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Q173D(S)CPU/Q172D(S)CPU User`s Manual

1. 4 INSTALLATION AND WIRING 4 2 Connection and Disconnection of Cable 4 2 1 SSCNETII cable 1 Precautions for handling the SSCNETIL 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 e For connection and disconnection of SSCNETII cable hold surely a tab of cable connector Motion CPU module W a t CN1 CN2 mo oo oe gt 2 Connection of SSCNETIL cable e For connection of SSCNETII cable to the Motion CPU module connect it to the SSCNETII connector CN1 or CN2 of Motion CPU module while holding a tab of SSCNETII cable connector Be sure to insert it until it clicks If the cord 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 3 Disconnection of SSCNETI cable e For disconnection of SSCNETI cable pull out it while holding a tab of SSCNETI cable connector or the connector e After disconnection of SSCNETI cable be sure
2. 9 Note Unusable Under manufacturer test 2 SYSTEM CONFIGURATION Application 7 segment LED Indicates the operating status and error information Rotary function select 1 switch Set the operation mode SW1 Normal operation mode Installation mode Mode operated by ROM etc e Each switch setting is 0 to F Rotary function select 2 switch Note Switch setting of factory default SW2 e Q173DSCPU Q172DSCPU SW1 0 SW2 0 position e Q173DCPU S1 Q172DCPU S1 SW1 A SW2 0 position Move to RUN STOP RUN STOP switch RUN Motion SFC program SV13 SV22 Motion program SV43 is started STOP Motion SFC program SV13 SV22 Motion program SV43 is stopped Forced stop input connector Input to stop all axes of servo amplifier in a lump Em Note EMI ON opened Forced stop E EMI OFF 24VDC input Forced stop release EK EMIL COM via EMI SSCNETI CN2 connector Connector to connect the servo amplifier of system 2 up to 16 axes Note 2 Note 3 Serial number display Displays the serial number described on the rating plate Module mounting lever Used to install the module to the base unit Da Module fixing hook ees Hook used to fix the module to the base unit Auxiliary use for installation Module fixing screw Screw used to fix to the base unit M313 Module fixing projection Hook used to fix to the ba
3. qIHSISNS LIA 90 3 54 4 2 0 17 39 1 54 gt Q172DLX Unit mm inch J CTRL N JO Q172DLX 23 0 91 27 4 1 08 App 16 98 3 86 4 4 0 16 Unit mm inch Q172DEX a SY ENCTREN 1 1 2 2 O SY ENC1 Il Zo kel Si ke O O O SY ENC2 il EEJ O Q172DEX J 23 0 91 E 27 4 1 08 S kg i APPENDICES APPENDIX 2 4 Manual pulse generator interface module Q173DPX Unit mm inch Q173DPX a PLS A PLS B TREN 1 1 1 2 3 3 JO fy o0 00 10 TEN oo CO Wu i 3 d E PULSER f i o0 o0 10 10 oo 00 oo HH o0 ec IC Q173DPX Yy SEET E 23 0 91 e l 90 3 54 45 1 77 27 4 1 08 g e a APPENDIX 2 5 Safety signal module Q173DSXY Unit mm inch a Q173DSXY A Q173DSXY Motion PLC 10 lo O O cl le 00 10 00 11 od od SE ooj nn oojo Hn 3 nol ln nn H Wf ieml ff DI od ood od Cl aall e ool jon z 10 vil 00 Di 00 Di 10 WER LI a O O J CT 23 0 91
4. 5 START UP PROCEDURES 5 2 Start up Adjustment Procedure PLC CPU Motion CPU Motion CPU A Servo amplifier v A PLC CPU Motion CPU Motion CPU START Turn OFF 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 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 servo motor wiring U V W 6 Check the regenerative option wiring 7 Check the circuit of emergency stop or forced stop Installation mode Install operating system software Note 1 Install the operating system software to the Motion CPU module using MT Developer2 Servo amplifier setting Set the axis number o servo amplifier R A 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 Parameters setting Set the following parameters using MT Developer2 1 Multiple CPU setting 2 Automatic refresh setting 3 System setting Servo data setting Positioning parameters setting Set the following positioning parameters using MT Developer2 1 Fixed parameters 2 Home position return
5. Ig SY ENC connector Serial absolute synchronous encoder cable Q170ENCCBLLIM Serial absolute synchronous encoder 2 SYSTEM CONFIGURATION 5 Interface between SY ENC connector and external equipment Input or Signal A gc ens A F g BE Output name Pin No Wiring example Internal circuit Specification Description Transmission method MD 6 f serial communications Position detection method absolute MDR 16 Serial absolute synchronous MR 7 encoder MRR 17 JET P5 10 18 19 20 yale Input 4 a 5VDC LG 123 1112 2 Batter dc BAT 9 TREN 4 5 6kQ Note TREN SCH E COM 14 I Note 12VDC to 24VDC SD plate Note As for the connection to power line TREN TREN COM both and are possible ZA 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
6. 1B1 1A1 Applicable connector model name A6CON 1 type soldering type connector FCN 361J040 AU connector FUJITSU COMPONENT LIMITED Attachment FCN 360C040 B connector cover A6CONZ type Crimp contact type connector A6CONS type Pressure displacement type connector Optional A6CON4 type soldering type connector Note Connector terminal block conversion modules and cables can be used at the wiring of connector AGTBXY36 Connector terminal block converter module ACCITB L Length m Connector terminal block converter module cable 2 SYSTEM CONFIGURATION 3 Interface between Motion IO connector PLC IO connector and servo external signal es Ad ae SS Pin No Note 1 EN Wiring example Internal circuit Specification MC X00 PLC X00 B20 0 EE MC X01 PLC X01 B19 1 24VDC MC X02 PLC X02 0B18 2 MC X03 PLC X03 0817 3 High level MC X04 PLC X04 0B16 4 Ee SE MC X05 PLC X05 OB15 5 MC X06 PLC X06 0B14 6 Ee MC X07 PLC X07 0B13 7 5 0VDC or less MC X08 PLC X08 0B12 8 0 17mA or less input MES PLC X09 OB11 9 as CG MC X10 PLC X10 DA20 0 z MC X11 PLC X11 DA19 1 C MC X12 PLC X12 OA18 2 MC X13 PLC X13 OAI 3 MC X14 PLC X14 OA16 4 MC X15 PLC X15 DA15 5 MC X16 PLC X16 DA14 6 MC X17 PLC X17 OA13 7 MC X18 PLC X18 DA12 8
7. DD J SSES A 1 p OD e E S ial l I Kg r 1 Le L LL Le LL 1 1 y U A 119 3 4 70 sS e E 4 Q173DCPU Unit mm inch mi D H Q173DCPU a 8 2 S u UU l y 23 0 91 x 119 3 4 70 27 4 1 08 S gt F App 14 APPENDICES 5 Q172DCPU S1 Unit mm inch An x H SEN A D A a kel ei ke O I H Qpar BE Lf Li 1 Lf Lf Lf IJ 1 J Dag y JY U d 23 0 91 119 3 4 70 27 4 1 08 S Je A E 6 Q173DCPU S1 Unit mm inch nn mi i H SSC A D S e a kel w Es E H l 23 0 91 T 119 3 4 70 27 4 1 08 S gt F App 15 APPENDICES APPENDIX 2 2 Servo external signals interface module Q172DLX on dE 90 3 54 AMSLLVE WAIHLIT
8. Applicable connector model name A6CON 1 type soldering type connector FCN 361J040 AU connector FUJITSU COMPONENT LIMITED Attachment FCN 360C040 B connector cover A6CONZ type Crimp contact type connector A6CONS type Pressure displacement type connector Optional A6CON4 type soldering type connector 1 Input type from manual pulse generator incremental synchronous encoder switched by HPSELU Not connected Voltage output open collector type HPSELD 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 HA1 HA2 HA3 and the B phase signal to HB1 HB2 HB3 3 Differential output type Connect the A phase signal to HA1P HA2P HA3P 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 Q173DPX at the FG signal 5 Connector terminal block conversion modules cannot be used 2 SYSTEM CONFIGURATION b Interface between PULSER connector and manual pulse generator Differential output type Incremental synchronous encoder Input or 2 se GEN er enna Signal name Wiring example Internal circuit Specification Description Manual A Raroa
9. Q173DSXY 6 4 2 Q173D5XY Motion PLC 10 10 Q O Nan 00 WI 10 10 10 WW 00 Wi 1 10 10 WW 14 Wi 00 Wl 10 im Wl Wi 4 Poo 10 3 10 WW 10 Wi 1 WW a0 ui e 1i ual S 00 1il 2 00 00 04 1il q 10 WE LU L115 oz QO O o 7 i U Z aF Application f Hook used to fix the module to the base unit 1 Module fixing hook K Single motion installation Display the input status from the external equipment Input indicator LED SE Display for I O signal status of PLC CPU side PLC IO connector Input connector of the PLC CPU Motion IO connector Input connector of the Motion CPU 5 Module mounting lever Used to install the module to the base unit Hole for the screw used to fix to the base unit 6 Module fixing screw hole M3x12 screw Purchase from the other supplier 7 Module fixing projection Projection used to fix to the base unit RIO communication to Motion CPU RIO1 connector For connection to Motion CPU or Q173DSXyY installed on the left 2 SYSTEM CONFIGURATION Application RIO communication for Motion CPU 9 RIO2 connector f For connection to Q173DSXY installed on the right Rotary switch for station Set station ee of safety signal mod
10. Do not hold lead wire Se wt Battery connector Battery lead wire Battery holder 3 Connection of the battery lead wire e For connection of a battery Q6BAT connect it surely to a battery connector while holding a battery lead connector Be sure to insert it until it clicks 4 Removal of the battery lead wire e For removal of the battery lead wire pull out it while holding a battery lead connector 4 INSTALLATION AND WIRING b Q173DCPU S1 Q172DCPU S1 1 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 X Battery lead wire Q6BAT LITHIUM BATTERY Battery lead connector a Go BATTERY Battery holder unit Q170DBATC 2 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 3 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 lead wire will damage the battery holder unit battery lead wire 2 The programs parameters motion devices latch range devices
11. 100VAC C TB17 QX10 TB16 O Internal circuit ST TB1 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 Forced TE E t Shut off the power supply to the external servo amplifier mergency sto a Servo OFF by external circuit make the servomotor stopped instruction from Motion controller to the servo amplifier 3 DESIGN I 3 3 Layout Design within the Control Panel 3 3 1 Mounting environment Mount the Motion controller system in the following environment conditions 1 Ambient temperature is within the range of 0 to 55 C 32 to 131 F 2 Ambient humidity is within the range of 5 to 95 RH 3 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 Nodirect sunlight 7 No strong electrical or magnetic fields 8 Nodirect vibrations or shocks on the Motion controller 3 DESIGN 3 3 2 Calculating heat generation by Motion controller The ambient temperature inside the panel storing the Motion controller must be suppressed t
12. Applicable wire si wire 140023 Ia O 12Pair Q170ENCCBLOM Connecting cable C cable length 2m 6 56ft 5m 16 40ft 10m 32 81ft 20m 65 62ft 30m 98 43ft 50m 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 x 2 value in actual 24000 h Example of encoders X 1 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 output type incremental and serial absolute output type Q172DEX can be connected to only serial absolute output type When using the incremental synchronous encoder of voltage output type or differential output type must be used Q173DPxX or built in interface in Motion CPU of Q173DSCPU Q172DSCPU 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 Applicable types Connectable synchronous encoder Q173DSCPU Q171ENC W8 Q172DSCPU Up to 12 modules Q172DEX Up to 6 modules
13. Do not touch the case of Q173DSXY 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 2 SYSTEM CONFIGURATION ee 4 Wiring example for the safety signal module a Wiring example for door signal to safety signal module and AC contactor Wiring example to shut off contactor by the followings is shown diagram below e Shut off signal from the Motion CPU side of safety signal module e Shut off signal from the PLC CPU side of safety signal module e Contactor shut off output MC1 and MC2 of servo amplifier Input the output signal of auxiliary normally closed contact into the safety signal module to detect the weld of contactor Door sensor used as a Safety signal should have two outputs and is wired to both Motion CPU side and PLC CPU side Sensor and switch used as safety signal should be the ones for weak signal use e g twin contact to prevent contact failure External power supply Servo amplifier Safety signal module MR J3 DB 24VDC Q173DSXY Control Main circuit poi Motion IO Motion CPU side power supply power supply A 4 Se AY j Relay I r JP es Penne ee sl UM IK se ze e e zm ze e zm zm sl Jens e e e e H Ee ZS MC1 normally l closed signal Contactor i ue l S 2S MC2 normally bag
14. Unit mm inch 2 5 3 0 21 Fixing screw M5 x14 e A C7 Lo S 3 D kel S 3 O e N mM a 1O Q KE o S o CH B Gales 2 oS 5 A le 40 1 57 R S CH 80 3 15 it gt A A REI 30 1 18 ested 1 6 ki 0 46 e App 20 APPENDICES APPENDIX 2 8 Connector 1 Cable connector for serial absolute synchronous encoder Sumitomo 3M make MDR type Ee Type SE 10120 3000PE 10320 52F0 008 Quick release metal latch type 20 Spider conection ype 10120 3000PE 10320 52A0 008 Threaded type GE 10120 6000EL 10320 3210 000 Quick release metal latch type Note These connectors are not options Please purchase them by customer a Solder connection type Quick release metal latch type Type Connector 10120 3000PE Connector case 10320 52F0 008 Unit mm inch 12 0 0 47 he 10 0 0 39 39 0 1 54 L oan Ve 1 31 0 50 b Solder connection type Threaded type Type Connector 10120 3000PE Connector case 10320 52A0 008 Unit mm inch 12 0 0 47 10 0 0 39 39 0 1 54 Ht ET U att 33 3 1 31 Sa N 4 2 0 50 App 21 APPENDICES c
15. c Battery life Battery life Total power failure time h DT Actual i P Guaranteed Guaranteed p Notes Module type Battery type Gleck value Ne value ie yao time ratio Reference value Note 2 MIN TYP TYP 75 C 167 F 40 C 104 F 25 C 77 F Backup time after alarm Q171ENC W8 Q170ENC X 1 Internal 7 10000 battery 100 43800 43800 43800 After Error Q172DEX A6BAT o 1500 4000 12000 code 1152 MR BAT See 2000 5500 17000 occurrence 3000 8000 21900 Q170ENC X2 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 v
16. 2 SYSTEM CONFIGURATION 2 1 2 Q173DCPU S1 Q172DCPU S1 System overall configuration Motion CPU control module PLC CPU Motion CPU Servo external signals interface module Synchronous encoder interface module Manual pulse generator interface module Main base unit PERIPHERAL I F Q3LIDB Note 1 s Q61P QnuDO Q170D oen QXOO Q60AD Q172D Q172D Q173D CPU CPU 1 LX EX PX Panel personal QYOU Q6ODA VO module f computer Intelligent function module gt l 100 200VAC EKAk x x P Manual pulse generator X 3 module USB RS 232 MR HDP01 Note 2 Ethernet Serial absolute synchronous encoder cable Q170ENCCBLOM Serial absolute synchronous encoder x 2 module Q170ENC Personal Computer IBM PC AT External input signals Number of Inputs FLS Upper stroke limit ig RLS Lower stroke limit 3 a STOP Stop signal B axesimodule e DOG CHANGE Proximity dog Speed position switching Battery holder unit Q170DBATC Analogue input output Forced stop input cable 3 Qi EE M Input output Up to 256 points EMI forced stop input 24VDC Interrupt signals 16
17. EC CC CH Q Motion module Q172DLX Q172DEX Q173DPX Main base unit Q35DB Q38DB Q312DB Extension cable QCOB Safety signal module Q173DSXY Motion CPU module Q173DCPU S1 Q172DCPU S1 Note 3 4 t Forced stop input cable Q170DEMICBLOM Note 1 RIO cable Q173DSXYCBLOM SSCNET T cable MR J3BUS M A B Battery holder unit Q170DBATC TiILit oaoa Note 1 Servo amplifier MR J3 W OB Battery Q6BAT i E It is possible to select the best according to the system Extension of t Note 2 he Q series module Motion module Q172DLX Q173DPX Q6LB ext Q63B Q65B Q68B Q612B ension base unit Power s UO module module of the Q series upply module ntelligent function Note 1 Be sure to install the Battery Q6BAT to the Battery holder unit Q170DBATC It is packed together with Q173DCPU S1 Q172DCPU S1 Note 2 Q172DEX cannot be used in the extension base unit Install it to the main base unit Note 3 Q173DCPU S1 Q172DCPU S1 o
18. When fabricating the encoder cable do not make incorrect connection Wrong connection will Cause runaway or explosion App 4 APPENDICES 2 Q170ENCCBLOIM a Model explanation Type Q170ENCCBLOJM 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 Connection 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 SY ENC connector Q172DEX Encoder connector Q171ENC we Encoder connector Pin Signal Pin Signal Q170ENC A K MR Synchronous encoder cable B L MRR C M SY ENC D N SHD 1or2 E BAT P F R LG q B m G s P5 50m 164 04ft or less H MD T i gt J MDR View A Q172DEX side Encoder side 10120 3000PE connector MS3106B22 14S plug 10320 52F0 008 connector case MS3057 12A cable clump P5 EIS SS LG 11 R P5 LG P5 LG BAT E LG NH K Note Layout twisted pair for signal to avoid contact MD H MDR J Twisted pair for signal SD plate N BAT LG MR MRR MD MDR Twisted pair P5 LG Twisted pair cable ZA Core Cable length 50m 164
19. n Geer CTRL 10 ee KCC REI MEI 10 10 10 oa oa 1a H od L 4 O N Q172DLX Serial number K cso J The serial number display was corresponded from the Motion modules manufactured in early April 2008 2 SYSTEM CONFIGURATION 2 2 2 Checking operating system software version G The operating system software version can be checked on the system monitor screen in GX Works2 GX Developer Select Product Inf List button on the system monitor screen displayed on Diagnostics System monitor of GX Works2 GX Developer System Monitor Monitor Status Connection Channel List Monitoring Serial Port PLC Module Connection Main Base Main Base Operation to Selected Module Main Base 0000 0010 0020 0030 0040 0050 0060 Slot ae ee tes QO6UDHCPU System Image f 4 4 i Diagnostics t Base Information List m Module Information List Main Base Base Slot Power Base Installed Supply Type Slots Modules Base Module Base Model Name Status Series Model Name Point Type Parameter NO NetworkNo Master PLC Main Base gt Extension Base1 CRU Q Extension Base2 0 0 Q Extension Base 0 1 Extension Base4 0 2 Extension BaseS 0 3 Extension Base 0 4 Empty Extension Base 0 5 Empty 0 6 Empty 0 7 Empty Exist Q 8 1 Power QO6UDHCPU Q173DCPU Empty Empty Empty Error Major
20. 0 35 0 30 APPENDICES 1 Q171ENC W8 85 3 35 42 1 65 2 Q170ENC 85 3 35 42 1 65 4 5 5 0 22 lt 4 5 5 0 22 APPENDIX 2 10 Serial absolute synchronous encoder 58 5 2 30 29 1 14 30 1 18 2 0 08 7 0 28 Unit mm inch A 40 1 57 123 25 4 85 S S 8 72 oo el 0 34 Q bei A LO N ki N Rn a oo S Ss SC Cross section Sat diagram AAT Vv 58 5 2 30 f 22 25 0 88 37 5 1 48 58 5 2 30 29 1 14 30 1 18 r 7 0 28 2 0 08 Unit mm inch 14 0 55 W 40 1 57 123 25 4 85 58 5 2 30 gt 0 0 020 8 72 0 34 at Cross section diagram AA 75 2 95 8 72 J 0 34 0 37 y e 22 25 0 88 37 5 1 48 App 26 WARRANTY Please confirm the following product warranty details before using this product 1 Gratis Warranty Term and Gratis Warranty Range We will repair any failure or defect hereinafter referred to as failure in our FA equipment hereinafter referred to as the Product arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider However we will charge the actual cost of dispatching our engineer for an on site repair work on request by customer in
21. 1B09 O Shut off signal STO COM 8 Shutoff PToF com ZS e A Shut off signal 1 Wee gt confirmation Shut off O signal confirmation signal 2 Door1 signal xk TIT gt Door2 signal H PLC IO PLC CPU side Drive power shut off signal pes Shut off signal lt I TIT Control Main circuit power supply power supply B 2A19 Zw K Shut off gt confirmation cf 2A18 vos signal Reactor Z E 2417 gt Door1 signal an Door close open E confirmation sensor Dei 2A01 gt Door2 signal 7 L1 L2 L3 Main circuit power supply S Door2 close open we confirmation sensor 2 SYSTEM CONFIGURATION Servo amplifier with STO MR J3 OBS Ga Shut off signal Shut off confirmation signal st TIT 2 MR J3 OBS use External power supply 24VDC CN8 af STO1 1B01 O sall Gg 0 TIT Safety signal module Q173DSXY Motion IO i TOF2 Motion CPU side Drive power shut off signal Shut off gt confirmation signal gt Door signal iy Shut off signal lt I Control Main circuit power supply power supply L11 L21 L1 L2 L3 L1 L2 L3 Main ci
22. 2 SYSTEM CONFIGURATION 6 Related software packages a PLC software package Software package GX Works2 SW1DNC GXW2 E GX Developer SW8D5C GPPW E b Servo set up software package Software package MR Configurator2 SW1DNC MRC2 E N a MR Configurator MRZJW3 SETUP221E Note 1 Q173DSCPU Q172DSCPU is not supported 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 SYSTEM CONFIGURATION 2 4 General Specifications General specifications of the Motion controller are shown below Specification 0 to 55 C 32 to 131 F 25 to 75 C 13 to 167 F 5 to 95 RH non condensing 5 to 95 RH non condensing Constant Frequency Half amplitude Sweep count acceleration c PEA Under 5 to 9H 3 5mm 10 times each in z ompiant win intermittent enn 14inch X Y Z directions Vibration resistance JIS B 3502 and vibration 9 to 150Hz For 80 min IEC 61131 2 Under 75mm 5 to 9Hz continuous EH 07inch vibration 9 to 150Hz Shock resistance Compliant with JIS B 3502 and IEC 61131 2 SES 3 times in EE of 3 directions X Y Z Operating ambience No corrosive gases Operating altitude UE 2000m 6561 68it or less Mounting location Inside control panel Note Overvoltage category ll or less A Note Pollution level 2 or less Note 1 Do not use or store the Motion controller under pressure high
23. M cO 100 240VAC Servo normal output EMI O Servo normal ON Alarm OFF 9 pocs CHANGE8 OCOM SSCNETID H Number of inputs 8 axes module i DOG8 1 CHANGE8 O V emm CP2 Power supply for I O eS 24VDC 24V0 424V gale Power M6 supply 24GO 24G i I AE I EE 4 1 Operation Ready CP3 l OFF ON laune EE l MC1 to 3 aes M6 O SK Power supply for J Note 6 Note 6 J Note 6 CP4 electromagnetic brake Surge suppresser L 24VDC 24V0 pa Power e M5 supply 24G 3 DESIGN 1 Note 1 Make the forced stop input cable within 30m 98 43ft The forced stop lt Example gt For control axis 1 axis 2 and axis 3 by the forced stop terminal of input module is also possible Servo error detection 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 IF 1 power supply for the electromagnetic brake SETPYm TF e initial 4 Note 4 It is also possible to use forced stop signal of the servo amplifier 5 Note 5 Refer to the servo amplifier instruction manuals for selection of the ER KE Sena E circuit breaker and electromagnetic contactor of the axis 1 axis 2 6 Note 6 The surge suppressor is recommended to be used for an AC relay or IF 2 axis 3 electromagnetic contactor MC near the servo amplifier RSTPYm sd OFF abnormal error Refer to the servo amplifier instruction manual for s
24. O displays on 7 segment LED MT Developer2 Correct each Multiple CPU system setting based on the error causes Confirm details of error by Motion CPU error batch monitor of Hardware cause fault NO Noise cause Take measures against noise ei y Reset the Multiple CPU system j Does AL gt Q disappear on 7 segment LED Explain the error symptom and get advice from our sales representative Aq e NO END 6 INSPECTION AND MAINTENANCE f Flowchart for when BTL displays on 7 segment LED BT1 or BT2 displays when the battery voltage is lowered BT1 or BT2 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 for when BT1 or BT2 displays on 7 segment LED BTO displays on 7 segment LED D Turn off the Multiple CPU system power supply y Replace the 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 A hardware fault Explain the error symptom and get advice from our sales representative If SM51 SM58 turns on the contents of the programs parameters motion device latch range device and absolute position data cannot be guaranteed It is reco
25. Q173DCPU S1 Q170ENC Q172DCPU S1 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 The external input signal of the synchronous encoder is indicated below External input signal of the It 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 Use the SY ENC connector on the front of the Q172DEX module to connect to serial absolute synchronous encoder When tracking enable signal is not used use the Q170ENCCBLUOIM encoder cable between the serial absolute synchronous encoder and SY ENC connector The following is the pin layout of the Q172DEX SY ENC connector as viewed from the front SY ENC connector 10120 3000PE connector 10320 52F0 008 connector case 2 Se EERE a 3M make 4 Ren 14 TRENcon 5 No comeet 3 No connect MRR e E Note Do not connect a wire to MD 6Pin MDR 16Pin b 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
26. Runout at input shaft tip 15mm 0 59 inch from tip 0 04Nsm 20 C 68 F Bellows coupling 0 2 Mass kg i Mass kg Q170ENCCBLOIM Connecting cable m ft O Cable length 2 6 56 5 16 40 10 32 81 20 65 62 30 98 43 50 164 04 Communications method Differential driver receiver Transmission distance Up to 50m 164 04ft Note 1 Use by connecting with Q172DEX Note 2 When o ring is required please purchase separately by customers Note 3 If it exceeds a permitted speed at power OFF a position displacement is generated 2 SYSTEM CONFIGURATION 2 5 9 SSCNETII cables Between the Motion CPU module and servo amplifiers or servo amplifier and servo amplifier connected by SSCNETII cable When using the Q172D S CPU only 1 SSCNETII cable for connection to servo amplifier can be used Connect to CN1 When using the Q173D S CPU up to 2 SSCNETT cables for connection to servo amplifier can be used Connect to CN1 and CN2 Up to 16 servo amplifies can be connected to SSCNETII H per 1 system However when using the Q172DCPU S1 up to 8 servo amplifiers can be connected 1 SSCNETIL cable specifications MR J3BUSOM Standard cord for inside panel mR uaBussma ameag 00n CPU Sero amplifo MR J3BUSOM A MR J3BUS5M A 5 16 40 Servo amplifi r amp Servo amplifier Standard cable for MR J3BUS10M A 10 32 81 outside panel MR J3BUS20M A 20 65 62 MR J3BUS
27. 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 servo motor 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 START UP PROCEDURES Motion CPU PLC CPU Test mode JOG operation Check machine operation Check the followings by making the machine operate with the JOG operation of MT Developer2 1 Machine operates correctly no vibration hunting etc 2 Stroke limits operate correctly 3 Machine stops by the emergency stop or forced stop Test modes home position return Check home position return 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 m
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29. 3 86 H x 2 17 W x 4 53 D Mass ko 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 Noise immunity 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 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 failur
30. 3 94ft drop test 2 A battery handling label size 120 x 110mm 4 72 x 4 33inch is required Emergency telephone number must be filled out in the additional handling information of the Shipper s Declaration for Dangerous Goods 3 New label design containing battery illustration must be used in air transportation only EN CAUTION GA IF DAMAGED Lithium Metal batteries DO NOT LOAD OR TRANSPORT PACKAGE IF DAMAGED For more information call 81 3 3218 3639 International Seege dee Seege dee NNAAAAAAANAAANAAAAANAAAAAAAAAAAAN AAA Fig 2 1 Example of Label with Battery Illustration e Transportation precaution for customers Documentations like the handling label in the specified design and the Shipper s Declaration for Dangerous Goods are required for air and sea transportation Please attach documentations like the handling label in the specified design and the Shipper s Declaration for Dangerous Goods to the package If you need the self certification form for the battery safety test contact Mitsubishi For more information contact Mitsubishi 2 SYSTEM CONFIGURATION b Battery replacement For Battery replacement procedure refer to section 6 5 2 pie Battery is supplied to the serial absolute synchronous encoder by the encoder cable Battery connector A6BAT MR BAT y AYALLVE HOI IHSISNSLIN
31. 40 40m 131 23ft 50 50m 164 04ft Note 2 The manual pulse generator or incremental synchronous encoder that consumes less than 0 2 A of current can be connected to the internal I F connector Note 3 5VDC internal current consumption of shared equipments with PLC might be changed Be sure to refer to the MELSEC Q series PLC Manuals Note 4 Be sure to use the power supply module within the range of power supply capacity Note 5 Battery Q6BAT is not attached to Battery holder unit Q170DBATC Please purchase it separately Note 6 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 7 These modules can be used in Q172DLX It cannot be controlled using Q173DPX Note 8 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 controlled by Motion CPU ame Current consumption 5VDC A Part n Model name Note 1 Remark QX10 TS 0 05 TYP All points ON 0 06 TYP All points ON DC Positive common Qx41 82 0 075 TYP Alll points ON Input module DC AC QX50 0 05 TYP All points ON QXx70 0 055 TYP All points ON QX70H 0 08 TYP All points ON DC sensor QX71 0 07 TYP All points ON QX72
32. Insulation displacement type Quick release metal latch type Type Connector 10120 6000EL Connector case 10320 3210 000 Unit mm inch O ny 11 5 0 45 20 9 Position where e g logo is indicated 2 0 5 0 02 33 0 1 30 42 0 1 65 29 7 1 17 2 SSCNETIL cable connector Unit mm inch 4 8 0 19 laa y 9 2 F2 i ER e 7 0 26 9 3 0 37 E 17 6 0 2 0 69 0 01 20 9 0 2 0 82 0 01 1 App 22 APPENDICES 3 Battery cable connector a Battery holder side Tyco Electronics AMP K K make Type Connector 1376477 3 Terminal 1376476 1 GE 8 3 0 33 8 2 0 32 0 33 10 0 0 39 Unit mm inch U Est 6 5 0 26 5 4 e 0 21 mar 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 f al Il Ta KSE 10 5 0 41 0 23 5 8 Ke 4 Forced stop input connector Molex Incorporated make Type Connector 5557 02R 210 Terminal 5556PBTL 5A 10 6 om 0 42 m mIa o T GA e Unit mm inch 8 5 0 33 19 6 0 77 0 2
33. MELSOFT MT Works2 MT Developer2 Q173DSCPU Q172DSCPU Q173DCPU S1 Q172DCPU S1 SV13 SV22 V13 SV22 SV43 1 39R 1 06G Section of reference MR Configurator2 MR Configurator Section 2 2 1 39R 1 06G 1 06G 1 01B Mel pT Note 5 eg Note 4 Note 3 RS E me RS Bb RS RS RS 2 Ur Hen 1 39R 1 06G 1 39R 1 06G Not support Note 6 Note 3 Note 3 1 39R 1 09K Note 6 Note 5 1 39R 1 15R Not support 1 39R Not support 1 39R Not support Note 1 SV13 SV22 is the completely same version Note 2 The operating system software version can be confirmed in the operating system software CD ROM MT Developer2 or GX Works2 GX Developer Refer to Q173D S CPU Q172D S CPU Motion controller Programming Manual COMMON Section 1 3 1 4 Note 3 Q173D S CPU Q172D S CPU Motion controller Programming Manual COMMON Note 4 Q173D S CPU Q172D S CPU Motion controller SV13 SV22 Programming Manual Motion SFC Note 5 Q173D S CPU Q172D S CPU Motion controller SV13 SV22 Programming Manual REAL MODE Note 3 Note 4 Note 4 Note 5 There is no restriction by the version an Note 6 Q173D S CPU Q172D S CPU Motion controller SV22 Programming Manual VIRTUAL MODE Note 7 Q173D S CPU Q172D S CPU Motion controller Programming Manual Safety Observation 1 7 ee FS A 1 OVERVIEW Table 1 1 Restrictions by the Software s Version continued No
34. Motion module UO 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 result in vibration that may cause erroneous operation 2 SYSTEM CONFIGURATION m N 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 PXOO 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 Q172DLX XO to X1F Y20 to Y3F Y40 to Y5F Intelligent PXO to PX1F PY20 to PY3F YCO to YDF 32 points 60 to 7F X80 to
35. PLC CPU module Module indication LED Battery error 6 5 warning 2 5V or less BT2 does not display Abnormal if steady BT2 display Motion CPU module does not ae WDT error Ee if steady display mae BT1 does not display 2 7V or less Abnormal if steady EE Refer to Section Refer to Section AL does not flash GH 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 ON OFF Abnormal if the LED does not turn ON or turn OFF as Refer to indicated above O Module Type The LED must be ON when the output power is turned ON Building Block The LED must be OFF when the output power is turned User s Manual OFF Abnormal if the LED does not turn ON or turn OFF as indicated above UO module Check that the LED is ON OFF 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 temperature 0 to 55 C 32 to 131 F When the controller is used in Measure with a thermometer and a the board the ambient Ambient humidity hygrometer 5 to 95 RH temperature in the board Measure corrosive gas becomes the ambient temperature Atmospher
36. Si fo L 90 3 54 a 45 1 77 27 4 1 08 g App 17 APPENDICES APPENDIX 2 6 Power supply module Unit mm inch 1 Q61P A1 Q61P A2 Q61P Q62P Q63P R S lt q PULL al i MITSUBISHI _ D o eE 90 3 54 55 2 2 17 2 Q64P Unit mm inch 98 3 86 MITSUBISHI FT t 55 2 2 17 115 4 53 App 18 APPENDICES 3 Q64PN Unit mm inch 98 3 86 MITSUBISHI Un 55 2 2 17 115 4 53 App 19 APPENDICES APPENDIX 2 7 Battery holder unit Q170DBATC
37. e The tracking enable signal is input Display the serial number described on the rating plate 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 5VOC IAI 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 Exterior dimensions mm inch Specifications Photoooupler Rated input voltage 12 24VDC Rated input current 12VDC 2mA 24VDC 4mA g 10 2 to 26 4VDC Operating voltage range 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 OFF to ON 0 4ms 0 6ms 1ms Response time ON to OFF CPU parameter setting Default 0 4ms Indicates to display ON indication LED Note Functions are different depending on the operating system software installed c Manual pulse generator Incremental synchronous encoder input Voltage output Open collector type Differential output type 26LS31 or equivalent e Voltage output type Open collector type 5VDC Applicable types Recommended product MR HDP0O1 e Differential output type 26LS31 or equivalent External connector type 40 pin connector Applicable wire size Applicable connector for the external A6CON1 Attach
38. i Extension cable QCOB Main base unit Q35DB Q38DB Q312DB Q6QB extension base unit Q63B Q65B Q68B Q612B Motion module Q172DLX Q172DEX Q173DPX Power supply module UO module Intelligent function module of the Q series Motion CPU module Q173DSCPU Q172DSCPU Safety signal module Q173DSXY Forced stop input cable Q170DEMICBLUIM RIO cable Q173DSXYCBLUM SSCNETII cable MR J3BUSLIM AV B Battery Q6BAT SICH oaa foss Servo amplifier MR J3 W OB Servo amplifier MR J4 W OB d F It is possible to select the best according to the system Note 1 Be sure to install the Battery Q6BAT It is packed together with Q173DSCPU Q172DSCPU Note 2 Q172DEX cannot be used in the extension base unit Install it to the main base unit 2 SYSTEM CONFIGURATION kat Coo Te k QnUD E H CPU Intelligent function module Power supply module the Q series IO module b Q173DCPU S1 Q172DCPU S1
39. interface module Manual pulse generator interface module Safety signal module Manual pulse generator MR HDP01 Incremental synchronous encoder interface x3 Tracking input 3 points Input 20 points 2 paths Output 12 points 2 paths 0 33 0 39 0 39 0 39 0 39 0 39 0 39 Program capacity 30k steps LD instruction processing speed 0 02us Built in Ethernet port Program capacity 40k steps LD instruction processing speed 0 0095us Built in Ethernet port Program capacity 60k steps LD instruction processing speed 0 0095us Built in Ethernet port Program capacity 100k steps LD instruction processing speed 0 0095us Built in Ethernet port Program capacity 130k steps LD instruction processing speed 0 0095us Built in Ethernet port 0 46 0 49 Q172DLX Q172DEX Q173DPX Q173DSXY QO3UDCPU QO04UDHCPU QO6UDHCPU Q10UDHCPU Q13UDHCPU Q20UDHCPU Q26UDHCPU QO3UDECPU Q04UDEHCPU QO6UDEHCPU Q10UDEHCPU Q13UDEHCPU 2 SYSTEM CONFIGURATION Part name C Controller module Dok Power supply Note 4 module Main base unit Note 3 Extension base Note 3 unit Extension cable Serial absolute Serial absolute Motion controller related module continued Note 1 Model name Description Program capacity 200k steps LD instruction processing speed 0 0095us Built in Ethernet port Program capacity 260k steps LD instruction processing speed 0 0095us Built in Ethernet port Program capacity 50
40. no Se Q173DPX 5 d a PLS A PLS B TREN 1 1 1 2 2 2 2 3 3 3 O Fa 10 oo oo 10 10 10 C gt 00 10 10 Wu PULSER j g4 3 oo 10 PE oo PEO 10 Lg 10 6 w s 10 G i 10 bm oo oo omer O CO a 7 Q173DPX i Sr a 4 Application Hook used to fix the module to the base unit 1 Module fixing hook i GEN i Single motion installation Display the input status from the external equipment Display for input signal status of manual PLS A 1to3 pulse generator incremental synchronous PLS B 1to3 Input indicator LED encoder phases A B TREN 1to3 Display for signal status of tracking enable The manual pulse generator incremental synchronous 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 mounting lever Used to install the module to the base unit Hole for the screw used to fix to the base unit 5 Module fixing screw hole M3x12 screw Purchase from the other supplier 2 SYSTEM CONFIGURATION Application Detection setting of TREN1 signal DT SW2 OFF OFF Dip switch 1 Dip switch 2 TREN is detected at leading edge of TREN signal Note 1 TREN is detected at trailing edge Pipe vices OFF ON of TREN signal O Detection setting of TREN2 signal N Dip switc
41. 0 234 303 910 Se E POLAND Mess CROATIA Sirius Trading amp Services srl ROMANIA Krakowska 50 Losinjska 4a Aleea Lacul Morii Nr 3 Ce er Bali HR 10000 Zagreb RO 060841 Bucuresti Sector 6 Dee t over Phone 385 0 1 36 940 01 02 03 Phone 40 0 21 430 40 06 Fax 48 012 6304701 Fax 385 0 1 36 940 03 Fax om 430 40 02 MITSUBISHI ELECTRIC EUROPE B V RUSSIA AutoCont CS s t 0 CZECH REPUBLIC ee A ERBIA 52 bld 3 Kosmodamianskaya nab 8 floor Techinologicka 374 6 z etnica RU 1 150 54M y CZ 708 00 Ostrava Pustkovec SER 113000 Smederevo DE Geer Phone 420 595 691 150 Phone 381 0 26 615 401 GEN Fax 420 595 691 199 381 0 26 615 401 MITSUBISHI ELECTRIC EUROPE B V SPAIN ese amr ce LOVAKIA T Ae a DK 4000 Roskilde SK 911 01 Trencin DE Sant ugat del Vall s Barcelona Phone 45 0 46 75 76 66 Phone 421 0 32 743 0472 EE RE Fax 45 0 46 75 56 26 Fax 421 0 32 743 75 20 Fax 34 935891579 Beijer Electronics Eesti OU ESTONIA GEN Se sr o Pre ov SLOVAKIA MITSUBISHI ELECTRIC EUROPE B V UK Se ae ex fant ae UK Brondi a Phone 372 0 6 51 81 40 Phone 421 0 51 7580611 UK Hatfield Herts AL10 8XB Fax 372 0 6 518149 Fax 421 0 51 7580 650 Phone 44 0 1707 27 61 00 Beijer Electronics OY FINLAND INEA RBT dan SLOVENIA Fax 44 0 1707 27 86 95 Peltoie 37 a SE i S FIN 28400 Ulvila jubljana M CORPORATION JAPAN Phone 358 0 207 463 540 Phone 386 0 1 5138116 8 121 chome Harumi Chuo Ku Fax 358 0
42. 1 6A or less for each connector Maximum inrush current 0 7A 10ms or less 0 2A output pin 1 4A 10ms or less Response time ims or less Input response time Number of output points Maximum load current 12 points common Output common method PLC I O and Motion I O are separated Performance indication output 32 points indicates PLC CPU Communication with PLC CPU Communication with Motion CPU Applicable connector for the external connection A6CON2 AGCON3 AGCON4 Optional A6TBXY36 Optional Terminal block converter module Number of modules Up to 3 modules 2 SYSTEM CONFIGURATION c The pin layout of the Motion IO connector PLC IO connector Use the Motion IO connector and PLC IO connector on the front of the Q173DSXY module to connect to I O signals The following is the pin layout of the Q173DSXY Motion IO connector and PLC IO connector as viewed from the front Motion PLC Motion IO connector PLC IO connector 10 10 Signal Name Signal Name Signal Name Signal Name 2B20 2A20 1B10 2B10 K 1A10 2M10 Note MC YOA XOA MC Y1A X1A N PLC YOA XOA PLC Y1A X1A Note 2 Note 2 1B9 1A9 2B9 2A9 MC Y0B X0B MC Y1B X1B PLC Y0B X0B PLC Y1B X1B MC Y0E X0E MC Y1E X1E PLC Y0E X0E PLC Y1E X1E ee en Note 1 0 2 A output is possible The others are 0 1 A output Note 2 Controlled by system as shut off signal Safety function normally is ON abnormally is OFF 1B20 1A20
43. 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 Linear interpolation Up to 4 axes Circular interpolation 2 axes Helical interpolation 3 axes PTP Point to Point control Speed control Speed position control Fixed pitch feed Constant speed control Position follow up control Speed control with fixed position stop Speed switching control High speed oscillation control Speed torque control Synchronous control SV22 PTP Point to Point control Speed control Speed position control Fixed pitch feed Constant speed control Position follow up control Speed control with fixed position stop Speed switching control High speed oscillation control Synchronous control SV22 ion Motion SFC Dedicated instruction Mechanical support language SV22 16k steps USB RS 232 Ethernet Via PLC CPU PERIPHERAL I F Motion CPU Proximity dog type 2 types Count type 3 types Data set type 2 types Dog cradle type Stopper type 2 types Limit switch combined type Scale home position signal detection type Trapezoidal acceleration deceleration S curve acceleration deceleration Advanced S curve acceleration deceleration Backlash compensation Electronic gear Phase compensation SV22 3200 points Positioning data can be designated indirectly USB RS 232 Ethernet Via PLC CPU PERIPHERAL I F Motion CPU No
44. 207 463 541 Fax 386 0 1 513 8170 Tokyo 104 6212 UTECO GREECE Beijer Electronics AB SWEDEN Phone 81 3 622 160 60 5 Mavrogenous Str Box 426 E Ph EE 900 Prone HOt 35 8600 one one MITSUBISHI ELECTRIC AUTOMATION Inc USA Fay 30 211 1206999 Fax 46 0 40 93 23 01 500 Corporate Woods Parkway Vernon Hills IL 60061 MELTRADE Kft HUNGARY Omni Ray AG SWITZERLAND Phone 1 847 478 21 00 Fert utca 14 Im Sch rli 5 Fax 1 847 478 22 53 HU 1107 Budapest CH 8600 Diibendorf Phone 36 0 1 431 9726 Phone 41 0 44 802 28 80 Fax 36 0 1 431 9727 Fax 41 0 44 802 28 28 Beijer Electronics SIA LATVIA GTS TURKEY Ritausmas iela 23 Bayraktar Bulvari Nutuk Sok No 5 8 LV 1058 Riga TR 34775 Yukari Dudullu Umraniye ISTANBUL Phone 371 0 784 2280 Phone 90 0 216 526 39 90 Fax 371 0 784 2281 Fax 90 0 216 526 3995 Beijer Electronics UAB LITHUANIA CSC Automation Ltd UKRAINE Savanoriu Pr 187 4 B M Raskovoyi St LT 02300 Vilnius UA 02660 Kiev Phone 370 0 5 2323101 Phone 380 0 44 494 33 55 Fax 370 0 5 232 2980 Fax 380 0 44 494 33 66 Systemgroup UKRAINE 2 M Krivonosa St UA 03680 Kiev MITSUBISHI ELECTRIC Phone 380 0 44 490 92 29 Fax 380 0 44 248 88 68 Mitsubishi Electric Europe B V FA European Business Group Gothaer Stra e 8 D 40880 Ratingen Germany FACTORY AUTOMATION Tel 49 0 2102 4860 Fax 49 0 2102 4861120 info mitsubishi automation com
45. 81ft Attach a ferrite core included with the internal I F connector set within 1 to 5 0 39 to 1 97 cm inch from the Motion CPU module Ferrite core TDK make Solderless terminal Type ZCAT2032 0930 CPU module side a J E 26 o View A Cd HDR E50MSG1 Connector HDR E50LPH Connector case HBH HBL HAH HAL HB SG CO HB HA CO HA Voltage output Open collector type gt Manual pulse generator SG SE SVGND incremental synchronous encoder side SG 5V 7 CO au PV Di CO Dn COM e DI3 CO ois gt Input signal mark detection input side DI2 CO vr put sig p COM Du e Du CO DICOM FG Kees E Ee FG J Twisted pair cable Note Layout twisted pair for signal to avoid contact E Twisted pair for signal HB SG HA SG DI1 COM DI2 COM DI3 COM DI4 COM __ Twisted pair 5V SG ZY Core Cable cross section diagram App 9 APPENDICES Z CAUTION When fabricating the internal I F connector cable do not make incorrect connection Doing so may cause an operation failure or give damage to the module When fabricating the internal I F connector cable be sure to attach a ferrite core ZCAT2030 0930 Not doing so may cause an operation failure or give damage in noise to the module App 10 APPENDICES EH APPENDI
46. CO o Yo lt Electromagnetic brakes if an error occurs remove the cause secure the safety and then resume operation after alarm release The unit may suddenly resume operation after a power failure is restored so do not go near the machine Design the machine so that personal safety can be ensured even if the 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
47. Connect the SSCNETII cables to the following connectors Refer to Section 4 2 1 for the connection and disconnection of SSCNETII cable Motion CPU module S J e e 7 SSCNETI cable length dese MR J3BUS DM use i i 1 lt 3m 9 84ft Ge g MR J3BUS OM A use 2 ONT L EN e 1 lt 20m 65 62ft El y MR J3BUSOM B use gt ka 2 1 lt 50m 164 04ft vulpes O zZ 4 S CN1B Servo amplifier Servo amplifier Note It cannot communicate with that the connection of CN1A and CN1B is mistaken 2 SYSTEM CONFIGURATION 4 Setting display of axis No tt SSCNET Structure SSCNET III LINE 1 SSCNET III H iF Jd D p SSCNET III LINE 2 SSCNET II K Setting of the axis No and axis select rotary switch of servo amplifier Axis No is used to set the axis numbers of servo amplifiers connected to SSCNETII connector CNO in the program The following range can be set in the Motion CPU module Axis No is set for each SSCNETII H system in the system setting of MT Developer2 Axis No is allocated and set for the setting axis number d01 to d16 of servo amplifier _ Aris No settin
48. Do not connect the shaft of serial absolute synchronous encoder directly to machine side rotary shaft Always after connecting the shaft of serial absolute synchronous encoder to another bearing once connect the shaft through a flexible coupling Never hit the end of the serial absolute synchronous encoder coupling shaft with a hammer when connecting the coupling to it The large loads applied to serial absolute synchronous encoder will damage it The serial absolute synchronous encoder 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 serial absolute synchronous encoder is exposed to water and or oil provide protection from oil and water e g mount a cover In addition run the cable downward to prevent oil and or water from running on the cable into the serial absolute synchronous encoder When it is inevitable to mount the serial absolute synchronous encoder vertically or obliquely trap for the cable Use the serial absolute synchronous encoder within the specified temperature range 5 to 55 C 23 to 131 F 4 INSTALLATION AND WIRING 4 5 Wiring 4 5 1 Instructions for wiring Z DANGER Completely turn off the externally supplied power used in the system before installation or placing wiring Not doing so could result in electric shock or damage to the product When turning on the power supply or operating the module after wirin
49. Error A Moderate Error Minor Error Assignment Error e Assignment Incorrect Power H cpu CPU Empty Empty Empty Empty Empty Empty Empty Point Address Station No 0000 0010 0020 0030 0040 0050 0060 16Point 16Point 16Point 16Point 16Point 16Point 16Point Stop Monitor Serial number of Motion CPU module Product Information List Sort Ze Order by Installation Order by Type Name Slot Type Series Model Name Cu CPU Q CPU Q QO6UDHCPU D Q173DCPU 1 Empty 2 Empty 3 Empty 4 H Empty 5 Empty 6 Empty 7 Empty Operating system software version Master ae te Point PLC Address luction Number 090439090570016 B G7x052712_ J Create CS File 2 14 lt Screen GX Works2 gt 2 SYSTEM CONFIGURATION 1 Serial number of Motion CPU module and Operating system software version on the system monitor Product Information List screen of GX Works2 GX Developer was corresponded from the Motion CPU modules manufactured in early October 2007 2 The operating system software version can also be checked on the system monitor screen in CD ROM of operating system software or MT Developer2 Refer to Section 1 3 4 of the Q173D S CPU Q172D S CPU Motion controller Programming Manual COMMON for details Gp Refer to Section 1 3 for the software version that supports this function 2 SYSTEM CONFIGURATION 2 3 System Configuration Eq
50. I O module Continuous detection mode Specified number of detection mode Ring buffer mode Mark detection Pe RE Mark detection Built in interface in Motion CPU 4 points signal Bit device DOG CHANGE signal of Q172DLX Mark detection i 32 settings setting Clock function Provided Provided Provided Security function Protection by software security key or password Protection by password All clear function clear function Provided Remote operation Remote RUN STOP Remote latch clear Motion buffering method Motion buffering method Digital oscilloscope function Real time waveform can be displayed Real time waveform can be displayed Sampling data Word 16CH Bit 16CH Sampling data Word 4CH Bit 8CH a Made compatible by setting battery to servo amplifier Absolute position system Possible to select the absolute data method or incremental method for each axis Communication SSCNET SSCNETIO H SSCNETH SSCNETII SE method communication Wester Note 4 systems Number of Motion related modules Note 1 Q173DCPU S1 Q172DCPU S1 only Note 2 When the manual pulse generator is used via the built in interface in Motion CPU the Q173DPX cannot be used Note 3 Any incremental synchronous encoder connected to the built in interface in Motion CPU will automatically be assigned an Axis No one integer greater than the number of encoders connected to any Q172DEX modules and Q173DPX modules Note 4 The
51. Internal I F connector Cable ansriccierennriiniaiiaiariaiaa iaiia iaaii 4 20 A3 Mounting ot Bate aoe an a A E A E E nadie 4 21 4 4 Mounting of Serial Absolute Synchronous Encoder AA 4 23 ARSITA ln o DEE 4 24 E al ee Tor ln RETTEN 4 24 4 5 2 Connecting to the power supply module nennen 4 27 5 1 Check Items Before Start up aruni enero eiae edane aeiae aeaaeae aaae daadaa dia ae daadaa aedon reia 5 1 5 2 Start up Adjustment Procedure A 5 3 5 3 Operating System Software Installation Procedure eeeeeeseeeeeeeeeeeeeeeeeeeaeeeaeeeaeeeaeeeaeeeaeeeaeesaeesaeeas 5 7 5 4 Trial Operation and Adjustment Checklet AAA 5 9 6 1 Maintenance Works 10 cac site te A ee Ale de ede i iiaa 6 2 6 1 1 Instruction Of inspection works EAS EEES EEEE En nEEnEn nennen 6 2 6 2 Daily Inspection EE 6 4 6 3 PENOdIG eene EES 6 5 aE D EE S A E A EE EEN 6 6 6 5 Battery EE aad ce de 6 7 Ee MNCS eer EE EE 6 8 6 5 2 Battery replacement procedure cceccccesceeeeceeeeceeseeeeeeaeeeeaeeecaeecsaceeseaeeseaeeseaeesteaeeeeaeeseeetsetsineess 6 10 6 5 3 Resuming operation after storing the Motion Controller A 6 14 6 5 4 Symbol for the new EU battery directive AA 6 14 6 6 Troubleshooting BEE 6 15 6 6 1 Troubleshooting DaSICS A 6 15 6 6 2 Troubleshooting of Motion CPU module AAA 6 16 6 6 3 Confirming Error CODE opnunar a i e lee ia r a N 6 26 6 6 4 Internal input circuit troubleshooting AA 6 27 7 EMC DIRECTIVES 7 1 to 7 10 7 1 Requirements for Complia
52. Japan or overseas countries We are not responsible for any on site readjustment and or trial run that may be required after a defective unit are repaired or replaced Gratis Warranty Term The term of warranty for Product is thirty six 36 months after your purchase or delivery of the Product to a place designated by you or forty two 42 months from the date of manufacture whichever comes first Warranty Period Warranty period for repaired Product cannot exceed beyond the original warranty period before any repair work Gratis Warranty Range 1 You are requested to conduct an initial failure diagnosis by yourself as a general rule It can also be carried out by us or our service company upon your request and the actual cost will be charged However it will not be charged if we are responsible for the cause of the failure 2 This limited warranty applies only when the condition method environment etc of use are in compliance with the terms and conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed to the Product 3 Even during the term of warranty the repair cost will be charged on you in the following cases 1 A failure caused by your improper storing or handling carelessness or negligence etc and a failure caused by your hardware or software problem 2 A failure caused by any alteration etc to the Product made on your side without our approva
53. L1B RJ006 Servo amplifier Instruction Manual SH 030056 This manual explains the I O signals parts names parameters start up procedure and others for Fully 1CW304 Closed Loop Control MR J3 LJB RJ006 Servo amplifier SSCNETII interface Drive Safety integrated MR J3 LB Safety Servo amplifier Instruction Manual SH 030084 This manual explains the I O signals parts names parameters start up procedure and others for safety 1CW205 integrated MR J3 LB Safety Servo amplifier Manual Page Organization The symbols used in this manual are shown below Symbol Symbol that indicates correspondence to only Q173DSCPU Q172DSCPU Symbol that indicates correspondence to only Q173DCPU S1 Q172DCPU S1 MEMO 1 OVERVIEW 1 OVERVIEW 1 1 Overview This User s Manual describes the hardware specifications and handling methods of the Motion Controller for the Q series PLC Multiple CPU system The Manual also describes those items related to the specifications of the option module for the Motion controller Manual pulse generator Synchronous encoder and cables In this manual the following abbreviations are used Generic term Abbreviation Q173D S CPU Q172D S CPU or Q173DSCPU Q172DSCPU Q173DCPU Q172DCPU Q173DCPU S1 Motion CPU module Q172DCPU S1 Motion CPU module Q172DLX Servo external signals interface module Q172DLX Q172DEX Q173DPX Q172DEX Synchronous encoder interface module N Q173DSXY or Moti
54. Module fixing screw M3 x12 user prepared Screw the Motion CPU module to the main base unit using supplied fixing screws 3 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 ZA CAUTION While pressing the installation lever located at the bottom of module insert the module fixing projection 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 damage or drop When using the Motion controller in the environment of much vibration tighten the module with a screw 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 4 INSTALLATION AND WIRING b Removal When using the module fixing screws remove them t Vi A Module fixing hook Support the module with both hands and securely press the module fixing hook with your finger we S Base unit Module connector Pull the module based on the supporting point of module bottom while pressing the module fixing hook While lifting a module take off t
55. Operating voltage range 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 Upper Lower stroke limit and 0 4ms 0 6ms 1ms CPU parameter setting Default 0 4ms Indicates to display ON indication LED External connector type 40 pin connector Applicable wire size Applicable connector for the external A6CON1 Attachment connection A6CONZ2 AGCON3 AGCON4 Optional Applicable connector A6TBXY36 A6TBXY54 A6TBX70 Optional Terminal block converter module 2 SYSTEM CONFIGURATION 3 Connection of servo external signals interface module a Servo external signals There are the following servo external signals Upper stroke limit is limit value of address increase direction lower stroke limit is limit value of an address decrease direction The Q172DLX is assigned a set of input No s per axis Make the system setting of MT Developer2 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
56. ROM built in Motion CPU module remains flashing in the first digit and steady display in the second digit of Mode operated by RAM 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 are Mode operated by ROM changed using the MT Developer2 during mode operated by ROM operation starts y with the contents of the FLASH ROM built in Motion CPU module 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 built in Motion CPU module at next power supply on or reset e Refer to next page c Ethernet IP address display mode overview Refer to next Itis STOP status regardless of the RUN STOP switch position at the front side of page c Motion CPU module e The stop error MULTI CPU DOWN error code 7000 will occur at the other CPU Ethernet IP address display mode remains flashing in the first digit of 7 segment LED e The programs parameters motion devices devices of latch data and absolute position data of SRAM built in Motion CPU module are cleared by turning ON t
57. Specification Description Output 9 SE d Manual e Rated input voltage For connection pulse A 5 5VDC or less manual pulse generator A20 A15 A10 i i va generator i Ph A B phase A 3 to 5 25VDC oe ee HAO Manual pulse 2mA or less 20us or more generator Incremental Manual synchronous e LOW level 5us 5us Input pulse encoder 1VDC or less omen EA Duty ratio 50 25 generator B20 B15 B10 SCDE Leading edge Trailing phase B edge time us or less HBO Phase difference Phase Aa A LIL Select type Phase B JuL signal A18 A13 A8 bet Ch ositioning address HPSELO increases if Phase A leads Phase B 2 Positioning address Note Power suppl decreases if Phase B P5 B18 B13 B8 ine y leads Phase A Power supply A19 A14 A9 SG B19 B14 B9 Note 1 The 5V P5 DC power supply from the Q173DPX must not be used if a separate power supply is applied to the Manual pulse generator Incremental synchronous encoder If a separate power supply is used be sure it is 5V voltage Anything else may cause a failure d Interface between PULSER connector and tracking enable signal Pin No Signal name 9 2 Wiring example Internal circuit Specification Description Tracking enable signal input B2 P 12V to 24VDC Note As for the connection to tracking enable TRENO REN both and are possible 2 SYSTEM CONFIGURATI
58. Speed position switching input type home position return of for switching from speed to DOG CHANGE position switching control 2 SYSTEM CONFIGURATION EH b B20 B1 The pin layout of the CTRL connector Use the CTRL connector on the front of the Q172DLX module to connect to servo external signals The following is the pin layout of the Q172DLX CTRL connector as viewed from the front CTRL connector O Pin No Signal Name Pin No Signal Name Signal Nol B20 FLS1 A20 FLS5 Signal No ee i B19 RLS1 A19 RLS5 Le 0 0 A20 B18 STOP1 A18 STOP5 ur B17 DOG1 CHANGE1 A17 DOG5 CHANGES5 10 B16 FLS2 A16 FLS6 10 B15 RLS2 A15 RLS6 es z B14 STOP2 A14 STOP6 E 1 B13 DOG2 CHANGE2 A13 DOG6 CHANGEG 00 B12 FLS3 A12 FLS7 B11 RLS3 A11 RLS7 10 3 lt gt 7 i B10 STOP3 A10 STOP7 0 B9 DOG3 CHANGE3 A9 DOG7 CHANGE7 B8 FLS4 A8 FLS8 d B7 RLS4 A7 RLS8 4 lt Wa B6 STOP4 A6 STOP8 B5 DOG4 CHANGE4 A5 DOG8 CHANGE8 ur A1 B4 No connect A4 No connect Gy B3 No connect A3 No connect B2 COM A2 No connect l O B1 COM A1 No connect Applicable connector model name A6CON1 type soldering type connector FCN 361J040 AU connector FUJITSU COMPONENT LIMITED Attachment FCN 360C040 B connector cover J A6CON2 type Crimp contact type connector i A6CON3 type Pressure displacement type connector Optional A6CON4 type
59. and absolute position data of SRAM built in Motion CPU module are backed up if the battery connector is not connect correctly 4 INSTALLATION AND WIRING 4 4 Mounting of Serial Absolute Synchronous Encoder This section describes precautions for handling the serial absolute synchronous encoder 1 If the serial absolute synchronous encoder is linked to a chain timing belt or gears the machine rotating shaft should be supported by a separate bearing and connected to serial absolute synchronous encoder through a coupling Ensure that excessive force greater than the permitted shaft load is not applied to the shaft of serial absolute synchronous encoder Table 4 1 Permitted Shaft Loads Gear C Bearing Serial absolute synchronous encoder Radial direction Thrust direction Coupling Permitted shaft load Up to 19 6N Up to 9 8N 2 Excessive load is applied to the shaft of serial absolute synchronous encoder 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 A CAUTION The serial absolute synchronous encoder 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
60. can be suppressed by the direct application of an EMI gasket on the paint surface 2 Connection of power line and ground wire It is necessary to use the Motion controller grounding terminal only when it is in the grounded condition Be sure to ground the grounding for the safety reasons and EMC Directives Ground wire and power supply cable for the Motion controller system must be connected as described below a Provide an grounding point near the FG terminals Ground the FG terminals FG Frame Ground with the thickest and shortest wire possible The wire length must be 30cm 11 81inch or shorter The FG terminals function is to pass the noise generated in the Motion controller system to the ground so wire the ground wire as short as possible to ensure a low impedance The wire itself carries a large noise content and thus short wiring means that the wire is prevented from acting noise emission as an antenna 7 EMC DIRECTIVES 3 Cables The cables extracted from the control panel contain a high frequency noise component On the outside of the control panel therefore they serve as antennas to emit noise To prevent noise emission use shielded cables for the cables which are connected to the I O modules and intelligent function modules and may be extracted to the outside of the control panel The use of a shielded cable also increases noise resistance The signal lines including common line of the programmable controller w
61. charge a battery Do not disassemble a battery Do not burn a battery Do not overheat a battery Do not solder the battery terminal The programs parameters motion devices latch range devices and absolute position data of SRAM built in Motion CPU module are backed up without using the battery 3 Connection procedure with Motion CPU module a Q173DSCPU Q172DSCPU 1 Open the battery cover 2 Set Q6BAT to battery holder 3 Connect the lead connector of Q6BAT to the battery connector 4 Close the battery cover Motion CPU module bo I Battery holder of 3 fo Sales A Fo oe N Oo O Battery cover Q6BAT 2 SYSTEM CONFIGURATION b Q173DCPU S1 Q172DCPU S1 1 Set Q6BAT to Battery holder unit Q170DBATC 2 Connect the lead connector of Q6BAT to the connector BATTERY of Q170DBATC 3 Connect between the connector BAT of Motion CPU module and connector CPU of Q170DBATC Motion CPU module ile a dl i U BAT Battery holder un
62. controller SV13 SV22 Programming Manual REAL MODE Note 6 Q173D S CPU Q172D S CPU Motion controller SV22 Programming Manual VIRTUAL MODE Note 7 Q173D S CPU Q172D S CPU Motion controller Programming Manual Safety Observation 1 OVERVIEW 1 4 Programming Software Version The programming software versions supported to Motion CPU are shown below Motion CPU Ee EE MR Configurator2 MR Configurator svasvz o 3 SV22 own Q173DSCPU 1 39R l 1 10L Not support Q172DSCPU 1 39R ae El 1 10L Not support Note Note Q173DCPU S1 om 1 030 1 00A CO N Q172DCPU S1 1 00 op 1 00A Note 3 Q173DCPU 1 00A 1 03D 1 00A Q172DCPU 1 00A 1 03D 1 00A co MS Note 1 Use version 1 12N or later to communicate via PERIPHERAL I F Note 2 Use version 1 23Z or later to communicate via PERIPHERAL I F Note 3 Use version C1 or later to use MR Configurator combination with MT Developer2 1 10 2 SYSTEM CONFIGURATION 2 SYSTEM CONFIGURATION This section describes the Motion controller system configuration precautions on use of system and configured equipments 2 1 Motion System Configuration 1 Equipment configuration in system a Q173DSCPU Q172DSCPU Intelligent function module of the Q series Extension of the Q series module 1 Note 00 H H o H i 8 1 H i i b OI 1 Power supply module 1 QnUD E H CPU I O module i Motion module i i 1 1
63. 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 y Turn off the Multiple CPU system power supply Side of the Q172DEX Remove the encoder cable from Q172DEX Remove the Q172DEX from the base il unit LS Cy Disconnect the lead connector from I l the battery connector Remove the EN old battery from its holder of the Front Q172DEX JZ 2 Install a new battery into the holder in S a p the correct direction Connect the Z S j lead connector to the connector EIKA COM4 y Install the Q172DEX to the base unit Battery Connector for battery Encoder cable A6BAT MR BAT connection CON4 Connect the encoder cable to the Q172DEX i Turn on the Multiple CPU system power supply y END 6 INSPECTION AND MAINTENANCE 6 5 3 Resuming operation after storing the Motion controller When the operation is to be resumed after being stored with the battery removed or the battery has gone flat during storage the contents of programs parameters motion device latch range device and absolute position data cannot be guaranteed Before resuming operation write the contents of programs parameters mot
64. for the clutch 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 synchronous encoder Up to 12 modules Q173DPX Up to 4 modules External input signal of the dk Number of points on Application 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 on the front of the Q173DPX module to connect to manual pulse signals and incremental synchronous encoder signals The following is the pin layout of the Q173DPX PULSER connector as viewed from the front PULSER connector Pin No SignalName Pin No Signal Name 2 B20 HB1 A20 HA1 2 B19 SG A19 SG B20 A20 B18 5V A18 HPSEL1 1 d B17 HA1N A17 HA1P la B16 HB1N A16 HB1P 2 B15 HB2 A15 HA2 2 B14 SG A14 SG B13 5V A13 HPSEL2 1 d B12 HA2N A12 HA2P 3 B11 HB2N A11 HB2P 2 B10 HB3 A10 HA3 2 B9 SG A9 SG B8 5V A8 HPSEL3 1 B7 HA3N A7 HA3P 3 3 B6 HB3N A6 HB3P i BS No connect AS No connect B1 A1 B4 TREN1 A4 TREN1 B3 TREN2 A3 TREN2 B2 TREN3 A2 TREN3 4 Bi FG A1 FG 4
65. i tei P5 18 1 k efi LG Ges eent mic ti SCH oc 1 ot 1 ot CH BAT le l E LG 1H 1 MR Hem rt 1K MRR deeg 4b MD ii HH MDR 16 J W eee ot Ae SDplate ei N TREN 4 5 6 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 65 2 SYSTEM CONFIGURATION 7 Connection of the battery This section describes the battery specifications handling precautions and installation of the Q172DEX a Specifications The specifications of the battery for memory back up are shown in the table below Battery Specifications Model name Classification Manganese dioxide lithium primary battery Nominal current mAh 1600 Lithium content g 0 48 S ions For backup absolute positioning data of the serial absolute Applications synchronous encoder Exterior dimensions mm inch 16 0 63 x 30 1 18 Note The following points are changed for lithium metal batteries transportation by sea or air due to Recommendations of the United Nations Rev 15 and ICAO TI 2009 2010 edition 1 A package containing 24 cells or 12 batteries or less that are not contained in equipment are no longer exempt from the following attachment of a handling label submission of the Shipper s Declaration for Dangerous Goods and a 1 2m
66. inside the panel is uniformed by a fan 6 When air inside the panel is not circulated essnsssnesensnneensenereeeneene 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 a normal 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 Q38DB Q61P QO3UD Q173D QX40 Q172D Q172D Q173D LX EX PX b 5VDC current consumption of each module QO3UDCPU 0 33 A Q173DCPU 1 25 A Qx4o rr 0 05 A Q172DLX 0 06 A Q172DEX 0 19 A Q173DPX 0 38 A Note 5VDC internal current consumption of shared ouer oan Be sure t refer to the MELSEC series PLC Q38DB e 0 23 A Manuals c Power consumption of power module WPWw 3 7 X 0 33 1 25 0 05 0 05 0 06 0 19 0 38 0 43 0 43 0 23 x5 7 29 W d Total power consumption for 5VDC logic circuits of all modules W5v 0 33 1 25 0 05 0 05 0 06 0 19 0 38 0 43 0 43 0 23 x5 17 W e A total of 24VDC average power consumption of the output module Wav 0 W f Average power consumption due to voltage drop in the output section of the output module Wout 0 W g Average p
67. installation may lead to signals not being output when trouble occurs or the protective functions not functioning Servo amplifier Servo amplifier 24VDC Control output Control output signal signal DICOM DICOM For the sink output interface For the source output interface Do not connect or disconnect the connection cables between 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 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 Before starting test operation set the parameter speed limit value to the slowest value and make sure that operation can be stopped immediately by the forced stop etc if a hazardous state occurs 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 ope
68. more is set Refer to Section 2 5 1 6 EEK 2 SYSTEM CONFIGURATION j MR J4W3 OB and MR J3W OB does not correspond to operation cycle 0 2 ms Set 0 4 ms or more as operation cycle to use MR J4W3 LB and MR J3W OOB E k If there is an axis which is not set at least 1 axis by system setting in applicable servo amplifier at MR J4W LB use all axes connected to applicable servo amplifier and subsequent servo amplifiers cannot be connected Set Not used to the applicable axis with a dip switch for the axis which is not used by MR J4W DB GE I 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 5 2 3 Selection of the power supply module m 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 n The module name displayed by System monitor Product information list of GX Works2 GX Developer is different depending on the function version of Motion modules Q172DLX Q172DEX Q173DPX Note Even if the function version C is displayed it does not correspond to the online module change Model display Module name Q172DLX Q172LX Q172DLX Q172DEX MOTION UNIT Q172DEX Q173DPX MOTION UNIT Q173DPX o Use the Graphic Oper
69. of the Motion CPU module b Front of Motion CPU module The serial number is printed in the projection parts forward of the lower side of Motion CPU module CH D Q173DCPU S1 m D amo q EMI CC dE A Z Wa G LER m Rating plate S amp 0026 SVDC_1 30A IS EIERE be c SERAL M16349999 Serial number JL O U S See Q173DCPU oO g i i py i O J i z LY O U SH gee N JRO Ee r et or ye c System monitor product information list The serial number can be checked on the system monitor screen in GX Works2 GX Developer Refer to Section 2 2 2 The serial number display was corresponded from the Motion CPU modules manufactured in early October 2007 2 SYSTEM CONFIGURATION 3 Motion module Q172DLX Q172DEX Q173DPX Q173DSXY a Rating plate The rating plate is situated on the side face of the Motion module b Front of Motion module The serial No is printed in the projection parts forward of the lower side of Motion module LH oo Q172DLX Q Po oa Hi 8 Aa MITSUBISHI Rating plate Di MO Q172D0LX oa 24VDC 0 16A 5VDC 0 06A P WW SERIAL EVERE Serial number 10 DA 011 06 ue a E oa
70. plasticizing If using adhesive tape for bundling the cable fire resistant acetate cloth adhesive tape 570F Teraoka Seisakusho Co Ltd is recommended 4 INSTALLATION AND WIRING POINTS 9 Migrating plasticizer is used for vinyl tape Keep the MR J3BUSOM and MR J3BUSOIM A cables away from vinyl tape because the optical characteristic may be affected I Optical cord Cable SSCNETI cable MR J3BUSOI ey ee MR J3BUSOIM A IMRvgsusoMB OT O O Normally cable is not affected by plasticizer A Phthalate ester plasticizer such as DBP and DOP may affect optical characteristic of cable Generally soft polyvinyl chloride PVC polyethylene resin PE and fluorine resin contain non migrating plasticizer and they do not affect the optical characteristic of SSCNETI cable However some wire sheaths and cable ties which contain migrating plasticizer phthalate ester may affect MR J3BUSOIM and MR J3BUSOIM A cables made of plastic In addition MR J3BUSOIM B cable made of quartz glass is not affected by plasticizer 10 If the adhesion of solvent and oil to the cord part of SSCNETII cable may lower the optical characteristic and machine characteristic If it is used such an environment be sure to do the protection measures to the cord part 11 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 SSCNETILT connec
71. power failure within 10ms OFF e DC power supply is ON however the power supply module is out of order 5VDC error overload internal circuit failure blown fuse 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 reset occurs in the CPU module or the fuse is blown In a Multiple CPU system configuration turned OFF opens when a stop error occurs in any of the CPU modules Normally OFF when loaded in an extension base unit e 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 DC input reset occurs in the CPU module or the fuse is blown power supply In a Multiple CPU system configuration turned OFF opens when a stop error occurs in any of the CPU modules Normally OFF when loaded in an extension base unit Grounding for the power supply filter The potential of Q61P A1 Q61P A2 Q61P Q62P Q64P and Q64PN 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 e Power input terminals connected to a power supply of 100VAC to 200VAC Q61P Q62P Q64PN e Power input terminals connected to a power supply of 24VDC Q63P 24V 24G terminals 6 Q62P only Used to sup
72. servo amplifier and the end of SSCNETI 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 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 not 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 high temperature Therefore do not make it touched the part which becomes high temperature such as radiator or regenerative option of servo amplifier or servomotor When laying the SSCNETII cable be sure to secure the minimum cable bend radius or more 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 When bundling the cable fix and hold it in position by using cushioning such as sponge or rubber which does not contain migratable
73. soldering type connector DOG CHANGE STOP RLS FLS functions of each axis 1 to 8 For information about signal details refer to S eDOG CHANGE Proximity dog Speed position the programming manual switching signal SSTOP en au d ei Stop signal SRLS wesc ore ere el ere Lower stroke limit SES ege 8 amp 6 6 ees See 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 converter module ACOTB O Length m Connector terminal block converter module cable Signal No 1 to 8 can be assigned to the specified axis Make the assignment in the system s ettings of MT Developer2 2 SYSTEM CONFIGURATION 4 Interface between CTRL connector and servo external signal de A Signal name i Wiring example Internal circuit Specification Description utpu Supply voltage 12 to 24 VDC 10 2 to 26 4 VDC stabilized power supply Upper stroke limit input Q Q Lower stroke limit input High level 10 0 VDC or more 2 0mA or more Low level 1 8 VDC or less DOG CHANGE1 0 18mA or less DOG CHANGE2 GE ER DOG CHANGE3 roximity og Speed position DOG CHANGE4 a l switching signal DOG CHANGE5 g sig DOG CHANGE DOG CHANGE6 DOG CHANGE7 DOG CHANGE8 Common terminals for servo ex
74. stop Check that the home position return is executed correctly Check that each positioning control of Motion program is operates correctly PLC CPU module in STOP status forced stop Manual operation Check the operation of each actuator and confirmation limit switch Checks in compliance with control specifications specific to system and equipment Motion CPU module Check each operation in automatic operation mode of system during Motion program in RUN status execution Check that the automatic operation motions PLC CPU module in Check that the machine operation stops immediately by the emergency stop or RUN status Automatic forced 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 Torque check S Check that the continuous effective load torque is rated torque or less Oo Check that the emergency stop forced stop and equipment alarm signals are zal correct operation Check that the module or equipment alarm causes an immediate stop or cycle as stop Check each operation in manual operation mode of system during Motion program execution Check th
75. 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 cannot be invalidated in the parameter setting of system setting Make the forced stop input cable within 30 m 98 43 ft The wiring example for the forced stop input of Motion CPU module is shown below EMI COM Forced stop ag o _ lt Motion CPU module gt 24VDC 2AVDC Note 1 EMI COM rR tT Forced stop Note The forced stop input can not be invalidated in the system settings Note 1 As for the connection both and are possible 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 connector and invalidate the forced stop input of EMI connector The wiring example that uses the forced stop input of input module QX10 is shown below QnUDD Q17 CPU CPU EMI COM Xn COM Forced stop m 24VDC 100VAC lt Input module QX10 gt
76. 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 WO module or others d Servo program or Motion SFC program Motion program e Sequence program 6 INSPECTION AND MAINTENANCE 6 6 2 Troubleshooting of Motion CPU module This section describes the contents of troubles for the error codes and corrective actions of the troubles As for troubleshooting of PLC CPU refer to the QCPU User s Manual Hardware Design Maintenance and Inspection of their respective modules As for troubleshooting of I O modules refer to the I O Module Type Building Block User s Manual 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 POWER LED turns off a Flowchart for when POWER LED turns off does not flash in the first digit of b t e ER 7 segment LED Flowchart for when does not flash in the first digit of 7 segment LED y ASANA c A00 displ 7 t LED A00 displays on segmento f gt Flowchart for when A00 displays on 7 segment LED S A WEE SUE Flow
77. the main base unit 3 Check that the module fixing screws are tightened correctly 4 1 1 Q173D S CPU 4 Check that the forced stop input is wired correctly 3 2 Q172D S CPU 5 Check that the battery is installed Motion CPU module 6 Check that the battery cables are connected correctly 22K 4 2 2 7 Check that the battery lead connecter is connected correctly GE 4 3 8 Check that the built in interface in Motion CPU is wired correctly CX 2 5 1 9 Check that the manual pulse generator incremental synchronous encoder is wired correctly 2EX 5 START UP PROCEDURES Confirmation Items base unit when installation to the main base unit Q172DLX Servo external Ke Refer to the signals interface module Q173D S CPU 3 Check that the installation position of modules correspond to the Q172DEX synchronous e Q172D S CPU Motion encoder interface module pee ree controller Programming GE D Q173DPX Manual pulse Manual COMMON generator interface module 4 Check that the connection with external equipments is correct 5 Check that the battery is connected to connector of Q172DEX correctly 1 Check that the wire size of cable is correct 2 Check that the terminal block screws are tightened correctly 3 Check that the cables connected to each terminal of terminal block correspond to the signal names UO module 24VDC 5VDC closely as possible res
78. 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 Isolati Main power PLC power EE ap supply supply Se 3 100 200VAC O__OQ e _0_ _O amp Multiple CPU MCCB CP system VO power ro supply 4 N Hab gt UO equipment cP quip Motor power supply N O 2e Motor equipment CP Main circuit power supply for servo amplifier N 100 200 400VAC MCCB Control power supply eg Servo amplifier for servo amplifier 7 oN gt CP 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 2
79. the system setting error occurrence The following shows the flowchart for when AL flashes 3 times gt Steady L01 display displays during operation AL L01 displays on 7 segment LED Confirm details of error by Motion CPU error batch monitor of MT Developer2 Does a ROM ERRORO occur NO Is ROM operation executed Set a rotary switch1 SW1 to 0 a Set a rotary switch1 SW1 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 YES SL occur NO Set by relative check of the system setting not to occur a error and write the setting to the Motion CPU module Reset the Multiple CPU system Does A00 L01 disappear on 7 segment LED END 6 INSPECTION AND MAINTENANCE nt e Flowchart for when AL gt A1 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 for when AL flashes 3 times gt Steady A1 display gt O displays during operation O 4 digits error code is displayed in two sequential flashes of 2 digits each AL A1 gt
80. 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 The battery connector Q6BAT lead connector is disconnected The battery cable lead wire of Q6BAT is broken Note 7 Set the battery Q6BAT to battery holder unit Q170DBATC when using the Q173DCPU S1 Q172DCPU S1 6 INSPECTION AND MAINTENANCE PONT _ 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 turns on the contents for programs parameters motion device latch range device and absolute position data cannot be guaranteed It is recommended to back up the data periodically 3 When the total power failure time exceeds its guaranteed value and SM51 SM52 SM58 and SM59 turns on 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 Q173D S CPU Q172D S CPU Q172DEX The external battery
81. to put a cap attached to Motion CPU module or servo amplifier to the Motion CPU module and servo amplifier e For SSCNETID cable attach the tube for protection optical cord s end face on the end of connector 4 INSTALLATION AND WIRING 4 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 J3BUSUOIM and MR J3BUSLIM 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 option of servo amplifier or servo motor 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 a 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 SSCNETII cable the appropriate length should be selected with due consideration for the dimensions and arrangement of Motion controller and servo amplifier When closing the door of control panel pay careful attention for avoiding the case that SSCNETII cable is hold down by the door and the cable bend becomes small
82. 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 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 amplifiers 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 destructio
83. 0 15 15 6 to 31 2VDC 85 to 132VAC 170 to 85 to 264VAC 264VAC Input frequency EE 50 60Hz 5 Input voltage distortion factor Portes O Max input apparent power 160VA 100A 1 l Inrush current d e Sg Se 20A 8ms or less Note 4 at 24VDC input A SD Rated output current goed Overcurrent 5VDC protection Note 1 24VDC Overvoltage 5VDC 5 5 to 6 5V protection Note 2 24VDC Permissible instantaneous power off EE a 10ms or less at 24VDC input 20ms or less time Note 3 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 10MQ or more by insulation resistance tester 500VDC Input power supply DN 500VAC across primary and Dielect ithstand volt ielectric withstand voltage 5VDC 10MQ or more by insulation Insulation resistance e resistance tester e By noise simulator of 500Vp p noise voltage 1us noise width and 25 to 60Hz noise frequency LED indication LED indication LED indication Operation indication Normal ON Green Normal ON Green Normal ON Green Error OFF Error OFF N Error OFF Rated switchin Contact output section Mechanical 20 million times or more Electrical 100 thousand times at rated switching voltage current or more RAV1 25 to 3 5 RAV2 to 3 5 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
84. 0 085 TYP All points ON QX80 0 05 TYP All points ON QX80 TS 0 05 TYP All points ON QX80H 0 08 TYP All points ON Qx81 0 075 TYP All points ON DC Negative common QX81 S2 0 075 TYP All points ON A S06 CELA SiON Refer to the MELSEC Q series Q 09_ TYP All points ON Lee Manuals QX82 S1 0 09 TYP All points ON QX90H 0 08 TYP All points ON QY10 0 43 TYP All points ON Relay QY10 TS 0 43 TYP All points ON QY18A 0 24 TYP All points ON Qy22 0 25 TYP All points ON QY40P 0 065 TYP All points ON QY40P TS 0 065 TYP All points ON Sink Type QY41P 0 105 TYP All points ON QY42P 0 15 TYP All points ON QY50 0 08 TYP All points ON Transistor Independent QY68A 0 11 TYP All points ON QY80 0 08 TYP All points ON QY80 TS 0 08 TYP All points ON Source Type Output module QY81P 0 095 TYP All points ON QY82P 0 16 TYP All points ON QY70 0 095 TYP All points ON TTL CMOS Sink QY71 0 15 TYP All points ON Input Output QH42P 0 13 TYP All points ON DC Input composite QX48Y57 0 08 TYP All points ON Transistor output module QX41Y41P 0 13 TYP All points ON Interrupt module laso 1 ong TYP Al points ON 2 SYSTEM CONFIGURATION PLC module which can be controlled by Motion CPU continued Current consumption 5VDC A Part name Model name Note 1 Remark Voltage input Q68ADV Q62AD DGH F Current input Q66AD DG Analogue Q68ADI input module Q64AD Volt
85. 00VAC Line noise filter Multiple CPU system SSCNET II Servo amplifier 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 Also 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 forced stop input of Motion CPU modules After forced
86. 04 ft or less a App 5 APPENDICES APPENDIX 1 3 Battery cable Generally use the battery cable available as our products If the required length is not found in our products fabricate the cable on the customer side Make the battery cable within 0 5m 1 64ft 1 Q170DBATCBLOIM a Model explanation Type Q170DBATCBLOM Symbol Cable length m ft 05 0 5 1 64 b Connection diagram CPU module side Battery holder side 4 Hop 2 o Fall a eg ss dag J3 C i View A View B 50351 8100 Terminal 1376476 1 Terminal 51103 0400 Connector 1376477 3 Connector 4 3 N C 2 FG 1 J Twisted pair cable Note Use a cable of wire size AWG24 App 6 APPENDICES SSS SSS 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 Q170DEMICBLLIM 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 2 vc coo 5556PBTL Terminal 5557 02R 210 Connec
87. 0k steps LD instruction processing speed 0 0095us Built in Ethernet port Program capacity 1000k steps LD instruction processing speed 0 0095us Built in Ethernet port Q20UDEHCPU Q26UDEHCPU QSOUDEHCPU Q100UDEHCPU CPU SH4A Endian format Little endian OS VxWorks 6 4 2 N Si Se O U C lt OQ 2 v Z 100 to 120VAC input 5VDC 6A output 200 to 240VAC input 5VDC 6A output 100 to 240VAC input 5VDC 6A output 100 to 240VAC input 5VDC 3A 24VDC 0 6A output 24VDC input 5VDC 6A output 100 to 120VAC 200 to 240VAC input 5VDC 8 5A output 100 to 240VAC input 5VDC 8 5A output Multiple CPU high speed bus 4 slots Number of I O modules 5 slots Multiple CPU high speed bus 4 slots Number of I O modules 8 slots Multiple CPU high speed bus 4 slots Number of I O modules 12 slots Number of I O modules installed 8 slots Resolution 4194304PLS rev Permitted axial loads Radial load Up to 19 6N Thrust load Up to 9 8N Permitted speed 3600r min Resolution 262144PLS rev Permitted axial loads Radial load Up to 19 6N Thrust load Up to 9 8N Permitted speed 3600r min Serial absolute synchronous encoder Q171ENC W8 Q170ENC Q172DEX 2m 6 56ft 5m 16 40ft 10m 32 81ft 20m 65 62ft 30m 98 43ft 50m 164 04ft Q172DEX side connector Connector 10120 3000PE Connector case 10320 52F0 008 Q171ENC W8 Q170ENC side connector Plug MS3106B22 14S Cable clump MS3057 12A O O CH O O ow O O a lg IP Solo
88. 10 No connect 35 No connect 9 No connect 34 No connect 8 No connect 33 No connect 7 No connect 32 No connect L Note 4 6 DI 31 No connect 5 DI2 30 No connect 4 DI3 29 No connect 3 DI4 28 No connect Note 3 2 COM 27 No connect 1 COM 26 No connect Applicable connector model name HDR type connector HONDA TSUSHIN KOGYO CO LTD HDR E50MSG1 connector HDR E50LPH connector case Note 1 Voltage output open collector type Connect the A phase signal to HA and the B phase signal to HB Note 2 Differential output type Connect the A phase signal to HAH and the A phase inverse signal to HAL Connect the B phase signal to HBH and the B phase inverse signal to HBL Note 3 COM is the common terminal of DI1 DI DI3 and D14 Note 4 Do not connect to any of the terminal is explained as No connect 2 SYSTEM CONFIGURATION b Input signal Mark detection 1 Specifications of input signal mark detection input signal Specifications Number of input points Input method Positive common Negative common shared ificati Common terminal arrangement 4 points common Common contact COM1 Isolation method Photocoupler Rated input voltage 24VDC Rated input current liN Approx 5mA 21 6 to 26 4VDC Operating voltage range 24VDC 10 ripple ratio 5 or less ON voltage current 17 5VDC or more 3 5mA or more OFF voltage current 5VDC or less 0 9mA or less Input resistance Approx 5 6kQ i OFF to ON Response
89. 2 In wiring inside the panel the power line connected to the power or servo amplifier and the communication cable such as bus connection cable or network cable must not be mixed If the cables are installed closely with each other for wiring reasons using a separator made of metal can make the cables less influenced by noise Mixing the power line and communication cable may cause malfunction due to noise 7 EMC DIRECTIVES MEMO 10 APPENDICES APPENDICES APPENDIX 1 Cables In this cable connection diagram maker names of connectors are omitted Refer to APPENDIX 2 8 Connector for maker names of connectors APPENDIX 1 1 SSCNETII cables Generally use the SSCNETII cables available as our products Refer to APPENDIX 1 7 for long distance cable up to 100 328 08 m ft and ultra long bending life cable 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 sa Im a Application Cable model Bending life remark eee AE Standard Sandara cord for inside panel GE E E EE Eege GE Eech 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 MRJ3BUSOMA J3BUS MRV3BUSOM B J3BUS 0 15 0 3 to3 5 to 20 30 to 50 SSCNET M cable length init 0 49 0 98 to 9 84 16 40 to 65 62 98
90. 2000M 2700MHz 1V m 80 AM modulation 1kHz EN61000 4 4 2004 Immunity test in which burst noise is AC power line 2kV 5kKHz Electrical fast transient applied to the power cable and signal DC power line 2kV 5kKHz burst EFT B immunity line UO communication line 1kV 5kHz Conducted emission AC power line EN61000 6 2 2005 Common mode 2 5kV EN61131 2 2007 Differential mode 1 5kV EN61000 4 5 2006 Immunity test in which surge is applied DC power line Surge immunity to the power line and signal line Common mode 0 5kV Differential mode 0 5kV UO communication line Common mode 1kV EN61000 4 6 2007 Immunity test in which high frequency ae 8 0 15 80MHz A 2001 noise is applied to the power line and e 80 AM modulation 1kHz 10Vrms Conducted immunity signal line EN61000 4 1 1 2004 Immunity test in which power supply e 7 0 of rated voltage 250cycle Short interruptions immunity has short interruptions EN61000 4 11 2004 Ko Test in which voltage dip is applied to 40 of rated voltage 10cycle Voltage dip the power supply 70 of rated voltage 25cycle N EN61131 2 2007 Immunity test in which voltage dip is EN61131 2 2007 ae gt 0 of rated voltage 0 5cycle 20 times Voltage dip immunity applied to the power supply Note 1 This product is an open type device a device designed to be housed inside other equipment and must be installed inside a conductive control panel The correspondin
91. 3 Ws2 Ws3 11003 221 0 3 5 43 0 01 9 80 0 01 4 57 0 01 8 93 0 01 98 3 86 7 0 28 Hs2 80 0 3 3 15 0 01 W 8 84 0 01 6 57 0 01 8 76 0 01 W Unit mm inch 4 INSTALLATION AND WIRING SSS SSS ee 2 Module mounting position Keep the clearances shown below between the top bottom faces of the module and other structures or parts to ensure good ventilation and facilitate module replacement Note It is impossible to mount the main base unit by DIN rail Top of panel or wiring duct Base unit S A Wy Mbp Yi A 40 Motion CPU module Uj 1 57inch Motion CPU module Z or more D00000 ECH ek J IERS US eescht H ome emo Door O i H i ie N 0 2 100mm 3 94inch or more Note 2 K SE GE Ui 5mm 0 20inch 5mm 0 20inch or more Note 1 or more K l Note 1 20mm 0 79inch or more when the adjacent module is not removed and the extension cable is connected Note 2 Q173DSCPU Q172DSCPU use 70mm 2 76inch or more Q173DCPU S1 Q172DCPU S1 use 100mm 3 94inch or more 3 Module mounting orientation a
92. 30M B 30 98 43 MR J3BUSOM B i MR J3BUS40M B 40 131 23 Long distance cable MR J3BUS50M B 50 164 04 2 SYSTEM CONFIGURATION sess 2 Connection between the Q173D S CPU and servo amplifiers Connect the SSCNETI cables to the following connectors Refer to Section 4 2 1 for the connection and disconnection of SSCNETII cable Motion CPU module eee SSCNETII cable length Bea MR J3BUS DM use L eg o aA M 1 lt 3m 9 84ft a we ae cn1 9 K e a E R D 1 lt 20m 65 62ft SIE TE MR J3BUSDIM B use k 2 1 lt 50m 164 04ft E SSCNETII H SYSTEM1 Attach a cap to connectors of system not being used pa 1 CN1A Kl r 1l CN1B Servo amplifier Servo amplifier SSCNETII H SYSTEM2 Servo amplifier Servo amplifier Note It cannot communicate with that the connection of CN1A and CN1B is mistaken 2 SYSTEM CONFIGURATION ees 3 Connection between the Q172D S CPU and servo amplifiers
93. 43 to 164 04 Minimum bend radius 25 0 98 Enforced covering cord 50 1 97 Enforced covering cord 50 1 97 mm inch i Cord 25 0 98 Cord 30 1 18 Tension strength N 420 Enforced covering cord 980 Enforced covering cord 20 to 70 4 to 158 0 170 016 Temperature range 40 to 80 for use C F 40 to 176 Indoors no direct sunlight No solvent or oil 2 2 0 07 0 090 003 2 2 0 07 0 090 003 0 090 008 2 20 07 External appearance 0 090 003 LN mm inch O Note 2 19 16 4 4 0 1 0 40 0 170 004 4 0 240 008 0 3040 02 Note 1 This temperature range for use is the value for optical cable cord only Note 2 Dimension of connector fiber insert location The distance of two cords is changed by how to bend it App 1 APPENDICES POINTS 1 If the end face of cord 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 2 Do not add impossible power to the connector of the SSCNETII cable 3 When incinerating the SSCNETII 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 incin
94. 5 wo a pt 0 14 9 6 0 38 ae App 23 APPENDICES eet 5 Internal I F connector HONDA TSUSHIN KOGYO CO LTD Type Connector HDR ES50MSG1 Soldering type HDR E50MAG1 AWG30 Pressure displacement type HDR E50MG1 AWG28 Pressure displacement type Connector case HDR E50LPH Unit mm inch 22 8 0 90 ny K 69 0 35 A 38 14 1 50 34 59 1 36 25 34 1 00 l i 33 8 1 33 LG 0 31 10 0 39 3 0 12 6 RIO connector Molex Incorporated make Type Connector 55103 300 Terminal 50351 8100 9 7 0 38 7 5 0 30 Unit mm inch App 24 APPENDICES APPENDIX 2 9 Manual pulse generator MR HDP01 3 4 8 0 19 d equi spaced The figure of processing a disc 3 6 0 14 27 0 la gt 1 06 70 2 76 50 1 97 60 2 36 80 3 15 16 0 63 Vv Packing t 2 0 App 25 Unit mm inch 3x Studs M4 x 10 PCD72 equi spaced o PAIR gt CS M3x6 8 89 7 6 Lei 14 gt
95. 59 5462 French Branch Phone 32 0 2 717 6430 Phone 31 0 180 46 60 04 Fax 972 0 3 556 01 82 25 Boulevard des Bouvets Fax 32 0 2 717 6431 Fax 31 0 180 44 23 55 Ser SANN F 92741 Nanterre Cedex Koning amp Hartman b v BELGIUM Koning amp Hartman b v NETHERLANDS Cebaco Center Block A Autostrade DORA Phone sie ise Wol 31 Haarlerbergweg 21 23 i Fax 33 0 1 55 68 57 57 ouwe aan Dee Lebanon Beirut BE 1800 Vilvoorde NL 1101 CH Amsterdam Phone 961 0 1 240 430 MITSUBISHI ELECTRIC EUROPE B V IRELAND Phone 32 0 2 257 02 40 Phone 31 0 20 587 76 00 l l Fax 961 0 1 240 438 Irish Branch Fax 32 0 2 257 0249 Fax 31 0 20 587 76 05 eee Park Ballymount INEA RBT d o o BOSNIA AND HERZEGOVINA Beijer Electronics AS NORWAY Bone Laes oi aise Aleja Lipa 56 Postboks 487 F Ger 0 l SE BA 71000 Sarajevo NO 3002 Drammen AFRICAN REPRESENTATIVE ax 353 0 Phone 387 0 33 921 164 Phone 47 0 32 24 30 00 MITSUBISHI ELECTRIC EUROPE B V ITALY En 387 0 33 524539 Fax 47 0 32 84 85 77 CBI Ltd SOUTH AFRICA Italian Branch Private Bag 2016 i AKHNATON BULGARIA Fonseca S A PORTUGAL Viale Colleoni 7 4 Andrei Ljapchev Blvd PO Box 21 R Jo o Francisco do Casal 87 89 ZA 1600 Isando 1 20041 Agrate Brianza MB BG 1756 Sofia PT 3801 997 Aveiro Esgueira Phone 27 0 11 977 0770 Ge Em Phone 359 0 2 817 6000 Phone 351 0 234 303 900 Fax 27 0 11 977 0761 2 Fax 359 0 2 97 4406 1 Fax 351
96. Changes for the Better 8 MITSUBISHI ELECTRIC MOTION CONTROLLERS wee MOTION CONTROLLER 3 series E Q173DCPU S1 Q172DCPU S1 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 AE St as gr ae et ag ee beg gs et Rg gs SH EE en we neat a eng nee eg ent EE seg en eee ane ee at 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 e e a a a geg Ke geet et 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 A DANGER Never open the front cas
97. 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 A hardware 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 our sales representative for the modules with failure END Note Normally flashes in the first digit of 7 segment LED 6 INSPECTION AND MAINTENANCE 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 for when A00 displays on 7 segment LED 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 le y Reset the Multiple CPU system Does A00 disappear on 7 segment LED END Explain the error symptom and get advice from our sales representative 6 INSPECTION AND MAINTENANCE EH d Flowchart for when AL gt L01 displays on 7 segment LED AL flashes 3 times Steady L01 display displays at
98. D 1 74 D x 1 74 D 1 74 D Fixing screw M4x14 4 pieces D Note The 5 base mounting screws are included with the Q68B and Q612B that have 5 base mounting holes 2 SYSTEM CONFIGURATION 2 Extension cable specifications The list below describes the specifications of the extension cables which can be used EE QC05B QC06B QC12B QC30B QC50B QC100B Cable length m ft 0 45 1 48 0 6 1 97 1 2 3 94 3 0 9 84 5 0 16 40 10 0 32 81 Connection between the main base unit and extension base unit Application V or connection between the extension base units Mass kg ots os o2 os o0 in 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 Q35DB Q38DB Q312DB Application 1 Extension cable Connector for connecting an extension cable for signal communications with the 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
99. DC input signal is not turned OFF Motion CPU Motion CPU Example 2 lt Calculation example of Example 1 gt If a switch with LED display is connected to Motion CPU and current of 4 mA is leaked Motion CPU Leakage current 4 mA Input signal part 24VDC a Because the condition for OFF voltage 0 9 mA of Motion CPU is not satisfied Connect a resistor as shown below D A mA Motion CPU SE vi Input impedance 6 INSPECTION AND MAINTENANCE b Calculate the connecting resistor value R as indicated below To satisfy the 0 9 mA OFF current of the Motion CPU the resistor R to be connected may be the one where 3 1 mA or more will flow IR Iz Z Input impedance R Ke R lt z x Z Input impedance ee x 5 6 x 10 1625 Q R lt 1625 Q Assuming that resistor R is 1500 Q the power capacity W of resistor R is W Input voltage R 26 47 1500 0 464 W c The power capacity of the resistor selected is 3 to 5 times greater than the actual current consumption 1 5k Q 2 to 3 W resistor may therefore be connected to the terminal in question 7 EMC DIRECTIVES 7 EMC DIRECTIVES Compliance to the EMC Directive which is one of the EU Directives has been a legal obligation for the products sold in European countries since 1996 as well as the Low Voltage Directive since 1997 Manufacturers who recognize their products are compliant to
100. E closed signal O Oo ry WV i c gt Door signal o i 1A01 Door2 signal AN O ge n W I 1 wu PLC 10 PLC CPU side 4 Drive power Relay ES shut off signal H Contactor 1 2 TIT 3 d T T O E deg AS ERIR Y MC1 normally ES gt e J closed signal pe aaa a Ee alice a ee ees bee L O Ae e Fad MC2 normally Ek gt ke closed signal O S Door1 signal 2A17 A Q 1 T Door1 close open i K confirmation sensor eels i Door2 signal L1 L2 L3 2 el Main circuit power supply Wiring for input output control Door2 close open of the safety signal confirmation sensor Wiring for assist the safety signal 2 SYSTEM CONFIGURATION b Wiring example for door signal to safety signal module and STO terminal Wiring example to wire the followings is shown diagram below e Shut off signal from the Motion CPU side of safety signal module e Shut off signal from the PLC CPU side of safety signal module e STO terminal of servo amplifier Door sensor used as a safety signal should have two outputs and is wired to both Motion CPU side and PLC CPU side Sensor and switch used as safety signal should be the ones for weak signal use e g twin contact to prevent contact failure 1 MR J4 0B use External power supply Servo amplifier Safety signal module MR J4 OB Q173DSXY Motion IO Motion CPU side 1B01 P Drive power shut off signal
101. FIGURATION 2 1 4 Restrictions on Motion systems 1 Combination of Multiple CPU system a Motion CPU module cannot be used as standalone module Be sure to install the universal model PLC CPU module to CPU No 1 For Universal model PLC CPU module Multiple CPU high speed transmission function must be set in the Multiple CPU settings b Only Multiple CPU high speed main base unit Q35DB Q38DB Q312DB can be used c The combination of Q173DSCPU Q172DSCPU Q173DCPU S1 Q172DCPU S1 and Q173HCPU T Q172HCPU T Q173CPUN T Q172CPUN T cannot be used The combination of Q173DSCPU Q172DSCPU Q173DCPU S1 Q172DCPU S1 can be used d Up to four modules of universal model PLC CPU modules 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 e It takes about 10 seconds to startup state that can be controlled of Motion CPU Mak
102. ION AND MAINTENANCE 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 Install all modules that removed from the base unit to the base unit A hardware fault Explain the error symptom and get advice from our sales representative Check the sum of internal current consumption of the modules that comprise the system Does the total current exceed the rated 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 A hardware 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 our sales representative for the modules with failure END 6 INSPECTION AND MAINTENANCE b Flowchart for when 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
103. M parameters wrote to the FLASH ROM built in Motion CPU module Ethernet IP address Mode to display the Ethernet IP address i a mode c sRaMclear sd clear SRAM o dest 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 N e Operation mode Any setting Except C Installation mode po Tt Mose operated by RAM Pp Mote operated byROM 0o _ EthemetIP address display mode _ Note 1 Do not set except the above setting Note 2 The programs parameters motion devices devices of latch data and absolute position data of SRAM 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 e It is STOP status regardless of the RUN STOP switch position at the front side of Motion CPU module e The stop error MULTI CPU DOWN error code 7000 will occur at the other CPU remains flashing in the first digit of 7 segment LED Installation mode e It operates based on the user programs and parameters stored in the SRAM built in Motion CPU module e The user programs and parameters for the ROM operation can be written to the FLASH
104. MC X19 PLC X19 DA11 9 MC YOA X0A PLC YOA XOA O1B10 A ETGEN MC YOB XoB PLC YOB X0B CES B current 0 1AX 8 points MC YOC XOC PLC YOC x0C CES CG systems MC YOD XOD PLC YOD X0D OIB7 D 0 2Ax 4points MC YOE XOE PLC YOE X0E OB6 E 2 systems Output _MC YOFIXOF PLC YOFIKOF Oe F aca nen MC Y1AX1A PLC Y1A X1A GA10 A 1 6A or less MC Y1B X1B PLC Y1B X1B Dag B MC Y1C X1C PLC Y1C X1C DA8 CG MC Y1D X1D PLC Y1D X1D DA D mej MC Y1E X1E PLC Y1EXiE Dag E MC Y1F X1F PLC Y1F X1F DIAS F 24VDC COM1 24VDC COM1 OR z Power 24VDC COM1 24VDC COM1 081 Seel A supply 0VDC COM2 OVDC COM2 DA2 OVDC COM2 OVDC COM2 At Note 1 O 1 Motion IO 2 PLC IO Note 2 PLC CPU side only 2 SYSTEM CONFIGURATION 1 Wire the I O power supply input 24VDC OV common supplied to Q173DSXY to two pins of each conversion modules 2 Separate all external wirings into 2 systems to configure the safety circuit Do not wire between the two terminal block conversion modules for I O power supply supplied to Q173DSXY DC24V OV common Be sure to separately wire the modules If one break affects both wiring of Motion CPU side and PLC CPU side the safety system may not execute properly Good wiring Bad wiring Motion CPU side PLC CPU side Motion GPU side PLC CPU side Terminal Terminal block O O 00 Relay 1 Power input Rela
105. Manual COMMON e Auxiliary and applied functions common e Design method for Motion SFC program i Q173D S CPU Q172D S CPU Motion controller e Design method for Motion SFC parameter f SV13 SV22 Programming Manual Motion SFC e Motion dedicated PLC instruction e Design method for positioning control program in the real mode Q173D S CPU Q172D S CPU Motion controller V13 SV22 e Design method for positioning control SV13 SV22 Programming Manual REAL MODE parameter e Design method for safety observation parameter Q173D S CPU Q172D S CPU Motion controller e Design method for user made safety Programming Manual Safety Observation sequence program SV22 e Design method for mechanical system Q173D S CPU Q172D S CPU Motion controller SV22 Virtual mode program Programming Manual VIRTUAL MODE 1 OVERVIEW MEMO 1 OVERVIEW 1 2 Differences between Q173D S CPU Q172D S CPU and Q173HCPU Q172HCPU Q173DSCPU Q172DSCPU SV13 Operation cycle default 0 22ms 1to 4 axes 0 44ms 5 to 10 axes 0 88ms 11 to 24 axes 1 77ms 25 to 32 axes 0 22ms 1to 4 axes 0 44ms 5 to 10 axes 0 88ms 11 to 16 axes 0 44ms 1 to 6 axes Q173DCPU S1 0 44ms 1 to 6 axes 0 88ms 7 to 18 axes 1 77ms 19 to 32 axes 0 44ms 1 to 4 axes 0 88ms 5 to 12 axes Q172DCPU S1 0 44ms 1 to 6 axes 0 88ms 7 to 8 axes 0 44ms 1 to 4 axes 0 44ms 1 to 6 axes SV22 0 88ms 7 to 16 axes 0 88ms 7 to 16 axes 1 77ms 17 to 32 ax
106. Motion CPU EE EE Signal name EEN EE orl Dee nt Let A HBH B HBL S S B SG ig T ov 5V i L 5V sc 5v a EE Shell Shiga EE gt Note 1 Twist pair cable J Twist pair cable Note 1 The 5V P5 DC power supply of system must not be used if a separate power supply is applied to the manual pulse generator incremental synchronous encoder If a separate power supply is used be sure it is 5V voltage Anything else may cause a failure if a separate power supply is applied to the manual pulse generator incremental synchronous encoder be sure it is 5V voltage Anything else may cause a failure 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 5V terminal is the power supply for the manual pulse generator incremental synchronous encoder Do not apply a voltage and do not use it for other purposes d Connection of manual pulse generator incremental synchronous encoder Manual pulse generators incremental synchronous encoders of the voltage output open collector type and differential output type can be Ge Both connection methods are different Refer to this section 9 Connectable manual pulse generator Motion CPU module incremental synchronous encoder Q173DSCPU Built in interface in Motion CPU Up to 1 module Q172DSCPU Built in interface in Motion CPU 2 SYSTEM CONFIGURATION e Axis No of manu
107. Mount the Motion controller in the orientation shown below to ensure good ventilation for heat release Vertical Flat Upside down 4 INSTALLATION AND WIRING 4 5 or more 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 malfunctions 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 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 etc e In front of Motion controller 100mm 3 94inch or more e On the right and left of Motion controller 50mm 1 97inch or more 50mm 1 97inch or more 50mm 1 97inch or more Contactor relay etc 4 INSTALLATION AND WIRING E G O O O l UUM 4 1 3 Installation and removal of module This section describes 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 base unit a Installation Base unit Securely inser
108. N 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 order 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 Servo motor RA1 EMG O Electromagnetic brakes a Yo lt 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 prog
109. Note 3 Galas Note 4 valu ackup time time ratio Reference value after alarm Note 2 MIN TYP Note 6 75 C 167 F 40 C 104 F TYP 75 C 167 F 40 C D er wee mspn 90 Q173D S CPU After Q172D S CPU Batte 6BAT les W SM51 SM52 ON 3000 8000 24000 Ge 4000 11000 34000 6000 16000 43800 Q170ENC X1 Internal 10000 26000 43800 40 battery 100 43800 43800 43800 After Error A6BAT 1500 4000 12000 code 1152 MR BAT occurrence Q171ENC W8 CAE 3000 8000 21900 5000 13000 21900 100 43800 43800 43800 Note 1 The actual service value indicates the average value and the guaranteed value indicates the minimum value 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
110. O DL App 16 APPENDIX 2 3 Synchronous encoder interface module CO DEST App 16 APPENDIX 2 4 Manual pulse generator interface module 71 OD App 17 APPENDIX 2 5 Safety signal module Q173DSXY 0 eeceeceeeeeeeeeneeeeeeeeeeeeeesieesieesieesieesieesieesieesieeeeee App 17 APPENDIX 2 6 Power Supply module ennen App 18 APPENDIX 2 7 Battery holder unit QI70DBAT O nunernrerie ea EAA App 20 APPENDIX 2 8 COMM CIOM ege Eeer App 21 APPENDIX 2 9 Manual pulse generator MR HDPOT App 25 APPENDIX 2 10 Serial absolute synchronous encoder sssesssssesssinsrtnsttnsttnsttnrtrnrtsttnstnnstnnntennne nne App 26 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 Q173D S CPU Q172D S CPU Motion controller User s Manual This manual explains specifications of the Motion CPU modules Q172DLX Servo external signal interface 1B 0300133 module Q172DEX Synchronous encoder interface module Q173DPX Manual pulse generator interface 1XB927 module Power supply modules Servo amplifiers SSCNETI cables and Synchronous encoder and the maintenance inspection for the system trouble shooting and others Q173D S CPU Q172D S CPU Motion controller Programming Manual COMMON This manual explains the Multiple CPU system configuration performance specifications common pene parameters auxiliary applied functions err
111. ON 6 Connection examples of manual pulse generator Manual pulse generator Manual pulse generator Voltage output Open collector type Differential output type Q173DPX Manual pulse Q173DPX Manual pulse ignal name generator side generator side HAO Wad f Twisted pair cable Note 1 The 5V P5 DC power supply from the Q173DPX must not be used if a separate power supply is applied to the Manual pulse generator Incremental synchronous encoder If a separate power supply is used be sure it is 5V voltage Anything else may cause a failure Note 2 Connect HPSELD to the SG terminal if the manual pulse generator differential output type incremental synchronous encoder is used Z CAUTION If a separate power supply is applied to the manual pulse generator incremental synchronous encoder be sure it is 5V voltage Anything else may cause a failure 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 P5 terminal is the power supply for the manual pulse generator Do not apply a voltage and do not use it for other purposes 2 SYSTEM CONFIGURATION 2 5 7 Q173DSXY Safety signal module Q173DSXY is used to input output the safety signal 1 Q173DSXY name of parts 1
112. ON AND MAINTENANCE 6 6 Troubleshooting This section describes the various types of trouble that occur when the system is operated and causes and corrective actions of these troubles 6 6 1 Troubleshooting basics The basic three points that must be followed in the troubleshooting are as follows 1 Visual inspection Visually check the following Movement of machine stopped condition operating condition Power supply on off c Status of input output devices Installation condition of the Power supply module Motion CPU module PLC CPU module I O module Motion module intelligent function module SSCNETII cable Synchronous encoder cable e State of wiring UO cables cables f Display states of various types of indicators PLC CPU module MODE LED RUN LED ERR LED BAT 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 power interrupt hold on status After checking a to g monitor the operating conditions of servomotors and error code using MT Developer2 and GX Works2 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
113. Optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius and it should not be twisted When bundling the cable fix and hold it in position by using cushioning such as sponge or rubber which does not contain migratable plasticizing If using adhesive tape for bundling the cable fire resistant acetate cloth adhesive tape 570F Teraoka Seisakusho Co Ltd is recommended ES E Base unit Motion CPU module pn g Panel Cord d Loose slack E Bundle material Recommended product NK clamp SP type NIX INC gt Cable 4 INSTALLATION AND WIRING POINTS 1 Be sure to connect SSCNETI cable with the above connector If the connection is mistaken between the Motion CPU module and servo amplifier cannot be communicated 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 SSCNETI 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
114. P signal is given i A ex i In the case of an emergency i b d SE SC SS caused by a rh 4 imit switch MC MC 1 1 1 Power to output equipment switched OFF when the STOP signal is given In the case of an emergency stop or A a stop caused by a limit switch The power ON procedure is as follows For AC For AC DC 1 Switch power ON 1 Switch power ON 2 Set CPU to RUN 2 Set CPU to RUN 3 Turn ON the start switch 3 When DC power is established RA2 goes ON 4 When the magnetic contactor MC comes on the output 4 Timer TM times out after the DC power reaches 100 equipment is powered and may be driven by the program 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 power supply module P CUR EOR AC DC Transformer Transformer Input switched 0000 when power supply Fuse Fuse H H established CPU module RUN STOP circuit DC power interlocked with RA1 run monitor relay F geseg Set time for DC power supply to be esta
115. PU high speed transmission memory for data transfer between CPU Included modules 1 OVERVIEW Q173HCPU Q173HCPU 0 44ms 1 to 3 axes 0 88ms 4 to 10 axes 0 44ms 1 to 3 axes 1 77ms 11 to 20 axes 0 88ms 4 to 8 axes 3 55ms 21 to 32 axes 0 88ms 1 to 5 axes 1 77ms 6 to 14 axes 0 88ms 1 to 5 axes 3 55ms 15 to 28 axes 1 77ms 6 to 8 axes 7 11ms 29 to 32 axes SWORN SVOQ USB SSCNET Main base unit Q33B Q35B Q38B Q312B Mount the unit by unit fixing screws when using system in a place where the vibration or impact is large High performance model Qn H CPU Install Motion CPU modules on the right hand side of PLC CPU module Not settable between CPU modules High performance model Qn H CPU Qn Q173HCPU TVQ172HCPU T Combination with Q173CPUN T Q172CPUN T Install Motion CPU modules by unit fixing screws when using them in a place where the vibration or impact is large Dip switch 1 to 5 Each LED of MODE RUN ERR M RUN BAT and BOOT Add Q6BAT at continuous power failure for 1 month or more Q170HBATC e Use device set by forced stop input setting in the system setting Q172LX Q172EX Q173PX Note 1 Q173DCPU S1 Q172DCPU S1 only 1 OVERVIEW 1 3 Restrictions by the Software s Version There are restrictions in the function that can be used by the version of the operating system software and programming software The combination of each version and a func
116. S Upper stroke limit input 2 RLS Lower stroke limit input 3 DOG Proximity dog Check external inputs to Q172DEX Check the wiring of following external inputs by monitoring of MT Developer2 or LED indicators 1 Serial absolute synchronous encoder setting Check external inputs to Q173DPX Check the wiring of following external inputs by monitoring of MT Developer2 or LED indicators 1 Manual pulse generator incremental synchronous encoder setting Check I O module Check the wiring of I O modules v 2 Note An error may occur if the power is turned on before system setting In the case reset the Multiple CPU system after system setting Refer to the Q173D S CPU Q172D S CPU Motion controller Programming Manual COMMON at the system setting error occurrence Refer to Section 2 5 1 Refer to Section 2 5 1 Refer to Section 2 5 4 Refer to Section 2 5 5 Refer to Section 2 5 6 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 Correctly connect the output side terminal U V W Incorrect connections will lead the servo motor to operate abnormally 5 START UP PROCEDURES Motion CPU v A PLC CPU v A Motion CPU v A Motion CPU v 2 l Programming Create Motion programs Create the Motion programs using MT Developer2 Programming Create seque
117. S function use External pulse input signal Phase A External pulse input signal Phase B 2 SYSTEM CONFIGURATION 2 5 8 Manual pulse generator Serial absolute synchronous encoder 1 Manual pulse generator specifications Voltage output Output current Up to 20mA 4 5 to 13 2VDC Current consumption mA 1 000 000 revolutions or more at 200r min Radial load Up to 19 6N Thrust load Up to 9 8N 0 4 Instantaneous Up to 600r min normal 200r min 2 signals A phase B phase 90 phase difference Start friction torque 0 06Nem 20 C 68 F H level Power supply voltage DEE 1V or more in no load Output level HHE L level 0 5V or less with maximum leading in Note 1 Use MR HDP01 by connecting with Q173DPX or built in interface in Motion CPU Note 2 If a separate power supply is used be sure it is 5VDC 0 25V voltage 2 SYSTEM CONFIGURATION 2 Serial absolute synchronous encoder specifications Q171ENC wg N91 Note 2 179 ENG lge Note 2 Transmission method Serial communications Connected to Q172DEX Dustproof Waterproof Dustproof Waterproof Protective construction IP67 Except for the IP65 Except for the shaft through portion 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 0 02mm 0 00079 inch or less
118. SM58 is ON 6 INSPECTION AND MAINTENANCE 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 d SEN Electrolytic capacitor 10 years Life guideline is reference time Motion module It must be changed immediately Synchronous 20 000 to 30 000 even when it has not yet encoder hours reached the life guideline 1 Capacitor 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 Bearing 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 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 SM52 SM58 or SM59 turn on due to the decrease of battery voltage Even if the special relays turn on the program and retained data are not erased immed
119. Switch setting of factory default Q173DSCPU Q172DSCPU SW 0 SW2 0 position Q173DCPU S1 Q172DCPU S1 SW A SW2 0 position Turn ON the Multiple CPU system Steady INS display power supply RUN STOP is ignored A y Start the install of MT Developer2 y Set the connection method between the personal computer and Multiple CPU system in the Transfer Setup Operation in i MT Developer2 Note Select the operating system software installed and install it in the Motion CPU module Dialog Installation is completed is The operating system software can be displayed installed normally by dialog display v Turn OFF the Multiple CPU system power supply y Set a rotary switch1 SW1 and Switch SW2 of Motion CPU module Set to mode operated by RAM to 0 Note Install the operating system software by screen of MT Developer2 Refer to help of MT Developer2 for details 5 START UP PROCEDURES POINTS 1 State of the Motion CPU module at the time of product purchase is shown below e Q173DSCPU Q172DSCPU The operating system software SV22 is installed at the time of product purchases The newest operating system software can be downloaded on MELFANSweb e Q173DCPU S1 Q172DCPU S1 The operating system software is not installed at the time of product purchases 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 th
120. UDH Q26UDH Q03UDE Q04UDEH QO06UDEH Q10UDEH Q13UDEH Q20UDEH Q26UDEH Q17DCCPU V QX40 S1 QX41 S1 QX42 S1 QX82 S1 MR J3 L RJ004 MR J3 0 RJ080 MR J3W B Additional correction partial correction Safety precautions About Manuals Checking serial number and operating system software version Connector for forced stop input cable Q170DEMICOM Exterior dimensions Motion CPU module Motion module Warranty Sep 2010 IB NA 0300133 C Additional model QX40H QX70H QH80H QX90H MR J3 OBS Additional correction partial correction Safety precautions About Manuals Restrictions by the software s version Battery transportation Symbol for the new EU battery directive EMC directive Sep 2011 IB NA 0300133 D Additional model Q173DCPU S1 Q172DCPU S1 Q35DB Q64PN Q50UDEHCPU Q100UDEHCPU GX Works2 MR Configurator2 Additional correction partial correction Safety precautions About Manuals Restrictions by the software s version Sample system circuit design for motion control Dec 2011 IB NA 0300133 E Partial correction Section 4 2 1 Partial change of sentence Mar 2012 IB NA 0300133 F Additional model Q173DSCPU Q172DSCPU Q173DSXY Q171ENC W8 MR J4 0B MR J4W OB Additional correction partial correction About Manuals Manual Page Organization Restrictions by the software s version Programming software version Internal I F connector set Q170DSIOCON Internal I F connector specifications RIO cable Q173DSX
121. ULTW MULTR Data operation TO FROM ON OFF IF THEN SET RST OUT PB Program calls GOSUB GOSUBE Up to 8 Number of controls Program calls M98 Up to 8 8 Selection of Q172DEX Q173DPX Synchronous encoder Item f Manual pulse generator Serial absolute Incremental lQi73DscPU si Ee 12 modules 3 modules LQi73DCPU S1 S1 Q172DCPU S1 Module selection Q172DEX Q173DPX 2 SYSTEM CONFIGURATION 9 Internal I F connector a The pin layout of the internal I F connector Use the internal I F connector on the front of the Motion CPU to connect to manual pulse signals and incremental synchronous encoder signals The following is the pin layout of the internal I F connector as viewed from the front Internal I F connector Pin No Signal Name Pin No Signal Name Note 4 25 No connect 50 No connect Note 2 24 HBL 49 No connect Note 1 23 HB 48 No connect Note 2 22 HBH 47 No connect 25 4 H 50 Note 4 21 No connect 46 No connect Note 4 qd P Note 2 20 HAL 45 No connect B Note 1 19 HA 44 No connect 5 d Note 2 18 HAH 43 No connect g B fl 17 No connect 42 No connect g B Note Ai 16 No connect 41 SG gd p 15 No connect 40 SG gE 14 No connect 39 5V lz 13 SG 38 5V g g f 12 No connect 37 No connect 1 CZ 26 11 No connect 36 No connect Note 4 lt
122. X 1 6 RIO cable Generally use the RIO cable available as our products If the required length is not found in our products fabricate the cable on the customer side Make the RIO cable within 0 5m 1 64ft 1 Q173DSXYCBLOM a Model explanation Type Q173DSXYCBLLIM Symbol Cable length m ft 01 0 1 0 33 05 0 5 1 64 b Connection diagram CPU module side Q173DSXY side far SC COU A B jHo o gt eE View A View B 50351 8100 Terminal 50351 8100 Terminal 51103 0300 Connector 51103 0300 Connector TXRXH 1 TXRXL 2 SG 3 J Twisted pair cable Note Use a cable of wire size AWG24 App 11 APPENDICES APPENDIX 1 7 SSCNETIL cables SC J3BUSUOIM C manufactured by Mitsubishi Electric System amp Service POINTS e For the details of the SSCNETII cables contact your local sales office e Do not look directly at the light generated from CN1A CN1B connector of servo amplifier or the end of SSCNETII cable The light can be a discomfort when it enters the eye The cable is available per 1 m up to 100 m The number of the length 1 to 100 will be in the O part in the cable model Cable model Cable EC ot Bending life Application remark 1 to 100 4 to 100 3 28 to 328 08 28 to 328 08 ISC J3BUSOM C J3BUS 1 to 100 Ultra long bending life Long distance cable App 12 APPENDICES APPENDIX 2 Exterior Dimensions APPENDIX 2 1 Motion CPU mod
123. X9F YAO to YBF Power supply module 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 Q173D S CPU Q172D S CPU Motion Controller Programming Manual COMMON about the I O allocation setting method and refer to the QnUCPU User s Manual Function Explanation Program Fundamentals about the I O allocation setting method of the QnUD E 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 5 4 Q172DLX Servo external signals interface module Q172DLX receives external signals servo external signals required for positioning control 1 Q172DLX name of parts nn om e 5 tee 172DLX 4 4 2 0 o CTRL d 3 W fei 6 Q172DLX _ U sr Application Hook used to fix the module to the base unit 1 Module fixing hook i T f Single motion installation Display the servo external input status from the external equipment Input indicator LED Oto 1F Displ
124. YCBLUM General specifications Sample system circuit design for Motion control Mounting of battery Battery replacement procedure Internal input circuit troubleshooting Exterior dimensions Serial absolute synchronous encoder 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 2008 MITSUBISHI ELECTRIC CORPORATION A 11 INTRODUCTION Thank you for choosing the Mitsubishi Motion controller Q173D S CPU Q172D S CPU 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 Safety Freau ons aa a a TE Na Taa AAT RET ATE T ATE AAEE T A 1 Ee A 11 OUER AER A 12 lee EI EIN A 15 Manual Page OrganiZation 22 ccsccceceeecevesecetecstecetvecteceteectecenvecieceteeatecetvediedetveatedenvedteetvediedernetvediedetneaiecatie A 17 Re 1 1 1 2 Differences between Q173D S CPU Q172D S CPU and Q173HCPU Q172HCPU nsee 1 4 1 3 Restrictions by the Software s Version 1 6 1 4 Programming Software Votsona ieurs aaeeei K iatera Ee TAa RETIER EA RNE PARTEA RAR ETARA AATRE EARNE RETRE 1 10 2 1 Motion System Config
125. a surge absorber for lightning Refer to Section 4 5 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 100Q or less b When a dedicated grounding cannot be performed use 2 Common Grounding shown below Multiple CPU Another i Another system equipment equipment Another equipment 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 5 2 Connecting to the power supply module The following diagram shows the wiring example of power lines grounding lines etc to the main and extension base units Main base unit d 100 200VAC Q38DB AC alle Zeen Q61P CPU module x A h hrus D ERR dech 0 FG Hes Hoavoc Q LG cap esas a INPUT Load 100 240VAC ia E vv Connect to 24VDC terminals of I O module that requires Extangion b it 24VDC internally x wiem CU Q61P UO module 100VAC o Spo Note 1 ei ERR e FG l mar LO INPUT CODCOOOOPOCOPROOOPOOS To 100 240VAC Ground a S BE wire A Grounding N
126. achine beforehand 3 5 3 DESIGN 2 System design circuit example of the PLC I O a System design circuit example when not using ERR terminal of power supply module Power supply FOR AC FOR AC DC Power supply 4 mca Transformer Sec Transformer Transformer S000 H Fuse Fuse f H Input switched when H Fuse power supply established __ CPU module ae A2 Ee i DC power int el i RUN STOP circuit Su i interlocked with RA1 i Fuse run monitor relay XM dd H Set time for i DC power Program TM E supply to be START SW Se eo H Moi No established yo Lm10 MC STOP SW 1 Program Input module START SW SE EE 4 na ae RA1 t Voltage relay is A recommended Low battery alarm U 1 Ym 2 Lamp or buzzer Po Ji RAZ i vc XM 1 d 1 II od VS 1 1 1 ON when run by SM403 i Yn ss O 1 1 b 7 3 1 l L a KR NM Low battery alarm Output module Lamp or buzzer Output module EG ONS a aa A lt 3 B Interlock circuits as necessary Provide external interlock circuits for conflicting operations such as forward rotation and reverse rotation and for parts that could damage the machine or cause accidents if no interlock were used i T i MC 1 Power to output equipment i ON when run switched OFF when the S w 4 4 by SM403 STO
127. age current input Q64AD GH 0 89 SADT Refer to the MELSEC Q series a PLC Manuals Voltage output Q68DAVN Current output Q6SDAIN Analogue Q62DAN 0 33 output module Q62DA FG Voltage current output Q64DAN Q66DA G 0 62 Note 1 5VDC internal current consumption of shared equipments with PLC might be changed Be sure to refer to the MELSEC Q series PLC Manuals 3 Servo amplifier Meni sofas WE ee servo amplifier masos o o foo Refer to the servo amplifier MR J3 series instruction manuals servo amplifier MR J3 OB RJO080W_ For direct drive motor MR J3 OB Safety For drive safety servo 4 Operating system software Eo Software package Application Note Note Q173DSCPU Q172DSCPU Q173DCPU S1 Q172DCPU S1 Conveyor assembly use SV13 SW8DNC SV13QJ SW8DNC SV13QL SW8DNC SV13QB SW8DNC SV13QD Automatic machinery use SV22 SW8DNC SV22QJ SW8DNC SV22QL SW8DNC SV22QA SW8DNC SV22QC Machine tool peripheral use Sv43 1 SW7DNC SV43QA SW7DNC SV43QC Note 1 The operating system software SV22 is installed at the time of product purchases The newest operating system software can be downloaded on MELFANSweb 5 Programming software packages a Motion controller engineering environment MELSOFT MT Works2 MT Developer2 NO SW1DNC MTW2 E Note 1 This software is included in Motion controller engineering environment MELSOFT MT Works2
128. al pulse generator synchronous encoder The axis No of synchronous encoder built in interface in Motion CPU is set depending on the axis No assigned to Q172DEX and Q173DPX 1 Any built in interface in Motion CPU will automatically be assigned an axis No one integer greater than the number of encoders connected to any Q172DEX and Q173DPX 2 Motion module installed to the smallest slot number of the Main base unit is the 1st 3 Axis No P1 to P12 of the synchronous encoder can be used 4 Axis No P1 to P3 of the manual pulse generator can be used When the manual pulse generator is used with the built in interface in Motion CPU Q173DPX cannot be used The setting example for the axis No of manual pulse generator synchronous encoder is shown below Example Q173DSCPU use Q172DExX 2 modules Q173DPX 2 modules 1st 2nd 3rd Q38DB Built in interface in Motion CPU P3 to P5 4th Q61P Q173D PX Q65B 2 SYSTEM CONFIGURATION 2 5 2 Power supply module 1 Table of the power supply module specifications This section describes the power supply modules specifications Q61P A1 Q61P A2 E Q62P Base loading position Q series power supply module loading slot Applicable base unit Q35DB Q38DB Q312DB Q63B Q65B Q68B Q612B 100 to 120VAC 200 to 240VAC S 100 to 240VAC 10 15 Input power supply 10 15 10 15 85 to 264VAC 85 to 132VAC 170 to 264VAC Max input apparent pow
129. alue 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 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 2 SYSTEM CONFIGURATION 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 2 SYSTEM CONFIGURATION EH 2 5 6 Q173DPX Manual pulse generator interface module Q173DPxX receives signals required for Manual pulse and Incremental synchronous encoder Voltage output Open collector type Differential output type input 1 Q173DPX name of parts
130. amplifier Doing so may cause a toxic gas 9 About processing of waste When you discard Motion controller servo amplifier a battery primary battery and other option articles please follow the law of each country area CAUTION This product is not designed or manufactured to be used in equipment or systems in situations that 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 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 B NA 0300133 A F Feb 2009 Greg 0300133 B Additional model MELSOFT MT Works2 MT Developer2 Software for SV43 Q10UDH Q13UDH Q20
131. and the tube for protecting light cord end of SSCNETII cable ina 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 customer 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 Length m ft 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 Connector sets type Q170ENCCNS e Connector shell kits e Plug cable clump Table 3 Wire specifications Characteristics of one core Insulating Finished Wire model Number of Structure Conductor sheath OD OD cores Number of resistance d mm mm inch wires mm km inch Note 2 Note 1 M14B0023 12 pair BLACK 24 12 pair _40 0 08 105 or less 0 88 0 035 11 0 0 43 Note 1 d is as shown below d or sheath Conductor Note 2 Standard OD Outside Diameter Maximum OD is about 10 larger ZA CAUTION
132. anual 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 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 and ground 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 signals etc Incorrect
133. at dissipation This section describes instructions for the wiring of the power supply Refer to the 7 EMC directives for grounding method and measure against noise 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 aware 100VAC 200VAC 24VDC wires 2 0mm or more AWG14 or less l 0 3 to 0 75mm UO equipment i AWG 18 to AWG22 Outside diameter 2 8mm 0 11inch or less AWG14 or less Note 1 AWG stands for American Wire Gauge AWG is a unit of the thickness of conducting wire 4 24 4 INSTALLATION AND WIRING st 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 Momentary power failure may be detected or the Multiple CPU system may be reset due to surge caused by lightening As measures against surge caused by lightening connect a surge absorber for lightening as shown below Using the surge absorber for lightening can reduce the influence of lightening AC B Multiple CPU iT system 4 E2 EI __ 4 Surge absorber for lighten
134. at the machine operation stops immediately by the emergency stop or Ech 5 START UP PROCEDURES MEMO 10 6 INSPECTION AND MAINTENANCE 6 INSPECTION AND MAINTENANCE Z ADANGER Do not touch the terminals while power is on Doing so could cause electric shock Correctly connect the battery Also do not charge disassemble heat place in fire short circuit or solder the battery Mishandling of a 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 For disposal of the modules request for specialized industrial waste disposal services who has incineration facility 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 Moti
135. ation Terminal GOT correspond to Motion CPU Q173D S CPU Q172D S CPU Refer to the GOT1000 Series Connection Manual Mitsubishi Products 2 SYSTEM CONFIGURATION 2 2 Checking Serial Number and Operating System Software Version Checking for the serial number of Motion CPU module and Motion module and the operating system software version are shown below 2 2 1 Checking serial number 1 Motion CPU module Q173DSCPU Q172DSCPU a Rating plate The rating plate is situated on the side face of the Motion CPU module b Front of Motion CPU module The serial number is printed in the projection parts forward of the lower side of Motion CPU module nn Q173DSCPU l Aa MITSUBISHI d MOTION CONTROLLER Q173DSCPU m DC 175A f Al SERIAL N2X234999 Rating plate J Qro Cs CE k om ht Serial number MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN See Q173DSCPU Instruction manual m i U Serial number c System monitor product information list The serial number can be checked on the system monitor screen in GX Works2 GX Developer Refer to Section 2 2 2 2 SYSTEM CONFIGURATION 2 Motion CPU module Q173DCPU S1 Q172DCPU S1 a Rating plate The rating plate is situated on the side face
136. ations subject to change without notice A MITSUBISHI ELECTRIC HEADQUARTERS EUROPEAN REPRESENTATIVES EUROPEAN REPRESENTATIVES EURASIAN REPRESENTATIVES MITSUBISHI ELECTRIC EUROPE B V EUROPE GEVA AUSTRIA ALFATRADE Ltd MALTA 100 Kazpromavtomatika KAZAKHSTAN German Branch Wiener Stra e 89 99 Paola Hill UL Zhambyla 28 Gothaer Stra e 8 AT 2500 Baden Malta Paola PLA 1702 KAZ 100017 Karaganda D 40880 Ratingen Phone 43 0 2252 85 55 20 Phone 356 0 21 697 816 Phone 7 7212 50 10 00 Phone 49 0 2102 486 0 Fax 43 0 2252 488 60 Fax 356 0 21 697 817 Fax 7 7212 501150 Fax 49 0 2102 486 1120 TECHNIKON BELARUS INTEHSIS al MOLDOVA MITSUBISHI ELECTRIC EUROPE B V org sl CZECH REP Oktyabrskaya 19 Off 705 bld Traian 23 1 Czech Branch BY 220030 Minsk MD 2060 Kishinev Avenir Business Park Radlick 714 113a Phone 375 0 17 210 46 26 Phone 373 0 22 66 4242 MIDDLE EAST REPRESENTATIVE 7 158 00 Praha 5 Fax 375 0 17 210 46 26 Fax 373 0 22 66 4280 sige Maintain erem e i le le Phone 420 251 551 470 ESCO DRIVES amp AUTOMATION BELGIUM HIFLEXAUTOM TECHNIEKB V NETHERLANDS pehoy Hamerkava 19 Fax 420 251 551 471 Culliganlaan 3 Wolweverstraat 22 IL 58851 Holon MITSUBISHI ELECTRIC EUROPE B V FRANCE BE 1831 Diegem NL 2984 CD Ridderkerk Phone 972 0 3 5
137. ator voltage output open collector type incremental synchronous encoder Input or F ds e SA SC Output Signal name Pin No Wiring example Internal circuit Specification Description Rated input voltage For connection manual Manual pulse 5 5VDC or less pulse generator generator incremental phase A 19 sHIGH level synchronous encoder 3 to 5 25VDC ee HA R e Pulse width Manual pulse 2mA or less EE enerato Input incremental M Synchronous LOW level anual pulse encoder 1VDC or less generator 23 5mA or more Duty ratio 50 phase B Leading edge Trailing HB edge time 1 2us or less Phase difference Phase A PULL p5 Note 1 38 Power supply Phase B 1 2us or 39 5V 5VDC more Power 1 Positioning address e increases if Phase A supply 13 SG leads Phase B 2 Positioning address SG 40 decreases if Phase B 41 leads Phase A Note 1 The 5V P5 DC power supply of system must not be used if a separate power supply is applied to the manual pulse generator incremental synchronous encoder If a separate power supply is used be sure it is 5V voltage Anything else may cause a failure 2 SYSTEM CONFIGURATION 4 Connection examples of manual pulse generator incremental synchronous encoder Differential output type Voltage output Open collector type Manual pulse generator Manual pulse generator Motion CPU a ee
138. autions required when installing a noise filter are described below a Do not bundle the wires on the input side and output side of the noise filter When bundled the output side noise will be induced into the input side wires from which the noise was filtered Input side Input side power supply side power supply side Induction Noise filter Noise filter Output side device side Output side device side The noise will be included when the Separate and lay the input and input and output wires are bundled output wires Figure 7 4 Precautions on noise filter b Ground the noise filter grounding terminal to the control cabinet with the shortest wire possible approx 10cm 3 94 inch 7 EMC DIRECTIVES 3 Cable clamp It is also possible to ground the exposed shielded part of the cable to the panel with the cable clamp e Ground the shield at a position 20 to 30cm 7 87 to 11 81 inch away from the module e When the cables pulled out from the control panel ground the cables at a position 5 to 10cm 1 97 to 3 94inch near the input output hole of the control panel with the cable clamp AD75Cky etc Motion controller Inside control panel 20 to 30cm 7 87 to 11 81 inch mMOsSZdV J 5 to 10cm 1 97 to 3 94 inch e Cable clamp Recommended product Mitsubishi electric ZA CAUTION Do not ground the cable clamp to the top of c
139. ay for 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 mounting lever Used to install the module to the base unit Hole for the screw used to fix to the base unit 5 Module fixing screw hole M3x12 screw Purchase from the other supplier Module fixing projection Projection used to fix to the base unit Serial number display Display the serial number described on the rating plate Input indicator LED of the proximity dog speed position switching signal DOG CHANGE turns ON at the following conditions e Q172DLX is set on the system setting 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 5VDC A og 98 H x 27 4 W x 90 D 3 86 H x 1 08 W x3 54 D Mass kg 0 15 b Input Specifications Servo external signals 32 points Exterior dimensions mm inch i Upper stroke limit Lower stroke limit Stop input Number of input points e Cie SA Proximity dog Speed position switching signal 4 points x 8 axes Photocoupler 10 2 to 26 4VDC
140. bes the specifications of the extension cables for the base units Main base unit or extension base unit 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 MELSEC Q series PLC Manuals 1 Base unit specifications a Main base unit specifications Q35DB Q38DB Q312DB Number of VOmodules 5 J o 8a U R2 OE Q series modules 5VDC Cine current 0 23 0 24 consumption A M4 screw hole or 4 5 hole for M4 screw Exterior dimensions 245 W X 98 H lt 44 1 D 328 W X98 H lt 44 1 D 439 W x 98 H lt 44 1 D mm inch 9 65 W X 3 86 H 1 74 D 12 91 W X3 86 H X 1 74 D 17 28 W x 3 86 H x 1 74 D Fixing screw M414 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 Extension base unit specifications i es Q63B Q65B Q68B Q612B Number of I O modules ee Dee of extension Applicable module module Q series modules 5VDC internal current 0 12 consumption Deen Fixing hole size 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 x 9 65 W x3 86 H x 12 91 W 3 86 H 17 28 W X3 86 H x 1 74
141. bes those items that must be maintained or inspected daily or at regular intervals 6 1 6 INSPECTION AND MAINTENANCE 6 1 Maintenance Works 6 1 1 Instruction of inspection works In order that can use the Motion controller in safety and normal those items that must be inspected list below Z ADANGER 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 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 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 or fire Do not touch the built in power supply built in grounding or signal wires of
142. blished L START SW pari RA1 RA MC STOP oe Voltage relay is recommended F a X 1 i Low battery alarm i ce OS Beem Lamp or buzzer 1 1 1 Ni 1 Yn 1 Heo H 1 l o Dereser OFF at ERR contact OFF Power supply module ERR ee stop error occurrence oe lees 4 N A output module E MC Mc Interlock circuits as necessary Provide external interlock circuits for conflicting operations such as i i forward rotation and MC2 In the case of an reverse rotation toi c Lt emergency stop ora L I 1 V SE by ERR contact OFF i Power OFF of equipment and for parts that could stop caused by a limit switch damage the machine or AA m ficd J cause accident if no interlock were used AN The power ON procedure is as follows 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 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
143. by setting battery to servo amplifier Absolute position system A Possible to select the absolute data method or incremental method for each axis Communication SSCNET SSCNETI ani method communication Note 2 Number of 2 systems 1 system systems Number of Q172DLX 4 modules usable 1 module usable Motion related modules Q173DPX 1 modules usable Note 1 Q173DCPU S1 Q172DCPU S1 only Note 2 The servo amplifiers for SSCNET cannot be used Limit switch output function Forced stop 2 SYSTEM CONFIGURATION b Motion program performance specifications Q173DCPU S1 Q172DCPU S1 Program capacity Total of program files 504k bytes Number of programs Up to 1024 No 1 to 1024 Unary operation Addition and subtraction operation Multiplication and division operation Remainder operation Operation controls Comparison operation Equal to Not equal to Logical shift operation Logical negation Logical AND Logical operation Logical OR Exclusive OR Arithmetic operation G00 G01 G02 G03 G04 G09 G12 G13 G23 G24 G25 G26 G28 Positioning command G30 G32 G43 G44 G49 G53 G54 G55 G56 G57 G58 G59 G61 G64 G90 G91 G92 G98 G99 G100 G101 Output command to data register X Y M B E D W UDG Instructions CALL GOSUB GOSUBE IF GOTO Jump repetition processing IF THEN ELSE IF ELSE END WHILE DO BREAK CONTINUE END 8 BMOV BDMOV FMOV BSET BRST SET RST M
144. 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 Doing so may cause an operation failure or give damage to the module Lock the control panel and prevent access to those who are not certified to handle or install electric equipment Do not touch the heat radiating fins of controller or servo amplifier s regenerative resistor and servo motor 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 This section describes instructions for handling the CPU Motion I O intelligent function and power supply modules base units and so on 1 Module te
145. chart 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 O displays on 7 segment LED y STORE f BTL displ 7 t LED Li displays on Segmen Flowchart for when BTO displays on 7 segment LED T P displays on 7 segment LED 9 Flowchart for when displays on 7 segment LED z h Servo amplifier does not start oa Flowchart for when servo amplifier does not start A A AL gt S01 displays on 7 segment LED i Flowchart for when AL S01 displays on 7 segment LED 6 INSPECTION AND MAINTENANCE a Flowchart for when POWER LED turns off The following shows the flowchart for when POWER LED of the power supply module turns off at the power supply ON or during operation POWER LED turns off Is there a power supply Supply power Does POWER YES LED turn on NO Connect wiring and fix terminal connection correctly Is the wiring terminal connection correct 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 YES NO YES Does POWER LED turn on Is the power supply NO module fixed Fix the power supply module correctly YES NO YES Does POWER LED turn on 6 INSPECT
146. copy the following table for use as a check sheet Check that the earth wires of power supply module or servo amplifiers etc are correct Installation of Before power supply ON unit module and basic wiring Check that the rotary switch setting is correct Installation of OS Check that the operating system software is compatible System setting Check that the system setting is correct Power supply ON ee signal Check that th ty d d di sti itchi ignal input t in STOP status eck that the proximity dog and speed position switching signal input are correct Check that the Motion program sequence program and positioning data are stored PLC CPU module in positioning data in the PLC Motion CPU module correctly STOP status Check the communications with servo amplifiers Check that the rotation direction for JOG operation is correct Check that the upper lower limit switches operate correctly Check that the rotation at maximum command speed is motor rating or less Check that the machine operates correctly by the JOG operation Check that the machine stops by the upper lower stroke limit Q172DLX Servo Check that the upper lower stroke limit inputs are correct amplifier external Check that the STOP signal input is correct Q172DLX only Basic axis operations Check each axis Motion CPU module in RUN status Check that the machine stops by the emergency stop or forced
147. d 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 6 INSPECTION AND MAINTENANCE a Q173DSCPU Q172DSCPU battery replacement procedure Replacing Battery Vv Turn on the Multiple CPU system power supply for 10 minutes or longer I Turn off the Multipl power supply e CPU system gt Internal I F connector cable Remove the internal I F connector cable from Motion CPU e ep fi Open the battery cover BEE ES l HAA DU 0 Disconnect the lead connector from at Battery connector the battery connector Remove the old battery from its holder side 0 NE Battery holder Battery Q6BAT Se Install a new battery to the battery holder correctly after confirming side and side for the battery Battery lead connector for Q6BAT Lead wire Connect the lead connector to the battery connector y Close the battery cover Battery cover Battery Q6BAT y Connect the internal I F connector cable to the Motion CPU Turn on the Multipl power supply e CPU system Front face o
148. data 3 JOG operation data 4 Servo parameters 5 Parameter block 6 Limit output data 7 Work coordinate data SV43 J 1 The mode indicated in the brackets at top left of each step is the mode for checking or setting using MT Developer2 GX Works2 GX Developer e Refer to Section 2 1 4 for installation method and installation position e Refer to Section 4 1 3 for installation of module Z DANGER Be sure to ground the Motion controllers servo amplifiers and servo motors Ground resistance 100Q or less Do not ground commonly with other devices Z CAUTION Check that the combination of modules are correct Wrong combination may damage the modules Refer to Section 5 3 e Q173DSCPU Q172DSCPU The operating system software SV 22 is installed at the time of product purchases The newest operating system software can be downloaded on MELFANSweb e Q173DCPU S1 Q172DCPU S1 The operating system software is not installed at the time of product purchase Be sure to install the operating system software to be used before a system start Refer to Section 2 5 9 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 am
149. display Self diagnosis error 4 4 digits error code is displayed in two sequential flashes of 2 digits each ex error code 3012 Displayed at battery voltage 2 7V or less Refer to Section 6 5 Battery Displayed at battery voltage 2 5V or less Refer to Section 6 5 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 Q173D S CPU Q172D S CPU Motion controller Programming Manual COMMON for details Servo error of the Motion CPU Refer to the Programming Manual of the operating system software used for details Hardware fault or software fault Refer to the Programming Manual of the operating system software used for details Setting error of the Multiple CPU system Refer to the Q173D S CPU Q172D S CPU Motion controller Programming Manual COMMON for details 2 SYSTEM CONFIGURATION 3 Rotary switch assignment a Rotary function select 1 switch SW1 Rotary switch _ Setting 0 _ Normalmode Normal operation mode Installed the operating system software using Installation mode MT Developer2 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 RO
150. e No corrosive gases Measure a voltage across the 85 to 132VAC Power voltage terminals of 100 200VAC and 170 to 264VAC Change the power supply SE 15 6 to 31 2VDC Retighten the screws Ambient environment If the CPU modules Motion modules I O modules or power supply modules are loose fix it with screws Adhesion of dirt and F Dirt and foreign matter must not A Check visually Remove and clean foreign matter be present Soseness of terminal Try to further tighten screwswitha Screws must not be loose Retighten the terminal screws screws screwdriver Move the module to check for The module must be installed Looseness ratting looseness and rattling solidly Installation 2 Proximity of solderless Solderless terminals must be 4 k Check visually S Correct terminals to each other positioned at proper intervals Check visually Connectors must not be loose Retighten the connector fixing connectors screws Check the 7 segment LED atthe 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 Battery Connection 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 1 3 5 Check that SM51 or SM58 is turned OFF using MT Developer Must be turned OFF in monitor Replace the battery with a new one when SM51 or
151. e a Multiple CPU synchronous startup setting suitable for the system f Execute the automatic refresh of the Motion CPU modules and universal model PLC CPU modules 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 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 and Q173DSXY is only the main base unit It cannot be used on the extension base unit b Q172DLX Q173DPX can be installed on any of the main base unit extension base unit c Q172DLX Q172DEX 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 Q173DSXY cannot be used in Q173DCPU Q172DCPU e Q172EX S1 S2 S3 Q172LX Q173PX S1 for Q173HCPU T Q172HCPU T Q173CPUN T Q172CPUN T Q173CPU Q172CPU cannot be u
152. e correct combinations listed in the instruction manual Other combinations may lead to 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 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 re
153. e 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 However 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 than 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 ci
154. e module 1 Name of parts a Q173DSCPU Q172DSCPU With battery cover open Front face of Q172DSCPU Front face of Q173DSCPU C Q173DSCPU Q172DSCPU Q173DSCPU SDs el 35518 eet 3 STOP RUN Gy BL m PERIPHERAL UE JTH IS LO du yo g Gi Ee 17 H EE e e E 8 Side face 2 SYSTEM CONFIGURATION b Q173DCPU S1 Q172DCPU S1 Front face of Q172DCPU S1 Front face of Q173DCPU S1 L 3 L Q172DCPU S1 Q173DCPU S1 gt EMI m M C1 JS ees E SE A Pi 5 ae EI te ck gt pi O O 6 kaf O O s KZ KS O 7 43 GE gge Side face Note
155. e 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 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 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
156. e power supply Even if the operating system software is installed the programs parameters and absolute position data written in the Motion CPU module do not be rewritten However when the software security key function is used in Q173DSCPU Q172DSCPU if the software security key of the operating system software already installed in Motion CPU is different from that embedded to the operating system software to be installed Clear all is executed at installation It is recommended to backup the data in advance using MT Developer2 Do not do any of the following works while installing operation system software Doing so could result damage the Motion CPU module e Turn OFF the power supply of Multiple CPU system e Change the RUN STOP RESET switch of PLC CPU module to RESET e Turn OFF the power supply of the personal computer e Pull out the personal computer s communication s cable 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 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 START UP PROCEDURES 5 4 Trial Operation and Adjustment Checklist At the worksite
157. e specifications Q173DSCPU Q172DSCPU Q173DCPU__ Q173DCPU S1 Q172DCPU_ Q172DCPU S1 Int t ti g S nternal current consumption 4 75 Note 4 44 Note 1 ae Se 5VDC A Mass kg Exterior dimensions mm inch 0 38 X 120 3 4 74 D 120 5 4 74 H X 27 4 1 08 W 0 3 3 98 3 85 H X 27 4 1 08 W X 119 3 4 70 D Note 1 The current consumption 0 2 A of manual pulse generator incremental synchronous encoder connected to the internal I F connector is not contained 6 SV13 SV22 Motion control specifications performance Operation cycle default Interpolation functions Control modes Acceleration deceleration control Compensation Programming language Servo program capacity Number of positioning points Peripheral I F Home position return function Manual pulse generator operation function Synchronous encoder operation __ Note 3 function specifications a Motion control specifications Q173DSCPU Q172DSCPU Q173DCPU S1 Q172DCPU S1 Number of control axes Up to 32 axes Up to 16 axes Up to 32 axes Up to 8 axes 0 22ms 1 to 4 axes 0 44ms 5 to 10 axes 0 88ms 11 to 24 axes 1 77ms 25 to 32 axes 0 44ms 1 to 6 axes 0 88ms 7 to 16 axes 1 77ms 17 to 32 axes 0 22ms 1 to 4 axes 0 44ms 5 to 10 axes 0 88ms 11 to 16 axes 0 44ms 1 to 6 axes 0 88ms 7 to 16 axes 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
158. eeeeeeeeeeeetaeeeaeeeaeeeeeeeeeatenas 2 69 2 5 7 Q173DSXY Safety signal module ncesi tan a 2 77 2 5 8 Manual pulse generator Serial absolute synchronous encoder s ssessssrsssersersersrrsrrsersrrsrrsrnses 2 87 2 5 9 SSCNET T Cables AA 2 89 2 5 10 External battery cenne eet ihe bara en a eee et 2 94 2 5 11 Forced stop input Terminal 2 98 3 1 System Designing Procedure cecccecceeceeeeeeeneeeeseeeeeeeeeaeseaeeeaeeeaeseaeeeaeeeaeeeaeseaeeeaeeeaeeeaeeeaeeeaeeeeeeeeateeas 3 1 3 2 External Circuit Desen 4200 3 4 3 2 1 Power Supply circuit design sisirain ennaii narinaa ieaiaia aaia ia iaie raea aR Rasana 3 8 EEEE AA Ka e EE 3 9 3 3 Layout Design within the Control Panel 3 11 3 3 1 Mounting environner e E E aE A E 3 11 3 3 2 Calculating heat generation by Motion controller AAA 3 12 3A Design Checklistor eT a a a hea E A AAT al dada ee 3 15 4 1 Module Jett uE che iach EE E E EA 4 1 4 1 1 Instructions Torhanding enia A a A A A A A A a a a 4 1 4 1 2 Instructions for mounting the base unit 0 eee eee eeee cent tent eee eeeeeeaeeeaeeeaeseaeeeaeeeaeeeaeeeaeeeaeeeaeeneeeateeas 4 4 4 1 3 Installation and removal Of module A 4 7 4 1 4 Instructions for mounting of the battery holder unt 4 10 4 2 Connection and Disconnection Of Cable A 4 11 AZ Vi SSCNE TI Cables TEE 4 11 4 2 2 Battery Cable it i wa atid ea th ate a sedi 4 17 4 2 3 Forced stop input cable tnnt EnntEANEEANEEANEEENEEEEEAEEEEAEEASEEES EEE Enn EEEE EnEn 4 19 4 2 4
159. election of the surge suppressor END Electro Ground magnetic brake 1 Note 3 SSCNET WH Wan lt 24V ITT 24G MCCB3 MC2 Note 5 SS J TF OQ rrr rrr LMN Nn ML M5 p 12 KSE DM1 Ground magnetic e 1 brake L21 d Note 3 lou SIN Note 4 MCCB4 MC3 Note 5 Un x MNN e o an o im_ Tts t o A Va JE o d We C 1 Electro db Ground magnetic ei brake H Note 3 LH jena 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 main circuit 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 after disconnection of SSCNET communication by the connect disconnect function of SSCNET communication 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 m
160. electrostatic discharge in the surface of the module 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 7 EMC DIRECTIVES 7 1 3 Parts of measure against noise 1 Ferrite core A ferrite core has the effect of reducing noise in the 30MHz to 100MHz band It is not required to fit ferrite cores to cables but it is recommended to fit ferrite cores if shield cables pulled out of the enclosure do not provide sufficient shielding effects Note that the ferrite cores must be fitted to the cables in the position immediately before they are pulled out of the enclosure If the fitting position is improper the ferrite will not produce any effect Ferrite core Recommended product TDK ZCAT3035 1330 2 Noise filter power supply line filter A noise filter is a component which has an effect on conducted noise The attachment of the noise filter to the power supply line of the servo amplifier and Multiple CPU system s power supply is effective for the reducing noise The noise filter has the effect of reducing conducted noise of 10 MHz or less e Noise ferrite Recommended product Manufacturer Model name Mitsubishi electric FR BLF Soshin Electric HF3010A UN The prec
161. er 5VDC Rated output current 2avDoe fA External output voltage LL ADA Overvoltage protection Note 2 SZ 5 5 to 6 5V Allowable momentary power failure Dielectric withstand voltage Across inputs LG and outputs FG S 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 Noise immunit e By noise simulator of 1 500Vp p noise voltage 1us noise width and 25 to 60Hz noise frequency y e Noise voltage IEC61000 4 4 2kV Operation indication LED indication Normal ON Green Error OFF 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 Applicable tightening torque 0 66 to 0 89 Nem 98 H x 55 2 W x 90 D 3 86 H x 2 17 W x 3 54 D Mass kg 0 40 Insulation resistance Exterior dimensions mm inch 2 SYSTEM CONFIGURATION The power supply module specifications continued Q63P Q64P Ger Base loading position Q series power supply module loading slot Applicable base unit Q35DB Q38DB Q312DB Q63B Q65B Q68B Q612B 100 to 120VAC 200 to 24VDC 30 35 240VAC 10 15 100 to 240VAC 1
162. er than the atmospheric pressure of altitude Om Doing so can cause an operation failure When using the Motion controller under pressure please contact with our sales representative Note 2 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 CategoryI 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 3 This index indicates the degree to which conductive material is generated in terms of the environment in which the equipment is used Pollution level 2 is when only non conductive pollution occurs A temporary conductivity caused by condensing must be expected occasionally ZA 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 EH 2 5 Specifications of Equipment and Settings 2 5 1 Name of parts for CPU module This section explains the names and setting of th
163. er than the minimum bend radius Model name of SSCNETIL cable Minimum bend radius mm inch MR J3BUSUOIM 25 0 98 Enforced covering cord 50 1 97 MR J3BUSOM A Cord 25 0 98 Enforced covering cord 50 1 97 MR J3BUSOM B Cord 30 1 18 b Tension If tension is added on the SSCNETI 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 SSCNETI cable or damage of SSCNETI connector may occur For cable laying handle without putting forced tension Refer to APPENDIX1 1 SSCNETII cables for the tension strength c 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 SSCNETII cable may occur As the same condition also occurs at cable laying do not tighten up SSCNETT cable with a thing such as nylon band TY RAP Do not trample it down or tuck it down with the door of control panel or others 4 INSTALLATION AND WIRING e Putting in the duct E Top of panel or wiring duct Base unit A Yj Te Ys d Twisting If SSCNETII cable is twisted it will become the same stress added condition as when local lateral pressure or bend is added Consequently transmission loss increases and the breakage of SSCNETII cable may
164. erage 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 DESIGN SSeS aes 5 Average power consumption of the input section of the input module Power consumption for simultaneous ON points WIN IIN x E x Number of input points xX 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 l5v X 5 l24v X 24 l100v x 100 W The total of the power consumption values calculated for each block is the power consumption of the overall Motion system W Wew Way 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 UG PC W Power consumption of overall Motion system value obtained above A Surface area inside the panel m7 U When the ambient temperature
165. eration facility for disposing hydrogen fluoride gas or hydrogen chloride gas a MR J3BUSOM 1 Model explanation Type MR J3BUSLIJM Symbol Cable type None Standard cord for inside panel A Standard cable for outside panel B Long distance cable Symbol Cable length m ft 015 0 15 0 49 03 0 3 0 98 05 0 5 1 64 1 1 3 28 3 3 9 84 5 5 16 40 10 10 32 81 20 20 65 62 30 30 98 43 40 40 131 23 50 50 164 04 2 Exterior dimensions e MR J3BUSO15M 15 13 4 6 7 0 26 0 59 0 53 gt pw ka Protective tube Unit mm inch 37 65 1 48 20 9 0 82 IL App 2 APPENDICES e MR J3BUS03M to MR J3BUS3M Refer to the table of this section 1 for cable length L Unit mm inch Protective tube Note 3 94 L 3 94 a Se 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 J3BUSS50M B Refer to the table of this section 1 for cable length L Variation mm inch SSCNETII cable A 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 Dimension of connector part is the same as that of MR J3BUS015M POINTS Keep the cap
166. ervomotors that are damaged or that have missing parts Do not block the intake outtake ports of the Motion controller servo amplifier 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 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 A CAUTION Always install the servomotor with reduction gears in the designated direction Failing to do so may lead to oil leaks Store and use the unit in the following environmental conditions Environment Motion controller Servo amplifier Servomotor Ambient 5 0 C to 40 C With no freezing According to each instruction manual temperature 32 F to 104 F 80 RH or less Ambient humidity According to each instruction manual With no dew condensation Storage 20 C to 65 C According to each instruction manual temperature 4 F to 149 F Indoors where not subject to direct sunlight Atmosphere E No corrosive gases flammable gases oil mist or dust must exist Altitude 1000m 3280 84ft or less above sea level Vibration According to each instruction m
167. es 1 77ms 13 to 28 axes Model name of operating DNC SV system software USB RS 232 Ethernet via PLC CPU USB RS 232 Ethernet via PLC CPU Peripheral I F PERIPHERAL I F Motion CPU PERIPHERAL I F Motion CPU ek Main base unit Multiple CPU high speed main base unit Q35DB Q38DB Q312DB Color of base cover Mounting on panel CPU module No 1 Universal model QnUD E H CPU Installation orders CPU No 2 on No restriction or later Settable between CPU modules PLC CPU module Universal model QnUD E H CPU Motion CPU module Q173DSCPU Q172DSCPU Q173DCPU S1 Q172DCPU S1 Combination of Motion SE g E SpA ulss Combination with Q173DCPU S1 Q172DCPU S1 Combination with Q173DSCPU Q172DSCPU u Installation on main base 0 88ms 5 to 8 axes Be sure to mount the unit by unit fixing screws nit Be sure to install Motion CPU modules by unit fixing screws uni KEE select switch SS switch 1 Rotary switch 2 IRESETIL CLR switch CLR switch PO Nore LED indication 7 segment LED display Batteryholderunit Q170DBATC e Use EMI connector of Motion CPU module Forced stop input y Peer g e Use device set by forced stop input setting in the system setting Cable for forced stop input Motion module Q172DLX Q172DEX Q173DPX Q173DSXY Q172DLX Q172DEX Q173DPX Q173DSxY N Installation on main base nit Q172DLX Q172DEX Q173DPxX Impossible to install on I O slots of 0 to 2 uni Multiple C
168. etc taking into consideration the protective coordination and noise suppression techniques Safety circuit design 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 power on and the electromagnetic brake circuit for servomotors Refer to section 3 2 2 y Layout design within control panel 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 controller 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 controller 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 amplifiers 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 ma
169. f Motion CPU 6 INSPECTION AND MAINTENANCE b Q173DCPU S1 Q172DCPU S1 battery replacement procedure Replacing Battery y Turn on the Multiple CPU system power supply for 10 minutes or longer lt Battery holder unit Q170DBATC gt Lead wire Turn off the Multiple CPU system power supply 31Y8002 10 Disconnect the lead connector from the battery connector Remove the old battery from its holder Install a new battery into the holder in the correct direction Connect the lead connector to the connector BATTERY Turn on the Multiple CPU system H D AMSLLVE H power supply d Battery Q6BAT Battery connector for Q6EBAT 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
170. ft Note 2 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 Note 3 Q173DSCPU Q173DCPU S1 only Note 4 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 Note 5 Be sure to use the battery The programs parameters motion devices devices of latch data and absolute position data of SRAM built in Motion CPU module are not backed up if the battery is not set correctly Note 6 Q173DSCPU Q172DSCPU Q173DCPU S1 Q172DCPU S1 only 2 7 segment LED display The LED displays flashes in the combination with errors 7 segment LED It takes about 10 seconds to initialize RUN STOP display Execute the power cycle of the Motion controller if the operation stopped at initializing It may be Initializing Motion controller s hardware fault when it is not improved Explain the error symptom LED display and get advice from our sales representative for the modules with failure Initialization and self diagnosis of safety Initializing observation function is executed at power supply Safety observation ON It takes about 15 seconds to execute function use initialization and self diagnosis of safety observation function Normal x remains flashing Normal operation Steady INS di
171. g 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 1002 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 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 he
172. g range _ Q172DCPU S1 1 to 8 1 to 32 Since the axis number d01 to d16 of servo amplifier on the system setting screen corresponds to axis select rotary switch 0 to F of servo amplifier set the axis select switch referring to the table of next page e Axis select rotary switch Servo amplifier Amplifier Setting m Amplifier Information Amplifier Model Amplifier Operation Mode MR J4 W B Standard be a H H ee Set the axis No relative to axis number dng 1 Note Correspondence between dno and axis select rotary switch of servo amplifiers is shown in the next page 2 SYSTEM CONFIGURATION Correspondence between dno s and axis select rotary switches of servo amplifier o Note SSCNETIIN H Axis select rotary switch o Note SSCNETIIN H Axis select rotary switch system of servo amplifier system of servo amplifier Note The dno is number of servo amplifier axis displayed with the system setting of MT Developer Axis No is set relative to dno in the system settings Correspondence between SSCNETII H system and connector No of Motion CPU module is shown below Correspondence between SSCNETII H system No and connector No of Motion CPU module SSCNETIO H system No Connector No of Motion CPU CN1 CN2 Note Number of SSCNETII H systems Q173D S CPU 2 systems Q172D S CPU 1 system The setting of axis select rotary switch is different dependi
173. g test has been done with the programmable controller installed inside a control panel Note 2 QP Quasi peak value Note 3 For the AC power supply line Note 4 For the electrical communication port Note 5 AV Average value 7 EMC DIRECTIVES 7 1 2 Installation instructions for EMC directive 1 Installation Motion controller is an open type device and must be installed inside a control panel for use This not only ensures safety but also ensures effective shielding of Motion controller generated electromagnetic noise a Control panel 1 Use a conductive control panel 2 When attaching the control panel s top plate or base plate expose bare metal surface and weld so that good surface contact can be made between the panel and plate 3 To ensure good electrical contact with the control panel mask the paint on the installation bolts of the inner plate in the control panel so that contact between surfaces can be ensured over the widest possible area 4 Ground the control panel with a thick wire so that a low impedance connection to ground can be ensured even at high frequencies 5 Holes made in the control panel must be 10cm 3 94inch diameter or less If the holes are 10cm 3 94 inch or larger radio frequency noise may be emitted In addition because radio waves leak through a clearance between the control panel door and the main unit reduce the clearance as much as practicable The leakage of radio waves
174. h 3 SW3 SW4 Ee TREN is detected at each is detected at leadin 2 z N 9 edge of TREN signal j i on Dip switch 4 om TREN is detected at trailing edge OFF ON of TREN signal Detection setting of TREN3 signal Dip switch 5 SW5 SW6 OFF ON TREN is detected at leading edge of TREN signal Dip switch 6 OFF ON TREN is detected at trailing edge of TREN signal Projection used to fix to the base unit Factory default in OFF position Module fixing projection Serial number display Note 1 The function is different according to the operating system software installed ZA CAUTION Before touching the DIP switches 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 POINTS Input indicator LED of the manual pulse generator incremental synchronous encoder phases A B and tracking enable signal turns ON at the following conditions 1 PLS A 1 to 3 PLS B 1 to 3 e Q173DPxX is set in the system setting 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 Q173DPxX is set in the system setting of MT Developer
175. he SRAM clear Multiple CPU system s power supply after the rotary switch 2 is set to C 2 SYSTEM CONFIGURATION POINTS 1 Be sure to turn OFF the Multiple CPU system s power supply before the rotary switch setting change 2 It is recommended to shift to the mode operated by ROM after the programs and parameters are fixed The appearance of the programs and parameters can be evaded even if the battery decrease The ROM writing cannot be executed for the current position of the servo motor in the absolute position system home position and latch device Back up them beforehand using MT Developer2 Refer to the Section 4 4 of the Q173D S CPU Q172D S CPU Motion controller Programming Manual COMMON for details of the ROM operation c Ethernet IP address display mode overview 7 segment LED Note IP address ex 192 168 3 39 H Subnet mask pattern Note ex 255 255 255 0 Default router IP address ee ex 192 168 3 1 J Link status Disconnect Connect 10Mbps RW Full duplex E r a mesne O D Connect 100Mbps Half duplex p Note When the Ethernet parameters are not written in the Motion CPU the addresses are displayed as follows e IP address 192 168 3 39 e Subnet mask pattern 255 255 255 0 e Default router IP address 192 168 3 1 2 SYSTEM CONFIGURATION 5 Basic specifications of Q173D S CPU Q172D S CPU a Modul
176. he module fixing projection from the module fixing hole 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 projection off the module fixing hole of the base unit Attempting to remove the module by force may damage the module fixing projection 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 22K 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
177. he module to the base unit 1 Module fixing hook SE f Single motion installation Display the input status from the external equipment Display for signal input status of each serial absolute synchronous encoder LED turns ON at the normal connection first switching to virtual mode TREN I Display for signal status of tracking enable The tracking enable signal does not turn ON without setting Q172DExX in the system setting SY ENC connector Input connector of the serial absolute synchronous encoder Module mounting lever Used to install the module to the base unit Hole for the screw used to fix to the base unit 6 7 Input indicator LED Module fixing screw hole M3x12 screw Purchase from the other supplier Module fixing projection Projection used to fix to the base unit Battery connector For connection of battery lead wire Battery holder Used to the set the Battery A6BAT MR BAT to the holder Batte 9 Y For Serial absolute synchronous encoder battery backup A6BAT MR BAT Serial number display Display the serial number described on the rating plate 2 SYSTEM CONFIGURATION PONT _ 1 Input indicator LED of the serial absolute synchronous encoder signal turns ON at the normal connection first switching to virtual mode 2 Input indicator LED of the tracking enable signal turns ON at the following conditions e Q172DEX is set in the system setting of MT Developer e T
178. he 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 IA 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 Input method Sink Source type Exterior dimensions mm inch Photocoupler 12 24VDC 10 2 to 26 4VDC Operating voltage range 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 S OFF to ON 0 4ms 0 6ms 1ms Response time i ON to OFF CPU parameter setting Default 0 4ms Indicates to display ON indication LED 2 SYSTEM CONFIGURATION c Serial absolute synchronous encoder input Specifications Applicable types Q171ENC W8 Q170ENC Applicable signal types Differential output type SN75C1168 or equivalent Transmission method Serial communications Synchronous method Counter clock wise viewed from end of shaft Communication speed 2 5Mbps Position detection method Absolute ABS method 4194304PLS rev 22bit 262144PLS rev 18bit Number of modules 2 module External connector type 20 pin connector Applicable connector for Q170ENCCNS Optional EE external connection
179. hich are connected to I O modules intelligent function modules and or extension cables have noise durability in the condition of grounding their shields by using the shielded cables If a shielded cable is not used or not grounded correctly the noise resistance will not meet the specified requirements a Grounding of shield section of shield cable 1 Ground the exposed shield section of the shielded cable close to the module When the grounded cables and the not yet grounded cables are bundled the cables might be induced to electromagnetic 2 Ground the exposed shield section to spacious area on the control panel A clamp can be used as shown in Figure 7 2 In this case mask the inner wall surface when coating the control panel and contact the exposed shield section with the clamp at the exposed bare metal surface go Clamp fitting Shield section m d Shield cable Exposed bare metal surface Figure 7 1 Part to be exposed Figure 7 2 Shield grounding Correct example Note The method of grounding with a vinyl coated wire soldered onto the shielded section of the shielded cable as in shown Figure 7 3 is not recommended Doing so will raise the high frequency impedance resulting in loss of the shielding effect Shield cable Wire Solderless terminal crimp contact Figure 7 3 Shield grounding Incorrect example 7 EMC DIRECTIVES 4 Precautions relevant to the electrostatic discharge Here is a weak part to
180. iately 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 battery voltage is recovered to the normal value SM51 or SM58 turns off by power supply on again or reset 2 After SM51 SM52 SM58 or SM59 turns on replace the battery quickly SM51 or SM52 turns on at the battery voltage 2 5V or less e SM58 or SM59 turns on at the battery voltage 2 7V or less If SM51 turns on the details for the programs parameters motion device latch range device and absolute position data of SRAM built in Motion CPU module cannot be guaranteed It is recommended to back up the data periodically For Q173DSCPU Q172DSCPU whether or not to check the battery of Motion CPU can be set in the system basic setting of system setting If Not battery check is set a self diagnosis error will not occur and the 7 segment LED BT1 or BT2 is not also displayed Refer to the Q173D S CPU Q172D S CPU Motion controller Programming Manual COMMON for details 6 INSPECTION AND MAINTENANCE 6 5 1 Battery life The battery life is shown below Battery life Total power failure time h Note Actual service B Guaranteed Guaranteed lie Note 5 Backup ti Module type Battery type ower on val e
181. ing 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 UO 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 opposite side Multiple CPU system Shield cable Resets 4 INSTALLATION AND WIRING e Where wiring runs through piping ground the piping without fail f Run the 24VDC input line away from the 100VAC and 200VAC lines g Wiring of 200m 656 1 7ft 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 a countermeasure against the power surge due to lightning separate the AC wiring and DC wiring and connect
182. input voltage For connection As HAP PESES manual pulse Ge SST DE Kl WEE DEE Deg BE E generator d Phases A B phase A i 2 0 to 5 25VDC HAON Manual pulse e Pulse width generator 20us or more B Incremental Manual synchronous T e LOW level i S Input pulse HBOP encoder 0 8VDC or less Sr morse kor more NN WEE EE VE ECH DEE EN od D Duty ratio 50 25 generator Ee phase B B 26L831 or eading edge Trailing HBON equivalent edge time vos dus or less Phase difference Phase A JML oe Select type Note 2 Phase B ju signal HPSELO more 1 Positioning address increases if Phase A leads Phase B Note 1 Power supply 2 Positioning address PS 5VDC decreases if Phase B _ DN leads Phase A Power Note 1 The 5V P5 DC power supply from the Q173DPX must not be used if a separate power supply is applied to the Manual pulse generator Incremental synchronous encoder If a separate power supply is used be sure it is 5V voltage Anything else 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 2 SYSTEM CONFIGURATION c Interface between PULSER connector and manual pulse generator Voltage output Open collector type Incremental synchronous encoder Input orl _ Pin No WW ed EG E Signal name Wiring example Internal circuit
183. inspection When replacing the Motion controller or servo amplifier always set the new module settings 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 Lock the control panel and prevent access to those who are not certified to handle or install electric equipment Do not burn or break a module and servo
184. ion device latch range device and absolute position 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 motion device latch range device and absolute position data to SRAM built in Motion CPU module 6 5 4 Symbol for the new EU battery directive This section describes a symbol for the new EU Battery Directive 2006 66 EC that is labeled batteries Note This symbol mark is for EU countries only This symbol mark is according to the directive 2006 66 EC Article 20 Information for end users and Annex II Your MITSUBISHI ELECTRIC product is designed and manufactured with high quality materials and components which can be recycled and or reused This symbol means that batteries and accumulators at their end of life should be disposed of separately from your household waste If a chemical symbol is printed beneath the symbol shown above this chemical symbol means that the battery or accumulator contains a heavy metal at a certain concentration This will be indicated as follows Hg mercury 0 0005 Cd cadmium 0 002 Pb lead 0 004 In the European Union there are separate collection systems for used batteries and accumulators Please dispose of batteries and accumulators correctly at your local community waste collection recycling centre Please help us to conserve the environment we live in 6 INSPECTI
185. ion 1 01B or later Manual pulse generator or MR HDP01 Abbreviation for Manual pulse generator MR HDP01 Serial absolute synchronous encoder Abbreviation for Serial absolute synchronous encoder Q171ENC W8 or Q171ENC W8 Q170ENC Q170ENC 1 OVERVIEW Generic term Abbreviation SSCNETI H NOS SSCNETO OOS High speed synchronous network between Motion controller and servo amplifier SSCNETI H General name for SSCNETII H SSCNETII General name for system using the servomotor and servo amplifier for absolute position Abbreviation for CC Link IE module CC Link module MELSECNET 10 H module Ethernet module Serial communication module Note 1 Q172DEX can be used in SV22 Note 2 This software is included in Motion controller engineering environment MELSOFT MT Works2 Note 3 SSCNET Servo System Controller NETwork Absolute position system Intelligent function module For information about 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 sequence program design Manual relevant to each module UO modules and intelligent function module Operation method for MT Developer2 Help of each software e Multiple CPU system configuration SV13 SV22 e Performance specification Q173D S CPU Q172D S CPU Motion controller SV43 e Design method for common parameter Programming
186. ire 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 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 Mount a stopping device to ensure safety on the machine side 3 DESIGN E 3 2 External Circuit Design As to the ways to design the external circuits of the Motion system this section describes the method and instructions for designing the power supply circuits and safety circuits etc Example Q173DSCPU Q172DSCPU and MR J4 0B use 1 Sample system circuit design for motion control 3 phase 200 to 230VAC N Power Supply PLC CPU Motion CPU Input module Output module Servo external SE Q61P QnUDOCPU Q173DSCPU Qx40 QY10 SSES E Q172DSCPU meas Teel ot Q172DLX H S T CP1 Forced stop Note PYm TNE gt o INPUT EMI COM O Note 2 OFLS1
187. it Battery cable Q170DBATC Q170DBATCBLI 0 5 m 1 64 ft 2 SYSTEM CONFIGURATION BS 2 5 11 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 Rated input current 2 4mA Isolation method Photocoupler F 20 4 to 26 4VDC Operating voltage range i 10 15 ripple ratio 5 or less ON voltage current 17 5VDC or more 2 0mA or more OFF voltage current 1 8VDC or less 0 18mA or less Input resistance Approx 10kQ OFF to ON Response time ims or less ON to OFF External connector type 0 3mm AWG22 3 DESIGN 3 DESIGN 3 1 System Designing Procedure System designing procedure is shown below 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 each DEER 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 e For speed control Speed position switching control signal required Whe
188. l 3 A failure which may be regarded as avoidable if your equipment in which the Product is incorporated is equipped with a safety device required by applicable laws and has any function or structure considered to be indispensable according to a common sense in the industry 4 A failure which may be regarded as avoidable if consumable parts designated in the instruction manual etc are duly maintained and replaced 5 Any replacement of consumable parts battery fan etc 6 A failure caused by external factors such as inevitable accidents including without limitation fire and abnormal fluctuation of voltage and acts of God including without limitation earthquake lightning and natural disasters 7 A failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of the Product from our company 8 Any other failures which we are not responsible for or which you acknowledge we are not responsible for 2 Onerous Repair Term after Discontinuation of Production 1 We may accept the repair at charge for another seven 7 years after the production of the product is discontinued The announcement of the stop of production for each model can be seen in our Sales and Service etc 2 Please note that the Product including its spare parts cannot be ordered after its stop of production 3 Service in overseas countries Our regional FA Center in overseas countries will accept the repair wo
189. les representative 6 INSPECTION AND MAINTENANCE h Flowchart for when servo amplifier does not start The following shows the flowchart for when servo amplifier does not start Servo amplifier does not start Is there error display on 7 segment LED of Motion CPU module Remove the error cause Does servo amplifier start Set the target axis in the system setting Has the target axis set in the system setting Does servo amplifier start Is the connection of SSCNET m cable correct Connect the SSCNET II cable correctly Does servo amplifier start Is the axis select rotary switch setting of servo amplifier correct Set the axis select rotary switch correctly 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 start Does servo amplifier start Explain the error symptom and get advice from our sales representative y 6 INSPECTION AND MAINTENANCE 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 for when AL flashes 3 times Steady S01 display displays on 7 segment LED during operation AL gt S01 displays on 7 segment LED Co
190. lse generator or an incremental synchronous encoder that consumes less than 0 2 A of current 2 SYSTEM CONFIGURATION nt 2 Interface between manual pulse generator differential output type incremental synchronous encoder Input or Signal name Pin No Wiring example Internal circuit Specification Description Output g g p p p A Rated input voltage For connection manual Manual HAH 18 5 5VDC or less pulse generator ulse incremental H synchronous encoder generator HIGH level Phases A B haseA A 2 0 to 5 25VDC phase HAL 20 e Pulse width Manual pulse Jus or more Input generato Incremental B 22 synchronous LOW level 0 5us 0 5us Manual HBH encoder 0 8VDC or less or more ormore pulse Duty ratio 50 generator B 26LS31 or SE SE ee k phaseB g t 244 equivalent Fa Phase a A U L p5 Note 1 Power supply er or 5V 5VDC ET LE 1 Positioning address Power increases if Phase A supply 7 leads Phase B 13 2 Positioning address SG 40 decreases if Phase B 41 leads Phase A Note 1 The 5V P5 DC power supply of system must not be used if a separate power supply is applied to the manual pulse generator incremental synchronous encoder If a separate power supply is used be sure it is 5V voltage Anything else may cause a failure 3 Interface between manual pulse gener
191. m setting to communicate the servo amplifiers MR J4 W CB can be used by setting SSCNETII H and MR J3 W OB can be used by setting SSCNETI CZK g There are following restrictions when SSCCNETII is set as communication method When the operation cycle is 0 2 ms set the system setting as the axis select rotary switch of servo amplifier O to 3 If the axis select rotary switch of servo amplifier 4 to F is set the servo amplifiers are not recognized GER When the operation cycle is 0 4 ms set the system setting as the axis select rotary switch of servo amplifier O to 7 If the axis select rotary switch of servo amplifier 8 to F is set the servo amplifiers are not recognized There is no restriction when SSCNETII H is set in the SSCNET setting Note The setting of axis select rotary switch differs according to the servo amplifier Refer to the Servo amplifier Instruction Manual for details h Maximum number of control axes of servo amplifier is shown below e Operation cycle is 0 2 ms 4 axes per system e Operation cycle is 0 4 ms 8 axes per system There is no restriction when SSCNETII H is set in the SSCNET setting GER i When the operation cycle is default setting the operation cycle depending on the number of axes used is set However when SSCNETII is set in the SSCNET communication setting and the number of axes used of servo amplifier is 9 axes or more per system the operation cycle of 0 8 ms or
192. ment connection A6CON2 AGCON3 AGCON4 Optional Voltage output 30m 98 43ft Cable length Open collector type Open collector type 10m 32 81ft Differential output type Op d 2 SYSTEM CONFIGURATION 3 Connection of manual pulse generator Manual pulse generators of the voltage output open collector type and differential output type can be connected Both connection methods are different Refer to this section 5 When the manual pulse generator is connected to the Q173DPxX it cannot be connected to the built in interface in Motion CPU Up to 3 modules Q173DPX Up to 1 module Q172DCPU S1 Connection of incremental synchronous encoder Incremental synchronous encoders of the voltage output Open collector type and differential output type can be connected Both connection methods are different Refer to this section 5 Serial absolute synchronous encoder 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 Connectable synchronous encoder Q173DSCPU Q172DSCPU Q173DCPU S1 Q172DCPU S1 Up to 8 modules Q173DPX Up to 3 modules e Tracking enable signal Tracking enable signal of Q173DPX is used to start the input from incremental synchronous encoders in the external input mode
193. mmended to back up the data periodically 6 INSPECTION AND MAINTENANCE g Flowchart for when displays on 7 segment LED displays at the WDT error occurrence The following shows the flowchart for when displays on 7 segment LED during operation displays on 7 segment LED Confirm details of error by Motion CPU error batch monitor of MT Developer2 Is the error code of Motion CPU WDT cause 1 NO YES Is the error code of Motion CPU WDT 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 s e the event task program and NMI Correct the Motion operating time to task program in the Motion SFC shorten by the following methods program SV13 SV22 and write it to Motion CPU 3 Reduce the number of execution to 1 Change the operation cycle to the normal task program executed 3 Ge a in eae setting simultaneously in the Motion SFC Reduce the number of execution to program SV13 SV22 the event task program and NMI 4 Reduce the number of automatic task program in the Motion SFC refresh points of CPU shared program SV13 SV22 memory Reset the Multiple CPU system Does disappear NO on 7 segment LED YES END Explain the error symptom and get advice from our sa
194. n error etc Thus an error correspondence interlock program specified in the instruction manual must be used Use the interlock 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 s
195. n 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 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 Motion controller base unit and motion module with th
196. n overrun prevention is necessary Stroke limit required e When each axis stop is necessary STOP signal required Refer to section 2 5 5 Refer to section 2 5 6 Select Q173DPX Q172DEX and design according to whether manual pulse generators and synchronous encoders are required or not Select interrupt module QI60 according to whether interrupt input are required or not Select WO modules intelligent function modules according to the seres maniial specifications of the external equipment to be controlled Refer to MELSEC Q Refer to section 2 5 4 Refer to section 2 5 5 Refer to section 2 5 6 Refer to MELSEC Q series manual Select the main base unit extension base units extension power supply module and extension cables and make UO assignment according to necessary number of Q172DLXs Q172DEXs Q173DPXs UO modules intelligent function modules Refer to the servo amplifier manual Select the servo amplifier and servo motor according to the motor capacity and number of revolution from the machine mechanism to be controlled each axis Set the servo amplifier connection by SSCNETII H and axis EE numbers dno and axis No 3 DESIGN y External circuit design Refer to section 3 2 Power supply circuit design Design the power supply circuit which supplies power to such SE SONON 92 system components as the Motion controller UO equipment and servo amplifiers
197. nce programs Create the sequence programs to start of Motion programs using GX Works2 GX Developer Write sequence programs Write the sequence 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 Test mode servo start up Initial check Check servo amplifier Check that the mounted servo amplifiers operate correctly Test mode servo start up Upper lower stroke limit check Check upper lower stroke limits Check that the upper lower stroke limits operate correctly 3 AN DANGER When performing wiring work or inspections turn the power OFF wait at least ten minutes and then check the voltage with a tester etc Failing to do so may lead to electric shocks Wire the units after mounting the Motion controller servo amplifier and servo motor Failing to do so may lead to electric shocks or damage Z 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
198. nce with the EMC Direchhve 7 1 7 1 1 Standards relevant to the EMC directive cccccceeecceeeeeeeeeeeeeeeeeeneeseaeeseaeeeeaeeeeaeeseaeeseeeesieesieees 7 2 7 1 2 Installation instructions for EMC directive ccccceccceeeeeceeeeceeeeeceeeeeeeeeeneeeeaeeecaeeseaeeeseaeeseeeseieeees 7 3 7 1 3 Parts of measure against NOISE 0 2 eeeeeeeeeeeeeeeeeeeeeeeeeeteneteeeteeeceeeeeeseeceeeseeeseeeseaeseeeseaeseateneeeneeeaes 7 6 7 1 4 Example of measure against noise ceeeeceeeeeeeeeeeeeeeeeeeeeeeeeseeeseeeeeneseaeseeeseeeseeeseeeseeeseeeseaeeeateneeaes 7 8 APPENDIX TCAD naen TE gedeien ege A App 1 APPENDIX 1 1 SSCNETM cabhles ieaie n e T e aia App 1 APPENDIX 1 2 Serial absolute synchronous encoder cable App 4 APPENDIX 1 3 Battery cable 1200 a aa a a a a riaa App 6 APPENDIX 1 4 Forced stop input cable ccccccecenceceeeeeeeeceeeeaeeeeneeeeaeeccanessneeseaeesceeseeeeeseaeesseenaees App 7 APPENDIX 1 5 Internal I F connector cable App 8 APPENDIX TERIO Cable cd aia Eed edel App 11 APPENDIX 1 7 SSCNETII cables SC J3BUSOIM C manufactured by Mitsubishi Electric System amp Service A App 12 APPENDIX 2 Exterior Dimensions ss esssesseessteesteestettttttretttttttttnnttnstEnstEnStEnntEASEEAnEEEnEEnEEEEnn Ennen eneen App 13 APPENDIX 2 1 Motion CPU module cccccceececeeeeeeeeeseeeeaceeeneeceaeeseaeescaneeseaeeseaeeeeaeeeeeeeseaeessaeesaees App 13 APPENDIX 2 2 Servo external signals interface module C
199. nery constructed according to the descriptions will comply with above mentioned directive The method and judgement for complying with the EMC Directive must be determined by the person who construct the entire machinery 7 EMC DIRECTIVES 7 1 1 Standards relevant to the EMC directive The standards relevant to the EMC Directive are listed in table below Certification Test details Standard value 30M 230MHz ap 40dByuV m EN55011 2007 A2 2007 Radio waves from the product are 10m 32 81ft in measurement range Radiated emission N measured 230M 1000MHz QP 47dBuV m 10m 32 81ft in measurement range AC power line 0 15M 0 5MHz QP 79dBuV EN61000 6 4 2007 sh doles av 66 dB UV EN61131 2 2007 ENS50112007 A2 200 0 5M 30MHz QP 73dBuV Power line Noise from the product to the power AV 60dBUV EN55022 2006 A1 2007 line and electrical communication port EO see Electrical communication port Electrical communication port is measured hees re 0 15M 0 5MHz QP AV Logarithmic decrease 0 5M 30MHz QP 87dByuV AV 74dBuV EN61000 4 2 1995 8kV 10 times at 1 second interval A1 1998 A2 2001 Immunity test in which electrostatic Air discharge Electrostatic discharge discharge is applied to the product 4kV 10 times at 1 second interval immunity Contact discharge 80 1000MHz 10V m EN61000 4 3 2006 Immunity test in which electric fields 1400M 2000MHz 3V m Radiated immunity are radiated to the product
200. nfirm details of error by Motion CPU error batch monitor of MT Developer2 Remove the error cause of servo amplifier and then execute the servo error reset M3208 20n ON or re turn on the servo amplifier power supply Does AL S01 disappear on 7 segment LED 6 6 3 Confirming error code The error codes and error contents can be read using MT Developer2 Refer to help of MT Developer2 for details of operating method 6 INSPECTION AND MAINTENANCE 6 6 4 Internal input circuit troubleshooting This section describes possible problems with internal input circuits and their corrective actions 1 Internal input circuit troubleshooting The following describes possible problems with internal input circuits and their corrective actions Table 6 4 Internal Input Circuit Troubleshooting and Corrective Action NJ condition cause Corrective action e Drive by switch with LED indicator e Connect an appropriate resistor so that the current across the Motion CPU becomes lower than the off current DC input DC input plus common plus common Internal input signal is not Leakage Resistor turned OFF Current Motion CPU Motion CPU Note A calculation example of the resistance to Example 1 be connected is shown below e Sneak path due to the use of two power e Use only one power supply supplies e Connect a sneak path prevention diode De input Figure below Internal input
201. ng on the servo amplifier Refer to the Servo amplifier Instruction Manual for details 2 SYSTEM CONFIGURATION 2 5 10 Battery This section describes the battery specifications and handling precautions used in the Motion CPU Battery specifications Model name ee o o EEO EE Exterior dimensions mm inch 16 0 63 x32 1 26 Note The following points are changed for lithium metal batteries transportation by sea or air due to Recommendations of the United Nations Rev 15 and ICAO TI 2009 2010 edition 1 A package containing 24 cells or 12 batteries or less that are not contained in equipment are no longer exempt from the following attachment of a handling label submission of the Shipper s Declaration for Dangerous Goods and a 1 2m 3 94ft drop test 2 A battery handling label size 120 x 110mm 4 72 x 4 33inch is required Emergency telephone number must be filled out in the additional handling information of the Shipper s Declaration for Dangerous Goods 3 New label design containing battery illustration must be used in air transportation only E CAUTION g ia A Lithium Metal batteries DO NOT LOAD OR TRANSPORT PACKAGE IF DAMAGED For more information call 81 3 3218 3639 International Zelle edel Veedel eege ege ANNE Fig 2 2 Example of Label with Battery Illustration e Transportation precaution for customers Documentations like the handling label in the specified design and the Ship
202. nly 2 SYSTEM CONFIGURATION 2 Peripheral device configuration for the Q173D S CPU Q172D S CPU The following a b c can be used a USB configuration b RS 232 configuration c Ethernet configuration JS gt o 7 Motion CPU module PLC CPU module PLC CPU module Q170DSCPU Q170DCPU S1 QnUD E H CPU QnUD H CPU PLC CPU module Ss t t RS 232 communication cable USB cable QC30R2 Ethernet cable Note 1 Personal computer Personal computer Personal computer Note 1 Corresponding Ethernet cables 1 Connected to Motion CPU module Connection type Cable type Ethernet standard Specification 10BASE T Connection with HUB Straight cable i i 100BASE TX Compliant with Ethernet standards category 5 or higher Ethernet cable Bees T Shielded twisted pair cable STP cable Direct connection Crossover cable 100BASE TX TX Selection criterion of cable e Category 5 or higher e Diameter of lead AWG26 or higher e Shield Copper braid shield and drain wire Copper braid shield and aluminium layered type shield 2 Connected to PLC CPU module Refer to the QnUCPU User s Manual Communication via Built in Ethernet Port 2 SYSTEM CONFIGURATION ne 2 1 1 Q173DSCPU Q172DSCPU System overall configurati
203. ntrol panel ground the cables at a position 5 to 10cm 1 97 to 3 94inch away from the exit entrance of the control panel with the cable clamp etc e Refer to the Section 2 5 5 and Appendix 1 2 for encoder cable Use shielded twisted pair cable 4 Measure against noise of the manual pulse generator external signal input cable e When the cables are extracted from the control panel ground the cables at a position 5 to 10cm 1 97 to 3 94inch away from the exit entrance of the control panel with the cable clamp etc e Refer to the Section 2 5 6 for manual pulse generator Use shielded twisted pair cable e Refer to the Section 2 5 4 for external signal input Use shielded twisted pair cable between the external signal and COM signal e When the cables are connected to internal I F connector of Q173DSCPU Q172DSCPU and extracted from the control panel ground the cables at a position 20 to 30cm 1 97 to 3 94inch away from the module with the cable clamp etc Use a shielded cable e Refer to the Section 2 5 1and Appendix 1 5 for internal I F connector cable 5 Measure against noise of the internal I F cable e When the cables are extracted from the control panel ground the cables at a position 20 to 30cm 1 97 to 3 94inch away from the module with the cable clamp etc Use a shielded cable 1 Refer to Section 2 for the following cables e Ethernet cable e USB cable e SSCNETII cable e Battery cable e Forced stop input cable 7 EMC DIRECTIVES
204. nual explains the specifications of the UO modules connector connector terminal block 13JL99 conversion modules and others 3 Servo amplifier Manual Name Manual Number Model Code SSCNETM H interface MR J4 LB Servo amplifier Instruction Manual SH 030106 This manual explains the I O signals parts names parameters start up procedure and others for 1CW805 MR J4 LB Servo amplifier SSCNETMI H interface Multi axis AC Servo MR J4W LB Servo amplifier Instruction Manual SH 030105 This manual explains the I O signals parts names parameters start up procedure and others for Multi 1CW806 axis AC Servo MR J4W0O OB Servo amplifier SSCNETII interface MR J3 OB Servo amplifier Instruction Manual SH 030051 This manual explains the I O signals parts names parameters start up procedure and others for 1CW202 MR J3 LB Servo amplifier SSCNETII interface 2 axis AC Servo Amplifier MR J3W CB Servo amplifier Instruction Manual SH 030073 This manual explains the I O signals parts names parameters start up procedure and others for 2 axis 1CW604 AC Servo Amplifier MR J3W OB Servo amplifier SSCNETI Compatible Linear Servo MR J3 LIB RJ004 Instruction Manual SH 030054 This manual explains the I O signals parts names parameters start up procedure and others for Linear 1CW943 Servo MR J3 LJB RJ004 Servo amplifier SSCNETI Compatible Fully Closed Loop Control MR J3
205. o 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 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 Wew 2 x eu X 5 W I5v Current consumption of 5VDC logic circuit of each module 2 Total power consumption for 5VDC logic circuits of all modules including CPU module The power consumption of the 5VDC output circuit section of the power supply module is the power consumption of each module including the current consumption of the base unit wsv lu x 5 W 3 A total of 24VDC average power consumption of the output module The average power of the external 24VDC power is the total power consumption of each module Waav l24v x 24 x Simultaneous ON rate W 124V Av
206. occur at worst Disposal When incinerating optical cable cord used for SSCNETII cable hydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may be generated For disposal of SSCNETII cable request for specialized industrial waste disposal services who has incineration facility for disposing hydrogen fluoride gas or hydrogen chloride gas f Wiring process of SSCNETII 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 Motion CPU module F en Motion CPU module e es z VLA or more T E 2 EN H e Panel EH 8 3 Bl z ZZ i 100mm Hy 3 94inch Es e or more Note 2 Z Z 4 EE j 5mm 0 20inch 5mm 0 20inch or more Note 1 or more E E Note 1 20mm 0 79inch or more when the adjacent module is not removed and the extension cable is connected Note 2 Q173DSCPU Q172DSCPU use 70mm 2 76inch or more Q173DCPU S1 Q172DCPU S1 use 100mm 3 94inch or more 4 INSTALLATION AND WIRING e Bundle fixing
207. odule 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 sequence program using an actual external input END POINTS Z CAUTION 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 servo motor module names before the servo motor is mounted on a machine The servo motor rating plate may not be visible after the servo motor is mounted 2 When the servo amplifier servo motor is first turned on check the operation before the servo motor is mounted on a machine to avoid an unexpected accidents such as machine breakage 5 START UP PROCEDURES 5 3 Operating System Software Installation Procedure The operating system software must be installed to the Motion CPU module by using the MT Developer The installation procedure is shown below l START l Set a rotary switch1 SW1 of Motion F PAN Set to installation mode EE a eg Refer to Section 2 5 1 3 for rotary switch Rotary switch 2 SW2 is optional E y g e
208. odules 1 The following servo amplifiers can be controlled in Motion CPU module Q173DSCPU Q173DCPU S1 Up to 32 axes per 2 systems up to 16 axes per 1 system Q172DSCPU Up to 16 axes per 1 system Q172DCPU S1 Up to 8 axes per 1 system 2 Itis possible to set the program which synchronized with the motion operation cycle and executed at fixed cycle Min 0 22ms Q173DSCPU Q172DSCPU use 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 Motion CPU module 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 Motion CPU module 5 Motion modules Q172DLX Q172DEX Q173DPX are controlled with the Motion CPU module and the signals such as stroke limit signals connected to Motion modules and synchronous encoder can be used as motion control 6 PLC I O modules can be controlled with the Motion CPU module Refer to Section 2 3 2 for PLC I O modules that can be controlled with Motion CPU module 7 Data exchange between CPU modules is possible by Multiple CPU high speed transmission memory or automatic refresh in the Multiple CPU system 8 Wiring is reduced by issuing the external signal upper lower stroke limit signal proximity dog signal via the servo amplifier 2 SYSTEM CON
209. 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 c Removal of the battery cable e For removal of the battery cable pull out it while holding a connector 4 INSTALLATION AND WIRING 1 Forcibly removal the battery cable from the battery holder unit will damage the battery holder unit battery cable 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 motion devices latch range devices and absolute position 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 C Motion CPU module wT Ee Tab e H 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
210. on lq Motion CPU control module gt kg 2 2 2 e 5 3 3 Sie 3 3 8 5 El2 E e Sa 8 S58 EEB i 3 PLC CPU ofs FGs 88s Main base unit g ee5 2 85 525 Q3C1DB Motion CPU S 52 ZSE 52 PERIPHERAL UE Q61P OntD OTT De oen QXOO QYOO Q6DAD Q172D Q172D Q173D CPU CPU 1 JI EX PX Panel personal gt Q6ODA VO module computer Intelligent function module Gin H 100 200VAC Et x e x z b Manual pulse generator x 3 module USB RS 232 MR HDP01 Ethernet Note 1 E Serial absolute synchronous encoder cable Q170ENCCBLUIM Serial absolute synchronous encoder x 2 module Personal Computer Q171ENC W8 IBM PC AT External input signals Number of Inputs FLS Upper stroke limit RLS Lower stroke limit 8 axee modul Battery Q6BAT STOP Stop signal DOG CHANGE Proximity dog Speed position switching Analogue input output Forced stop input cable S Q170DEMICBL M p Input output Up to 256 points EMI forced stop input 24VDC External input signals S S e Upper stroke limit Interrupt signals 16 poin
211. on base unit 7 Check that the module fixing screw tightening torque is as specified Refer to the Q173D S CPU Q172D S CPU Motion controller Programming Manual COMMON 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 4 5 2 5 Check that the terminal screws are tightened correctly Power supply module 6 Check that the terminal screws are tightening torque is as specified 4 1 1 7 Check that the 100VAC 200VAC and 24VDC wires are twisted as closely as possible respectively and run in the shortest distance 8 Check that the 100VAC 200VAC and 24VDC wires are not bind the SC cable together with and run close to the power wires 9 Check that grounding of the earth terminal FG and LG 4 5 2 1 Check that the model name of PLC CPU modules is correct SCH PLC CPU module 2 Check that the modules are installed to CPU slot or I O slot 0 to 2 of 214 the main base unit 1 Check that the Q173HCPU T Q172HCPU T Q173CPUN T Q173CPUN T Q173CPU Q172CPU is not used 2414 2 Check that the modules are installed to I O slot 0 to 2 of
212. on controller 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 84 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 electric shock damage to the module or operation failure Do not install remove the module on to 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 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 descri
213. on module Q173DPX Manual pulse generator interface module Q173DSXY Safety signal module MR J4 W O1B Servo amplifier model MR J4 L1B MR J4W O1B MR J3 W O1B Servo amplifier model MR J3 OB MR J3W O1B ANP or Servo amplifier General name for Servo amplifier model MR J4 OB MR J4W OB MR J3 0B E MR J3W OIB QCPU PLC CPU or PLC CPU module QnUD E H CPU Multiple CPU system or Motion system Abbreviation for Multiple PLC system of the Q series Abbreviation for CPU No n n 1 to 4 of the CPU module for the Multiple CPU system Operating system software General name for SW7DNC SVOQLD SW8DNC SVOQL SW8DNC SV13Q0 SW8DNC SV22Q0 SW7DNC SV43Q0 Programming software package General name for MT Developer2 GX Works2 GX Developer MR ConfiguratorO MELSOET MT Works2 Abbreviation for Motion controller engineering environment MELSOFT MT Works2 MT Developer2 Note 2 Abbreviation for Motio controller programming software MT Developer2 Version 1 00A or later GX Works2 Abbreviation for Programmable controller engineering software MELSOFT GX Works2 Version 1 15R or later Abbreviation for MELSEC PLC programming software package SA Developer GX Developer Version 8 48A or later MR Configurator Gs General name for MR Configurator MR Configurator2 Abbreviation for Servo setup software package MR Configurator MR Configurator Version CO or later Abbreviation for Servo setup software package MR Config rator2 MR Configurator2 Vers
214. ontrol panel Doing so may lead to damage by drop of screws etc during installation or removing the cable clamp 7 EMC DIRECTIVES 7 1 4 Example of measure against noise Control pane AD75CK cable clamp Q61P QnUDO91700 8 aeo QXD Q6OAD Q172D Q173D Q172D y Ferrite core ZCAT3035 1330 cpu CPU QYO DA LX PX EX f Wi il Ferrite core ZCAT2032 0930 It is packed together with internal I F connector set H i Battery holder Encoder unit Ss 3 Encoder cable Q171ENC W8 e Lei Q170ENC Manual pulse generator 1 5 DI cable S 4 ae bulbs E Ethernet cable MR HDP01 2 Shield twisted pair of category 5 or more z Limit switch Noise ferrite SSCNETI cable 2 FR BLF Note 1 Q173DCPU S1 Q172DCPU S1 only 1 Ground the FG terminal of the Motion controller and 24VDC power supply module to the control panel 2 Measure against noise of the power supply cable e Wire the power supply cable as short as possible using the twisted cable Set a line filter FR BLF near the exit entrance of control panel and in secondary side of MCCB Approx 4 turn 3 Measure against noise of the encoder cable When the cables are extracted from the co
215. or lists and others Q173D S CPU Q172D S CPU Motion controller SV13 SV22 Programming Manual IB 0300135 Motion SFC 1XB929 This manual explains the functions programming debugging error lists for Motion SFC and others Q173D S CPU Q172D S CPU Motion controller SV13 SV22 Programming Manual 1B 0300136 REAL MODE 1XB630 This manual explains the servo parameters positioning instructions device lists error lists and others Q173D S CPU Q172D S CPU Motion controller SV22 Programming Manual VIRTUAL MODE This manual explains the dedicated instructions to use the synchronous control by virtual main shaft IB 0300137 1XB931 mechanical system program create mechanical module servo parameters positioning instructions device lists error lists and others Q173D S CPU Q172D S CPU Motion controller Programming Manual Safety Observation This manual explains the details safety parameters safety sequence program instructions device lists au Gm and error lists and others for safety observation function by Motion controller Motion controller Setup Guidance MT Developer2 Version1 i i IB 0300142 This manual explains the items related to the setup of the Motion controller programming software MT Developer 2 PLC Model Code QCPU User s Manual Hardware Design Maintenance and Inspection This manual explains the specifications of the QCPU modules power supply modules base units SH 080483ENG ex
216. ote 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 200VAC and 24VDC power cables Be sure to twist these wires starting at the connection terminals For wiring a terminal block be sure to use a solderless terminal To prevent a short circuit should any screws loosen use solderless terminals with insulation sleeves of 0 8mm 0 03inch or less Also only two solderless terminals can be connected per terminal block Terminal f block Solderless terminals with insulation sleeves 2 Ensure that the earth terminals LG and FG are grounded Ground resistance 1002 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 5 START UP PROCEDURES 5 START UP PROCEDURES 5 1 Check Items Before Start up Table 5 1 Check items before start up Check Main base unit Extensi
217. ower 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 29 17 0 0 3 07 0 27 36 W 3 DESIGN 3 4 Design Checklist At the worksite copy the following table for use as a check sheet Sub Item Numberofaxes o H Motion CPU module selection o o Motion CPU module Incremental synchronous encoder pcs O Number of UO points msj O PLC CPU module Number of I O points points D selection PLC CPU module selection Il D Manual pulse generator el H Synchronousencoder pel O Upper limit point O Lower limit point pomws O STOP input point msj O Motion module SE 7 Proximity dog input point points O selection Module Speed switching input point msj O selection Tracking enable signal point ponts O Q172DLX Q172DEX Q173DPX Motion CPU module Main base unit UO module intelligent function module installed to dul modules selection main base unit Main base unit selection EE Number of UO modules intelligent function f modules i modules installed to extension base unit Extension base unit 3 Distance between Main base unit and extension mm and extension cable f base unit inch selection 3 Extension base unit selection oo Extension cable selection LH External Als Avoidance of opera
218. pectively and run in the shortest distance cable together with and run close to the I O wires Refer to the I O Module Type Building Block User s Manual 1 Check that the model name of SSCNETILI cables is correct 2 Check that the connecting position for connector of SSCNET IZ cables are correct 3 Check that the SSCNETII cables are connected correctly SSCNETII cable 4 Check for looseness rattling or distorted connection 5 Check that the minimum bend radius or more secured 6 Check that the MR J3BUSUIM or MR J3BUSLIM A do not come in contact 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 Battery holder unit 2 Check that the mounting orientation is correct Q170DBATC Do not mount it downward ex 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 specified 1 Check that the amplitude eccentricity and axial displacement relative to the machine side rotary shaft are within the permissible Serial absolute values synchronous encoder 2 Check that a flexible coupling is used for coupling with the machine 7 Check that the I O wires are wired correctly
219. per s Declaration for Dangerous Goods are required for air and sea transportation Please attach documentations like the handling label in the specified design and the Shipper s Declaration for Dangerous Goods to the package 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 module by the battery Be sure to use the battery e For Q173DSCPU Q172DSCPU Set the battery Q6BAT to battery holder e For Q173DCPU S1 Q172DCPU S1 Set the battery Q6BAT to battery holder unit Q170DBATC The programs parameters motion devices latch range devices and absolute position data of SRAM built in Motion CPU module are backed up without using the battery 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 1 Battery life Total power failure time h Actual service Guaranteed Guaranteed Note 5 Module type Battery type Power on value N value Note 4 value i j Backup time time ratio Reference value Note 2 MIN TYP TYP after alarm 25 C 77 F E 7 Q173D S CPU 27000 Aft er Battery Q6BAT ew 43800 43800 Q172D S CPU SM51 SM52 36000 on 100 43800 Note 1 The actual service value indicates the average value and the guaranteed val
220. plifier or regenerative resistor is mounted and for the wires used Failing to do so may lead to fires Z CAUTION Set parameter values to those that are compatible with the Motion controller servo amplifier servo motor and regenerative resistor model name and the system name application The protective functions may not function if the settings are incorrect 5 START UP PROCEDURES 1 Parameter setting Parameter setting PLC CPU Set the PLC parameter using GX Works2 GX Developer Turn ON power supply again Turn ON again the power supply or reset of Multiple CPU system A Check pulse input signal of built in interface in Motion CPU Check the wiring of pulse input signals of built in interface in Motion CPU by monitoring of MT Developer2 1 Manual pulse generator incremental synchronous encoder setting Check input signal of built in interface in Motion CPU Check the wiring of input signals of built in interface in Motion CPU by monitoring of MT Developer2 Check external inputs to Q172DLX Check the wiring of following external inputs by monitoring of MT Developer2 1 FLS Upper stroke limit input 2 RLS Lower stroke limit input 3 STOP Stop signal 4 DOG Proximity dog Motion CPU Check servo external inputs signal Check the wiring of servo external input signals by monitoring of MT Developer2 1 FL
221. ply 24VDC power to inside the output module using external wiring only 7 Terminal soen M3 5x7 screw o O 8 Terminalcover Protective cover of the terminal block d 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 Module mounting lever Used to load the module into the base unit LG terminal Power input terminals 2 SYSTEM CONFIGURATION POINTS 1 The Q61P A1 is dedicated for inputting a voltage of 100VAC Do not input a voltage of 200VAC into it or trouble may occur on the Q61P A1 Power Supply power voltage module type 100VAC 200VAC P l l Q61P A1 Operates normally e y module causes Power supply module does not cause trouble CPU module cannot be operated Operates normally 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 operate normally if the above intermediate voltage is applied 4 Ensure that the earth terminals LG and FG are grounded Ground resistance 100 2 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 Q64P or Q64PN i
222. points Extension base unit Q60B SSCNET II cable S MR J3BUSDIM AV B System1 SSCNETTI CN1 eg 23 i z Bt d16 Bt d16 Rca cable 58 System2 SSCHETH CN2 UP to 7 extensions A A A A M M M M E fier __ MR J3 W OB model Servo amplifier Q173DCPU S1 2 systems Up to 32 axes Up to 16 axes system Q172DCPU S1 1 system Up to 8 axes External input signals of servo amplifier e Proximity dog Speed position switching e Upper stroke limit Lower stroke limit Note 1 Q173DCPU S1 Q172DCPU S1 only Note 2 QQNUDE H CPU only 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 Motion CPU m
223. ps min blocks rogram ee Number of characters block Up to 128 comment included I Number of operand block Up to 64 operand constants word device bit devices Transition program nesting block Up to 32 levels G r Calculation expression G Operation control a f Calculation expression bit S bit conditional expression a Descriptive program S conditional expression branch repetition processing expression i Calculation expression bit conditional expression Transition program S A 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 Execute in fixed cycle Execute in fixed cycle Event task Fixed cycle 0 22ms 0 44ms 0 88ms 0 44ms 0 88ms 1 77ms Execute specification Execution 1 77ms 3 55ms 7 11ms 14 2ms 3 55ms 7 11ms 14 2ms Executed task can be External Execute when input ON is set among interrupt module QI60 masked interrupt 16 points PLC interrupt Execute with interrupt instruction D P GINT from PLC CPU Execute when input ON is set among interrupt module QI60 NMI task 16 points Number of I O points X Y 8192 points 256 points Number of real I O points PX PY Built in interface in Motion CPU Input 4 points I O module 256 points I O module 2 SYSTEM CONFIGURATION 7 SV43 Motion control specification
224. ram 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 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 100mm 3 94inch 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 Check that the fixing Retighten the 1 Mounting of base
225. ration 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 controller or servo amplifier When using the CE Mark compliant equipment refer to this manual 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 7 Corrective actions for errors A 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 RA1 EMG
226. rcuit take account of the blow out detection characteristics and above matters Note 5 During the operation do not allow the input voltage to change from 200VAC level 170 to 264VAC to 100VAC level 85 to 132VAC If changed the POWER LED turns OFF and the system operation stops 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 5VDC 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 SVDC 8 5A output Q64PN 100 to 240VAC input 5VDC 8 5A output 9 INPUT 100 240VAC 50 60Hz 105VA ele E Q62P only 2 SYSTEM CONFIGURATION Application ON green Normal 5VDC output momentary power failure within 20ms e AC power supply is ON however the power supply module is out of order 5VDC error overload internal circuit failure blown fuse e AC power supply is not ON e Power failure including an momentary power failure of more than 20ms ON green Normal 5VDC output momentary
227. rcuit power supply Reactor STO2 STO2 1A19 es Le E 1A18 E p 1A17 ES A 1A01 PLC IO 2B01 7 gt Door2 signal PLC CPU side Drive power shut off signal Shut off gt confirmation signal Door close open confirmation sensor er Door2 close open ai confirmation sensor 7 gt Door1 signal 2A19 O KR O oS Iert 2A17 ES 2A01 Ee KJ Q gt Door2 signal 2 SYSTEM CONFIGURATION c Wiring example for external pulse input to safety signal module The wiring diagram for external pulse input signal and safety signal module shows below Safety module performs the safety diagnostics of external pulse generator therefore you need to wire them so that external pulse generator is supplied power by the safety signal module and the generated pulse becomes input signal of safety signal module External power supply Safety signal module Q173DSXY Motion IO Motion CPU side Power supply to the external pulse Output at SLS SOS executing 1B01 E L A External pulse input signal Phase A X12 External pulse input signal Phase A External pulse input signal Phase B PLC IO PLC CPU side Power supply to the external pulse Output at SOS executing Ei eg External pulse input signal Phase B Note Only SO
228. rk of the Product However the terms and conditions of the repair work may differ depending on each FA Center Please ask your local FA center for details 4 Exclusion of Loss in Opportunity and Secondary Loss from Warranty Liability Whether under or after the term of warranty we assume no responsibility for any damages arisen from causes for which we are not responsible any losses of opportunity and or profit incurred by you due to a failure of the Product any damages secondary damages or compensation for accidents arisen under a specific circumstance that are foreseen or unforeseen by our company any damages to products other than the Product and also compensation for any replacement work readjustment start up test run of local machines and the Product and any other operations conducted by you 5 Change of Product specifications Specifications listed in our catalogs manuals or technical documents may be changed without notice 6 Precautions for Choosing the Products 1 For the use of our Motion controller its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in Motion controller and a backup or fail safe function should operate on an external system to Motion controller when any failure or malfunction occurs 2 Our Motion controller is designed and manufactured as a general purpose product for use at general industries Therefore applications substantially influential on
229. rminal 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 4 INSTALLATION AND WIRING 3 Tighten the module fixing screws and terminal block screws within the tightening torque range specified below Tightening torque range N m Motion CPU module fixing screw M3 x 13 screw 0 36 to 0 48 Module fixing screw M3 X 12 screw 0 36 to 0 48 UO module terminal block screw M3 screw 0 42 to 0 58 UO module terminal block fixing screw M3 5 screw 0 68 to 0 92 Power supply module terminal screw M3 5 screw 0 68 to 0 92 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 3 94inch or more from the main circuit 6 Be sure to fix a main base unit to the panel using mounting screws Not doing so could result in vibration that may cause erroneous operation Mount a main base unit in the following procedure a Fit the two base unit top mounting
230. s 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 modules and peripheral devices supplied by its power module 5VDC internal current consumption of shared equipments with PLC might be changed Be sure to refer to the MELSEC Q series PLC Manuals a Calculation example of power supply selection lt System configuration Q173DSCPU use gt Q61P Q03UD a173DS ax4o oan ja1720Lxla1720Ex a1730Px avio og TT CPU CPU MR HDP01 e 5VDC current consumption of each module QO3UDCPU 0 33 A Q171ENC W8 0 25 A Q173DSCPU 1 75 A Q173DPX 0 38 A Incremental synchronous encoder 0 20 A MR HDPO1 0 06 A QX40 0 05 A QY10 0 43 A Q172DLX 0 06 A Q38DB 0 23 A Q172DEX 0 19 A e Power consumption of overall modules I5v 0 33 1 75 0 20 0 05 x 2 0 06 0 19 0 25 0 38 0 06 x 2 0 43 x 2 0 23 4 47 A Select of the power supply module Q61P 100 240VAC 6A according to this internal current consumption 4 47 A Configure the system in such a way that the total current consumption at 5VDC of all the modules is the allowable value or less 2 SYSTEM CONFIGURATION 2 5 3 Base unit and extension cable This section descri
231. s performance specifications a Motion control specifications 0 44ms 1 to 4 axes Operation cycle 0 88ms 5 to 12 axes 0 44ms 1 to 4 axes default 1 77ms 13 to 28 axes 0 88ms 5 to 8 axes 3 55ms 29 to 32 axes Linear interpolation Up to 4 axes Circular interpolation 2 axes Helical interpolation 3 axes Control modes PTP Point to Point control Constant speed positioning High speed oscillation control 504k bytes programs Control program 16 Control program 16 USB RS 232 Ethernet Via PLC CPU PERIPHERAL I F Motion CPU ie Proximity dog type 2 types Count type 3 types Data set type 2 types Dog cradle type Stopper Home position return function type 2 types Limit switch combined type Scale home position signal detection type Peripheral I F Home position return re try function provided home position shift function provided JOG operation function Manual pulse generator 8 Possible to connect 3 modules Q173DPX use operation function M code function M code output function provided M code completion wait function provided Number of output points 32 points Watch data Motion control data Word device Provided Override ratio setting 100 to 100 Provided Motion controller forced stop EMI connector System setting Forced stop terminal of servo amplifier Total 256 points UO module Provided Provided Protection by password Provided Digital oscilloscope function SW Made compatible
232. screws into the enclosure b Place the right hand side notch of the base unit onto the right hand side screw 4 INSTALLATION AND WIRING c Place the left hand side pear shaped hole of the base unit onto the left 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 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 M4 x14 Ei oO O yl UI mea a mai ei ei mei e el ern real Lead o BS o o o ie o O O O O O O A Gem SSS ass _ o ey H H e Hs2 S aB Q38DB Q312DB Q63B Q65B Q68B Q612B 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 0 3 190 0 3 s2 224 5 0 3 167 0 3 222 5 0 3 6 69 0 01 6 69 0 01 7 48 0 01 7 48 0 01 Ws2 Wss PARTS E Ws2 Ws
233. se unit Battery connector BAT oes Connector to connect the battery holder unit Q170DBATC D 12 wi n3 B For communication I F with peripheral devices e Lower LED Remains flashing It communicates with the peripheral devices ON It does not communicate with the peripheral devices e Upper LED Data transmission speed PERIPHERAL I F connector ON 100Mbps Note 6 OFF 10Mbps 15 17 Battery connector Specification Data transmission speed 100Mbps 10Mbps Full duplex Half duplex Transmission Transmission method Cable length m ft Up to 30 98 43 hee Connector to connect the safety signal module Q173DSXY RIO connector Connector to connect the manual pulse generator incremental synchronous Internal I F connector encoder or to input the input signal mark detection input signal Voltage output open collector type Differential output type Battery connector Connector to connect the battery Q6BAT 2 SYSTEM CONFIGURATION Application Battery holder Holder to rea A EE the battery Q6BAT a Battery cover Cover for Cover for battery Q6BAT Q6BAT Battery Note 5 Battery for backup of program parameters motion devices devices of latch data and absolute position data Note 1 Be sure to use the cable for forced stop input sold separately The forced stop cannot be released without using it If the cable for forced stop input is fabricated on the customer side make it within 30m 98 43
234. sed f Be sure to use the Motion CPU as the control CPU of Motion modules Q172DLX Q172DEX 0 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 g Q173DSXY is managed with PLC CPU The Motion CPU to connect Q173DSXY is only CPU No 2 in the Multiple CPU system Q173DSXY cannot be used for the CPU No 3 or 4 Note 1 Q172DEX can be used in SV22 It cannot be used in SV13 SV43 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 battery c There are following methods to execute the forced stop input e Use a EMI connector of Motion CPU module e Use a device set in the forced stop input setting of system setting d Forced stop input for EMI connector 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 connector of Motion CPU module apply 24VDC voltage on EMI connector and invalidate the forced stop input of EMI connector e Be sure to use the cable for forced stop input sold separately The forced stop cannot be released without using it f Set SSCNETI H or SSCNETION for every axis in the SSCNET setting of syste
235. servo amplifiers for SSCNET cannot be used Note 5 SSCNETM and SSCNETII H cannot be combined in the same system For Q173DSCPU SSCNETII or SSCNETII H can be set every system Note 6 When using the incremental synchronous encoder SV22 use you can use above number of modules When connecting the manual pulse generator you can use only 1 module Q172DLX or External input signals FLS RLS DOG of servo amplifier Total 256 points I O module Mark detection mode setting 2 SYSTEM CONFIGURATION b Motion SFC performance specifications QI73DSCPU Q172DSCPU__ Q173DCPU S1 Q172DCPU S1 Code total Motion SFC chart Operation control 652k bytes 543k bytes Motion SFC program ER P Y y Transition capacity Text total GG 668k bytes 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 S Number of Motion SFC steps program Up to 4094 steps Motion SFC 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 Number of transition programs 4096 GO to G4095 Code size program Up to approx 64k bytes 32766 steps Operation control e Number of blocks line program Up to 8192 blocks in the case of 4 ste
236. 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 5 It is recommended to shift to the mode operated by ROM after the programs and parameters are fixed The appearance of the programs and parameters can be evaded even if the battery decrease The ROM writing cannot be executed for the current position of the servo motor in the absolute position system home position and latch device Back up them beforehand using MT Developer2 Refer to the Section 4 4 of the Q173D S CPU Q172D S CPU Motion controller Programming Manual COMMON for details of the ROM operation 6 INSPECTION AND MAINTENANCE 6 5 2 Battery replacement procedure 1 Battery replacement procedure of the Motion CPU module When the battery has been exhausted replace the battery with a new one in accordance with the procedure shown below When replacing the battery pay attention to the following The Multiple CPU power supply must be on for 10 minutes or longer before dismounting the battery Back up the data using MT Developer2 before starting replacement 3 1 Firstly back up the data stored in the Motion CPU to the personal computer which is installed MT Developer2 then replace the battery with a new one After setting the battery verify the backing up the data to the personal computer which is installed MT Developer2 an
237. sistance 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 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 A 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 s
238. sistor 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 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 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 w
239. splay Mode to install the operating system software via Installation mode ae x remains flashing personal computer Mode to operate based on the user programs and x remains flashing parameters stored in the SRAM built in Motion CPU module Mode to operate after the user programs and Mode operated by Steady display parameters stored in the FLASH ROM built in ROM ei X remains flashing Motion CPU are read to the SRAM built in Motion CPU Stopped the Motion SFC program SV13 SV22 Steady STP display Motion program SV43 with the PLC READY flag M2000 OFF Executed the Motion SFC program SV13 SV22 Steady RUN display Motion program SV43 with the PLC READY flag M2000 ON Mode operated by RAM 2 SYSTEM CONFIGURATION 7 segment LED Early stage warning P 2 7V or less Final stage warning 2 5V or less Operating system software not installed System setting error Servo error WDT error Self diagnostic error Error related for Multiple CPU 1 An error is displayed at the 7 segment LED confirm the error code etc using MT Developer2 2 Refer to the Motion CPU error batch monitor of MT Developer or error list of Programming Manual for error details Steady BT1 display Steady BT2 display A00 remains flashing AL flashes 3 times J Steady L01 display AL flashes 3 times J Steady S01 display Steady display AL flashes 3 times l Steady A1
240. t the module fixing projection into the module fixing hole so that the Base unit latch is not misaligned Module connector Module fixing Using the module fixing hole projection Module as a fulcrum push the module Module mounting lever in the direction of arrow to install it into the base unit Module fixing hole Module Module fixing fixing projection Make sure that the module is projection Module installed in the base unit LC Za mounting securely D Ss lever Module fixing hole Module fixing hole When using module in a place Note where there is large vibration or impact install them by the unit fixing screws Base unit Base unit hs Te Module fixing C END hook lt lt Module fixing projection Sec Module fixing hole 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
241. te 1 Home position return re try function provided home position shift function provided JOG operation function Possible to connect 3 modules Q173DPX use Possible to connect 1 module Built in interface in Motion CPU use Note 2 Possible to connect 12 module SV22 use Q172DEX Q173DPX Built in interface in Motion CPU M code function M code output function provided M code completion wait function provided Possible to connect 3 modules Q173DPX use Possible to connect 12 modules SV22 use Possible to connect 8 modules SV22 use Q172DEX Q173DPX Q172DEX Q173DPX 2 SYSTEM CONFIGURATION Motion control specifications continued Q173DSCPU Q172DSCPU Q173DCPU S1 Q172DCPU S1 Number of output points 32 points Limit switch output function Se O I data Motion control data Word device ROM ROM operation function function Po Poida SERS Q172DLX External input signals FLS RLS DOG External input signal of servo amplifier Built in interface in Motion CPU DI Bit device Provided Provided Via built in interface in Motion CPU a p High speed reading function Via input module Via tracking of Via input module Q172DEX Q173DPX Via tracking of Q172DEX Q173DPX Motion controller forced stop EMI connector System setting Forced stop 8 Ca Forced stop terminal of servo amplifier Total 256 points Number of I O points Built in interface in Motion CPU Input 4 points
242. te 1 Note 2 Operating system software version Function Q173DSCPU Q172DSCPU Q173DCPU S1 Q172DCPU S1 SV13 SV22 V13 SV22 SV43 Rapid stop deceleration time setting error invalid 00S ee function Vision system dedicated function MVOUT EE eee Motion SFC operation control instruction Program control IF ELSE IEND SELECT CASE SEND FOR NEXT BREAK a ae Ee P L le LA Display format depending on the error setting data information of motion error history device 8640 to 00S 8735 Product information list device 8736 to 8751 S ME E eee Safety observation function 1 OVERVIEW Programming software version MELSOFT MT Works2 MT Developer2 Section of reference Q173DSCPU Q172DSCPU Q173DCPU S1 Q172DCPU S1 MR Configurator2 MR Configurator SV13 SV22 V13 SV22 GC POR 1 39R Note 4 1 39R Note 4 1 39R Note 5 Note 6 There is no restriction by the version Note 1 SV13 SV22 is the completely same version Note 2 The operating system software version can be confirmed in the operating system software CD ROM MT Developer2 or GX Works2 GX Developer Refer to Q173D S CPU Q172D S CPU Motion controller Programming Manual COMMON Section 1 3 1 4 Note 3 Q173D S CPU Q172D S CPU Motion controller Programming Manual COMMON Note 4 Q173D S CPU Q172D S CPU Motion controller SV13 SV22 Programming Manual Motion SFC Note 5 Q173D S CPU Q172D S CPU Motion
243. tension cables memory card battery and the maintenance inspection for the system trouble shooting 13JR73 error codes and others QnUCPU User s Manual Function Explanation Program Fundamentals i S b SH 080807ENG This manual explains the functions programming methods and devices and others to create programs 13JZ27 with the QCPU QCPU User s Manual Multiple CPU System This manual explains the Multiple CPU system overview system configuration I O modules SH 080485ENG communication between CPU modules and communication with the I O modules or intelligent function 13JR75 modules QnUCPU User s Manual Communication via Built in Ethernet Port SH 080811ENG This manual explains functions for the communication via built in Ethernet port of the CPU module 13JZ29 MELSEC Q L Programming Manual Common Instruction d F ret A SH 080809ENG This manual explains how to use the sequence instructions basic instructions application instructions and 13JW10 micro computer program MELSEC Q L QnA Programming Manual PID Control Instructions SH 080040 This manual explains the dedicated instructions used to exercise PID control 13JF59 MELSEC Q L QnA Programming Manual SFC SH 080041 This manual explains the system configuration performance specifications functions programming 13JF60 debugging error codes and others of MELSAP3 UO Module Type Building Block User s Manual 8 REN SH 080042 This ma
244. ternal 12VDC to 24VDC input signal Power supply Note Note As for the connection to power line B1 B2 both and are possible Z 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 influence 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 2 5 5 Q172DEX Synchronous encoder interface module Q172DEX receive external signals required for serial absolute synchronous encoder The installation position of Q172DEX is only main base 1 Q172DEX name of parts _ 5 m ae 1 ah N A 4 2 8 gt AY311Y8 WNIHLIT IHSIGNSLIW 6 4 9 7 Application g Hook used to fix t
245. 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 H H Note 1 a When not using tracking enable signal ok SY ENC side connector Synchronous encoder side connector 10120 3000PE connector MS3106B22 14S plug 10320 52F0 008 connector case MS3057 12A cable clump EE A P5 legen ER LG Wt NM oT R i il Thi roy dl HE e vi P5 20 Li eli LG 12 He i 1 oli i lt cage 1 1 dl H 1 ot sl P5 18e e LG arr at ji HAL i d Ai BAT 9 E LG 1H 14 MR Zi K MRR dees Got MD 6 H H MDR 16 S iJ SDplate Ps x N J Twisted pair cable Q170ENCCBL2M to Q170ENCCBL50M 50m 164 04ft or less Note 1 Note 2 b When using tracking enable signal Cae SY ENC side connector Synchronous encoder side connector 10120 3000PE connector MS3106B22 14S plug 10320 52F0 008 connector case MS3057 12A cable clump Fo eo aE a P5 19 t D emm 1 i 1 LG 11 i is JT R 1 i sl t 1 gi 1 E GEI P5 20 D i Li i LG 12 ET of i iLt Th
246. the EMC and Low Voltage Directives are required to declare that print a CE mark on their products a MITSUBISI HI MOTION CONTROLLER Ge Ql 73DCPU S1 5VDC 1 30A SERIAL M16349999 80M1 IND CONT EQ i dh uena MADE IN JAPAN C CE mark MITSUBISHI ELECTRIC CORPORATION See Q173DCPU S1 Instruction manual KCC REI MEK TC510A692051 DATE 2011 06 a MITSUBISHI MOTION CONTROLLER WP Q173DSCPU 1 75A 5VDC SERIAL N2X234999 KCC REI MEK D US LISTED TC510A792G61 1 80M1 IND CONT EQ DATE 2011 1 MITSUBISHI ELECTRIC CORPORATION MADE IN_JAPAN C lt ce mark 7 1 Requirements for Compliance with the EMC Directive See Q173DSCPU Instruction manual 1 Authorized representative in Europe Authorized representative in Europe is shown below Name Mitsubishi Electric Europe B V Address Gothaer strase 8 40880 Ratingen Germany The EMC Directive specifies that products placed on the market must be so constructed that they do not cause excessive electromagnetic interference emissions and are not unduly affected by electromagnetic interference immunity Section 7 1 1 through Section 7 1 4 summarize the precautions on compliance with the EMC Directive of the machinery constructed with the Motion controllers These precautions are based on the requirements and the standards of the regulation however it does not guarantee that the entire machi
247. the Motion controller and servo amplifier as this may lead to electric shocks Z CAUTION Be sure to ground the Motion controller servo amplifier and servomotor Do not ground commonly with other devices Ground resistance 100 2 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 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 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 Z CAUTIO
248. the public interest for such as atomic power plants and other power plants of electric power companies and also which require a special quality assurance system including applications for railway companies and government or public offices are not recommended and we assume no responsibility for any failure caused by these applications when used In addition applications which may be substantially influential to human lives or properties for such as airlines medical treatments railway service incineration and fuel systems man operated material handling equipment entertainment machines safety machines etc are not recommended and we assume no responsibility for any failure caused by these applications when used We will review the acceptability of the abovementioned applications if you agree not to require a specific quality for a specific application Please contact us for consultation IB NA 0300133 F MOTION CONTROLLER Qseries User s Manual Q173D S CPU Q172D S CPU A MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN MODEL Q173D U E MODEL ers 1XB927 When exported from Japan this manual does not require application to the IB NA 03001 33 F 1 203 MEE Ministry of Economy Trade and Industry for service transaction permission l IB NA 0300133 F 1203 MEE Specific
249. time 1ms or less ON to OFF 2 Interface between input signal mark detection input signal aln wir ame mee mng Internal circuit Description example Note 1 1 S ED COM Input or Sign output Mark detection Mark detection signal input signal input 2 24vDCNte 2 Note 1 D 1 to 4 Note 2 As for the 24VDC sign both and are possible 2 SYSTEM CONFIGURATION c Manual pulse generator Incremental synchronous encoder input 1 Specifications of manual pulse generator incremental synchronous encoder Specifications Signal input form Phase A Phase B Maximum input pulse 1Mpps After magnification by 4 up to 4Mpps EEN Pulse wi si width tusormore sd or more Leading edge trailing edge ii 0 25us or less ime High voltage 2 0 to 5 25VDC BEE Gs ege equivalent 1s or more 0 5us or more bus or more Example of waveform Phase B 0 25us or more 0 25yus or more Note Duty ratio 50 Maximum input pulse 200kpps a ne GE magnification by 4 up to 800kpps Pulse width width Busormore Cd or more Leading edge trailing edge 1 2us or less time Phase difference High voltage 3 0 to 5 25 VDC Voltage output Low voltage 0 to1 0VDC Open collector Cable length Up to 10m 32 81ft type Bus or more 2 5us or more bus or more Phase A 1 2us or more Example of waveform Phase B 1 2us or more 1 2us or more Note Duty ratio 50 Use a manual pu
250. tion failure at power on aa ESCH Fail safe circuit design S circuit design Avoidance of hazard at Motion controller failure oO Conformance with general specifications such as ambient temperature humidity dust etc Total power consumption of base unit W Layout design Module layout design Calculate the heating value Layout in consideration of clearances between enclosure s inside a walls other structures and modules and heats generated by modules within the control panel 3 DESIGN MEMO 16 4 INSTALLATION AND WIRING 4 INSTALLATION AND WIRING 4 1 Module Installation 4 1 1 Instructions for handling ZA 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 deterioration of the product While pressing the installation lever located at the bottom of module insert the module fixing projection 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 damage or drop When using the Motion controller in the environment of much vibration tighten the module with a screw Tighten the screw in the specified torque range Under tightening may
251. tion is shown in Table1 1 Table 1 1 Restrictions by the Software s Version Note 1 Note 2 Operating system software version Function Q173DSCPU Q172DSCPU Q173DCPU S1 Q172DCPU S1 Checking Motion controller s serial number and Ee a dla Advanced S curve acceleration deceleration Except constant speed control CPSTART of servo 00H ra OH Direct drive servo 0 MR J3 LB RJO80W 00B Servo amplifier display servo error code 8008 20n 00H 00B 0 44ms fixed cycle event task 00H 444us coasting timer SD720 SD721 Synchronous encoder current value monitor in real mode Display of the past ten times history in current value history monitor Amplifier less operation So I Q ii B f x 00C x N Servo instruction Home position return ZERO high speed oscillation OSC and manual pulse generator operation in mixed function of virtual mode real mode Advanced S curve acceleration deceleration in 00K constant speed control CPSTART of servo program External input signal DOG of servo amplifier in home 00B 2 S O position return of count type and speed position switching control Type conversion DFLT SFLT MVTRG MVPST MVIN MVFIN MVCLOSE MVCOM detection type function Q oO it 00 O Q rE Q rE 00C Not support wesch I D jo O Z 1 OVERVIEW Programming software version
252. 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 push a tab and pull out the cable while holding a connector POINTS The following handling will damage the Motion CPU module or forced stop input cable e Forcible removal of the forced stop input cable from the CPU module e The forced stop input cable is twined other cables e Impossible power is added at cable laying Wire the cable correctly 4 INSTALLATION AND WIRING 4 2 4 Internal I F connector cable E 1 Precautions on use of Internal I F connector cable When using the modules in a place where there is large vibration or impact fix the internal I F connector cable to the control panel A Z Base unit Q173DSCPU Q172DSCPU 4 INSTALLATION AND WIRING 4 3 Mounting of Battery 1 Handling the battery lead wire a Q173DSCPU Q172DSCPU 1 Precautions for mounting the battery Set the battery to the battery holder correctly after confirming side and side for the battery 2 Precautions for handling the battery lead wire e For connection or removal of the battery lead wire do it surely while holding a battery lead connector
253. tor 12 SSCNETII connector to connect the SSCNETII cable 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 13 Keep the cap and the tube for protecting light cord end of SSCNETI cable in a plastic bag with a zipper of SSCNETII cable to prevent them from becoming dirty 14 When exchanging the Motion controller or servo amplifier make sure to put a cap on SSCNETII connector When asking repair of Motion controller or servo amplifier for some troubles make also sure to put a cap on SSCNETII 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 GR 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 connector BAT Connector for CPU side SH F Connector for eN Do not hold lead wire battery side ry NN Ss Sa D CPU connector CPU J CPU connector CPU Battery holder unit Q170DBATC b Connection of the battery cable e For connection
254. tor Solderless terminal size R1 25 3 5 EMI COM 2 Af EMI COM EMI J Twisted pair cable Note Use a cable of wire size AWG22 App 7 APPENDICES APPENDIX 1 5 Internal I F connector cable Fabricate the internal I F connector cable on the customer side 1 Differential output type a Connection diagram Make the cable within 30m 98 43ft Attach a ferrite core included with the internal I F connector set within 1 to 5 0 39 to 1 97 cm inch from the Motion CPU module CPU module side Ferrite core TDK make Solderless terminal i e Type ZCAT2032 0930 25 FIn D TO AS amp IECH 1 Key 26 o EE View A HDR E50MSG1 Connector HDR E50LPH Connector case HBH HBL HAH HAL HB SG HA Differential output type gt Manual pulse generator incremental synchronous encoder side SG SG 5V 5V DI COM DI3 op gt Input signal mark detection input side COM D14 FG J Twisted pair cable Ls FG Note Layout twisted pair for signal to avoid contact sl Twisted pair for signal HBH HBL HAH HAL DI1 COM DI2 COM DI3 COM DI4 COM L Twisted pair 5V SG ZY Core Cable cross section diagram App 8 APPENDICES 2 Voltage output Open collector type a Connection diagram Make the cable within 10m 32
255. troke limit input validity 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 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 Use the program commands for the program with the conditions specified in the instruction manual A CAUTION 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 a
256. ts Lower stroke limit Extension base unit Manual pulse generator STOP signal i PEE Q60B __ P Incremental synchronous encoder Proximity dog Speed position switching 2 1 module 3 Input signal Mark detection input signal 4 points Yo Extension cable s 3 SSCNET I cable QCLB ae MR J3BUS JM A B System1 SSCNETIN H CN1 UP to 7 extensions 401 di6 J01 ES System2 SSCNETII H CN2 p S ct MR J3 W LIB MR J4 W LB model Servo amplifier k 73DSCPU 2 systems Up to 32 axes Up to 16 axes system Q172DSCPU 1 system Up to 16axes External input signals of servo amplifier Proximity dog Speed position switching e Upper stroke limit e Lower stroke limit Note 1 QNUDE H CPU only 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
257. ue indicates the minimum value 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 temperature of 25 C 77 F This value is intended for reference only as it varies with characteristics of the memory 75 C 167 F 40 C 104 F 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 2 SYSTEM CONFIGURATION Z CAUTION Do not short a battery Do not
258. uipment 1 Motion controller related module Current Description consumption Remark 5VDC A Part name Model name Dok Up to 32 axes control Operation cycle 0 22 ms or more Built in Ethernet Built in interface in Motion CPU Incremental synchronous encoder interface 1ch Input signal Mark detection input signal 4 points Attachment battery Q6BAT Up to 16 axes control Operation cycle 0 22 ms or more Built in Ethernet Built in interface in Motion CPU Incremental synchronous encoder interface 1ch Input signal Mark detection input signal 4 points Attachment battery Q6BAT Up to 32 axes control Operation cycle 0 44 ms or more Attachment battery holder unit and battery Q6BAT Up to 32 axes control Operation cycle 0 44 ms or more Built in Ethernet 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 Up to 8 axes control Operation cycle 0 44 ms or more Built in Ethernet Attachment battery holder unit and battery Q6BAT Motion CPU module R R R N 4 N C N C g g O a OO v O O C U U Cc Cc 9 lt wo g QO U C Eh 9 E N g QO U C 2 ba N el Q U Cc A Servo external y Servo external signal input 8 axes FLS RLS STOP DOG CHANGEx8 Ww CH Serial absolute synchronous encoder Q171ENC W8 Q170ENC interfacex2 Tracking input 2 points with AGBAT
259. ule 1 Q172DSCPU d H Q172DSCPU Unit mm inch 120 3 4 74 2 Q173DSCPU 41 1 1 62 600 24 D 18 T i A oO o 3 e O i Ol PULL y t EG S g ite S es 41 1 1 62 60 24 L 26 1 02 27 4 1 08 Wich a Q173DSCPU PERIPHERAL I F CN1 EXT I F CN2 Unit mm inch 98 3 86 26 1 02 120 3 4 74 App 13 27 4 1 08 tH gt eel APPENDICES 3 Q172DCPU Unit mm inch
260. ule number setting Setting Station number o Station number 1 Module 1 Station number 2 Module 2 Station number 3 Module 3 10 Note Not to be set except the above setting Serial number displa Display the serial number described on the rating plate 2 Performance specifications a Module specifications Specifications Number of I O occupying points 32 points I O allocation Intelligent 32 points Internal current consumption 5VDC A 0 2 TYP All points ON 98 H x 27 4 W x 90 D 3 86 H x 1 08 W x 3 54 D Mass kg 0 15 Exterior dimensions mm inch 2 SYSTEM CONFIGURATION b Input output Specifications 32 points X 2 systems PLC CPU control 32 points Motion CPU control 32 points Safety input 20 points X 2 systems Number of input points Feedback input for output 12 points X 2 systems 24VDC 10 10 Negative common type Maximum input current Approx 4mA Input ON voltage ourrent Input OFF voltage current PLC CPU control UO 10ms initial value of digital filter Motion CPU control I O 15ms CR filter 32 points common Input common method PLC I O and Motion I O are separated Performance indication input 32 points indicates PLC CPU 12 points X 2 systems PLC CPU control 12 points Motion CPU control 12 points Output isolation method Rated output voltage 24VDC 10 Source type 0 1A X 8 points 0 2A X 4 points X 2 systems Common current
261. unit screws are not loose and The screws and cover must be mounted securely 9 i screws the cover is not dislocated Installation of Motion Check that the module S d i 2 modules and I O not dislocated and the unit The module fixing hook must be engaged and installed the module fixing fixing hook is engaged hook securely Check for loose terminal Retighten the Screws should not be loose screws terminal screws CS Check for distance between The proper clearance should be provided between Correct 3 Connecting conditions _ solderless terminals solderless terminals Retighten the Geste connectorpart ot Connections should not be loose connector fixing i screws The LED must be ON green Abnormal if the LED is OFF or ON red Securely engaged modules Refer to QnUCPU User s Manual Function Explanation The LED must be ON green MODE LED Check that the LED is ON Abnormal if the LED is OFF or flickering Een RUN LED Check that the LED is ON The LED must be ON i in RUN status Abnormal if the LED is OFF The LED must be OFF ERR LED Check that the LED is OFF Abnormal if the LED is ON or flickering e 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 eos Abnormal if STP does not display or incorrect display Power supply module
262. uration ecreenmiennisciainnaieia anna aa Aa 2 1 2 1 1 Q173DSCPU Q172DSCPU System overall configuration eeceeeseeeeeeeeeeereeeeeeneeeeeeeeeeeeeeeas 2 4 2 1 2 Q173DCPU S1 Q172DCPU S1 System overall configuration 20 0 ee eee eeeeeeeeeeeeeeeteeeeeeteees 2 5 2 1 3 Function explanation of the Motion CPU modules 2 6 2 1 4 Restrictions on Motion SYStOMS A 2 7 2 2 Checking Serial Number and Operating System Software Version 2 11 2 2 1 Checking serial number 2 11 2 2 2 Checking operating system software version 2 14 2 3 System Configuration Eoupment 2 16 2 4 General Specifications ccccccecceeeceeeeeeceeeeeeeeeeeeeceeeeaeeceaeeecaeeececeeeeaeeseaeescaeeecaeeesaeeseaeseaeeseaeeseaseeeeseesaes 2 23 2 5 Specifications of Equipment and Gettngs ennnen 2 24 2 5 1 Name of parts for CPU module e ccccccceeecceeeeeeeaeeeeeeeeeeceeceaeeeaeeecaeeesaaeeseaeeeeaeeseaeeesueeeseeeeaeessaees 2 24 2 5 2 Power supply module snsesneosseesneesnenntennetnttnsttnsttnsttnsttnsttAStEASEEASEAEEEAEEEEEEEAEEEEAEEASEEA SEEE E EEEE E Ennn 2 43 2 5 3 Base unit and Extension Cable ea ee R E AREE REE E EEE EERE 2 51 2 5 4 Q172DLX Servo external signals interface module ceeeceeeceeeeeeeeeeeeeeeeeeaeeeeeeaeeeaeeseesteeaeeeateeas 2 54 2 5 5 Q172DEX Synchronous encoder interface module 00 eeceeceeeceeeeeeeeeeeeeeeeeeeeeeeeeeeaeesaeeseeeaeeeaeeas 2 59 2 5 6 Q173DPX Manual pulse generator interface module ee eeeceeeceeeeeet
263. y Power input Power supply terminals terminals Power supply terminals terminals i 24V Ce Q gt Gi Ki GNDC Q E Wire breakage te g Note Wire breakage Note Wire breakage doesn t affect the other equipment Note Wire breakage affect the other equipment A CAUTION Measure the input voltage to Q173DSXY with the input connector part Be sure to select DC power supply within the range of 21 6VDC to 26 4VDC included ripple voltage and spike voltage and wire When wiring in the Q173DSXY 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 rating or incorrectly wiring the product could result in fire or damage Wire the cable correctly Wrong wiring may damage the internal circuit Always use a shield cable for connection of the 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 100mm 0 33ft 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 safety functions Always wire the cables when power is off Not doing so may damage the circuit of modules
264. y 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 as this may lead to destruction or damage 3 DESIGN ZA 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 re
265. ype module For positive common sink type input module 3 wire type Length 0 5m 1 64ft terminal block module e Q173DSCPU Q172DSCPU MR J4 W OB MR J4 W OB MR J4 W OB e Q173D S CPU Q172D S CPU MR J3 W MR J3 W OB MR J3 W OB e Standard cord for inside panel 0 15m 0 49ft 0 3m 0 98ft 0 5m 1 64ft 1m 3 28ft 3m 9 84ft e Q173DSCPU Q172DSCPU MR J4 W OB MR J4 W O1B MR J4 W OB e Q173D S CPU Q172D S CPU MR J3 W MR J3 W O1B MR J3 W OB e Standard cable for outside panel 5m 16 40ft 10m 32 81ft 20m 65 62ft e Q173DSCPU Q172DSCPU MR J4 W MR J4 W DO1B MR J4 W OB MR J3BUS Q173D S CPU Q172D S CPU MR J3 W re MR J3 W OB MR J3 W CB e Long distance cable 30m 98 43ft 40m 131 23ft 50m 164 04ft 2 SYSTEM CONFIGURATION Motion controller related module continued Current Note 1 Part name Model name Description consumption Remark 5VDC A RIO cable Q173DSXYCBLO1M Length 0 1m 0 33ft Q173DSXYCBLO5SM Length 0 5m 1 64ft 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
266. zi gt Di N Q170ENCCBL Q170ENCCNS OC 2 DID jojojo 10 yj 3 O19 19 1O O19 12 gt ajv eel ckt S gt lla l la iS Z Fd ive 6 6 CO Current consumption 2 SYSTEM CONFIGURATION Motion controller related module continued Model name EZ Description Internal I F Incremental synchronous encoder Mark detection signal interface Q170DSIOCON connector connector set With ferrite core Pulse resolution 25PLS rev 100PLS rev after magnification by 4 Manual pulse MR Permitted axial loads Radial load Up to 19 6N generator Thrust load Up to 9 8N Permitted speed 200r min Normal rotation Voltage output Battery holder unit Note 5 Q170DBATC Battery holder for Q6BAT Attachment battery cable For data backup of SRAM built in Motion CPU Batte Q6BAT Programs Parameters Motion devices Devices of latch range y Absolute position data HDP01 A6BAT For data backup of Q171ENC W8 Q170ENC M BXY54 stop input ore Cable for forced Length 0 5m 1 64ft 1m 3 28ft 3m 9 84ft 5m 16 40ft 10m 32 81ft Q170DEMICBL 15m 49 21ft 20m 65 62ft 25m 82 02ft 30m 98 43ft ER Connector for forced stop input cable production For positive common sink type input module sink type output module Connector termi standard type tee F iti ink type input module sink t tput modul or positive common sin e input module sin e output module conversion AGT R Were yp p Note 7 2 wire t

Q173D(S)CPU/Q172D(S)CPU User`s Manual

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