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MR-MQ100 - Quick-Start Guide A

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1. Unit mm With battery Q6BAT Without battery A J A A A mat TSE HRM EJEA wiEHuup ase 00 nr HE i ar INNT Ar a a O Eh d J 3 3 A S 5 a ES nf EXTIO EXTJ E FS ce VD VUUUUUUUUUUUUUUL i a 1 x LE AS r r AR F mE F A JUUUUU UC gt O nl a ie L L y oe ee i Ny o 135 4 6 30 30 le gt gt gt Fig A 1 Dimensions of MR MQ 100 Motion controller MR MQ100 A 1 Appendix Troubleshooting A 2 Troubleshooting The following flowcharts show the contents of the troubles with the motion controllers classified into a variety of groups according to the types of events Error occurrence description y POWER LED turns off a Flowchart for when POWER LED turns off y does not flash in the first digit of b Flowchart for when does not flash in the first digit of 7 segment LED 7 segment LED Y A00 displays on 7 segment LED c Flowchart for when A00 displays on 7 segment LED Y AL gt L01 displays on 7 segment LED d Flowchart for when AL gt L01 displays on 7 segment LED y AEG AL displays on e Flowchart for when AL gt A1 gt Dl displays on 7 segment LED segment BTL displays on
2. 40 mm 135 mm f gt ae o Pen Ps A al z e gt 100 mm gt al 5 O EG Servo amplifier i 8 En e 19000000 o E m a m m 90 mm f MINN OM YY 230mm Lo k 30 mm 10 mm Fig 3 1 Module mounting position Fit the Motion controller at the left side of the servo amplifier Motion controller MR MQ100 3 1 Mounting and Wiring Module mounting into cabinet Mounting method for the motion controller WARNING A Completely turn off the externally supplied power used in the system before installation or removing the module Not doing so could result in electric shock or damage to the product Fit the holes for the bottom mounting screws of the Motion controller into the panel Temporarily fasten the bottom side screw Control panel Bottom side screw Place the bottom side notch of the Motion Controlpanel controller onto the bottom side screw 3 Fit the mounting screw into the upper side hole of the Motion controller Control panel Retighten allthe mounting screws using the allowed torque Upper 3 2 a MITSUBISHI ELECTRIC Wiring Mounting and Wiring 3 2 Wiring 3 2 1 Power supply Connector layout Signal name Signal name 1A 1B Not connected 24V Not connected Tab 3 1 Power supply 24 V Pin layout
3. T CD Crm Fig 3 4 Wiring of the power supply for MR MQ100 Use a different 24 V DC power supply for MR MQ100 and for I O components Use different 24 V DC power supplies for the MR MQ100 and the electromagnetic brake of the ser vomotor a J em Motion controller KE a 3 W Hook 24V DC et L Connection and removal of the 24 V DC power supply cable Fig 3 5 Forcibly removal the 24VDC power supply cable from the Motion controller will damage the Motion controller or 24VDC power supply cable a MITSUBISHI ELECTRIC Wiring Mounting and Wiring 3 2 2 Grounding O Perform a grounding resistance of 100 Q or less O Position the grounding point as close to the motion controller as possible to decrease the length of the ground wire O Ground the motion controller independently if possible If it cannot be grounded independen ground it jointly as shown below tly Motion Another Motion Another Motion Another controller equipment controller equipment controller equipment Independant grounding Shared grounding Common grounding Best condition Good condition Not allowed Fig 3
4. HEADQUARTERS EUROPEAN REPRESENTATIVES EUROPEAN REPRESENTATIVES EURASIAN REPRESENTATIVES MITSUBISHI ELECTRIC EUROPE B V EUROPE GEVA AUSTRIA ALFATRADE Ltd MALTA Kazpromautomatics Ltd KAZAKHSTAN German Branch Wiener StraBe 89 99 Paola Hill Mustafina Str 7 2 Gothaer Stra e 8 AT 2500 Baden Malta Paola PLA 1702 KAZ 470046 Karaganda D 40880 Ratingen Phone 43 0 2252 85 55 20 Phone 356 0 21 697 816 Phone 7 7212 50 1150 Phone 49 0 2102 486 0 Fax 43 0 2252 488 60 Fax 356 0 21 697 817 Fax 7 7212 50 11 50 Fax 49 0 2102 486 1120 TEHNIKON BELARUS INTEHSIS srl MOLDOVA MITSUBISHI ELECTRIC EUROPE B V CZECH REPUBLIC Oktyabrskaya 16 5 Off 703 711 bld Traian 23 1 Czech Branch BY 220030 Minsk MD 2060 Kishinev Avenir Business Park Radlick 714 113a Phone 375 0 17 210 46 26 Phone 373 0 22 66 4242 MIDDLE EAST REPRESENTATIVE CZ 158 00 Praha 5 Fax 375 0 17 210 46 26 Fax 373 0 22 66 4280 SHERF Motion Techn Ltd ISRAEL hone 420251591470 ESCO DRIVES amp AUTOMATION BELGIUM HIFLEXAUTOM TECHNIEKB V NETHERLANDS RehovHamerkava 19 Fax 420 251 551 471 ehov Hamerkava Culliganlaan 3 Wolweverstraat 22 IL 58851 Holon MITSUBISHI ELECTRIC EUROPE B V FRANCE BE 1831 Diegem NL 2984 CD Ridderkerk Phone 972 0 3 559 54 62 French Branch Phone 32 0 2 717 64 30 Phone 31 0 180 46 60 04 Fax 4972 0 3 5560182 25 Boulevard des Bouvets Fax 32
5. 1a Example when this is 6 bytes The arrangement of the data items differs according to the command and sub command Fig 5 8 Programmable controller CPU side External device side Response message Motion controller MR MQ100 5 11 Communication MC Protocol Communication Reading values in QnA compatible 3E frame Reading the current values of the three points from data registers D100 to D102 while communicating in binary code Data name External device side Example Command 4 Subcommand 4 Head device Device code Number of device points gt LHL HL 4H 01H 04H 00H 00H 64H OOH OOH ABH 03H OOH 1 i i 1 Number of points to be read Data name Programmable controller CPU side Example Specify the range of lt lt the devices to be read 0401H L T 34H 12H 1 Dat fpr the number of I designed device points L H 02H 00H EFH CDH L 1 EI Indicate the current value of D100 1234H hexadecimal 4 660 decimal Indicate the current value of D101 0002H hexadecimal 2 decimal Indicate the current value of D102 CDEFH hexadecimal 12 817 decimal Reading from the registers D100 to D102 Data name External device side Example Writing values in QnA compatible 3E frame Command 4 Subcommand Head device Device code Data for the number of device
6. 20 points x 1 axis Virtual servomotor axis status 20 points x 8 axes Synchronous encoder axis status 4 points x 1 axis Virtual servomotor axis command signal 20 points x 1 axis Synchronous encoder axis command signal 4 points x 1 axis User device 2 704 points Appendix Internal devices Real mode Virtual mode Device No Device Name Device No Device Name Tab A 2 Axis monitor device 20 points X 1 axis Control change register 2 points x 8 axes Common device Command signal 54 points User device 7 392 points Data register list Axis monitor device 20 points x 1 axis Control change register 2 points x 8 axes Common device Command signal 54 points Virtual servomotor axis monitor device 10 points x 8 axes Synchronous encoder axis monitor device 10 points x 1 axis Cam axis monitor device 10 points x 1 axis User device 6 632 points we MITSUBISHI ELECTRIC Internal devices Appendix Real virtual mode common Device No Device Name User device 8 000 points Mark detection setting device 88 points Monitor device 2 20 points x 1 axis Motion error history device 96 points Mark detection monitor device 320 points Tab A 3 Motion register list Motion controller MR MQ100 Appendix Internal devices Common devices M Common devices Command Devic
7. The Motion controller Hub Straight cable All Computers Hub Straight cable Tab 5 1 Ethernet cables for use with Hub 6 Enabling the parameters of the Motion controller Once power returns to the Motion controller the IP address and parameters of the menu Open Setting will become enabled a MITSUBISHI ELECTRIC Connection to peripheral devices Communication Transfer Setup of the computer MT Developer2 Select Connection via Hub on the Transfer Setup screen The setting is done in the menu Transfer Setup Menu Online Transfer Setup Select Ethernet Board Double click PLC Module Benes o lt Cote Core Brerat co neva 1111000 Chat Accor nost Sanon Mape PU Setting Sia CPU side I F Detailed Setting of PLC Module Select Connection via Hub Set the IP address to the same value as the IP address of the Motion controller The default value of the IP address is 192 168 3 39 Refer to the notes on page 5 2 about IP address value setting CPU pide VF Detailed Setting of PLC Module 63 AAC ode J x J Dharmat Pert ret Coonact n Select Connection via Hub pinata calact Corra vis HUAI when you ues Pub U0 even E the equoments to be communicated i one to the ine when Ethernet Port Direct Correcta n selected wth other equipment connected with i and R communicates and there is thing that the communication of other equipment Set IP
8. 0 2 717 64 31 Fax 31 0 180 44 23 55 E INTERNATIONAL LEBANON F 92741 Nanterre Cedex i Phone 33 0 1 55 68 55 68 Koning Hartman b v BELGIUM Koning 8 Hartman b v NETHERLANDS Cebaco Center Block A Autostrade DORA Fax 33 0 1 55 68 57 57 Woluwelaan 31 Haarlerbergweg 21 23 Lebanon Beirut BE 1800 Vilvoorde NL 1101 CH Amsterdam Phone 961 0 1 240 430 MITSUBISHI ELECTRIC EUROPE B V IRELAND Phone 32 0 2 257 02 40 Phone 31 0 20 587 76 00 Fax 961 0 1 240 438 Irish Branch Fax 32 0 2 257 02 49 Fax 31 0 20 587 76 05 Westgate Business Park Ballymount INEA BH d o o BOSNIA AND HERZEGOVINA Beijer Electronics AS NORWAY IRL Dublin 24 ech Phone 353 0 1 4198800 Aleja Lipa 56 Postboks 487 Fax 353 0 1 4198890 BA 71000 Sarajevo NO 3002 Drammen AFRICAN REPRESENTATIVE Phone 387 0 33 921 164 Phone 47 0 32 24 3000 A eae CIRE EUROPE B V ITALY Fax 387 0 33 524 539 Fax 47 0 32 8485 77 CBI Ltd SOUTH AFRICA Italian Branc an z Private Bag 2016 1 20041 Agrate Brianza MB BG 1756 Sofia RO 060841 Bucuresti Sector 6 Phone 27 0 11 977 0770 Phone 39 039 60 53 1 E Fax 27 0 11 977 0761 Fax 39 039 60 53 312 Phone 359 0 2 817 6004 Phone 40 0 21 430 40 06 Fax 359 0 2 97 4406 1 Fax 40 0 21 430 40 02 orde Rg EUROPE B V POLAND INEA CR d 0 0 CROATIA Craft Con amp Engineering d o o SERBIA Krakowska 50 Losinjska 4 a Bulevar Svetog Cara Konstantina 80 86 PL 32 083
9. Electronic equipment for use in power installations VDE 0550 0551 Regulations for transformers VDE 0700 Safety of electrical appliances for household use and similar applications VDE 0860 Safety regulations for mains powered electronic appliances and their accessories for house hold use and similar applications Motion controller MR MQ100 Safety Guidelines O Fire safety regulations O Accident prevention regulations VBGNr 4 Electrical systems and equipment Safety warnings in this manual In this manual warnings that are relevant for safety are identified as follows DANGER Failure to observe the safety warnings identified with this symbol can result in health and injury hazards for the user WARNING Failure to observe the safety warnings identified with this symbol can result in damage to the equipment or other property ll a MITSUBISHI ELECTRIC Safety Guidelines Specific safety information and precautions The following safety precautions are intended as a general guideline for using PLC systems together with other equipment These precautions must always be observed in the design installation and op eration of all control systems DANGER O Observe all safety and accident prevention regulations applicable to your specific applica tion Always disconnect all power supplies before performing installation and wiring work or opening any of the assemblies components and devices Assemblies co
10. Number of SSCNET III systems 1 system Motion related interface module None External input signal High speed reading of specified data The input signal of the servo amplifier is used FLS RLS DOG Provided Via internal I F input module Mark detection function Provided Clock Function Security function Provided Write Protection or Read Write Protection can be set for Motion SFC pro gram Servo program Mechanical system program and CAM data All clear function Provided Remote Operation Remote RUN STOP Remote latch clear Digital Oscilloscope function Provided Mixed Function of Virtual Mode Real Mode Tab 1 2 None MR MQ100 Motion Control specifications O CHANGE signal of Speed position control comes from the servo amplifier O Either a Manual pulse generator or Incremental synchronous encoder can be used Only SSCNET IIl based MR J3 series servo amplifier can be used a MITSUBISHI ELECTRIC Specifications Introduction Specification Motion SFC program capacity Code total Motion SFC chart Operation control Transition 543k bytes Text total Operation control Transition 484k bytes Motion SFC program Number of Motion SFC programs 256 No 0 to 255 Motion SFC chart size program Number of Motion SFC steps program Up to 64k bytes Included Motion SFC chart comments Up to 4 094
11. Operation modes cece eee eee ences 2 6 Subnet mask pattern ccc eee eee eens 2 7 Link status Display ad Aes 2 7 M Mi falta de Rusa canted asia uted au A 6 MC Protokoll Command message ece cece e ono o 5 9 Response message ee eee eee ee ee eee 5 9 Module mounting cece cece eee e ences 3 2 Motion register 0 ccc eee ccc eee eens A 5 O Operation modes oooooococccccccnoncncnr o 2 6 OS Operating System Confirmation of version o ooooooommmmo 4 4 Installation s 4 4 P PartnaMes ici rele eae Mier 2 2 Power supply Cable int Aaa 3 3 COMMECLOM a sisted ai coin ney pri eva 3 3 WITIN LAS A A SR 3 4 ii R Response MESSAGE occocccoccccccccnncnccn ee eee ee 5 9 RES goign oe bie he hile te dde iia 1 8 Rotary switch SM Wakao Bete tliat es 2 5 SW2u ics ced ai ota 2 5 Router IP address Display siehe nad grado ele the Rich vase FE 2 7 S DO ads A 13 Sideview cui awe eN E E E E Ra 2 1 Mitad A 12 Software VERSION ei iaa 4 4 Special register ooococcoocooccnccrcnccn coo A 13 SSCNET III Cables a oven as cae tenes 3 8 Connection with MR MQ100 46 3 8 Subnet mask pattern Display sr athletes ees ie eee 2 7 SWI soc chaeelidee dai 2 5 e HERE e 2 5 System configuration seeren 2 3 a MITSUBISHI ELECTRIC za MITSUBISHI ELECTRIC
12. System delay time 1 PG1 Model gain of Servo amplifier D6006 1 088 us 1 150 s 1 088 us 6 667 us 7 755 us a MITSUBISHI ELECTRIC Flying Saw application Application Example for MR MQ100 7 1 6 SFC Program Ir 0 Initial values D4000L K160 Circumference Encoder wheel D4002L K2048 4 Encoder resolution OL D4002L D4000L Encoder Pulse mm D4004L 100 Synchronous moving distance mm D4006L 20 Distance Sensor to start mm D4008L 100 Cutting length mm PYOL ON D4010L 20 Cut On distance mm PYO1 OFF D60301L 25000 Return Speed of motor V1 MARK DETECTION SETTING 7912L HO Registration code F79LILIMO Registration code 7916L H0 Registration code F79LSLIMO Registration code F8898 0 Reset mark detection counter Phase compensation PGL 150 D6006 K7755 1088us 1 PG1 1e6 D6005 K100 SET M3 RST M2043 Virtual Mode off D6000 2 Clutch Mode Address mode 2 11 pla CNTs D6020L 1000 D6022L 1000 SET MO Clutch on command device Output initialization RST PYO RST PY1 SET M2042 Servo ON El Enable Interrupt tr 1 SET PYO Home completion MARK DETECTION SETTING 7912L H4140434D Registration code 7914L M45444852 Registration code 7916L M54434554 Registration code 7916L 441544144 Registration code 27920 1 Mark detection signal device 7921 0 Mark signal compensation 7922 4 Latch data type
13. 0 0 B lt gt Version Operating system OS The operating system software is installed at the time of motion controller purchase so there is no need to install any operating system into the motion controller before first start up It is only necessary to install a new operating system software after any upgrades The installation procedure of an updated operation system is described in the MR MQ100 Motion controller Users Manual see preamble for manual number a MITSUBISHI ELECTRIC Connection to peripheral devices Communication 5 5 1 5 1 1 Communication Connection to peripheral devices There are two ways to communicate between the Motion controller and a computer e Direct connection O Hub connection Ethernet cables and parameters are different for Direct connection and Hub Connection Please note there are two types of Ethernet cables O Crossover cable O Straight cable Direct connection Direct connection uses an Ethernet cable between the Motion controller and a computer Select Di rect connection on the Transfer Setup screen of MT Developer2 Menu Online Transfer Setup There is no need to set IP address IP Input Format or Protocol MR MQ100 i Personal Computer Ethernet cable Crossover cable ave Fig 5 1 Direct connection between Motion controller and PC Motion controller MR MQ100 5 1 Communication Connection to
14. 1O00 mesex 100m w O Dec Rop 100715 P Servo Data Setting s As 0o00 PL S ser 1000 msec 1000 msec 1000 msec 0 30014 Dec Rop 100015 6 As 200000 pLsfse 1000 meec 1o00 msec 100uf meec w 200 Dec Sop 100945 Servo Date 7 ms 200000 P4 S se lt 1000 pre 1000 mese 100K 0 xw Dec Stop 1005 E Servo Parameter s As 200000 PLS ser 1000msec 1O00 mmec 1000msec 00 200 Dec op 1005 reap ws Oste ry AS AS 1000 meee 1000 meec 1000 mec 0 200 Dec Rop 100 15 4 pregrado 10 As 200000 PUS js 1000 10c 00KGmemc OA A Dec op 100945 r d System n ms 2000009 S sec 1000 msec 1000 msec 1000 meec 0 001 Dec Rop 100 5 Cam Dto 12 As 200000 p1 Sfse 1000 meec 1000 mec 1000 meec 0 200 Dec Stop 100715 Labels 13 ms 200000 F1 Sjoe 1000 men 1000 mse 1000 memc OL 300 Dec Sap 100 A5 serxtured Data Types AS OOOPS 1000 msec 1000 msec 1000m 0 300 Dec Stop 100945 D Device Memory 15 as a 1000 meec 1000 mse 1000 mec 0 00 Dec Hop 100 AL5 mi 16 As OOOO PSI 1000 mmc 10m Ome CITE Dec op 100945 y AS 200000 P1 S sec 1000 msec 1000 msec OIE msec 0 30 Dec 200p 100 PLS 18 As 200000 pr Sfsee 1000meec 1000 meec 1000fmeec AW SMG Dec Stop 100A5 19 ms 200000 PL S sex 1000 mue 1000 meex 1000 msec 0 300 Dec Rop 100 PL5 2 AS OOPS sec 1000 mec 1000 msec 1000fmsec Om OW Dec Stop 100 PL5 a AS E 1000 mec 1000 mec 1000 m ec 00 300 Dec R
15. 372 0 6 5181 40 Phone 386 0 1 513 8100 MITSUBISHI ELECTRIC AUTOMATION Inc USA 500 Corporate Woods Parkway Fax 372 0 6 518149 ar 386 0 1 513 8170 Vernon Hills IL 60061 Beijer Electronics OY FINLAND Beijer Electronics AB SWEDEN Phone 1 847 478 21 00 Jaakonkatu 2 Box 426 Fax 1 847 478 22 53 FIN 01620 Vantaa SE 20124 Malm Phone 358 0 207 463 500 Phone 46 0 40 35 86 00 Fax 358 0 207 463 501 Fax 46 0 40 35 86 02 UTECO A B E E GREECE Omni Ray AG SWITZERLAND 5 Mavrogenous Str Im Sch rli 5 GR 18542 Piraeus CH 8600 Diibendorf Phone 30 211 1206 900 Phone 41 0 44 802 28 80 Fax 30 211 1206 999 Fax 41 0 44 802 28 28 MELTRADE Ltd HUNGARY GTS TURKEY Fert utca 14 Bayraktar Bulvari Nutuk Sok No 5 HU 1107 Budapest TR 34775 Yukari Dudullu Umraniye ISTANBUL Phone 36 0 1 431 9726 Phone 90 0 216 526 39 90 Fax 36 0 1 431 9727 Fax 90 0 216 526 3995 Beijer Electronics SIA LATVIA CSC Automation Ltd UKRAINE Vestienas iela 2 4 B M Raskovoyi St LV 1035 Riga UA 02660 Kiev Phone 371 0 784 2280 Phone 380 0 44 494 33 55 Fax 371 0 784 2281 Fax 380 0 44 494 33 66 Beijer Electronics UAB LITHUANIA y MITSUBISHI ELECTRIC Savanoriu Pr 187 LT 02300 Vilnius Phone 370 0 5 232 3101 Fax 370 0 5 232 2980 Mitsubishi Electric Europe B V FA European Business Group Gothaer Stra e 8 D 40880 Ratingen Germany FACTORY AUTOMATION Tel 49
16. 4 Encoder 7923 1 Mark detection axis number 793020 Mark detection mode cont SET M2043 Real mode to Virtual mode fe 13 Wirtual mode M2044 fe 2 Control Mode selection Sensor Mark or Length Control MLO Main 0 Main program for setting the initial values and setting servo on command SFC Parameter Normal Task Autostart Yes Fig 7 5 SFC program Main 0 Motion controller MR MQ100 Application Example for MR MQ100 Flying Saw application HomePosReturn ee CNN ie 0 Servo ready flag ON AND Start accept flag OFF M2415 M2001 T k 0 3 Real J 1 ZERO Axis 1 G 0 Servo ready flag ON AND Start accept flag OFF M2415 M2001 K 1 Real 1 A8S 1 Axis ie 0 0 pm Speed 1000 00 mm min ie o Serwo ready flag ON AND Start accept flag OFF M2415 M2001 END HomePosReturn 1 Execution of the Home position return function SFC Parameter Normal Task Autostart No DataCopy F 200 i A Caluclation of line speed mm s 12L D1120L 10L 10L D1120L D4100L LONG FLOAT 12L 1125 1 FLOAT 0L END DataCopy 2 Program for calculation the line speed of the material SFC Parameter Event Task 0 8ms Cycle Autostart Yes Fig 7 6 SFC programs HomePosReturn 1 and DataCopy 2 2 MITSUBISHI ELECTRIC Flying Saw applica
17. Connection v TCP IMELSOFT Connection v TCP IMELSOFT Connection v TCP IMELSOFT Connection v TCP MELSOFT Connection v TCP MELSOFT Connection v TCP MELSOFT Connection v TCP 4 a ja ja pa pa pa pa pa pa ja pa fa pa lata IMELSOFT Connection v Host station port No Please input in HEX Cancel When the Enable online change MC protocol box is unchecked if a data write request is sent from an external device to the Motion controller which is in the RUN status data will not be writ ten to the Motion controller and the module returns the NAK message a MITSUBISHI ELECTRIC FX3U FX3G Communication Communication 5 4 FX3u FX3G Communication 5 4 1 Hardware Configuration MR MQ100 FX3u ENET Ethernet Hub IP Address IP Address 192 168 0 13 192 168 0 2 Fig 5 12 Ethernet communication via Hub Reading data Connection No 1 Port h0402 E Port h0402 Connection No 2 Connection No 3 Port h0403 Port h0403 Connection No 4 Writing data Motion controller MR MQ100 5 21 Communication FX3U FX3G Communication 5 4 2 Software Configuration The FX3U ENET module requires the following configuration by FX Configurator EN BE Fx Configurator EN Unset file Ethernet settings xj Fi View Help oi amp
18. Installation mode MT Developer2 Tab 2 3 Rotary function select switch 1 SW1 Rotary switch Setting Mode Description Normal operation mode Mode operated by i i RAM Operation by the setting data and parameters stored in the motion controller s SRAM Mode operated by Mode to operate based on the setting data and the parameters ROM written to the motion controller s FLASH ROM Ethernet IP address display mode SRAM clear SRAM 0 clear Ethernet Internet Protocol address display mode Tab 2 4 Rotary function select switch 2 SW2 NOTE Be sure to turn OFF the motion controller power supply before the rotary switch setting change Motion controller MR MQ100 2 5 Details of the module Overview 2 1 5 Operation mode Rotary switch setting SW1 sw2 Operation mode Any setting Except C Installation mode 0 Mode operated by RAM Mode operated by ROM Ethernet IP address display mode Any setting 6 8 C SRAM clear Tab 2 5 Rotary switch setting and operation mode O Not to be set except above setting The programs parameters absolute position data and latch data built in motion controller are cleared Operation mode 7 segment LED Mode operated by RAM x remains flashing in the first digit of 7 segment LED Operates based on the user program and parameters stored in the SRAM of the motion cont
19. MQ100 Personal Computer seno Amber Motion Controller MR MQ100 Motor Power Connector Ethernet External Connections Terminal Included with MR MQ100 Encoder Connector MR MQ100 Included with MR MQ100 Fig 1 1 System components 1 2 2 MITSUBISHI ELECTRIC Specifications Introduction 1 2 Specifications Items Specification Power Supply 24V DC 10 Required Current Capacity 400mA Max input current 690 mA Power consumption 16 6 W Mass kg 0 7 Dimensions mm 178 H x30 W x 135 D Digital Inputs Mark detection Digital Outputs 4 Inputs 24V DC 2 Outputs 24V DC Synchronous Encoder e A B phase pulse train e Open collector type up to 800 kpps up to 10m e Differential type up to 1 Mpps up to 30 m Peripheral Interface 100 10 Mbps Ethernet Connectable servo amplifier MR J3 B Servo amplifier over SSCNET III Memory back up Q6BAT included with MR MQ100 Tab 1 1 MR MQ100 General specifications Motion controller MR MQ100 Introduction Specifications Item Specification Number of controlled axis Operation cycle 1 Axis 0 44 ms 1 axis Interpolation functions None Control modes PTP Point to Point control Speed control Speed position control Fixed pitch feed Constant speed control Position follow up contro
20. Setting IP Address Setting Input Format DEC y IP Address 192 168 3 39 Set IP address y Refer to the notes on Subnet Mask Pattern page 5 2 Default Router IP Address Set if it is needed Default Changed Motion controller MR MQ100 5 3 Communication Connection to peripheral devices 3 Open setting of the Motion controller Select TCP or UDP to correspond to current setting of the computer TCP is recommended because of the quality of the communication The setting is done in the menu Open Setting Menu System Setting Basic Setting Built in Ethernet Port Setting Open Setting Built in Ethernet Port Open Setting Host Station Protocol Port No or MELSOFT Connection y MELSOFT Connection v y MELSOFT Connection v y MELSOFT Connection v y MELSOFT Connection v y MELSOFT Connection v y MELSOFT Connection wv y MELSOFT Connection w y MELSOFT Connection wv y MELSOFT Connection w y MELSOFT Connection wv y MELSOFT Connection wv y MELSOFT Connection w y MELSOFT Connection w y MELSOFT Connection w y MELSOFT Connection vw i Writing parameters Write parameters to the Motion controller Crossover cable must be used for this step 5 Changing cables Power off the Motion controller then change the Ethernet cable from a crossover cable to a straight cable Equipment Ethernet cable
21. This will launch the servo setup software called MR Configurator SY MR Configurator MTD2 Unset Project Project View Setup Monitor Alarm Diagnostics Parameters est Advancedfundion Pontdste Help C Unset Project a System configuration list Q Mutti axis display all ER Mutti axis parameter Double click item to display detailed description Target axis No Axis1 Axis one write Write Verify Avis one read Parameter copy Setto default OK Cancel Please change the following parameter in the Basic setting O PA04 0100 Disabling the EMG input on servo amplifier This will allow the amplifier to operate regardless of forced stop input status O PA14 0 or 1 according to the motor rotation direction CW or CCW and click OK Launching MR Configurator from within MT Developer2 is not the same as launching MR Con figurator from the Windows Start Menu Opening from within MTD2 allows changes to servo parameters to be saved within the MTD2 project files Motion controller MR MQ100 6 5 Project creation Sample project creation with MT Developer2 5 Motion SFC Program Creation In the Project Window Menu under Motion SFC Program double click Motion SFC Program Manager This open the Motion SFC Program Manager pop up window Click the icon New which opens up the New Motion SFC Program window Set the Motion SFC Program No to 1 en
22. amp Click Close Click Start Monitoring button The actual values of the registered devices will be displayed in the column Value 6 Double click the value of the Device to be tested The Device Test window appears Click Set or Reset to test the selected bit wire Data device or Write Data to write a value into the selected register Motion controller MR MQ100 6 13 Project creation Additional procedures 6 14 a MITSUBISHI ELECTRIC Flying Saw application Application Example for MR MQ100 7 7 1 7 1 1 Application Example for MR MQ100 Flying Saw application What is a Flying Saw In a flying saw web cut application the material to be cut is fed on a continuous conveyor that is driv en by an open loop motor The saw is mounted on a carriage under servo control that runs parallel to the conveyor The saw accelerates to meet the velocity of the material to perform the cut at the correct location When the cut is complete the saw rapidly decelerates and moves back to the starting po sition to begin the next cutting cycle This results in equal length pieces of material being fed to the next machine process Flying saw applications don t always involve a saw and can be utilized in a variety of industries for Steel paper cutting Wood machining Drilling embossing Filling sorting There are 2 typical types for starting of the synchronisation O Cutting length control An encoder on
23. cable should be 10 m O When voltage output open collector type is used open between SEL and SG Motion controller MR MQ100 3 7 Mounting and Wiring SSCNET III connection 3 3 3 3 1 3 3 2 NOTE SSCNET III connection SSCNET lll cable The cables in the following table are applicable for the connection between the MR MQ100 motion controller and the servo amplifier MR J3 L B Symbol for cable length Tab 3 4 SSCNETIII cable identification Connection between the MR MQ100 and the servo amplifier MR MQ100 Ey CN1 li O ol Servo amplifier ro r Slag JE CN1A i Cap 9 CN1B CI a Fig 3 7 SSCNETIIl connection method with MR MQ 100 O Chose the right SSCNET III cable type in tab 3 4 depending on the cable length for your system configuration O Attach a cap to the SSCNET III connector of the system not being used If the connectors CN1A und CN1B are mixed up at the servo amplifier no communication is possible a MITSUBISHI ELECTRIC SSCNET III connection Mounting and Wiring 3 3 3 Setting the axis No and axis select switch of servo amplifier Axis No is used in the program to set the axis numbers of any servo amplifiers connected to the mo tion
24. devices Devices in the Motion controller only Positioning dedicated devices are included Tab 1 3 Internal relays 12 288 points Link relays 8 192 points Annunciators relays 2 048 points Special relays 2 256 points Data registers 8 192 points Link registers 8 192 points Special registers 2 256 points Motion registers 12 288 points Coasting timers Multiple CPU area device Motion controller MR MQ100 1 point 888 us None MR MQ100 Motion SFC Performance specifications Introduction Specifications Item Specification Number of control axes 1 axis Synchronous control PTP Point to Point control speed control fixed pitch feed Controlmethgd constant speed control position follow up control speed switching control Virtual servomotor Drive module PLS Synchronous encoder i Roller i Control units mm inch Ball screw Output module Rotary table Fixed as degree Cam mm inch PLS Program language Dedicated instructions Servo program mechanical system program Capacity 16k steps 14 334 steps Servo program Number of positioning points Total of 3 200 points It changes with programs indirect specification is possible Number of modules which can be set per CPU Virtual module 3 axes Drive modules Synchronous encoder 1 axis Virtual Main shaft 1 axes Auxiliary
25. forDeg HPR Direction Home Position Return method Posa can be set according to the type HPR Speed 1000 00 mm min needed Creep Speed 100 00 mm min ae Travel After Dog IO Da Parameter Block Setting 1 Invalid Dwell Time At The HPR Retry Home Position Shift Amount HPR Speed Torque Limit at Creep Speed o o ooo Operation For HPR Incompletion Exec Sv Prog Data Parameter Block Setting ___1___ 7 4 2 MITSUBISHI ELECTRIC Flying Saw application Application Example for MR MQ100 Mechanical System Synchronous encoder connected at the line shaft Auxiliary spindle gear ratio must be set equal to main spindle gear ratio Virtual motor is used for the linear movement back to the start position Spindle gear must be set corresponding to the en coder resolution and motor movement Smoothing clutch is set to have a smooth movement for the synchronisation Ball screw output module is used for the real servo motor Calculation of spindle gear ratio based on pls mm Motor Fixed parameter Travel Value Rev Encoder Wheel circumference Encoder resolution Number of Pulses Rev 262 144 PLS 10 000 0 um 160 mm 2 048 pls rev x 4 8 192 pls rev The gear ratio input G Motor Encoder is calculated according the following formula _ 262144 pls 10 mm _ 512 8192 pls 160 mm 1 Mechanical Parameter Setting Gear Ratio Input Axi
26. handling methods 18 0300150 of the Motion controller Q173DCPU Q172DCPU Motion controller Programming Manual COMMON This manual explains the Multiple CPU system configuration performance specifications common IB 0300134 parameters auxiliary applied functions error lists and others Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual Motion SFC This manual explains the functions programming debugging error lists for Motion SFC and others Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual REAL MODE This manual explains the servo parameters positioning instructions device lists error lists and others Q173DCPU Q172DCPU Motion controller SV22 Programming Manual VIRTUAL MODE This manual explains the dedicated instructions to use the synchronous control by virtual main shaft 18 0300137 mechanical system program create mechanical module servo parameters positioning instructions device lists error lists and others Motion Controller Setup Guidance for MR MQ100 MT Developer2 Version 1 18 0300135 18 0300136 Motion controller 18 0300152 This manual describes those items related to the setup of the motion controller programming software MT Developer2 for MR MQ100 SSCNET III Compatible MR J3 L1B Servo amplifier Instruction Manual This manual explains the I O signals parts names parameters start up procedure and others for SH 030051 MR J3 0B Se
27. peripheral devices Direct connection settings Select Ethernet Port Direct connection on the Transfer Setup screen Select Ethernet Board Double click PLC Module CPU side I F Detailed Setting of PLC Module Menu Online Transfer Setup CPU side I F Detailed Setting of PLC Module GPU side I F Detailed Setting of PLC Module FC Mode Select Ethernet Port Direct E connection A Plassa sainct Connection vis HUB when you use hub HUB a Tv oo Connection is selected with other equipmert connected with hubi and amp communicates and there is thing thet influences the communication of other equnmert NOTES Do not connect to a LAN with Direct connection setting The LAN line will become busy and may effect communication of other equipment on the LAN IP address setting does not matter when using a direct connection However communication may fail with the below conditions Inthe Motion controller IP address bits corresponding to 0 in the computer subnet mask are all ON 255 or all OFF 0 Example Motion controller IP address 64 64 255 255 Personal computer IP address 64 64 1 1 Personal computer subnet mask 255 255 0 0 Inthe Motion controller IP address bits corresponding to the computer IP address for each class in the personal computer IP address are all ON 255 or all OFF 0 Example Motion controller IP address 64 64 255 255 Persona
28. setting command Servo ready Servo OFF command Torque limiting Gain changing command Unusable Unusable Virtual mode continuation operation disable i Control loop changing command warning M code outputting FIN signal Axis status Common device Start accept flag Speed change accepting flag Automatic decelerating flag Speed change 0 accepting flag Axis status Common device Control loop monitor status Tab A 6 Internal relays M Common Itis unusable in the real mode A 8 a MITSUBISHI ELECTRIC Internal devices Appendix Virtual Servomotor axis status Virtual Servomotor axis command signal Positioning start complete Stop command Positioning complete Rapid stop command Forward rotation JOG start command Command in position Reverse rotation JOG start command Speed controlling Complete signal OFF command Unusable Error detection Error reset command External stop input disable at start command M code outputting M4019 FIN signal M4819 Synchronous encoder axis command Synchronous encoder axis status Axis 1 signal Error detection M4640 Error reset Virtual mode continuation operation disable M4642 warning Axis status Common device Synchronous encoder current value changing flag Tab A 7 Internal relays M Virtual mode Itis unusable in the real mode Motion controller MR MQ100 A 9 App
29. side Programmable controller CPU side Response message Fig 5 4 Half duplex communication Response message When accessing via the Q series C24 full duplex communication is performed by user setting when the on demand function is being used When the system between external devices and programmable controller CPUs is configured with a m n connection the next command mes sage transmission cannot be performed until data communication between either of the exter nal devices and programmable controller CPUs is completed Motion controller MR MQ100 5 9 Communication MC Protocol Communication When using ASCII code in QnA compatible 3E frame When reading data from the local station programmable controller CPU at the external device gt Text Command Character area A lt gt re Q header Request data section 3 Bose eile g x E O Data name 2 2 2 2 2 El ES E e E8 E E E 3 is 3 E 8 2 23 Po E 5 a A ge 3 g 5 gt ze gt g ge HHE E L Ho eS LH sl Example 5 0 0 0 o o 0 1 8 354 304 304 304 30n 31H 38H ES A Example when this is 24 bytes The arrangement of the data items differs according to the command and sub command Fig 5 5 External device side gt Programmable controller CPU side Command message H gt Text Response Character area B Q header Response data section Subheader length
30. specified flag request D706 All axes servo ON command request D707 Real mode virtual mode switching request D708 JOG operation simultaneous start command request JOG operation simultaneous start axis setting register Manual pulse generator axis 1 No setting register D720 Axis 1 Manual pulse generators 1 pulse input magnification setting register Tab A 5 Common devices D 1 Motion controller MR MQ100 Appendix Internal devices Device No Device Name Manual pulse generator 1 smoothing magnification setting register Unusable Manual pulse generator 1 enable flag request Unusable Tab A 5 Common devices D 2 Axis status Axis command signal Positioning start complete Stop command Positioning complete Rapid stop command In position Forward rotation JOG start command Command in position Reverse rotation JOG start command Speed controlling Complete signal OFF command Speed position switching latch Speed position switching enable command Zero pass Unusable Error detection Error reset command Servo error detection Servo error reset command Home position return request External stop input disable at start command Home position return complete FLS Unusable RLS Feed current value update request command External signals Unusable Address clutch reference setting commandO DOG CHANGE Cam reference position
31. 0 2102 4860 Fax 49 0 2102 4861120 info mitsubishi automation com www mitsubishi automation com
32. 1 15 360 points of words 0000 Writes word devices in units of one point Writes bit devices in units of one point 960 points Reads bit devices in units of 16 or 32 points by randomly specifying a device Random In units or device Random read number 192 points read of words Reads word devices in units of one or two points by randomly specifying a device or device number o o E v 2 gt b O Sets resets bit devices in units of one point by randomly specifying a device 188 points or device number In units of bits Test Sets resets bit devices in units of 16 or Random 32 points by randomly specifying a write In units device or device number of words Writes word devices in units of one or two points by randomly specifying a device or device number i Registers bit devices to be monitored Monitor i in units of 16 or 32 points registration In units p 192 points 0 0 0 of words Registers word devices to be moni tored in units of one or two points Monitor units Monitors devices registered Number of i of words registered points Tab 5 3 Executable commands using the MC protocol O Available O Not available Subcommand is for the QnA compatible 3E frame Devices such as TS TC SS SC CS and CC cannot be specified in units of words For the monitor registration an error 4032H occurs during the monitor operation During mon
33. 144 p rev Mechanical gear ratio 1 1 Ball screw pitch 10mm Fixed parameter settings Number of Pulses Rev 262144x1 262144 PLS Travel Value Rev 10 mm 10000 0 um Diameter of Fig 7 4 Mechanical construction master axis encoder wheel with external encoder Master encoder Data of the mechanical construction with the master axis Diameter of wheel 50 93 mm Circumference 50 93 mm x t 160 mm Encoder resolution 2 048 pulses Rev gt 2 048 x 4 8 192 edges Rev Configuration 1 x MR MQ100 1 x MR 33 0B with MR J3 Motor 1 x External incremental Encoder Open collector Differential line driver 1 x External sensor 24 V for mark detection Motion controller MR MQ100 7 3 Application Example for MR MQ100 Flying Saw application 7 1 4 Software The powerful programming tool MT Developer2 MQ and MR Configurator helps you to setup pro gram tune and easily monitor your system System Structure md External encoder will be set active to follow the line speed Pulse generator Synchronous encoder One MR J3 _B can connected The axis no rotary switch must be set to 0 A O py Untsettiig ff mm Number of Pulses Rev Travel Value Rev 10000 0 pm Ela i Backlash Compensation 0 O pm Electronic gear to adapt the xed Parameter Upper Stroke Limit mechanical construction to the Lower Sirake Umt servo system Sp Ctrl 10x Mult
34. 6 Types of grounding O The ground wire size should be at least 2 mm Motion controller MR MQ100 Mounting and Wiring Wiring 3 2 3 Digital I O MR MQ100 side Solderless terminal S 50 Connection diagram HDR E50MSG1 Connector HDR E50LPH Connector case 25 24 23 22 Differential output type 21 Manual pulse generator incremental synchronous Bp encoder side 48 46 47 45 49 50 Output signal side Input signal mark detection input side if Twisted pair cable Tab 3 2 _ Differential output type cable for internal I F connector O The maximum length of the cable should be 30 m Connect SEL to the SG terminal if differential output type is used 3 6 a MITSUBISHI ELECTRIC Wiring Mounting and Wiring Cable MR MQ100 side Solderless terminal 2450 Connection diagram HDR E50MSG1 Connector HDR E5OLPH Connector case 25 24 23 22 21 Voltage output open 20 collector type Manual pulse generator incremental synchronous 48 encoder side 46 47 45 49 50 gt Output signal side Input signal mark detection input side if Twisted pair cable Tab 3 3 Voltage output open collector type cable for internal I F connector O The maximum length of the
35. 7 segment LED f Flowchart for when BTO displays on 7 segment LED y displays on 7 segment LED g Flowchart for when displays on 7 segment LED y Servo amplifier does not start h Flowchart for when the Servo amplifier does not start y AL gt S01 displays on 7 segment LED H i Flowchart for when AL gt S01 displays on 7 segment LED Fig A 2 Troubleshooting flowchart for MR MQ100 NOTE The procedure of fault finding for each event group a to i mentioned on the right side of the above flowchart is described in chapter 6 of the user s manual of the motion controller MR MQ100 A 2 a MITSUBISHI ELECTRIC Internal devices Appendix A 3 NOTE EE Real mode Internal devices Virtual mode In all following tables the unusable areas of the internal devices are marked with grey colour Device No Device Name Device No Device Name User device 2 000 points User device 2 000 points Common device 320 points Axis status 20 points x 1 axis Common device Command signal 64 points Axis command signal 20 points x 1 axis Tab A 1 User device 4 972 points Internal relay list Motion controller MR MQ100 M5488 to M12287 Common device 320 points Axis status 20 points x 1 axis Common device Command signal 64 points Axis command signal
36. Balice HR 10000 Zagreb SER 18106 Nis Phone 48 0 12 630 47 00 Phone 385 0 1 36 940 01 02 03 Phone 381 0 18 292 24 4 5 Fax 48 0 12 630 47 01 Fax 385 0 1 36 940 03 Fax 0 18 292 24 4 5 AutoCont C S s r 0 CZECH REPUBLIC INEASRd o o ERBIA Ben LECIA EUROPE B V SPAIN Technologick 374 6 Izletnicka 10 En etera de Rubi 76 80 er 00 Ostrava Pustkovec cre 1 Dl a A Phone 420 595 691 150 one 381 0 26 617 163 E 08190 Sant Cugat del Vall s Barcelona Phone 902 131121 34 935653131 Fax 420 595 691 199 Fax 381 0 26 617 163 Fax 34 935891579 B ELECTRIC s r o CZECH REPUBLIC AutoCont Control s r o SLOVAKIA Mladoboleslavsk 812 Radlinsk ho 47 AA UK 7 19700 Praha 19 Kbely SK 02601 Dolny Kubin Travellers Lane Phone 420 286 850 848 420 724 317 975 Phone 421 0 43 5868210 UK Hatfield Herts AL10 8XB Fax 420 286 850 850 Fax 421 0 43 5868210 Phone 44 0 1707 27 61 00 Beijer Electronics A S DENMARK CS MTrade Slovensko s r o SLOVAKIA Fax 44 0 1707 27 86 95 Lykkeg rdsvej 17 1 Vajanskeho 58 DK 4000 Roskilde SK 92101 Piestany MITSUBISHI ELECTRIC CORPORATION JAPAN Phone 45 0 46 75 7666 Phone 421 0 33 7742760 8 12 1 chome Harumi Chuo Ku Fax 45 0 46 75 56 26 Fax 421 0 33 7735 144 Tokyo 104 6212 Beijer Electronics Eesti OU ESTONIA INEA d 0 o SLOVENIA Phone 81 3 622 160 60 P rnu mnt 160i Stegne 11 Fax 81 3 622 16075 EE 11317 Tallinn SI 1000 Ljubljana Phone
37. Ethernet Module settings Module 0 hd Operational settings Initial settings Set the module number Module 0 Necessary settingi No setting Areadyset Detoust a Setittisneedec Nosettng Areadyset Transfer setup PLC remote operation Diagnostics EE es ce ne Ready NUM 4 gi FX Configurator EN Unset file Ethernet operational settings pa Oj xj File View Help D bed amp Communication data code Initial timing Binary code Do not wait for OPEN Communications OS impossible at STOP time z Always wait tor OPEN Communication possible at STOP time Set communication data code Binary code C ASCII code IP address Input format DEC v Send frame setting Ethernet V2 0 Set the IP address 192 168 0 13 IP address 192 168 0 13 TCP Existence confirmation setting Use the Keepalive Use the Ping 5 22 a MITSUBISHI ELECTRIC FX3U FX3G Communication Communication The MR MQ100 requires the following configuration by MT Developer2 Basic Setting El System Basic Setting CPU Name Setting Built in Ethernet Port Setting TIP Address Setting Input Format Dec y IP Address 192 16 of 2 Subnet MaskPattern C I T T Defaut Router IP Address TI T T Set the IP address 192 168 0 2 Open Setting r Communicat
38. HI ELECTRIC Screenshots and Software version Screenshots and Software version All screenshots in this manual were captured with versions ofthe programming software listed in sec tion 4 2 1 running under Windows XP Slight modifications could occur in case of newer software versions Motion controller MR MQ100 Typographic Conventions NOTE Beispiel V VI Typographic Conventions Use of notes Notes containing important information are clearly identified as follows Note text Use of examples Examples containing important information are clearly identified as follows Example text A Numbering in figures and illustrations Reference numbers in figures and illustrations are shown with white numbers in a black circle and the corresponding explanations shown beneath the illustrations are identified with the same numbers like this 0000 Procedures In some cases the setup operation maintenance and other instructions are explained with num bered procedures The individual steps of these procedures are numbered in ascending order with black numbers in a white circle and they must be performed in the exact order shown O Text Text Text Footnotes in tables Footnote characters in tables are printed in superscript and the corresponding footnotes shown be neath the table are identified by the same characters also in superscript If a table contains more than one footnote they are all listed be
39. N MOVP H4 G2695 MOVP HOD0O0 G2696 J_ Move H7 G2697 un q Mave H40A8 2608 un MOV HO 62699 un AA MOV KI 61611 Received data stored in D10 D79 and data length stored in D200 M116 M118 un 16 HH MOV GI6I0 K4Ml48 M148 UNA J_ AMO 1664 DO ADO 00 KI 01 O pY A Di K2 D2 ud emov 1665 D10 D2 UN J kD G1610 HA RO 013 KB YAA Li D14 KS wor DI3 DIS D200 AA UB 0200 K2 0200 KS zi 6 amp amp O O O G amp G O 2 2 RST 22 Fig 5 14 Ladder program 2 5 26 2 MITSUBISHI ELECTRIC FX3U FX3G Communication Communication Number Description Data length for Fix Buffer 2 MC frame Subheader MC frame Net amp PC No MC frame Module I O No MC frame Data length MC frame Mon timer MC frame Command MC frame Sub Command MC frame Starting address MC frame Starting address MC frame Data type amp length MC frame Data length Send command Receive status Receive data length in byte Add 1 to byte for even value Divide by 2 to get word length Read data to D10 Read complete Receive data length low byte Receive data length high byte Receive data length in bytes Receive data length in words Initial Index Register Initial Index Register Tab 5 9 Description of the ladder program 2 i
40. N SETTING 7912L HO Registration code 7914L M0 Registration code 7916L HO Registration code 7918LsHO Registration code 88698 0 Reset mark detection counter ie PX1 Cutting active 77 F 11 F22L D1120L backup actual encoder value D6002L 22L 24L Clutch on address D6004L D6002L 2L Clutch off address 14Le 22L 6L CAM switch PYO1 ON address 216L 214L F8L CAM switch PYO1 OFF address 6 12 m Wwait for clutch on fc 11 IML Wait for clutch off ic 22 Smoothing clutch compl AND In_posit ion M2 M2402 ka002 virtual J 1 INC 1 Axis Ly 2 Pis speed D 6030 PLS sec P B 2 fe 99 NOP Pl LengthControl 11 Program for synchronisation of the servo to encoder fixed length without mark detection function SFC Parameter Normal Task Autostart No Fig 7 8 SFC program LengthControl 11 MITSUBISHI ELECTRIC Exterior Dimensions Appendix A Appendix A 1 Exterior Dimensions
41. Network No module I O No module station No Response data Complete code E H 0 0 0 o Cc 0 0 H L H L D 0 0 0 0 0 F F 0 444 304 30H 304 304 304 464 464 30H 33H 46H 464 304 304 304 30H 304 43H 304 304 30H 30H T Request destination e T Request destination F F Example when this is 12 bytes The arrangement of the data items differs according to the command and sub command Fig 5 6 Programmable controller CPU side External device side Response message 5 10 SA MITSUBISHI ELECTRIC MC Protocol Communication Communication When using binary code in QnA compatible 3E frame When reading data from the local station programmable controller CPU at the external device gt Text Command Character area A lt gt as Q header Request data section 3 gt p c 5 5 Ez D g gz Data name s 2 2 2 2 2 i 33 133 2 E 3 28 lge E gt A ge 8 amp g ge g oc oc Example Example when this is 24 bytes The arrangement of the data items differs according to the command and sub command Fig 5 7 External device side gt Programmable controller CPU side Command message gt Text Response Character area B Response data section Subheader Network No Request destination module I O No Request destination module station No Response data Complete code
42. ON power supply again Check home position return Cycle the power of the Motion Controller Check the followings by executing the home position return e Home position return direction e Home position return data e Proximity dog position Turn ON servo amplifiers power supply Motion controller O Check the emergency stop ON and forced Programming stop ON and turn ON the power supply of Check Motion program servo amplifier and servo motor Set the RUN STOP RESET switch of Motion controllerto RUN and checkthatall positioning Test mode controls by Motion programs are correct Servo start up Initial check Check servo amplifier Check that the mounted servo amplifier Monitor O operates correctly Check by automatic operation Motion Check the sequence operation by executing controller A Motion Test mode the PLC program using an actual external controller Servo start up input Upper lower stroke limit check Check upper lower stroke limits Check that the upper lower stroke limits END operate correctly Fig 4 1 Start up procedure 2 The mode indicated in the brackets at top left of each step is the mode for checking or setting using MT Developer2 Axis No and error description of servo amplifier which detected errors are displayed on initial check screen NOTES Make a note of the series name of the motor before mounting to a machine The servo motor name plate may not be visible after the servo motor is mounted Whe
43. Port No H402 MO MI00 M107 un 16 Move H3a1 c2 J 0 yn move Haz Gao J UM OMOvP HOC0A80002 sn 10 un HA MOP H402 EEE y 0 un ANO Ki aso Open connection UDP to Remote IP 192 168 0 2 and Port No H403 MO M100 M107 Un as move H381 ca un move Hao cs JO un DMOVP HOCOASO002 G55 Ll Un Move H406 G57 O un Move KI Gieo O Close connection MO un so move H8000 G1602 un MOVP H8000 GI604 ff un MOVP K Grosor Fig 5 13 Ladder program 1 a MITSUBISHI ELECTRIC FX3U FX3G Communication Communication Number Description Read FX3U ENET status Read Connection no 1 status Read Connection no 3 status Connection no 1 setup Local Port No h0402 Destination IP Address Destination Port No h0402 Open command Connection no 3 setup Local Port No h0403 Destination IP Address Destination Port No h0403 Open command Close command Con no 1 Close command Con no 3 COM ERR LED Off request Tab 5 8 Description of the ladder program 1 in fig 5 13 Motion controller MR MQ100 5 25 Communication FX3U FX3G Communication Send batch read command D2000 D2063 M1 M116 M118 UO 97 KS HH MOVP H15 G2688 un MOVP H50 G2689 MOVP HOFFOO G2690 MOVP H3FF G2691 Move HOCOO G2692 MOVP H1000 G2693 MOVP H100 G2694 U
44. S Travel Value Rev 1 5 x 5 000 0 1 000 0 um Fig 6 1 Mechanical configuration of the example Upper stroke limit and Lower stroke limit enable software stroke limits Fig 6 2 Stroke limits Stroke range Machine motion range o Stroke limit Stroke limit Lower limit value Upper limit value Exec Sv Prog will allow the servo programs to be executed even if the servo motor has not yet been homed If Not Exec Sv Prog is selected and the servo has not been homed the servo programs will stop and an error will occur Motion controller MR MQ100 6 3 Project creation Sample project creation with MT Developer2 The Parameter Blocks accessible by the Servo Data menu serve to make setting changes easy by allowing data such as the acceleration deceleration control to be set for each posi tioning processing A maximum of 64 blocks can be set as parameter blocks Project 3 X O Parameter Block 4b OCS ors mooment V2 r E acen saara Double clclg the set value sh ts to the setting screen en Structure T l secre A E SE FR regrspeed Readr Data si ny 200000 PLS se lt 1000m o o 1000 o 04 WAW Dec Rop 100715 By opona Data Montor 2 AS 200000 PLS ser 1000 msec 1000 msec 1000 msec 0 301 Dec top 100 P5 PLC Modde Lust 3 AS asi 1000meec 1000 mee 1000meec 0 w Dec Rop 100 A5 Agoma Refresh Setting List 4 ms 200000 PSIse 1000m
45. TCP protocol a MITSUBISHI ELECTRIC MC Protocol Communication Communication Response message receive processing Figure below shows an example of the response message receive processing on the external device side Communication processing on the external device side Request message send processing Response message receive processing TCP connection is closed Is TCP connection open Receive the rest of response messages Has the data been received within the monitoring timer The monitoring timer has run over The receive data exceeds the size limit Check the receive data size The response message for the following request has been received Processing for response messages Has processing for all received messages completed Error processing Fig 5 11 Flow chart of response message receive processing NOTES Personal computers use the TCP socket functions internally for Ethernet communication These functions do not have boundary concept Therefore when data is sent by executing the send function once the recv function needs to be executed once or more to receive the same data One execution of the send function does not correspond to one execution of the recv func tion For this reason receive processing described above is required on the external device side If the recv function is used in blocking mode data may be
46. a MITSUBISHI ELECTRIC Servo Motion Programmable Controllers Quick Start Guide Motion Controller MR MQ100 Art No 20 04 2010 at MITSUBISHI ELECTRIC INDUSTRIAL AUTOMATION Vare ersion A Quick Start Guide Motion controller MR MQ100 Art no Version Revisions Additions Corrections 04 2010 pdp rw About This Manual The texts illustration diagrams and examples in this manual are provided for information purposes only They are intended as aids to help explain the installation operation programming and use of the Mitsubishi motion controllers If you have any questions about the installation and operation of any of the products described in this manual please contact your local sales office or distributor see back cover You can find the latest information and answers to frequently asked questions on our website at www mitsubishi automation com MITSUBISHI ELECTRIC EUROPE BV reserves the right to make changes to this manual or the technical specifications of its products at any time without notice 2005 MITSUBISHI ELECTRIC EUROPE B V Related Manuals The following manuals are also related to this Quick Start Guide These can be obtained free of charge from our website at www mitsubishi automation com Manual Number Manual Name Art No MR MQ100 Motion controller Users Manual This manual describes the hardware specifications the software specifications and
47. ace Double click the F block enter 0 for the program number Next press Enter or click the Edit button In the Program Editor window type SET M2402 The common system device M2402 enables Servo On for all axes when set Double click the G block enter 0 for the program number Next press Enter and then input the text M2415 The axis status device M2415 shows if axis 1 is ready We are telling the controller to wait until the axis is fully initialized before moving on to the next step Without such a delay in front of a motion command K block an error is likely to occur Double click the K block enter 1 for the program number Next press Enter and select Linear Interpol as the Command Class and INC 1 as the Servo Command Click OK The Servo Program Editor window will now open In the Servo Program Editor window set the Axis to 1 and the travel amount to 20000 PLS Then set the Speed to 20000 PLS s Repeat step 5c Repeat step 5d changing the travel amount to 20000 PLS Connect each function block to the one after it by clicking the Connect button from the menu bar and then left clicking on one block and dragging to the next box Tab 6 1 Detailed procedure for preparing the SFC program Motion controller MR MQ100 6 7 Project creation Sample project creation with MT Developer2 File Conversion Download and Program Run Click the Batch Conversion button from the menu bar If all s
48. address Refer to Hub connection setting on next page Pals PU Type let Fired SPU DURA Dtharnet port on Netwerk T Finds CPU ult n Ethernet port on the same network This cannot be performed when the following haspens tio responce within a specii tine period Connected via a router ce bret mask is diferent Do nek respond to search for CPU Buln DMhamet port is chechad in PLC parametar PC side I F Ethernet Board Setting Select TCP or UDP to be same as Open Setting PC side I F Ethernet Board Setting Network No Station No Cancel This is the layout setting layout for the Ethernet board Please execute the Following setting Network No Network No of Ethernet module set in parameter Station No Station No that does not overlap on the same loop Network No and station No are not used when communicating with an Ethernet port of CPU Built in Ethernet port Protocol y Motion controller MR MQ100 5 5 Communication Connection to peripheral devices Hub connection setting IP Address The IP address of the Motion controller has to be considered when the IP address of the computer is already set Example V The below setting is one example if the IP address of the computer is 192 168 1 1 Internet Protocol TCP IP Properties 21xl General You can get IP settings assigned automatically if pour network supports this capability Othe
49. al stage warning 2 5 V or less Steady BT2 display Displayed at battery voltage 2 5 V or less System setting error AL flashes 3 times Steady L01 display System setting error of the motion controller Refer to the Q173DCPU Q172DCPU Motion con troller Programming Manual COMMON for details Servo error AL flashes 3 times 1 Steady S01 display Motion controller servo error Refer to the Q173DCPU Q172DCPU Motion con troller SV13 SV22 Programming Manual REAL MODE or Q173DCPU Q172DCPU Motion control ler SV22 Programming Manual VIRTUAL MODE for details WDT error Tab 2 2 Steady display The LED displays flashes in the combination with errors Hardware fault or software fault Refer to the Q173DCPU Q172DCPU Motion con troller SV13 SV22 Programming Manual REAL MODE or Q173DCPU Q172DCPU Motion control ler SV22 Programming Manual VIRTUAL MODE for details a MITSUBISHI ELECTRIC Overview Details of the module NOTES When an error is displayed on the 7 segment LED confirm the error number etc using MT Developer2 Refer to the motion controller error batch monitor of MT Developer2 or error list of the program ming manual for error details 2 1 4 Rotary switch assignment Rotary switch Setting Mode Description 07 Normal mode Normal operation mode S So When installing the operating system software using
50. ample V Writing of D3000 D3063 Command Byte order Value hex Description Word order Value hex 1 50 00 Sub header 0050 Network No PC No Destination I O No Destination Station No Request data length No of send byte 12 OJo NI OM AJ WIN o CPU monitoring timer Command h1401 batch write Subcommand Starting Address hOBB8 D3000 Data type hA8 D register Reading data length h40 64 points Low byte High byte Low byte High byte Low byte High byte Data64 High byte Tab 5 7 MC Protocol for Batch Write NOTE It is important to understanding how the data are handled because the order of the bytes is cor rect however they have been shifted by one byte within the PLC see the data table The Mitsubishi PLC is always using words so it is necessary to create form the shifted byte data values using a word format This could be done by a for next loop that rearranges the high byte and low byte and puts them in a readable word format A 5 18 a MITSUBISHI ELECTRIC MC Protocol Communication Communication 5 3 6 Setting for MC protocol communication Setting for communication using the MC protocol is described below Set the items of following to in the Built in Ethernet Port Setting of the Basic Setting of MT Developer2 Basic Setti
51. ation 0 cece cece eee eee een e eee 2 3 CPU TY Pe sess RS 5 8 A ENE a BA EN es avs ciara IE 1 8 D BEES RAD E EAEE nant A A 7 Data register oooooooooomommmmmom srsrs o A 4 Dimensions MR MQ100 cc eee e cece tte crac A 1 Direct CONNECTION eee eee eee tenes 5 1 A ehh i ele elie asd 1 8 E EMI Abbreviation ooooooomocomcrommm m 1 8 Pthernet sche ts aoa srt en eke as aaa tase 2 7 Direct CONNECTION cc eee ccc eee ee eee 5 1 Hub CONNECtION seeren rei eee eee eee 5 1 IP ADRESS 3 tias Ck ee Tee ed 5 2 Motion controller MR MQ100 F Estats ts diia wena 1 8 Flying Saw Construction eee cece cence crac 7 2 Principles 7 1 FrOntvieW i ois cc bce ie eco Sada ia aoe as 2 1 FUIIPDUDIOX ness Caen joven and ae eas 5 9 G Grounding TYPES AAA cedars 3 5 Wire ci ai 3 5 H Half D plek Vio ii vents 5 9 Hub connection oooocococcccconcrnrcccr 5 1 l I F connector MR MQ100 ccc cece ccc eee e cece eees 3 6 I F connector cable Differential output type 000 ee 3 6 Open collector type cece e eee e eee nes 3 7 Voltage output type cece cece e eee 3 7 Internal relays 0 0 0 ccc cece cece cece eee eee nee A 8 IPraddress ticos is te eden shade aM Abed 5 2 IP address display c cece eee ee cece ee enes 2 7 i Index L LED display FUNCION dao 2 4 IPAddresS apo oE aces asta ae 2 7 LINK StatUS coi oso e aE 2 7
52. controller via SSCNET III Set the axis select rotary switch of the servo amplifier to 0 because the axis number is fixed in the system structure display as d01 The default setting of the axis select rotary switch of servo amplifier is O Setting display of axis No Axis select switch Servo amplifier MELSOFT Series MT Developer2 L 1 51 5HY manual 55 System Structure Project Edit Convert View Online Option Tool Window Help OSE J F A ARBXeo e ER ME DEN dh Project ax l System Structure dbx manual r Sv22 E mM System Setting I J System Structure F High speed Reading Sy Optional Data Monitc EH Servo Data Setting Motion SFC Program Servo Program Mechanical System HE Cam Data 3 7 Labels Structured Data Types Set the servo 1 7 Device Memory am pl ifier s rota ry switch to 0 The axis number d01 is fixed onthe system structure display MR MQ100 SV22 Host Station Fig 3 8 Setting the axis No Motion controller MR MQ100 3 9 Mounting and Wiring SSCNET III connection 3 10 a MITSUBISHI ELECTRIC Start up and trial operation 4 Start up and trial operation DANGER O Be sure to ground the Motion controllers servo amplifiers and servomotors Ground resis tance 100 2 or less Do not ground commonly with other devices O Never open the front case or terminal cover at times o
53. creation Prepare an SFC program The sample program below allows a simple forward and backward movement of Axis 1 MELSOFT Series MT Developer project_Q170MCPU Sample project 1_axis_movement Motion SFC 1 Project Edit Find Replace Convert View Online Debug Option Tool Window Help RETIRAR Er of 64 WE Jorine change OFF 34 fms QA EFCUEZE di ERE kid 2 p grin sa PO A Project 7 X SoMotion SFC 1 1_axis_movement 5422 BE mi System Setting Basic Setting System Structure et goo 0000 1 Axis JOG SSCNET Structure F High speed Reading Data M3 Optional Data Monitor E PLC Module List Automatic Refresh Setting List 4 Servo Data Setting FA Parameter Block a Servo Data T Servo Parameter X Limit Output Data 5 36 Motion SFC Program a Motion SFC Program Manager F o Allaxes srmo on SET M2042 m Motion SFC Parameter 3 Motion SFC Program 7 0011 Axis JOG Servo Program 4 Mechanical System Cam Data gt Labels fia Structured Data Types T Device Memory c ga Axis 1 ready M2415 8 e e E E Description Add an F block 2 x G block 2 x K block a Jump and a Pointer to the program by left clicking the respective button on the menu bar and left clicking in the program workspace Press the Esc key or right click after adding each block to the worksp
54. e No Device Name Device No Device Name M2000 PLC ready flag M3072 PLC ready flag M2001 to Start accept flag Motion error history clear request flag Motion SFC debugging flag Motion error detection flag Speed switching point specified flag System setting error flag All axes servo ON command Real mode virtual mode switching request SV22 Real mode virtual mode switching status SV22 Real mode virtual mode switching error detection signal SV22 Out of sync warning SV22 Motion slot fault detection flag JOG operation simultaneous start command All axes servo ON accept flag Manual pulse generator 1 enable flag M2054 Operation cycle over flag M2061 to Speed changing accepting flag Synchronous encoder current value Merete changing flag M2128 to Automatic decelerating flag M2240 to Speed change 0 accepting flag Control loop monitor status Tab A 4 Common devices M M3073 Speed switching point specified flag M3074 All axes servo ON command M3075 Real mode virtual mode change request SV22 M3076 JOG operation simultaneous start command M3077 Manual pulse generator 1 enable flag Motion error history clear request flag Aa MITSUBISHI ELECTRIC Internal devices Appendix Device No Device Name D704 PLC ready flag request D705 Speed switching point
55. e a forced stop input therefore the forced stop function on the servo amplifier should be used Motion controller MR MQ100 2 3 Details of the module Overview 2 1 3 7 segment LED display 7 segment LED Remark DK pt Initializing It takes about 10 seconds to initialize RUN STOP display Execute the power cycle of the motion controller if the operation stopped at initializing It may be motion controller s hardware fault when it is not improved Explain the error symptom LED display and get advice from our sales representative for the modules with failure Normal Installation mode x remains flashing Steady INS display x remains flashing Normal operation Mode for installing operating system software via personal computer Operation mode Mode operated by RAM x remains flashing Mode for operating based on user programs and parameters stored in the SRAM built in motion con troller Mode operated by ROM Steady INS display x remains flashing Steady STP display Mode for operating after the user programs and parameters stored in the FLASH ROM built in motion controller are read to the SRAM built in motion controller Stopped the Motion SFC program Steady RUN display Executed the Motion SFC program Battery error Early stage warning 2 7 V or less Steady BT1 display Displayed at battery voltage 2 7 V or less Fin
56. e axis No and axis select switch of servo amplifier 3 9 4 Start up and trial operation 4 1 Start Up Procedures s ccc cda seesi e eie Gs ia vai E TEE E E E TEES 4 2 4 2 Software installation 0 ccc ccc cece enn ene eee nono rre rre 4 4 4 2 1 Programming software 6c cece cence cece cent rr rre 4 4 4 2 2 Combination of software version and function 0c cece cece e eee eens 4 4 4 2 3 Operating system OS 0 0 ccc cee cece cence eee rr rar rr 4 4 5 Communication 5 1 Connection to peripheral deviceS cece cece cence cece nen ene nr raro 5 1 5 1 1 DIKE CE COMMOTION EA E NN 5 1 5 1 2 Hub Connection ccc da a a aa areas 5 3 5 2 Setting CPU NAMES ESS as Barats ear kd Ree NS Rae le Sa le A ER os Mh eee 5 8 5 2 1 HUB connection setting 0 cece ns taS cece eee eee e renee eee ER REES 5 8 Motion controller MR MQ100 Vil Table of Contents 5 3 MC Protocol Communication cece cece cece nen e eee e een ence ene neeeneneenee 5 9 5 3 1 Topics of the MC Protokoll 0 cece cece cece eee e een e nen e eee teen ee eenes 5 9 5 3 2 Transmission of command MessageS 0 cece cece cnet eee eee e nent eenenes 5 9 5 33 Commandilist cie tase seid Re E dd 5 13 5 3 4 Available devicesS ccc cece cece cence ence eben eee n een ene eenees 5 14 5 3 5 PRECAUTIONS miii iS Tee ee 5 14 5 3 6 Setting for MC protocol communication oooooooconcncconcono
57. e original instruction This start up guidance is intended for those who use the MR MQ100 Single Axis Motion Controller 1 5 Axis Servo for the first time How to use programming tool MT Developer2 and MR Configurator will be explained Refer to our MR MQ100 manuals for further information For manual numbers see preamble of this quick start guide 1 1 Features of MR MQ100 The MR MQ100 allows a single axis to be completely controlled and synchronised to a separate en coder or virtual axis with no additional controller hardware A complete range of essential functions are available including encoder and virtual axis synchronization mark registration point to point po sitioning and user defined cam profiles In addition the hardware complements these powerful soft ware features with built in I O and SSCNET III motion networking capability The controller has as standard an Ethernet port for communication to HMI and PLC like Q PLC FX PLC and 3rd party pro ducts With the intuitive MT Developer2 software abstract programming is replaced with graphical models of the actual mechanical system It s easy to create virtual clutches gears and cam profiles by simple drag and drop selection Main applications are e Flying saws Labelling Rotary cutters Form fill amp seal pillow packaging Plus many more Motion controller MR MQ100 1 1 Introduction Features of MR MQ100 1 1 1 Components of the motion control system with MR
58. ears gt ieee ty EA 0 LbalfSvatso my Mener RN Un z G mens th rat sat Mme 7 ifte ems te ye M Serve pros ra s rte wag D Can dato B Pame anro Pw water Mo e a p gt baget Liz ine Select Program memory as target memory to write to Click on Parameter Program to select the data to be written amp Click the Execute button When a password is registered the Pass word Check dialog box appears When program write is to be executed a message appears if there are programs that have not been converted a MITSUBISHI ELECTRIC Additional procedures Project creation communication xl The motion CPU is in the RUN mode Write after executing the remote STOP Warning en tl e anec onan ety When the PLC ready flag M2000 or M3072 is being automatically refreshed the PLC ready flag M2000 might turn ON by automatic refreshing even if it is executed remote STOP and execution of motion control might be resumed during writing of data me e 5 The screen on the left appears if the motion controller is in RUN mode Click the OK button Once download is complete another message will appear asking if you would like to place the controller back in Run mode Again select Yes and then Close The specified data is written to the target memory When writing is completed the dialog box appears notifying the process completion Motion cont
59. ectionNo OpenComplete OpenOkK ExistenceCheck ReadComplete ReadOK MCReadData RecelvedData NoOfReadWords NoOfRevData RemPortNo MCRequestError MCReyErr MCErrorCode MCErrCode CommError CommeErr CommeErrorcode CommeErrorCode ReadHeadAddress ReadNoOfDevices Fig 5 16 Input variables HeadAddress Ladder diagram Batch Read Explanation Head address of the FX3U ENET module Connection No Connection number ExistenceCheck Set the usage of the destination existence check LocalPortNo Set the local station port number h0402 RemIPAddress IP Address of the remote device station 192 168 0 2 RemPortNo Port number of the remote device station h0402 EnableConn Open the communication connection EnableRead Start the MC Protocol batch read command ReadDeviceCode Set the device type A8 D register ReadHeadAddress Set the start device address 2000 D2000 ReadNoOfDevices Ouput variables Set the number of devices 64 D2000 D2063 Explanation InitComplete Initialization procedure completed OpenComplete ReadComplete Connection status MC Protocol Batch Read command completed MCReadData Device Array with read data NoOfReadWords Number of data words read in MCReadData array MCRequestError MC Protocol error occurred MCErrorCode MC Protocol error code Commerror Commu
60. ed by signal line cable or core breaks When using modules always ensure that all electrical and mechanical specifications and requirements are observed exactly Residual current protective devices pursuant to DIN VDE Standard 0641 Parts 1 3 are not adequate on their own as protection against indirect contact for installations with PLC systems Additional and or other protection facilities are essential for such installations Do not install remove the module onto from base unit or terminal block more than 50 times after the first use of the product conforming to IEC 61131 2 Failure to do so may cause the module to malfunction due to poor contact of connector Motion controller MR MQ100 lll Safety Guidelines Precautions to prevent damages by electrostatic discharge Electronic devices and modules can be damaged by electrostatic charge which is conducted from the human body to components of the controller Always take the following precautions when handling the controller or other electronic devices WARNING O Beforetouching the controller or other electronic devices always touch grounded metal etc to discharge static electricity from human body O Wearisolating gloves when touching the powered controller or other electronic devices e g at maintenance during visual check You shouldn t wear clothing made of synthetic fibre at low humidity This clothing gets a very high rate of electrostatic charge IV a MITSUBIS
61. eleration time 1 to 65 535 ms Only constant speed control is possible control S curve acceleration S curve ratio 0 to 100 deceleration Virtual servomotor JOG operation function Provided M function with mode M code output function provided M code complete wait function provided Manual pulse generator operation 1 unit can be connected function Setting of magnification 1 to 10000 Test mode only Setting of smoothing magnification provided Tab 1 4 MR MQ100 Mechanical system program specifications 2 Capacity matching the servo program for real mode Relation between a resolution per cycle of cam and type are shown below 256 256 512 128 1024 64 2 048 32 Motion controller MR MQ100 1 7 Introduction Terminology 1 3 Terminology The terms and abbreviations below are important for motion controllers and are used frequently in this guide Direction of rotation of electric motors The direction or sense of rotation of electric motors is defined looking at the end ofthe motor shaft Direction of rotation is described as O Clockwise Reverse or O Counterclockwise Forward Fig 1 2 Forward rotation CCW Reverse rotation CW Abbreviations FLS Upper stroke limit RLS Lower stroke limit STOP Stop signal DOG Proximity dog EMI Emergency signal input CW Clockwise CCW Counterclockwise SSCNETIII Optical b
62. endix Internal devices Axis monitor devices Axis monitor devices Feed current value roller cycle speed Virtual Mode JOG speed setting Real current value Deviation counter value Minor error code Major error code Servo error code Home position return re travel value Travel value after proximity dog ON Execute program No M code Torque limit value Data set pointer for constant speed control Unusable Real current value at stop input Tab A 8 Data register D Common Virtual servomotor axis monitor devices Cam axis monitor devices Unusable Feed current value Execute cam No Minor error code Execute stroke amount Major error code Execute program No Current value within 1 cam shaft revolution M code Current value after virtual servomotor axis main shaft s differential gear Unusable Error search output axis No Data set pointer for constant speed control Synchronous encoder axis monitor devices Current value Minor error code Major error code Unusable Current value after synchronous encoder axis main shaft s differential gear Error search output axis No Unusable Tab A 9 Data registers D Virtual mode A 10 a MITSUBISHI ELECTRIC Internal devices Appendix 7timesin past Axis monitor device 2 Motion error history devices Servo amplifie
63. er 000000 001FFF Hexadecimal lt oO w n lt gt o lt Motion register EOH 000000 012287 Decimal Availible devices in the MC protocol communication function When data is communicated in ASCII code the second character O can be designated a blank space code 20H Precautions Number of connected modules In the connection with external devices using the MC protocol the number of Motion controllers set as MELSOFT connection in the Open Settings on Built in Ethernet Port setting of Basic Setting can be connected simultaneously Data communication frame The table below shows the frames available in the communication function using the MC protocol with PERIPHERAL I F Communication frame Communication function using the MC protocol with PERIPHERAL I F 4E frame Not available QnA compatible 3E frame Available Not available A compatible 1E frame Access range Only Motion controller connected by Ethernet can be accessed Accessing a Motion controller not connected by Ethernet results in an error Precautions when UDP protocol is selected Ifanewrequest message is sent to the same UDP port while the port waits for a response message the new request message is discarded Setting same host station port number to multiple UDP ports is regarded as one setting When communicating with multiple external devices using the same host station port number select
64. er supply Turn ON power supply again controller Check that the power supply of Motion Cycle the power of the Motion Controller controller is OFF See a Check wiring and module installation Check external inputs e Check the installation of the servo Check the wiring of the external signal inputs amplifier i SM by the device monitoringMT Developer2 Eneche connecting condition of Check the wiring of e Check that all terminal screws are tight paa pte Tae input e Check the ground wires of servo Lower O imit input A amplifier etc e Check the wiring of proximity DOG signal e Check the servo motor wiring U V W when you ARAN position return of e Check the regenerative option wiring Proximity type e Check the circuit of emergency stop or forced stop Check pulse inputs Check the wiring of the external inputs by the device monitor of MT Developer2 Servo amplifier setting e Check that the current value device A D1120 D1121 counts when a manual Servo Set the axis number of the servo amplifier pulse genarator or a synchronous encoder amplifier to 0 Motion are used y controller 4 Turn ON power supply Check VO signal Motion Set the RUN STOP RESET switch of Motion Check the wiring of the I O signal by the controller controller to STOP and turn ON the Motion device monitor of MT Developer2 controller s power supply M a System setting Servo data setting Parameters setting Positioning parameters setting i Set the positio
65. et modules For details on the MC protocol refer to the Q Corresponding MELSECCommunication Protocol Reference Manual External devices such as personal computers and display devices read write device data from to the Motion controller using the MC protocol External devices monitor the operation of the Motion controller analyze data and manage produc tion by reading writing device data 5 3 1 Topics of the MC Protokoll The MC Protocol was implemented in MR MQ100 for communication to Q PLC FX PLC and 3rd party products The QnA compatible 3E frame was implemented and the communication is compatible to QnUDE Communication Twotypes of communication systems are available one using ASCII code data and the other using binary code data Protocol must be programmed in the external device side and the MR MQ100 reply of the protocol without any program in the Motion Controller The Read Writing Monitoring of M SD X Y M F B D W devices is supported Data communication is performed using half duplex communication 5 3 2 Transmission of command messages Data communication through the MC protocol is performed using half duplex communication When accessing the programmable controller CPU send the next command message after receiving a response message from the programable controller CPU side for the previous command message transmission Command message Command message External device
66. from front view MR MQ100 side Solderless terminal 2A 2B 0000 T en 9 1A 1B 1827587 2 Terminal 1 1827864 2 Connector Solderless terminal size R1 25 3 5 24V 1B gt gt gt O 24V 246 2B O 246 24V 1A 24G 2A J Twisted pair cable O Fig 3 2 24 V DC power supply cable without EMI connector Q170MPWCBL2M MR MQ100 side 2A 2B Solderless terminal nooo E 29 EO C 1A1 aes ee 1827587 2 Terminal 1 1827864 2 Connector Solderless terminal size R1 25 3 5 24V 1B EA O 24V 246 2B OO ue 24V 1A 24G 2A J Twisted pair cable O EMI COM 2 EMI 1 5556PBTL Terminal 5557 02R 210 Connector Fig 3 3 24V DC power supply cable with EMI connector Q170MPWCBL2M E Use a cable of wire size AWG22 Motion controller MR MQ100 3 3 Mounting and Wiring Wiring NOTES NOTE Connecting the power supply 200 230 V AC Power supply Power supply 24VDC Supply of 1 0 components Input connector Y suso RESET i MR MQ100 STOP RUN Eo og o COII Tr c PERIHERAL UF pon D
67. he front side of Motion controller Digital oscilloscope function cannot be used a MITSUBISHI ELECTRIC Overview Details of the module 7 segment LED Operation overview e P address Example 192 168 3 39 e Subnet mask pattern Example 255 255 255 0 e Default router IP address Example 192 168 3 1 Disconnect Link status Connect 10 Mbps Full Duplex CARPA Connect 100 Mbps Half Duplex eee Tab 2 7 Ethernet IP address display mode overview NOTES When the Ethernet parameters are not written in the Motion controller the address is displayed as follows IP address 192 168 3 39 Subnet mask pattern 255 255 255 0 Default router IP address 192 168 3 1 Be sure to turn OFF the Motion controller power supply before a rotary switch setting change Motion controller MR MQ100 2 7 Details of the module Overview 2 8 a MITSUBISHI ELECTRIC Module mounting into cabinet Mounting and Wiring 3 Mounting and Wiring 3 1 Module mounting into cabinet 3 1 1 Mounting of MR MQ100 Keep the clearances shown below between the top bottom faces ofthe module and other structures or parts to ensure good ventilation and facilitate module replacement
68. ing Amplifier Type Axis No External Signal Input Setting Allowable Travel during Power Off Amplifier Input Invalid 4 gt C Amplifier Input Valid 10 Revolution Oto 8191 g9 Servo Parameter Setting ii system Structure fff SSCNET Structure Servo Data Fixed Parameter HPR Data JOG Operation Data List Double clicking the set value shifts to the setting screen Axis 1 PLS Pulses Rev 262144 PL5 Travel Value Rev 20000 PLS Backlash Compens O PLS Fed Paranoia 2147483648 PLS 100 PLS Sp Ctrl 10x Mult for Deg a TOG Operation Data System Structure Settings Double click the amplifier icon SSCNET Structure to confirm the set amplifier type is correct Ifanyl O are wired to the amp such as home or limit sensors select the Detail Setting tab and set the External Signal Input Setting to Amplifier Input Valid 3 Servo Data Settings and Parameter Block In the MT Developer2 Project Window Menu double click Servo Data to bring up the Servo Data tab Edit the settings so that they match the screenshot shown in the left figure Travel Value Rev should represent how far the load moves for every rotation of the motor a MITSUBISHI ELECTRIC Sample project creation with MT Developer2 Project creation Example V The ball screw lead is 5 mm and the mechanical gear ratio is 1 5 Servomotor HF KP43 Unit setting mm Number of Pulses Rev 262 144 PULSE
69. input axis Gear Clutch Transmission Speed change gear modules Differential gear Differential gear to main shaft Mechanical system program Roller Output Ball screw 1 Total of 1 modules Rotary table 1 Cam 1 Types Up to 2569 Resolution per cycle Memory capacity 256 512 1024 20489 132k bytes Storage memory for cam data CPU internal RAM memory Stroke resolution 32 767 Control mode Tab 1 4 Two way cam feed cam MR MQ100 Mechanical system program specifications 1 a MITSUBISHI ELECTRIC Specifications Introduction Specification PTP Point to Point control speed control fixed pitch feed constant speed control Control methods at position follow up control PTP control Selection of absolute or incremental data method Fixed pitch feed Incremental data method Constant speed control Both absolute and incremental data method can be used together Positioning Position follow up control Absolute data method Method Position command Address setting range 2 147 483 648 to 2 147 483 647 PLS Speed command Speed setting range 1 to 2 147 483 647 PLS s Automatic Acceleration fixed acceleration deceleration Time fixed acceleration deceleration trapezoidal ar Acceleration acceleration Acceleration time 1 to 65 535 ms Acceleration deceleration time 1 to 5 000 ms deceleration deceleration Dec
70. ion Data Code Set if kt Is needed pa Sa Default Changed Set communication data Binary C code Binary code ASCII Code Y Enable Online Change MC Protocol ee Protocol cae Open System y MELSOFT Connection y LSOFT Connection y IC Protocol IC Protocol SOFT Connection SOFT Connection SOFT Connection y LSOFT Connection SOFT Connection SOFT Connection SOFT Connection LSOFT Connection y LSOFT Connection MC Protocol setting Port No h0402 for reading data Port No h0403 for writing data 2 X asd c c ii alalalalala 414 PAI NEAR 44 4 aja alala lalalala als ala dE Ht 414 I FI t v alo alala dj v 4 w MELSOFT Connection HE ee Ea a Esa Ea ror E mms ral ara 14 EUA 16 Host station port No Please input in HEX Cancel Motion controller MR MQ100 5 23 Communication FX3U FX3G Communication 5 4 3 PLC Programming The FX3U PLC CPU requires a program where the MC Protocol is generated and send out via Ethernet module to MR MQ100 for reading and writing devices There are 2 program examples shown for GX Developer and GX IEC Developer GX Developer ladder program for reading D2000 D2063 from MR MQ100 Read module status M8000 Ug MOV G28 amoo O UN MOV G1602 K4M116 UQ MOV G1604 K4M132 Open connection UDP to Remote IP 192 168 0 2 and
71. iteNoOfDevices Set the number of devices 64 D3000 D3063 MCWriteData Ouput variables Device Array with write data Explanation InitComplete Initialization procedure completed OpenComplete Connection status WriteComplete MC Protocol Batch Write command completed MCRequestError MC Protocol error occurred MCErrorCode Commerror MC Protocol error code Communication error occurred CommeErrorCode Communication error code a MITSUBISHI ELECTRIC Sample project creation with MT Developer2 Project creation 6 Project creation NOTE The sample programs described in this manual can be downloaded free of charge through the website www mitsubishi automation com mymitsubishi mymitsubishi content html 6 1 Sample project creation with MT Developer2 a VD New project creation CPU Type Start MT Developer2 and create a new project with CPU and OS Type selected as di MR MQ100 shown left OS Type swo svz20w pe After clicking OK in the New Project Window the MT Developer2 project window will appear as shown below P MELSOFT Series MT Developer Unset Project System Structure JD AMEX code eS OEE Cee th Project LL AX Structured Data Types T Device Memory Motion controller MR MQ100 Project creation Sample project creation with MT Developer2 Amplifier Sett
72. itor registration monitor condition cannot be set Do not execute monitor registration from multiple external devices If executed the last monitor registration becomes valid O Set the number of processed points so that the following condition is satisfied Number of word access points x 12 Number of double word access points x 14 1 920 Bit devices are regarded as 16 bits during word access and 32 bits during double word access Word devices are regarded as one word during word access and two words during dou ble word access Motion controller MR MQ100 5 13 Communication MC Protocol Communication 5 3 4 Classification Available devices The devices available incommands used in the MC protocol communication function is shown below Device code ASCII code Device Device number range Remarks Binary code Internal sys tem device Special relay 91H 000000 002255 Decimal Sej is Special register A9H 000000 002255 Decimal Internal user device Tab 5 4 5 3 5 9CH 000000 001FFF Hexadecimal Input Including actual input device PX 9DH 000000 001FFF Hexadecimal Output Including actual output device PY Decimal 90H 000000 012287 Internal relay Annunciator 93H 000000 002047 Decimal AOH 000000 001FFF Hexadecimal Link relay A8H Decimal B4H 000000 008191 Data register Link regist
73. l Speed control with fixed position stop Speed switching control High speed oscillation control Synchronous control Acceleration deceleration control Automatic trapezoidal acceleration deceleration S curve acceleration deceleration Compensation Backlash compensation Electronic gear Phase compensation Programming language Motion SFC Dedicated instruction Mechanical support language SV22 Servo program capacity 16k steps Number of positioning points 3 200 points Positioning data can be designated indirectly Home position return function Proximity dog type 2 types Count type 3 types Data set type 2 types Dog cradle type Stopper type 2 types Limit switch combined type Home position return re try function provided home position shift function provided JOG operation function Manual pulse generator operation function Provided Possible to connect 1 module Synchronous encoder operation function Possible to connect 1 modules incremental only M code function M code output function provided M code completion wait function provided Limit switch output function Number of output points 32 points Watch data Motion control data Word device ROM operation function Provided Absolute position system Made compatible by setting battery to servo amplifier Possible to select the absolute data method or incremental method for each axis
74. l computer IP address 192 168 0 0 Personal computer subnet mask 255 0 0 0 5 2 a MITSUBISHI ELECTRIC Connection to peripheral devices Communication 5 1 2 Hub Connection The Motion controller can be connected to multiple computers through a hub MR MQ100 Personal Computer Ethernet cable ic Straight cable Ethernet cable Straight cable J 9 gt PERIPHERAL I F 3 Ethernet Panel Personal Computer Fig 5 2 Connection between Motion controller and PC via Hub Hub connection settings Before connection with a hub can be made the Motion controller s settings must be changed using a direct connection method Connecting an Ethernet cable Crossover cable Connect an Ethernet cable Crossover cable between the Motion controller and a computer Setting IP address of the Motion controller Set the IP address located in the tab Built in Ethernet Port Setting The default IP address value is 192 168 3 39 Refer to the notes on page 5 2 about IP address value setting No need to set Subnet Mask Pattern or Default Router IP Address The setting is done in the menu Built in Ethernet Port Setting Menu System Setting Basic Setting Built in Ethernet Port Setting Basic Setting System Basic Setting CPU Name
75. le the power supply of MR MQ100 and MR J3 servo both According to the program you created the motor will automatically rotate 1 revolution in both directions The movement will be stopped by using RUN STOP switch at the MR MQ100 front panel Motion controller MR MQ100 6 9 Project creation Additional procedures 6 2 6 2 1 6 2 2 Additional procedures Project opening This section explains the method for reading a project saved in the hard disk or other memory media of the personal computer Operating Procedure MT Developer2 project Open project Save folier Path CilDecuments and Settings Ad ator My Documents Workapace Propect st cpu type rele Returns Lo the wor Los type aT INNTA SWw 3V22Q Select Project Open Project The Open Project window appears Enter the folder drive path where the workspace is saved in the Folder field 3 Double click Workspace in the Workspace Project List Select the project data Details of the speci fied project data are displayed in the Project Name and Title columns Click the Open button Writing project to the Motion controller This section explains the method for writing a project saved in the hard disk or other memory media of the personal computer to the Motion controller internal memory Operating Procedure MT Developer2 Select Online Write to CPU The Write to CPU screen app
76. low the table and numbered in as cending order with black numbers in a white circle like this Text O Text Text a MITSUBISHI ELECTRIC Table of Contents Table of Contents 1 Introduction 1 1 Features Of MR MQ100 ooocccccccccccccncno conoce rr rr 1 1 1 1 1 Components of the motion control system with MR MQ100 oo o 1 2 AS AAA A A ON 1 3 1357 TORIMIM OLOGY estar sp ie a a EEEE as 1 8 2 Details of the module 2 1 OVEN IS Wi a A ER vie ed AA A AA A A 2 1 2 1 1 Frontview sideview and partnames cece cece cence eee een rr 2 1 2 1 2 System configurations tir tidad 2 3 2 1 3 7 segmentLED display ccc cece cence cece cece ene E nara 2 4 2 1 4 Rotary switch assignment cece cece eee eee eee rre 2 5 24 5 Operation Mode A be Me Veda bees as 2 6 3 Mounting and Wiring 3 1 Module mounting into cabinet ccc cece eee cence eee nent eben tence een eens 3 1 3 1 1 Mounting of MR MQ100 cece eee e cent ene nee nen e teense seen enone 3 1 3 2 v WINING es Rda 3 3 3 2 1 Powersupply se nirea oa A A AA a 3 3 3 2 2 GROUNKING eese eeir en ond peeved SISSE SES TEDE SEE SEERE ES SEE ENES EIEEE NISSERNE S 3 5 323 Digitall org oe a a esser ole Eden AEE ETERO 3 6 337 SSSENETIILCONNESEtION ci a sr i 3 8 3 3 1 SSENED Ill cable niren orau ee ea E E EEEE a aia 3 8 3 3 2 Connection between the MR MQ100 and the servo amplifier 3 8 3 3 3 Setting th
77. mponents and devices must always be installed in a shockproof housing fitted with a proper cover and fuses or circuit breakers Devices with a permanent connection to the mains power supply must be integrated in the building installations with an all pole disconnection switch and a suitable fuse Check power cables and lines connected to the equipment regularly for breaks and insulation damage If cable damage is found immediately disconnect the equipment and the cables from the power supply and replace the defective cabling Before using the equipment for the first time checkthatthe power supply rating matches that of the local mains power Take appropriate steps to ensure that cable damage or core breaks in the signal lines cannot cause undefined states in the equipment You are responsible for taking the necessary precautions to ensure that programs interrupt ed by brownouts and power failures can be restarted properly and safely In particular you must ensure that dangerous conditions cannot occur under any circumstances even for brief periods EMERGENCY OFF facilities conforming to EN 60204 IEC 204 and VDE 0113 must remain fully operative at all times and in all PLC operating modes The EMERGENCY OFF facility reset function must be designed so that it cannot ever cause an uncontrolled or undefined restart You must implement both hardware and software safety precautions to prevent the possibil ity of undefined control system states caus
78. n fig 5 14 Motion controller MR MQ100 5 27 Communication FX3U FX3G Communication Convert received data and store in D2000 D2063 239 FOR D200 J 0 M116 M118 M148 242 4 RS i a rv 021 D210 10 ROR 0210 K8 JO WAND 0210 HOFF D201 JO inc 21 JO HH MOV 01021 D211 JO ROL 0211 K8 JO WAND 0211 HOFFOD D202 10 HA WORD 0201 D202 D200022 O inc 22 O BIA lt HN O Fig 5 15 Ladder program 3 Number Description For loop Split value Rotate data right WORD AND with hex FF Increment Z1 Split value Rotate data left O O o 6 o WORD AND with hex FF e Store converted value Increment Z2 Next command Tab 5 10 NOTE Description of the ladder program 3 in fig 5 15 The received data which are stored in the buffer memory of the FX3u ENET module the low and high bytes are swapped The program above converts the received data and store them in the data register D2000 D2063 a MITSUBISHI ELECTRIC FX3U FX3G Communication Communication GX IEC Developer program with function block for reading D2000 D2063 from MR MQ100 FALSE 160402 LocalPortNo 16 COA80002 RemlPAddress 15640402 EnableConn Read EnableConn FxSUBatchReadM 100_UDP 2000 64 EnableRead_Read EnableRead 164485 ReadDeviceCode O HeadAddress IntComplete InitOK 1 Conn
79. n the servo amplifier servomotor is first turned on check the operation before mounting them to a machine in order to avoid unexpected accidents such as machine damage Motion controller MR MQ100 Start up and trial operation Software installation 4 2 4 2 1 4 2 2 4 2 3 Software installation Programming software Install all of the software listed in the table below Product Detail MELSOFT MT Works2 MT Developer2 Ver 1 04E or later MR Configurator optional Ver C1 or later Tab 4 1 Software O This software is included in Motion controller engineering environment MELSOFT MT Works2 Combination of software version and function There are combinations in the function that can be used by the version of the operating system soft ware and programming software The combination of each version and a function is shown below Programming software version Function Operating system software version MELSOFT MT Works2 MC protocol communication 00B 1 06G Incremental synchronous encoder 008 current value in real mode Connection of the servo amplifier for direct drive motor 999 Tab 4 2 Combination of software version and a function Confirmation method of the operating system software s version The operating system software s version of the connected Motion controller is displayed on the OS type item of the Read from CPU screen in MT Developer2 S V 2 2 Q Ww V E R 3
80. ned for SB Device assignment Number of points assigned for V Device assignment Number of points assigned for S Device assignment Number of points assigned for T Device assignment Number of points assigned for ST Device assignment Number of points assigned for C Device assignment Number of points assigned for D Device assignment Number of points assigned for W Device assignment Number of points assigned for SW Servo amplifier loading information Real mode virtual mode switching error information Test mode request error Motion CPU WDT error cause Manual pulse generator axis setting error Error program No Error item information Tab A 12 Special register SD 1 Motion controller MR MQ100 A 13 Appendix Internal devices Device No Device Name SD520 Scan time Maximum scan time Motion operation cycle Operation cycle of the Motion CPU setting Device assignment Number of points assigned for 444 us Coasting timer Tab A 12 Special register SD 2 A 14 a MITSUBISHI ELECTRIC Index Symbols r AE AAEE AIT cts TE TEE SERENE RTE A 11 Numerics BE frame sixes tec a 5 10 C COW A A A aoe AS 1 8 Command message ece cece e cece eee eees 5 9 Common devices c cece cece cece nese eeeees A 6 Communication FulledupleX 00 0 bes Ges Hehe 5 9 Half Guplex ss esc ssa ois ricm e 5 9 Configur
81. ng Clock data error Always ON Always OFF PCPU READY complete Test mode ON External forced stop input Digital oscilloscope executing TEST mode request error Motion controller WDT error Manual pulse generator axis setting error Servo program setting error Over heat warning latch Over heat warning Clock data set request Clock data read request Tab A 11 Special relays SM a MITSUBISHI ELECTRIC Internal devices Appendix Device No Device Name SDO Diagnostic errors SD1 Clock time for diagnostic error occurrence Year month SD2 Clock time for diagnostic error occurrence Day hour SD3 Clock time for diagnostic error occurrence Minute second Error information categories Error common information Error individual information AC DC DOWN counter No Fuse blown No State of switch Operating state of CPU Clock data Year month Clock data Day hour Clock data Minute second Clock data Day of week Device assignment Number of points assigned for X Device assignment Number of points assigned for Y Device assignment Number of points assigned for M Device assignment Number of points assigned for L Device assignment Number of points assigned for B Device assignment Number of points assigned for F Device assignment Number of points assig
82. ng System Basic Setting CPU Name Setting IP Address Setting Input Format Dec y TP Address 192 168 Subnet Mask Pattern Default Router IP Address Open Setting E Set if it is needed Default Changed Communication Data Code 1 Binary Code C ASCII Code 2 IV Enable Online Change MC Protocol Communication data code Select a communication data code used for the MC protocol Binary code or ASCII code Enable online change MC protocol Check the checkbox to enable online change when writing data to the Motion controller from the external device that communicates using the MC protocol For details on the available functions with this setting refer to section 5 3 3 Motion controller MR MQ100 Communication MC Protocol Communication NOTE 3 Open Setting Set the following items Protocol Select a connection used as MC protocol Up to 16 CPU modules can be connected Open System 6 Select MC protocol Host Station Port No Required Set the host station port number in hexadecimal Setting range 0401H 1387H 1392H FFFEH UDP Open System IMELSOFT Connection TCP MC Protocol X TCP MC Protocol X TCP MELSOFT Connection v TCP MELSOFT Connection v TCP MELSOFT Connection v TCP IMELSOFT Connection v TCP IMELSOFT Connection v TCP IMELSOFT
83. nication error occurred CommeErrorCode Motion controller MR MQ100 Communication error code Communication FX3U FX3G Communication GX IEC Developer program with function block for writing D3000 D3063 to MR MQ100 EnablewWrite Write EnableWrite 16448 WriteDeviceCode 3000 WrteHeadAddress 54 WriteNoOfDevices Send Data MCWriteData MCW rite FXSUBatchWriteMQ 100_UDP O HeadAddress IntComplete InitOK 3 ConnectionNo OpenComplete OpenOK FALSE ExistenceCheck WriteComplete WriteOK 1640403 LocalPortNo MCRequestError MCReqErr 16 COA80002 RemlPAddress MCErrorCode MCErrCode 1640403 RemPortio CommError CommErr EnableConn_Write EnableConn CommeErrorCode SendErrCode Fig 5 17 Ladder diagram Batch Write Input variables Explanation HeadAddress Connection No Head address of the FX3U ENET module Connection number ExistenceCheck Set the usage of the destination existence check LocalPortNo RemiPAddress Set the local station port number h0403 IP Address of the remote device station 192 168 0 2 RemPortNo Port number of the remote device station h0403 EnableConn Open the communication connection EnableWrite Start the MC Protocol batch write command WriteDeviceCode Set the device type A8 D register WriteHeadAddress Set the start device address 3000 D3000 Wr
84. ning parameters using MT Set the following positioning parameters Motion Developer2 using M Developer2 controller 2 e System setting e Fixed parameters e Home position return data e JOG operation data e Servo parameters v e Parameter block o e Limit switch v 2 Fig 4 1 Start up procedure 1 The mode indicated in the brackets at top left of each step is the mode for checking or setting using MT Developer2 NOTE An error may occur if the power is turned on before system setting In the case reset the Multiple CPU system after system setting Refer to the Q173DCPU Q172DCPU Motion controller Program ming Manual COMMON at the system setting error occurrence a MITSUBISHI ELECTRIC Start up procedure Start up and trial operation O Programming Create Motion programs Test mode JOG operation O Motion 3 Check machine operation controller Create the Motion programs using MT Developer2 Check the following by making the machine operate with the JOG operation of MT Developer2 e Machine operates correctly no vibration hunting etc Write Motion programs e Stroke limits operate correctly Motion SEE i e Machine stops by the emergency stop or controller Write the positioning data and Motion forced stop programs created to the Motion controller Test mode home position return O Turn
85. nnot be performed when the following happens No response within a specific time period Connected via a router or subnet mask is different Do not respond to search for CPU Built in Ethernet port is checked in PLC parameter Fig 5 3 Setting example of the IP address 5 6 2 MITSUBISHI ELECTRIC Connection to peripheral devices Communication Up to 16 different equipment can access the Motion controller 3 Hub The hub can be either a 10BASE T or 100BASE TX port It has to meet IEEE802 3 100BASE TX or IEEE802 3 10BASE T The Ethernet cables must to be installed away from power cabling lines 5 The connections cannot be guaranteed under below conditions Any connection made over the internet Any connection made through a fire wall Any connection made through a broadband router Any connection made through a wireless LAN When multiple Motion controllers are connected to MT Developer2 beware of the below cau tions IP addresses must be different for each Motion controller Different projects must be used for each Motion controllers on MT Developer2 Only one instance each of the Digital oscilloscope function and Test mode function can be used on a single computer at a time Motion controller MR MQ100 5 7 Communication Setting CPU name 5 2 5 2 1 Setting CPU name HUB connection setting When setting up a connection to a hub a label and comments can be added to each con
86. nonocrccooo 5 19 5 4 FX3U FX3G Communication 0 cece cece ene cece cnc rar rr 5 21 5 4 1 Hardware Configuration 00 ccc e cece e cence eee e ence ence en enenes 5 21 5 4 2 Software Configuration 0 cece cece nec ce ence ene e ence ences eenees 5 22 5 4 3 PEC Rrogramming ii a dis 5 24 6 Project creation 6 1 Sample project creation with MT Developer2 0 cece cece ence e eee ence ene en ence 6 1 6 2 Additional procedures serii sranane loans tata paid 6 10 6 2 1 Project opning voii coi oia a eaten E EEEIEE E TER 6 10 6 2 2 Writing project to the Motion controller o ooococooccooccorcorcrccmo 6 10 6 2 3 Monitoring FUNGO e ls oe p a EE E ORE ES E OEE 6 12 6 2 4 Device monitoring and testinQ oooooccooccononccccrnnonononrnr nr 6 13 7 Application Example for MR MQ100 7 1 Flying Saw application cia a des 7 1 7 1 1 Whatis a Flying Saw coisas wiiwta dete sd a wie dn een 7 1 7 1 2 Machine parameterS oooococcococcncncnnn nro 7 3 713 Configuration eile oii ew eben ates 7 3 TVA SOF WAF ES sii E eden 7 4 SS CA 7 6 7 1 6 SECO AN ta AAA ANAIS 7 7 A Appendix A 1 Exterior DIMENSIONS sande aka ls air a relacio eta jodida sh adoro dlosees A 1 AZ Trotbleshooting criar ii A 2 AS Internal devices 20452 ia bits car a catulial ane catuba em cates ias A 3 VIII a MITSUBISHI ELECTRIC Features of MR MQ100 Introduction 1 Introduction This english document is th
87. oo 1005 2 As a AS 1000 msec 1000 meec 1000 msec ofw 3001 Dec top 100 415 2 AS 2000001 S sec 1000 msec 1000 mee 1000 msc 300 Dec Rop 100 P15 a AS 2O0DHPLSsec 1000 meec 1000 msec __1000fmeec AW 20 Dec Stop 100945 2 ms 200000 AS 1000 mee romae romec 00m 3001 Dec op 100 FL3 as 200000 Pt Sse 1000 msec 1000 msec 1000 msec 0 300 Dec Rop 100 At5 a AS 200000 pLS sec 1000 mee 1000f msec 1000meec 0 200 Dec Rop 100 FL5 22 as ZOO PL sec 1000 mee 1000 msec 1000 msec o 3001 Dec op 100 PL5 3 ms 200000 PSI 1000 rec 1O0O mse 1000m O O Dec op 100 P15 AS Zooo PL Siec 1000 msec 1000 msec 1000 moec 0 300 Dec op 100 A5 31 As O 1000 mee 1000 msec 10m 06 a00 Dec Hop 100 FL5 x as 200000 P1 Syse 1000 mex 1000 msex 1000 msec 0 300 Dex Rop 100 Pt5 X al bre Speed Speed limit value Rapid stop cause occurrence Positioning speed set in the servo program gt Time Real accele ration time Real rapid stop deceleration time A Se eee Set rapid stop i deceleration time Set accele ration time a R s Real deceleration time Set deceleration time Fig 6 3 Time diagram for setting of parameter blocks a MITSUBISHI ELECTRIC Sample project creation with MT Developer2 Project creation NOTE Servo Parameter Settings In the Project Window Menu double click Servo Parameter
88. points I I L H IL HILH Number of device points T I I I I I I I I I I L HJL H L H 1 l l I 01H 14H POH OOH 4H OOH OOHABHIO3H OOHI9SH19H02H12H 30H 11H Writing three points to D100 to D102 while communicating in binary code Number of points to be written Data name Programmable controller CPU side Example A Specify the range of the devices to be written Write 1995H hexadecimal 6 549 decimal to D100 Write 1202H hexadecimal 4 610 decimal to D101 Write 1130H hexadecimal 4 400 decimal to D102 Fig 5 10 Writing to the registers D100 to D102 a MITSUBISHI ELECTRIC MC Protocol Communication Communication 5 3 3 Command list When the PERIPHERAL I F ofthe Motion controller communicates using the MC protocol commands listed in table below can be executed Status of Motion controller Command Function Sub Description command Number of RUN processed points STOP Write Write enabled disabled In units 0401 of bits 0001 ASCII 3 584 points BIN 7 168 points Batch read Reads bit devices in units of 16 points 260 Words In units 0401 15 360 points of words 0000 Reads word devices in units of one point Reads bit devices in units of one point 960 points In units 1401 of bits 0001 ASCII 3 584 points BIN 7 168 points Batch write Writes bit devices in units of 16 points 260 Words In units 140
89. r type Error Motion SFC program No 8640 Error type 8641 Error program No Error block No Motion SFC list Line No Axis No Error code Motor current Motor speed Command speed F Error occurrence time Year month Home position return re travel value Error occurrence time Day hour Real mode only Error occurrence time Minute second Error setting data information Error setting data Ort is the last history on 0 times Mark detection setting devices Signal 1 7912 Registration code Mark detection monitor devices Signal 1 Mark detection setting devices Signal 1 Mark detection data current monitor 8896 Mark detection signal allocation devices 7920 Number of marks detected 8897 Mark detection signal compensation time 7921 Mark detection settings verification flag 8898 Latch data type 7922 Mark detection axis number 7923 Latch data storage area 1 Latch data upper limit Latch data storage area 2 Latch data lower limit Mark detection mode Latch data storage area 3 Latch data storage area 4 to Latch data storage area 32 Tab A 10 Motion registers 4 Motion controller MR MQ100 A 11 Appendix Internal devices Device No Device Name SMO Diagnostic error Self diagnosis error Battery low latch Battery low AC DC DOWN detection Battery low warning latch Battery low warni
90. read by executing the function once For the error codes of communication using MC protocol please refer to the MR MQ100 Motion controller Users Manual Motion controller MR MQ100 5 15 Communication MC Protocol Communication Example V Reading of D2000 D2063 Command Byte order Value hex Description Word order Value hex 1 50 00 Sub header 0050 Network No PC No Destination 1 0 No Destination Station No Request data length hOC 12 bytes OJo NI an uM BR WIN o CPU monitoring timer Command h0401 batch read Subcommand Starting Address h07DO D2000 Data type hA8 D register Reading data length h40 64 points Tab 5 5 MC Protocol for Batch Read 5 16 a MITSUBISHI ELECTRIC MC Protocol Communication Communication Response Byte order Value hex Description Word order Value hex 1 DO 00 00 Network No FF PC No Sub header 00DO Destination I O No Destination Station No Response data length No of receive bytes 2 WO ofl NI an mI BR Ww nu o Complete code Low byte High byte Low byte High byte Low byte High byte High byte Tab 5 6 MC Protocol for Batch Read Motion controller MR MQ100 5 17 Communication MC Protocol Communication Ex
91. roller Mode operated by ROM x remains flashing in the first digit and steady 7 segment LED display in the second digit of Operation starts after the user programs and parameters stored in the motion controller s FLASH ROM are read to the SRAM built in motion controller at power supply on or reset of the motion controller If the ROM writing is not executed even if the user programs and parameters are changed using the MT Developer2 during mode operated by ROM operation starts with the contents of the FLASH ROM at next power supply on or reset Also If the ROM writing is not executed even if the auto tuning data are reflected on the servo parameter of the motion controller by operation in the auto tuning setting operation starts with the contents of the FLASH ROM at next power on or reset Ethernet IP address display mode Refer to tab 2 7 Ethernet IP address display mode overview Digital oscilloscope function cannot be used SRAM clear x remains flashing in the first digit and steady When rotary switch 2 is set to C and a power ON is done the SRAM area is cleared The programs parameters absolute position data and latch data in the motion controller are cleared Installation mode Tab 2 6 Operation mode overview Steady INS display at the 7 segment LED Operating system software can be installed STOP status is maintained regardless of the RUN STOP RESET switch position on t
92. roller MR MQ100 Project creation Additional procedures 6 2 3 Monitoring function Operating Procedure Click the monitor icon of the application jump toolbar on the main frame MELSOFT Series MT Developer en Project Edt Convert yew Online To iba 3 Seem SXAREBXen ewe Monitor is started Bless Clicking on the buttons in the shown toolbar is possible to select the devices to be monitored Current value monitor Motion error Axis monitor Servo Monitor Positioning monitor O Current Value Enlarged Monitor MT Developer C Documents and Setting CAE MEA AS NOTE Refer to MT Developer2 Help for further information Tip Press function key F1 for immediate help on displayed function 6 12 MITSUBISHI ELECTRIC Additional procedures Project creation 6 2 4 Device monitoring and testing Operating Procedure MT Developer2 Select Online Monitor Commons Entry Device Monitor The Device Entry Monitor screen appears program text coping FS program text coupler ting prog an of Motion SEC FIPS and G have completed uxcnsskdy Eror 0 Warning 0 mm Batch Conwersion End Error 0 Warning O d A Click Add The Device Label windows appears 3 Select the device to be monitored and then push Register button The chosen devices will be displayed in the Device Entry Monitor
93. rvo amplifier SSCNET III Compatible Linear Servo MR J3 L1B RJ004 Servo amplifier Instruction Manual This manual explains the I O signals parts names parameters start up procedure and others for Linear SH 030054 Servo MR J3 L1B RJ004 Servo amplifier SSCNET III Compatible Fully Closed Loop Control MR J3 L1B RJ006 Servo amplifier Instruction Manual This manual explains the I O signals parts names parameters start up procedure and others for Fully SH 030056 Closed Loop Control MR J3 L1B RJ006 Servo amplifier Servo amplifier Safety Guidelines Safety Guidelines General safety information and precautions For use by qualified staff only This manual is only intended for use by properly trained and qualified electrical technicians who are fully acquainted with the relevant automation technology safety standards All work with the hard ware described including system design installation configuration maintenance service and test ing of the equipment may only be performed by trained electrical technicians with approved qual ifications who are fully acquainted with all the applicable automation technology safety standards and regulations Any operations or modifications to the hardware and or software of our products not specifically described in this manual may only be performed by authorised MITSUBISHI ELECTRIC staff Proper use of the products The mo
94. rwise you need to ask your network administrator for the appropriate IP settings Obtain an IP address automatically Use the following IP address IP address For instance 192 168 1 1 is already set as the IP address of the computer Subnet mask Default gateway Basic Settine Set the values of these 3 columns to the same value as the computer s setting Be sure this column has a different value than the computer s setting System Basic Setting CPU Name Setting IP Address Setting IP Address Subnet Mask Pattern Default Router IP Address For example 192 168 1 2 is set on the controller when 192 168 1 1 is Y LA Y set on the computer side Set this value to be the same as the Lc mode a Built in Ethernet Port Setting C Ethernet Port Direct Connection i In this example 192 168 1 2 CPU side I F Detailed Setting of PLC Module Please select Connection via HUB when you use hub HUB even if the equipments to be communicated is one a 1 The load hangs to the line when Ethernet Port Direct IP Address 221168 i a Connection is selected with other equipment connected with IP Input Format pec hub HUB and it communicates and there is thing that el influences the communication of other equipment Host Name IP address CPU Type Label Comment Find CPU Built in Ethernet port on Network 7 Finds CPU Built in Ethernet port on the same network This ca
95. s Side Tooth Count GD Gear Ratio Output Axis Side Tooth Count 1 Rotation Direction z Forward Motion controller MR MQ100 Application Example for MR MQ100 Flying Saw application 7 1 5 Variables Variable Function PXO Mark sensor PX1 Cutting Cmd PYO Home position return complete Cutting Clutch ON OFF Cmd Clutch ON OFF Status Clutch Smoothing Status Phase compensation Cmd True Sensor Control False Length Control Clutch Mode Phase compensation advance time Phase compensation time constant Phase compensation amount monitor Clutch Slippage Dev Clutch Slippage Range Speed of Virtual motor V1 Wheel circumference Encoder resolution Synchronous moving distance mm Distance sensor to start mm Cutting length mm PY01 ON Cutting On distance mm PY01 OFF Line speed mm s Encoder pulses per mm pls mm Moving distance pls Distance sensor to start pls Cutting length pls Cutting on distance pls Temp value calculation of line speed Temp value calculation of line speed CAM switch ON addr PY01 CAM switch OFF addr PYO1 Mark detection counter Tab 7 1 Backup actual encoder value Variable definition Phase compensation The phase compensation advance time D6006 is set according the formula below Advance time
96. steps Number of selective branches branch 255 Number of parallel branches branch 255 Parallel branch nesting Up to 4 levels Operation control program F FS Transition program G Number of operation control programs 4 096 with F Once execution type and FS Scan execution type combined F FSO to F FS4 095 Number of transition programs 4 096 GO to G4 095 Code size program Up to approx 64k bytes 32 766 steps Number of blocks line program Up to 8 192 blocks in the case of 4 steps min blocks Number of characters block Number of operand block Up to 128 comment included Up to 64 operand constants word device bit devices nesting block Up to 32 levels Operation control program Descriptive expression Transition program Calculation expression bit conditional expression Calculation expression bit conditional expression comparison conditional expression Execute specification 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 Executed task Event task Execution can be masked Fixed cycle Execute in fixed cycle 0 44ms 0 88ms 1 77ms 3 55ms 7 11ms 14 2ms 1 0 X Y points 8 192 points 1 0 PX PY points Internal I F Input 4 points Output 2 points Number of
97. tective functions may not function if the settings are incorrect Always mount a leakage breaker on the Motion controller and servo amplifier power source Install emergency stop circuit externally so that operation can be stopped immediately and the power shut off Use the program commands for the program with the conditions specified in the instruction manual Some devices used in the program have fixed applications so use these with the conditions specified in the programming manual If safety standards ex robot safety rules etc apply to the system using the Motion controller servo amplifier and servo motor make sure that the safety standards are satis fied Construct a safety circuit externally of the Motion controller or servo amplifier if the abnor mal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system The system must have a mechanical allowance so that the machine itself can stop even if the stroke limits switch is passed through at the max speed Execute the test operation in the system that it is low speed as much as possible and put forced stop and confirm the operation and safety Motion controller MR MQ100 4 1 Start up and trial operation Start up procedure 4 1 Start up procedure Servo start up procedure 0 don Turn OFF Motion controller s pow
98. teps were followed correctly you should receive a Complete successfully message in the output bar at the bottom of the screen E n gt LLLE Unset Project 5422 MM system Setting Basic Setting Batch conversion System Structure SSCNET Structure High speed Reading Data Optional Data Monitor PLC Module List 5 Motion SFC Program Manager Motion SFC Parameter Moti E E Mechanical System ZE Cam Data 4 7 Labels 2 Structured Data Types gt Device Memory Output screen Pe erogram control cods couping program text ci ia FS program text coupling g program of Motion SFC F FS and G have completed successfully Error 0 Warning 0 l Batch Conversion End Error 0 Warning 0 le x Transfer programs and parameters to the Motion controller using the setting in the screenshot below program tect coupling progam text pa TINS and G have completed successfully Progen Moton SFC parameter SFC usedAsused Motion SFC Prog am Control CodefText seting 7 Unrecessary when Mato SFC progam amp ursos a MITSUBISHI ELECTRIC Sample project creation with MT Developer2 Project creation Please refer to the Writing project to the Motion controller section of this quick start guide for further details on writing reading programs section 6 2 2 Enjoy your program Cyc
99. ter 1 Axis JOG as the program name and then click OK lotion SFC Program Manager xj Motion SFC Program No Program Name Motion SFC Program Motion SFC Program Capacity _ Select All Used Defaut C Unused Extended Cancel Show Existing Only Show All Program Order by Number C Order by Name New Create a new Motion SFC program Rename 4 Rename the existing Motion SFC program Delete S Delete the existing Motion SFC program g Number Replace Y Replace the existing Motion SFC program No Ai Replace with designated number and renumber li Batch Copy P Batch copy Motion SFC program Ej Inside project From other project In the Project Window Menu under Motion SFC Program double click Motion SFC Parameter This open the Motion SFC Parameter pop up window Motion SFC Parameter X Task Parameter y Program Parameter Cont Transition Ct No Pro auto Trans eno Executingfiag Execution Task 1 1 Axis JOG Yes Nothin Normal Normal Task Common g ls 3 NMI Interrupt setting Frio Fra ri C19 Pr Fo Bee phi C14 I 112 Fis F 113 M 16 TF 114 C17 F 115 Double click program 1 and then change the Start Setting to Automatic Start Then close this window 6 6 a MITSUBISHI ELECTRIC Sample project creation with MT Developer2 Project
100. the material registers the material speed and position of the production process A length calculator calculates equidistant lengths in the controller and generates a start signal for the synchronising process The advantage of cutting length control is that no cutting marks are required on the material Cutting mark control Asensor registers the cutting marks present on the material This sensor signal is processed as an interrupt in the drive and starts the sawing process This method is used if there are cutting marks on the material which have to be referred to e g when using printed materials Motion controller MR MQ100 7 1 Application Example for MR MQ100 Flying Saw application Servomotor Sensor 1 for mark detection Diameter of encoder wheel Master encoder Fig 7 1 Typical construction of a flying saw Speed ratio Returning Master 1 a Accl Sychronous Dec cutting area Dwell Fig 7 2 Relationship between speed ratio of the Master axis and the slave axis 7 2 a MITSUBISHI ELECTRIC Flying Saw application Application Example for MR MQ100 7 1 2 7 1 3 Machine parameters resolution Wd UMUMUMMMMGG Servo motor Mechanical gear ratio Ball screw pitch Fig 7 3 Mechanical construction of slave axis controlled by servo drive Data of the mechanical construction with the slave axis Encoder resolution 262
101. ther than wiring work or periodic inspections even if the power is OFF The insides of the Motion controller and servo amplifier are charged and may lead to electric shocks When performing wiring work or inspections turn the power OFF wait at least ten minutes and then check the voltage with a tester etc Failing to do so may lead to electric shocks Wire the units after mounting the Motion controller servo amplifier and servomotor Failing to do so may lead to electric shocks or damage WARNING O Check that the combination of modules are correct Wrong combination may damage the modules O When using a regenerative resistor shut the power OFF with an error signal The regenera tive resistor may abnormally overheat due to a fault in the regenerative transistor etc and may lead to fires Always take heat measure such as flame proofing for the inside of the control panel where the servo amplifier or regenerative resistor is mounted and for the wires used Failing to do so may lead to fires Do not mount a phase advancing capacitor surge absorber or radio noise filter option FR BIF on the output side of the servo amplifier Correctly connect the output side terminal U V W Incorrect connections will lead the servo motor to operate abnormally Set parameter values to those that are compatible with the Motion controller servo ampli fier servo motor and regenerative resistor model name and the system name application The pro
102. tion Application Example for MR MQ100 Sensorcontrol T PL IFB1 SensorControl 10 Program for synchronisation of the servo to encoder using the mark detection function SFC Parameter Normal Task Autostart No 6 30 PX1 Cutting active 2 F_ 14 20 8898 Backup Mark detection counter Copy Input Length value to internal device 2L D4004L 0L Sync distance mm PLS mm D4006L 0L Sensor to start mm PLS mm 6L D4008L 0L 1 es edi mm PLS mm 10L 8L D40 Cutting distance mm PLS mm 6 10 Detect a mark Mark detection counter increased Zi gt New mark detected d AND Pos Omm AND InPos 8898 20 DOL 0 M2402 F 12 A A Clutch on address D6004L D6002L 2L Clutch off address 14L 8912L 6L CAM switch PYO1 ON address 16L 14L 8L CAM switch PYO1 OFF address T 6 12 M Wait for clutch on G 11 im wait for clutch off G 22 Smoothing clutch compl AND InPos M2 M2402 Kk4002 Virtual 1 INC Axis 1 2 PLS Speed D 6030 PLS sec P B 2 G 99 ED Reset mark detection counter Fig 7 7 SFC program SensorControl 10 Motion controller MR MQ100 Application Example for MR MQ100 Flying Saw application LengthControl Fr 110 MARK DETECTIO
103. tion controlleris only intended forthe specific applications explicitly described in this manual All parameters and settings specified in this manual must be observed The products described have all been designed manufactured tested and documented in strict compliance with the relevant safe ty standards Unqualified modification ofthe hardware or software or failure to observe the warnings on the products and in this manual may result in serious personal injury and or damage to property Only peripherals and expansion equipment specifically recommended and approved by MITSUBISHI ELECTRIC may be used in combination with programmable controllers of MELSEC System Q All and any other uses or application of the products shall be deemed to be improper Relevant safety regulations All safety and accident prevention regulations relevant to your specific application must be observed in the system design installation configuration maintenance servicing and testing of these prod ucts The regulations listed below are particularly important in this regard This list does not claim to be complete however you are responsible for being familiar with and con forming to the regulations applicable to you in your location O VDE Standards VDE 0100 Regulations for the erection of power installations with rated voltages below 1000 V VDE 0105 Operation of power installations VDE 0113 Electrical installations with electronic equipMent VDE 0160
104. troller in the CPU Name Setting tab of the Basic Settings window Communication is still available even without defining a Label and or Comment The setting is done in the menu CPU Name Setting Menu System Setting Basic Setting CPU Name Setting Basic Setting System Basic Setting CPU Name Setting Built in Ethernet Port Setting Label MR MQ100 Comment MR MQ100 No 1 Contents Length Enter a label name and or purpose of the Motion controller Up to 10 characters Enter comments regarding the Motion controller Up to 64 characters Tab 5 2 Setting of the menu items The Find CPU Built in Ethernet port on Network function in the CPU side I F Detailed Setting of PLC Module conveniently shows the below information when MT Developer2 and the Motion controller are connected via the PERIPHERAL I F Ethernet IP address CPU type Label Comment a MITSUBISHI ELECTRIC MC Protocol Communication Communication 5 3 MC Protocol Communication PERIPHERAL I F of the Motion controller enables communication using the MC protocol NOTE The MC protocol is an abbreviation for the MELSEC communication protocol The MELSEC communication protocol is a name of the communication method used to access CPU modules from external devices in accordance with the communication procedure of Q series programmable controllers such as serial communication modules Ethern
105. ule 2 1 2 System configuration Motion controller MR MQ100 MITSUBISHI MR MQ100 POWER PERIPHERAL I F 3 Servo amplifier u 1 axis Personal Computer z MR 33 B External input signals of servo amplifier e Proximity dog Upper stroke limit e Lower stroke limit Panel personal 24VDC computer Manual pulse generator or Incremental synchronous encoder Input 4 points Output 2 points Fig 2 2 MR MQ100 System overall configuration Up to 16 different equipments can access to a single motion controller NOTE The latest operating system software SW9DNC SV22QW is preinstalled in the MR MQ100 There is no need for customer installation WARNING O Construct a safety circuit externally of the motion controller or servo amplifier if the abnor mal operation of the motion controller or servo amplifier differ from the safety directive operation in the system The ratings and characteristics of the parts other than motion controller servo amplifier and servomotor used in a system must be compatible with the motion controller servo amplifier and servomotor Set the parameter values to those that are compatible with the motion controller servo amplifier servomotor and regenerative resistor model and the system application The protective functions may not function if the settings are incorrect The motion controller does not hav
106. us system for data communication Direction of rotation a MITSUBISHI ELECTRIC Overview Details of the module 2 Details of the module 2 1 Overview 2 1 1 Frontview sideview and partnames Front view POWER n AI il gt gt 11 zavoc ad Ge TTT aa fi Fig 2 1 MR MQ100 WARNING Close the clear cover Q after using the rotary switches Motion controller MR MQ100 2 1 Details of the module Overview Name Application 7 segment LED Indicates the operating status and error information Rotary function select 1 e Set the operation mode switch SW1 Normal operation mode Installation mode Mode operated by ROM etc Rotary function select 2 Each switch setting is O to F switch SW2 Shipped from the factory in SW1 0 SW2 0 position ON Red The internal power 5 V DC is on OFF The internal power 5 V DC is off e Move to RUN STOP RUN Motion SFC program is started RUN STOP RESET STOP Motion SFC program is stopped switch g e RESET Momentary switch Set the s
107. witch to the RESET position 1 second or more to reset the hardware POWER LED For communication I F with peripherals Ethernet connector The upper LED of the connector for PERIPHERAL I F Remains flashing It communicates with the personal computer PERIPHERAL I F OFF It doesn t communicate with the personal computer e The lower LED of the PERIPHERAL I F connector ON 100Mbps OFF 10Mbps connector SSCNET III connector Connector to connect the servo amplifier Incremental synchronous encoder input the signal is input the signal is output Internal I F connector Incremental synchronous encoder input has Differential output type Voltage output Open collector type 24 V DC power supply The DC power of 24 V DC is connected connector Serial number display plate The serial number written on the rating plate is displayed Cover Transparent cover for 7 segment LED and for rotary switches SW1 and SW2 Battery holder Battery holder to set the Q6BAT Q7BAT Hole for module fixing Screw used to fix to the control box M5 screw screw FG terminal Terminal Earth terminal which is connected to shield patterns on the print circuit board for earth Tab 2 1 Description ofthe partnames in fig 2 1 NOTE For more details of the partnames and status LEDs please refer to the user s manual of the motion controller MR MQ100 2 2 a MITSUBISHI ELECTRIC Overview Details of the mod

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