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User`s Manual IB(NA)-0300133

1. Note Note Unusable Under manufacturer test 2 SYSTEM CONFIGURATION Application 7 segment LED e Indicates the operating status and error information Rotary function select 1 switch e Set the operation mode SW1 Normal operation mode Installation mode Mode operated by ROM etc Rotary function select 2 switch je Each switch setting is 0 to F Shipped from the factory in SW1 A SW2 0 position Move to RUN STOP Shipped from the factory in STOP position RUN STOP switch RUN Motion SFC program is started STOP Motion SFC program is stopped Forced stop input EMI Note 1 e Input to stop all axes of servo amplifier in a lump ER EMI ON opened Forced stop E EMI OFF 24VDC input Forced stop release og EMI COM a4 EMI e SSCNE D CN1 connector Note 2 Connector to connect the servo amplifier of system 1 up to 16 axes SSCNETI CND connector d 7 Connector to connect the servo amplifier of system 2 up to 16 axes Note 2 Note 3 Note 1 Note 2 Note 3 Note 4 Note 5 Be sure to use the cable for forced stop input The forced stop cannot be released without using it If
2. 3 DESIGN 1 Note 1 Make the forced stop input cable within 30m 98 43ft SE The forced stop by the forced stop terminal of input module is also Servo error detection possible IF 1 SET PYm PYm ON with initial 2 Note 2 Motion SFC program example is shown in the right record 3 Note 3 It is also possible to use a full wave rectified power supply as the ON normal power supply for the electromagnetic brake G 1 M2408 M2428 Servo error detection 4 Note 4 It is also possible to use forced stop signal of the servo amplifier of the axis 1 axis 2 5 Note 5 It recommends using one leakage breaker for one servo amplifier Ca When electric power is supplied to multiple servo amplifiers for one RST PYm OFF abnormal error leakage breaker select the wire connected to the servo amplifier according to the capacity of the leakage breaker Circuit example when using MR J3 B NFB2 TN Note 5 eeben S D LTH mR u3 B U Se T L2 v o ft DL w W Electro L11 Ground magnetic brake L21 DICOM Note 3 L SSCNETII gt JcnN1A ALM Rad a Ur degt Pape hp ya Si L1 MR J3 B H Ti i L2 V L3 w w Pai Electro L11 Ground magnetics H brake L21 DICOM Note 3 L d JCN1A ALm Rad EM1 gt CN1B C DOCOM d Note 4 24VDC
3. as this may lead to destruction or damage 3 DESIGN A CAUTION Do not touch the heat radiating fins of controller or servo amplifier regenerative resistor and servomotor etc while the power is ON and for a short time after the power is turned OFF In this timing these parts become very hot and may lead to burns Always turn the power OFF before touching the servomotor shaft or coupled machines as these parts may lead to injuries Do not go near the machine during test operations or during operations such as teaching Doing so may lead to injuries Always mount a leakage breaker on the Motion controller and servo amplifier power source If mounting of an electromagnetic contactor for power shut off during an error etc is specified in the instruction manual for the servo amplifier etc always mount the electromagnetic contactor Mount an emergency stop circuit externally so that the operation can be stopped immediately and the power shut off Use the Motion controller servo amplifier servomotor and regenerative resistor with the correct combinations listed in the instruction manual Other combinations may lead to fire or faults if safety standards ex robot safety rules etc apply to the system using the Motion controller servo amplifier and servomotor make sure that the safety standards are satisfied Construct a safety circuit externally of the Motion controller or servo amplifier if th
4. 2008 MITSUBISHI ELECTRIC CORPORATION A 11 INTRODUCTION Thank you for choosing the Mitsubishi Motion controller Q173DCPU Q172DCPU Before using the equipment please read this manual carefully to develop full familiarity with the functions and performance of the Motion controller you have purchased so as to ensure correct use CONTENTS Sately Precautions ich iki eee nei Aah anand A abate A 1 Ee A 11 EH EA EAA EAER A AI EA EEA A SEET A 12 Lee A 15 1 OVERVIEW 1 1to1 4 la Ba E teeta atk el eee inet teeter eet teeta ee 1 1 1 2 Differences between Q173DCPU Q172DCPU and Q173HCPU Q172HCPU nsss 1 3 2 1 Motion System Configuration iera a aA E 2 1 2 1 1 Q173DCPU System overall configuration 00 eect eeeeeeeeeeteeeeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeeeeatas 2 3 2 1 2 Q172DCPU System overall configuration 0 eect eeteeteeeteeeeeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeas 2 5 2 1 3 Function explanation of the Q173DCPU Q172DCPU Motion CPU modules 2 7 2 1 4 Restrictions ON Motion SYStOMS AA 2 8 2 2 System Configuration Eoupment 2 11 2 3 General Specification enii de tee are ai a aaia a aa ed 2 18 2 4 Specifications of Equipment and Gettngs nennen 2 19 2 4 1 Name of parts for CPU module cccceccceeecceeeeeeeeeeeeeeeeeeeeeeceaeecaeeseaeeesaaeesaeeseaeescaeeesceeseaeesaeessaees 2 19 242 POwWer SU pV Lee 2 27 2 4 3 Base unit and extension cablo A 2 35 2 4 4 Q172DLX Servo external signals interface mo
5. For AC DC 1 Switch power ON 2 Set CPU to RUN 3 When DC power is established RA2 goes ON 4 Timer TM times out after the DC power reaches 100 The TM set value should be the period of time from when RA2 goes ON to the establishment of 100 DC voltage Set this value to approximately 0 5 seconds 5 Turn ON the start switch 6 When the electromagnetic contactor MC comes on the output equipment is powered and may be driven by the program If a voltage relay is used at RA2 no timer TM is required in the program 3 DESIGN b System design circuit example when using ERR terminal of Input switched when power supply established RUN STOP circuit interlocked with RA1 run monitor relay Power supply module Interlock circuits as necessary Provide external interlock reverse rotation The power ON procedure For AC DC 1 Switch power ON 2 Set CPU to RUN 3 circuits for conflicting operations such as forward rotation and and for parts that could damage the machine or cause accident if no interlock were used power supply module Power supply FOR AC DC ATIN Transformer Transformer AN 0 Fuse Fuse H D T CPU module Seco eles eee 4 SM52 DC power EE SM403 eH yrusey Program EE START SW SE SC STOP SW dc S Set time for DC power supply to be established Voltage relay is
6. 0 5 1 64 b Connection diagram CPU Module side Battery holder side A n ES H ES g i 1 CR 3 i o 3 E ee BI 50351 8100 Terminal 1376476 1 Terminal 51103 0400 Connector 1376477 3 Connector J Twisted pair cable Note Use a cable of wire size AWG24 App 6 APPENDICES APPENDIX 1 4 Forced stop input cable Generally use the forced stop input cable available as our products If the required length is not found in our products fabricate the cable on the customer side Make the forced stop input cable within 30m 98 43ft 1 Q170DEMICBLOM a Model explanation Type Q170DEMICBL O M Symbol Cable length m ft 05 0 5 1 64 1 1 3 28 3 3 9 84 5 5 16 40 10 10 32 81 15 15 49 21 20 20 65 62 25 25 82 02 30 30 98 43 b Connection diagram CPU module side Solderless terminal 4 GI em 1 STO 5556TL Terminal 5557 02R Connector EMI COM 2 AO EMI COM J Twisted pair cable Note Use a cable of wire size AWG24 App 7 APPENDICES APPENDIX 2 Exterior Dimensions APPENDIX 2 1 CPU module 1 Q172DCPU Module Unit mm inch q Q172DCPU b A 98 3 86
7. 119 3 4 70 27 4 1 08 2 Q173DCPU Module Unit mm inch m j i l D e 2 S ul 1 Ss KK yvy 119 3 4 70 27 4 1 08 le gt App 8 APPENDICES APPENDIX 2 2 Servo external signals interface module Q172DLX Unit mm inch Q172DLX A O 98 3 86 CTRL a H D H D H D H D H H H D D D D H H H H O Q172DLX L 90 3 54 45 1 77 27 4 1 08 APPENDIX 2 3 Synchronous encoder interface module Q172DEX Unit mm inch Q172DEX A SY ENC TREN 1 d l 2 2 SY ENC1 LE era ke O 3 gt d z SY ENC2 2I l A Q172DEX J Y U J 4 2 0 17 p 90 3 54 39 1 54 27 4 1 08 App 9 APPENDICES APPENDIX 2 4 Manual pulse generator interface module Q173DPX Unit mm inch Oo i os eee Q173DPX PLSA PLS B TREN 1 1 4 2 2 2 3 O Dn oo we Dn JI d S Dn A Mlo oo S oo PULSER ils E Dn oo Dn CH oo oo og oo og oo oo oo oo sl O Q173DPX
8. 90 3 54 45 1 77 27 4 1 08 App 10 APPENDICES APPENDIX 2 5 Power supply module Q61P A1 Q61P A2 Q61P Q62P Q63P Q64P Unit mm inch 1 Q61P A1 Q61P A2 Q61P Q62P Q63P U MITSUBISHI 90 3 54 55 2 2 17 2 Q64P Unit mm inch on 98 3 86 MITSUBISHI aq C 115 4 53 55 2 2 17 App 11 APPENDICES APPENDIX 2 6 Battery holder unit Q170DBATC 1 Battery holder unit Q170DBATC Unit mm inch 2 5 3 0 21 Fixing screw M5x14 45 1 77 60 2 36 SERIAL A65000000 Q170DBATC MS gt 18 4 0 72 4 30 1 18 0 46 11 6 App 12 APPENDICES APPENDIX 2 7 Connector 1 Cable connector for serial absolute synchronous encoder Sumitomo 3M make MDR type Type Connector Solder connection type Quick release metal latch type 10
9. Power Supply power voltage module type 100VAC 200VAC P dul Q61P A1 Operates normally Sal y module causes Power supply module does not cause trouble Q61P A2 GE Operates normally operated 2 The Q63P is dedicated for inputting a voltage of 24VDC Do not input a voltage of except 24VDC into it or trouble may occur on the Q63P 3 Q64P automatically switches the input range 100 200VAC Therefore it is not compatible with the intermediate voltage 133 to 169VAC The CPU module may not work normally if the above intermediate voltage is applied 4 Ensure that the earth terminals LG and FG are grounded Ground resistance 100 Q or loss Since the LG terminal has a half of the input voltage touching this terminal may result in an electric shock 5 When the Q61P A1 Q61P A2 Q61P Q62P Q63P or Q64P is loaded on the extension base unit a system error cannot be detected by the ERR terminal The ERR terminal is always OFF 2 SYSTEM CONFIGURATION 3 Selection of the power supply module The power supply module is selected according to the total of current consumption of the I O modules intelligent function module and peripheral devices supplied by its power module Select the power supply module in consideration of the current consumption of the peripheral device connected to the Q170ENC MR HDP01 etc 5VDC internal current consumption of shared equipments with PLC might be changed Be sure to refer
10. 2 SYSTEM CONFIGURATION 6 Connection examples of manual pulse generator Connection of manual pulse generator Connection of manual pulse generator Voltage output Open collector type Differential output type Q173DPX Manual pulse Q173DPX Manual pulse generator side ae name NEE i generator side D 1 gt Note 1 f Twisted pair cable S 1103 f Twisted pair cable O Note 1 The 5V P5 DC power supply from the Q173DPX must not be connected if a separated power supply is used as the Manual pulse generator Incremental synchronous encoder power supply Use a 5V stabilized power supply as a separated power supply Any other power supply may cause a failure Note 2 Connect HPSELO to the SG terminal if the manual pulse generator differential output type incremental synchronous encoder is used A CAUTION if a separate power supply is used as the manual pulse generator incremental synchronous encoder power supply use a 5V stabilized power supply Any other power supply may cause a failure 2 SYSTEM CONFIGURATION 2 4 7 Manual pulse generator Serial absolute synchronous encoder 1 Table of the Manual pulse generator specifications Item Specifications Model name MR HDPo1 Wio Ambient temperature 10 to 60 C 14 to 140 F Pulse resolution 25PLS rev 100 PLS rev after magnification by 4 Voltage output power supply voltage 1V or more Output method ge otitput
11. Note 1 Be sure to install the Battery Q6BAT to the Battery holder unit Q170DBATC It is packed together with Q173DCPU Q172DCPU Note 2 Q172DEX cannot be used in the extension base unit Install it to the main base unit 2 SYSTEM CONFIGURATION 2 Peripheral device configuration for the Q173DCPU Q172DCPU The following a b can be used a USB configuration b RS 232 configuration PLC CPU module QnUD H CPU PLC CPU module QnUD H CPU USB cable RS 232 communication cable QC30R2 4 Personal computer Personal computer 2 SYSTEM CONFIGURATION el 2 1 1 Q173DCPU System overall configuration Motion CPU control module je gt a Ka Ka gt 2 2 2 B Ble 3o 3 E SI IZ 9 E SLE 548 858 228 sl oae gE SEE PLC CPU ToL SeL oge Motion CPU NGBE NDE Z oE Main base unit Q30ODB lanuD H Q173D Oe ax00 Q172D ICPU CPU 7 7 LX HI OeCDA VO module e gt Intelligent function module eH E ci 1 100 200VAC A AAA A A A A Manual pulse generator x 3 module MR HDP01 Up to 1 module Serial absolute synchronous encoder cable Q170ENCCBLUOIM Serial absolute synchronous encoder x 2 module Q170ENC Up to 6 modules USB RS 232 E Personal Computer IBM PC AT External input si
12. 10120 3000PE connector 10320 52F0 008 connector case MS3106B22 14S cable clump EE A P5 19 i D M ab LG 11 itt uf R 1 117 Ir 8 d P5 20 e all LG 12 Le a i j eil f i ily a I 1 dl 1 i t i P5 18 ie eji LG 2 it tf d v i SH t BAT 9 H i HE LG 1 Li tot MR Wees 1 K MRR 17 H GL Mo 6 H H MDR 16 H LZ ELE i SDplate J N J Twisted pair cable Q170ENCCBL2M to Q170ENCCBL50M 50m 164 04ft or less Note 1 Note 2 b When using tracking enable signal EE SY ENC side connector Synchronous encoder side connector plug 10120 3000PE connector 10320 52F0 008 connector case MS3106B22 14S cable clump e A P5 e o LG EmA ege 1 tb ali R i ote D i 1 ti 14 1 P5 20 De af i i LG 12 EM AT i 2 3 8 a P5 18 1 te ail LG 2 H oi 1 16 ji i tle a 1 1 1 I ae i 1 1 1 H 14 ty ea a 24 aa MR rt wees MRR dess EE MD et h MDR 16 Le Fo I J ISDplate Ei A N TREN At TREN COM 14 24VDC J Twisted pair cable Cable length 50m 164 04ft or less Note 1 Be sure to use a wire model name AWG24 Note 2 When using tracking enable signal fabricate the encoder cable by customer side 2 49 2 SYSTEM CONFIGURATION 7 Connection of the battery This section describes the battery specifications handling precautions and install
13. compatibility mode e Fast user switching e Remote desktop e Large size e x64 Edition 64 bit Windows lt Windows 2000 gt e Large fonts 2 SYSTEM CONFIGURATION 2 3 General Specifications General specifications of Q173DCPU Q172DCPU module are shown below Specification Operating ambient temperature 0 to 55 C 32 to 131 F Storage ambient temperature 25 to 75 C 13 to 167 F Note 3 Operating ambient humidity 5 to 95 RH non condensing Storage ambient humidity 5 to 95 RH non condensing Amplitude 0 075mm 0 003inch _ 10 times each 57to150Hz osm nxyz TE 0 035mm directions i to z 3 Under continuous 0 001inch For 80 min vibration R 57 to 150Hz Shock resistance 147m s 3 times in each of 3 directions X Y Z Operating altitude 2000m 6561 68ft or less Mounting location Inside control panel Note 1 This indicates the section of the power supply to which the equipment is assumed to be connected between the public electrical power distribution network and the machinery within premises Under intermittent 10 to 57Hz vibration Vibration resistance Category I applies to equipment for which electrical power is supplied from fixed facilities The surge voltage withstand level for up to the rated voltage of 300V is 2500V Note 2 This index indicates the degree to which conductive material is generated in terms of the environment in which the equipment is used Pollution l
14. SW1 to A position of all not installed Motion CPU modules to install Note If the power supply is turned ON without setting all Motion CPU module not installed to installation mode it does not operate normally Be sure to install the operating system software before system start 5 TRIAL OPERATION AND ADJUSTMENT 5 4 Trial Operation and Adjustment Checklist Before power supply ON Power supply ON Motion CPU module in STOP status PLC CPU module in STOP status Motion CPU module in RUN status PLC CPU module in STOP status Motion CPU module in RUN status PLC CPU module in RUN status At the worksite copy the following table for use as a check sheet Work Step Item Trial Operation and Adjustment Confirmation Installation of unit module and basic wiring Installation of OS System setting Q172LX external signal Program positioning data Basic axis operations Check each axis Manual operation Automatic operation Torque check Check Check that the each module is installed correctly Check that the each connector is connected correctly Check the each terminal screw for looseness Check that the earth wires of power supply module or servo amplifiers etc are correct Check that the circuit of emergency stop and forced stop are correct PLC Motion CPU module correctly Check the each operation in manual operation mo
15. adjustments to the customer and Mitsubishi is not liable for on site adjustment or test run of the product 5 Precautions for Choosing the Products 1 These products have been manufactured as a general purpose part for general industries and have not been designed or manufactured to be incorporated in a device or system used in purposes related to human life 2 Before using the products for special purposes such as nuclear power electric power aerospace medicine passenger movement vehicles or under water relays contact Mitsubishi 3 These products have been manufactured under strict quality control However when installing the product where major accidents or losses could occur if the product fails install appropriate backup or failsafe functions in the system 4 When exporting any of the products or related technologies described in this catalogue you must obtain an export license if it is subject to Japanese Export Control Law MOTION CONTROLLER Qseries User s Manual Q173DCPU Q172DCPU d MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN MODEL Q173D U E MODEL 1XB927 IB NA 0300133 A 0801 MEE IB NA 0300133 A 0801 MEE When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry for service transaction permission Specifications subject to change without notice
16. ae LU oO CO gt UO devices CP Main circuit power supply EON gt Main circuit device O_O CP Servo amplifier power Supp y 200VAC O oO gt Servo amplifier NFB 2 Grounding The Motion system may malfunction as it is affected by various noises such as electric path noises from the power supply systems radiated and induced noises from other equipment servo amplifiers and their cables and electromagnetic noises from conductors To avoid such troubles connect the earthing ground of each equipment and the shield grounds of the shielded cables to the earth For grounding use the exclusive ground terminal wire of each equipment or a single point earth method to avoid grounding by common wiring where possible since noises may sneak from other equipment due to common impedances 100 200VAC _ Line noise filter Multiple CPU system O SSCNET I Servo amplifier k Note Be sure to ground the line noise filter Multiple CPU system servo amplifier and servomotor Ground resistance 100 or less 3 8 3 DESIGN 3 2 2 Safety circuit design 1 Concept of safety circuits When the Multiple CPU system is powered on and off normal control output may not be done momentarily due to a delay or a startup time difference between the Multiple CPU system power supply and the external power supply DC in particular for the control target A
17. home position return Check home position return Check the followings by making the machine Z CAUTION Check the followings by executing the home position return 1 Home position return direction 2 Home position return data 3 Proximity dog position Programming Check Motion program Set the RUN STOP RESET switch of PLC CPU module to RUN and the RUN STOP switch of Motion CPU module to RUN and check that all positioning controls by Motion programs are correct Monitor Check by automatic operation Check the sequence operation by executing the PLC program using an actual external input END POINTS 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 1 Make note of motor module names before the motor is mounted on a machine The motor name plate may not be visible after the motor is mounted 2 When the servo amplifier servomotor is first turned on check the operation before the servomotor is mounted on a machine to avoid an unexpected accidents such as machine breakage 5 TRIAL OPERATION AND ADJUSTMENT nl 5 3 Operating System Software Installation Procedure The operating system software must be installed to the M
18. immediately change the battery Even if the alarm has not yet occurred it is recommended to replace the battery periodically according to the operating condition 4 The self discharge influences the life of battery without the connection to Q173DCPU Q172DCPU Q172DEX The external battery should be exchanged approximately every 4 or 5 years And exchange the battery with a new one in 4 to 5 years even if a total power failure time is guaranteed value or less 6 INSPECTION AND MAINTENANCE WE 6 5 2 Battery replacement procedure 1 Battery replacement procedure of the Battery holder unit When the battery has been exhausted replace the battery with a new one in accordance with the procedure shown below POINTS When replacing the battery pay attention to the following 1 Back up the data using MT Developer before starting replacement 2 Firstly back up the data stored in the Motion CPU to the personal computer which is installed MT Developer then replace the battery with a new one After setting the battery in the Battery holder unit verify the backing up the data to the personal computer which is installed MT Developer and the data in the Motion CPU module confirm the data is not changing In the following status the backup time after power OFF is 3 minutes e The battery connector Q6BAT lead connector is disconnected e The battery cable lead wire of Q6BAT is broken lt Battery holder unit Q170DBATC gt Een eae
19. 2 SYSTEM CONFIGURATION 2 4 8 SSCNETIL cables and connection method This section describes how to connect between the Motion CPU module and servo amplifiers Between the Motion CPU module and servo amplifiers is connected by SSCNET I cable When using the Q172DCPU only 1 SSCNETII cable for connection to servo amplifier can be used Connect to CN1 When using the Q173DCPU up to 2 SSCNETI cables for connection to servo amplifier can be used Connect to CN1 and CN2 Up to 16 servo amplifies can be connected to 1 SSCNETII cable However when using the Q172DCPU up to 8 servo amplifiers can be connected 1 Connection between the Q173DCPU and servo amplifiers Q173DCPU Motion CPU module SSCNETI cable length MR J3BUSOM use 1 3m 9 84ft MR J3BUSOIM A use 1 s 20m 65 62ft MR J3BUSUOIM B use 1 lt 50m 164 04ft Attach a cap to connectors of system not being used SSCNETI SYSTEM1 l CN1A CN1A SC a E cap CN1B CN1B E40 Ta Servo amplifier Servo amplifier SSCNETII SYSTEM2 mm e S I cep Ae CN1B H CIO ee Servo amplifier Servo amplifier Note It cannot communicate with that the connection of CN1A and CN1B is mistaken 2 SYSTEM CONFIGURATION 2 Connection between the Q172DCPU and servo amplifiers Q172DCPU Motion CPU module SSCNETII ca
20. 2 systems Q172DCPU 1 system 2 SYSTEM CONFIGURATION 2 4 9 External battery This section describes the battery specifications used in the Motion CPU handling precautions and equipments External battery specifications For Motion CPU module Model name iese o oo E EECH Exterior dimensions mm inch 16 0 63 x 32 1 26 Note The 44th Edition of the IATA International Air Transportation Association Dangerous Goods Regulations was effected in January 1st 2003 and administered immediately In this edition the provisions relating to lithium and lithium ion batteries have been revised to strengthen regulations on the air transportation of battery This battery is not dangerous goods not class 9 Therefore these batteries of 24 units or less are not subject to the regulations These batteries more than 24 units require packing based on Packing Instruction 903 If you need the self certification form for the battery safety test contact Mitsubishi For more information contact Mitsubishi 2 SYSTEM CONFIGURATION 2 Data back up of Motion CPU by the external battery Be sure to use the external battery Set the battery Q6BAT to battery holder unit Q170DBATC The programs parameters absolute position data and latch data of SRAM built in Motion CPU module are backed up without using the external battery In the following status the backup time after power OFF is 3 minutes e The battery connector Q6BAT lead
21. 3 Itis possible to execute a download of servo parameters to servo amplifier servo ON OFF to servo amplifier and position commands etc by connecting between the Q173DCPU Q172DCPU and servo amplifier with SSCNETII cable 4 Itis possible to select the servo control functions programming languages by installing the corresponding operating system software in the Q173DCPU Q172DCPU 5 Motion modules Q172DLX Q172DEX Q173DPX are controlled with the Q173DCPU Q172DCPU and the signals such as stroke limit signals connected to Motion modules and synchronous encoder are used as motion control 6 PLC I O modules can be controlled with the Q173DCPU Q172DCPU Refer to Section 2 2 2 for PLC I O modules that can be controlled with Motion CPU 7 Data exchange between CPU modules is possible by Multiple CPU high speed transmission memory or automatic refresh in the Multiple CPU system 2 SYSTEM CONFIGURATION 2 1 4 Restrictions on Motion systems 1 Combination of Multiple CPU system a Motion CPU module cannot be used as standalone module Be sure to install the universal model PLC CPU module QO3UDCPU QO04UDHCPU Q06UDHCPU to CPU No 1 For Universal model PLC CPU module Multiple CPU high speed transmission function must be set in the Multiple CPU settings b Only Multiple CPU high speed main base unit Q38DB Q312DB can be used c The combination of Q173DCPU Q172DCPU and Q173HCPU T Q172HCPU T Q173CPUN T Q172CPUN T
22. 3200 points points Positioning data can be designated indirectly Peripheral I F Via PLC CPU USB RS 232 Proximity dog type 2 types Count type 3 types Data set type 2 types Dog cradle type Home position return SL EN Aincon Stopper type 2 types Limit switch combined type i Home position return re try function GE home position shift function provided JOG operation function Manual pulse generator d f Possible to connect 3 modules operation function Synchronous encoder i Possible to connect 12 modules Possible to connect 8 modules operation function M code output function provided M code function i M code completion wait function provided Limit switch output Number of output points 32 points function Watch data Motion control data Word device 2 SYSTEM CONFIGURATION Motion control specifications continued Q173DCPU Q172D0PU es Made compatible by setting battery to servo amplifier Absolute position system Possible to select the absolute data method or incremental method for each axis Number of SSCNET M Note 1 2 systems 1 system systems Q172DLX 4 modules usable Q172DLX 1 module usable Motion related interface Q172DEX 6 modules usable Q172DEX 4 modules usable module Q173DPX 4 modules usable TT Q173DPX 3 modules usable Note 1 The servo amplifiers for SSCNET cannot be used Note 2 When using the incremental synchronous encoder SV22 use you can use abo
23. 5A output 100 240VAC 50 60Hz 105VA OUTPUT 5VDC 3A 24VDC 0 6A 6 O a Q62P only O ou AYA 24VDC 0 5A a G4 se O4 INPUT N 100 240VAC A 2 SYSTEM CONFIGURATION Application ON green Normal 5VDC output momentary power failure within 20ms OFF e AC power supply is ON however the power supply module is out of order i 5VDC error internal circuit failure blown fuse e Over current protection or over voltage protection operated e AC power supply is not ON 1 POWER e Power failure including an momentary power failure of more than 20ms LED ON green Normal 5VDC output momentary power failure within 10ms OFF DC power supply is ON however the power supply module is out of order DC input 5VDC error internal circuit failure blown fuse power supply e Over current protection or over voltage protection operated e DC power supply is not ON e Power failure including an momentary power failure of more than 10ms e Turned ON when the whole system operates normally e This terminal turns OFF opens when the AC power is not input a stop error including a i reset occurs in the CPU module or the fuse is blown e In a Multiple CPU system configuration turned OFF when a stop error occurs in any of the CPU modules 2 ERR Normally OFF when loaded in an extension base unit terminals e
24. 62 30 98 43 40 131 23 50 164 04 2 Exterior dimensions e MR J3BUS015M Unit mm inch 37 65 20 9 0 82 EW App 2 APPENDICES e MR J3BUS03M to MR J3BUS3M Unit mm inch Refer to the table of this section 1 for cable length L Protective tube Note Note Dimension of connector part is the same as that of MR J3BUS015M e MR J3BUS5M A to MR J3BUS20M A MR J3BUS30M B to MR J3BUS50M B Refer to the table of this section 1 for cable length L Variation mm inch SSCNETII cable ae ee E eee MR J3BUS5M A to MR J3BUS20M A 100 3 94 30 1 18 MR J3BUS30M B to MR J3BUS50M B 150 5 91 50 1 97 Unit mm inch Protective tube Note Note Dimension of connector part is the same as that of MR J3BUS015M POINTS Keep the cap and the tube for protecting light code end of SSCNETII cable in a plastic bag with a zipper of SSCNETII cable to prevent them from becoming dirty App 3 APPENDICES APPENDIX 1 2 Serial absolute synchronous encoder cable Generally use the serial absolute synchronous encoder cables available as our products If the required length is not found in our products fabricate the cable on the cus
25. A Note 3 Note 5VDC internal current consumption of shared QY10 Note 0 43 A equipments with PLC might be changed Q38DB 0 228 A Be sure to refer to the PLC Manuals c Power consumption of power module WPw 3 7 x 0 33 1 25 0 05 0 05 0 06 0 19 0 38 0 43 0 43 0 228 x5 7 28 W d Power consumption of a total of 5 VDC logic section of each module Wov 0 33 1 25 0 05 0 05 0 06 0 19 0 38 0 43 0 43 0 228 x5 16 99 W e A total of 24 VDC average power consumption of the output module W2av 0 W f Average power consumption due to voltage drop in the output section of the output module Wou 0 W g Average power consumption of the input section of the input module WIN 0 004 x 24 x 32 x 1 3 07 W h Power consumption of the power supply section of the intelligent function module Ws 0 W i Power consumption of overall system W 7 28 16 99 0 0 3 07 0 27 34 W 3 DESIGN 3 4 Design Checklist At the worksite copy the following table for use as a check sheet Sub Item Design confirmation Motion CPU module Numberofaxes axes H selection Motion CPU module selection ae ee PLC CPU module Number of I O points points D selection PLC CPU module selection ma i Manual pulse generator oO Synchronous encoder EE Upper limit point oO Lower limit point points O l STOP input point points O Motion module Pr
26. Circuit example when using MR J3 B L1 MR J3 B U Jo b GER Gi L3 w We Dei Electro Ground magnetics MC T brake l DICOM L Note 3 E CP4 L ote 4 24VDC O O Note 1 When the control power supply of servo amplifier is shut off it is not possible to communicate with the servo amplifier after that Example When the control power supply L11 L21 of servo amplifier in above B figure is shut off it is also not possible to communicate with the servo amplifier fei If only a specific servo amplifier power supply is shut off be sure to shut off the main circuit power supply L1 L2 L3 and do not shut off the control power supply L11 L21 Note 2 Be sure to shut off the both of main circuit power supply L1 L2 L3 and control power supply L11 L21 at the time of exchange of servo amplifier At this time it is not possible to communicate between the servo amplifier and Motion controller Therefore be sure to exchange the servo amplifier after stopping the operating of machine beforehand 3 5 3 DESIGN 2 System design circuit a System design ci example of the PLC I O rcuit example when not using ERR terminal of power supply module Power supply FOR AC Power supply cen Transformer Input switched when H Fuse power supply established 4 RUN STOP circuit interlocked wit
27. Connect a sneak path prevention diode Input signal Figure below is not turned Input module OFF Input module Example 5 Depending on response time setting noise is Change the response time setting imported as input Example 1 ms 5 ms When excessive noise is cyclic shorter response time setting may produce a higher False input effect When the above action does not have due to an effect take measures against noise to block noise excessive noise e g avoid tying the power cables and control cables in a bundle and add surge absorbers to the noise sources such as the relays and contactors used with the same power supply Example 6 lt Calculation example of Example 4 gt If a switch with LED display is connected to Q172DLX and current of 4 mA is leaked Q172DLX Leakage current 4 mA Motion CPU module 24 VDC a Because the condition for OFF voltage 18 mA of Q172DLX is not satisfied Connect a resistor as shown below os alma Q172DLX lt a 7 1z 0 18 mA 4 IR 3 82 mA izi Input impedance T 5 6 kQ b Calculate the connecting resistor value R as indicated below To satisfy the 0 18 mA OFF current of the Q172DLX the resistor R to be connected may be the one where 3 82 mA or more will flow IR Iz Z Input impedance R dz _0 18 3_ Rs R xZ Input impedance 335 x 5 6 X10 264 ol R lt 264 Q Assuming that resistor R is 220 0 the power capacity W o
28. Inspection Works cccccceeceeeeeeeeeceececeeeeaeeceaeeeeaeeeeaeeesaaeesaeeseaeeecaeeesaeeseaeeteeeseeessieeess 6 2 BEIENEE 6 4 1 3 PEMOGIG INS PE CtlON sores estes ce ade ee ab oc See se Mee ee Ne ne hae a 6 5 ege 6 6 6 5 External Battety 2iiicccicn ahi ie nie nie na 6 7 6 5 1 Battery eege erin meh eee ei feet ote eet ede et oe es 6 8 6 5 2 Battery replacement procedure s sssssnissknstnsttnsttntttttttntttatttettnntEnntEASEESEESEAS EASE EnnE EnEn nnan EE nenne 6 10 6 5 3 Resuming operation after storing the Motion controller A 6 12 RR Reen ln e ME 6 13 6 6 1 Troubleshooting basics eegene diate ade Ee ative dda cies hd adel eeh 6 13 6 6 2 Troubleshooting of Motion CPU module AAA 6 14 6 6 3 Confirming error Code NENNEN a RA beats ccivecieuel A A A 6 25 6 6 4 I O Module jroublesbootmg AAA 6 26 APPENDIX elei deed E E App 1 APPENDIX 1A SSCNE TD CADIS ue eege reste eege faloeied Algae heed die aided App 1 APPENDIX 1 2 Serial absolute synchronous encoder cable App 4 APPENDIX 1 3 Battery cable nnnnsnnesnnesneesneesneesneenreerntttntrtnnttnsttnnttnsttnsttnsttnettnnnnnnnnnnnnnnnnnnnnr Ennen App 6 APPENDIX 1 4 Forced stop input Cable ccccecccecescceececeeeeceeeeaeeceaeeecaeeseaceeseaeeeeaeeesaeeeseeeseaeetseesaees App 7 NPREN E Eternal eats tte ad et tena App 8 APPENDIX 2 1 CPU module ccccecceccesceeeeeececeeeecaecaeeseeeaecaecaecececaesaecaeseaecaesaesaeseaesaesaeseeeeeesneeeaeeat
29. Leakage current Example 2 APPENDICES APPENDICES APPENDIX 1 Cables In this cable connection diagram maker names of connectors are omitted Refer to APPENDIX 2 7 Connector for maker names of connectors APPENDIX 1 1 SSCNETII cables Generally use the SSCNETII cables available as our products 1 Model explanation Numeral in the column of cable length on the table is a symbol put in the O part of cable model Cables of which symbol exists are available Cable length m ft Application 0 49 0 98 1 64 3 28 9 84 16 40 32 81 65 62 98 43 131 23 164 04 MR J3BUSOIM 015 03 05 1 3 Fa Z See VE EEN inside panel GE EE isso aA ee Note 1 For the cable of less than 30 m 98 43 ft contact your nearest Mitsubishi sales representative 2 Specifications SSCNETII cable model MR J3BUS MRJ3BUSOM A J3BUS MRJ3BUSOM B M B 0 15 0 3 to 3 5 to 20 30 to 50 SSCNET ble length m ft T cable length m ft 0 49 0 98 to 9 84 16 40 to 65 62 98 43 to 164 04 Minimum bend radius 5 0 98 Reinforcing coat cable 50 1 97 Reinforcing coat cable 50 1 97 mm inch Code 25 0 98 Code 30 1 18 Tension strength N 420 Enforced covering cord 980 Enforced covering cord Temperature range 40 to 80 20 to 70 for use C F 40 to 176 4 to 158 Indoors no direct sunlight No solvent or oil 0 Ce 016
30. No restriction or later PLC CPU module CPU empty slot Settable between CPU modules Not settable between CPU modules Universal model QnUD H CPU High performance model Qn H CPU Q173DCPU Q172DCPU Q173HCPU T Q172HCPU T Main base unit PLC CPU module Motion CPU module Combination of Motion oe Nope i Q173DCPU Q172DCPU only Combination with Q173CPUN T Q172CPUN T CPU modules Install Motion CPU modules by unit fixing screws when using them in a place where the vibration or impact is large Function select switch Rotary switch 1 Rotary switch 2 Dip switch 1 to 5 Installation on main base Be sure to install Motion CPU modules by unit fixing unit screws RESET L CLR switch Each LED of MODE RUN ERR M RUN BAT and LED indication 7 segment LED display a S i BOOT aD Add Q6BAT at continuous power failure for 1 month or more Battery holder unit Q170DBATC Q170HBATC e Use EMI terminal of Motion CPU module e Use device set by forced stop input setting in the system setting Cable for forced stop input Demand gt Motion module Q172DLX Q172DEX Q173DPX Q172LX Q172EX Q173PX Installation on main base Impossible to install on I O slots of 0 to2 Possible to install on I O slots of 0 to2 uni Multiple CPU high speed transmission memory for data Included transfer between CPU modules External battery Demand e Use device set by forced stop input setting in the Forced stop input 3 system setting
31. Q170ENC Use the SY ENC connector at the Q172DEX module front to connect the serial absolute synchronous encoder Q170ENC When tracking enable signal is not used use the Q170ENCCBLOM encoder cable between the serial absolute synchronous encoder Q170ENC and SY ENC connector The following pin layout of the Q172DEX SY ENC connector viewed from the front The pin layout and connection description of the SY ENC connector are described below SY ENC connector Applicable connector model names 10120 3000PE connector 10320 52F0 008 connector cover 3M make LG LG 6 mwm 16 wn 8 Noconnect 18 Ps ear to s Note Do not connect a wire to MD 6Pin MDR 16Pin Interface with external equipment The interface between the SY ENC connector and external equipment is described below 1 Wiring precautions Ensure the connector lock after connecting the connector Synchronous encoder interface module Q172DEX 4 a se ener rut lll cn e oe 3 PR She KC O SY ENC connector Serial absolute synchronous encoder cable Q170ENCCBLOM k Serial absolute synchronous encoder Q170ENC 2 SYSTEM CONFIGURATION 5 Interface between SY ENC connecto
32. 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 Install a cover on the shaft so that the rotary parts of the servomotor are not touched during operation There may be some cases where holding by the electromagnetic brakes is not possible due to the life or mechanical structure when the ball screw and servomotor are connected with a timing belt etc Install a stopping device to ensure safety on the machine side 2 Parameter settings and programming CAUTION 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 regenerative resistor model and capacity parameters must be set to values that conform to the operation mode servo amplifier and servo power supply module The protective functions may not function if the settings are incorrect Set the mechanical brake output and dynamic brake output validity parameters to values that are compatible with the system application The protective functions may not function if the settings are incorrect Set the stroke limit input validity parameter to a value that is compatible with the system application The protective functions may not funct
33. and latch data built in Motion CPU module are cleared b Operation mode overview Operation mode_ 7 segment LED e Steady INS display at the 7 segment LED e Operating system software can be installed Installation mode _ e Itis STOP status regardless of the RUN STOP switch position at the front side 1 of Motion CPU module e Digital oscilloscope function cannot be used e remains flashing in the first digit of 7 segment LED Mode operated by RAM e It operates based on the user programs and parameters stored in the SRAM built in Motion CPU module remains flashing in the first digit and steady display in the second digit of 7 segment LED e Operation starts after the user programs and parameters stored in the FLASH ROM built in Motion CPU module are read to the SRAM built in Motion CPU module at power supply on or reset of the Multiple CPU system If the ROM writing is not executed even if the user programs and parameters Mode operated by ROM are changed using the MT Developer 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 Motion CPU by operation in the auto tuning setting operation starts with the contents of the FLASH ROM at next power supply on or reset Be sure to turn OFF the Multiple system power supply before the r
34. and servo external signal Inputor Signal name CTRL LED Wiring example Internal circuit Specification Description Output connector FLS1 B20 0 Supply voltage FLS2 B16 4 12 to 24 VDC FLS3 B12 8 Upper stroke 10 2 to 26 4 VDC FLS4 B8 C limit input stabilized power FLS supply FLS5 A20 10 FLS6 A16 14 FLS7 A12 18 FLS8 A8 1C RLS1 B19 1 RLS2 B15 5 RLS3 B11 9 RLS4 B7 D E RLS5 A19 11 Lower stroke RLS6 Aug 15 limit input RLS7 A11 19 Input RLS8 A7 1D e High level 10 0 VDC or more SC B18 2 2 0mA or more STOP2 B14 6 STOP3 B10 A SIOPS BS E Stop signal STOP STOP5 A18 12 e input STOP6 A14 16 STOP7 A10 TA S STOP8 A6 1E Low level DOG CHANGE1 B17 3 1 8 VDC or less 7 7 7 7 7 0 18mA or less DOG CHANGE2 B13 7 ease ta Mel DOG CHANGE3 B9 B e e DOG CHANGE4 B5 F E S DOG CHANGES A17 qa veering signa DOG CHANGE DOG CHANGE6 A13 17 DOG CHANGE7 AQ 1B DOG CHANGE8 A5 1F oo e OB en LLL Common terminals for motion control Power suppl Note PRY BASEA signals external 12VDC to 24VDC signal Note As for the connection to power line B1 B2 both and are possible A CAUTION Always use a shield cable for connection of the CTRL connector and external equipment and avoid running it close to or bundling it with the power and main circuit cables to minimize the influ
35. arrow to Module fixing hole I I I I Module loading lever install it into the base unit Module Modul rane fixing hook fixing hook Make sure that the module is installed in the base unit securely Module a loading lever Module fixing hole w Module fixing hole Note When using module in a place where there is large vibration or impact install them by the unit fixing screws EI unit Unit fixing END ee projection Base unit L Module fixing hook Module fixing hole l Note Screw the Motion CPU module to the main base unit 4 INSTALLATION AND WIRING POINTS 1 When installing the module always insert the module fixing projection into the module fixing hole of the base unit At that time securely insert the module fixing projection so that it does not come off from the module fixing hole If the module is forcibly installed without the latch being inserted the module connector and module will be damaged 2 When using the modules in a place where there is large vibration or impact screw the module to the base unit Module fixing screw M3 X12 user prepared Screw the Motion CPU module to the main base unit using supplied fixing screws Do not install remove the module onto from base unit or terminal block more than 50 times after the first use of
36. be used in equipment or systems in situations that can affect or endanger human life When considering this product for operation in special applications such as machinery or systems used in passenger transportation medical aerospace atomic power electric power or submarine repeating applications please contact your nearest Mitsubishi sales representative Although this product was manufactured under conditions of strict quality control you are strongly advised to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the product is likely to cause a serious accident 10 General cautions CAUTION All drawings provided in the instruction manual show the state with the covers and safety partitions removed to explain detailed sections When operating the product always return the covers and partitions to the designated positions and operate according to the instruction manual REVISIONS x The manual number is given on the bottom left of the back cover Print Date_ Manual Number Jan 2008 B NA 0300133 A First edition Japanese Manual Number IB NA 0300125 This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual
37. cannot be used d Up to four modules of PLC CPU modules QO3UDCPU Q04UDHCPU QO6UDHCPU Motion CPU modules can be installed from the CPU slot the slot on the right side of power supply module to slot 2 of the main base unit CPU modules called as CPU No 1 to CPU No 4 from the left sequentially There is no restriction on the installation order of CPU No 2 to No 4 For CPU module except CPU No 1 an empty slot can be reserved for addition of CPU module An empty slot can be set between CPU modules However the installation condition when combining with the High performance PLC CPU module Process CPU module PC CPU module C controller module is different depending on the specification of CPU modules refer to the Manuals of each CPU modules el It takes about 10 seconds to startup state that can be controlled of Motion CPU Make a Multiple CPU synchronous startup setting suitable for the system f Execute the automatic refresh of the Motion CPU modules and PLC CPU modules QO3UDCPU Q04UDHCPU QO06UDHCPU by using the automatic refresh of Multiple CPU high speed transmission area setting When the High performance PLC CPU module Process CPU module PC CPU module C controller module is installed in the combination of Multiple CPU system the Motion CPU module cannot be execute the automatic refresh with these modules g Use the Motion dedicated PLC instructions that starts by D P The Motion dedicated PLC instructions that starts by
38. connector is disconnected e The battery cable lead wire of Q6BAT is broken Note 1 Battery life Total power failure time h Guaranteed value Guaranteed value EES u valu u valu Module type Battery type Power on time SE EES ee Backup time ratio oe Reference value after alarm MIN 75 C 167 F TYP 40 C 104 F TYP 25 C 77 F 90 After SM51 SM52 10000 26000 43800 cn 100 43800 43800 43800 Note 1 The actual service value indicates the average value and the guaranteed time indicates the minimum time Note 2 The power on time ratio indicates the ratio of Multiple CPU system power on time to one day 24 hours When the total power on time is 17 hours and the total power off time is 7 hours the power on time ratio is 70 Note 3 The guaranteed value MIN equivalent to the total power failure time that is calculated based on the characteristics value of the memory SRAM supplied by the manufacturer and under the storage ambient temperature range of 25 C to 75 C 13 to 167 F operating ambient temperature of 0 C to 55 C 32 to 131 F Note 4 The guaranteed value TYP equivalent to the total power failure time that is calculated based on the normal air conditioned environment 40 C 104 F Note 5 The actual service value Reference value equivalent to the total power failure time that is calculated based on the measured value and under the storage ambient tempera
39. from the external equipment Display for input signal status of PLS A 1to3 PLS B 1to3 Mode judging LED synchronous encoder phases A B Display for signal status of tracking TREN 1 to3 enable The manual pulse generator incremental synchronous manual pulse generator incremental encoder phases A B and tracking enable signal does not turn ON without setting Q173DPX in the system setting Input connector of the Manual pulse generator Incremental 3 PULSER connector synchronous encoder Module loading lever Used to install the module to the base unit 5 Module fixing screw Hole for the screw used to fix to the base unit hole M3 x 12 screw Purchase from the other supplier 2 SYSTEM CONFIGURATION Application Detection setting of TREN1 signal Dip switch 1 SW1 SWw2 OFF ON TREN is detected at leading edge of TREN signal ON Dip switch 2 TREN is detected at trailing edge of TREN signal Note 1 Dip switches EO Detection setting of TREN2 signal NE Dip switch3 Sw3 Sw4 GAR OFF AED TREN is detected at leading 6 ON ON on edge of TREN signal om Dip switch A ON OFF L TREN is detected at trailing F OFF ON i Shipped from the edge of TREN signal factory in OFF Detection setting of TREN3 signal position Dip switch5 SW5 SW6 OFF OFF TREN is detected at leading ON ON d edge of TREN signal ON OFF Dip switch 6 TRE
40. i t equipmen Outside diameter 2 8mm 0 11inch or less Ground wire 2 0mm or more 4 INSTALLATION AND WIRING el b Do not bundle the 100VAC and 24VDC wires with or run them close to the main circuit high voltage large current and I O signal lines including common line Reserve a distance of at least 100mm 3 94inch from adjacent wires c As measures against serge caused by lightening connect a surge absorber for lightening as shown below o AC o Multiple CPU system E1 j Surge absorber for thunder 1 Separate the ground of the surge absorber for lighting E1 from that of the Multiple CPU system E2 2 Select a surge absorber for lighting whose power supply voltage does no exceed the maximum allowable circuit voltage even at the time of maximum power supply voltage elevation 2 Wiring of I O equipment a Insulation sleeved crimping terminals cannot be used with the terminal block It is recommended to cover the wire connections of the crimping terminals with mark or insulation tubes b The wires used for connection to the terminal block should be 0 3 to 0 75mm in core and 2 8mm 0 11inch or less in outside diameter c Run the input and output lines away from each other d When the wiring cannot be run away from the main circuit and power lines use a batch shielded cable and ground it on the Motion controller side In some cases ground it in the oppos
41. in two sequential iflashes of 2 digits each Setting error of the Multiple CPU system Refer to the Q173DCPU Q172DCPU Motion controller Programming Manual COMMON for details 1 An error is displayed at the 7 segment LED confirm the error number etc using MT Developer 2 Refer to the Motion CPU error batch monitor of MT Developer or error list of Programming Manual for error details 3 Rotary switch assignment a Rotary function select 1 switch SW1 Rotary switch _ Seting Installed the operating system software using Installation mode MT Developer Note Not to be set except above setting b Rotary function select 2 switch SW2 Normal operation mode Mode operated by RAM Operation by the setting data and parameters stored in the SRAM built in Motion CPU module Mode to operate based on the setting data and Mode operated by ROM _ parameters wrote to the FLASH ROM built in Motion CPU module SRAM clear SRAM 0 clear Note Not to be set except above setting Z CAUTION Be sure to turn OFF the Multiple system power supply before the rotary switch setting change 2 SYSTEM CONFIGURATION 4 Operation mode a Rotary switch setting and operation mode Rotary switch setting rel Operation mode Any setting Except C Installation mode Mode operated by RAM 0o Made operated by ROM SRAM clear Note The programs parameters absolute position data
42. or lights up in dim green when voltage is lowered If this device is activated switch the input power supply off and eliminate the cause such as insufficient current capacity or short Then a few minutes later switch it on to restart the system The initial start for the system takes place when the current value becomes normal Note 2 Overvoltage protection The overvoltage protection device shuts off the 5VDC circuit and stops the system if a voltage of 5 5VDC or more is applied to the circuit When this device is activated the power supply module LED is switched OFF If this happens switch the input power OFF then a few minutes later ON This causes the initial start for the system to take place The power supply module must be changed if the system is not booted and the LED remains OFF 2 SYSTEM CONFIGURATION POINTS Note 3 Allowable momentary power failure period 1 For AC input power supply a An instantaneous power failure lasting less than 20ms will cause AC down to be detected but operation will continue b An instantaneous power failure lasting in excess of 20ms may cause the operation to continue or initial start to take place depending on the power supply load Further when the AC supply of the AC input module is the same as that of the power supply module it prevents the sensor connected to the AC input module which is ON at power off from turning OFF by switching off the power supply Howev
43. rating or incorrectly wiring the product could result in fire or damage External connections shall be crimped or pressure welded with the specified tools or correctly soldered Imperfect connections could result in short circuit fire or operation failure Tighten the terminal screws within the specified torque range If the terminal screws are loose it could result in short circuit fire or operation failure Tightening the terminal screws too far may cause damages to the screws and or the module resulting in drop short circuit or operation failure Be sure there are no foreign matters such as sawdust or wiring debris inside the module Such debris could cause fire damage or operation failure The module has an ingress prevention label on its top to prevent foreign matter such as wiring debris from entering the module during wiring Do not remove this label during wiring Before starting system operation be sure to remove this label because of heat dissipation This section described instructions for the wiring of the power supply 1 Power supply wiring a 100VAC 200VAC and 24VDC wires should be twisted as dense as possible respectively Connect the modules with the shortest distance Also to reduce the voltage drop to the minimum use the thickest wires Up to 2 0mm possible Use the wires of the following core size for wiring Application 100VAC 200VAC 24VDC wires 2 0mmZ2 or less 0 3 to 0 75mm VO
44. the product Failure to do so may cause the module to malfunction due to poor contact of connector A CAUTION Insert the module fixing projection into the fixing hole in the base unit to install the module Incorrect installation could result in malfunction failure or a drop of the module When using the modules in a place where there is large vibration or impact screw the module to the base unit Tighten the screws within the specified torque range If the screw is too loose it may cause a drop of the module a short circuit or malfunctions If too tight it may cause damage to the screws and or module resulting in an accidental drop of the module short circuit or malfunctions 4 INSTALLATION AND WIRING b Removal from Q3ODB and Q60B When using the module fixing screws remove them Push D Module fixing hook Support the module with both hands and securely press the module fixing hook with your finger a 7 Base unit d Module S Module Pull the module based on the connector supporting point of module bottom while pressing the module fixing hook While lifting a module take off the module fixing projection from the module fixing hole C Completion D Module fixing hole Lifting When the module fixing screw is used always remove the module by removing the module fixing screw and then taking the module fixing latch o
45. to the PLC Manuals a Calculation example of power supply selection lt System configuration Q173DCPU use gt Qa61P Qo3uD Q173D ax4o Qx40 Q172DLX Q172DEX Q173DPX QY10 ayio Q38DB CPU CPU MR HDP01 MR HDPO1 e 5VDC current consumption of each module QO3UDCPU 0 33 A Q170ENC 0 20 A Q173DCPU 1 25 A Q173DPX 0 38 A QX40 0 05 A MR HDP01 0 06 A Q172DLX 0 06 A QY10 0 43 A Q172DEX 0 19 A Q38DB 0 228 A e Power consumption of overall modules I5v 0 33 1 25 0 05 x 2 0 06 0 19 0 20 0 38 0 06 x 2 0 43 x 2 0 228 3 718 A Select of the power supply module Q61P 100 240VAC 6A according to this internal current consumption 3 718 A Note Configure the system in such a way that the total current consumption at 5VDC of all the modules is less than the allowable value 2 SYSTEM CONFIGURATION 2 4 3 Base unit and extension cable This section describes the specifications of the extension cables for the base units Main base unit or extension base unit used in the system and the specification standards of the extension base unit 5VDC internal current consumption of base unit might be changed Be sure to refer to the PLC Manuals 1 Table of the base unit specifications a Main base unit specifications 12 Number of I O modules Possibility of extension Extendable Applicable module Q series modules 5VDC in
46. x 24 l100v x 100 W The total of the power consumption values calculated for each block is the power consumption of the overall sequencer system W Wpw Wey W24v WouT WIN Ws W From this overall power consumption W calculate the heating value and a rise in ambient temperature inside the panel The outline of the calculation formula for a rise in ambient temperature inside the panel is shown below _W T Ua C W Power consumption of overall Motion system value obtained above A Surface area inside the panel m7 U When the ambient temperature inside the panel is uniformed by a fon 6 When air inside the panel is not circulated c ccecceeceeeeeeeeeteetetees 4 If the temperature inside the panel has exceeded the specified range it is recommended to mount a heat exchanger to the panel to lower the temperature If anormal ventilating fan is used dust will be sucked into the Motion controller together with the external air and it may affect the performance of the Motion controller 3 DESIGN 7 Example of average power consumption calculation Q173DCPU use a System configuration Q61P QO03UD Q173D QX40 QX40 Q172D Q172D Q173D QY10 QY10 Q39DB CPU CPU LX EX PX b 5 VDC current consumption of each module QO3UDCPU Dag 0 33 A Q173DCPU 1 25 A ax4o Noel 0 05 A Q172DLX 0 06 A Q172DEX 0 19 A Q173DPX 0 38
47. x lsv x 5 W I5v Current consumption of logic 5 VDC circuit of each module 2 Total power consumption for 5VDC logic circuits of all modules including CPU module The power consumption of the 5 VDC output circuit section of the power supply module is the power consumption of each module including the current consumption of the base unit wsv lau x 5 W 3 A total of 24 VDC average power consumption of the output module The average power of the external 24 VDC power is the total power consumption of each module Waav 24v x 24 x Simultaneous ON rate W 124V Average current consumption of 24VDC power supply for internal consumption of the output module A Power consumption for simultaneous ON points 4 Average power consumption due to voltage drop in the output section of the output module Power consumption for simultaneous ON points Wout louT X Vdrop x Number of outputs X Simultaneous ON rate W Jour Output current Current in actual use A Vdrop Voltage drop in each output module V 3 13 3 DESIGN 5 Average power consumption of the input section of the input module Power consumption for simultaneous ON points WIN IIN xX E x Number of input points x Simultaneous ON rate W IN Input current Effective value for AC A E Input voltage Voltage in actual use V 6 Power consumption of the external power supply section of the intelligent function module Ws I5v x 5 l24v
48. 0 ee ee eee ee este eeeeeeeeeeeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeaeesaeeeaeesaeeeateeas 4 3 4 1 3 Installation and removal Of module e eee eeeeeeeeneeeeeeeeeeeeeeaeeeaeeeaeeeaeetaeesaeeeaeeeaeesaeeeaeeseeseeeeeeeenas 4 6 4 1 4 Instructions for mounting of the battery holder unt 4 9 4 2 Connection and disconnection Of Cable A 4 10 d ENEE Weber aen a EA e ee ai E E A Re es Rede 4 10 PAE Gebees Eege 4 13 4 2 3 Forced stop input cables NEES dEE NEEN dE de 4 15 4 3 Mounting of Serial Absolute Synchronous Encoder A 4 16 AAW narnia di ech edna ih adi sci a die seh sdinscih diese bade a ai E aaa ae 4 18 AAt Instructions e KEE 4 18 4 4 2 Connecting to the power Supply module ssssssnessnessnesnnsrttsetnsttnsttnsttnsttntttnntnntnntnnnnnnnnnnnnnne enen 4 21 4 4 3 Precautions of SSCNETID Cable wiring ceeceeeceeseeeeeeeeeeeeeeeeeeeeeeaeeeeesaeeeaeeeaeeseeeaeeseeseeseeeaeesas 4 23 5 TRIAL OPERATION AND ADJUSTMENT 5 1to5 8 5 1 Checklist before Trial Operation 5 1 5 2 Trial Operation and Adjustment Procedure ssessessessesresresrssnsrnssnssnstnsinetnenaetnstactnnnncenatneennnnennntneneanennne 5 3 5 3 Operating System Software Installation Procedure A 5 7 5 4 Trial Operation and Adjustment Checklet AA 5 8 6 INSPECTION AND MAINTENANCE 6 1 to 6 28 6 1 Maintenance Works ssssesnsesnsesnsennsennstnsttnsttnsttnsttastttttatnAEAAEEAAEEAAEEAEEEASEEANEEASEEESEEASEEESEEESEEESEEE EEE En nennen 6 2 6 1 1 Instruction of
49. 00Vp p noise voltage 1us noise width and 25 to 60Hz noise frequency M e Noise voltage IEC61000 4 4 2kV Operation indication LED indication Normal ON Green Error OFF Built in Unchangeable by user Rated switchin Contact output section Life time Mechanical 20 million times or more Electrical 100 thousand times at rated switching voltage current or more Surge suppressor None Fuse None Terminal screw size M3 5 screw Applicable wire size 0 75 to 2mm Applicable crimping terminal RAV1 25 to 3 5 RAV2 to 3 5 Insulation resistance Applicable tightening torque 0 66 to 0 89 Ne 98 H x 55 2 W x 90 D 3 86 H x 2 17 W x 3 54 D Mass ko Exterior dimensions mm inch 2 SYSTEM CONFIGURATION The power supply module specifications continued 24VDC 30 35 100 to 120VAC 200 to 240VAC 10 15 15 6 to 31 2VDC 85 to 132VAC 170 to 264VAC Input frequency 50 60Hz 5 Input voltage distortion factor 5 or less Max input apparent power 45W 160VA nrush current 100A 1ms or less at 24VDC input 20A 8ms or less Note 4 5VDC 6A 8 5A Rated output current 24VDC Overcurrent 5VDC 6 6A or more 9 9A or more protection Note 1 24VDC Overvoltage 5 5 to 6 5V protection Note 2 Input power supply Efficiency 70 or more Permissible instantaneous power off time Note 3 10ms or less at 24VDC input 20ms or less Across inputs LG and outputs FG Dielectric withstand volt
50. 1 OVERVIEW MEMO 2 SYSTEM CONFIGURATION 2 SYSTEM CONFIGURATION This section describes the Q173DCPU Q172DCPU system configuration precautions on use of system and configured equipments 2 1 Motion System Configuration 1 Equipment configuration in Q173DCPU Q172DCPU system Extension of the Q series module Motion module Q172DLX Q173DPX o nine Power supply module QnUD H CPU I O module Intelligent function module of the Q series E H Motion module Main base unit f i Q6LIB extension base unit Q172DLX Q172DEX Q173DPX Q38DB Q312DB I d l Q63B Q65B Q68B Q612B t QCOB Power supply module UO module Intelligent function module of the Q series Motion CPU module Q173DCPU Q172DCPU Battery holder unit Forced stop input cable Q170DBATC Q170DEMICBLOM oa i SSCNETII cable MR J3BUSOM A B Battery Q6BAT ec DCH Deaeeo Servo amplifier MR J3 0B CH t_ 1 It is possible to select the best according to the system
51. 120 3000PE Connector case 10320 52F0 008 Solder connection type 10120 3000PE 10320 52A0 008 Threaded type Insulation displacement type S Note Quick release metal latch type TEEN 10320 3210 000 N gt te Note These connectors are not options Please purchase them by customer Solder connection type Quick release metal latch type Type Connector 10120 3000PE Connector case 10320 52F0 008 12 0 0 47 A 2 5 2 14 0 0 55 S 5 S 33 3 Ah ee 1 31 0 50 Solder connection type Threaded type Type Connector 10120 3000PE Connector case 10320 52A0 008 12 0 0 47 27 4 1 08 22 0 0 87 1 L 33 3 1 31 12 7 0 50 39 0 1 54 23 8 0 94 H J p 10 0 0 39 S S a ee On SEU 5 7 0 22 App 13 Unit mm inch Unit mm inch APPENDICES c Insulation displacement type Quick release metal latch type Type Connector 10120 6000EL Connector case 10320 3210 000 Unit mm inch e gt N fs 11 5 0 45 20 9 Position where e g logo is indicated J 42 0 1 65 33 0 1 30 29 7 1 17 2 SSCNETIL cable connector 4 8 0 19 iq Y A tO Dag D SCH ER e Ng G GO o 2 y 4 oO 17 6 0 2 0 69 0 01 A 20 9 0 2 0 82 0 01 App 14 A
52. 2 2 0 07 0 090 003 0 09 0 003 0 090 008 External appearance mm inch RO 2 2 0 07 4 4 0 1 0 090 003 0 170 004 0 240 008 0 30 0 02 Note 1 This temperature range for use is the value for optical cable cord only App 1 APPENDICES Protective tube POINTS 15 13 4 6 7 0 26 0 59 0 53 1 48 gt je gt If the end face of code tip for the SSCNETII cable is dirty optical transmission is interrupted and it may cause malfunctions If it becomes dirty wipe with a bonded textile etc Do not use solvent such as alcohol If the end face of code tip for SSCNETII cable is dirty optical transmission is interrupted and it may cause malfunctions If it becomes dirty wipe with a bonded textile etc Do not use solvent such as alcohol When incinerating the SSCNETI cable optical fiber hydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may be generated For disposal of the SSCNETII cable optical fiber request for specialized industrial waste disposal services who has incineration facility for disposing hydrogen fluoride gas or hydrogen chloride gas a MR J3BUSOM 1 Model explanation Type MR J3BUSLIM T Symbol Cable type None Standard code for inside panel A Standard cable for outside panel B Long distance cable Cable length m ft 0 15 0 49 0 3 0 98 0 5 1 64 1 3 28 3 9 84 5 16 40 10 32 81 20 65
53. 20n ON or re turn on the servo amplifier power supply Does AL S01 disappear on 7 segment LED 6 INSPECTION AND MAINTENANCE nl 6 6 3 Confirming error code The error code and error message can be read using MT Developer The procedure for reading error is as follows 1 Connect the PLC CPU module to personal computer IBM PC AT 2 Start MT Developer 3 Select Online Read from CPU Menu of MT Developer and read the project data from Motion CPU 4 Start the monitor screen of MT Developer and select Motion CPU error batch monitor menu 5 Confirm the error codes and error messages displayed on screen Refer to help of MT Developer for details of operating method 6 INSPECTION AND MAINTENANCE WE 6 6 4 I O module troubleshooting Input signal is not turned OFF Example 1 Input signal is not turned OFF Input signal is not turned OFF Input signal is not turned OFF N 2 Si E x Lu e 2 Si E x Lu lt 2 Si E x Lu This section describes possible problems with I O circuits and their corrective actions 1 Input circuit troubleshooting The following describes possible problems with input circuits and their corrective actions Input Circuit Troubleshooting and Corrective Action Condition Cause Corrective action e Leakage current of input switch e g drive by non contact switch AC input Leakage H current Power supp
54. 72DCPU Axis No is set for each system with SSCNET structure screen of system setting of MT Developer Axis No Q173DCPU 1 to 32 Q172DCPU 1 to 8 is allocated and set for the setting axis number d01 to d16 of servo amplifier Since the axis number d01 to d16 of servo amplifier on the SSCNET structure screen corresponds to axis select switch 0 to F of servo amplifier set the axis select switch referring to the table of next page SSCNET structure Allocation of axis No Axis select switch Servo amplifier tt SSCNET Structure Amplifier setting Amplifier Type Detail Setting Allowable Travel during Power Off Set w 10 Revolution 0 to 8191 amp Servo Parameter e Set the axis No relative to axis number dno Note Correspondence between dno and axis select switch of servo amplifiers is shown in the next page 2 SYSTEM CONFIGURATION Correspondence between dno s and axis select switches of servo amplifier Note The dno is number of servo amplifier axis displayed with SSCNET structure screen of MT Developer Axis No is set relative to dno in the SSCNET structure screen of system settings Correspondence between SSCNETII system and connector No of CPU module is shown below Correspondence between SSCNETII system No and connector No of CPU module SSCNETII system No Connector No of CPU SSCNETI CN1 SSCNETII CN2 Note Number of SSCNETI systems Q173DCPU
55. 72DLX is set on the system setting display of MT Developer e The proximity dog speed position switching signal DOG CHANGE is input 2 SYSTEM CONFIGURATION 2 Performance specifications a Module specifications Specifications Number of I O occupying points 32 points I O allocation Intelligent 32 points Internal current consumption SVDC A 00 98 H x 27 4 W x90 D 3 86 H x 1 08 W x 3 54 D Mass kg 0 15 b Input Specifications Servo external signals 32 points Exterior dimensions mm inch Upper stroke limit Lower stroke limit Stop input Number of input points cee a ia Proximity dog Speed position switching signal 4 points x 8 axes Photocoupler 12 24VDC 10 2 to 26 4VDC Operating voltage range i 12 24VDC_ 10 15 ripple ratio 5 or less ON voltage current 10VDC or more 2 0mA or more OFF voltage current 1 8VDC or less 0 18mA or less Input resistance Approx 5 6kQ Response time of the OFF to ON Upper Lower stroke limit and ims STOP signal ON to OFF Response time of the OFF to ON E proximity dog Speed position switching signal ON to OFF CPU parameter setting Default 0 4ms 40 pin connector Applicable connector for the external A6CON1 Attachment connection A6CON2 AGCON3 Optional Applicable connector A6TBXY36 A6TBXY54 A6TBXY70 Optional Terminal block converter module 2 SYSTEM CONFIGURATION 3 Connection of servo external signals interfac
56. 76 0 01 116 0 3 227 0 3 5 43 0 01 9 80 0 01 4 57 0 01 8 93 0 01 D a a oo Hs2 80 0 3 3 15 0 01 Unit mm inch 4 INSTALLATION AND WIRING 2 Module mounting position Keep the clearances shown below between the top bottom faces of the module and other structures or parts to ensure good ventilation and facilitate module or more H D R m Panel gt 100mm replacement Note It is impossible to mount the main base unit by DIN rail EE Top of panel or wiring duct Base unit Y M 40mm be LL Motion CPU module YY H 1 58inch Motion CPU module eS le Ar d Soe ol Door 100mm 3 94inch or more 123 5mm 3 94inch 4 86inch or more 1 TMM 7 i 5mm 0 20inch 5mm 0 20inch or more Note 1 or more Note 1 20mm 0 79 inch or more when the adjacent module is not removed and the extension cable is connected 3 Module mounting orientation a Mount the Motion controller in the orientation shown below to ensure good ventilation for heat release Vertical Flat Upside down 4 Mounting surface Mount the base unit on a flat surface If the mounting surface is not even this may strain the printed circuit boards and cause ma
57. A17 DOGS5 CHANGES od B16 FLS2 A16 FLS6 n e J B15 RLS2 A15 l 7 nn B14 STOP2 A14 STOP6 og B13 DOG2 CHANGE2 A13 DOG6 CHANGE6 od B12 FLS3 A12 FLS7 i S 3 4 B11 RLS3 A11 RLS7 7 DUDU B10 STOP3 A10 od B9 DOG3 CHANGE3 A9 m 2 B8 FLS4 A8 FLS8 Do A J B7 RLS4 A7 RLS8 3 00 B6 STOP4 A6 m pe DOG4 CHANGE4 Ap nn B4 No connect A4 B3 No connect A3 No connect O B2 COM A2 No connect B1 COM A1 No connect Applicable connector model name A6CON 1 type soldering type connector FCN 361J040 AU connector FUJITSU TAKAMISAWA Attachment COMPONENT LIMITED FCN 360C040 B connector cover A6CONZ type Crimp contact type connector A6CONS type Pressure displacement type connector Optional DOG CHANGE STOP RLS FLS functions of each axis 1 to 8 For information about DOG CHANGE Proximity dog Speed position sional detalle ie to switching signal the programming manual STOP see ee wees Stop signal RES hts sees eee Lower stroke limit RES ARACO Ra A ee Upper stroke limit Note Connector terminal block conversion modules and cables can be used at the wiring of CTRL connector A6TBXY36 A6TBXY54 A6TBX70 Connector terminal block conversion module ACOTB O Length m Connector terminal block conversion cable Signal No 1 to 8 can be assigned to the specified axis Make the assignment in the system settings of MT Developer 2 SYSTEM CONFIGURATION 4 Interface between CTRL connector
58. Changes for the Better MITSUBISHI ELECTRIC MOTION CONTROLLERS MOTION CONTROLLER Qseries User s Manual SAFETY PRECAUTIONS Please read these instructions before using this equipment Before using this product please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly These precautions apply only to this product Refer to the Users manual of the QCPU module to use for a description of the PLC system safety precautions In this manual the safety instructions are ranked as DANGER and CAUTION a a E A A A DN I I E E A EE EE N Indicates that incorrect handling may cause hazardous AN D A N G F R conditions resulting in death or severe injury Indicates that incorrect handling may cause hazardous AN CA U T O N conditions resulting in medium or slight personal injury or physical damage GS Me eg Kee et e Depending on circumstances procedures indicated by A CAUTION may also be linked to serious results In any case it is important to follow the directions for usage Please save this manual to make it accessible when required and always forward it to the end user For Safe Operations 1 Prevention of electric shocks Z DANGER Never open the front case or terminal covers while the power is ON or the unit is running as this may lead to electric shocks Never run the unit w
59. Check for distance between The proper clearance should be provided between Correct Retighten the Connections should not be loose connector fixing screws Check the connector part of the cable The LED must be ON green POWER LED Check that the LED is ON abnormal if the LED is OFF or ON red Refer to QCPU User s Manual Function Explanation 7 The LED must be ON green j MODE LED Check that the LED is ON Abnormal if the LED is OFF or flickering a RUN LED Check that the LED is ON The LED must be ON in RUN status Abnormal if the LED is OFF f The LED must be OFF ERR LED Check that the LED is OFF Abnormal if the LED is ON or flickering The LED must be OFF BAT LED Check that the LED is OFF Abnormal if the LED is ON Steady RUN display Abnormal if RUN does not display or incorrect display Refer to Section Steady STP display 2AN Abnormal if STP does not display or incorrect display Battery error warning 2 7V or less Refer to Section 6 5 Battery ue BT2 does not display warning 2 5V or less Abnormal if steady BT2 display does not display WDT error f EE were Abnormal if steady display GE Ge Dee 2 4 1 2 Others gt S S AL does not flash 2 z Si Abnormal if flashes The LED must be ON when the input power is turned ON Check that the LED is The LED must be OFF when the input power is turned OFF Inp
60. Connection and disconnection of Cable 4 2 1 SSCNETII cable 1 Precautions for handling the SSCNETI cable e Do not stamp the SSCNETII cable e When laying the SSCNETII cable be sure to secure the minimum cable bend radius or more If the bend radius is less than the minimum cable bend radius it may cause malfunctions due to characteristic deterioration wire breakage etc Model name of ee cable Minimum bend ee inch MRJ3BUSOM sd J3BUSO cogs sd 98 Enforced covering cord 50 1 97 MR J3BUSOM A Code 25 0 98 Enforced covering cord 50 1 97 MR J3BUSOIM B Code 30 1 18 e For connection and disconnection of SSCNETII cable hold surely a tab of cable connector e Refer to Section 4 4 3 for wiring precautions Motion CPU module 2 Connection of SSCNETIL cable e For connection of SSCNETIL cable to the Motion CPU module connect it to the SSCNETI connector CN1 or CN2 of Motion CPU module while holding a tab of SSCNETII cable connector Be sure to insert it until it clicks e If the code tip for the SSCNETID cable is dirty optical transmission is interrupted and it may cause malfunctions If it becomes dirty wipe with a bonded textile etc Do not use solvent such as alcohol 3 Disconnection of SSCNETII cable e For disconnection of SSCNETT cable pull out it while holding a tab of SSCNETII cable connector or the connector e After disconnection of SSCNETII cable be sure to put a
61. DC 0 1A point 2A common 32 points 32 points common Connector TYP All points ON ay70 5 12VDC 16mA point 16 points 16 points common a a Terminal block TYP All points ON ez 5 12VDC 16mA point 32 points 32 points common Connector TYP All points ON 24VDC Positive common 32 points DC12 24V 0 1A Output Sink type 32 points Connector 0 13 Note 2 Provided Thermal protectors protector against short TYP All points ON circuit 24VDC Positive common 8 points DC12 24V 0 5A Output Sink type 7 points Terminal block 0 08 Provided When face is broken LED lights and signal is TYP All points ON output to CPU 0 06 DC24V 4mA Positive common 16 points Terminal block TYP All points ON QX48Y57 2 SYSTEM CONFIGURATION ay Current consumption Part name Model name Description Note 1 Remark 5VDC A 2ch A D conversion Q62AD DGH 4S ce l 0 33 Note 2 Current input Channel isolated High resolution Q64AD Ach A D conversion Voltage Current input ae ee Q64AD GH 4ch A D conversion Note 2 Voltage Current input Channel isolated High resolution Q68ADV 8ch A D conversion Voltage input Q68ADI 8ch A D conversion Current input EE 2ch D A conversion Voltage Current output 2ch D A conversion Note 2 Q62DA FG Voltage Current output Channel isolated Q64DA Ach D A conversion Voltage Current output Q68DAV 8ch D A conversion Voltage output Q68DAI 8ch D A convers
62. DEX Refer to Section 2 4 5 Check the wiring of following external inputs by monitoring of MT Developer or LED indicators 1 Serial absolute synchronous encoder setting Check external inputs to Q173DPX Ir Refer to Section 2 4 6 Motion CPU Check the wiring of following external inputs by monitoring of MT Developer or LED indicators 1 Manual pulse generator incremental synchronous encoder setting Z CAUTION Do not mount a phase advancing capacitor surge absorber or radio noise filter option FR BIF on the output side of the servo amplifier y Check I O module Check the wiring of I O module Correctly connect the output side terminal U V W Incorrect connections will lead the servomotor to operate abnormally Servo data setting Positioning parameters setting Set the following positioning parameters CAUTION using MT Developer Z CAUTION 1 Fixed parameters Set parameter values to those that are 2 Servo parameters compatible with the Motion controller servo 3 Home position return data amplifier servomotor and regenerative resistor 4 Limit switch model name and the system name application The protective functions may not function if the settings are incorrect Y 2 5 TRIAL OPERATION AND ADJUSTMENT WE Motion CPU PLC CPU Motion CPU Motion CPU A 2 Programming Create Motion programs Create the
63. DT cause 2 NO Correct the main cycle not to exceed 1 0 s by the following methods and write it to Motion CPU 1 Change the operation cycle to large value in the system setting 2 Reduce the number of execution to the event task program and NMI task program in the Motion SFC program 3 Reduce the number of execution to the normal task program executed simultaneously in the Motion SFC program 4 Reduce the number of automatic refresh points of CPU shared memory Is the error code of Motion CPU WDT cause 301 NO Correct the Motion operating time to shorten by the following methods and write it to Motion CPU 1 Change the operation cycle to large value in the system setting 2 Reduce the number of execution to Correct the servo program so that the the event task program and NMI number of CPSTART instructions of task program in the Motion SFC 8 or more points should not exceed program the number of simultaneous startable programs 14 or less and write it to Motion CPU Reset the Multiple CPU system Does disappear on 7 segment LED Explain the error symptom and get advice from out sales representative 6 INSPECTION AND MAINTENANCE WE h Flowchart for when servo amplifier does not start The following shows the flowchart when servo amplifier does not start Servo amplifier does not start Is th
64. LD instruction processing speed 9 5 ns E Q38DB Multiple CPU high speed bus 4 slots Number of I O modules 8 slots Q312DB Multiple CPU high speed bus 4 slots Number of I O modules 12 slots 0 233 Q63B Number of I O modules installed 3 slots 0 105 0 228 Q65B Q68B Q612B Number of I O modules installed 12 slots 0 121 QC05B Length 0 45m 1 48ft Number of I O modules installed 5 slots Number of I O modules installed 8 slots Length 10m 32 81ft Resolution 262144PLS rev Radial load Up to 19 6N Thrust load Up to 9 8N Permitted speed 3600r min Serial absolute synchronous encoder Q170ENC Q172DEX 2m 6 56ft 5m 16 40ft 10m 32 81ft 20m 65 62ft 30m 98 43ft 50m 164 04ft QC30B QC50B QC100B Permitted axial loads Q170ENC Q170ENCCBL 2 SYSTEM CONFIGURATION Table of Motion controller related module continued Current Part name Model name De Description consumption 5VDCIAI Q172DExX side connector Connector set for Connector 10120 3000PE serial absolute Connector case 10320 52F0 008 Q170ENCCNS synchronous Q170ENC side connector encoder cable Plug MS3106B22 14S Cable clump MS3057 12A Pulse resolution 25PLS rev 100PLS rev after magnification by 4 Manual pulse Permitted axial loads Radial load Up to 19 6N MR HDP01 generator Thrust load Up to 9 8N Permitted speed 200r min Normal rotation Voltage output Battery holder 1 Note 4 Q170DBATC Battery
65. LED i Flowchart for when AL gt S01 displays on 7 segment LED Flowchart for when 7 segment LED does not flash in the first digit of 6 INSPECTION AND MAINTENANCE nl a Flowchart for when POWER LED turns off The following shows the flowchart when POWER LED of the power supply module turns off at the power supply ON or during operation POWER LED turns off NO Is there a power supply Supply power YES NO YES Does POWER LED turn on Is the wiring terminal connection correct NO Connect wiring and fix terminal connection correctly Does POWER YES LED turn on Is the power supply voltage within the rated range No The supply voltage should be within the rated range Does POWER YES LED turn on Is the power supply module fixed Fix the power supply module correctly YES NO YES Does POWER LED turn on 6 INSPECTION AND MAINTENANCE nl 1 Remove all modules other than the power supply module from the base unit The base unit that includes the corresponding power module is faulty Replace it with a normal base unit Does POWER LED turn on Does POWER LED turn on y Install all modules that removed from the base unit to the base unit H W fault Explain
66. LO A1 No connect 8 A13 A8 Power supply 5VDC Specification e Rated input voltage 5 5VDC or less HIGH level 3 to 5 25VDC 2mA or less e LOW level 1VDC or less 5mA or more Description For connection manual pulse generator Phases A B e Pulse width 20us or more Sus Sus or more or more Duty ratio 50 25 e Leading edge Trailing edge time us or less Phase difference Phase A J LIL Phase B 2 5us or more 1 Positioning address increases if Phase A leads Phase B 2 Positioning address decreases if Phase B leads Phase A Note The 5V P5 DC power supply from the Q173DPX must not be connected if a separated power supply is used as the Manual pulse generator Incremental synchronous encoder power supply Use a 5V stabilized power supply as a separated power supply Any other power supply may cause a failure d Interface between PULSER connector and tracking enable signal Interface between tracking enable signal Input or Pin No Signal name PULSER connector Wiring example Internal circuit Specification Description Output 1 5 3 TRENO A4 A3 A2 Tracking enable Input Tracking e o signal input enable GEI lote en M TREND B4 B3 B2 E 12V to 24VDC Note As for the connection to tracking enable TREN O TRENL both and are possible
67. MR J3BUSLIM AV B Extension cable 3 QCOB ER UP to 7 extensions SSCNETH CN1 aj d8 lp A B model Servo amplifier S S Up to 8 axes MR J3 External input signals of servo amplifier Proximity dog Upper stroke limit Lower stroke limit 2 SYSTEM CONFIGURATION Z CAUTION Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal 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 2 SYSTEM CONFIGURATION 2 1 3 Function explanation of the Q173DCPU Q172DCPU Motion CPU modules 1 Up to 32 axes servo amplifiers per 2 systems up to 16 axes per 1 system can be used in Q173DCPU Up to 8 axes servo amplifiers per 1 system can be used in Q172DCPU 2 Itis possible to set the program which synchronized with the motion operation cycle and executed at fixed cycle 0 88 ms 1 77 ms 3 55 ms 7 11 ms 14 2 ms
68. Motion controller SV13 SV22 Programming Manual Motion SFC e Design method for positioning control program in the real mode Q173DCPU Q172DCPU Motion controller e Design method for positioning control SV13 SV22 Programming Manual REAL MODE parameter SV22 e Design method for mechanical system Q173DCPU Q172DCPU Motion controller Virtual mode program SV22 Programming Manual VIRTUAL MODE 1 OVERVIEW 1 2 Differences between Q173DCPU Q172DCPU and Q173HCPU Q172HCPU Q173DCPU Q172DCPU Q173HCPU Q173HCPU Operation cycle default 0 44ms 1 to 6 axes 0 88ms 7 to 18 axes 1 77ms 19 to 32 axes 0 44ms 1to 4 axes 0 88ms 5 to 12 axes 1 77ms 13 to 28 axes 3 55ms 29 to 32 axes 0 44ms 1 to 6 axes 0 88ms 7 to 8 axes 0 44ms 1 to 4 axes 0 88ms 5 to 8 axes 0 44ms 1to 3 axes 0 88ms 4 to 10 axes 1 77ms 11 to 20 axes 3 55ms 21 to 32 axes 0 88ms 1 to 5 axes 1 77ms 6 to 14 axes 3 55ms 15 to 28 axes 7 11ms 29 to 32 axes 0 44ms 1 to 3 axes 0 88ms 4 to 8 axes 0 88ms 1 to 5 axes 1 77ms 6 to 8 axes Medium of operating system 7 CD ROM 1 disk FD 2 disks software Model of operating system SW8DNC SVOQ SW6RN SVOQ software Q38DB Q312DB Q33B Q35B Q38B Q312B Mounting on panel Be sure to mount it by unit fixing screws eee f f in a place where the vibration or impact is large Installation orders CPU No 2 we Install Motion CPU modules on the right hand side of
69. Motion programs using MT Developer Programming Create PLC programs Create the PLC programs to start of Motion programs using GX Developer Write PLC programs Write the PLC programs created to the PLC CPU module Write Motion programs Write the positioning data and Motion programs created to the Motion CPU module Turn ON power supply again Turn ON again or reset the Multiple CPU system power supply Turn ON servo amplifiers power supply Check the emergency stop ON and forced stop ON and turn ON the power supply of servo amplifiers and servomotors Test mode servo start up Initial check y Check servo amplifier Check that the moun operate correctly ed servo amplifiers Test mode servo start up Upper lower stroke limit check Y Check upper lower stroke limits Check that the upper lower stroke limits operate correctly 3 ADANGER Never open the front case or terminal cover at times other 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 e Wire the units after mounting the Motion
70. N is detected at trailing OFF ON edge of TREN signal Module fixing hook Hook used to fix to the base unit Note 1 The function is different according to the operating system software installed Z CAUTION Before touching the battery always touch grounded metal etc to discharge static electricity from human body Failure to do so may cause the module to fail or malfunction Do not directly touch the module s conductive parts and electronic components Touching them could cause an operation failure or give damage to the module Mode judging LED of the manual pulse generator incremental synchronous encoder phases A B and tracking enable signal turns ON at the following conditions 1 PLS A1 to 3 PLS B 1 to 3 e Q173DPX is set on the system structure screen of MT Developer e All axes servo ON command M2042 turned on e Manual pulse generator enable flag M2051 M2052 M2053 turned on e Manual pulse generator signal is input TREN 1 to 3 e Q173DPX is set on the system structure screen of MT Developer e The tracking enable signal is input 2 SYSTEM CONFIGURATION 2 Performance specifications a Module specifications Specifications Number of I O occupying points 32 points I O allocation Intelligent 32 points intemal current consumption 5VDC A 98 H x 27 4 W x 90 D 3 86 H x 1 08 W x 3 54 D Mass kg 0 15 b Tracking enable signal input Sink Source type Isolation method Photocoupl
71. NC 1 If the serial absolute synchronous encoder is linked to a chain timing belt or gears the machine rotating shaft should be supported by a separate bearing and connected to Q170ENC through a coupling Ensure that excessive force greater than the permitted shaft load is not applied to the shaft of Q170ENC Table 4 1 Permitted Shaft Loads Gear Bearing Coupling a ID Q170ENC Radial direction Thrust direction Permitted shaft load Up to 19 6N Up to 9 8N Fig 4 1 Example of Encoder Linked to a Gear 2 Excessive load is applied to the shaft of Q170ENC by the large mounting errors in eccentricity and angle of deviation As a result it might damage the machine or shorten extremely the life Minimize loads applied to the shaft such that they make within the permitted shaft load range 4 INSTALLATION AND WIRING A CAUTION The Q170ENC contains a glass disk and precision mechanism Take care when handling it The encoder performance may deteriorate if it is dropped or subjected to shocks or vibration exceeding the prescribed limits Do not connect the shaft of Q170ENC directly to machine side rotary shaft Always after connecting the shaft of Q170ENC to another bearing once connect the shaft through a flexible coupling Gear Bearing Q170ENC Fig 4 2 Connecting the shaft of Q170ENC to a machine side rotary shaft Never hit the end of the Q170ENC coupling shaft wit
72. Note 5 8 Module type Battery type Power on time Note 3 Note 4 Backup time ratio oe Reference value after alarm MIN 75 C 167 F TYP 40 C 104 F TYP 25 C 77 F 3000 8000 24000 Q170ENCx1 4000 11000 34000 6000 16000 43800 7 O 10000 26000 43800 40 100 43800 43800 43800 After Error AGBAT 9 code 1152 Ge 0 1500 4000 12000 30 2000 5500 17000 occurrence Q170ENCx2 3000 8000 21900 5000 13000 21900 100 43800 43800 43800 Note 1 The actual service value indicates the average value and the guaranteed time indicates the minimum time Note 2 The power on time ratio indicates the ratio of Multiple CPU system power on time to one day 24 hours When the total power on time is 17 hours and the total power off time is 7 hours the power on time ratio is 70 Note 3 The guaranteed value MIN equivalent to the total power failure time that is calculated based on the characteristics value of the memory SRAM supplied by the manufacturer and under the storage ambient temperature range of 25 C to 75 C 13 to 167 F operating ambient temperature of 0 C to 55 C 32 to 131 F Note 4 The guaranteed value TYP equivalent to the total power failure time that is calculated based on the normal air conditioned environment 40 C 104 F Note 5 The actual service value Reference value equivalent to the total power failure time that is calculated based on the measured value and und
73. O ei N q gl dE L 7 AJ 5 5 0 22 E u ee 40 1 57 36 5 1 44 App 16 APPENDICES MEMO App 17 WARRANTY Please confirm the following product warranty details before using this product 1 Gratis Warranty Term and Gratis Warranty Range If any faults or defects hereinafter Failure found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company However if repairs are required onsite at domestic or overseas location expenses to send an engineer will be solely at the customer s discretion Mitsubishi shall not be held responsible for any re commissioning maintenance or testing on site that involves replacement of the failed module Gratis Warranty Term Note that an installation period of less than one year after installation in your company or your customer s premises or a period of less than 18 months counted from the date of production after shipment from our company whichever is shorter is selected Gratis Warranty Range 1 Diagnosis of failure As a general rule diagnosis of failure is done on site by the customer However Mitsubishi or Mitsubishi service network can perform this service for an agreed upon fee upon the customer s request There will be no charges if the cause of the breakdown is found to be the fault of Mitsubishi 2 Bre
74. PPENDICES 3 Battery cable connector a Battery holder side Tyco Electronics AMP K K make Type Connector 1376477 3 Terminal 1376476 1 Unit mm inch rT BE tory 6 5 0 26 5 4 ER Ai 0 21 8 2 0 32 8 3 0 33 10 0 0 39 b CPU module side Molex Incorporated make Type Connector 51103 0400 Terminal 50351 8100 12 2 0 48 7 5 0 30 Unit mm inch S CGJL 10 5 0 41 4 Forced stop input connector Molex Incorporated make Type Connector 5557 02R 210 Terminal 5556TLPBTL Unit mm inch 10 6 54 oat 0 42 E CH z O e 9 6 0 38 ale S ZS App 15 APPENDICES el APPENDIX 2 8 Manual pulse generator MR HDP01 Unit mm inch 3x Studs M4 x10 PCD72 equi spaced 1 06 0 63 0 79 The figure of processing a disc APPENDIX 2 9 Serial absolute synchronous encoder Q170ENC Unit mm inch 84 3 31 58 5 2 30 70 7 2 78 S A bel S 14 0 55 2 i EES 8 72 0 34 5 AS S g S gt S N E rat Ne St aes A ees P 2 Au Cross section diagram AA z d ei
75. S P cannot be used When the High performance PLC CPU module Process CPU module PC CPU module C controller module is installed in the combination of Multiple CPU system the Motion dedicated PLC instruction from these modules cannot be executed 2 SYSTEM CONFIGURATION 2 Motion modules a Installation position of Q172DEX is only the main base unit It cannot be used on the extension base unit b Q172DLX Q173DPX can be installed on any of the main base unit extension base unit c Q172DLX Q172DEX Q173DPX cannot be installed in CPU slot and I O slot 0 to 2 of the main base unit Wrong installation might damage the main base unit d Q172EX S1 S2 S3 Q172LX Q173PX S1 for Q173HCPU T Q172HCPU T Q173CPUN T Q172CPUN T Q173CPU Q172CPU cannot be used e Be sure to use the Motion CPU as the control CPU of Motion modules Q172DLX Q172DEX Q173DPX etc for Motion CPU They will not operate correctly if PLC CPU is set and installed as the control CPU by mistake Motion CPU is treated as a 32 point intelligent module by PLC CPU of other CPU Note 1 Q172DEX can be used in SV22 It cannot be used in SV13 2 SYSTEM CONFIGURATION 3 Other restrictions a Motion CPU module cannot be set as the control CPU of intelligent function module except some modules or Graphic Operation Terminal GOT b Be sure to use the external battery c There are following methods to execute the forced stop i
76. SPECTION AND MAINTENANCE WE 6 6 2 Troubleshooting of Motion CPU module This section describes the contents of troubles for the error codes and corrective actions of the troubles As for troubleshooting of PLC CPU refer to the QCPU User s Manual Hardware Design Maintenance and Inspection of their respective modules Check that the operating system software is installed before starting the Motion CPU module 1 Troubleshooting flowchart The followings show the contents of the troubles classified into a variety of groups according to the types of events Error occurrence description a Flowchart for when POWER LED turns off POWER LED turns off does not flash in the first digit of 7 segment LED y oad c A00 displ 7 t LED A00 displays on 7 segmentLED f gt Flowchart for when A00 displays on 7 segment LED 3 oi EE Flowchart for when AL L01 displays on 7 segment LED AL gt A1 O displays on 7 segment e LED Flowchart for when AL A1 gt QO displays on 7 segment LED h A WEEN f BTL displ 7 t LED EF dispiaye on segmen Flowchart for when BTO displays on 7 segment LED P displays on 7 segment LED 9 Flowchart for when displays on 7 segment LED y Servo amplifier does not start h Z Servo amplifier does not start d P Flowchart for when servo amplifier does not start Ki AL gt S01 displays on 7 segment
77. Turned ON when the whole system operates normally e This terminal turns OFF opens when the DC power is not input a stop error including a i reset occurs in the CPU module or the fuse is blown e In a Multiple CPU system configuration turned OFF when a stop error occurs in any of the CPU modules Normally OFF when loaded in an extension base unit FG terminal Ground terminal connected to the shield pattern of the printed circuit board 4 LG terminal Grounding for the power supply filter The potential of Q61P A1 Q61P A2 Q61P Q62P ermina and Q64P terminal is 1 2 of the input voltage e Power input terminals connected to a power supply of 100VAC or 200VAC Q61P A1 Q61P A2 Q64P i e Power input terminals connected to a power supply of 100VAC to 200VAC 5 Power input terminals Q61P Q62P e Power input terminals connected to a power supply of 24VDC Q63P 24V 24G terminals Sait Se 6 Q62P oni Used to supply 24VDC power to inside the output module using external wiring y M3 5 7 screw Protective cover of the terminal block Used to fix the module to the base unit 9 Module fixing screw hole M3 x 12 screw user prepared Tightening torque 0 36 to 0 48 Nem 10 Module loading lever Used to load the module into the base unit 2 SYSTEM CONFIGURATION POINTS 1 The Q61P A1 is dedicated for inputting a voltage of 100VAC Do not input a voltage of 200VAC into it or trouble may occur on the Q61P A1
78. a battery may cause overheating cracks or ignition which could result in injury and fire Switch off all phases of the externally supplied power used in the system when cleaning the module or retightening the terminal or module mounting screws Not doing so could result in electric shock Under tightening of terminal screws can cause a short circuit or malfunction Over tightening of screws can cause damages to the screws and or the module resulting in fallout short circuits or malfunction The capacitor is mounted to the modules Do not incinerate the modules so that the incineration of capacitor may cause burst Z CAUTION Read the manual carefully and pay careful attention to safety for the on line operation especially program change forced stop or operation change performed by connecting peripheral devices to the CPU module during operation Erroneous operation may cause machine breakage or accident Never try to disassemble or modify module It may cause product failure operation failure injury or fire Use any radio communication device such as a cellular phone or a PHS phone more than 25cm 9 85 inch away in all directions of the Motion controller Failure to do so may cause a malfunction Completely turn off the externally supplied power used in the system before installation or removing the module Not doing so could result in damage to the product Do not install remove the module on to from base unit or termi
79. age 500VAC across primary and 5VDC 2 830VAC rms 3 cycles Altitude 2000m 6561 68ft Across inputs and outputs LG and FG separated across inputs and LG FG across outputs and LG FG 10MQ or more by insulation resistance tester 500VDC e By noise simulator of 1 500Vp p noise voltage 1s noise width and 25 to 60Hz noise frequency e Noise voltage IEC61000 4 4 2kV Operation indication LED indication Normal ON Green Error OFF Built in Unchangeable by user Application ERR contact Rated switching 24VDC 0 5A voltage current Contact Minimum switching load 5VDC 1mA output OFF to ON 10ms or less ON to OFF 12ms or less section Life time Mechanical 20 million times or more Electrical 100 thousand times at rated switching voltage current or more Surge suppressor Fuse None Terminal screw size M3 5 screw 98 H x 55 2 W x 90 D 98 H x 55 2 W x 115 D 3 86 H x 2 17 W x 3 54 D 3 86 H x 2 17 W x 4 53 D Vass TKa 0 40 Insulation resistance 10MQ or more by insulation resistance tester e By noise simulator of 500Vp p noise voltage Noise immunity 1us noise width and 25 to 60Hz noise frequency Exterior dimensions mm inch 2 SYSTEM CONFIGURATION POINTS Note 1 Overcurrent protection The overcurrent protection device shuts off the 5V 24VDC circuit and stops the system if the current flowing in the circuit exceeds the specified value The LED of the power supply module is turned off
80. akdown repairs There will be a charge for breakdown repairs exchange replacements and on site visits for the following four conditions otherwise there will be a charge 1 Breakdowns due to improper storage handling careless accident software or hardware design by the customer 2 Breakdowns due to modifications of the product without the consent of the manufacturer 3 Breakdowns resulting from using the product outside the specified specifications of the product 4 Breakdowns that are outside the terms of warranty Since the above services are limited to Japan diagnosis of failures etc are not performed abroad If you desire the after service abroad please register with Mitsubishi For details consult us in advance 2 Exclusion of Loss in Opportunity and Secondary Loss from Warranty Liability Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi opportunity loss or lost profits caused by faults in the Mitsubishi products damage secondary damage accident compensation caused by special factors unpredictable by Mitsubishi damages to products other than Mitsubishi products and to other duties 3 Onerous Repair Term after Discontinuation of Production Mitsubishi shall accept onerous product repairs for seven years after production of the product is discontinued 4 Delivery Term In regard to the standard product Mitsubishi shall deliver the standard product without application settings or
81. ase unit and extension base unit Application or connection between the extension base units Mass kg os os o2 os os n When the extension cables are used in combination limit the overall length of the combined cable to 13 2m 43 31ft 3 Names of parts of the base unit Names of parts of the base unit are described below a Main base unit Q38DB Q312DB 3 Application connector extension base unit Protective cover of extension cable connector Before an extension cable is connected 2 Base cover the area of the base cover surrounded by the groove under the word OUT on the base cover must be removed with a tool such as nippers Connector for installing the Q series power supply module CPU module I O modules and intelligent function module Module connector To the connectors located in the spare space where these modules are not installed attach the supplied connector cover or the blank cover module QG60 to prevent entry of dirt Module fixing screw hole Screw hole for fixing the module to the base unit Screw size M3 x12 Base mounting hole Hole for mounting this base unit onto the panel of the control panel for M4 screw Note It is impossible to mount the main base unit by DIN rail when using the Motion CPU module Doing so could r
82. ation of the Q172DEX a Specifications The specifications of the battery for memory back up are shown in the table below Battery Specifications Model name A6BAT MR BAT ee For backup absolute positioning data of the serial absolute Applications synchronous encoder Q170ENC Exterior dimensions mm inch 16 0 63 x 30 1 18 Note The 44th Edition of the IATA International Air Transportation Association Dangerous Goods Regulations was effected in January 1st 2003 and administered immediately In this edition the provisions relating to lithium and lithium ion batteries have been revised to strengthen regulations on the air transportation of battery This battery is not dangerous goods not class 9 Therefore these batteries of 24 units or less are not subject to the regulations These batteries more than 24 units require packing based on Packing Instruction 903 If you need the self certification form for the battery safety test contact Mitsubishi For more information contact Mitsubishi b Battery replacement For Battery replacement procedure refer to section 6 5 2 Battery is supplied to the serial absolute synchronous encoder by the encoder cable 5 Battery connector A6BAT MR BAT Au ug Eu IHSIGNSLINY Sa 2 SYSTEM CONFIGURATION c Battery life Battery life Total power failure time h De Actual service value Guaranteed value Guaranteed value
83. ble length MR J3BUSOM use 1 lt 3m 9 84ft MR J3BUSOM A use 1 s 20m 65 62ft MR J3BUSOM B use 1 s 50m 164 04ft CN1A ER H CN1B Servo amplifier Servo amplifier Note It cannot communicate with that the connection of CN1A and CN1B is mistaken List of SSCNETII cable model name 0 15m 0 49ft 0 3m 0 98ft 0 5m 1 64ft Standard code for 1m 3 28ft 3m 9 84ft inside panel MR J3BUS Standard cable for Q173DCPU Q172DCPU MR J3 MR J3BUSTIM A 5m 16 4ft 10m 32 81ft 20m 65 62ft k 8 outside panel MR J3 O1B MR J3 OB MR J3BUSOM B 30m 98 43ft 40m 131 23ft 50m 164 04ft Long distance cable Note O cable length 2 SYSTEM CONFIGURATION POINTS 1 Be sure to connect SSCNETII cable with the above connector If the connection is mistaken between the Motion CPU module and servo amplifier cannot be communicated SSCNETII connector is put a cap to protect light device inside connector from dust For this reason do not remove a cap until just before connecting SSCNETII cable Then when removing SSCNETII cable make sure to put a cap Be sure to keep a cap and the tube for protecting light code end of SSCNETH cable in a plastic bag with a zipper of SSCNETID cable to prevent them from becoming dirty Do not remove the SSCNETII cable while turning on the power supply of Mu
84. breviation for Manual pulse generator MR HDP01 HDP01 Serial absolut h d ENEE Abbreviation for Serial absolute synchronous encoder Q170ENC or Q170ENC ss CNET Note High speed synchronous network between Motion controller and servo amplifier a General name for system using the servomotor and servo amplifier for Absolute position system D absolute position Battery holder unit Battery holder unit Q170DBATC External battery General name for Q170DBATC and Q6BAT Abbreviation for MELSECNET H module Ethernet module CC Link module Intelligent function module f SE e Serial communication module Note 1 Q172DEX can be used in SV22 Note 2 SSCNET Servo System Controller NETwork Note 1 y 1 OVERVIEW For information about the each module design method for program and parameter refer to the following manuals relevant to each module Item Reference Manual PLC CPU peripheral devices for PLC program design i S Manual relevant to each module UO modules and intelligent function module Operation method for MT Developer Help of each software e Multiple CPU system configuration e Performance specification Q173DCPU Q172DCPU Motion controller e Design method for common parameter Programming Manual COMMON e Auxiliary and applied functions common e Design method for Motion SFC program V13 SV22 e Design method for Motion SFC parameter e Motion dedicated PLC instruction Q173DCPU Q172DCPU
85. cap attached to Motion CPU module or servo amplifier to the Motion CPU module and servo amplifier e For SSCNETIM cable attach the tube for protection optical code s end face on the end of connector 4 INSTALLATION AND WIRING POINTS 1 Forcibly removal the SSCNETII cable from the Motion CPU module will damage the Motion CPU modules and SSCNETII cables After removal of the SSCNETII cable be sure to put a cap on the SSCNETII connector Otherwise adhesion of dirt deteriorates in characteristic and it may cause malfunctions Do not remove the SSCNETII cable while turning on the power supply of Multiple CPU system and servo amplifier Do not see directly the light generated from SSCNETII connector of Motion CPU module or servo amplifier and the end of SSCNETII cable When the light gets into eye may feel something is wrong for eye The light source of SSCNETII cable complies with dass defined in JISC6802 or IEC60825 1 If the SSCNETII cable is added a power such as a major shock lateral pressure haul sudden bending or twist its inside distorts or brakes and optical transmission will mot be available Be sure to take care enough so that the short SSCNETII cable is added a twist easily Be sure to use the SSCNETII cable within the range of operating temperature described in this manual Especially as optical fiber for MR J3BUSOIM and MR J3BUSOIM A are made of synthetic resin it melts down if being left near the fire or hi
86. ch as a large electromagnetic contactor or no fuse breaker Mount them on a separate panel or at a safe distance To limit the effects of reflected noise and heat leave 100mm 3 94inch or more clearance to instruments fitted in front of the Motion controller on the rear of the door Similarly leave 50mm 1 97inch or more clearance between instruments and the left and right sides of the base units 3 DESIGN 3 3 3 Calculating heat generation by Motion controller The ambient temperature inside the panel storing the Motion controller must be suppressed to an ambient temperature of 55 C 131 F or less which is specified for the Motion controller For the design of a heat releasing panel it is necessary to know the average power consumption heating value of the devices and instruments stored inside Here the method of obtaining the average power consumption of Q173DCPU Q172DCPU system is described From the power consumption calculate a rise in ambient temperature inside the control panel How to calculate average power consumption The power consuming parts of the Motion controller are roughly classified into six blocks as shown below 1 Power consumption of power supply module The power conversion efficiency of the power supply module is approx 70 while 30 of the output power is consumed as heat As a result 3 7 of the output power is the power consumption Therefore the calculation formula is as follows Wpw
87. common can be used 3 9 3 DESIGN b The forced stop of all servo amplifiers is possible in a lump by using the forced stop input of input modules After forced stop the forced stop factor is removed and the forced stop canceled The servo error detection signal does not turn on with the forced stop The forced stop input can be set by allocation of the device number in the parameter setting of system setting When the device is used apply 24VDC voltage on EMI terminal and invalidate the forced stop input of EMI terminal The wiring example for the forced stop input QX10 of input module is shown below Q61P QnUD H Q170D CPU CPU EMI COM EMI H 100VAC lt Input module QX10 gt 100VAC TB17 Internal circuit Q Forced stop Note The forced stop input can be set in the system settings c Itis also possible to use the forced stop signal of the servo amplifier Refer to manual of the servo amplifier about servomotor capacity Operation status of the emergency stop and the forced stop are as follows Operation of Item Remark the signal ON The servomotor is stopped according to the stop instruction from Motion controller to the servo amplifier Forced renne Shut off the power supply to the external servo amplifier mergency stop a Servo OFF by external circuit make the servomotor stopped 3 DESIGN 3 3 Layout Design within The Control Panel 3 3 1 Mountin
88. controller servo amplifier and servomotor Failing to do so may lead to electric shocks or damage ZA CAUTION 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 Z CAUTION If safety standards ex robot safety rules etc apply to the system using the Motion controller servo amplifier and servomotor make sure that the safety standards are satisfied Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system Axis No and error description of servo amplifier which detected errors are displayed on initial check screen 5 TRIAL OPERATION AND ADJUSTMENT WE Motion CPU PLC CPU Test mode JOG operation Check machine operation operate with the JOG operation of MT Developer 1 Machine operates correctly no vibration hunting etc 2 Stroke limits operate correctly 3 Machine stops by the emergency stop or forced stop Test mode
89. d to install the module to the base unit 5 Module fixing screw Hole for the screw used to fix to the base unit hole M3 x 12 screw Purchase from the other supplier Module fixing hook Hook used to fix to the base unit Battery connector For connection of battery lead wire Battery holder Used to the set the Battery AGBAT MR BAT to the holder 9 Batte y For Serial absolute synchronous encoder battery backup A6BAT MR BAT 2 SYSTEM CONFIGURATION POINT _ 1 Mode judging LED of the serial absolute synchronous encoder signal turns ON at the normal connection first switching to virtual mode 2 Mode judging LED of the tracking enable signal turns ON at the following conditions e Q172DEX is set on the system structure screen of MT Developer e The tracking enable signal is input 2 Performance specifications a Module specifications Specifications Number of I O occupying points 32 points I O allocation Intelligent 32 points Internal current consumption SVDC A 98 H x 27 4 W x 90 D 3 86 H x 1 08 W x 3 54 D Mass kg 0 15 b Tracking enable signal input Specifications Number of input points Tracking enable signal 2 points Exterior dimensions mm inch Sink Source type Photocoupler e 10 2 to 26 4VDC Operating voltage range i f 12 24VDC_ 10 15 ripple ratio 5 or less ON voltage current 10VDC or more 2 0mA or more OFF voltage current 1 8VDC or less 0 18mA or
90. damage Do not apply a load larger than the tolerable load onto the synchronous encoder and servomotor shaft Doing so may lead to shaft breakage When not using the module for a long time disconnect the power line from the Motion controller or servo amplifier Place the Motion controller and servo amplifier in static electricity preventing vinyl bags and store When storing for a long time please contact with our sales representative Also execute a trial operation A CAUTION Correctly and securely wire the wires Reconfirm the connections for mistakes and the terminal screws for tightness after wiring Failing to do so may lead to run away of the servomotor After wiring install the protective covers such as the terminal covers to the original positions Do not install a phase advancing capacitor surge absorber or radio noise filter option FR BIF on the output side of the servo amplifier Correctly connect the output side terminal U V W Incorrect connections will lead the servomotor to operate abnormally Do not connect a commercial power supply to the servomotor as this may lead to trouble Do not mistake the direction of the surge absorbing diode installed on the DC relay for the control signal output of brake Servo amplifier signals etc Incorrect installation may lead to signals not being output when trouble occurs or the protective functions not functioning Control output Do not connect or disconn
91. de of system during Motion program forced stop Check the operation of each actuator and confirmation limit switch Check that the emergency stop forced stop and equipment alarm signals are correct Checks in compliance with control specifications specific to system and equipment Check the each operation in manual operation mode of system during Motion program execution Check that the automatic operation motions Check that the machine operation stops immediately by the emergency stop or forced stop Check that the module or equipment alarm causes an immediate stop or cycle stop Check that the restoring operation can be performed after an alarm stop Make other checks in compliance with control specifications specific to system and equipment Check that the acceleration deceleration torque is maximum torque or less Check that the continuous effective load torque is rated torque or less 6 INSPECTION AND MAINTENANCE WE 6 INSPECTION AND MAINTENANCE AN DANGER Do not touch the terminals while power is on Doing so could cause electric shock Correctly connect the battery Also do not charge disassemble heat place in fire short circuit or solder the battery Mishandling of
92. dedicated instructions used to exercise PID control ZE Optional QCPU Q Mode QnACPU Programming Manual SFC This manual explains the system configuration performance specifications functions programming SH 080041 debugging error codes and others of MELSAP3 13JF60 Optional UO Module Type Building Block User s Manual This manual explains the specifications of the UO modules connector connector terminal block SH 080042 conversion modules and others 13JL99 Optional 3 Servo amplifier Manual Name Manual Number Model Code MR J3 LB Servo amplifier Instruction Manual This manual explains the I O signals parts names parameters start up procedure and others for SH 030051 MR J3 LB Servo amplifier 1CW202 Optional Fully Closed Loop Control MR J3 LIB 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 LJB RJ006 Servo amplifier 1CW304 Optional 1 OVERVIEW 1 OVERVIEW 1 1 Overview This User s Manual describes the hardware specifications and handling methods of the Motion Controller s Model Q173DCPU Q172DCPU for the Q series PLC Multiple CPU system The Manual also describes those items related to the specifications of the option module for the Motion controller Manual pulse generator Synchronous encoder and cables In this manual the foll
93. device lists error lists and others Optional 1B 0300136 1XB930 Q173DCPU Q172DCPU Motion controller SV22 Programming Manual VIRTUAL MODE This manual explains the dedicated instructions to use the synchronous control by virtual main shaft IB 0300137 mechanical system program create mechanical module servo parameters positioning instructions device 1XB931 lists error lists and others Optional 2 PLC Manual Name Manual Number Model Code QCPU User s Manual Hardware Design Maintenance and Inspection This manual explains the specifications of the QCPU modules power supply modules base modules SH 080483ENG extension cables memory card battery and others 13JR73 Optional QCPU User s Manual Function Explanation Program Fundamentals This manual explains the functions programming methods and devices and others to create programs SH 080484ENG with the QCPU 13JR74 Optional QCPU User s Manual Multiple CPU System This manual explains the functions programming methods and cautions and others to construct the SH 080485ENG Multiple CPU system with the QCPU 13JR75 Optional QCPU Q Mode QnACPU Programming Manual Common Instructions This manual explains how to use the sequence instructions basic instructions application instructions and SH 080039 micro computer program 13JF58 Optional QCPU Q Mode QnACPU Programming Manual PID Control Instructions This manual explains the
94. dule ceeeceeeceeeeeeeeeeeeeeeeeeeeeaeeeaeeeaeeeaeeeaeeeeeeaeesas 2 38 2 4 5 Q172DEX Synchronous encoder interface module eeeeeenteeeeeeeeeeeeeneeeaeeeaeeeaeeeaeecaeeeaeeeaeeeateas 2 43 2 4 6 Q173DPX Manual pulse generator interface module eeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeaeeeaeeeaeeeeeeaeeas 2 52 2 4 7 Manual pulse generator Serial absolute synchronous encoder ssssesssissrssrsersersrrsersrrsrrsrrsrnses 2 61 2 4 8 SSCNETT cables and connection method 2 63 2A Ee in 2 68 2 4 10 Forced stop input Terminal 2 71 3 1 System Designing Procedure cecccecceeeeeeeeeeneeeeeeeeeeeeeseaeeeaeeeaeeeaeseaeeeaeeeaeeeaeseaeeeaeeeaeeeaeesaeeeaeenteeeeeatesas 3 1 3 2 External Circuit Re EE 3 4 3 2 1 Power supply Circuit desim reo aa AR A R AAA AEA EEE ERER E 3 8 3 2 2 Salely CINCUIL ED nie a Aa AE A EE A AAA EE 3 9 3 3 Layout Design within The Control Panel 3 11 3 3 1 MOUNTING environmen 0 eee cece a a A E A A 3 11 3 3 2 Layout design of the base units 0 0 eee eececeeeceeceeeeeee cece eeeeeeeseeseeeseeesaeseeeseeeseeeseeeseeeseaeseaeseneeeneeaaes 3 12 3 3 3 Calculating heat generation by Motion controller AAA 3 13 E DESIGN E 3 16 4 INSTALLATION AND WIRING 4 1 to 4 26 4 1 Module Installation ccccccccecceeeecceeeeeeeeeeeeeceeceneeeeaeeecaeeeeeaeesaeeceaeescacesseaeeseaeeseaeeesaeesaeeeseeeseaeeseeessaeeees 4 1 AET Instructions for Hana ling BEE 4 1 4 1 2 Instructions for mounting the base unit
95. e 10 15 ripple ratio 5 or less ON voltage current 17 5VDC or more 3 0mA or more OFF voltage current 1 8VDC or less 0 18mA or less Input resistance Approx 10kQ Response time ON mo OFF External connector type Applicable wire size 0 3mm AWG22 2 SYSTEM CONFIGURATION MEMO 72 3 DESIGN 3 DESIGN 3 1 System Designing Procedure Design the system which uses the Multiple CPU system in the following procedure Motion control system design Select the Motion CPU module according to number of control axes Select the motion functions to be installed according to the machinery and equipment to be controlled selection of the programming software packages according to the operating system software Select the number of Q172DLX s and design according to the each Refer to section 2 4 4 axis control system and whether servo external signals are required or not e When there is mechanical home position and home position return is made Proximity dog required For speed control Speed position switching control signal required When overrun prevention is necessary Stroke limit required When each axis stop is necessary STOP signal required Select Q173DPX Q172DEX and design according to whether manual Refer to section 2 4 5 pulse generators and synchronous encoders are required or not Refer to section 2 4 6 Select interrupt module QI60 according to whether interrupt inpu
96. e Battery connector for Q6BAT attery Q x Lead wire Turn off the Multiple CPU system power supply Remove the old battery from its holder v Install a new battery into the holder in the correct direction Connect the lead connector to the connector BATTERY BATTERY LITHIUM BATTERY Turn on the Multiple CPU system power supply Q170DBATC 6 INSPECTION AND MAINTENANCE 2 Q172DEX module battery replacement procedure When the battery has been exhausted replace the battery with a new one in accordance with the procedure shown below When replacing the battery pay attention to the following 1 The Multiple CPU power supply must be on for 10 minutes or longer before dismounting the battery 2 Encoder data in the memory are backed up for a while by a capacitor even after the battery is removed However since data in the memory may be erased if the time for replacement exceeds the backup time shown the following guaranteed value replace the battery quickly e Backup time by capacitor 3 minutes Replacing Battery Turn on the Multiple CPU system power supply for 10 minutes or longer Turn off the Multiple CPU system power supply Side of the Q172DEX Y Remove the encoder cable from Q172DEX j Ke eee ee C Y Remove the Q172DEX from the base unit j S y Remove the old battery from its holder of F
97. e abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system In systems where coasting of the servomotor will be a problem during the forced stop the emergency stop servo OFF or when the power is shut OFF use dynamic brakes Make sure that the system considers the coasting amount even when using dynamic brakes In systems where perpendicular shaft dropping may be a problem during the forced stop the emergency stop servo OFF or when the power is shut OFF use both dynamic brakes and electromagnetic brakes The dynamic brakes must be used only during the forced stop the emergency stop and errors where servo OFF occurs These brakes must not be used for normal braking The brakes electromagnetic brakes assembled into the servomotor are for holding applications and must not be used for normal braking 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 Use wires and cables that have a wire diameter heat resistance and bending resistance compatible with the system Use wires and cables within the length of the range described in the instruction manual The ratings and characteristics of the parts other than Motion controller servo amplifier servomotor used in a system must be compatible with the Motion controller servo amplifier and servomotor Install a cove
98. e battery quickly e SM51 turns on at the battery voltage 2 5V or less e SM58 turns on at the battery voltage 2 7V or less 3 If SM51 turns on the details of the programs parameters and absolute position data cannot be guaranteed It is recommended to back up the battery periodically 6 INSPECTION AND MAINTENANCE 6 5 1 Battery life 1 Q173DCPU Q172DCPU Q172DEX module battery life The battery life is shown below Battery life Total power failure time h Guaranteed value Guaranteed value Actual Service valus Module type Battery type Power on time ees GE Note 5 Backup time dok Reference value after alarm TYP 25 C 77 F ratio MIN 75 C 167 F TYP 40 C 104 F an ge 27000 Q173DCPU External battery Q6BAT ECH 43800 43800 After 70 36000 ON 100 43800 Q170ENCx 1 40 After Error code 1152 30 2000 5500 17000 occurrence Q170ENCX2 3000 8000 21900 5000 13000 21900 100 43800 43800 43800 Note 1 The actual service value indicates the average value and the guaranteed time indicates the minimum time Note 2 The power on time ratio indicates the ratio of Multiple CPU system power on time to one day 24 hours When the total power on time is 17 hours and the total power off time is 7 hours the power on time ratio is 70 Note 3 The guaranteed value MIN equivalent to the total power failure time that is calculated based on the characteristics value
99. e brackets at top left of each step is the mode for checking or setting using MT Developer Refer to Section 2 1 4 for installation method and installation position Refer to Section 4 1 3 for installation of module 2 Check the connecting condition of connectors 3 Check that all terminal screws are tight 4 Check the ground wires of servo amplifier etc 5 Check the servomotor wiring U V W 6 Check the regenerative resistor wiring Z DANGER Be sure to ground the Motion controllers servo amplifiers and servomotors Ground resistance 1002 or less Do not ground commonly with other devices 7 Check the circuit of emergency stop or Z CAUTION forced stop Check that the installation position of modules and combination of modules are correct Wrong installation and combination may damage the modules Installation mode Install operating system software gt Install the operating system software to the CPU module using MT Developer T Servo amplifier setting Set the axis number of servo amplifier Y Turn ON power supply Set the RUN STOP RESET switch of PLC CPU module to STOP and turn ON the Multiple CPU power supply System setting Multiple CPU parameters setting Set the following positioning parameters Refer to Section 5 3 The operating system software is not installed at the time of Motio
100. e module a Servo external signals There are the following servo external signals Upper stroke limit is limit value of address increase direction lower stroke limit is limit value of an address decrease direction The Q172DLX is assigned a set of input No s per axis Make the system setting of MT Developer to determine the I O No s corresponding to the axis No s Number of points Servo external signal Application on one Q172DLX Upper stroke limit input FLS stroke limit input FLS For detection of upper and lower stroke limits Lower stroke limit input RLS Stop signal input STOP For stopping under speed or positioning control 32 points Proximity dog For detection of proximity dog at proximity dog or count 4 points 8 axes Speed position switching input type home position return of for switching from speed to DOG CHANGE position switching control 2 SYSTEM CONFIGURATION b The pin layout of the CTRL connector Use the CTRL connector at the Q172DLX module front to connect the servo external signals The following pin layout of the Q172DLX CTRL connector viewed from the front The pin layout and connection description of the CTRL connector are described below CTRL connector Signal No Pin No Signal Name Pin No Signal Name Signal No B20 FLS1 A20 FLS5 B19 RLS1 A19 RLS5 np 1 lt l 5 le B18 STOP1 A18 STOP5 od L B17 DOG1 CHANGE1
101. eas App 8 APPENDIX 2 2 Servo external signals interface module COD App 9 APPENDIX 2 3 Synchronous encoder interface module CO DEST App 9 APPENDIX 2 4 Manual pulse generator interface module 71 2DPX App 10 APPENDIX 2 5 Power supply module Q61P A1 Q61P A2 Q61P Q62P Q63P Q64P App 11 APPENDIX 2 6 Battery holder unit Q170DBATCO sssssssesssssssiserssrsrsrstrstrstnstnstnstnstnstnstnstnstnntnntnsenna App 12 APPENDIX 2 7 ConneCtolisvs eege e ale at we eM lee i eile eats App 13 APPENDIX 2 8 Manual pulse generator MPR HDPO App 16 APPENDIX 2 9 Serial absolute synchronous encoder O1 ZOENC App 16 About Manuals The following manuals are also related to this product In necessary order them by quoting the details in the tables below Related Manuals 1 Motion controller Model Code 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 1XB928 Optional Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual Motion SFC i g e IB 0300135 This manual explains the functions programming debugging error lists and others for Motion SFC 1XB929 Optional Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual REAL MODE This manual explains the servo parameters positioning instructions
102. ect the connection cables between signal each unit the encoder cable or PLC expansion cable while the power is ON Securely tighten the cable connector fixing screws and fixing mechanisms Insufficient fixing may lead to the cables combing off during operation Do not bundle the power line or cables 24VDC 5 Trial operation and adjustment Z CAUTION Confirm and adjust the program and each parameter before operation Unpredictable movements may occur depending on the machine Extreme adjustments and changes may lead to unstable operation so never make them When using the absolute position system function on starting up and when the Motion controller or absolute value motor has been replaced always perform a home position return 6 Usage methods Z CAUTION Immediately turn OFF the power if smoke abnormal sounds or odors are emitted from the Motion controller servo amplifier or servomotor Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection Do not attempt to disassemble and repair the units excluding a qualified technician whom our company recognized Do not make any modifications to the unit Keep the effect or electromagnetic obstacles to a minimum by installing a noise filter or by using wire shields etc Electromagnetic obstacles may affect the electronic devices used near the Motion co
103. egenerative resistor model and the system application The protective functions may not function if the settings are incorrect 2 SYSTEM CONFIGURATION 2 1 2 Q172DCPU System overall configuration Motion CPU control module Ki gt lt ka 2 2 2 T g Blo 3 E 6 8 oz o 0 E SLE KX o 6 0 2S of 8 ESR S88 36 PLC CPU zeg 289 Ses Motion CPU HE DoE SSE Main base unit Q30DB Q61P QnUD H Q172D Qi6o QXOO Q6OAD Q172D Q172D Q173D CPU 7 7 x EX PX pee Hr jas0DA VO module gt Intelligent function module et f 100 200VAC x x Manual pulse generator x 3 module MR HDP01 Up to 1 module Serial absolute synchronous encoder cable DSBIRS 292 Q170ENCCBLUIM E Serial absolute synchronous encoder x 2 module Q170ENC Up to 6 modules Personal Computer IBM PC AT External input signals Number of Inputs ev FLS Upper stroke limit e RLS Lower stroke limit 8 axes module STOP Stop signal Up to 4 modules e DOG CHANGE Proximity dog Speed position switching Battery holder unit Q170DBATC Analogue input output gt Input output Up to 256 points Interrupt signals 16 points Forced stop input cable Q170DEMICBLLIM Extension base unit Q6LB I_ EMI forced stop input 24VDC S gt 5 SSCNETII cable 52
104. ence of electromagnetic interface Separate them more than 200mm 0 66ft away Connect the shield wire of the connection cable to the FG terminal of the external equipment Make parameter setting correctly Incorrect setting may disable the protective functions such as stroke limit protection Always wire the cables when power is off Not doing so may damage the circuit of modules Wire the cable correctly Wrong wiring may damage the internal circuit 2 SYSTEM CONFIGURATION te 2 4 5 Q172DEX Synchronous encoder interface module Q172DEX receive external signals required for serial absolute synchronous encoder The installation position of Q172DEX is only main base 1 Q172DEX name of parts ch Q172DEX SY ENC TREN 2 SY ENC1 SY ENC2 Q172DEX Application Hook used to fix the module to the base unit 1 Module fixing hook mg Single motion installation Display the input status from the external equipment Display for signal input status of each serial SY ENC absolute synchronous encoder 1 2 LED turns ON at the normal connection first switching to virtual mode TREN z A Jeo Display for signal status of tracking enable Mode judging LED The tracking enable signal does not turn ON without setting Q172DEX in the system setting SY ENC connector Input connector of the serial absolute synchronous encoder Module loading lever Use
105. er 10 2 to 26 4VDC Operating voltage range i i 12 24VDC 10 15 ripple ratio 5 or less ON voltage current 10VDC or more 2 0mA or more OFF voltage current 1 8VDC or less 0 18mA or less Exterior dimensions mm inch Input resistance Approx 5 6kQ i OFF to ON 0 4ms 0 6ms 1ms Response time ON to OFF CPU parameter setting Default 0 4ms Common terminal arrangement 1 point common Common contact TREN COM Indicates to display ON indication LED Note Functions are different depending on the operating system software installed 2 SYSTEM CONFIGURATION c Manual pulse generator Incremental synchronous encoder input Specifications Number of modules 3 module Voltage output High voltage 3 0 to 5 25VDC Open collector type Low voltage 0 to 1 0VDC Differential output type High voltage 2 0 to 5 25VDC 26LS31 or equivalent Low voltage 0 to 0 8BVDC Input frequency Up to 200kpps_ After magnification by 4 Voltage output type Open collector type 5VDC Recommended product MR HDP01 Differential output type 26LS31 or equivalent External connector type 40 pin connector Applicable wire size Applicable connector for the external A6CON1 Attachment connection A6CON2 A6CON3 Optional Voltage output 30m 98 43ft Cable length Open collector type Open collector type 10m 32 8 1ft Differential output type d 3 Connection of manual pulse generator Manual pulse generators are available in vo
106. er if only the AC input module is connected to the AC line which is connected to the power supply detection of the AC down for the power supply module may be delayed by the capacitor in the AC input module Thus connect a load of approx 30mA per AC input module to the AC line 2 For DC input power supply a An instantaneous power failure lasting less than 10ms will cause 24VDC down to be detected but operation will continue b An instantaneous power failure lasting in excess of 10ms may cause the operation to continue or initial start to take place depending on the power supply load Note This is for a 24VDC input This is 10ms or less for less then 24VDC Note 4 Inrush current When power is switched on again immediately within 5 seconds after power off an inrush current of more than the specified value 2ms or less may flow Reapply power 5 seconds after power off When selecting a fuse and breaker in the external circuit take account of the blow out detection characteristics and above matters 2 SYSTEM CONFIGURATION 2 Names of Parts and Setting This section describes the names of the parts of each power module e Q61P A1 100 to 120VAC input SVDC 6A output e Q61P A2 200 to 240VAC input 5VDC 6A output e Q61P 100 to 240VAC input 5VDC 6A output e Q62P 100 to 240VAC input 5VDC 3A 24VDC 0 6A output e Q63P 24VDC input 5VDC 6A output e Q64P 100 to 120VAC 200 to 240VAC input 5VDC 8
107. er s Manual Function Explanation Program Fundamentals about the I O allocation setting method of the QnUD H CPU I O device of the Motion CPU can be set in the range PX PY000 to PX PYFFF The real I O points must be 256 points or less As for the I O No it is possible not to continue 2 SYSTEM CONFIGURATION 2 4 4 Q172DLX Servo external signals interface module Q172DLX receives external signals servo external signals required for positioning control 1 Q172DLX name of parts i 5 Q172DLX T 0 0 EEGEN Application F Hook used to fix the module to the base unit 1 Module fixing hook A Single motion installation Display the servo external input status from the external equipment Mode judging LED Oto 1F Display a servo external signal input status of each axis The proximity dog speed position switching signal DOG CHANGE does not turn ON without setting Q172DLX in the system setting CTRL connector The servo external signal input connector of each axis Module loading lever Used to install the module to the base unit Module fixing screw Hole for the screw used to fix to the base unit hole M3 x 12 screw Purchase from the other supplier Module fixing hook Hook used to fix to the base unit Mode judging LED of the proximity dog speed position switching signal DOG CHANGE turns ON at the following conditions e Q1
108. er 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 Never operate the switches with wet hands as this may lead to electric shocks Do not damage apply excessive stress place heavy things on or sandwich the cables as this may lead to electric shocks or fire Do not touch the Motion controller servo amplifier or servomotor terminal blocks while the power is ON as this may lead to electric shocks Do not touch the built in power supply built in grounding or signal wires of the Motion controller and servo amplifier as this may lead to electric shocks A CAUTION Be sure to ground the Motion controller servo amplifier and servomotor Do not ground commonly with other devices Ground resistance 100 or less The wiring work and inspections must be done by a qualified technician Wire the units after mounting the Motion controller servo amplifier and servomotor Failing to do so may lead to electric shocks or damage Perform the daily and periodic inspections according to the instruction manual Perform maintenance and inspection after backing up the program and parameters for the Motion controller and servo amplif
109. er the storage ambient temperature of 25 C 77 F This value is intended for reference only as it varies with characteristics of the memory POINTS The self discharge influences the life of battery without the connection to Q172DEX The external battery should be exchanged approximately every 4 or 5 years And exchange the battery with a new one in 4 to 5 years even if a total power failure time is guaranteed value or less Z CAUTION Do not short a battery Do not charge a battery Do not disassemble a battery Do not burn a battery Do not overheat a battery Do not solder the battery terminals Before touching the battery always touch grounded metal etc to discharge static electricity from human body Failure to do so may cause the module to fail or malfunction Do not directly touch the module s conductive parts and electronic components Touching them could cause an operation failure or give damage to the module Internal battery 2 SYSTEM CONFIGURATION 2 4 6 Q173DPX Manual pulse generator interface module Q173DPX receive external signals required for Manual pulse generator and Incremental synchronous encoder Voltage output Open collector type Differential output type 1 Q173DPX name of parts An Application f Hook used to fix the module to the base unit 1 Module fixing hook f S Single motion installation Display the input status
110. eration Mount a main base unit in the following procedure a Fit the two base unit top mounting screws into the enclosure b Place the right hand side notch of the base unit onto the right hand side screw d Fit the mounting screws into the holes at the bottom of the base unit and then retighten the all mounting screws Note Mount a main base unit to a panel with no module installed in the right end slot Remove the base unit after removing the module from the right end slot 4 INSTALLATION AND WIRING el 4 1 2 Instructions for mounting the base unit When mounting the Motion controller to an enclosure or similar fully consider its operability maintainability and environmental resistance 1 Fitting dimensions Fitting dimensions of each base unit are as follows 5 fixing screw M4x14 Zi o o o o o o O o fe fe O fe O O A ou amp A 5V H o SG H lg N porer co ma Je m m oj 2 E C 7 e o E 0 0 9 0 0 a Ws1 Ws2 Ws3 5 kg ka gt WwW gt n epp Q312DB Q63B Q65B Q68B Q612B E 328 12 91 439 17 28 189 7 44 245 9 65 328 12 91 439 17 28 15 5 0 61 170 0 3 170 0 3 190 40 3 190 0 3 6 69 0 01 6 69 0 01 167 0 3 222 5 0 3 7 48 0 01 7 48 0 01 138 0 3 249 0 3 6 57 0 01 8
111. ere error display NO on 7 segment LED of Motion CPU module Remove the error cause YES NO YES Does servo amplifier start NO Set the target axis in the system setting NO Has the target axis set in the system setting YES YES Does servo amplifier start Is the connection of NO SSCNET Mf cable correct Connect the SSCNET I cable correctly YES NO YES Does servo amplifier start Is the axis select NO switch of servo amplifier correct Set the axis select switch correctly YES NO Does servo amplifier start Has the servo amplifier connected from target axis near controller started Remove the error cause of servo amplifier that does not strat Does servo amplifier start Explain the error symptom and get advice from out sales representative END 6 INSPECTION AND MAINTENANCE ee i Flowchart for when AL gt S01 displays on 7 segment LED AL flashes 3 times Steady S01 display displays at the servo error occurrence The following shows the flowchart when the AL flashes 3 times gt Steady S01 display displays during operation AL gt S01 displays on 7 segment LED Confirm details of error by Motion CPU error batch monitor of MT Developer Remove the error cause of servo amplifier and then execute the servo error reset M3208
112. erminal of terminal block 4 Check that the external power supply are connected correctly UO module 24VDC 5 VDC 5 Check that the 100VAC 200VAC and 24VDC wires are twisted as closely as possible respectively and run in the shortest distance 6 Check that the 100VAC 200VAC and 24VDC wires are not bind the cable together with and run close to the I O wires 7 Check that the I O wires are wired correctly 4 At Ai 4 1 2 1 4 1 4 1 4 ll 2 2 2 Refer to the UO Module Type Building Block User s Manual 5 TRIAL OPERATION AND ADJUSTMENT Confirmation Items Check main base unit Q172DLX Servo external signals i 11 when installation to the main base unit interface module Refer to the programming 3 Check that th tallati ition of modul d t Q172DEX synchronous encoder Ke positon of modules corespend ts manual of operating interface module a setting system software Q173DPX Manual pulse generator 4 Check that the connection with external equipments is interface module correct 5 Check that the battery is connected to connector of Q172DExX correctly 2 Check that the connecting position for connector of SSCNETII cables are correct 3 Check that the cus cables are connected cote SSCNETII cable 5 Check that the minimum bend radius or more secured 6 Check that the codes do not come in co
113. esult in vibration that may cause erroneous operation 2 SYSTEM CONFIGURATION el 4 I O allocations It is possible to allocate unique I O No s for each Motion CPU independently of the PLC s I O No s I O No s are unique between the Q series PLC CPU within a given system but the I O No s of the Motion CPU are unique for each Motion CPU ON OFF data input to the Motion CPU is handled via input devices PXODO while ON OFF data output from the Motion CPU is handled via output devices PYOO It is not mandatory to match the I O device PX PY No s used in the Motion program with the PLC I O No s but it is recommended to make them match as much as possible The following figure shows an example of I O allocation UO Allocations CH EH bie QnUD H QnUD H Q172DLX CPU CPU XO to X1F Y20 to Y3F Y40 to Y5F Intelligent PX0O to PX1FIPY20 to PY3F YCO to YDF 32 points X60 to X7F Y80 to Y9F YAO to YBF 2 5 3 fe E Power supply CPU No 1 CPU No 2 CPU No 3 Module of Module of Module of Module of Module of Module of Module of control control control control control control control CPU No 1 CPU No 1 CPU No 2 CPU No 3 CPU No 3 CPU No 3 CPU No 1 Note 1 When the number of modules to be installed is 32 points Note 2 When the PX PY No does not match the PLC I O No Refer to the Q173DCPU Q172DCPU Motion Controller Programming Manual COMMON about the I O allocation setting method Refer to the QCPU Us
114. evel 2 is when only non conductive pollution occurs A temporary conductivity caused by condensing must be expected occasionally Note 3 Do not use or store the Motion controller under pressure higher than the atmospheric pressure of altitude Om Doing so can cause an operation failure A CAUTION The Motion controller must be stored and used under the conditions listed in the table of specifications above When not using the module for a long time disconnect the power line from the Motion controller or servo amplifier Place the Motion controller and servo amplifier in static electricity preventing vinyl bags and store When storing for a long time please contact with our sales representative Also execute a trial operation 2 SYSTEM CONFIGURATION 2 4 Specifications of Equipment and Settings 2 4 1 Name of parts for CPU module This section explains the names and setting of the module 1 Q173DCPU Q172DCPU Front face of Q172DCPU Q172DCPU BER 2 TT o MI 6 gt CN1 tourer FRONT E O BaT Side face 3 5 8 Front face of Q173DCPU Q173DCPU BER A 2 ee d STOP_RUN AN 4 Lu Zoch fu 6 E CN2 Steg ol Z l O par Bottom
115. f resistor R is W Input voltage R 26 4 220 3 168 W 6 27 6 INSPECTION AND MAINTENANCE WE c The power capacity of the resistor selected is 3 to 5 times greater than the actual current consumption 220 0 10 to 15 W resistor may therefore be connected to the terminal in question 2 Output circuit troubleshooting The following describes possible problems with output circuits and their corrective actions Output Circuit Troubleshooting and Corrective Action Condition Cause Corrective action e When load is half wave rectified Connect a resistor of several ten kQ to This is typical some solenoids several hundred k across the load Resistor a Output module Excessive voltage is applied to load when output turns OFF polarity is 2 the voltage charged in C plus the power supply voltage is applied to across e When the polarity of the power supply is 1 Example 1 the capacitor C is charged When the D1 The maximum value of the voltage is approx 2 2E This usage does not pose problems to the output components but may deteriorate the diode built in the load causing burnout etc e Leakage current due to built in surge e Connect a resistor across the load suppressor If the wiring from the output module to the load is long be careful since there may be a Output module Load does leakage current due to the line capacity f not turn OFF A Resistor Triac output AY I
116. fety rules etc apply to the system using the Motion controller servo amplifier and servomotor make sure that the safety standards are satisfied Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system In systems where coasting of the servomotor will be a problem during the forced stop emergency stop servo OFF or power supply OFF use dynamic brakes Make sure that the system considers the coasting amount even when using dynamic brakes In systems where perpendicular shaft dropping may be a problem during the forced stop emergency stop servo OFF or power supply OFF use both dynamic brakes and electromagnetic brakes Z CAUTION The dynamic brakes must be used only on errors that cause the forced stop emergency stop or servo OFF These brakes must not be used for normal braking The brakes electromagnetic brakes assembled into the servomotor are for holding applications and must not be used for normal braking 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 Use wires and cables that have a wire diameter heat resistance and bending resistance compatible with the system Use wires and cables within the length of the range described in the instruction manual
117. ff the module fixing hole of the base unit Attempting to remove the module by force may damage the module fixing latch A CAUTION Do not touch the heat radiating fins of controller or servo amplifier s regenerative resistor and servomotor etc while the power is ON and for a short time after the power is turned OFF In this timing these parts become very hot and may lead to burns Remove the modules while paying attention 4 INSTALLATION AND WIRING 4 1 4 Instructions for mounting of the battery holder unit When mounting the battery holder unit Q170DBATC to an enclosure or similar fully consider its mounting position and orientation 1 Module mounting position Mount the battery holder unit within 50cm 1 64ft or less Battery cable length 50cm 1 64ft from the Motion controller 2 Mounting surface Mount the battery holder unit on a flat surface 3 Module mounting orientation Do not mount the battery holder unit downward Doing so may lead to battery liquid to leak at damage to the battery Correct Wrong E 4 ES E TO OGC 1 i Lei r an 4 Kurse ESETE Gr TASTENISIT HUM BATTERY WW i CERE S CH a 4 INSTALLATION AND WIRING 4 2
118. g environment Mount the Motion controller system in the following environment conditions 1 Ambient temperature is within the range of 0 to 55 C 32 to 131 F 2 Ambient humidity is within the range of 5 to 95 RH 3 No condensing from sudden temperature changes 4 No corrosive or inflammable gas 5 There must not be a lot of conductible dust iron filings oil mist or salt organic solvents 6 No direct sunlight 7 No strong electrical or magnetic fields 8 No direct vibrations or shocks on the Motion controller 3 DESIGN 3 3 2 Layout design of the base units This section describes the precautions related to mount a Motion controller in an enclosure 1 To improve ventilation and permit easy replacement of the module leave a space of the following table between the top bottom side of the module and any other object For details on layout design refer to section 4 1 2 Instructions for mounting of the base unit e Top 40mm 1 57inch or more e Bottom 100mm 3 94inch or more e Front 100mm 3 94inch or more e Side 5mm 0 20inch or more 2 Provide a wiring duct if required A CAUTION Due to ventilation problems do not mount the base units vertically or horizontally Mount the base units on a flat surface Unevenness or warping of the surface can apply undue force to printed circuit boards and lead to operation failures Avoid mounting the base units close to a vibration source su
119. gh temperature The cable part and code part melt down if being left near the fire or high temperature Therefore do not make it touched the part which becomes high temperature such as radiator or regenerative brake option of servo amplifier or servomotor When laying the SSCNETII cable be sure to secure the minimum cable bend radius or more SSCNETII cable is used a optical cables or optical codes little affected by plasticizer However come migrating plasticizer may affect the optical characteristic of SSCNETII cable as shown below pRvapusoM LT pmRssusoMA AL a mRu3Busoms o o O Cable is not affected by plasticizer A Phthalate ester plasticizer such as DBP and DOP may affect optical characteristic of cable 4 INSTALLATION AND WIRING POINTS 8 Put the SSCNETII cable in the duct or fix the cable at the closest part to the Motion CPU module with bundle material in order to prevent SSCNETII cable from putting its own weight on SSCNETII connector When laying cable the optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius and it should not be twisted Also fix and hold it in position with using cushioning such as sponge or rubber which does not contain plasticizing material 9 If the adhesion of solvent and oil to the code part of SSCNETII cable may lower the optical characteristic and machine characteristic If it is used such an environment be sure to do
120. gment LED NO 6 INSPECTION AND MAINTENANCE nl f Flowchart for when BTL displays on 7 segment LED BT1 or BT1 displays when the external battery voltage of battery holder unit is lowered BT1 or BT1 displays at the following cases e BT1 Battery voltage 2 7V or less e BT2 Battery voltage 2 5V or less The following shows the flowchart when the BTO displays BTO displays on 7 segment LED y Turn off the Multiple CPU system power supply y Replace the external battery y Turn on the Multiple CPU system power supply Does BTO disappear on 7 segment LED Confirm ON OFF by monitoring SMD NO SM58 or SM51 ON YES SM58 SM51 OFF END H W fault Explain the error symptom and get advice from out sales representative If SM51 SM58 turns on the details of the programs parameters absolute position data and latch data cannot be guaranteed It is recommended to back up the battery periodically 6 INSPECTION AND MAINTENANCE WE g Flowchart for wen displays on 7 segment LED displays at the WDT error occurrence The following shows the flowchart when the displays during operation displays on 7 segment LED Confirm details of error by Motion CPU error batch monitor of MT Developer Is the error code of Motion CPU WDT cause 1 NO Is the error code of Motion CPU W
121. gnals Number of Inputs eFLS Upper stroke limit RLS Lower stroke limit 8 axes module STOP Stop signal Up to 4 modules DOG CHANGE Proximity dog Speed position switching Battery holder unit Q170DBATC gt Analogue input output of Input output Up to 256 points Interrupt signals 16 points Forced stop input cable Q170DEMICBLOM Extension base unit EMI forced stop input 24VDC B Q6 SSCNET I cable MR J3BUSUIM A B SSCNET II CN1 Extension cable QCLIB SSCNET I CN2 d1 d16 d1 d16 UP to 7 extensions S I MR J3 OB model Servo amplifier Up to 32 axes Up to 16 axes system External input signals of servo amplifier e Proximity dog Upper stroke limit Lower stroke limit 2 SYSTEM CONFIGURATION Z CAUTION Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal 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 r
122. h RA1 run monitor relay START SW E E eo MC STOP SW eH Input module Low battery alarm Lamp or buzzer ON when run by SM403 Power to output equipmen switched OFF when the STOP signal is given In the case of an emergenc stop or a stop caused by a limit switch Provide external interlock circuits for conflicting Interlock circuits as necessary FOR AC DC ez Si Transformer Transformer 0000 N H H Fuse Fuse CPU module es DC power Fusen Set time for DC power supply to be established mci No z M10 r z x 0 r Voltage relay is recommended Low battery alarm Lamp or buzzer Ym von t 1 c L ON when run oyw SC by SM403 H Or ahs ees ein al Output module MC MC Power to output equipment switched operations such as forward rotation and reverse rotation and for parts that could damage the machine or cause accidents if no interlock were OFF when the STOP signal is given In the case of an emergency stop or used The power ON procedure is as follows For AC 1 Switch power ON Set CPU to RUN Turn ON the start switch When the magnetic contactor MC comes on the output equipment is powered and may be driven by the program 2 3 4 a stop caused by a limit switch L
123. h a hammer when connecting the coupling to it The large loads applied to Q170ENC will damage it The Q170ENC uses optical parts Mount it in an atmosphere where there are extremely few water drops and little oil and dust In any place where the Q170ENC is exposed to water and or oil provide protection from oil and water e g install a cover In addition run the cable downward to prevent oil and or water from running on the cable into the Q170ENC When it is inevitable to mount the Q170ENC vertically or obliquely trap for the cable Use the Q170ENC within the specified temperature range 5 to 55 C 23 to 131 F 4 INSTALLATION AND WIRING 4 4 Wiring 4 4 1 Instructions for wiring ZADANGER 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 When turning on the power supply or operating the module after wiring be sure that the module s terminal covers are correctly attached Not attaching the terminal cover could result in electric shock Z CAUTION Be sure to ground of the earth terminal FG and LG Not doing so could result in electric shock or operation failure Ground resistance 100 or less When wiring in the Motion controller be sure that it is done correctly by checking the product s rated voltage and the terminal layout Connecting a power supply that is different from the
124. he CPU I O intelligent function and power supply modules base units and so on 1 Module terminal block connectors and pin connectors are made of resin do not drop them or subject them to strong impact 2 Do not remove modules printed circuit boards from the enclosure in order to avoid changes in operation 3 Tighten the module fixing screws and terminal block screws within the tightening torque range specified below Tightening torque range Motion CPU module fixing screw M3 Xx 13 screw 0 36 to 0 48 Nem Module fixing screw M3 X 12 screw 0 36 to 0 48 Nem UO module terminal block screw M3 screw 0 42 to 0 58 Nem UO module terminal block fixing screw M3 5 screw 0 68 to 0 92 Nem Power supply module terminal screw M3 5 screw 0 68 to 0 92 Nem 4 INSTALLATION AND WIRING 4 Be sure to install a power supply module on the main base unit and extension base unit Even if the power supply module is not installed when the I O modules and intelligent function module installed on the base units are light load type the modules may be operated In this case because a voltage becomes unstable we cannot guarantee the operation 5 When using an extension cable keep it away from the main circuit cable high voltage and large current Keep a distance of 100mm or more from the main circuit 6 Be sure to fix a main base unit to the panel using fixing screws Not doing so could result in vibration that may cause erroneous op
125. he power supply module The following diagram shows the wiring example of power lines grounding lines etc to the main and extension base units Main base unit al 100 110VAC Q38DB AC Al coos Q61P CPU module s 7 Q X Fuse V x 1 mp Note 1 kt ERR are i LPS 24VDC FG cman ere A he it E RENE INPUT 1 V 100 240VAC vv H Ground 3 Connect to 24VDC terminals O wire ae L of I O module that requires V Grounding i 24VDC internally 0 Extension base unit 0 Extension cable gt Q68B V Q61P UO module L K 100VAC V 0 te ERR Note 1 V Oh FG Q Ge o 0 INPUT E E E O 100 240VAC Ground gt a wire a Grounding Note The operation of the ERR terminal is as follows lt When the power supply module is installed on the main base unit gt The terminal turns OFF opens when the AC power is not input a CPU module stop error including a reset occurs or the fuse of the power supply module is blown lt When the power supply module is installed on the extension base unit gt The terminal is always OFF open 4 INSTALLATION AND WIRING 1 Use the thickest possible up to 2mm wires for the 100 200 VAC and 24 VDC power cables Be sure to twist these wires starting at the connection terminals To prevent a short circuit should any screws loosen use solderless terminals with insulation sleeves of 0 8 mm 0 03 inch or less Also only two solde
126. hen resume operation after alarm release The unit may suddenly resume operation after a power failure is restored so do not go near the machine Design the machine so that personal safety can be ensured even if the machine restarts suddenly 8 Maintenance inspection and part replacement Z CAUTION Perform the daily and periodic inspections according to the instruction manual Perform maintenance and inspection after backing up the program and parameters for the Motion controller and servo amplifier Do not place fingers or hands in the clearance when opening or closing any opening Periodically replace consumable parts such as batteries according to the instruction manual Do not touch the lead sections such as ICs or the connector contacts Before touching the module always touch grounded metal etc to discharge static electricity from human body Failure to do so may cause the module to fail or malfunction Do not directly touch the module s conductive parts and electronic components Touching them could cause an operation failure or give damage to the module Do not place the Motion controller or servo amplifier on metal that may cause a power leakage or wood plastic or vinyl that may cause static electricity buildup Do not perform a megger test insulation resistance measurement during inspection A CAUTION When replacing the Motion controller or servo amplifier always set the new module se
127. holder for Q6BAT Attachment battery cable unit Q6BAT For memory data backup of SRAM built in Motion CPU Battery Programs Parameters Absolute position data Latch data A6BAT For data backup of Q170ENC Cable for forced Length 0 5m 1 64ft 1m 3 28ft 3m 9 84ft 5m 16 40ft 10m 32 80ft 170DEMICBL stop input Hie 2 15m 49 20ft 20m 65 62ft 25m 82 02ft 30m 98 43ft For positive common sink type input module sink type output module 7 A6TBXY36 Connector terminal standard type block conversion For positive common sink type input module sink type output module Note 6 A6TBXY54 2 wire type A6TBX70 For positive common sink type input module 3 wire type ACO5TB Length 0 5m 1 64ft AC10TB Length 1m 3 28ft Cable for AC20TB Length 2m 6 56ft connector terminal AC30TB Length 3m 9 84ft block conversion AC50TB Length 5m 16 40ft module AC80TB Length 8m 26 25ft AC100TB Length 10m 32 81ft module 2 SYSTEM CONFIGURATION Table of Motion controller related module continued Current Description consumption Remark 5VDC A Q173DCPU Q172DCPU MR J3 e MR J3 OB MR J3 OB MR J3BUS eae e Standard code for inside panel 0 15m 0 49ft 0 3m 0 98ft 0 5m 1 64ft 1m 3 28ft 3m 9 84ft Part name Model name De M Q173DCPU Q172DCPU MR J3 SSCNETII cable MR J3BUSOM A
128. iating fins of controller or servo amplifier regenerative resistor and servomotor etc while the power is ON and for a short time after the power is turned OFF In this timing these parts become very hot and may lead to burns Always turn the power OFF before touching the servomotor shaft or coupled machines as these parts may lead to injuries Do not go near the machine during test operations or during operations such as teaching Doing so may lead to injuries 4 Various precautions Strictly observe the following precautions Mistaken handling of the unit may lead to faults injuries or electric shocks 1 System structure A CAUTION Always install a leakage breaker on the Motion controller and servo amplifier power source If installation of an electromagnetic contactor for power shut off during an error etc is specified in the instruction manual for the servo amplifier etc always install the electromagnetic contactor Install the emergency stop circuit externally so that the operation can be stopped immediately and the power shut off Use the Motion controller servo amplifier servomotor and regenerative resistor with the correct combinations listed in the instruction manual Other combinations may lead to fire or faults Use the CPU module base unit and motion module with the correct combinations listed in the instruction manual Other combinations may lead to faults If safety standards ex robot sa
129. ier Do not place fingers or hands in the clearance when opening or closing any opening Periodically replace consumable parts such as batteries according to the instruction manual Do not touch the lead sections such as ICs or the connector contacts Do not place the Motion controller or servo amplifier on metal that may cause a power leakage or wood plastic or vinyl that may cause static electricity buildup Do not perform a megger test insulation resistance measurement during inspection When replacing the Motion controller or servo amplifier always set the new unit settings correctly After maintenance and inspections are completed confirm that the position detection of the absolute position detector function is correct 6 INSPECTION AND MAINTENANCE ee A CAUTION Do not short circuit charge overheat incinerate or disassemble the batteries The electrolytic capacitor will generate gas during a fault so do not place your face near the Motion controller or servo amplifier The electrolytic capacitor and fan will deteriorate Periodically change these to prevent secondary damage from faults Replacements can be made by our sales representative If an error occurs in the self diagnosis of the Motion controller or servo amplifier confirm the check details according to the instruction manual and restore the operation if a dangerous state is predicted in case of a power failure or product failure in orde
130. imum system If the module will not work explain the error symptom and get advice from out sales representative for the modules with failure Note Normally flashes in the first digit of 7 segment LED 6 INSPECTION AND MAINTENANCE WE c Flowchart for when A00 displays on 7 segment LED A00 displays when the operating system software is not installed The following shows the flowchart when the A00 displays at the power supply ON or operation start A00 displays on 7 segment LED Is the operating system NO software installed to Motion CPU module y YES Install the operating system software j le xX Reset the Multiple CPU system j Does A00 disappear on 7 segment LED END Explain the error symptom and get advice from out sales representative 6 INSPECTION AND MAINTENANCE nl d Flowchart for when AL gt L01 displays on 7 segment LED AL flashes 3 times Steady L01 display displays at the system setting error occurrence The following shows the flowchart when the AL flashes 3 times gt Steady L01 display displays during operation AL gt L01 displays on 7 segment LED Confirm details of error by Motion CPU error batch monitor of MT Developer Does a ROM ERRORO YES occur NO NO Is ROM operation executed YES Set a rotary switch1 SW1 to 0 a Set a rotary switch1 SW1
131. ion Current output GE __ Note 1 5VDC internal current consumption of shared equipments with PLC might be changed Be sure to refer to the PLC Manuals Note 2 Connectors are not provided 2 SYSTEM CONFIGURATION 3 Table of servo amplifier Part name Model name Description MR J3 seri R Si Se E Refer to catalogue of the servo amplifier servo amplifier MR J3 LJB RJ006 Battery MR J3BAT Back up for the absolute position detection 4 Software packages a Operating system software e A Software package Application Q173DCPU Q172DCPU For conveyor assembly SV13 SW8DNC SV13QB SW8DNC SV13QD For automatic machinery SV22 SW8DNC SV22QA SW8DNC SV22QC b Motion controller programming software Conveyor Assembly Software Automatic Machinery Software Cam Data Creation Software SW1DNC MTW2 E Digital Oscilloscope Software 1 CD ROM disk Communication System Software Document Print Software Operation Manual Help Installation manual PDF MT Developer2 Note Operating environment to use MT Developer is Windows Vista Windows XP Windows 2000 English version only 5 Operating environment of personal computer Operating environment is shown below IBM PC AT with which Windows Vista Windows XP Windows 2000 English version operates normally Operating environment Microsoft Windows Vista Home Basic Microsoft Windows Vista Home Premium Microsoft Windows Vista Busine
132. ion manual pulse generator Phases A B e Pulse width 20us or more Sus Sus or more or more Duty ratio 50 25 e Leading edge Trailing edge time us or less Phase difference PhaseA J LIL phases LTL 2 5us or more 1 Positioning address increases if Phase A leads Phase B 2 Positioning address decreases if Phase B leads Phase A The 5V P5 DC power supply from the Q173DPX must not be connected if a separated power supply is used as the Manual pulse generator Incremental synchronous encoder power supply Use a 5V stabilized power supply as a separated power supply Any other power supply may cause a failure Connect HPSELO to the SG terminal if the manual pulse generator differential output type incremental synchronous encoder is used 2 SYSTEM CONFIGURATION c Interface between PULSER connector and manual pulse generator Voltage output Open collector type Incremental synchronous encoder Interface between Manual pulse generator Voltage output Open collector type Incremental synchronous encoder Input or Output Signal name PULSER connector Voltage Output Pin No Wiring example type 1 Manual pulse generator phase A HAT A20 2 3 A15 A10 Manual pulse Manual pulse generator phase B HBO Input B20 generator synchronous encoder B15 B10 Internal circuit Select type signal HPSE
133. ion if the setting is incorrect Set the servomotor encoder type increment absolute position type etc parameter to a value that is compatible with the system application The protective functions may not function if the setting is incorrect Set the servomotor capacity and type standard low inertia flat etc parameter to values that are compatible with the system application The protective functions may not function if the settings are incorrect Set the servo amplifier capacity and type parameters to values that are compatible with the system application The protective functions may not function if the settings are incorrect A CAUTION Use the program commands for the program with the conditions specified in the instruction manual Set the sequence function program capacity setting device capacity latch validity range I O assignment setting and validity of continuous operation during error detection to values that are compatible with the system application The protective functions may not function if the settings are incorrect Some devices used in the program have fixed applications so use these with the conditions specified in the instruction manual The input devices and data registers assigned to the link will hold the data previous to when communication is terminated by an error etc Thus an error correspondence interlock program specified in the instruction manual must be used Use the interlock
134. ite side Multiple CPU system Shield cable oven DC e Where wiring runs through piping ground the piping without fail f Run the 24VDC input line away from the 100VAC and 200VAC lines 4 19 4 INSTALLATION AND WIRING g Wiring of 200m 656 17ft or longer distance will give rise to leakage currents due to the line capacity resulting in a fault Refer to the troubleshooting chapter of the I O Module User s Manual h As acountermeasure against the power surge due to lightning separate the AC wiring and DC wiring and connect a surge absorber for lightning Refer to Section 4 4 1 1 Failure to do so increases the risk of I O device failure due to lightning 3 Grounding For grounding follow the steps a to c shown below a Use a dedicated grounding wire as far as possible Ground resistance 1002 or less b When a dedicated grounding cannot be performed use 2 Common Grounding shown below Multiple CPU Another Multiple CPU Another Multiple CPU Another system equipment system equipment system equipment Q O O grounding grounding 1 Independent grounding Best 2 Common grounding Good 3 Joint grounding Not allowed c For grounding a cable use the cable of 2 mm or more Position the ground contact point as nearly to the Multiple CPU system as possible and reduce the length of the grounding cable as much as possible 4 INSTALLATION AND WIRING 4 4 2 Connecting to t
135. ith the front case or terminal cover removed The high voltage terminal and charged sections will be exposed and may lead to electric shocks Never open the front case or terminal cover at times other 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 Completely turn off the externally supplied power used in the system before mounting or removing the module performing wiring work or inspections Failing to do so 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 Be sure to ground the Motion controller servo amplifier and servomotor Ground resistance 100 o or less Do not ground commonly with other devices The wiring work and inspections must be done by a qualified technician Wire the units after installing the Motion controller servo amplifier and servomotor Failing to do so may lead to electric shocks or damage Never operate the switches with wet hands as this may lead to electric shocks Do not damage apply excessive stress place heavy things on or sandwich the cables as this may lead to electric shocks Do not touch the Motion controller servo amplifier or servomotor terminal blocks while the power is ON as this may lead to electric sh
136. less Input resistance Approx 5 6kQ d OFF to ON 0 4ms 0 6ms 1ms Response time ON to OFF CPU parameter setting Default 0 4ms Common terminal arrangement 1 point common Common terminal TREN COM Indicates to display ON indication LED 2 SYSTEM CONFIGURATION c Serial absolute synchronous encoder input Serial communications Communication speed Applicable types Q170ENC Position detection method Absolute ABS method Resolution 262144PLS rev 18bit Number of modules 2 module External connector type 20 pin connector Applicable connector for Q170ENCCNS Optional EEN external connection Applicable wire plicable wire O MB14BO023 12Par OS 12Pair Q170ENCCBLOM Connecting cable O cable length 2m 6 56ft 5m 16 40ft 10m 32 81ft 20m 65 62ft Note 1 30m 98 43ft 50 M 164 04ft Cable length Up to 50m 164 04ft Back up the absolute position Depends on A6BAT MR BAT Battery service life time 12000 h Example of encoders x2 Ambient temperature 40 C 104 F value in actual 24000 h Example of encoders x 1 Ambient temperature 40 C 104 F Note 1 You can use these cables when the tracking enable signal is not used When the tracking enable signal is used fabricate the cable on the customer side 2 SYSTEM CONFIGURATION 3 Select to number of the synchronous encoder modules Synchronous encoders are available in voltage output type incremental differential ou
137. lfunctions 4 4 4 INSTALLATION AND WIRING 5 Mounting of unit in an area where the other devices are mounted Avoid mounting base unit in proximity to vibration sources such as large magnetic contractors and no fuse circuit breakers mount those on a separate panel or at a distance 6 Distances from the other devices In order to avoid the effects of radiated noise and heat provide the clearances indicated below between the Motion controller and devices that generate noise or heat contactors and relays e In front of Motion controller 100 mm 3 94 inch or more e On the right and left of Motion controller 50 mm 1 97 inch or more 100mm 3 or more Contactor relay etc e or more 4 INSTALLATION AND WIRING 4 1 3 Installation and removal of module This section explains how to install and remove a power supply module PLC CPU module Motion CPU module Motion module I O module intelligent function module or another module to and from the base unit 1 Installation and removal of the module from Q3ODB Q60B a Installation of the module on Q30B and Q60B Base unit Securely insert the module fixing protection into the module fixing hole so that the latch is not misaligned Base unit LJ Module connector Module gt fixing hook E Zu Using the module fixing hole ZS l I I I I I l as a fulcrum push the module Module i in the direction of
138. lifier and servomotor with cooling fan Do not allow conductive matter such as screw or cutting chips or combustible matter such as oil enter the Motion controller servo amplifier or servomotor A CAUTION The Motion controller servo amplifier and servomotor are precision machines so do not drop or apply strong impacts on them Securely fix the Motion controller servo amplifier and servomotor to the machine according to the instruction manual If the fixing is insufficient these may come off during operation Always install the servomotor with reduction gears in the designated direction Failing to do so may lead to oil leaks Store and use the unit in the following environmental conditions Motion controller Servo amplifier Servomotor Ambient According to each instruction manual 0C t0 t40 C Wit no freezihg temperature 32 F to 104 F 80 RH or less With no dew condensation Environment Ambient humidity According to each instruction manual Storage i 20 C to 65 C According to each instruction manual temperature 4 F to 149 F Indoors where not subject to direct sunlight Atmosphere R CR No corrosive gases flammable gases oil mist or dust must exist 1000m 3280 84ft or less above sea level According to each instruction manual When coupling with the synchronous encoder or servomotor shaft end do not apply impact such as by hitting with a hammer Doing so may lead to detector
139. lp Bee Output current Up to 20mA 4 5 to 13 2VDC 2 SEN 1 000 000 revolutions at 200r min Permitted axial loads Radial load Up to 19 6N Thrust load Up to 9 8N Instantaneous Up to 600r min normal 200r min Pulse signal status 2 signals A phase B phase 90 phase difference Friction torque 0 1N m 20 C 68 F Note 1 It can be used by combining with Q173DPX Note 2 If a separate power supply is used use a stabilized power supply of voltage 5VDC 0 25V 2 SYSTEM CONFIGURATION 2 Table of the Serial absolute synchronous encoder specifications Direction of increasing S CCW viewed from end of shaft addresses Dustproof Waterproof Protective construction IP65 Except for the shaft through portion Permitted speed at power ON 3600r min Permitted speed at power OFF Note 3 500r min Permitted axial loads Radial load Up to 19 6N Thrust load Up to 9 8N O Herme ONES inch or eee 15mm 0 59 inch from tip 0 24 0 6kg Q170ENCCBLOM O Cable length 2m 6 56ft 5m 16 40ft 10m 32 81ft 20m 65 62ft 30m 98 43ft 50m 164 04ft Communications method Differential driver receiver Transmission distance Up to 50m 164 04ft Note 1 It can be used by combining with Q172DEX Note 2 When o ring is required please purchase separately by customers Connecting cable Note 3 If it exceeds a permitted speed at power OFF a position displacement is generated
140. lso an abnormal operation may be performed if an external power supply fault or Motion controller failure takes place To prevent any of these abnormal operations from leading to the abnormal operation of the whole system and in a fail safe viewpoint areas which can result in machine breakdown and accidents due to abnormal operations e g emergency stop protective and interlock circuits should be constructed outside the Multiple CPU system 2 Emergency stop circuit The circuit should be constructed outside of the Multiple CPU system or servo amplifier Shut off the power supply to the external servo amplifier by this circuit make the electromagnetic brakes of the servomotor operated 3 Forced stop circuit a The forced stop of all servo amplifiers is possible in a lump by using the EMI forced stop input of Motion CPU modules After forced stop the forced stop factor is removed and the forced stop canceled The servo error detection signal does not turn on with the forced stop The EMI forced stop input cannot be invalidated in the parameter setting of system setting Make the forced stop input cable within 30m 98 43ft The wiring example for the EMI forced stop input of Motion CPU module is shown below Q61P QnUD H Q170D CPU CPU EMI COM Q Forced stop Note The EMI forced stop input can be invalidated in the system settings Note 1 Both of positive common and negative
141. ltage output open collector type and differential output type Since these types differ in connection method design according to the connection method of section 2 4 6 5 In addition the usable numbers of manual pulse generator which can be used with each CPU modules are up to 3 modules Motion CPU module Manual pulse generator Q173DCPU Up to 3 modules Q172DCPU Up to 1 module 2 SYSTEM CONFIGURATION 4 Connection of incremental synchronous encoder Incremental synchronous encoders are available in voltage output Open collector type and differential output type Since these types differ in connection method design according to the connection method of section 2 4 6 5 Serial absolute synchronous encoder Q170ENC not connected to Q173DPX Then connect to Q172DEX In addition the usable numbers of synchronous encoders differ depending on the modules The following number of serial absolute synchronous encoders and incremental synchronous encoders combined can be used Motion CPU module Synchronous encoder Up to 12 modules Q173DCPU Q173DPX Up to 4 modules Up to 8 modules Q172DCPU Q173DPX Up to 3 modules e Tracking enable signal Tracking enable signal of Q173DPxX is used to start the input from incremental synchronous encoders The external input signal of the incremental synchronous encoder is indicated below This signal is used as the input start signal or high speed reading function from incremental
142. ltiple CPU system and servo amplifier Do not see directly the light generated from SSCNETII connector of Motion CPU module or servo amplifier and the end of SSCNETII cable When the light gets into eye may feel something is wrong for eye The light source of SSCNETI cable complies with class1 defined in JISC6802 or IEC60825 1 When exchanging the servo amplifier or Motion CPU module make sure to put a cap on SSCNETI connector When asking repair of servo amplifier or Motion CPU module for some troubles make also sure to put a cap on SSCNETI connector When the connector is not put a cap the light device may be damaged at the transit In this case exchange and repair of light device is required 3 Cable specifications a MR J3BUSOM Model name MR J3BUS015M MR J3BUS03M MR J3BUSO5M MR J3BUS1M MR J3BUS3M Cable length m ft 0 15 0 49 0 3 0 98 0 5 1 64 1 3 28 3 9 84 MR J3BUSOIM A Model name MR J3BUS5M A MR J3BUS10M A MR J3BUS20M A Cable length m ft 5 16 40 10 32 81 20 65 62 c MR J3BUSOM B Model name MR J3BUS30M B MR J3BUS40M B MR J3BUS50M B Cable length m ft 30 98 43 40 131 23 50 164 04 2 SYSTEM CONFIGURATION 4 Setting of the axis No and axis select switch of servo amplifier Axis No is used to set the axis numbers of servo amplifiers connected to SSCNETI connector CND in the program Axis No of 1 to 32 can be set for Q173DCPU and axis No of 1 to 8 can be set for Q1
143. ly Input module e Drive by a limit switch with neon lamp AC input Leakage Power supply e Leakage current due to line capacity of wiring cable Line capacity C of twisted pair wire is approx 100 pF m AC input Leakage rent Input module Power supply e Drive by switch with LED indicator DC input plus common Leakage current Input module e Connect an appropriate resistor which will make the voltage across the terminals of the input module lower than the OFF voltage value AC input c p Input module lt Q It is recommended to use 0 1 to 0 47 uF 47 to 120 IQ 1 2W for the CR constant Same as Example 1 e Provide an independent display circuit separately e Same as Example 1 However leakage current is not generated when the power supply is located in the input equipment side as shown below AC input Input module _ Power supply e Connect a register which will make the voltage between the input module terminal and common lower than the OFF voltage value as shown below DC input plus common Resistor Input module Note 1 A calculation example of a value for a connected resistor is given on the following page 6 INSPECTION AND MAINTENANCE Input Circuit Troubleshooting and Corrective Action Continued Condition Cause Coective action e Sneak path due to the use of two power e Use only one power supply supplies e
144. n CPU module purchase Be sure to install the operating system software to be used before a system start Refer to Section 2 4 8 4 Z CAUTION When using a regenerative resistor shut the power OFF with an error signal The regenerative 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 using MT Developer 1 Multiple CPU setting 2 Automatic refresh setting 3 System setting Parameter setting PLC parameter setting Set the parameter setting using GX Developer 5 TRIAL OPERATION AND ADJUSTMENT 1 Note An error may occur if the power is turned on before system setting In the case reset the Turn ON power supply again Multiple CPU system after system setting Turn ON again the power supply or reset Refer to the Q173DCPU Q172DCPU Motion of Multiple CPU system controller Programming Manual COMMON at the system setting error occurrence 4 Check external inputs toQ172DLX lr Refer to Section 2 4 4 Check the wiring of following external inputs by monitoring of MT Developer 1 FLS Upper stroke limit input 2 RLS Lower stroke limit input 3 STOP Stop signal Check external inputs toQ172
145. nal block more than 50 times after the first use of the product Failure to do so may cause the module to malfunction due to poor contact of connector Do not drop or impact the battery installed to the module Doing so may damage the battery causing battery liquid to leak in the battery Do not use the dropped or impacted battery but dispose of it Before touching the module always touch grounded metal etc to discharge static electricity from human body Failure to do so may cause the module to fail or malfunction Do not directly touch the module s conductive parts and electronic components Touching them could cause an operation failure or give damage to the module In order that you can use the Motion controller in normal and optimal condition at all times this section describes those items that must be maintained or inspected daily or at regular intervals 6 INSPECTION AND MAINTENANCE nl 6 1 Maintenance Works 6 1 1 Instruction of inspection works In order that can use the Motion controller in safety and normal those items that must be inspected list below AN DANGER Never open the front case or terminal covers while the power is ON or the unit is running as this may lead to electric shocks Never run the unit with the front case or terminal cover removed The high voltage terminal and charged sections will be exposed and may lead to electric shocks Never remove the front case or terminal cover at times oth
146. nput e Use a EMI terminal of Motion CPU module e Use a device set in the forced stop input setting of system setting d Forced stop input for EMI terminal of Motion CPU module cannot be invalidated by the parameter When the device set in the forced stop input setting is used without use of EMI terminal of Motion CPU module apply 24VDC voltage on EMI terminal and invalidate the forced stop input of EMI terminal e Be sure to use the cable for forced stop input sold separately The forced stop cannot be released without using it f When the operation cycle is 0 4 ms set the system setting as the axis select switch of servo amplifier 0 to 7 If the axis select switch of servo amplifier 8 to F is set the servo amplifiers are not recognized g When a Multiple CPU system is configured make sure to configure the modules so that the total current consumption of individual modules on the main base does not exceed the 5VDC output capacity of power supply module Refer to Section 2 4 2 3 Selection of the power supply module h Itis impossible to mount the main base unit by DIN rail when using the Motion CPU module Doing so could result in vibration that may cause erroneous operation i The module name displayed by System monitor Product information list of GX Developer is different depending on the function version of Motion modules Q172DLX Q172DEX Q173DPX Note Even if the function version C is di
147. ntact with wires cables that use materials where the plasticizing material is contained 1 Check that the lead connector of Q6BAT is connected to the connector BATTERY correctly 2 Check that the mounting orientation is correct i Do not mount it downward Battery holder unit Q170DBATC 3 Check that the battery cable is connected correctly 4 Check for looseness rattling or distorted mounting 5 Check that the module fixing screw tightening torque is as DE ied Check that the amplitude eccentricity and axial Kies relative to the machine side rotary shaft are within the permissible values Serial absolute synchronous K 7 5 2 Check that a flexible coupling is used for coupling with the encoder unit Q170ENC machine side rotary shaft 3 Check that the damage for units 4 Check that the forcible impact is given on modules 5 TRIAL OPERATION AND ADJUSTMENT 5 2 Trial Operation and Adjustment Procedure PLC CPU Motion CPU A Motion CPU v A Servo amplifier L A PLC CPU Motion CPU v A Motion CPU v PLC CPU v Servo start up procedure Turn OFF Multiple CPU system power supply Check that the power supply of Multiple CPU system is OFF Check wiring and module installation 1 Check the installation position and condition of each modules The mode indicated in th
148. ntroller or servo amplifier When using the CE Mark compliant equipment refer to the EMC Installation Guidelines data number IB NA 67339 for the Motion controllers and refer to the corresponding EMC guideline information for the servo amplifiers inverters and other equipment Use the units with the following conditions Q61P A1 Q61P A2 Q61P Q62P Q63P Q64P 100 to 120VAC 10 200 to 240VAC 1 100 to 240VAC 10 24VDC 8 100 to 120vAC 710 15 15 15 35 15 10 200 to 240VAC 15 85 to 132VAC 170 to 264VAC 85 to 264VAC 15 6 to 31 2VDC 85 to 132VAC 170 to 264VAC Input frequency 50 60Hz 5 20ms or less power failure 7 Corrective actions for errors Z CAUTION if an error occurs in the self diagnosis of the Motion controller or servo amplifier confirm the check details according to the instruction manual and restore the operation if a dangerous state is predicted in case of a power failure or product failure use a servomotor with electromagnetic brakes or install a brake mechanism externally Use a double circuit construction so that the electromagnetic brake operation circuit can be operated by emergency stop signals set externally Shut off with the Shut off with servo ON signal OFF emergency stop alarm electromagnetic brake signal signal EMG Servomotor Electro magnetic brakes If an error occurs remove the cause secure the safety and t
149. ocks Do not touch the built in power supply built in grounding or signal wires of the Motion controller and servo amplifier as this may lead to electric shocks 2 For fire prevention Z CAUTION Install the Motion controller servo amplifier servomotor and regenerative resistor on incombustible Installing them directly or close to combustibles will lead to fire if a fault occurs in the Motion controller or servo amplifier shut the power OFF at the servo amplifier s power source If a large current continues to flow fire may occur When using a regenerative resistor shut the power OFF with an error signal The regenerative resistor may abnormally overheat due to a fault in the regenerative transistor etc and may lead to fire Always take heat measures such as flame proofing for the inside of the control panel where the servo amplifier or regenerative resistor is installed and for the wires used Failing to do so may lead to fire Do not damage apply excessive stress place heavy things on or sandwich the cables as this may lead to fire 3 For injury prevention Z CAUTION Do not apply a voltage other than that specified in the instruction manual on any terminal Doing so may lead to destruction or damage Do not mistake the terminal connections as this may lead to destruction or damage Do not mistake the polarity as this may lead to destruction or damage Do not touch the heat rad
150. of the memory SRAM supplied by the manufacturer and under the storage ambient temperature range of 25 C to 75 C 13 to 167 F operating ambient temperature of 0 C to 55 C 32 to 131 F Note 4 The guaranteed value TYP equivalent to the total power failure time that is calculated based on the normal air conditioned environment 40 C 104 F Note 5 The actual service value Reference value equivalent to the total power failure time that is calculated based on the measured value and under the storage ambient temperature of 25 C 77 F This value is intended for reference only as it varies with characteristics of the memory Note 6 In the following status the backup time after power OFF is 3 minutes e The battery connector Q6BAT lead connector is disconnected e The battery cable lead wire of Q6BAT is broken Note 7 Set the battery Q6BAT to battery holder unit Q170DBATC 6 INSPECTION AND MAINTENANCE WE 1 Do not use the battery exceeding its guaranteed life 2 When the battery hours total power failure time may exceed its guaranteed value take the following measure e Perform ROM operation to protect a program even if the battery dies at the Multiple CPU system power OFF e If SM51 or SM52 turns on the contents of programs parameters and absolute position data cannot be guaranteed It is recommended to back up the battery periodically 3 When the battery low special relay SM52 turns on
151. on Execution Executed ops External Execute when input ON is set among interrupt module QI60 task interrupt 16 points masked PLC interrupt Execute with interrupt instruction D P GINT from PLC CPU Execute when input ON is set among interrupt module QI60 16 points NMI task 7 Selection of Q172DEX Q173DPX Synchronous encoder Item Manual pulse generator Serial absolute Incremental Q173DCPU 12 modules 3 modules Q172DCPU Module selection Q172DEX Q173DPX 2 SYSTEM CONFIGURATION 2 4 2 Power supply module 1 Table of the power supply module specifications This section describes the power supply modules specifications Q61P A1 Q61P A2 Q61P Q62P Base loading position Q series power supply module loading slot Applicable base unit Q38DB Q312DB Q63B Q65B Q68B Q612B 100 to 120VAC 200 to 240VAC EEN Input power supply 10 15 10 15 eats ae ES 85 to 132VAC 170 to 264VAC Max input apparent power 5VDC Rated output current 2avoe fA External output voltage LL ADA Overvoltage 5VDC 5 5 to 6 5V protection Note 2 GE Allowable momentary power failure time Note 3 20ms or less Dielectric withstand voltage Across inputs LG and outputs FG 2 830VAC rms 3 cycles Altitude 2000m 6561 68ft Across inputs and outputs LG and FG separated across inputs and LG FG across outputs and LG FG 10M2 or more by insulation resistance tester 500VDC Noise immunit e By noise simulator of 1 5
152. onnection Voltage output type open collector type HPSELO SG connection Differential output type Switching is possible for each input 1 to 3 2 Voltage output open collector type Connect the A phase signal to HA1P HA2P HA3P and the B phase signal to HB1P HB2P HB3P 3 Differential output type Connect the A phase signal to HA1P HA2P HAS3P and the A phase inverse signal to HA1N HA2N HA3N Connect the B phase signal to HB1P HB2P HB3P and the B phase inverse signal to HB1N HB2N HB3N 4 Connect the shield cable between manual pulse generator incremental synchronous encoder and Q173DPxX at the FG signal 5 Connector terminal block conversion modules cannot be used 2 SYSTEM CONFIGURATION el Manual pulse generator phase A b Interface between PULSER connector and manual pulse generator Differential output type Incremental synchronous encoder Interface between Manual pulse generator Differential output type Incremental synchronous encoder PULSER connector Voltage Output type Manual pulse generator phase B Wiring example Manual pulse generator synchronous encoder Internal circuit Select type signal HPSELO Note 2 ps Note Note 1 Note 2 Power supply 5VDC Specification e Rated input voltage 5 5VDC or less e HIGH level 2 0 to 5 25VDC e LOW level 0 8VDC or less 26LS31 or equivalent Description For connect
153. onnector BAT Do not hold lead wire Connector for battery side 4 CPU connector CPU wv Battery holder unit Q170DBATC b Connection of the battery cable e For connection of a connector to the Motion CPU module connect it surely to the battery connector BAT of Motion CPU module while holding a connector Be sure to insert it until it clicks e For connection of a connector to the battery holder unit connect it surely to the CPU connector CPU of battery holder while holding a connector Be sure to insert it until it clicks 4 INSTALLATION AND WIRING c Removal of the battery cable e For removal of the battery cable pull out it while holding a connector 2 Handling the battery lead wire a Precautions for handling the battery lead wire e For connection or removal of the battery lead wire do it surely while holding a battery lead connector Do not hold lead wire en y Battery lead wire Q6BAT Battery holder unit Q170DBATC b Connection of the battery lead wire e For connection of a battery Q6BAT to the battery holder unit connect it surely to a connector BATTERY of battery holder unit while holding a battery lead connector Be sure to insert it until it clicks c Removal of the battery lead wire e For removal of the battery lead wire pull out it while holding a battery lead connector 1 Forcibly removal the battery cable or batter
154. or more when the adjacent module is not removed and the extension cable is connected 4 INSTALLATION AND WIRING e Bundle fixing Optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius and it should not be twisted When laying cable fix and hold it in position with using cushioning such as sponge or rubber which does not contain plasticizing material Z E Base unit Motion controller y pn y Control panel gt Code Loose slack Bundle material Recommended product NK clamp SP type NIX INC gt Cable 4 INSTALLATION AND WIRING MEMO 26 5 TRIAL OPERATION AND ADJUSTMENT nl 5 TRIAL OPERATION AND ADJUSTMENT 5 1 Checklist before Trial Operation Table 5 1 Checklists before Trial Operation Confirmation Items 1 Check that the main base unit is Q38DB or Q312DB fo 243 2 Check that the model name of module is correct 2 2 3 Check that the installation order is correct 4 Check that the damage for installed modules Main base unit 5 Check that the modules are installed correctly Extension baseunit 6 Check for looseness rattling or distorted installation 7 Check that the module fixing screw tightening torque is as specified Refer
155. otary switch setting change 2 SYSTEM CONFIGURATION 5 Basic specifications of Q173DCPU Q172DCPU a Module specifications Internal current consumption 5VDC A Mass kg Exterior dimensions mm inch 98 3 85 H X 27 4 1 08 W X 119 3 4 69 D 6 SV13 SV22 Motion control specifications performance specifications a Motion control specifications Q173DCPU Q172DCPU Number of control axes Up to 32 axes Up to 8 axes 0 44ms 1 to 6 axes 0 44ms 1 to 6 axes SV13 0 88ms 7 to 18 axes 0 88ms 7 to 8 axes 1 77ms 19 to 32 axes Operation cycle 0 44ms 1 to 4 axes default SV22 0 88ms 5 to 12 axes 0 44ms 1 to 4 axes 1 77ms 13 to 28 axes 0 88ms 5 to 8 axes 3 55ms 29 to 32 axes 3 Linear interpolation Up to 4 axes Circular interpolation 2 axes Interpolation functions rene Helical interpolation 3 axes PTP Point to Point control Speed control Speed position control Fixed pitch feed Control modes Constant speed control Position follow up control Speed control with fixed position stop Speed switching control High speed oscillation control Synchronous control SV22 Acceleration Automatic trapezoidal acceleration deceleration deceleration control S curve acceleration deceleration Backlash compensation Electronic gear Phase compensation SV22 Programming language Motion SFC Dedicated instruction Mechanical support language SV22 Servo program capacity 14k steps Number of positioning
156. otion CPU module by using the peripheral device and MT Developer The installation procedure is shown below START Set a rotary switch1 SW1 of Motion CPU modile O AE S eege Set to installation mode Rotary switch 2 SW2 is optional Refer to Section 2 4 1 3 for rotary switch Shipped from the factory in SW1 A SW2 0 position y Turn ON the Multiple CPU system Steady INS display power supply RUN STOP switch is ignored A Install the operating system software using MT Developer y Turn OFF the Multiple CPU system power supply v Set a rotary switch1 SW1 and switch2 _______ SW2 of Motion CPU module to 0 pablo mode operated By RABE y END POINTS 1 The operating system software was not installed at the time of Motion CPU module purchase Be sure to install the operating system software to be used before a system start Be sure to change a rotary switch after turning off the power supply Even if the operating system software is installed the programs parameters and absolute position data written in the Motion CPU module does not be rewritten Do not turn off the power supply during installation Doing so could result damage the Motion CPU module 5 When the operating system software is installed at set the multiple Motion CPU modules not installed in one base unit be sure to set to installation mode set a rotary switch1
157. out 10 seconds to initialize RUN STOP display Normal operation Mode to install the operating system software via personal computer Mode to operate based on the user programs and parameters stored in the SRAM built in Motion CPU module Mode to operate after the user programs and parameters stored in the FLASH ROM built in Motion CPU are read to the SRAM built in Motion CPU Stopped the Motion SFC program Executed the Motion SFC program Displayed at battery voltage 2 7V or less Refer to Section 6 5 External Battery Displayed at battery voltage 2 5V or less Refer to Section 6 5 External Battery It becomes the status of installation mode when the operating system software is not installed System setting error of the Motion CPU Refer to the Q173DCPU Q172DCPU Motion controller Programming Manual COMMON for details Servo error of the Motion CPU Refer to the Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual REAL MODE or Q173DCPU Q172DCPU Motion controller SV22 Programming Manual VIRTUAL MODE for details HAN fault or S W fault Refer to the Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual REAL MODE or Q173DCPU Q172DCPU Motion controller SV22 Programming Manual VIRTUAL MODE for details 2 SYSTEM CONFIGURATION 7 segment LED AL flashes 3 times l Steady A1 display Self diagnostic error l 4 digits error code is idisplayed
158. ower on and the electromagnetic brake circuit for servomotors Layout design within control panel P z Refer to section 3 3 Layout design based on the design environment such as temperatures and vibrations in consideration of heat generated from modules and handling of module installation A CAUTION Provide appropriate circuits external to the Motion CPU to prevent cases where danger may result from abnormal operation of the overall system in the event of an external power supply fault or Motion CPU failure Mount the Motion controller servo amplifier servomotor and regenerative resistor on incombustible Mounting them directly or close to combustibles will lead to fire If a fault occurs in the Motion controller or servo amplifier shut the power OFF at the servo amplifier s power source If a large current continues to flow fire may occur When using a regenerative resistor shut the power OFF with an error signal The regenerative resistor may abnormally overheat due to a fault in the regenerative transistor etc and may lead to fire Always take heat measures 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 fire Do not apply a voltage other than that specified in the instruction manual on any terminal Doing so may lead to destruction or damage Do not mistake the polarity
159. owing abbreviations are used Generic term Abbreviation QIZSDCPUQI7ADCPU er Q173DCPU Q172DCPU Motion CPU module Motion CPU module Q172DLX Servo external signals interface module SE PE Q172DEX Serial Synchronous encoder interface module SE Q173DPX Manual pulse generator interface module MR J3 00B Servo amplifier model MR J3 OB AMP or Servo amplifier General name for Servo amplifier model MR J3 LB DEE PLC CPU or PLC CPU module QnUD H CPU Multiple CPU system or Motion system CPU system or Motion system Abbreviation for Multiple PLC system of the Q series FT NE ea for CPU No n n 1 to 4 of the CPU module for the Multiple CPU system Self CPU Motion CPU being programmed by the currently open MT Developer project Programming software package General name for MT Developer GX Developer MR Configurator Operating system software General name for SW8DNC SVDQD SV13 Operating system software for conveyor assembly use Motion SFC SW8DNC SV13Q0 BIEN Operating system software for automatic machinery use Motion SFC SW8DNC SV22Q0 MT Devel Abbreviation for Motion controller programming software SE MT Developer Version 1 00A or later Abbreviation for MELSEC PLC programming software package CX Developer GX Developer Version 8 48A or later Abbreviation for Servo setup software package MI Configurator MR Confi EE Version CO or later Manual pulse generator or MR HDP01 Abbreviation for Manual pulse generator Ab
160. oximity dog input point points O selection Speed switching input point points O Module Tracking enable signal point pmts O O selection Q172DLX Q172DEX Q173DPX Motion CPU module Main base unit UO module intelligent function module installed to d modules selection main base Main base unit selection Extension base unit modules installed to extension base and extension cable Distance between Main base andextensionbase mm O selection Extension base unitselecion O Extension cable selection _ O Avoidance of operation failure at power on oO Fre Fail safe circuit design circuit design Avoidance of hazard at Motion controller failure Dsg Conformance with general specifications such as ambient ES temperature humidity dust etc Total power consumption of base unit pw pn Module layout design Calculate the heating value Layout in consideration of clearances between enclosure s inside EN walls other structures and modules and heats generated by modules within the control panel 4 INSTALLATION AND WIRING 4 INSTALLATION AND WIRING 4 1 Module Installation 4 1 1 Instructions for handling Z CAUTION Use the Motion controller in an environment that meets the general specifications contained in this manual Using this Motion controller in an environment outside the range of the general specifications could result in electric shock fire operation failure and damage to or deterio
161. program specified in the intelligent function module s instruction manual for the program corresponding to the intelligent function module 3 Transportation and installation A CAUTION Transport the product with the correct method according to the mass Use the servomotor suspension bolts only for the transportation of the servomotor Do not transport the servomotor with machine installed on it Do not stack products past the limit When transporting the Motion controller or servo amplifier never hold the connected wires or cables When transporting the servomotor never hold the cables shaft or detector When transporting the Motion controller or servo amplifier never hold the front case as it may fall off When transporting installing or removing the Motion controller or servo amplifier never hold the edges Install the unit according to the instruction manual in a place where the mass can be withstood Do not get on or place heavy objects on the product Always observe the installation direction Keep the designated clearance between the Motion controller or servo amplifier and control panel inner surface or the Motion controller and servo amplifier Motion controller or servo amplifier and other devices Do not install or operate Motion controller servo amplifiers or servomotors that are damaged or that have missing parts Do not block the intake outtake ports of the Motion controller servo amp
162. r and external equipment Wiring example Internal circuit Specification Description SY ENC connector gt Transmission method Serial serial communications absolute Position detection synchronous method absolute 10 18 19 20 123 1112 TREN Note e e TREN COM Note 12VDC to 24VDC Note As for the connection to power line TREN TREN COM both and are possible Z CAUTION Always use a shield cable for connection of the SY ENC connector and external equipment and avoid running it close to or bundling it with the power and main circuit cables to minimize the influence of electromagnetic interface Separate them more than 200mm 0 66 ft away Connect the shield wire of the connection cable to the FG terminal of the external equipment When increasing the cable length use the cable 50m 164 04ft or less Note that the cable should be run in the shortest possible distance to avoid induced noise Always wire the cables when power is off Not doing so may damage the circuit of modules Wire the cable correctly Wrong wiring may damage the internal circuit 2 SYSTEM CONFIGURATION 6 Details of encoder cable connections H i H Note 1 a When not using tracking enable signal io SY ENC side connector Synchronous encoder side connector plug
163. r on the shaft so that the rotary parts of the servomotor are not touched during operation There may be some cases where holding by the electromagnetic brakes is not possible due to the life or mechanical structure when the ball screw and servomotor are connected with a timing belt etc Mount a stopping device to ensure safety on the machine side 3 DESIGN 3 2 External Circuit Design As to the ways to design the external circuits of the Motion system this section explains the method and instructions for designing the power supply circuits and safety circuits etc 1 Sample system circuit design for motion control 1 3 phase 200 220VAC Power Supply PLC CPU Motion CPU Input module Output module Servo external o S Lu Q61P A2 QnUD H CPU Q173DCPU signals interface R T e Q172DCPU QX40 QY10 module Dal 200VAC Forced stop Note 1 SC Q172DX Les EMI COM wen OFLS1 Servo normal output EM O Servo normal ON Alarm OFF _9 poe CHANGE8 m O COM Number of inputs 8 axes module FLS1 E DOG8 1 CHANGER CP2 Keck 24VDC 24V0 M i cae A Power M s supply 24GO AA A m 3 D a bd J lt i me Ss EMG Ee ea ene a iit Se Se Ben SS ee EI i Operation Ready CP3 Ra1 OFF ON A Oo OG alo a Llo oO o Mo it MC
164. r to prevent that state use a servomotor with electromagnetic brakes for maintenance or mount a brake mechanism externally Use a double circuit construction so that the electromagnetic brake operation circuit can be operated by emergency stop signals set externally Shut off with the Shut off with servo ON signal OFF emergency stop alarm electromagnetic brake signal signal EMG Servomotor RA1 EMG o o_Y_o lt Electromagnetic brakes if an error occurs remove the cause secure the safety and then resume operation after alarm release The unit may suddenly restart after a power failure is restored so do not go near the machine Design the machine so that personal safety can be ensured even if the machine restarts suddenly Confirm and adjust the program and each parameter before operation Unpredictable movements may occur depending on the machine Extreme adjustments and changes may lead to unstable operation so never make them Do not apply a voltage other than that specified in the instruction manual on any terminal Doing so may lead to destruction or damage Do not mistake the terminal connections as this may lead to destruction or damage Do not mistake the polarity as this may lead to destruction or damage Do not touch the heat radiating fins of controller or servo amplifier regenerative resistor and servomotor etc while the power is ON and for a short time after the power is
165. ration of the product While pressing the installation lever located at the bottom of module insert the module fixing tab into the fixing hole in the base unit until it stops Then securely install the module with the fixing hole as a supporting point Incorrect installation of the module can cause an operation failure failure or drop When using the Motion controller in the environment of much vibration tighten the module with a screw 4 Tighten the screw in the specified torque range Under tightening may cause a drop short circuit or operation failure Over tightening may cause a drop short circuit or operation failure due to damage to the screw or module Be sure to connect the extension cable to connectors of the base unit correctly After connecting check them for looseness Poor connections could cause an input or output failure 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 Do not install remove the module onto from base unit or terminal block more than 50 times after the first use of the product Failure to do so may cause the module to malfunction due to poor contact of connector Do not directly touch the module s conductive parts and electronic components Touching them could cause an operation failure or give damage to the module This section describes instructions for handling t
166. recommended Low battery alarm Lamp or buzzer OFF at ERR contact OFF stop error occurrence r 1 ERR vc IO t EE Ch output module MC MC 1 O 6 is as follows When DC power is established RA2 goes ON 4 Timer TM times out after the DC power reaches 100 The TM set value should be the period of time err by ERR contact OFF Power OFF of equipment In the case of an emergency stop ora stop caused by a limit switch from when RA2 goes ON to the establishment of 100 DC voltage Set this value to approximately 0 5 seconds 5 Turn ON the start switc h 6 When the magnetic contactor MC comes on the output equipment is powered and may be driven by the program If a voltage relay is used at RA2 no timer TM is required in the program 3 7 3 DESIGN 3 2 1 Power supply circuit design This section describes the protective coordination and noise suppression techniques of the power supply circuit 1 Separation and protective coordination leakage current protection over current protection of power supply lines Separate the lines for Multiple CPU system power supplies from the lines for I O devices and servo amplifiers as shown below When there is much noise connect an insulation transformer Main power PLC power e supply supply r as gt Multiple CPU 100 200VAC O MV O oO NFB CP system l UO power k Ft supply ZZ
167. rless terminals can be connected per terminal block Terminal block Solderless terminals with insulation sleeves 2 Ensure that the earth terminals LG and FG are grounded Ground resistance 100 or loss Since the LG terminal has a half of the input voltage touching this terminal may result in an electric shock 3 No system error can be detected by the ERR terminal of an extension base unit The ERR terminal is always set off 4 INSTALLATION AND WIRING 4 4 3 Precautions of SSCNETIL cable wiring SSCNETII cable is made from optical fiber If optical fiber is added a power such as a major shock lateral pressure haul sudden bending or twist its inside distorts or breaks and optical transmission will not be available Especially as optical fiber for MR J3BUSOM MR J3BUSOIM A is made of synthetic resin it melts down if being left near the fire or high temperature Therefore do not make it touched the part which becomes high temperature such as radiator or regenerative brake option of servo amplifier Be sure to use optical fiber within the range of operating temperature described in this manual Read described item of this section carefully and handle it with caution 1 Minimum bend radius Make sure to lay the cable with greater radius than the minimum bend radius Do not press the cable to edges of equipment or others For SSCNET cable the appropriate length should be selected with due considera
168. ront the Q172DEX ron Install a new battery into the holder in the correct direction Connect the lead Hr Eg d O IHSISASLIN Y AMSLiva wmnun connector to the connector BATTERY Encoder cable Install the Q172DEX to the base unit Z Battery Connector A6BAT MR BAT BATTERY Connect the encoder cable to the Q172DEX Turn on the Multiple CPU system power supply 6 INSPECTION AND MAINTENANCE WE 6 5 3 Resuming operation after storing the Motion controller When the operation is to be resumed after being stored with the battery removed or the battery has gone flat during storage the contents of programs parameters absolute position data and latch data cannot be guaranteed Before resuming operation write the contents of programs parameters absolute position data and latch data backed up prior to storage to SRAM built in Motion CPU module Before storing the Motion controller always back up the contents of programs parameters absolute position data and latch data to SRAM built in Motion CPU module 6 INSPECTION AND MAINTENANCE nl 6 6 Troubleshooting This section describes the various types of trouble that occur when the system is operated and causes and corrective actions of these troubles 6 6 1 Troubleshooting basics The basic three points that must be followed in the troubleshooting are as follows 1 Visual inspection Visuall
169. splayed it does not correspond to the online module change Model display Module name Q172DLX Q172LX Q172DLX Q172DEX MOTION UNIT Q172DEX Q173DPX MOTION UNIT Q173DPX 2 SYSTEM CONFIGURATION 2 2 System Configuration Equipment Part name Motion CPU module Servo external signals interface module Synchronous encoder interface module Manual pulse generator interface module PLC CPU module Note 2 Power supply module Main base unit Extension base unit Extension cable Serial absolute 1 Table of Motion controller related module Current Description consumption Remark 5VDC A Up to 32 axes control Operation cycle 0 44 ms or more Attachment battery holder unit and battery Q6BAT Up to 8 axes control Operation cycle 0 44 ms or more Attachment battery holder unit and battery Q6BAT Model name De 0 25 19 38 20 Q173DCPU Q172DCPU Servo external signal input 8 axes QIZDI FLS RLS STOP DOG CHANGE x8 Serial absolute synchronous encoder Q170ENC interface X 2 Q172DEX GN f Tracking input 2 points Manual pulse generator MR HDP01 Incremental synchronous encoder Q173DPX interface x 3 Tracking input 3 points QO3UDCPU Q04UDHCPU QO6UDHCPU Q61P A1 Q61P A2 op Q62P Q63P Program capacity 30k steps LD instruction processing speed 20 ns Program capacity 40k steps LD instruction processing speed 9 5 ns 0 39 a Program capacity 60k steps
170. ss Microsoft Windows Vista Ultimate Microsoft Windows Vista Enterprise Microsoft Windows XP Professional Service Pack 2 or later Microsoft Windows XP Home Edition Service Pack 2 or later Microsoft Windows 2000 Professional Service Pack 4 or later Desktop PC Recommended Intel Celeron Processor 2 8GHz or more ee N T PC Recommended Intel Pentium Processor M 1 7GHz or more Recommended 512MB or more 512MB or more Card compatible with Microsoft DirectX 9 0c or later capacity Operation Virtual omen 50MB or more Note 1 Microsoft Windows and DirectX are either registered trademarks or trademarks of Microsoft Corporation in the United States and or other countries Note 2 Intel Celeron and Pentium are trademarks of Intel Corporation in the U S and other countries 2 16 2 SYSTEM CONFIGURATION 6 Related software packages a PLC software package GX Developer SW8D5C GPPW E b Servo set up software package MR Configurator MRZJW3 SETUP221E POINTS 1 When the operation of Windows is not unclear in the operation of this software refer to the manual of Windows or guide book from the other supplier 2 The following functions cannot be used when the computer is running under Windows Vista Windows XP or Windows 2000 This product may not perform properly when these functions are used lt Windows Vista Windows XP gt e Activating the application with Windows
171. stalled If the CPU I O or power supply looseness and rattling solidly module is loose fix it with Screws Check visually le Remove and clean be present oosengss Of terminal Tey to turner tighten screws witha Screws must not be loose Retighten the terminal screws screws screwdriver Proximity of solderless Solderless terminals must be d Check visually Si Correct terminals to each other positioned at proper intervals peice Check visually Connectors must not be loose EE connectors screws Check the 7 segment LED at the Must be turned OFF BT1 or Even if the lowering of a battery front side of CPU module BT2 display capacity is not shown replace the battery with a new one if a Check the length of term after Must not be used more than 5 service life time of the battery is purchasing the battery years exceeded Check that SM51 or SM58 is turned OFF using MT Developer in Must be turned OFF monitor Replace the battery with a new one when SM51 or SM58 is ON 6 INSPECTION AND MAINTENANCE WE 6 4 Life The following parts must be changed periodically as listed below However if any part is found faulty it must be changed immediately even when it has not yet reached the end of its life which depends on the operating method and environmental conditions For parts replacement please contact your sales representative Table 6 3 Life Life guideline Motion CPU module Super capacitor Life g
172. synchronous encoder External input signal of the It Number of points on em incremental synchronous encoder one Q173DPX Input start function from incremental Each 1 point Tracking enable signal input synchronous encoder Total 3 points 2 SYSTEM CONFIGURATION 5 Connection of manual pulse generator interface module a The pin layout of the PULSER connector Use the PULSER connector at the Q173DPX module front to connect the manual pulse signals incremental synchronous encoder signals The following pin layout of the Q173DPX PULSER connector viewed from the front The pin layout and connection description of the PULSER connector are described below PULSER connector Pin No Signal Name Pin No Signal Name HA1 2 SG od HPSEL1 5 1 oo n HA1P oo 3 UU HB1P oo HA2 zer DH DH SG oo HPSEL2_ 1 DH H HA2P 3 HB2P DD oo HA3 s oo SG oo HPSEL3 1 og oo HA3P 3 DU HB3N HB3P oo No connect No connect o TREN1 TREN1 TREN2 TREN2 TREN3 FG 4 Applicable connector model name A6CON1 type soldering type connector FCN 361J040 AU connector FUJITSU TAKAMISAWA Attachment COMPONENT LIMITED FCN 360C040 B connector cover A6CONZ type Crimp contact type connector A6CONS type Pressure displacement type connector Optional 1 Input type from manual pulse generator incremental synchronous encoder switched by HPSELO Not c
173. t are required or not Select I O modules according to the specifications of the external Refer to MELSEC Q equipment to be controlled series manual Refer to section 2 4 4 Select the main base unit extension base units extension power Refer to section 2 4 5 supply module and extension cables and make I O assignment according to necessary number of Q172DLX s Q172DEX s Refer to section 2 4 6 Q173DPX s QXO s QYL s and the number of I O modules Select the servo amplifier and servo motor according to the motor Refer to the servo capacity and number of revolution from the machine mechanism to be amplifier manual controlled each axis Refer t tion 2 4 8 Set the servo amplifier connection by SSCNET II and axis numbers A eee dno and axis No 3 DESIGN Refer to section 3 2 External circuit design Power supply circuit design Design the power supply circuit which supplies power to such system Refer to section 3 2 1 components as the Motion controller I O equipment and servo amplifiers etc taking into consideration the protective coordination and noise suppression techniques Safety circuit design d eg Refer to section 3 2 2 Design the operation ready circuit which stops the system at occurrence of any alarm such as a Motion controller or servo amplifier alarm or the emergency stop the circuit which avoids a malfunction while power is unstable at p
174. t name Model name Description Remark O Patrame Wess pennen 5VDCIA oc Remar ac Jonn 100 120VAG 7 8mA 16 points Terminal block a E 24VDC 4mA Positive common 16 points Terminal block 0 075 QX41 24VDC 4mA Positive common 32 points Connector Ve TYP All points ON 0 09 Note 2 Qx42 24VDC 4mA Positive common 64 points Connector TYP All points ON ax70 12VDC 5V Positive common Negative common shared 0 055 16 points Terminal block TYP All points ON on 12VDC 5V Positive common Negative common shared 0 07 32 points Terminal block TYP All points ON Qx72 12VDC 5V Positive common Negative common shared 0 085 64 points Terminal block TYP All points ON 0 05 QX80 24VDC 4mA Negative common 16 points Terminal block TYP All points ON Qx81 24VDC 4mA Negative common 32 points Connector 0 079 Noe j TYP All points ON Contact output ayi0 240VAC 24VDC 2A point 8A common 0 43 module 16 points common Terminal block TYP All points ON Transistor Interrupt module Source eegenen D Terminal block TYP All points ON Connector TYP All points ON QY42P 12V 24VDC 0 1A point 2A common 64 points 32 points common Connector TYP All points ON ays0 12V 24VDC 0 5A point 4A common feet eet 16 points 16 points common Terminal block TYP All points ON ayso 12V 24VDC 0 5A point 4A common D N ae 16 points 16 points common Terminal block TYP All points ON QY81P 12V 24V
175. ternal current 0 228 0 233 consumption A M4 screw hole or 4 5 hole for M4 screw Exterior dimensions 328 W x 98 H x44 1 D 439 W x 98 H x 44 1 D mm inch 12 91 W x 3 86 H x 1 74 D 17 28 W 3 86 H x 1 74 D Mass kg 0 54 Attachment Fixing screw M4 x14 5 pieces DIN rail fixing adapter is optional Note It is impossible to mount the main base unit by DIN rail when using the Motion CPU module Doing so could result in vibration that may cause erroneous operation b Extension base unit specifications ossibility of extension Extendable plicable module Q series modules 5VDC internal current 0 105 0 110 0 114 0 121 consumption A umberofVOmodules 13 Le 2 O A Fixing hole size M4 screw hole or 4 5 hole for M4 screw 189 W x 98 H x 245 W x98 H x 328 W x 98 H x 439 W x 98 H x Exterior dimensions 44 1 D 44 1 D 44 1 D 44 1 D mm inch 7 44 W x3 86 H xX 9 65 W x3 86 H x 12 91 W x3 86 H 17 28 W 3 86 H x 1 74 D 1 74 D x 1 74 D 1 74 D Mass kg Attachment Fixing screw M414 4 pieces D Note The 5 base mounting screws are included with the Q38B and Q312B that have 5 base mounting holes 2 SYSTEM CONFIGURATION 2 Table of the extension cable specifications The list below describes the specifications of the extension cables which can be used for the PLC CPU system ee QC05B QCO06B QC12B QC30B QC50B QC100B Cable length m ft Connection between the main b
176. the cable for forced stop input is fabricated on the customer side make it within 30m 98 43ft Put the SSCNET cable in the duct or fix the cable at the closest part to the Motion CPU module with bundle material in order to prevent SSCNET cable from putting its own weight on SSCNET connector Q173DCPU only This screw is auxiliary use for module installation to the main base unit Be sure to fix modules to the main base unit using supplied fixing screws Be sure to use the external battery The programs parameters absolute position data and latch data of SRAM built in Motion CPU module are backed up if the battery cable is not set correctly 2 SYSTEM CONFIGURATION 2 7 segment LED display The LED displays flashes in the combination with errors 7 segment LED Normal Installation mode Mode operated by RAM Mode operated by Early stage warning Battery 2 7V or less error Final stage warning 2 5V or less Operating system software not installed System setting error Servo error WDT error Initializing gt remains flashing Steady INS display gt remains flashing gt remains flashing Steady INS display en remains flashing Steady STP display Steady RUN display Steady BT1 display Steady BT2 display A00 remains flashing AL flashes 3 times Steady L01 display AL flashes 3 times l Steady S01 display Steady display It takes ab
177. the error symptom and get advice from out sales representative Check the sum of internal current consumptions of the modules that comprise the system Does the total current exceed the rerated output current of the power supply module Reexamine the system configuration to make the total current less than the rated output current of the power supply module Does POWER LED turn on y H W fault Check operation in the order starting with the minimum system If the module will not work explain the error symptom and get advice from out sales representative for the modules with failure 6 INSPECTION AND MAINTENANCE b Flowchart forwhen does not flash in the first digit of 7 segment LED does not flash in the first digit of 7 segment LED Does POWER LED turn on a Flowchart for when POWER LED turns off connecting direction of extension cable correctly Isn t IN IN or OUT OUT connection Connect the extension cable correctly Does flash in the first digit of 7 segment LED YES Is the RESET RUN STOP RESETand RUN STOP switch of CPU No 1 and target CPU Module set to STOP Set the RUN STOP RESET and RUN STOP switch to STOP Does flash in the first digit of 7 segment LED YES H W fault Check operation in the order starting with the min
178. the protection measures to the cord part 10 When keeping the Motion CPU or servo amplifier be sure to put on a cap to connector part so that a dirt should not adhere to the end of SSCNETIL connector 11 SSCNETII connector is put a cap to protect light device inside connector from dust For this reason do not remove a cap until just before connecting SSCNETI cable Then when removing SSCNETII cable make sure to put a cap 12 Be sure to keep a cap and the tube for protecting light code end of SSCNETI cable in a plastic bag with a zipper of SSCNETII cable to prevent them from becoming dirty 13 When exchanging the servo amplifier or Motion controller make sure to put a cap on SSCNETI connector When asking repair of servo amplifier or Motion controller for some troubles make also sure to put a cap on SSCNETIO connector When the connector is not put a cap the light device may be damaged at the transit In this case exchange and repair of light device is required 4 INSTALLATION AND WIRING 4 2 2 Battery cable 1 Handling the battery cable a Precautions for handling the battery cable e For connection or removal of the battery cable do it surely while holding a connector Base unit Motion CPU module e HIR Bottom Front gt d Ch unn f SE Nr Battery c
179. tion diagram When fabricating a cable use the recommended wire and connector set Q170ENCCNS for encoder cable given on APPENDIX 1 2 and make the cable as show in the following connection diagram Maximum cable length is 50m 164 04ft Q172DEX SY ENC 1or2 Synchronous encoder cable 50m 164 04ft or less Encoder connector Q172DEX side 10120 3000PE connector 10320 52F0 008 connector case P5 19 LG 11 P5 20 LG 12 P5 18 LG 2 BAT 9 LG 1 MR 7 MRR 17 MD 6 MDR 16 SD plate Q170ENC Encoder connector RK e 5 v Pin LAT BI e TTo DI E BAT F G Mm PH MD LJ LMR Encoder side MS3106B22 14S plug 3057 12A cable clump MS Perine eee Te SE EES as HT tig R o eli i aie Ak vi d Jr T H Ai i HE mal rt pi ft 1 ot od H 1 H 4 J J Twisted pair cable Zz Cable length 50m 164 04 ft or less App 5 APPENDICES el APPENDIX 1 3 Battery cable Generally use the battery cable available as our products If the required length is not found in our products fabricate the cable on the customer side Make the battery cable within 0 5m 1 64ft 1 Q170DBATCBLOM a Model explanation Type Q170DBATCBLUIM Symbol Cable length m ft
180. tion for the dimensions and arrangement of Motion controller or servo amplifier When closing the door of control box pay careful attention for avoiding the case that SSCNET cable is hold down by the door and the cable bend becomes smaller than the minimum bend radius Model name of SSCNETII cable Minimum bend radius mm inch MR J3BUSUIM 25 0 98 Enforced covering cord 50 1 97 MR J3BUSOIM A Code 25 0 98 Enforced covering cord 50 1 97 MR J3BUSOM B Code 30 1 18 2 Tension If tension is added on the SSCNETII cable the increase of transmission loss occurs because of external force which concentrates on the fixing part of SSCNETII cable or the connecting part of SSCNETII connector At worst the breakage of SSCNETII cable or damage of SSCNETII connector may occur For cable laying handle without putting forced tension Refer to APPENDIX1 1 SSCNETII cables for the tension strength 3 Lateral pressure If lateral pressure is added on the SSCNETII cable the cable itself distorts internal optical fiber gets stressed and then transmission loss will increase At worst the breakage of optical cable may occur As the same condition also occurs at cable laying do not tighten up SSCNETII cable with a thing such as nylon band TY RAP Do not trample it down or tuck it down with the door of control box or others 4 INSTALLATION AND WIRING e Putting in the duct 4 5 Twisting If the SSCNETT cable is
181. to 0 a rotary switch2 SW2 to 6 of Motion rotary switch2 SW2 to 0 of Motion CPU module and then execute ROM CPU module writing Mode operated by RAM Check that the installed modules correspond to system setting and correct details of error Does a LAY ERROR SL occur Set by relative check of the system setting not to occur a error and correct details of error Reset the Multiple CPU system Does A00 L01 disappear on 7 segment LED NO END 6 INSPECTION AND MAINTENANCE nl e Flowchart for when AL gt A1 gt O displays on 7 segment LED AL flashes 3 times Steady A1 display gt O displays at the self diagnosis error occurrence The following shows the flowchart when the AL flashes 3 times gt Steady L01 display gt O display displays during operation O 4 digits error code is displayed in two sequential flashes of 2 digits each AL gt LO1 gt O displays on 7 segment LED Confirm details of error by Motion CPU error batch monitor of MT Developer Hardware cause fault Noise cause Take measures against noise i Explain the error symptom and get advice from out sales representative Correct each Multiple CPU system setting based on the error causes Reset the Multiple CPU system Does AL gt L01 gt O disappear on 7 se
182. to the Q173DCPU Q172DCPU Motion controller Programming Manual COMMON 5 2 1 4 2 2 2 2 3 8 Check that the total I O points of I O modules and intelligent function modules do not exceed the I O points of the CPU module 1 Check that the model name of power supply modules is correct 2 Check that the wire sizes of cables are correct 3 Check that the power line is wired correctly 4 Check that FG and LG are wired correctly 5 Check that the terminal screws are tightened correctly Power supply module 6 Check that the terminal screws are tightening torque is as specified 7 Check that the 100VAC 200VAC and 24VDC wires are twisted as Check that the 100VAC 200VAC and 24VDC wires are not bind the 8 9 Check that grounding of the earth terminal FG and LG 2 per GE D GE D o ee Oo ES Gs Ei EE PLC CPU module 2 Check that the modules are installed to CPU slot or I O slot 0 to 2 of ee ee eee 7 ES D D res D GE ES o 1 Check that the Q173HCPU T Q172HCPU T Q173CPUN T Q173CPUN T Q173CPU Q172CPU is not used 2 Check that the modules are installed to I O slot 0 to 2 of the main Q173DCPU Q172DCPU base unit Motion CPU module 4 Check that the EMI forced stop input is wired correctly 1 Check that the wire size of cable is correct 3 Check that the cables connected to each t
183. tomer side 1 Selection The following table indicates the serial absolute synchronous encoder cables used with the serial absolute synchronous encoder Connector sets Q170ENCCNS are also available for your fabrication Table 1 Wire models Gart 2 6 56 5 16 40 10 32 81 20 65 62 Q170ENCCBLOM M14B0023 12 pair BLACK 30 98 43 50 164 04 Use the following or equivalent twisted pair cables as the serial absolute synchronous encoder cables Table 2 Connector sets e Connector shell kits Q170ENCCNS e Plug cable clump Table 3 Wire specifications Characteristics of one core Finished Number of Structure Conductor eloo OD Number of resistance sheath OD mm wires mm Q km SC Note 2 Note 1 d is as shown below d or sheath Conductor Note 2 Standard OD Outside Diameter Maximum OD is about 10 larger Wire model A CAUTION When fabricating the encoder cable do not make incorrect connection Wrong connection will cause runaway or explosion App 4 APPENDICES SY ENC connector 1 11 LG 2 LG 12 3 LG 737 LG Le L4 4 a rren aE 6 16 7_ MD f 47_ MDR MR L 8 rr E18 9 19 PS BAT 0 P5 20 P5 P5 L oa 2 Q170ENCCBLOM a Model explanation Type Q170ENCCBLOM Symbol Cable length m ft 2 2 6 56 5 5 16 40 10 10 32 81 20 20 65 62 30 30 98 43 50 50 164 04 b Connec
184. tput type incremental and serial absolute output typoe Q170ENC Q172DEX can be connected to only serial absolute output type Q170ENC When using the incremental synchronous encoder of voltage output type or differential output type must be used Q173DPX The synchronous encoders are used only in the SV22 virtual mode In addition the usable numbers of synchronous encoders differ depending on the modules The following number of serial absolute synchronous encoders and incremental synchronous encoders combined can be used Motion CPU module Synchronous encoder Q173DCPU Up to 12 modules Q172DEX Up to 6 modules Q172DCPU Up to 8 modules Q172DEX Up to 4 modules e Tracking enable signal Tracking enable signal of Q172DEX is used as a high speed reading function It cannot be used as the input start signal which start the input form serial absolute synchronous encoders When using the inputs start signal which start the input from synchronous encoder must be used Q173DPxX Type of synchronous encoder is voltage output incremental or differential output incremental The external input signal of the synchronous encoder is indicated below External input signal of the Number of points on em synchronous encoder one Q172DEX Tracking enable signal input High speed reading function 2 SYSTEM CONFIGURATION 4 Connection of synchronous encoder interface module a Connection with serial absolute synchronous encoder b
185. ttings correctly When the Motion controller or absolute value motor has been replaced carry out a home position return operation using one of the following methods otherwise position displacement could occur 1 After writing the servo data to the Motion controller using programming software switch on the power again then perform a home position return operation 2 Using the backup function of the programming software load the data backed up before replacement After maintenance and inspections are completed confirm that the position detection of the absolute position detector function is correct Do not drop or impact the battery installed to the module Doing so may damage the battery causing battery liquid to leak in the battery Do not use the dropped or impacted battery but dispose of it Do not short circuit charge overheat incinerate or disassemble the batteries The electrolytic capacitor will generate gas during a fault so do not place your face near the Motion controller or servo amplifier The electrolytic capacitor and fan will deteriorate Periodically replace these to prevent secondary damage from faults Replacements can be made by our sales representative 9 About processing of waste When you discard Motion controller servo amplifier a battery primary battery and other option articles please follow the law of each country area A CAUTION This product is not designed or manufactured to
186. ture of 25 C 77 F This value is intended for reference only as it varies with characteristics of the memory POINTS The self discharge influences the life of battery without the connection to Motion CPU module The external battery should be exchanged approximately every 4 or 5 years And exchange the battery with a new one in 4 to 5 years even if a total power failure time is guaranteed value or less ZA CAUTION Do not short a battery Do not charge a battery Do not disassemble a battery Do not burn a battery Do not overheat a battery Do not solder the battery terminal The programs parameters absolute position data and latch data of SRAM built in Motion CPU module are backed up without using the external battery 2 SYSTEM CONFIGURATION 3 Connection procedure with Motion CPU module a Set Q6BAT to Battery holder unit Q170DBATC b Connect the lead connector of Q6BAT to the connector BATTERY of Q170DBATC c Connect between the connector BAT of Motion CPU module and connector CPU of Q170DBATC Motion CPU module Battery holder unit Battery cable Q170DBATCBLD 2 SYSTEM CONFIGURATION el 2 4 10 Forced stop input terminal 1 Table of the forced stop input terminal specifications Specifications Number of input points Forced stop signal 1 point Input method Sink Source type Isolation method Photocoupler 20 4 to 26 4VDC Operating voltage rang
187. turned OFF In this timing these parts become very hot and may lead to burns Always turn the power OFF before touching the servomotor shaft or coupled machines as these parts may lead to injuries Do not go near the machine during test operations or during operations such as teaching Doing so may lead to injuries Do not bunch the control wires or communication cables with the main circuit or power wires or lay them closely They should be installed 100 mm 3 94 inch or more from each other Trying to bunch or install could result in noise that would cause operation failure 6 INSPECTION AND MAINTENANCE 6 2 Daily Inspection The items that must be inspected daily are shown below Table 6 1 Daily Inspection EE Check that the fixing Retighten the 1 Mounting of base unit screws are not loose and The screws and cover must be mounted securely 9 screws the cover is not dislocated Installation of I O not dislocated and the unit The module fixing hook must be engaged and installed module 3 Connecting conditions solderless terminals solderless terminals Q W a E 2 be 2 ke E 2 gt 3 e Module indication LED Power supply module Motion CPU module PLC CPU module UO module Check that the module is Securely engaged fixing hook is engaged correctly pees fixing securely Check for loose terminal Retighten the Screws should not be loose 5 screws terminal screws
188. twisted it will become the same stress added condition as when local lateral pressure or bend is added Consequently transmission loss increases and the breakage of optical fiber may occur at worst Disposal When incinerating optical cable cord used for SSCNET hydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may be generated For disposal of optical fiber request for specialized industrial waste disposal services who has incineration facility for disposing hydrogen fluoride gas or hydrogen chloride gas 6 Wiring process of SSCNETI cable Put the SSCNETII cable in the duct or fix the cable at the closest part to the Motion CPU module with bundle material in order to prevent SSCNETII cable from putting its own weight on SSCNETII connector Leave the following space for wiring Top of panel or wiring duct Base unit Motion CPU module WS T 40mm W 1 58inch or more Motion CPU module Ob gt e KA 5mm 0 20inch or more Wie ic yy Panel gt le Door 7 8 100mm 3 94inch 100mm 123 5mm or more 3 94inch 4 86inch 0 or more Wh L CALLAN AE ML TM 71 5mm 0 20inch or more Note 1 20mm 0 79 inch
189. uideline is reference time 10 years Motion module Electrolytic capacitor It must be changed immediately Synchronous E capacitor even when it has not yet encoder Bearings si 2 to 3years reached the life guideline 1 The life of the capacitor greatly depends on ambient temperature and operating conditions The capacitor will reach the end of its in 10 years of continuous operation in normal air conditioned environment 2 Change the bearings in 20 000 to 30 000 hours as a guideline under rated speed This differs on the operating conditions The bearings must also be changed if unusual noise or vibration is found during inspection 6 INSPECTION AND MAINTENANCE 6 5 External Battery The battery installed in the Motion CPU module is used for data retention during the power failure of the program memory and latch device Special relays SM51 or SM58 turn on due to the decrease of battery voltage Even if the special relays turn on the program and retained data are not erased immediately However if these relays are overlooked the contents may be erased After relay SM51 or SM58 turns on replace the battery quickly within the data retention time for power failure 3 minutes 1 SM51 or SM58 turns on when the battery voltage falls below the specified value and remains ON even after the voltage is recovered to the normal value SM51 or SM58 turns off by power supply on again or reset 2 After SM51 or SM52 turns on replace th
190. ut LEID ON OFF Abnormal if the LED does not turn ON or turn OFF as Refer to indicated above I O Module Type The LED must be ON when the input power is turned ON Building Block Output LED Check that the LED is The LED must be OFF when the input power is turned OFF User s Manual H ON OFF Abnormal if the LED does not turn ON or turn OFF as indicated above BT1 does not display Abnormal if steady BT1 display 6 INSPECTION AND MAINTENANCE 6 3 Periodic Inspection The items that must be inspected one or two times every 6 months to 1 year are listed below When the equipment is moved or modified or layout of the wiring is changed also implement this inspection Table 6 2 Periodic Inspection Ambient humidity ae E bg E Leg gt E o SC Le E Q E Ee Looseness rattling Installation Adhesion of dirt and foreign matter L E 2 D oO E Q O Battery Ambient temperature Atmosphere Power voltage 0 to 55 C 32 to 131 F When the controller is used in Measure with a thermometer and a the board the ambient hygrometer 5 to 95 RH temperature in the board Measure corrosive gas becomes the ambient temperature No corrosive gases Measure a voltage across the 85 to 132VAC terminals of 100 200VAC and 170 to 264VAC Change the power supply 24VDC 15 6 to 31 2VDC Retighten the screws Move the module to check for The module must be in
191. ve number of modules When connecting the manual pulse generator you can use only 1 module 2 SYSTEM CONFIGURATION b Motion SFC performance specifications Code total Motion SFC chart Operation control 543k bytes Motion SFC program capacity Transition Text total 2 as 484k bytes Operation control Transition Number of Motion SFC programs 256 No 0 to 255 Motion SFC chart size program Up to 64k bytes Included Motion SFC chart comments Number of Motion SFC steps program Up to 4094 steps Motion SFG program Number of selective branches branch 255 Number of parallel branches branch Parallel branch nesting Up to 4 levels 4096 with F Once execution type and FS Scan execution type Number of operation control programs combined F FSO to F FS4095 4096 G0 to 64095 Operation control program FIFS Up to 8192 blocks in the case of 4 steps min blocks Transition program G nesting block Up to 32 levels Operation control program Calculation expression bit conditional expression Descriptive 7 f s SS S Calculation expression bit conditional expression expression Transition program is comparison conditional expression 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 CPU Event task Fixed cycle Execute in fixed cycle ent tas ix 4 0 88ms 1 77ms 3 55ms 7 11ms 14 2ms Execute specificati
192. vibe RS Mae e Standard cable for outside panel e 5m 16 40ft 10m 32 81ft 20m 65 62ft e Q173DCPU Q172DCPU MR J3 e MR J3 OB MR J3 OB e Long distance cable e 30m 98 43ft 40m 131 23ft 50m 164 04ft M B Note 7 Note 1 O Cable length 015 0 15m 0 49ft 03 0 3m 0 98ft 05 0 5m 1 64ft 1 1m 3 28ft 2 2m 6 56ft 3 3m 9 84ft 5 5m 16 40ft 10 10m 32 81ft 20 20m 65 62ft 25 25m 82 02ft 30 30m 98 43ft 40 40m 131 23ft 50 50m 164 04ft Note 2 5VDC internal current consumption of shared equipments with PLC might be changed Be sure to refer to the PLC Manuals Note 3 Be sure to use the power supply module within the range of power supply capacity Note 4 Battery Q6BAT is not attached to Battery holder unit Q170DBATC Please purchase it separately Note 5 Be sure to use the cable for forced stop input sold separately The forced stop cannot be released without using it Cable for forced stop input is not attached to the Motion CPU module Please purchase the cable for length according to system separately Note 6 These modules can be used in Q172DLX It cannot be controlled using Q173DPX Note 7 Please contact your nearest Mitsubishi sales representative for the cable of less than 30m 98 43ft 2 SYSTEM CONFIGURATION 2 PLC module which can be control by Motion CPU Current consumption Par
193. y check the following a Movement of machine stopped condition operating condition b Power supply on off c Status of input output devices d Installation condition of the Power supply module Motion CPU module PLC CPU module I O module Q172DLX Q172DEX Q173DPX Motion module SSCNETII cable Synchronous encoder cable e State of wiring I O cables cables f Display states of various types of indicators PLC CPU module MODE LED RUN LED ERR LED I O LED etc Motion CPU module 7 segment LED Installation mode Operation mode Battery error STOP RUN etc g Status of setting of various types of switches Setting of No of stages of extension base unit power interrupt hold on status After checking a to g monitor the operating conditions of servomotors and error code using MT Developer and GX Developer 2 Check of trouble Check to see how the operating condition varies while the Motion controller is operated as follows a Set the RUN STOP switch of Motion CPU module to STOP b Reset the trouble with the RUN STOP RESET switch of PLC CPU module c Turn ON and OFF the Multiple CPU system power supply 3 Narrowing down the range of trouble occurrence causes Estimate the troubled part in accordance with items 1 and 2 above a Multiple CPU system or external devices b Motion CPU or PLC CPU c HO module or others d Servo program or Motion SFC program e PLC program YS owe wa 6 IN
194. y lead wire from the battery holder unit will damage the battery holder unit battery cable or battery lead wire 2 As for the battery cable the shape of connector is different on Motion CPU side and battery holder side Be sure to connect after confirming shape 3 The programs parameters absolute position data and latch data of SRAM built in Motion CPU module are backed up if the battery connector is not connect correctly 4 INSTALLATION AND WIRING 4 2 3 Forced stop input cable 1 Precautions for handling the forced stop input cable e For connection or removal of the forced stop input cable do it surely while holding a connector of forced stop input cable Motion CPU module 2 Connection of the forced stop input cable e For connection of a forced stop input cable to the Motion CPU module connect it surely to a EMI connector of Motion CPU module while holding a connector Be sure to insert it until it clicks 3 Removal of the forced stop input cable e For removal of the forced stop input cable pull out it while holding a connector POINTS Forcibly removal the forced stop input cable from the CPU module will damage the Motion CPU unit or forced stop input cable 4 INSTALLATION AND WIRING 4 3 Mounting of Serial Absolute Synchronous Encoder This section describes precautions for handling the serial absolute synchronous encoder Q170E

User`s Manual IB(NA)-0300133

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