Page 1 Q170MSCPU Motion Controller User's Manual -Q170MSCPU -Q170MSCPU-S1...
Page 2: Safety Precautions
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.
Page 3 For Safe Operations 1. Prevention of electric shocks DANGER Never open the front case or terminal covers while the power is ON or the unit is running, as this may lead to electric shocks. Never run the unit with the front case or terminal cover removed. The high voltage terminal and charged sections will be exposed and may lead to electric shocks.
Page 4 3. For injury prevention CAUTION Do not apply a voltage other than that specified in the instruction manual on any terminal. Doing so may lead to destruction or damage. Do not mistake the terminal connections, as this may lead to destruction or damage. Do not mistake the polarity ( + / - ), as this may lead to destruction or damage.
Page 5 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.
Page 6 CAUTION 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.
Page 7 CAUTION The Motion controller, servo amplifier and servomotor are precision machines, so do not drop or apply strong impacts on them. Securely fix the Motion controller, servo amplifier and servomotor to the machine according to the instruction manual. If the fixing is insufficient, these may come off during operation. Always install the servomotor with reduction gears in the designated direction.
Page 8 (4) Wiring CAUTION Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal screws for tightness after wiring. Failing to do so may lead to run away of the servomotor. After wiring, install the protective covers such as the terminal covers to the 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.
Page 9 (6) Usage methods CAUTION Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the Motion controller, servo amplifier or servomotor. Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection. Do not attempt to disassemble and repair the units excluding a qualified technician whom our company recognized.
Page 10 (8) Maintenance, inspection and part replacement CAUTION Perform the daily and periodic inspections according to the instruction manual. Perform maintenance and inspection after backing up the program and parameters for the Motion controller and servo amplifier. Do not place fingers or hands in the clearance when opening or closing any opening. Periodically replace consumable parts such as batteries according to the instruction manual.
Page 11 (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.
Page 12: Revisions
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.
Page 13: Table Of Contents
2.1.1 Q170MSCPU System overall configuration ..................2- 3 2.1.2 Q170MSCPU System internal configuration ..................2- 5 2.1.3 Function explanation of the Q170MSCPU Motion controller ............2- 6 2.1.4 Restrictions on Motion controller ...................... 2- 8 2.2 Checking Serial Number and Operating System Software Version ............2-12 2.2.1 Checking serial number ........................
Page 14 3.3.1 Mounting environment........................3-11 3.3.2 Calculating heat generation by Motion controller ................3-12 3.4 Design Checklist ............................3-16 4. INSTALLATION AND WIRING 4- 1 to 4-34 4.1 Module Installation ........................... 4- 1 4.1.1 Instructions for handling ........................4- 1 4.1.2 Instructions for mounting the modules ..................... 4- 3 4.1.3 Installation and removal of module to the base unit.................
Page 15 7.1.4 Example of measure against noise ....................7- 8 APPENDICES APP- 1 to APP-48 APPENDIX 1 Differences between Q170MSCPU and Q173DSCPU/Q172DSCPU ......APP- 1 APPENDIX 1.1 Differences between parameters ................APP- 2 APPENDIX 1.2 Differences between peripheral device interfaces ............. APP- 3 APPENDIX 1.3 Differences between CPU display and I/O assignment ..........
Page 16: About Manuals
(Model Code) Q170MSCPU Motion controller User's Manual IB-0300212 This manual explains specifications of the Q170MSCPU Motion controller, Q172DLX Servo external signal (1XB962) interface module, Q173DPX Manual pulse generator interface module, Servo amplifiers, SSCNET cables, and the maintenance/inspection for the system, trouble shooting and others.
Page 17 (2) PLC Manual Number Manual Name (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 (13JR73) extension cables, memory card battery, and the maintenance/inspection for the system, trouble shooting, error codes and others.
Page 18 (3) Servo amplifier Manual Number Manual Name (Model Code) SSCNET /H Interface AC Servo MR-J4-_B_(-RJ) Servo amplifier Instruction Manual SH-030106 This manual explains the I/O signals, parts names, parameters, start-up procedure and others for AC (1CW805) Servo MR-J4-_B_(-RJ) Servo amplifier. SSCNET /H Interface Multi-axis AC Servo MR-J4W2-_B/MR-J4W3-_B/MR-J4W2-0303B6 Servo amplifier Instruction Manual SH-030105...
Page 19 MEMO A - 18...
Page 20: Overview
1.1 Overview This User's Manual describes the hardware specifications and handling methods of the Motion Controller Q170MSCPU 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 and cables.
Page 21 1 OVERVIEW REMARK For information about each module, design method for program and parameter, refer to the following manuals. Item Reference Manual PLC CPU area, peripheral devices for PLC program design, MELSEC-Q series PLC Manuals, I/O modules and intelligent function module Manual relevant to each module Operation method for MT Developer2 Help of each software...
Page 22: Comparison Between Q170Mscpu And Q170Mcpu
1 OVERVIEW 1.2 Comparison between Q170MSCPU and Q170MCPU (1) Comparison of hardware Item Q170MSCPU Q170MSCPU-S1 Q170MCPU Power supply Built-in (24VDC) Q03UDCPU or equivalent Q06UDHCPU or equivalent Q03UDCPU or equivalent PLC CPU area (30k steps) (60k steps) (20k steps) Program capacity...
Page 23 1 OVERVIEW Comparison of hardware (continued) Item Q170MSCPU Q170MSCPU-S1 Q170MCPU Communication speed 50Mbps Up to 20m (65.62ft.) between stations Standard cable Maximum overall distance 320m (1049.87ft.) (20m (65.62ft.) ×16 axes) Transmission distance Long distance Up to 50m (164.04ft.) between stations cable Maximum overall distance 800m (2624.67ft.) (50m (164.04ft.) ×16 axes)
Page 24 1 OVERVIEW (2) Comparison of SV13/SV22 Motion control specifications/ performance specifications (a) Comparison of Motion control specifications Item Q170MSCPU Q170MSCPU-S1 Q170MCPU Number of control axes Up to 16 axes 0.22ms/ 1 to 4 axes 0.44ms/ 1 to 6 axes SV13 0.44ms/ 5 to 10 axes...
Page 25 (Note-1): SV22 virtual mode only. (Note-2): When the manual pulse generator is used via the Q170MSCPU's internal I/F, the Q173DPX cannot be used. (Note-3): When the operation cycle is 7.11ms or less, the manual pulse generator I/F built-in CPU can be used.
Page 26 1 OVERVIEW (b) Comparison of Motion SFC performance specifications Item Q170MSCPU(-S1) Q170MCPU Code total (Motion SFC chart + Operation control 652k bytes 543k bytes Motion SFC program + Transition) capacity Text total 668k bytes 484k bytes (Operation control + Transition) Number of Motion SFC programs 256 (No.0 to 255)
Page 27 1 OVERVIEW Comparison of Motion SFC performance specifications (continued) Item Q170MSCPU(-S1) Q170MCPU Number of multi execute programs Up to 256 Number of multi active steps Up to 256 steps/all programs Normal task Execute in main cycle of Motion controller Execute in fixed cycle...
Page 28 1 OVERVIEW (c) Comparison of Mechanical system program specifications Item Q170MSCPU(-S1) Q170MCPU Virtual servomotor Drive module pulse Synchronous encoder Roller Control units mm, inch Ball screw Output module Rotary table degree mm, inch, degree, pulse mm, inch, pulse Program language...
Page 29 1 OVERVIEW (3) Comparison of PLC CPU area control and performance Item Q170MSCPU Q170MSCPU-S1 Q170MCPU Q03UDCPU or Q06UDHCPU or Q03UDCPU or equivalent PLC CPU area equivalent (30k steps) equivalent (60k steps) (20k steps) Control method Stored program repeat operation I/O control mode...
Page 30 1 OVERVIEW Comparison of PLC CPU area control and performance (continued) Item Q170MSCPU Q170MSCPU-S1 Q170MCPU Function register (FD) 5 points Local device Device initial values (Note-1) 7 extensions (Up to 64 slots) 1 extension Number of extension (Q52B/Q55B/Q63B/Q65B/Q68B/Q612B usable) (Q52B/Q55B usable) •...
Page 31: Restrictions By The Software's Version
(Note-4): Q173DSCPU/Q172DSCPU Motion controller (SV22) Programming Manual (Advanced Synchronous Control) (Note-5): Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (COMMON) 1.4 Programming Software Version The programming software versions that support Motion controller are shown below. MELSOFT MT Works2 (MT Developer2) Motion controller MR Configurator2 SV13/SV22 Q170MSCPU 1.56J 1.19V Q170MSCPU-S1 1 - 12...
Page 32: System Configuration
2 SYSTEM CONFIGURATION 2. SYSTEM CONFIGURATION This section describes the Motion controller (Q170MSCPU) system configuration, precautions on use of system and configured equipments. 2.1 Motion System Configuration (1) Equipment configuration in Q170MSCPU system Extension of the Q series module (Note-2)
Page 33 2 SYSTEM CONFIGURATION (2) Peripheral device configuration for the Q170MSCPU The following (a)(b)(c) can be used. (a) USB configuration (b) RS-232 configuration (c) Ethernet configuration Motion controller Motion controller Motion controller (Q170MSCPU) (Q170MSCPU) (Q170MSCPU) RS-232 communication cable (Note-1) USB cable...
Page 34: Q170Mscpu System Overall Configuration
2 SYSTEM CONFIGURATION 2.1.1 Q170MSCPU System overall configuration Motion controller Q170MSCPU MELSEC-L series SSCNET /H head module USB/RS-232 SSCNET cable L61P LJ72MS15 I/O module/ (MR-J3BUS M(-A/-B)) Intelligent function SSCNET (/H) module Personal Computer IBM PC/AT 1 line (Up to 4 stations)
Page 35 2 SYSTEM CONFIGURATION 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.
Page 36: Q170Mscpu System Internal Configuration
2.1.2 Q170MSCPU System internal configuration (1) What is Multiple CPU system for Q170MSCPU ? A Multiple CPU system for Q170MSCPU is a system in which the PLC CPU area and Motion CPU area are connected with the Multiple CPU high speed bus in order to control the I/O modules and intelligent function modules.
Page 37: Function Explanation Of The Q170Mscpu Motion Controller
(3) Motion CPU area (a) Up to 16 axes servo amplifiers per 1 line can be controlled in Q170MSCPU. (b) It is possible to set the program which synchronized with the motion operation cycle and executed at fixed cycle (0.22[ms], 0.44[ms], 0.88[ms], 1.77[ms], 3.55[ms], 7.11[ms], 14.2[ms]).
Page 38 2 SYSTEM CONFIGURATION (i) I/O modules and intelligent function modules (excluding some modules) can be controlled with the Motion CPU area. (Refer to Section 2.3(2).) (j) Wiring is reduced by issuing the external signal (upper/lower stroke limit signal, proximity dog signal) via the servo amplifier. (Note-1): The incremental synchronous encoder can be used in SV22.
Page 39: Restrictions On Motion Controller
2 SYSTEM CONFIGURATION 2.1.4 Restrictions on Motion controller (1) Q170MSCPU Multiple CPU system is composed of the PLC CPU area (CPU No.1 fixed) and Motion CPU area (CPU No.2 fixed). Other CPU (CPU No.3, CPU No.4) cannot be set. (2) It takes about 10 seconds to startup (state that can be controlled) of Motion controller.
Page 40 2 SYSTEM CONFIGURATION (14) Set "SSCNET /H" or "SSCNET " for every line in the SSCNET setting of system setting to communicate with the servo amplifiers and SSCNET (/H) compatible equipment. The following shows the servo amplifiers and SSCNET (/H) compatible equipment that can be used when "SSCNET /H"...
Page 41 2 SYSTEM CONFIGURATION (15) The following are restrictions for the communication type depending on the communication type and operation cycle settings being used. Communication type Operation cycle SSCNET /H SSCNET • The maximum number of control axes per line is four axes.
Page 42 (Note): Even if the function version "C" is displayed, it does not correspond to the online module change. Model display Module name Function version "B" Function version "C" Q172DLX Q172LX Q172DLX Q173DPX MOTION-UNIT Q173DPX (18) Use the Graphic Operation Terminal (GOT) that supports Q170MSCPU. 2 - 11...
Page 43: Checking Serial Number And Operating System Software Version
Checking for the serial number of Motion controller and Motion module, and the operating system software version is described below. 2.2.1 Checking serial number (1) Motion controller (Q170MSCPU) (a) Rating plate The rating plate is situated on the side face of the Motion controller.
Page 44 2 SYSTEM CONFIGURATION (2) Motion module (Q172DLX/Q173DPX) (a) Rating plate The rating plate is situated on the side face of the Motion module. The SERIAL line displays the Motion module serial No. (b) Front of Motion module The serial No. is displayed on the protruding portion situated on the lower front side of the Motion module.
Page 45: Checking Operating System Software Version
2 SYSTEM CONFIGURATION 2.2.2 Checking operating system software version The operating system software version can be checked on the system monitor screen in GX Works2. The version can be checked on the product information list displayed by selecting the [Product Information List] button on the system monitor screen displayed through [Diagnostics] –...
Page 46: System Configuration Equipment
• Motion CPU area Up to 16 axes control, Operation cycle 0.22[ms] or more, Servo program (Note-3) Q170MSCPU capacity 16k steps, Internal I/F (Incremental synchronous encoder interface 1ch, Input signal/Mark detection input signal 4 points, Output signal 2 points) •...
Page 47 —— battery holder Internal I/F Incremental synchronous encoder/Mark detection signal interface LD77MHIOCON —— connector set connector (Not included with Q170MSCPU/Q170MSCPU-S1) Q61P 100 to 240VAC input, 5VDC 6A output Q62P 100 to 240VAC input, 5VDC 3A/24VDC 0.6A output Power supply ——...
Page 48 2 SYSTEM CONFIGURATION (2) PLC module which can be controlled by Motion CPU area Current consumption 5VDC[A] Part name Model name Remark (Note-1) QX10 0.05 (TYP, All points ON) QX10-TS 0.05 (TYP, All points ON) QX28 0.05 (TYP, All points ON) QX40 0.05 (TYP, All points ON) QX40-TS...
Page 49 2 SYSTEM CONFIGURATION PLC module which can be controlled by Motion CPU area (continued) Current consumption 5VDC[A] Part name Model name Remark (Note-1) Voltage input Q68ADV 0.64 Q62AD-DGH 0.33 Current input Q66AD-DG 0.42 Analogue input Q68ADI 0.64 module Q64AD 0.63 Voltage/current input Q64AD-GH 0.89...
Page 50 1) Installation screen 2) CPU information screen displayed by menu bar [Help] [CPU Information] Example) When using Q170MSCPU, SV22 and OS version 00A. (OS software) OS version N: Q170MSCPU 3: Motion SFC compatibility . : Motion SFC not compatibility...
Page 51 2 SYSTEM CONFIGURATION (7) Programming software packages (a) Motion controller engineering environment Part name Model name MELSOFT MT Works2 SW1DNC-MTW2-E (Note-1 (MT Developer2 (Note-1): This software is included in Motion controller engineering environment "MELSOFT MT Works2". (b) PLC software package Model name Software package GX Works2...
Page 52: General Specifications
2 SYSTEM CONFIGURATION 2.4 General Specifications General specifications of the Motion controller are shown below. Item Specification Operating ambient temperature 0 to 55°C (32 to 131°F) Storage ambient temperature -25 to 75°C (-13 to 167°F) Operating ambient humidity 5 to 95% RH non-condensing Storage ambient humidity 5 to 95% RH...
Page 53: Specifications Of Equipment
135 (5.31)(D) POINTS (Note-1): Input power supply Q170MSCPU is rated for use with a 24VDC input power only. The Q170MSCPU breaks down when 28VDC or more input. (Note-2): Select 24VDC power supply and electric wire within the range of 21.6 to 26.4VDC including any input ripple or spike voltage measured at the input...
Page 54 Provided Manual pulse generator operation Possible to connect 3 modules (Q173DPX use) (Note-2), (Note-3) function Possible to connect 1 module (Q170MSCPU's internal I/F use) (Note-4) Synchronous encoder operation Possible to connect 12 modules (SV22 use, Incremental only) (Note-5) (Note-5), (Note-6)
Page 55 (Note-1): SV22 virtual mode only. (Note-2): When the manual pulse generator is used via the Q170MSCPU's internal I/F, the Q173DPX cannot be used. (Note-3): When the operation cycle is 7.11ms or less, the manual pulse generator I/F built-in CPU can be used.
Page 56 2 SYSTEM CONFIGURATION (b) Motion SFC performance specifications Item Specification Code total (Motion SFC chart + Operation control 652k bytes Motion SFC program + Transition) capacity Text total 668k bytes (Operation control + Transition) Number of Motion SFC programs 256 (No.0 to 255) Motion SFC chart size/program Up to 64k bytes (Included Motion SFC chart comments) Number of Motion SFC steps/program...
Page 57 2 SYSTEM CONFIGURATION (3) PLC control specifications Specification Item Q170MSCPU Q170MSCPU-S1 PLC CPU area Q03UDCPU or equivalent Q06UDHCPU or equivalent Control method Stored program repeat operation I/O control mode Refresh mode Relay symbol language (ladder), logic symbolic language (list), Sequence control language...
Page 58 PC type when program is made by GX Works2 Q03UDCPU Q06UDHCPU (Note-1): Occupies 8 slots of the main base unit as empty slots. (4) Q170MSCPU names of parts With front cover open, Side face Front face and battery holder remove...
Page 59 2 SYSTEM CONFIGURATION Name Application 1) 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) Rotary function select 2 switch •...
Page 60 2 SYSTEM CONFIGURATION Name Application Indicates the operating status of the PLC CPU area. • ON : Detection of self-diagnosis error which will not stop operation, except battery error. (When operation continued at error detection is set in the 13) "ERR." LED parameter setting.) •...
Page 61 2 SYSTEM CONFIGURATION (5) 7-segment LED display The LED displays/flashes in the combination with errors. Item 7-segment LED Remark It takes about 10 seconds to initialize (RUN/STOP display). Execute the power cycle of the Motion controller if the operation stops at initializing for several Initializing minutes.
Page 62 2 SYSTEM CONFIGURATION Item 7-segment LED Remark Hardware fault or software fault WDT error Steady "..." display Refer to the Programming Manual of the operating system software used for details. " AL" flashes 3 times Steady " A1" display (Self-diagnosis error) Setting error of the Multiple CPU system Self diagnostic error Refer to the "Q173D(S)CPU/Q172D(S)CPU...
Page 63 2 SYSTEM CONFIGURATION (7) Operation mode (a) Rotary switch setting and operation mode (Note-1) Rotary switch setting Operation mode Any setting (Except C) Installation mode Mode operated by RAM Mode operated by ROM Ethernet IP address display mode (Note-2) Any setting SRAM clear (Note-1): Do not set other the above setting.
Page 64 2 SYSTEM CONFIGURATION POINTS (1) Be sure to turn OFF the Motion controller's power supply before the rotary switch setting change. (2) It is recommended to shift to the mode operated by ROM after the programs and parameters are fixed. The erasing of the programs and parameters can be avoided even if the battery decrease.
Page 65 (8) Internal I/F connector (a) The pin layout of the Q170MSCPU's internal I/F connector Use the internal I/F connector on the front of the Q170MSCPU 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.
Page 66 2 SYSTEM CONFIGURATION (b) Input signal/Mark detection 1) Specifications of input signal/mark detection input signal Item Specifications Number of input points 4 points Input method Positive common/Negative common shared Common terminal arrangement 4 points/common (Common contact: COM1) Isolation method Photocoupler Rated input voltage 24VDC Rated input current (I...
Page 67 2 SYSTEM CONFIGURATION (c) Output signal 1) Specifications of output signal Item Specifications Number of output points 2 points Output method Sink/Source type Common terminal arrangement 2 points/common (Common contact: COM2) Isolation method Photocoupler Rated load voltage 24VDC Maximum load current (I 40mA/point, 80mA/common 21.6 to 26.4VDC External power supply...
Page 68 2 SYSTEM CONFIGURATION (d) Manual pulse generator/Incremental synchronous encoder input 1) Specifications of manual pulse generator/incremental synchronous encoder Item Specifications Signal input form Phase A/Phase B (Note-1) Maximum input pulse frequency 1Mpps (After magnification by 4, up to 4Mpps) Pulse width 1µs or more Leading edge/trailing edge time 0.25µs or less...
Page 69 Power supply (Note-1): The 5V(P5)DC power supply from the Q170MSCPU 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.
Page 70 Power supply (Note-1): The 5V(P5)DC power supply from the Q170MSCPU 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.
Page 71 Manual pulse generators/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 (8)(a).) Connectable manual pulse generator/ Motion controller incremental synchronous encoder Q170MSCPU (Internal I/F) Up to 1 module 2 - 40...
Page 72 2 SYSTEM CONFIGURATION (f) Axis No. of manual pulse generator/incremental synchronous encoder Any incremental synchronous encoder connected to the Q170MSCPU's internal I/F will automatically be assigned an axis No. one integer greater than the number of encoders connected to any Q173DPX modules.
Page 73 2 SYSTEM CONFIGURATION POINTS For advanced synchronous control method, set the axis No. of synchronous encoder in the synchronous encoder axis parameter. Refer to the "Q173DSCPU/Q172DSCPU Motion controller (SV22) Programming Manual (Advanced Synchronous Control)" for details. (9) PERIPHERAL I/F connector Item Specification Data transmission speed...
Page 74 2 SYSTEM CONFIGURATION (11) Forced stop input connector The pins layout (from front view) and connection of the forced stop input connector is shown below. Pin No. Signal name EMI.COM (Note-1) No connect (Note-1): Do not connect anything to the terminals listed as "No connect".
Page 75 QX40 Q173D QY40P QJ71 Q62DAN LP21-25 MR-HDP01 MR-HDP01 • 5VDC current consumption of each module Q170MSCPU : 2.50 [A] QY40P : 0.065 [A] Incremental synchronous encoder: 0.20 [A] QJ71LP21-25 : 0.55 [A] QX40 : 0.05 [A] Q62DAN : 0.33 [A] Q173DPX : 0.38 [A]...
Page 76: Power Supply Module
2 SYSTEM CONFIGURATION 2.5.2 Power supply module (1) Power supply module specifications Item Q61P Q62P Q63P Q64PN Base loading position Q series power supply module loading slot Applicable base unit Q35DB, Q38DB, Q312DB, Q63B, Q65B, Q68B, Q612B 100 to 240VAC (+10%/-15%) 24VDC (+30%/-35%) 100 to 240VAC (+10%/-15%) Input power supply...
Page 77 2 SYSTEM CONFIGURATION Power supply module specifications (continued) Item Q61P Q62P Q63P Q64PN 0.75 to 2mm Applicable wire size Applicable crimping terminal RAV1.25 to 3.5, RAV2 to 3.5 Applicable tightening torque 0.66 to 0.89 N•m Exterior dimensions 98(H) × 55.2(W) × 90(D) 98(H) ×...
Page 78 2 SYSTEM CONFIGURATION POINTS (Note-3): Allowable momentary power failure period (1) For AC input power supply (a) An instantaneous power failure lasting less than 20ms will cause AC down to be detected, but operation will continue. (b) An instantaneous power failure lasting in excess of 20ms may cause the operation to continue or initial start to take place depending on the power supply load.
Page 79 2 SYSTEM CONFIGURATION (2) Names of Parts and Setting This section describes the names of the parts of each power module. • Q61P (100 to 240VAC input, 5VDC 6A output) • Q62P (100 to 240VAC input, 5VDC 3A/24VDC 0.6A output) •...
Page 80 2 SYSTEM CONFIGURATION POINTS (1) 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. (2) Ensure that the earth terminals LG and FG are grounded. (Ground resistance : 100 or loss) Since the LG terminal has a half of the input voltage, touching this terminal may...
Page 81: Extension Base Unit And Extension Cable
2 SYSTEM CONFIGURATION 2.5.3 Extension base unit and extension cable This section describes the specifications of the extension cables for the base units (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.
Page 82 2 SYSTEM CONFIGURATION (2) Extension cable specifications The list below describes the specifications of the extension cables which can be used. Type QC05B QC06B QC12B QC30B QC50B QC100B Item 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 Motion controller and extension base unit, Application or connection between the extension base units.
Page 83 2 SYSTEM CONFIGURATION (3) Names of parts of the extension base unit Names of parts of the extension base unit are described below. (a) Extension base unit (Q5 B, Q6 B) • Q52B, Q55B I/O0 I/O1 I/O2 I/O3 I/O4 • Q63B, Q65B, Q68B, Q612B I/O0 I/O1 I/O2...
Page 84 2 SYSTEM CONFIGURATION (4) I/O allocations It is possible to allocate unique I/O No.s for each Motion CPU area independently of the PLC CPU area’s I/O No.s. ON/OFF data input to the Motion CPU area is handled via input devices PX while ON/OFF data output from the Motion CPU area is handled via output devices PY It is not mandatory to match the I/O device PX/PY No.s used in the Motion...
Page 85: Q172Dlx Servo External Signals Interface Module
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 Q172DLX CTRL Q172DLX Name Application Hook used to fix the module to the base unit. Module fixing hook (Single-motion installation) Display the servo external input status from the external...
Page 86 2 SYSTEM CONFIGURATION (2) Performance specifications (a) Module specifications Item Specifications Number of I/O occupying points 32 points(I/O allocation: Intelligent, 32 points) Internal current consumption(5VDC) [A] 0.06 98(H) 27.4(W) 90(D) Exterior dimensions [mm(inch)] (3.86(H) 1.08(W) 3.54(D) ) Mass [kg] 0.15 (b) Input Item Specifications...
Page 87 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.
Page 88 2 SYSTEM CONFIGURATION (b) The pin layout of the CTRL connector Use the CTRL connector on the front of the Q172DLX module to connect to servo external signals. The following is the pin layout of the Q172DLX CTRL connector as viewed from the front.
Page 89 2 SYSTEM CONFIGURATION (4) Interface between CTRL connector and servo external signal Input or Signal name Pin No. Wiring example Internal circuit Specification Description Output FLS1 Supply voltage FLS2 12 to 24 VDC (10.2 to 26.4 VDC, FLS3 stabilized power FLS4 supply) Upper stroke...
Page 90: Q173Dpx Manual Pulse Generator Interface Module
2 SYSTEM CONFIGURATION 2.5.5 Q173DPX Manual pulse generator interface module Q173DPX receives signals required for Manual pulse and Incremental synchronous encoder (Voltage-output/Open-collector type/Differential-output type) input. (1) Q173DPX name of parts Q173DPX PLS.A PLS.B TREN PULSER Q173DPX Name Application Hook used to fix the module to the base unit. Module fixing hook (Single-motion installation) Display the input status from the external equipment.
Page 91 2 SYSTEM CONFIGURATION Name Application Detection setting of TREN1 signal Dip switch 1 SW1 SW2 TREN is detected at leading edge of TREN signal. Dip switch 2 TREN is detected at trailing edge (Note-1) Dip switches of TREN signal. Detection setting of TREN2 signal Dip switch 3 SW3 SW4 TREN is detected at leading...
Page 92 2 SYSTEM CONFIGURATION (2) Performance specifications (a) Module specifications Item Specifications Number of I/O occupying points 32 points(I/O allocation: Intelligent, 32 points) Internal current consumption(5VDC)[A] 0.38 Exterior dimensions [mm(inch)] 98(H) 27.4(W) 90(D) (3.86(H) 1.08(W) 3.54(D) ) Mass [kg] 0.15 (b) Tracking enable signal input Item Specifications Number of input points...
Page 93 I/F. Motion controller Connectable manual pulse generator Up to 3 modules Q170MSCPU (Q173DPX: Up to 1 module) (4) 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.
Page 94 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.
Page 95 2 SYSTEM CONFIGURATION (b) Interface between PULSER connector and manual pulse generator (Differential-output type)/Incremental synchronous encoder Input or PIN No. Signal name Wiring example Internal circuit Specification Description Output For connection manual Rated input voltage A17 A12 pulse generator 5.5VDC or less Manual HA P Phases A, B...
Page 96 2 SYSTEM CONFIGURATION (c) Interface between PULSER connector and manual pulse generator (Voltage- output/Open-collector type)/Incremental synchronous encoder. Input or Pin No. Signal name Wiring example Internal circuit Specification Description Output For connection manual Rated input voltage Manual pulse generator 5.5VDC or less pulse Phases A, B A20 A15 A10...
Page 97 2 SYSTEM CONFIGURATION (6) Connection examples of manual pulse generator (a) Differential-output type Using external power supply (recommended) Using internal power supply Manual pulse Manual pulse Q173DPX generator side Q173DPX generator side HA P HA P HA N HA N HB P HB P HB N...
Page 98: Manual Pulse Generator/Serial Absolute Synchronous Encoder
2 signals : A phase, B : phase, 90° phase difference Start friction torque 0.06N•m (20°C (68°F) ) (Note-1): Use MR-HDP01 by connecting with internal I/F or Q173DPX or Q170MSCPU's internal I/F. (Note-2): If a separate power supply is used, be sure it is 5VDC ± 0.25V voltage.
Page 99 2 SYSTEM CONFIGURATION (2) Serial absolute synchronous encoder specifications Item Specifications (Note-1) Q171ENC-W8 Model name Ambient temperature -5 to 55°C (23 to 131°F) Resolution 4194304pulse/rev Transmission method Serial communications (Connected to Q172DEX) Direction of increasing addresses CCW (viewed from end of shaft) Dustproof/Waterproof Protective construction (IP67: Except for the shaft-through portion.)
Page 100: Sscnet Cables
MR-J3BUS M-B MR-J3BUS40M-B 40 (131.23) MR-J3BUS50M-B 50 (164.04) (2) Connection between the Q170MSCPU and servo amplifiers Connect the SSCNET cables to the following connectors. Refer to Section 4.2.1 for the connection and disconnection of SSCNET cable. SSCNET cable length Q170MSCPU MR-J3BUS M use 1) 3m(9.84ft.)
Page 101 2 SYSTEM CONFIGURATION (3) Setting of the axis No. and axis select rotary switch of servo amplifier Axis No. is used to set the axis numbers of servo amplifiers connected to SSCNET connector in the program. Axis No. of 1 to 16 can be set. Axis No.
Page 102: Battery
2 SYSTEM CONFIGURATION 2.5.8 Battery This section describes the battery specifications and handling precautions used for the Motion controller. (1) Battery specifications Model name Q6BAT Q7BAT Item Classification Manganese dioxide lithium primary battery Initial voltage [V] Nominal current [mAh] 1800 5000 Storage life Shelf life of 5 years (at room temperature)
Page 103 (Large capacity) 43800 100% 43800 15300 21000 27900 (After SM51/ SM52 ON) 41500 100% 43800 2600 7500 8800 3700 10600 12500 Q170MSCPU-S1 Q6BAT 5100 14700 17400 8400 23700 28000 100% 43800 43800 43800 1400 4100 4800 2100 5900 6900 2900...
Page 104 25°C (77°F). This value is intended for reference only, as it varies with characteristics of the memory. (Note-7): Battery consumption 1 cannot be used in Q170MSCPU. POINTS The self-discharge influences the battery life even without a connection to the Motion controller.
Page 105 2 SYSTEM CONFIGURATION CAUTION Do not short a battery. Do not charge a battery. Do not disassemble a battery. Do not burn a battery. Do not overheat a battery. Do not solder the battery terminal. The data (Refer to Section 6.5.) in the RAM built-in Motion controller is not backed up without using the battery.
Page 106: Forced Stop Input Terminal
2 SYSTEM CONFIGURATION 2.5.9 Forced stop input terminal (1) Table of the forced stop input terminal specifications Item Specifications Number of input points Forced stop signal : 1 point Input method Sink/Source type Rated input current 2.4mA Isolation method Photocoupler 20.4 to 26.4VDC Operating voltage range (+10/ -15%, ripple ratio 5% or less)
Page 107 2 SYSTEM CONFIGURATION MEMO 2 - 76...
Page 108: Design
3 DESIGN 3. DESIGN 3.1 System Designing Procedure System designing procedure is shown below. Motion control system design Select the operating system software to be installed according to the machinery and equipment to be controlled. Refer to section 2.5.4 Select the number of Q172DLX's and design according to the each axis control system and whether servo external signals are required or not.
Page 109 3 DESIGN Refer to section 3.2 External circuit design Power supply circuit design Refer to section 3.2.1 Design the power supply circuit which supplies power to such system components as the Motion controller, I/O equipment and servo amplifiers, etc., taking into consideration the protective coordination and noise suppression techniques.
Page 110 3 DESIGN CAUTION Do not touch the heat radiating fins of controller or servo amplifier, regenerative resistor and servomotor, etc. while the power is ON and for a short time after the power is turned OFF. In this timing, these parts become very hot and may lead to burns. Always turn the power OFF before touching the servomotor shaft or coupled machines, as these parts may lead to injuries.
Page 111: 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: Q170MSCPU and MR-J4- B use) (1) Sample system circuit design for Motion CPU area...
Page 112 3 DESIGN POINT <Example> For control axis 1, axis 2 and axis 3 (1) (Note-1): Make the forced stop input cable within 30m(98.43ft.). The forced stop 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.
Page 113 3 DESIGN (2) System design circuit example of the PLC CPU area Power supply Transformer Transformer Input switched when Fuse Fuse power supply established PLC CPU area SM52 DC power RUN/STOP circuit SM403 Interlocked with RA1 Fuse (Run monitor relay) Set time for DC power supply to be established.
Page 114: Power Supply Circuit Design
3 DESIGN 3.2.1 Power supply circuit design This section describes the protective coordination and noise suppression techniques of the power supply circuit. (1) Separation and protective coordination (leakage current protection, over current protection) of power supply lines Separate the lines for Motion controller's power supplies from the lines for I/O devices and servo amplifiers as shown below.
Page 115 3 DESIGN (2) Grounding The Motion controller may malfunction as it is affected by various noises such as electric path noises from the power supply lines, radiated and induced noises from other equipment, servo amplifiers and their cables, and electromagnetic noises from contactors.
Page 116: Safety Circuit Design
3 DESIGN 3.2.2 Safety circuit design (1) Concept of safety circuits When the Motion controller is powered on and off, normal control output may not be done momentarily due to a delay or a startup time difference between the Motion controller power supply and the external power supply (DC in particular) for the control target.
Page 117 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.
Page 118: Layout Design Within The Control Panel
3 DESIGN 3.3 Layout Design within the Control Panel 3.3.1 Mounting environment Mount the Motion controller system in the following environment conditions. (1) Ambient temperature is within the range of 0 to 55[°C] (32 to 131[°F]). (2) Ambient humidity is within the range of 5 to 95[%]RH. (3) 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...
Page 119: Calculating Heat Generation By 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 to an ambient temperature of 55°C(131°F) or less, which is specified for the Motion controller. For the design of a heat releasing panel, it is necessary to know the average power consumption (heating value) of the devices and instruments stored inside.
Page 120 3 DESIGN (5) Average power consumption of the input section of the internal input circuit and input module (Power consumption for simultaneous ON points) Number of input points Simultaneous ON rate [W] : 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...
Page 121 Q173D QY40P QJ71 Q62DAN LP21-25 MR-HDP01 MR-HDP01 (b) 5VDC/24VDC current consumption of each module Model name 5VDC 24VDC 0.08 [A] Q170MSCPU 2.50 [A] (Internal output circuit) Incremental synchronous 0.20 [A] — encoder (Note-1) QX40 0.05 [A] — Q173DPX 0.38 [A] —...
Page 122 3 DESIGN (g) Average power consumption of the input section of the internal input circuit and input module = 0.005 1 + 0.004 1 = 2.016 [W] (h) Power consumption of the external power supply section of the intelligent function module. = 0.15 24 = 3.60 [W] (i) Power consumption of overall system...
Page 123: Design Checklist
3 DESIGN 3.4 Design Checklist At the worksite, copy the following table for use as a check sheet. Item Sub Item Design confirmation Check Number of axes axes Manual pulse generator pcs. Motion controller selection Incremental synchronous encoder pcs. Number of I/O points points Manual pulse generator pcs.
Page 124: Installation And Wiring
4 INSTALLATION AND WIRING 4. INSTALLATION AND WIRING 4.1 Module Installation 4.1.1 Instructions for handling CAUTION Use the Motion controller in an environment that meets the general specifications contained in this manual. Using this Motion controller in an environment outside the range of the general specifications could result in electric shock, fire, operation failure, and damage to or deterioration of the product.
Page 125 4 INSTALLATION AND WIRING (3) Tighten the module fixing screws and terminal block screws within the tightening torque range specified below. Location of screw Tightening torque range [N•m] (Note-1) 2.75 to 3.63 Motion controller fixing screw (M5 screw) Motion controller FG fixing screw (M4 12 screw) 0.82 to 1.11 Module fixing screw (M3...
Page 126: Instructions For Mounting The Modules
When mounting the Motion controller, base unit to an enclosure or similar, fully consider its operability, maintainability and environmental resistance. (1) Fitting dimensions (a) Motion controller [Unit: mm (inch)] 38(1.50) 7(0.28) 3-fixing screw (M5) MITSUBISHI Q170MSCPU MODE ERR. USER BAT. PULL BOOT POWER RESET...
Page 127 4 INSTALLATION AND WIRING (b) Base unit 1) Q52B, Q55B 4-fixing screw (M4 14) I/O0 I/O1 I/O2 I/O3 I/O4 2) Q63B, Q65B, Q68B, Q612B, 5-fixing screw (M4 14) I/O0 I/O1 I/O2 I/O3 I/O4 I/O5 I/O6 I/O7 I/O8 I/O9 I/O10 I/O11 POWER Q52B Q55B...
Page 128 4 INSTALLATION AND WIRING (2) Module mounting position Keep the clearances shown below between the top/bottom faces of the module and other structures or parts to ensure good ventilation and facilitate module replacement. (a) Motion controller Top of panel or wiring duct 40mm(1.57inch) or more 100mm...
Page 129 4 INSTALLATION AND WIRING (3) Module mounting orientation (a) Mount the Motion controller in the orientation shown below to ensure good ventilation for heat release. (b) Do not use it in either of the orientations shown below. Flat Vertical Upside down (4) Mounting surface Mount the Motion controller and base unit on a flat surface.
Page 130 4 INSTALLATION AND WIRING (6) Distances from the other devices In order to avoid the effects of radiated noise and heat, provide the clearances indicated below between the Motion controller/base unit and devices that generate noise or heat (contactors and relays, etc.). •...
Page 131 4 INSTALLATION AND WIRING (7) Mounting method for the modules (a) Motion controller Mount a Motion controller in the following procedure. 1) Fit the one Motion controller bottom mounting screws into the enclosure. Panel 2) Place the bottom side notch of the Motion controller onto the bottom side screw.
Page 132 4 INSTALLATION AND WIRING CAUTION Do not touch the heat radiating fins of controller or servo amplifier's, regenerative resistor and servomotor, etc. while the power is ON and for a short time after the power is turned OFF. In this timing, these parts become very hot and may lead to burns.
Page 133: Installation And Removal Of Module To The Base Unit
4 INSTALLATION AND WIRING 4.1.3 Installation and removal of module to the base unit This section describes how to install and remove a 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 insert the module...
Page 134 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.
Page 135 4 INSTALLATION AND WIRING (b) Removal Push When using the module fixing screws, remove them. Module fixing hook Support the module with both hands and securely press the module fixing hook with your finger. Base unit Module Module connector Pull the module based on the supporting point of module bottom while pressing the module fixing hook.
Page 136: Mounting And Removal Of The Battery Holder
4 INSTALLATION AND WIRING 4.1.4 Mounting and removal of the battery holder Mounting and removal procedure of the battery holder to the Motion controller is shown below. (1) Handling the battery lead wire (a) Precautions for mounting the battery Set the battery to the battery holder correctly after confirming "+" side and "-" side for the battery.
Page 137 4 INSTALLATION AND WIRING (2) Battery holder (For Q6BAT) (a) Mounting Anchor the lead wire to the lead Battery connector wire fixing hook. (Q170MSCPU side) Motion controller Battery lead connector Connect the battery lead connector (Battery side) to the battery connector.
Page 138 Remove the battery lead connector Battery holder fixing tab (Note) from battery connector. Pull Push Battery holder Battery connector (Q170MSCPU side) Battery lead connector (Battery side) (Note): Do not pull on the lead wire forcibly to remove the connector. 4 - 15...
Page 139 4 INSTALLATION AND WIRING (3) Battery holder (For Q7BAT) (a) Mounting Anchor the lead wire to the lead Battery connector wire fixing hook. (Q170MSCPU side) Motion controller Battery lead connector Connect the battery lead connector (Battery side) to the battery connector.
Page 140 Remove the battery lead connector Battery holder fixing tab from battery connector. (Note) Pull Push Battery holder Battery connector (Q170MSCPU side) Battery lead connector (Battery side) (Note): Do not pull on the lead wire forcibly to remove the connector. 4 - 17...
Page 141: Connection And Disconnection Of Cable
4 INSTALLATION AND WIRING 4.2 Connection and Disconnection of Cable 4.2.1 SSCNET cable (1) Precautions for handling the SSCNET cable • Do not stamp on the SSCNET cable. • When laying the SSCNET cable, be sure to secure the minimum cable bend radius or more.
Page 142 4 INSTALLATION AND WIRING (4) Precautions of SSCNET cable wiring SSCNET cable is made from optical fiber. If optical fiber is added a power such as a major shock, lateral pressure, haul, sudden bending or twist, its inside distorts or breaks, and optical transmission will not be available. Especially, as optical fiber for MR-J3BUS M and MR-J3BUS M-A is made of synthetic resin, it melts down if being left near the fire or high temperature.
Page 143 4 INSTALLATION AND WIRING (d) Twisting If SSCNET cable is twisted, it will become the same stress added condition as when local lateral pressure or bend is added. Consequently, transmission loss increases, and the breakage of SSCNET cable may occur at worst. (e) Disposal When incinerating optical cable (cord) used for SSCNET cable, hydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may...
Page 144 4 INSTALLATION AND WIRING • Bundle fixing Optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius, and it should not be twisted. When bundling the cable, fix and hold it in position by using cushioning such as sponge or rubber which does not contain migratable plasticizing.
Page 145 4 INSTALLATION AND WIRING POINTS (1) Be sure to connect SSCNET cable with the above connector. If the connection is mistaken, between the Motion controller and servo amplifier cannot be communicated. (2) Forced removal of the SSCNET cable from the Motion controller will damage the Motion controller and SSCNET cables.
Page 146 4 INSTALLATION AND WIRING POINTS (9) Migrating plasticizer is used for vinyl tape. Keep the MR-J3BUS M, and MR-J3BUS M-A cables away from vinyl tape because the optical characteristic may be affected. Cable Optical cord SSCNET cable Cord Cable MR-J3BUS M MR-J3BUS M-A MR-J3BUS M-B : Normally, cable is not affected by plasticizer.
Page 147: Forced Stop Input Cable
4 INSTALLATION AND WIRING 4.2.2 Forced stop input cable (1) Precautions for handling the forced stop input cable Firmly hold the forced stop input connector during connection or removal of the forced stop input cable. Motion controller (2) Connection of the forced stop input cable When connecting the forced stop input cable to the Motion controller, hold the cable connector and attach it to the Motion controller forced stop input connector.
Page 148: 24Vdc Power Supply Cable
4 INSTALLATION AND WIRING 4.2.3 24VDC power supply cable (1) Precautions for handling the 24VDC power supply cable Firmly hold the 24VDC power supply connector during connection or removal of the 24VDC power supply cable. Motion controller (2) Connection of the 24VDC power supply cable When connecting the 24VDC power supply cable to the Motion controller, hold the cable connector and attach it to the Motion controller 24VDC power supply connector.
Page 149: Mounting Of Serial Absolute Synchronous Encoder
4 INSTALLATION AND WIRING 4.3 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, a timing belt, or gears, the machine side rotary shaft should be supported by a separate bearing and connected to the serial absolute synchronous encoder through a coupling.
Page 150: Wiring
4 INSTALLATION AND WIRING 4.4 Wiring 4.4.1 Instructions for wiring DANGER Completely turn off the externally supplied power used in the system before installation or placing wiring. Not doing so could result in electric shock or damage to the product. When turning on the power supply or operating the module after wiring, be sure that the module's terminal covers are correctly attached.
Page 151 4 INSTALLATION AND WIRING (b) Do not bundle the 24VDC power supply 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 Motion controller may be reset due to surge caused by lightning.
Page 152 4 INSTALLATION AND WIRING (e) Where wiring runs through piping, ground the piping without fail. (f) Run the 24VDC input line away from the 100VAC and 200VAC lines. (g) Wiring of 200m (656.17ft.) or longer distance will give rise to leakage currents due to the line capacity, resulting in a fault.
Page 153: Connecting To The Power Supply
4 INSTALLATION AND WIRING 4.4.2 Connecting to the power supply The following diagram shows the wiring example of power lines, grounding lines, etc. to the Motion controller. 100/200VAC 24VDC AC DC Fuse 24VDC 24VDC Connect to power input terminals of I/O signals that require 24VDC.
Page 154 4 INSTALLATION AND WIRING POINT (1) Use a different 24VDC power supply for the Motion controller and for I/O signals. (2) Use a different 24VDC power supplies for the Motion controller and the electromagnetic brake of the servo motor. (3) Refer to Section 2.5.1(10) for the pin layout of 24VDC power supply connector, and refer to APPENDIX 4.3 for the connection diagram of 24VDC power supply cable.
Page 155: Wiring Of Connector
4 INSTALLATION AND WIRING 4.4.3 Wiring of connector Specialised tools are not required for wiring the 24VDC power supply connector and forced stop input connector because plugs with spring connection are used. (1) Applicable wire size and wire fabrication (a) Applicable wire size The applicable wire size for 24VDC power supply connector and forced stop input connector are shown below.
Page 156 4 INSTALLATION AND WIRING (2) Inserting wire 1) Press the connector release with a tool such as a flathead screwdriver. 2) While holding the release down, insert the wire all the way in. Release Wire (Note): When using a ferrule, make sure the bumpy side is facing towards the release.
Page 157 4 INSTALLATION AND WIRING MEMO 4 - 34...
Page 158: Start-Up Procedures
(7) Check that the FG terminal screws are tightening torque is as 4.1.1 specified. (8) Check that the 24VDC wires are twisted as closely as possible and Q170MSCPU run in the shortest distance. Motion controller 4.4.1 (9) Check that cables are not binded to 24VDC wires, or run close to the power wires.
Page 159 5 START-UP PROCEDURES Part name Confirmation Items Check Reference Refer to the "Q173D(S)CPU Q172DLX Servo external (1) Check that the installation position of modules correspond to the /Q172D(S)CPU Motion signals interface module system setting. controller Programming Manual (COMMON). Q173DPX Manual pulse generator interface 2.5.4 (2) Check that the connection with external equipment is correct.
Page 160: Start-Up Adjustment Procedure
5 START-UP PROCEDURES 5.2 Start-up Adjustment Procedure The mode indicated in the brackets [ ] at top left of START each step is the mode for checking or setting using MT Developer2/GX Works2. Turn OFF Motion controller's power supply Check that the power supply of Motion controller is OFF.
Page 161 5 START-UP PROCEDURES [Parameter setting] Parameter setting PLC CPU area Set the PLC parameter using GX Works2. [Parameter setting] Parameter setting SSCNET /H Set the SSCNET /H head module head module parameter using GX Works2. (SSCNET /H head module use) (Note): An error may occur if the power is turned on before system setting.
Page 162 5 START-UP PROCEDURES Check SSCNET /H head module Check the wiring of I/O module of the SSCNET /H intelligent function modules that are head module connected to the SSCNET /H head module by monitoring of GX Works2. (SSCNET /H head module use) [Programming] [Programming] DANGER...
Page 163 5 START-UP PROCEDURES [Test mode JOG operation ] CAUTION Check machine operation Check the following by making the machine The system must have a mechanical allowance so operate with the JOG operation of that the machine itself can stop even if the stroke MT Developer2.
Page 164: Operating System Software Installation Procedure
5 START-UP PROCEDURES 5.3 Operating System Software Installation Procedure The operating system software must be installed to the Motion controller by using the peripheral device and MT Developer2. The installation procedure is shown below. START Set a rotary switch1 (SW1) of Motion Set to installation mode.
Page 165 5 START-UP PROCEDURES POINTS (1) When the software security key function is used in Motion controller, if the software security key of the operating system software already installed in Motion controller is different from that embedded to the operating system software to be installed, "Clear all"...
Page 166: Trial Operation And Adjustment Checklist
5 START-UP PROCEDURES 5.4 Trial Operation and Adjustment Checklist At the worksite, copy the following table for use as a check sheet. Check Work Step Item Check Items Check that each module is installed correctly. Check that each connector is connected correctly. Check each terminal screw for looseness.
Page 167 5 START-UP PROCEDURES MEMO 5 - 10...
Page 168: Inspection And Maintenance
6 INSPECTION AND MAINTENANCE 6. INSPECTION AND MAINTENANCE DANGER Do not touch the terminals while power is on. Doing so could cause electric shock. Correctly connect the battery. Also, do not charge, disassemble, heat, place in fire, short circuit, or solder the battery.
Page 169: Maintenance Works
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. DANGER Never open the front case or terminal covers while the power is ON or the unit is running, as this may lead to electric shocks.
Page 170 6 INSPECTION AND MAINTENANCE CAUTION Do not short circuit, charge, overheat, incinerate or disassemble the batteries. The electrolytic capacitor will generate gas during a fault, so do not place your face near the Motion controller or servo amplifier. The electrolytic capacitor and fan will deteriorate. Periodically change these to prevent secondary damage from faults.
Page 171: Daily Inspection
6 INSPECTION AND MAINTENANCE 6.2 Daily Inspection The items that must be inspected daily are shown below. Table 6.1 Daily Inspection Item Inspection item Inspection Criterion Action Mounting of Motion Check that the fixing Retighten the controller screws are not loose and The screws and cover must be mounted securely.
Page 172: Periodic Inspection
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.
Page 173: Life
6 INSPECTION AND MAINTENANCE 6.4 Life The following parts must be replaced periodically as listed below. However, these numbers depend on the operating method and environmental conditions. If any part is found to be faulty it must be replaced immediately even if it has not yet reached the end of its life.
Page 174: Battery
6 INSPECTION AND MAINTENANCE 6.5 Battery The battery installed in the Motion controller is used for data retention during the power failure of the program memory and latch device. The data stored in the RAM built-in Motion controller is shown below. •...
Page 175: Battery Life
43800 100% 43800 15300 21000 27900 (After SM51/ SM52 ON) 41500 100% 43800 2600 7500 8800 3700 10600 12500 (Note-9) Q170MSCPU-S1 Q6BAT 5100 14700 17400 8400 23700 28000 100% 43800 43800 43800 1400 4100 4800 2100 5900 6900 2900 8200...
Page 176 (Note-7): In the following status, the backup time after power OFF is 3 minutes. • Q6BAT/Q7BAT lead connector is disconnected. • Lead wire of Q6BAT/Q7BAT is broken. (Note-8): Battery consumption 1 cannot be used in Q170MSCPU. (Note-9): Set the battery (Q6BAT/Q7BAT) to battery holder. 6 - 9...
Page 177 6 INSPECTION AND MAINTENANCE POINT (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. • Perform ROM operation to protect a program even if the battery dies at the Motion controller's power-OFF.
Page 178: Battery Replacement Procedure
6 INSPECTION AND MAINTENANCE 6.5.2 Battery replacement procedure When the battery has been exhausted, replace the battery with a new one in accordance with the procedure shown below. POINTS When replacing the battery, pay attention to the following. (1) The Motion controller power supply must be on for 10 minutes or longer before dismounting the battery.
Page 179 Motion Pull controller. Push 1) Remove the battery lead connector Battery connector from battery connector. (Note) (Q170MSCPU side) Battery lead connector (Note) Remove the lead wire from the lead (Battery side) wire fixing hook. Remove the old battery from the battery holder.
Page 180 Motion Pull controller. Push Battery connector Remove the battery lead connector (Q170MSCPU side) from battery connector. (Note-1) Battery lead connector (Note) (Battery side) Remove the lead wire from the pass-through slot.
Page 181: Resuming Operation After Storing The Motion Controller
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.
Page 182: Troubleshooting
6 INSPECTION AND MAINTENANCE 6.6 Troubleshooting This section describes the various types of trouble that occur when the system is operated, and causes and corrective actions of these troubles. 6.6.1 Troubleshooting basics The basic three points that must be followed in the troubleshooting are as follows. (1) Visual inspection Visually check the following.
Page 183: Troubleshooting Of Motion Controller
6 INSPECTION AND MAINTENANCE 6.6.2 Troubleshooting of Motion controller This section describes the contents of troubles for the error codes and corrective actions of the troubles. As for troubleshooting of PLC CPU area, refer to the "QCPU User's Manual (Hardware Design, Maintenance and Inspection)"...
Page 184 6 INSPECTION AND MAINTENANCE (1) Troubleshooting flowchart The following show the contents of the troubles classified into a variety of groups according to the types of events. Error-occurrence description (a) "Flowchart for when "POWER" LED turns off" "POWER" LED turns off "...
Page 185 6 INSPECTION AND MAINTENANCE (a) Flowchart for when "POWER" LED turns off The following shows the flowchart for when "POWER" LED turns off at the power supply ON or during operation. "POWER" LED turns off Is there a power supply? Supply power.
Page 186 6 INSPECTION AND MAINTENANCE The manual pulse generator, incremental synchronous encoder or connection cable is faulty. Does "POWER" (Replace it with a normal manual LED turn on? pulse generator, incremental synchronous encoder or connection cable.) Does "POWER" LED turn on? Remove all modules from the extension base unit.
Page 187 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" "Flowchart for when "POWER" LED LED turn on? turns off"...
Page 188 6 INSPECTION AND MAINTENANCE (c) Flowchart for when the 7-segment LED stops with an initializing item (b00 to o99) The following shows the flowchart for when the 7-segment LED stops with an initializing item (b00 to o99). The 7-segment LED stopped with an initializing item (b00 to o99) Wait approximately 1 minute with the initializing item displayed (b00 to o99)
Page 189 6 INSPECTION AND MAINTENANCE Did the 7-segment LED display "AL" "L01"? A hardware fault Check operation in the order starting Write the project data to the Motion with the minimum system. controller. If the module will not work, explain the error symptom and get advice from our sales representative for the modules with failure.
Page 190 6 INSPECTION AND MAINTENANCE (d) 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"...
Page 191 6 INSPECTION AND MAINTENANCE (e) Flowchart for when "E " displays on 7-segment LED "E " displays when a hardware fault or software fault occurs. The following shows the flowchart for when "E " displays on 7-segment LED at the power supply ON or operation start. "...
Page 192 6 INSPECTION AND MAINTENANCE (f) Flowchart for when "AL" "L01" displays on 7-segment LED ""AL" (flashes 3 times) Steady "L01" display" displays at the system setting error occurrence. The following shows the flowchart for when ""AL" (flashes 3 times) Steady "L01" display" displays during operation. "AL"...
Page 193 6 INSPECTION AND MAINTENANCE (g) Flowchart for when "AL" "A1" " " displays on 7-segment LED. ""AL" (flashes 3 times) Steady "A1" display " "" displays at the self- diagnosis error occurrence. The following shows the flowchart for when ""AL" (flashes 3 times) Steady "A1"...
Page 194 6 INSPECTION AND MAINTENANCE (h) Flowchart for when "BT " displays on 7-segment LED "BT1" or "BT2" displays when the battery voltage is lowered. "BT1" or "BT2" displays in the following cases. • BT1: Battery voltage 2.7V or less • BT2: Battery voltage 2.5V or less The following shows the flowchart for when "BT "...
Page 195 6 INSPECTION AND MAINTENANCE (i) 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.
Page 196 6 INSPECTION AND MAINTENANCE (j) 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 Remove the error cause. on 7-segment LED of Motion controller? Does servo amplifier start? Set the target axis in the system...
Page 197 6 INSPECTION AND MAINTENANCE (k) Flowchart for when "AL" "S01" displays on 7-segment LED ""AL" (flashes 3 times) Steady "S01" display" displays at the servo error occurrence. The following shows the flowchart for when ""AL" (flashes 3 times) Steady "S01" display" displays on 7-segment LED during operation. "AL"...
Page 198 6 INSPECTION AND MAINTENANCE (l) Flowchart for when "MODE" LED does not turn on The following shows the flowchart for when "MODE" LED does not turn on at Motion controller’s power-on. "MODE" LED does not turn on Connect a personal computer and Motion controller.
Page 199 6 INSPECTION AND MAINTENANCE (m) Flowchart for when "MODE" LED is flickering The following shows the flowchart for when "MODE" LED flickers at Motion controller’s power-on, at operation start or during operation. "MODE" LED is flickering. Have the forced Cancel forced ON/OFF. ON/OFF settings made? Does "MODE"...
Page 200 6 INSPECTION AND MAINTENANCE (n) Flowchart for when "RUN" LED turns off The following shows the flowchart for when "RUN" LED turns off during operation. "RUN" LED turns off. (a) "Flowchart for when "POWER" Does "POWER" LED LED turns off" turn on ? Is "ERR."...
Page 201 6 INSPECTION AND MAINTENANCE (o) When "RUN" LED is flickering If the "RUN" LED flickers, follow the steps below. When the programs or parameters are written into the Motion controller during STOP status and then the RUN/STOP/RESET switch is set from STOP to RUN, the RUN LED flickers.
Page 202: Confirming Error Code
6 INSPECTION AND MAINTENANCE (q) When "USER" LED turns on If the "USER" LED turns on, follow the steps described below. "USER" LED turns on when an error is detected by the CHK instruction or the annunciator (F) turns on. If "USER"...
Page 203: Internal I/O Circuit Troubleshooting
6 INSPECTION AND MAINTENANCE 6.6.4 Internal I/O circuit troubleshooting This section describes possible problems with internal I/O circuits and their corrective actions. (1) Internal input circuit troubleshooting The following describes possible problems with internal input circuits and their corrective actions. Table 6.5 Internal Input Circuit Troubleshooting and Corrective Action Condition Cause...
Page 204 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 controller, the resistor R to be connected may be the one where 3.1 [mA] or more will flow. : Iz = Z(Input impedance): R ×...
Page 205 6 INSPECTION AND MAINTENANCE MEMO 6 - 38...
Page 206: Emc Directives
Voltage Directives are required to declare that print a "CE mark" on their products. (1) Authorized representative in Europe Authorized representative in Europe is shown below. Name : Mitsubishi Electric Europe BV Address : Gothaer strase 8, 40880 Ratingen, Germany 7.1 Requirements for Compliance with the EMC Directive...
Page 207: Standards Relevant To The Emc Directive
7 EMC DIRECTIVES 7.1.1 Standards relevant to the EMC Directive The standards relevant to the EMC Directive are listed in the table below. Certification Test item Test details Standard value (Note-2) 30M-230MHz QP : 40dBµV/m EN55011:2007/A2:2007 Radio waves from the product are (10m (32.81ft.) in measurement range) (Note-1) Radiated emission...
Page 208: Installation Instructions For Emc Directive
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.
Page 209 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.
Page 210 7 EMC DIRECTIVES (4) Precautions relevant to the electrostatic discharge There is a weak part to 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.
Page 211: Parts Of Measure Against Noise
(The noise filter has the effect of reducing conducted noise of 10 MHz or less.) • Noise ferrite (Recommended product) Manufacturer Model name Mitsubishi electric FR-BLF Soshin Electric HF3010A-UN The precautions required when installing a noise filter are described below.
Page 212 (1.97 to 3.94 inch) • Cable clamp (Recommended product) Manufacturer Model name AERSBAN-DSET Mitsubishi electric AERSBAN-ESET AD75CK CAUTION Do not ground the cable clamp to the top of control panel. Doing so may lead to damage by drop of screws, etc. during installation or removing the cable clamp.
Page 213: Example Of Measure Against Noise
7 EMC DIRECTIVES 7.1.4 Example of measure against noise Control panel A : AD75CK cable clamp Motion controller : Ferrite core (Recommended product: ZCAT3035-1330) SSCNET cable Ethernet cable (Shield tuisted pair of category 5 or more) Internal I/F Manual pulse generator/ connector cable Synchronous encoder/ DI/DO...
Page 214: Appendices
APPENDIX 1 Differences between Q170MSCPU and Q173DSCPU/Q172DSCPU This section describes the differences between Q170MSCPU and Q173DSCPU/ Q172DSCPU, and the details of change. The specifications of Q170MSCPU are equal to those of Q172DSCPU. Refer to the following manuals for the specifications in common with Q172DSCPU. Manual name...
Page 215: Appendix 1.1 Differences Between Parameters
APPENDICES APPENDIX 1.1 Differences between parameters Table 1.1 Differences between parameters Item Q170MSCPU Q173DSCPU/Q172DSCPU [Axis information] [Axis information] [Axis No.] [Axis No.] Amplifier setting 1 to 16 Q173DSCPU: 1 to 32 Q172DSCPU: 1 to 16 [I/O setting] [Self CPU installation position setting]...
Page 216: Appendix 1.2 Differences Between Peripheral Device Interfaces
APPENDICES APPENDIX 1.2 Differences between peripheral device interfaces Table 1.2 Differences between peripheral device interfaces Item Q170MSCPU Q173DSCPU/Q172DSCPU Connect to the USB connector/ Connect to the PLC CPU RS-232 connector of PLC CPU RS-232 module. area. Direct connection Connect to the PERIPHERAL...
Page 217: Appendix 1.3 Differences Between Cpu Display And I/O Assignment
Confirm the CPU display of the PLC CPU area and Motion CPU area on the System Monitor screen displayed on [Diagnostics] – [System monitor] of GX Works2. PLC CPU area is displayed as " Q03UDCPU (Q170MSCPU use)/Q06UDHCPU (Q170MSCPU-S1 use)", and Motion CPU area is displayed as "Q170MSCPU- PCPU".
Page 218 APPENDICES (2) Setting of I/O assignment Set the I/O assignment points in [I/O assignment] of PC parameter of GX Works2. (a) When the Base mode is set to "Auto" (default). 16 points are set to empty slot of the main base. Therefore, the first address of the extension base is set to "70".
Page 219: Appendix 1.4 Differences Between I/O Signals
Table 1.4 Differences between I/O signals Item Q170MSCPU Q173DSCPU/Q172DSCPU (Note-1) (Note-1) • Q170MSCPU's internal I/F • Built-in interface in Motion CPU (Input 4 points, output 2 points) (Input 4 points) I/O signal • PLC I/O module • PLC I/O module •...
Page 220 Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion Controller Programming Manual (COMMON)" for the mark detection function. (a) Mark detection signal Set the input signal for mark detection. 1) Module input signal a) Q170MSCPU's internal I/F Detection Signal detection direction Input module Signal Signal No.
Page 221 APPENDICES 2) Bit device Signal detection direction Detection accuracy [µs] Bit device Setting range (Leading edge/Trailing edge) (Note-1) 0 to 1FFF X(PX) Y(PY) 0 to 1FFF Set direction in the mark (Note-2) 0 to 8191 • Operation cycle 222[µs] : 222 detection signal detection 0 to 1FFF •...
Page 222: Appendix 2 Creation Of Project
APPENDICES APPENDIX 2 Creation of Project There are following methods to create the Q170MSCPU project. (1) Create the new project. (2) Convert the project for Q170MCPU/Q17 D(S)CPU/Q17 HCPU(-T)/ Q17 CPUN(-T)/Q17 CPU. (3) Create the new project using the sample data.
Page 223: Appendix 2.1 Sample Data
PLC CPU area and Motion CPU area. (b) I/O assignment setting The main base of eight slots or equivalent is built into the Q170MSCPU. All points of "empty slot" not used on the main base are set to "0" point by the sample data.
Page 224 (c) The project PLC type used in the PLC CPU area is "Q03UD". When using sample data for Q170MSCPU-S1, the PLC type needs to be changed to "Q06UDH" in the change PLC type of GX Works2. (d) Sample data is only for workspace format project. There is no single file format project.
Page 225 APPENDICES (b) When the sample data is overwritten to the created project. 1) Motion CPU area START Start-up MT Developer2. Create the project. Divert the following sample data Sample data in the basic setting of System (1) Save folder setting. 64-bit version operating system: Base setting C:\Program Files (x86)\MELSOFT\MTD2\Lang\en-US\SampleData\MT2...
Page 226 APPENDICES (6) Operation procedure for sample data Refer to the help of MT Developer2 for details. (a) Motion CPU area (MT Developer2) 1) Multiple CPU setting a) Diversion of sample data Divert the sample data by selecting the [Import Multiple CPU Parameter] button of the base setting or Multiple CPU setting of the basic setting of system setting.
Page 227 APPENDICES (b) PLC CPU area (GX Works2) 1) Multiple CPU settings / I/O assignment a) Diversion of sample data Divert the sample data by selecting the [Import Multiple CPU Parameter] button of the Multiple CPU settings or I/O assignment of the PLC parameter setting.
Page 228 APPENDICES b) Confirm the sample data Compare the Auto refresh settings screen with the contents of this section (7), then confirm that the sample data is being diverted correctly. • Multiple CPU settings Data of automatic refresh • I/O assignment Points occupied by empty slot Number of slots of the...
Page 229 APPENDICES 2) Device comment The device comment data is allocated in the Multiple CPU high speed transmission area setting for the positioning dedicated signal. The device can be used while confirming the comment to execute the control for the Motion CPU area in the PLC CPU area. a) Diversion of device comment After opening the diversion source project (Sample data) and the diversion project, execute the following steps.
Page 230 APPENDICES (7) Description of sample data (a) Motion CPU area 1) SV13 (Q170MS_SV13_MT2) a) Base setting Setting items Description Stage 1 Nothing Stage 2 Nothing Stage 3 Nothing Extension base Stage 4 Nothing Stage 5 Nothing Stage 6 Nothing Stage 7 Nothing b) Multiple CPU setting Setting items...
Page 231 APPENDICES 2) SV22 (Q170MS_SV22_MT2) (Project for virtual mode switching method) a) Base setting Setting items Description Stage 1 Nothing Stage 2 Nothing Stage 3 Nothing Extension base Stage 4 Nothing Stage 5 Nothing Stage 6 Nothing Stage 7 Nothing b) Multiple CPU setting Setting items Description Operating mode...
Page 232 APPENDICES 3) SV22 (Q170MS_SV22_AD_MT2) (Project for advanced synchronous control method) a) Base setting Setting items Description Stage 1 Nothing Stage 2 Nothing Stage 3 Nothing Extension base Stage 4 Nothing Stage 5 Nothing Stage 6 Nothing Stage 7 Nothing b) Multiple CPU setting Setting items Description Operating mode...
Page 233 APPENDICES (b) PLC CPU area 1) SV13 (Q170MS_SV13_GX2) When using Q170MSCPU-S1, change the PLC type to "Q06UDH" in the change PLC type of GX Works2. a) I/O assignment • I/O assignment Setting items Description Slot Type PLC No.1 PLC No.2...
Page 234 APPENDICES c) Auto refresh settings • PLC No.1 Auto refresh CPU specific send range(U3E0\) Point Start Start M3072 M3519 — G17022 G17049 D640 D757 — G17050 G17167 • PLC No.2 Auto refresh CPU specific send range(U3E1\) Point Start Start M2000 M2735 —...
Page 235 APPENDICES 2) SV22 (Q170MS_SV22_GX2) (Project for virtual mode switching method) When using Q170MSCPU-S1, change the PLC type to "Q06UDH" in the change PLC type of GX Works2. a) I/O assignment • I/O assignment Setting items Description Slot Type PLC No.1 PLC No.2...
Page 236 APPENDICES c) Auto refresh settings • PLC No.1 Auto refresh CPU specific send range(U3E0\) Point Start Start M3072 M3519 — G16978 G17005 M4800 M5503 — G17006 G17049 D640 D757 — G17050 G17167 • PLC No.2 Auto refresh CPU specific send range(U3E1\) Point Start Start...
Page 237 APPENDICES 3) SV22 (Q170MS_SV22_AD_GX2) (Project for advanced synchronous control method) When using Q170MSCPU-S1, change the PLC type to "Q06UDH" in the change PLC type of GX Works2. a) I/O assignment • I/O assignment Setting items Description Slot Type PLC No.1 PLC No.2...
Page 238 APPENDICES c) Auto refresh settings • PLC No.1 Auto refresh CPU specific send range(U3E0\) Point Start Start M3072 M3519 — G17022 G17049 D640 D757 — G17050 G17167 • PLC No.2 Auto refresh CPU specific send range(U3E1\) Point Start Start M2000 M2735 —...
Page 239 APPENDICES (8) Automatic refresh of sample data The data to the internal relay and data register of PLC CPU area are transmitted to the positioning dedicated signals of Motion CPU area via the Multiple CPU high speed transmission area. The positioning dedicated signals of Motion CPU area can be controlled by only control of the sequence program of PLC CPU area.
Page 240: Appendix 3 Processing Times
APPENDICES APPENDIX 3 Processing Times The operation processing times are the same as Q172DSCPU for each operation control and transition instruction, and Motion dedicated PLC instruction. Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion Controller (SV13/SV22) Programming Manual (Motion SFC)" for processing times. APP - 27...
Page 241: Appendix 4 Cables
APPENDICES APPENDIX 4 Cables In this cable connection diagram, maker names of connectors are omitted. Refer to "APPENDIX 5.6 Connector" for maker names of connectors. APPENDIX 4.1 SSCNET cables Generally use the SSCNET cables available as our products. Refer to APPENDIX 4.6 for long distance cable up to 100(328.08)[m(ft.)] and ultra-long bending life cable.
Page 242 APPENDICES POINTS (1) If the end face of cord tip for the SSCNET cable is dirty, optical transmission is interrupted and it may cause malfunctions. If it becomes dirty, wipe with a bonded textile, etc. Do not use solvent such as alcohol. (2) Do not add excessive power to the connector of the SSCNET cable.
Page 243 APPENDICES • 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) (3.94) (Note): Dimension of connector part is the same as that of MR-J3BUS015M. • MR-J3BUS5M-A to MR-J3BUS20M-A,MR-J3BUS30M-B to MR-J3BUS50M-B Refer to the table of this section (1) for cable length (L).
Page 244: Appendix 4.2 Forced Stop Input Cable
APPENDICES APPENDIX 4.2 Forced stop input cable Fabricate the forced stop input cable on the customer side. Make the forced stop input cable within 30m(98.43ft.). (1) Connection diagram Q170MSCPU side Solderless terminal side FK-MCP1.5/3-ST-3.81 (Connector) Solderless terminal size: R1.25-35 EMI.COM EMI.COM...
Page 245: Appendix 4.4 Internal I/F Connector Cable
APPENDICES APPENDIX 4.4 Internal I/F connector cable Fabricate the Q170MSCPU's internal I/F connector cable on the customer side. CAUTION When fabricating the internal I/F connector cable, do not make an incorrect connection. Doing so may cause an operation failure or damage the module.
Page 246 APPENDICES 2) When using an internal power supply Solderless terminal Q170MSCPU side View A 10126-3000PE (Connector) 10326-52F0-008 (Connector case) Differential-output type Manual pulse generator/ incremental synchronous encoder side (Note-1) COM2 Output signal side DOCOM COM1 Input signal/mark detection input side...
Page 247 APPENDICES (2) Voltage-output/Open-collector type (a) Connection diagram Make the cable within 10m(32.81ft.). 1) When using an external power supply Solderless terminal Q170MSCPU side View A 10126-3000PE (Connector) 10326-52F0-008 (Connector case) Voltage-output/open-collector type Manual pulse generator/ (Note-2) incremental synchronous encoder side...
Page 248 APPENDICES 2) When using an internal power supply Solderless terminal Q170MSCPU side View A 10126-3000PE (Connector) 10326-52F0-008 (Connector case) Voltage-output/open-collector type Manual pulse generator/ incremental synchronous encoder side (Note-1) COM2 Output signal side DOCOM COM1 Input signal/mark detection input side...
Page 249: Appendix 4.5 Serial Absolute Synchronous Encoder Cable
APPENDICES APPENDIX 4.5 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.
Page 250 APPENDICES (2) Q170ENCCBL M-A (a) Model explanation Type: Q170ENCCBL M-A Symbol Cable length [m(ft.)] 2(6.56) 5(16.40) 10(32.81) 20(65.62) 30(98.43) 50(164.04) (b) Connection diagram When fabricating a cable, use the recommended wire and connector set (MR-J3CN2) for encoder cable given in this section (1), and make the cable as shown in the following connection diagram.
Page 251: Appendix 4.6 Sscnet Cables (Sc-J3Bus M-C) Manufactured By Mitsubishi Electric
APPENDICES APPENDIX 4.6 SSCNET cables (SC-J3BUS M-C) manufactured by Mitsubishi Electric System & Service POINTS • For the details of the SSCNET cables, contact your local sales office. • Do not look directly at the light generated from CN1A/CN1B connector of servo amplifier or the end of SSCNET cable.
Page 252: Appendix 5 Exterior Dimensions
APPENDICES APPENDIX 5 Exterior Dimensions APPENDIX 5.1 Motion controller (1) Q170MSCPU/Q170MSCPU-S1 [Unit: mm (inch)] 38(1.50) 7(0.28) MITSUBISHI Q170MSCPU MITSUBISHI Q170MSCPU MODE MODE ERR. ERR. USER USER BAT. BAT. PULL PULL BOOT BOOT POWER POWER RESET STOP RESET STOP RS-232 RS-232 EMI.COM...
Page 253: Appendix 5.2 Servo External Signals Interface Module (Q172Dlx)
APPENDICES APPENDIX 5.2 Servo external signals interface module (Q172DLX) [Unit: mm (inch)] Q172DLX CTRL Q172DLX 23(0.91) 90(3.54) 45(1.77) 27.4(1.08) APPENDIX 5.3 Manual pulse generator interface module (Q173DPX) [Unit: mm (inch)] Q173DPX PLS.A PLS.B TREN PULSER Q173DPX 23(0.91) 90(3.54) 45(1.77) 27.4(1.08) APP - 40...
Page 254: Appendix 5.4 Power Supply Module
APPENDICES APPENDIX 5.4 Power supply module (1) Q61P, Q62P, Q63P [Unit: mm (inch)] Q61P POW ER PULL MITSUBISHI 90(3.54) 55.2(2.17) (2) Q64PN [Unit: mm (inch)] Q64PN POW ER PULL MITSUBISHI 115(4.53) 55.2(2.17) APP - 41...
Page 255: Appendix 5.5 Battery Holder
APPENDICES APPENDIX 5.5 Battery holder (1) Battery holder (For Q6BAT) [Unit: mm (inch)] 47.2(1.86) 2.2(0.09) 24.4(0.96) PUSH (2) Battery holder (For Q7BAT) [Unit: mm (inch)] 64.5(2.54) PUSH 2(0.08) 27.7(1.09) APP - 42...
Page 256: Appendix 5.6 Connector
APPENDICES APPENDIX 5.6 Connector (1) SSCNET cable connector [Unit: mm (inch)] 4.8(0.19) (0.07) (0.09) 17.6 0.2 (0.69 0.01) (0.31) 20.9 0.2 (0.82 0.01) (2) Forced stop input connector (PHOENIX CONTACT make) Type Connector: FK-MCP1.5/3/ST-3.81 [Unit: mm (inch)] 12.22 (0.48) (3) 24VDC power supply connector (PHOENIX CONTACT make) Type Connector: FKC2.5/3-ST-5.08 [Unit: mm (inch)] 15.86(0.62)
Page 257 APPENDICES (4) Internal I/F connector (3M Japan Limited make) Type Type Connector Connector case Soldering type (Quick release metal latch type) 10126-3000PE 10326-52F0-008 (LD77MHIOCON) Soldering type (Threaded type) 10126-3000PE 10326-52A0-008 Pressure-displacement type 10126-6000EL 10326-3210-000 (Note-1) (Quick release metal latch type) (Note-1): The following specialized tools are required.
Page 258 APPENDICES (b) Soldering type (Threaded type) [Unit: mm (inch)] 12.0 (0.47) 14.0 25.8(1.02) (0.55) 37.2(1.46) 12.7 (0.50) (c) Pressure-displacement type (Quick release metal latch type) [Unit: mm (inch)] 7.1(0.28) 24.8(0.98) 33.5(1.32) 11.5 (0.45) APP - 45...
Page 259 APPENDICES (5) Cable connector for serial absolute synchronous encoder (3M Japan Limited make (SCR type)) Type Plug: 36210-0100PL Shell: 36310-3200-008 [Unit: mm (inch)] (0.39) 22.4(0.88) 22.7(0.89) (0.43) APP - 46...
Page 260: Appendix 5.7 Manual Pulse Generator (Mr-Hdp01)
APPENDICES APPENDIX 5.7 Manual pulse generator (MR-HDP01) [Unit: mm (inch)] 3.6(0.14) 27.0 3 Studs (M4 10) (1.06) PCD72, equi-spaced +5to M3 6 8.89 Packing t=2.0 3- 4.8(0.19) (0.63) (0.79) (0.35) (0.30) equi-spaced Space The figure of a processing disc APPENDIX 5.8 Serial absolute synchronous encoder (Q171ENC-W8) [Unit: mm (inch)] 85(3.35) 58.5(2.30)
Page 261 APPENDICES MEMO APP - 48...
Page 262 WARRANTY Please confirm the following product warranty details before using this product. 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.
Page 263 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.
Page 264 IB(NA)-0300212-B(1811)MEE MODEL: Q170MS-U-E MODEL CODE: 1XB962 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 When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission.

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Q170mscpu-s1

Mitsubishi Electric Q170MSCPU User Manual

1 Overview

2 System Configuration

3 Design

4 Installation and Wiring

5 Start-Up Procedures

6 Inspection and Maintenance

7 Emc Directives

APPENDIX 1 Differences between Q170MSCPU and Q173DSCPU/Q172DSCPU

APPENDIX 1.1 Differences between Parameters

APPENDIX 1.2 Differences between Peripheral Device Interfaces

APPENDIX 1.3 Differences between CPU Display and I/O Assignment

APPENDIX 1.4 Differences between I/O Signals

APPENDIX 2 Creation of Project

APPENDIX 2.1 Sample Data

APPENDIX 3 Processing Times

APPENDIX 4 Cables

APPENDIX 4.1 SSCNET Cables

APPENDIX 4.2 Forced Stop Input Cable

APPENDIX 4.3 24VDC Power Supply Cable

APPENDIX 4.4 Internal I/F Connector Cable

APPENDIX 4.5 Serial Absolute Synchronous Encoder Cable

APPENDIX 4.6 SSCNET Cables (SC-J3BUS M-C) Manufactured by Mitsubishi Electric

APPENDIX 5 Exterior Dimensions

APPENDIX 5.1 Motion Controller

APPENDIX 5.2 Servo External Signals Interface Module (Q172DLX)

APPENDIX 5.3 Manual Pulse Generator Interface Module (Q173DPX)

APPENDIX 5.4 Power Supply Module

APPENDIX 5.5 Battery Holder

APPENDIX 5.6 Connector

APPENDIX 5.7 Manual Pulse Generator (MR-HDP01)

APPENDIX 5.8 Serial Absolute Synchronous Encoder (Q171ENC-W8)

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