Page 2 - SAFETY PRECAUTIONS; (Please read these instructions before using this equipment.); DANGER; CAUTION may also be linked to serious
A - 1 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 thi...
Page 3 - For fire prevention; CAUTION
A - 2 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 se...
Page 4 - For injury prevention; Doing so may lead to destruction or damage.; Various precautions; Strictly observe the following precautions.; instruction manual. Other combinations may lead to faults.
A - 3 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...
Page 5 - servo OFF. These brakes must not be used for normal braking.
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...
Page 7 - may lead to oil leaks.
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. Environment Conditions Motion controller/Servo amplifier Servomotor Ambient temperature According to...
Page 9 - Motion controller, servo amplifier or servomotor.; operated by emergency stop signals set externally.; EMG
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...
Page 10 - controller and servo amplifier.
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...
Page 11 - that can affect or endanger human life.
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...
Page 12 - The manual number is given on the bottom left of the back cover.; Print Date
A - 11 REVISIONS The manual number is given on the bottom left of the back cover. Print Date Manual Number Revision Jan., 2008 IB(NA)-0300133-A First edition Feb., 2009 IB(NA)-0300133-B [Additional model] MELSOFT MT Works2, MT Developer2, Software for SV43, Q10UDH/Q13UDH/Q20UDH/Q26UDH/Q03UDE/Q04UDEH...
Page 13 - © 2008 MITSUBISHI ELECTRIC CORPORATION
A - 12 Print Date Manual Number Revision Apr., 2013 IB(NA)-0300133-H [Additional model] Q03UCVCPU, Q04UCVCPU, Q06UCVCPU, Q13UCVCPU, Q26UCVCPU, Q24DHCCPU-V, MR-J4- B-RJ, LJ72MS15 [Additional correction/partial correction] Safety precautions, About Manuals, Restrictions by the software's version, PLC ...
Page 16 - APPENDICES
A - 15 7. EMC DIRECTIVES 7- 1 to 7-10 7.1 Requirements for Compliance with the EMC Directive........................................................................... 7- 1 7.1.1 Standards relevant to the EMC directive ....................................................................................
Page 17 - Manual Name
A - 16 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) Q173D(S)CPU/Q172D(S)CPU Motion controller User's Manual This manual explains ...
Page 18 - error codes and others.; I/O Module Type Building Block User's Manual; conversion modules and others.
A - 17 (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, ...
Page 19 - The symbols used in this manual are shown below.
A - 18 (3) Servo amplifier Manual Name Manual Number (Model Code) SSCNET /H interface MR-J4- B Servo amplifier Instruction Manual This manual explains the I/O signals, parts names, parameters, start-up procedure and others for MR-J4- B Servo amplifier. SH-030106 (1CW805) SSCNET /H interface Multi-ax...
Page 20 - OVERVIEW
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 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 control...
Page 22 - MEMO
Page 30 - SYSTEM CONFIGURATION; Motion System Configuration
2 - 1 2 2 SYSTEM CONFIGURATION 2. SYSTEM CONFIGURATION This section describes the Motion controller system configuration, precautions on use of system and configured equipments. 2.1 Motion System Configuration (1) Equipment configuration in system (a) Q173DSCPU/Q172DSCPU (Note-1): Be sure to install...
Page 32 - ) Connecting to Motion CPU module
2 - 3 2 SYSTEM CONFIGURATION (2) Peripheral device configuration for the Q173D(S)CPU/ Q172D(S)CPU The following (a)(b)(c) can be used. Personal computer USB cable (a) USB configuration (b) RS-232 configuration (c) Ethernet configuration PLC CPU module (QnUD(E)(H)CPU/QnUDVCPU) PLC CPU module (QnUD(H)...
Page 36 - : Up to 16 axes per 1 line
2 - 7 2 SYSTEM CONFIGURATION 2.1.3 Function explanation of the Motion CPU modules (1) The following servo amplifiers can be controlled in Motion CPU module. Q173DSCPU/Q173DCPU(-S1) : Up to 32 axes per 2 lines (up to 16 axes per 1 line) Q172DSCPU : Up to 16 axes per 1 line Q172DCPU(-S1) : Up to 8 axe...
Page 37 - (1) Combination of Multiple CPU system
2 - 8 2 SYSTEM CONFIGURATION 2.1.4 Restrictions on Motion systems (1) Combination of Multiple CPU system (a) Motion CPU module cannot be used as standalone module. Be sure to install the universal model PLC CPU module to CPU No.1. For Universal model PLC CPU module, "Multiple CPU high speed tran...
Page 38 - and Q173DSXY is only the main base
2 - 9 2 SYSTEM CONFIGURATION (2) Motion modules (a) Installation position of Q172DEX (Note-1) and Q173DSXY is only the main base unit. It cannot be used on the extension base unit. (b) Q172DLX/Q173DPX can be installed on any of the main base unit/ extension base unit. (c) Q172DLX/Q172DEX (Note-1) /Q...
Page 39 - (c) There are following methods to execute the forced stop input.; (h) Maximum number of control axes of servo amplifier is shown below.
2 - 10 2 SYSTEM CONFIGURATION (3) Other restrictions (a) Motion CPU module cannot be set as the control CPU of intelligent function module (excluding some modules) or Graphic Operation Terminal(GOT). (b) Be sure to use the battery. (c) There are following methods to execute the forced stop input. • ...
Page 40 - to the online module change.; Module name
2 - 11 2 SYSTEM CONFIGURATION (j) MR-J4W3- B (Software version "A2" or before) and MR-J3W- B does not support operation cycle 0.2 [ms]. Set 0.4[ms] or more as operation cycle to use MR-J4W3- B (Software version "A2" or before) and MR-J3W- B. QDS MR-J4W3- B (Software version "A3&#...
Page 41 - Rating plate; Serial number
2 - 12 2 SYSTEM CONFIGURATION 2.2 Checking Serial Number and Operating System Software Version Checking for the serial number of Motion CPU module and Motion module, and the operating system software version are shown below. 2.2.1 Checking serial number (1) Motion CPU module (Q173DSCPU/Q172DSCPU) (a...
Page 42 - REMARK
2 - 13 2 SYSTEM CONFIGURATION (2) Motion CPU module (Q173DCPU(-S1)/Q172DCPU(-S1)) (a) Rating plate The rating plate is situated on the side face of the Motion CPU module. (b) Front of Motion CPU module The serial number is printed in the projection parts forward of the lower side of Motion CPU modul...
Page 43 - The rating plate is situated on the side face of the Motion module.
2 - 14 2 SYSTEM CONFIGURATION (3) Motion module (Q172DLX/Q172DEX/Q173DPX/Q173DSXY) (a) Rating plate The rating plate is situated on the side face of the Motion module. (b) Front of Motion module The serial No. is printed in the projection parts forward of the lower side of Motion module. SERIAL DATE...
Page 44 - Operating system software version
2 - 15 2 SYSTEM CONFIGURATION 2.2.2 Checking operating system software version Ver.! The operating system software version can be checked on the system monitor screen in GX Works2/GX Developer. Select [Product Information List] button on the system monitor screen displayed on [Diagnostics] – [System...
Page 52 - (a) Motion controller engineering environment; POINTS; When the operation of Windows
2 - 23 2 SYSTEM CONFIGURATION (4) Operating system software Application Software package Q173DSCPU (Note-1) Q172DSCPU (Note-1) Q173DCPU(-S1) Q172DCPU(-S1) Conveyor assembly use SV13 SW8DNC-SV13QJ SW8DNC-SV13QL SW8DNC-SV13QB SW8DNC-SV13QD Automatic machinery use SV22 SW8DNC-SV22QJ SW8DNC-SV22QL SW8DN...
Page 53 - General specifications of the Motion controller are shown below.; specifications above.
2 - 24 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...
Page 54 - This section explains the names and setting of the module.; Bottom; With battery cover open
2 - 25 2 SYSTEM CONFIGURATION 2.5 Specifications of Equipment and Settings 2.5.1 Name of parts for CPU module This section explains the names and setting of the module. (1) Name of parts (a) Q173DSCPU/Q172DSCPU 17) Bottom Side face Front face of Q172DSCPU Front face of Q173DSCPU 0 8 C 4 123 56 79 A ...
Page 57 - Application; The LED displays/flashes in the combination with errors.
2 - 28 2 SYSTEM CONFIGURATION No. Name Application 18) Battery holder Holder to support the battery (Q6BAT). 19) Battery cover Cover for battery (Q6BAT). 20) Battery (Note-5) Battery for backup of program, parameters, motion devices (#), devices of latch data and absolute position data. (Note-1): Be...
Page 58 - LED; Programming Manual for error details.
2 - 29 2 SYSTEM CONFIGURATION Item 7-segment LED Remark Battery error Early stage warning (2.7V or less) Steady "BT1" display Displayed at battery voltage 2.7V or less. Refer to Section "6.5 Battery". Final stage warning (2.5V or less) Steady "BT2" display Displayed at batter...
Page 60 - (a) Rotary switch setting and operation mode
2 - 31 2 SYSTEM CONFIGURATION (4) Operation mode (a) Rotary switch setting and operation mode Rotary switch setting (Note-1) Operation mode SW1 SW2 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...
Page 61 - switch setting change.; Operation overview; Disconnect; IP address
2 - 32 2 SYSTEM CONFIGURATION POINTS (1) Be sure to turn OFF the Multiple CPU system'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 avoid...
Page 65 - (b) Motion SFC performance specifications
2 - 36 2 SYSTEM CONFIGURATION (b) Motion SFC performance specifications Item Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1) Motion SFC program capacity Code total (Motion SFC chart + Operation control + Transition) 652k bytes 543k bytes Text total (Operation control + Transition) 668k bytes 484k by...
Page 67 - (b) Motion program performance specifications
2 - 38 2 SYSTEM CONFIGURATION (b) Motion program performance specifications Item Q173DCPU(-S1)/Q172DCPU(-S1) Program capacity Total of program files 504k bytes Number of programs Up to 1024 (No. 1 to 1024) Operation controls Arithmetic operation Unary operation, Addition and subtraction operation, M...
Page 69 - ) Specifications of input signal/mark detection input signal; ) Interface between input signal/mark detection input signal
2 - 40 2 SYSTEM CONFIGURATION (b) Input signal/Mark detection 1) Specifications of input signal/mark detection input signal Item Specifications Number of input points 4 points Input method Positive common/Negative common shared Common terminal arrangement 4 points/common (Common contact: COM) Isolat...
Page 70 - (c) Manual pulse generator/Incremental synchronous encoder input; POINT
2 - 41 2 SYSTEM CONFIGURATION (c) Manual pulse generator/Incremental synchronous encoder input 1) Specifications of manual pulse generator/incremental synchronous encoder Item Specifications Signal input form Phase A/Phase B Differential-output type (26LS31 or equivalent ) Maximum input pulse freque...
Page 71 - incremental synchronous encoder
2 - 42 2 SYSTEM CONFIGURATION 2) Interface between manual pulse generator (differential-output type)/ incremental synchronous encoder (Note-1): The 5V(P5)DC power supply of system must not be used if a separate power supply is applied to the manual pulse generator/incremental synchronous encoder. If...
Page 72 - ) Connection examples of manual pulse generator/incremental; encoder, be sure it is 5V voltage. Anything else may cause a failure.; Motion CPU module
2 - 43 2 SYSTEM CONFIGURATION 4) Connection examples of manual pulse generator/incremental synchronous encoder (Note-1): The 5V(P5)DC power supply of system must not be used if a separate power supply is applied to the manual pulse generator/incremental synchronous encoder. If a separate power suppl...
Page 76 - AC down to be detected, but operation will continue.
2 - 47 2 SYSTEM CONFIGURATION POINTS (Note-1): Overcurrent protection The overcurrent protection device shuts off the 5V, 24VDC circuit and stops the system if the current flowing in the circuit exceeds the specified value. The LED of the power supply module is turned off or lights up in dim green w...
Page 78 - This section describes the names of the parts of each power module.
2 - 49 2 SYSTEM CONFIGURATION (2) Names of Parts and Setting This section describes the names of the parts of each power module. • Q61P-A1 (100 to 120VAC input, 5VDC 6A output) • Q61P-A2 (200 to 240VAC input, 5VDC 6A output) • Q61P (100 to 240VAC input, 5VDC 6A output) • Q62P (100 to 240VAC input, 5...
Page 79 - ERR
2 - 50 2 SYSTEM CONFIGURATION No. Name Application 1) POWER LED AC input power supply ON (green): Normal (5VDC output, momentary power failure within 20ms) OFF : • AC power supply is ON, however, the power supply module is out of order. (5VDC error, overload, internal circuit failure, blown fuse) • ...
Page 80 - Supply power voltage
2 - 51 2 SYSTEM CONFIGURATION POINTS (1) The Q61P-A1 is dedicated for inputting a voltage of 100VAC. Do not input a voltage of 200VAC into it or trouble may occur on the Q61P-A1. Power module type Supply power voltage 100VAC 200VAC Q61P-A1 Operates normally. Power supply module causes trouble. Q61P-...
Page 81 - (a) Calculation example of power supply selection; • 5VDC current consumption of each module
2 - 52 2 SYSTEM CONFIGURATION (3) Selection of the power supply module The power supply module is selected according to the total of current consumption of the modules, and peripheral devices supplied by its power module. 5VDC internal current consumption of shared equipments with PLC might be chang...
Page 83 - Names of parts of the base unit are described below.
2 - 54 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 Conn...
Page 87 - Servo external signal
2 - 58 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 88 - CTRL connector; converter module
2 - 59 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...
Page 89 - as stroke limit protection.
2 - 60 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...
Page 90 - MI
2 - 61 2 SYSTEM CONFIGURATION 2.5.5 Q172DEX Synchronous encoder interface module Q172DEX receive external signals required for serial absolute synchronous encoder. The installation position of Q172DEX is only main base. (1) Q172DEX name of parts MI T S U B IS HI L ITHIU M B A TTE R Y Q172DEX Q172DEX...
Page 91 - ON at the normal connection (first switching to virtual mode).
2 - 62 2 SYSTEM CONFIGURATION POINT (1) Input indicator LED of the serial absolute synchronous encoder signal turns ON at the normal connection (first switching to virtual mode). (2) Input indicator LED of the tracking enable signal turns ON at the following conditions. • Q172DEX is set in the syste...
Page 94 - Ensure the connector lock after connecting the connector.
2 - 65 2 SYSTEM CONFIGURATION (4) Connection of synchronous encoder interface module. (a) Connection with serial absolute synchronous encoder Use the SY.ENC connector on the front of the Q172DEX module to connect to serial absolute synchronous encoder. When tracking enable signal is not used, use th...
Page 97 - Lithium Metal batteries; • Transportation precaution for customers
2 - 68 2 SYSTEM CONFIGURATION (7) Connection of the battery This section describes the battery specifications, handling precautions and installation of the Q172DEX. (a) Specifications The specifications of the battery for memory back-up are shown in the table below. Battery Specifications Model name...
Page 98 - Battery connector; time is guaranteed value or less.
2 - 69 2 SYSTEM CONFIGURATION (b) Battery replacement For Battery replacement procedure, refer to section 6.5.2. A6BAT/MR-BAT Battery connector Battery is supplied to theserial absolute synchronousencoder by the encodercable. MI T S UBIS HI L ITHIUM B A TTE R Y (c) Battery life Module type Battery t...
Page 99 - could cause an operation failure or damage the module.
2 - 70 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 terminals. Before touching the battery, always touch grounded metal, etc. to discharge static electricity f...
Page 104 - Applicable connector model name
2 - 75 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...
Page 106 - (d) Interface between PULSER connector and tracking enable
2 - 77 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...
Page 108 - Q173DSXY is used to input/output the safety signal.
2 - 79 2 SYSTEM CONFIGURATION 2.5.7 Q173DSXY Safety signal module Q173DSXY is used to input/output the safety signal. (1) Q173DSXY name of parts Q173DSXY PLC IO Motion IO Q173DSXY FR ON T RIO 2 RI O 1 S W 78 0 F 6 E 5 D 4 C 3 B 2 A 1 9 2) 1) 3) 11) 4) 7) 6) 5) 9) 8) 10) No. Name Application 1) Modul...
Page 113 - to two pins of each conversion modules.; as safety functions.
2 - 84 2 SYSTEM CONFIGURATION POINTS (1) Wire the I/O power supply input (24VDC, 0V common) supplied to Q173DSXY to two pins of each conversion modules. (2) Separate all external wirings into 2 lines to configure the safety circuit. Do not wire between the two terminal block conversion modules for I...
Page 117 - (c) Wiring example for external pulse input to safety signal module.
2 - 88 2 SYSTEM CONFIGURATION (c) Wiring example for external pulse input to safety signal module. The wiring diagram for external pulse input signal and safety signal module shows below. Safety module performs the safety diagnostics of external pulse generator, therefore you need to wire them so th...
Page 120 - Model name
2 - 91 2 SYSTEM CONFIGURATION 2.5.9 SSCNET cables Between the Motion CPU module and servo amplifiers, or servo amplifier and servo amplifier connected by SSCNET cable. When using the Q172D(S)CPU, SSCNET cable for connection to servo amplifier can be used for only 1 line. (Connect to CN1.) When using...
Page 123 - Axis No. setting range
2 - 94 2 SYSTEM CONFIGURATION (4) Setting of the axis No. and axis select rotary switch of servo amplifier Axis No. is used to set the axis numbers of servo amplifiers connected to SSCNET connector(CN ) in the program. The following range can be set in the Motion CPU module. Axis No. is set for each...
Page 127 - Do not short a battery.; (3) Connection procedure with Motion CPU module
2 - 98 2 SYSTEM CONFIGURATION CAUTION Do not short a battery. Do not charge a battery. Do not disassemble a battery. Do not burn a battery. Do not overheat a battery. Do not solder the battery terminal. The programs, parameters, motion devices(#), latch range devices and absolute position data of SR...
Page 128 - ) Connect between the connector (BAT) of Motion CPU module and
2 - 99 2 SYSTEM CONFIGURATION (b) Q173DCPU(-S1)/Q172DCPU(-S1) 1) Set Q6BAT to Battery holder unit(Q170DBATC). 2) Connect the lead connector of Q6BAT to the connector (BATTERY) of Q170DBATC. 3) Connect between the connector (BAT) of Motion CPU module and connector (CPU) of Q170DBATC. 0.5[m](1.64[ft.]...
Page 130 - System designing procedure is shown below.; Motion control system design
3 - 1 3 3 DESIGN 3. DESIGN 3.1 System Designing Procedure System designing procedure is shown below. Refer to section 2.5.4 Motion control system design Select the Motion CPU module according to number of controlaxes. Select the motion functions to be installed according to themachinery and equipmen...
Page 131 - DESIGN; Power supply circuit design; so may lead to destruction or damage.
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...
Page 132 - parts may lead to injuries.
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 ...
Page 134 - by the forced stop terminal of input module is also possible.
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...
Page 135 - FOR AC; For AC
3 - 6 3 DESIGN (2) System design circuit example of the PLC I/O (a) System design circuit example(when not using ERR terminal of power supply module) Output module Output module Output module Power to outputequipment switchedOFF when the STOPsignal is given. START SW STOP SW MC RA1 M10 CPU module Tr...
Page 139 - Refer to manual of the servo amplifier about servomotor capacity.
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...
Page 140 - (3) No condensing from sudden temperature changes
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)...
Page 141 - How to calculate average power consumption; PW; : Current consumption of 5VDC logic circuit of each module; Vdrop Number of outputs Simultaneous ON rate [W]
3 - 12 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, i...
Page 142 - E Number of input points Simultaneous ON rate [W]
3 - 13 3 DESIGN (5) Average power consumption of the input section of the 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 in actual use) [V] (6) Powe...
Page 143 - (b) 5VDC current consumption of each module; (d) Total power consumption for 5VDC logic circuits of all modules; (i) Power consumption of overall system
3 - 14 3 DESIGN (7) Example of average power consumption calculation (Q173DCPU use) (a) System configuration Q61P Q03UD CPU Q173D CPU QX40 QX40 Q172D LX Q172D EX Q173D PX QY10 QY10 Q38DB (b) 5VDC current consumption of each module Q03UDCPU (Note) : 0.33 [A] Q173DCPU : 1.25 [A] QX40 (Note) : 0.05 [A]...
Page 144 - At the worksite, copy the following table for use as a check sheet.
3 - 15 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 Module selection Motion CPU module selection Number of axes axes Motion CPU module selection Manual pulse generator pcs. Incremental synchronous encoder pc...
Page 146 - INSTALLATION AND WIRING; Module Installation; an operation failure or damage the module.
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...
Page 147 - torque range specified below.; Location of screw; could result in vibration that may cause erroneous operation.; Panel
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 CPU module fixing screw (M3 13 screw) 0.36 to 0.48 Module fixing screw (M3 12 screw) 0.36 to 0.48 ...
Page 148 - then retighten the all mounting screws.
4 - 3 4 INSTALLATION AND WIRING (c) Place the left-hand side pear-shaped hole of the base unit onto the left-hand side screw. Panel (d) Fit the mounting screws into the holes at the bottom of the base unit, and then retighten the all mounting screws. (Note): Mount a main base unit to a panel, with n...
Page 149 - Fitting dimensions of each base unit are as follows:; Ws
4 - 4 4 INSTALLATION AND WIRING 4.1.2 Instructions for mounting the base unit When mounting the Motion controller to an enclosure or similar, fully consider its operability, maintainability and environmental resistance. (1) Fitting dimensions Fitting dimensions of each base unit are as follows: I / ...
Page 150 - Door; ventilation for heat release.
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. (Note): It is impossible to mount the main base unit by DIN rail. 5mm(0....
Page 154 - Remove the modules while paying attention.
4 - 9 4 INSTALLATION AND WIRING (b) Removal Push Module fixing hook END Support the module with bothhands and securely press the module fixing hook with yourfinger. Pull the module based on thesupporting point of module bottom while pressing the module fixing hook. While lifting a module, take offth...
Page 155 - QD; Mount the battery holder unit on a flat surface.
4 - 10 4 INSTALLATION AND WIRING 4.1.4 Instructions for mounting of the battery holder unit QD When mounting the battery holder unit (Q170DBATC) to an enclosure or similar, fully consider its mounting position and orientation. (1) Module mounting position Mount the battery holder unit within 50cm(1....
Page 156 - SSCNET cable connector or the connector.
4 - 11 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...
Page 157 - Model name of SSCNET cable
4 - 12 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...
Page 158 - Top of panel or wiring duct
4 - 13 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...
Page 160 - (1) Be sure to connect SSCNET cable with the above connector. If the
4 - 15 4 INSTALLATION AND WIRING POINTS (1) Be sure to connect SSCNET cable with the above connector. If the connection is mistaken, between the Motion CPU module and servo amplifier cannot be communicated. (2) Forced removal of the SSCNET cable from the Motion CPU module will damage the Motion CPU ...
Page 161 - Optical cord; SSCNET cable; characteristic of cable.
4 - 16 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, ...
Page 162 - (a) Precautions for handling the battery cable; Base unit
4 - 17 4 INSTALLATION AND WIRING 4.2.2 Battery cable QD (1) Handling the battery cable (a) Precautions for handling the battery cable • For connection or removal of the battery cable, do it surely while holding a connector. CPU connector (CPU) Battery holder unit(Q170DBATC) Connector forCPU side Bas...
Page 164 - holding a forced stop input connector.; Tab; (2) Connection of the forced stop input cable; while holding a connector.
4 - 19 4 INSTALLATION AND WIRING 4.2.3 Forced stop input cable (1) Precautions for handling the forced stop input cable • For connection or removal of the forced stop input cable, do it surely while holding a forced stop input connector. Tab Motion CPU module (2) Connection of the forced stop input ...
Page 166 - Battery holder
4 - 21 4 INSTALLATION AND WIRING 4.3 Mounting of Battery (1) Handling the battery lead wire (a) Q173DSCPU/Q172DSCPU 1) Precautions for mounting the battery • Set the battery to the battery holder correctly after confirming "+" side and "-" side for the battery. 2) Precautions for han...
Page 167 - ) Precautions for handling the battery lead wire; Battery lead wire; Do not hold lead wire; ) Connection of the battery lead wire
4 - 22 4 INSTALLATION AND WIRING (b) Q173DCPU(-S1)/Q172DCPU(-S1) 1) Precautions for handling the battery lead wire • For connection or removal of the battery lead wire, do it surely while holding a battery lead connector. Connector (BATTERY) Battery holder unit(Q170DBATC) Q6BAT Battery lead wire Bat...
Page 168 - Gear
4 - 23 4 INSTALLATION AND WIRING 4.4 Mounting of Serial Absolute Synchronous Encoder This section describes precautions for handling the serial absolute synchronous encoder. (1) If the serial absolute synchronous encoder is linked to a chain, timing belt, or gears, the machine rotating shaft should ...
Page 169 - Use the wires of the following core size for wiring.
4 - 24 4 INSTALLATION AND WIRING 4.5 Wiring 4.5.1 Instructions for wiring DANGER Completely turn off the externally supplied power used in the system before installation or placing wiring. Not doing so could result in electric shock or damage to the product. When turning on the power supply or opera...
Page 171 - (f) Run the 24VDC input line away from the 100VAC and 200VAC lines.; grounding
4 - 26 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...
Page 172 -
4 - 27 4 INSTALLATION AND WIRING 4.5.2 Connecting to the power supply module The following diagram shows the wiring example of power lines, grounding lines, etc. to the main and extension base units. INPUT 100-240VAC CPU module AC 100/200VAC 100VAC Fuse 24VDC AC DC FG LG ERR (Note-1) Connect to 24VD...
Page 173 - Terminal
4 - 28 4 INSTALLATION AND WIRING POINT (1) Use the thickest possible (up to 2mm 2 ) wires for the 100/200VAC and 24VDC power cables. Be sure to twist these wires starting at the connection terminals. For wiring a terminal block, be sure to use a solderless terminal. To prevent a short circuit should...
Page 174 - START-UP PROCEDURES
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 Main base unit/ Extension base unit (1) Check that the main base unit is Q35DB, Q38DB or Q312DB. 2.5.3 (2) Check that the model name...
Page 176 - START
5 - 3 5 START-UP PROCEDURES 5.2 Start-up Adjustment Procedure Parameter setting Set the SSCNET /H head module parameter using MT Developer2.(SSCNET /H head module use) Install the operating system software to theMotion CPU module using MT Developer2. (1) Check the installation position and condition...
Page 180 - Start the install of MT Developer2.
5 - 7 5 START-UP PROCEDURES 5.3 Operating System Software Installation Procedure The operating system software must be installed to the Motion CPU module by using the MT Developer2. The installation procedure is shown below. Start the install of MT Developer2. Set the connection method between the p...
Page 181 - (1) When the software security key function is used in
5 - 8 5 START-UP PROCEDURES POINTS (1) When the software security key function is used in Q173DSCPU/Q172DSCPU, if the software security key of the operating system software already installed in Motion CPU is different from that embedded to the operating system software to be installed, "Clear al...
Page 184 - INSPECTION AND MAINTENANCE; cause an operation failure or damage the module.
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...
Page 187 - The items that must be inspected daily are shown below.; Table 6.1 Daily Inspection
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 base unit Check that the fixing screws are not loose and the cover is not dislocated. The screws a...
Page 191 - The battery life is shown below.
6 - 8 6 INSPECTION AND MAINTENANCE 6.5.1 Battery life The battery life is shown below. Module type Battery type Battery life (Total power failure time) [h] (Note-1) Power-on time ratio (Note-2) Guaranteed value (Note-3) (MIN) (75°C (167°F)) Guaranteed value (Note-4) (TYP) (40°C (104°F)) Actual servi...
Page 193 - dismounting the battery.
6 - 10 6 INSPECTION AND MAINTENANCE 6.5.2 Battery replacement procedure (1) Battery replacement procedure of the Motion CPU module When the battery has been exhausted, replace the battery with a new one in accordance with the procedure shown below. POINTS When replacing the battery, pay attention to...
Page 195 - M IT S U B IS H I; Lead wire
6 - 12 6 INSPECTION AND MAINTENANCE (b) Q173DCPU(-S1)/Q172DCPU(-S1) battery replacement procedure BA TTER Y CP U Q1 70DBA TC M IT S U B IS H I LIT H IU M B A T T E R Y <Battery holder unit(Q170DBATC)> Lead wire Battery connector for Q6BAT Battery(Q6BAT) Turn off the Multiple CPU systempower su...
Page 196 - Encoder cable
6 - 13 6 INSPECTION AND MAINTENANCE (2) Q172DEX module battery replacement procedure When the battery has been exhausted, replace the battery with a new one in accordance with the procedure shown below. POINT When replacing the battery, pay attention to the following. (1) The Multiple CPU power supp...
Page 197 - Note: This symbol mark is for EU countries only.
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 of programs, parameters, motion device(#), latch range device and...
Page 199 - Error-occurrence description
6 - 16 6 INSPECTION AND MAINTENANCE 6.6.2 Troubleshooting of Motion CPU module This section describes the contents of troubles for the error codes and corrective actions of the troubles. As for troubleshooting of PLC CPU, refer to the QCPU User's Manual (Hardware Design, Maintenance and Inspection) ...
Page 206 - END
6 - 23 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...
Page 209 - disappear on
6 - 26 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)...
Page 210 - (1) Internal input circuit troubleshooting; Example 1; satisfied. Connect a resistor as shown below.
6 - 27 6 INSPECTION AND MAINTENANCE 6.6.4 Internal input circuit troubleshooting QDS This section describes possible problems with internal input circuits and their corrective actions. (1) Internal input circuit troubleshooting The following describes possible problems with internal input circuits a...
Page 211 - (b) Calculate the connecting resistor value R as indicated below.
6 - 28 6 INSPECTION AND MAINTENANCE (b) Calculate the connecting resistor value R as indicated below. To satisfy the 0.9 [mA] OFF current of the Motion CPU, the resistor R to be connected may be the one where 3.1 [mA] or more will flow. I R : Iz = Z(Input impedance): R R Iz I R × Z(Input impedance...
Page 212 - EMC DIRECTIVES; CE mark; (1) Authorized representative in Europe
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 ...
Page 214 - ) Ground the control panel with a thick wire so that a low impedance; (2) Connection of power line and ground wire
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...
Page 215 - (a) Grounding of shield section of shield cable
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...
Page 217 - Figure 7.4 Precautions on noise filter
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 ...
Page 218 - Manufacturer Model; screws, etc. during installation or removing the cable clamp.
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 cable clamp. • 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 panel, ground the cable...
Page 222 - APPENDIX 1 Cables
App - 1 App. APPENDICES APPENDICES APPENDIX 1 Cables In this cable connection diagram, maker names of connectors are omitted. Refer to "APPENDIX 2.8 Connector" for maker names of connectors. APPENDIX 1.1 SSCNET cables Generally use the SSCNET cables available as our products. Refer to APPEND...
Page 223 - (2) Do not add impossible power to the connector of the SSCNET cable.; ) Model explanation; Symbol
App - 2 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 th...
Page 224 - Protective tube
App - 3 APPENDICES • MR-J3BUS03M to MR-J3BUS3M Refer to the table of this section (1) for cable length (L). [Unit: mm(inch)] L (Note) 100 (3.94) 100 (3.94) Protective tube (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-J3...
Page 225 - cause runaway or explosion.
App - 4 APPENDICES APPENDIX 1.2 Serial absolute synchronous encoder cable Generally use the serial absolute synchronous encoder cables available as our products. If the required length is not found in our products, fabricate the cable on the customer side. (1) Selection The following table indicates...
Page 226 - Synchronous encoder cable
App - 5 APPENDICES (2) Q170ENCCBL M (a) Model explanation 2 Cable length [m(ft.)] 5 Symbol 102030 2(6.56) 5(16.40) 10(32.81)20(65.62)30(98.43) 50 50(164.04) Type: Q170ENCCBL M (b) Connection diagram When fabricating a cable, use the recommended wire and connector set (Q170ENCCNS) for encoder cable g...
Page 228 - Type : Q170DBATCBL M; FG
App - 7 APPENDICES APPENDIX 1.3 Battery cable Generally use the battery cable available as our products. If the required length is not found in our products, fabricate the cable on the customer side. Make the battery cable within 0.5m(1.64ft.). (1) Q170DBATCBL M (a) Model explanation Type : Q170DBAT...
Page 229 - Type : Q170DEMICBL M
App - 8 APPENDICES APPENDIX 1.4 Forced stop input cable Generally use the forced stop input cable available as our products. If the required length is not found in our products, fabricate the cable on the customer side. Make the forced stop input cable within 30m(98.43ft.). (1) Q170DEMICBL M (a) Mod...
Page 230 - Fabricate the internal I/F connector cable on the customer side.
App - 9 APPENDICES APPENDIX 1.5 Internal I/F connector cable Fabricate the internal I/F connector cable on the customer side. (1) Differential-output type (a) Connection diagram Make the cable within 30m(98.43ft.). Attach a ferrite core included with the internal I/F connector set within 1 to 5(0.39...
Page 232 - Doing so may cause an operation failure or damage the module.
App - 11 APPENDICES CAUTION When fabricating the internal I/F connector cable, do not make incorrect connection. Doing so may cause an operation failure or damage the module. When fabricating the internal I/F connector cable, be sure to attach a ferrite core (ZCAT2030-0930). Not doing so may cause a...
Page 233 - Type: Q173DSXYCBL M
App - 12 APPENDICES APPENDIX 1.6 RIO cable Generally use the RIO cable available as our products. If the required length is not found in our products, fabricate the cable on the customer side. Make the RIO cable within 0.5m(1.64ft.). (1) Q173DSXYCBL M (a) Model explanation Type: Q173DSXYCBL M 01 Cab...
Page 234 - Cable model
App - 13 APPENDICES APPENDIX 1.7 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 ...
Page 243 - Number of pins; Type Connector
App - 22 APPENDICES APPENDIX 2.8 Connector (1) Cable connector for serial absolute synchronous encoder (Sumitomo 3M Limited make (MDR type)) Number of pins Type Type Connector Connector case 20 Solder connection type (Quick release metal latch type) 10120-3000PE 10320-52F0-008 Solder connection type...
Page 244 - (2) Cable connector for serial absolute synchronous encoder
App - 23 APPENDICES (c) Insulation displacement type (Quick release metal latch type) Type Connector : 10120-6000EL Connector case : 10320-3210-000 [Unit: mm (inch)] 20.9 2- 0.5(0.02) 6.7 11 .5 (0 .4 5 ) Position where e.g. logo is indicated 4 2. 0( 1. 6 5) 33 .0 (1 .3 0) 29.7(1.17) (2) Cable connec...
Page 248 - Space
App - 27 APPENDICES APPENDIX 2.9 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...
Page 250 - WARRANTY; caused by your hardware or software problem
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...
Page 251 - Precautions for Choosing the Products
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...
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