 4 6 INSPECTION AND MAINTENANCE 6.2 Daily Inspection The items that must be inspected daily are listed below. Table 6.1 Daily Inspection Item Inspection item Inspection Criterion Action 1 Installation of the base unit Check that the fixing screws are not loose and the cover is not dislocated. The...

Page 172 - odul

6 - 5 6 INSPECTION AND MAINTENANCE Daily Inspection(continued) Item Inspection item Inspection Criterion Action Input LED Check that the LED is ON/OFF. The LED must be ON at input signal ON. The LED must be OFF at input signal OFF. (Abnormal if the LED does not turn ON or turn OFF as indicated above...

Page 173 - Ambient enviro

6 - 6 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. Table 6.2 Periodic Inspection Item Insp...

Page 176 - Backup time by capacitor; Front

6 - 9 6 INSPECTION AND MAINTENANCE 6.4.2 Battery replacement procedure (1) Q172EX module battery replacement procedure When the Q172EX module battery has been exhausted, replace the battery with a new one in accordance with the procedure shown below. Before removing the battery, turn ON the power su...

Page 177 - accordance with the procedure shown below.; computer which is installed the GSV P.

6 - 10 6 INSPECTION AND MAINTENANCE (2) Battery replacement procedure of the Dividing unit, Battery unit When the battery has been exhausted, replace the battery with a new one in accordance with the procedure shown below. POINTS Replace the battery taking care of the following. (1) Start the replac...

Page 178 - Discard procedure; ) When you discard an internal rechargeable

6 - 11 6 INSPECTION AND MAINTENANCE 6.5 Discard of internal rechargeable battery (1) Discard procedure of internal rechargeable battery The rechargeable lithium battery is built-in in the Motion CPU module. When you discard the Motion CPU module, discard an internal rechargeable battery according to...

Page 180 - P, PLC CPU module connect the GX Developer and check the operating

6 - 13 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 Basics of troubleshooting In order to increase the reliability of the system, not only highly...

Page 181 - Error-occurrence description

6 - 14 6 INSPECTION AND MAINTENANCE 6.6.2 Troubleshooting of Motion CPU module and I/O modules This section describes the contents of troubles for the error codes and corrective actions of the troubles. As for troubleshooting of PLC CPU, refer to the QCPU User's Manual (Function Explanation, Program...

Page 192 - Example 1

6 - 25 6 INSPECTION AND MAINTENANCE 6.6.3 I/O modules troubleshooting This section describes troubleshooting with I/O circuits and their corrective actions. (1) Input circuit troubleshooting and corrective action This section describes troubleshooting with input circuits and their corrective actions...

Page 193 - Condition; Example 6; Input impedance; (b) Calculate the connecting resistor value R as indicated below.

6 - 26 6 INSPECTION AND MAINTENANCE Input Circuit Troubleshooting and Corrective Action (Continued) Condition Cause Corrective action Example 5 Input signal does not turn OFF. • Sneak path due to the use of two power supplies. Input module E 1 E 2 >E 2 E 1 • Use only one power supply. • Connect a...

Page 195 - GSV P, and also read the project data from the Motion CPU.

6 - 28 6 INSPECTION AND MAINTENANCE 6.7 Confirm method of Error Code When an error occurs, the error code and error message can be read by the personal computer(IBM PC/AT) installation of the SW6RN-GSV P. The procedure for reading error codes by the SW6RN-GSV P is as follows. (1) Start the SW6RN-GSV...

Page 196 - APPENDIX 1 Cables; Type

App - 1 APPENDICES APPENDICES APPENDIX 1 Cables In this cable connection diagram, maker names of connectors are omitted. Refer to "APPENDIX 2.7 Connector" for maker names of connectors. APPENDIX 1.1 SSCNET cables Generally use the SSCNET cables available as our options. If the required lengt...

Page 197 - runaway or explosion.

App - 2 APPENDICES Use the following or equivalent twisted pair cables as the SSCNET cables. Table 2 Wire models Type Length [m(ft.)] Wire model Q172J2BCBL M(-B) Q172HBCBL M(-B) 0.5(1.64), 1(3.28), 5(16.40) UL20276 AWG#28 7pair(CREAM) Q173DVCBL M 0.5(1.64), 1(3.28) UL20276 AWG#28 13pair(CREAM) Q173J...

Page 200 - Symbol; ) Connection diagram

App - 5 APPENDICES (c) Q173DVCBL M 1) Model explanation Type: Q173DVCBL M 05 Cable length [m(ft.)] 1 Symbol 0.5(1.64) 1(3.28) 2) Connection diagram When fabricating a cable, use the recommended wire given on APPENDIX 1.1, and make the cable as show in the following connection diagram. The overall di...

Page 201 - none

App - 6 APPENDICES (d) Q173J2B CBL M 1) Model explanation none Symbol Number of SSCNET SYSTEM SSCNET SYSTEM1 SSCNET SYSTEM2 2 34 05 Cable length [m(ft.)] 1 Symbol 5 0.5(1.64) 1(3.28)5(16.40) Type: Q173J2B CBL M SSCNET SYSTEM3SSCNET SYSTEM4 2) Connection diagram When fabricating a cable, use the reco...

Page 202 - Type: Q173HB CBL M

App - 7 APPENDICES (e) Q173HB CBL M 1) Model explanation none Symbol Number of SSCNET SYSTEM SSCNET SYSTEM1SSCNET SYSTEM2 2 34 05 Cable length [m(ft.)] 1 Symbol 5 0.5(1.64) 1(3.28)5(16.40) Type: Q173HB CBL M SSCNET SYSTEM3SSCNET SYSTEM4 2) Connection diagram When fabricating a cable, use the recomme...

Page 204 - SD

App - 9 APPENDICES (g) MR-J2HBUS M-A 1) Model explanation 05 1 5 0.5(1.64) 1(3.28) 5(16.40) Symbol Type: MR-J2HBUS M-A Cable length [m(ft.)] 2) Connection diagram When fabricating a cable, use the recommended wire given on APPENDIX 1.1, and make the cable as show in the following connection diagram....

Page 207 - Encoder connector

App - 12 APPENDICES (2) MR-JHSCBL M-L/H Synchronous encoder cable is the same encoder cables of the HC-SFS/HC-RFS/HC-UFS 2000 r/min series servomotors. (a) Model explanation Symbol L H 2 Cable length [m(ft.)] 5 Symbol 102030 2(6.56)5(16.40) 10(32.81)20(65.62)30(98.43) Specifications Standard flexing...

Page 217 - Cooling fan unit

App - 22 APPENDICES (5) Q172CPU Module [Unit: mm (inch)] 48.5(1.91) 17.5 89.3(3.52) SSCNET M.RUN Q172CPU MODE RUN ERR. BAT. BOOT FRONT CN2 CN1 PULL USB RS-232 27.4(1.08) 98 (3 .8 6) 20 26(1.02) (0.69) (0.7 9) Cooling fan unit (6) Q173CPU Module [Unit: mm (inch)] 89.3(3.52) 17.5 48.5(1.91) Q173CPU SS...

Page 223 - Type Connector : HDR-E14MG1 Type Connector : HDR-E26MG1

App - 28 APPENDICES APPENDIX 2.7 Connector (1) Honda connectors make(HDR model) (Cable connector for the teaching unit) Type Number of pins Connector Connector case 14 HDR-E14MG1 HDR-E14LPA5 HDR-E26MG1 26 HDR-E26FG1 HDR-E26LPA5 Specified tool: FHAT-0029/FHPT-0004C Maker: Honda connectors These tools...

Page 224 - Number of pins

App - 29 APPENDICES (2) Sumitomo 3M make(MDR type) (Cable connector for the serial absolute synchronous encoder) Type Number of pins Type Connector Connector case Solder connection type (Quick release metal latch type) 10120-3000VE 10320-52F0-008 Solder connection type (Threaded type) 10120-3000VE 1...

Page 226 - Hole; (5) Japan Aviation Electronics Industry make

App - 31 APPENDICES (4) Q170TUD3CBL(A31TU-D3 side connector) Type Connector : DB-25SF-N (Maker : Japan Aviation Electronics Industry) Screw lock : D20418-J3 (Maker : Japan Aviation Electronics Industry) Installation plate : Not for sale Circular clamp : DB20962 (Maker : Japan Aviation Electronics ...

Page 228 - Packing; The figure of processing a disc

App - 33 APPENDICES APPENDIX 2.8 Manual pulse generator (MR-HDP01) [Unit: mm (inch)] (0.63) Packing 27.0 20 8.89 0.2 72(2.83) 3.6(0.14) t =2.0 3 Studs (M4 10) PCD72, M3 6 7.6 16 0. 70( 2. 76) 50 (1. 97) 60( 2.36) 0. 5 80( 3.15) 1 NP 5 to 12V 0V A B equi-spaced 62 (2 .4 4) 2 -0 5 90 80 70 60 50 40 30...

Page 229 - Effective dimension

App - 34 APPENDICES APPENDIX 2.9 Serial absolute synchronous encoder (MR-HENC/Q170ENC) (1) MR-HENC [Unit: mm (inch)] 0 -0. 11 -0. 0 06 -0. 0 17 0 -0. 1 1 -0 .0 09 -0 .0 25 +0.14 -0.012 -0.042 +0 .1 0 5(0.20) 3( 0.12) Shaft cross-section B 50( 1.97) 15( 0.59) 14.3( 0.56) 14.3( 0.56) 16( 0.63) N.P 68(...

Page 232 - MEMO

Page 233 - WARRANTY; customer

WARRANTY Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warrant...

Page 234 - MOTION CONTROLLER Qseries; MOTION CONTROLLERS; U s e r ' s M a n u a l; MODEL; Specifications subject to change without notice.

IB(NA)-0300040-D(0603)MEE MOTION CONTROLLER Qseries (Q173CPU(N)/Q172CPU(N)) User's Manual U Q MOTION CONTROLLERS Q173CPU (N) Q172CPU (N) U s e r ' s M a n u a l MODEL MODEL CODE Q173-U-E 1XB780 IB(NA)-0300040-D(0603)MEE When exported from Japan, this manual does not require application to theMinistr...