Mitsubishi MOTION CONTROLLERS Q173DCPU Manuel d'instructions

A - 9 (8) Maintenance, inspection and part replacement CAUTION Perform the daily and periodic inspections according to the instruction manual. Pe

2 - 71 2 SYSTEM CONFIGURATION 2.5.6 Q173DPX Manual pulse generator interface module Q173DPX receives signals required for Manual pulse and Incre

2 - 72 2 SYSTEM CONFIGURATION No.Name Application 6)Dip switches (Note-1) 123456ON (Factory default in OFF position) Dip switch 1Detection set

2 - 73 2 SYSTEM CONFIGURATION (2) Performance specifications (a) Module specifications Item Specifications Number of I/O occupying points

2 - 74 2 SYSTEM CONFIGURATION (3) Connection of manual pulse generator Manual pulse generators of the voltage-output/open-collector type and d

2 - 75 2 SYSTEM CONFIGURATION (5) Connection of manual pulse generator interface module (a) The pin layout of the PULSER connector Use the P

2 - 76 2 SYSTEM CONFIGURATION (b) Interface between PULSER connector and manual pulse generator (Differential-output type)/Incremental synchro

2 - 77 2 SYSTEM CONFIGURATION (c) Interface between PULSER connector and manual pulse generator (Voltage-output/Open-collector type)/ Incremen

2 - 78 2 SYSTEM CONFIGURATION (6) Connection examples of manual pulse generator : Twist pair cableFGSGHA PP5SVSignal nameShieldBA0V5VAB: Tw

2 - 79 2 SYSTEM CONFIGURATION 2.5.7 Q173DSXY Safety signal module Q173DSXY is used to input/output the safety signal. (1) Q173DSXY name of pa

2 - 80 2 SYSTEM CONFIGURATION No.Name Application 9) RIO2 connector RIO communication for Motion CPU (For connection to Q173DSXY installed on th

A - 10 (9) About processing of waste When you discard Motion controller, servo amplifier, a battery (primary battery) and other option articles, pl

2 - 81 2 SYSTEM CONFIGURATION (b) Input/output Item Specifications Number of input points 32 points 2 lines (PLC CPU control 32 points + Mot

2 - 82 2 SYSTEM CONFIGURATION (c) The pin layout of the Motion IO connector/PLC IO connector Use the Motion IO connector and PLC IO connector

2 - 83 2 SYSTEM CONFIGURATION (3) Interface between Motion IO connector/PLC IO connector and servo external signal Signal name24VDC(COM1)24VD

2 - 84 2 SYSTEM CONFIGURATION POINTS (1) Wire the I/O power supply input (24VDC, 0V common) supplied to Q173DSXY to two pins of each conversi

2 - 85 2 SYSTEM CONFIGURATION (4) Wiring example for the safety signal module (a) Wiring example for door signal to safety signal module and

2 - 86 2 SYSTEM CONFIGURATION (b) Wiring example for door signal to safety signal module and STO terminal. Wiring example to wire the followin

2 - 87 2 SYSTEM CONFIGURATION 2) MR-J3-BS use Door1 close/openconfirmation sensorDoor2 close/openconfirmation sensor4STO1+STO1-3STO2+STO2-6CN

2 - 88 2 SYSTEM CONFIGURATION (c) Wiring example for external pulse input to safety signal module. The wiring diagram for external pulse input

2 - 89 2 SYSTEM CONFIGURATION 2.5.8 Manual pulse generator/Serial absolute synchronous encoder (1) Manual pulse generator specifications Item

2 - 90 2 SYSTEM CONFIGURATION (2) Serial absolute synchronous encoder specifications Item Specifications Model name Q171ENC-W8 (Note-1), (No

A - 11 REVISIONS The manual number is given on the bottom left of the back cover. Print Date Manual Number Revision Jan., 2008 IB(NA)-0300133-

2 - 91 2 SYSTEM CONFIGURATION 2.5.9 SSCNET cables Between the Motion CPU module and servo amplifiers, or servo amplifier and servo amplifier co

2 - 92 2 SYSTEM CONFIGURATION (2) Connection between the Q173D(S)CPU and servo amplifiers Connect the SSCNET cables to the following connecto

2 - 93 2 SYSTEM CONFIGURATION (3) Connection between the Q172D(S)CPU and servo amplifiers Connect the SSCNET cables to the following connecto

2 - 94 2 SYSTEM CONFIGURATION (4) Setting of the axis No. and axis select rotary switch of servo amplifier Axis No. is used to set the axis n

2 - 95 2 SYSTEM CONFIGURATION Correspondence between dno.s and axis select rotary switches of servo amplifier dno. (Note) SSCNET (/H) line Axis

2 - 96 2 SYSTEM CONFIGURATION 2.5.10 Battery This section describes the battery specifications and handling precautions used in the Motion CPU.

2 - 97 2 SYSTEM CONFIGURATION (2) Data back-up of Motion CPU module by the battery Be sure to use the battery. • For Q173DSCPU/Q172DSCPU Set t

2 - 98 2 SYSTEM CONFIGURATION CAUTION Do not short a battery. Do not charge a battery. Do not disassemble a battery. Do not burn a battery.

2 - 99 2 SYSTEM CONFIGURATION (b) Q173DCPU(-S1)/Q172DCPU(-S1) 1) Set Q6BAT to Battery holder unit(Q170DBATC). 2) Connect the lead connecto

2 - 100 2 SYSTEM CONFIGURATION 2.5.11 Forced stop input terminal (1) Table of the forced stop input terminal specifications Item Specificatio

A - 12 Print Date Manual Number Revision Apr., 2013 IB(NA)-0300133-H [Additional model] Q03UCVCPU, Q04UCVCPU, Q06UCVCPU, Q13UCVCPU, Q26UCVCPU, Q2

3 - 1 3 3 DESIGN 3. DESIGN 3.1 System Designing Procedure System designing procedure is shown below. Refer to section 2.5.

3 - 2 3 DESIGN Layout design based on the design environment such astemperatures and vibrations in consideration of heat generatedfrom modules a

3 - 3 3 DESIGN CAUTION Do not touch the heat radiating fins of controller or servo amplifier, regenerative resistor and servomotor, etc. while

3 - 4 3 DESIGN 3.2 External Circuit Design As to the ways to design the external circuits of the Motion system, this section describes the metho

3 - 5 3 DESIGN RA4CL1L2L3UWVL11L21CN1ACN1BDICOMALMEM2/1DOCOMMR-J4-BMB(Note-4)RA4UVW(Note-3)GroundElectro-magneticbrakeURA3BL1L2L3UWVL11L21CN1ACN1

3 - 6 3 DESIGN (2) System design circuit example of the PLC I/O (a) System design circuit example(when not using ERR terminal of power suppl

3 - 7 3 DESIGN (b) System design circuit example(when using ERR terminal of power supply module) Output module Output module Interlock circui

3 - 8 3 DESIGN 3.2.1 Power supply circuit design This section describes the protective coordination and noise suppression techniques of the powe

3 - 9 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 o

3 - 10 3 DESIGN (b) The forced stop of all servo amplifiers is possible in a lump by using the forced stop input of input modules. After forc

A - 13 INTRODUCTION Thank you for choosing the Mitsubishi Motion controller Q173D(S)CPU/Q172D(S)CPU. Before using the equipment, please read this m

3 - 11 3 DESIGN 3.3 Layout Design within the Control Panel 3.3.1 Mounting environment Mount the Motion controller system in the following enviro

3 - 12 3 DESIGN 3.3.2 Calculating heat generation by Motion controller The ambient temperature inside the panel storing the Motion controller mu

3 - 13 3 DESIGN (5) Average power consumption of the input section of the input module (Power consumption for simultaneous ON points) WIN = I

3 - 14 3 DESIGN (7) Example of average power consumption calculation (Q173DCPU use) (a) System configuration Q61P Q03UDCPUQ173DCPUQX40 QX40

3 - 15 3 DESIGN 3.4 Design Checklist At the worksite, copy the following table for use as a check sheet. Item Sub Item Design confirmation C

3 - 16 3 DESIGN MEMO

4 - 1 4 4 INSTALLATION AND WIRING 4. INSTALLATION AND WIRING 4.1 Module Installation 4.1.1 Instructions for handling CAUTIO

4 - 2 4 INSTALLATION AND WIRING (3) Tighten the module fixing screws and terminal block screws within the tightening torque range specified be

4 - 3 4 INSTALLATION AND WIRING (c) Place the left-hand side pear-shaped hole of the base unit onto the left-hand side screw. Panel (d) Fi

4 - 4 4 INSTALLATION AND WIRING 4.1.2 Instructions for mounting the base unit When mounting the Motion controller to an enclosure or similar, fu

A - 14 3.2.1 Power supply circuit design ...

4 - 5 4 INSTALLATION AND WIRING (2) Module mounting position Keep the clearances shown below between the top/bottom faces of the module and ot

4 - 6 4 INSTALLATION AND WIRING (4) Mounting surface Mount the base unit on a flat surface. If the mounting surface is not even, this may stra

4 - 7 4 INSTALLATION AND WIRING 4.1.3 Installation and removal of module This section describes how to install and remove a power supply module,

4 - 8 4 INSTALLATION AND WIRING POINTS (1) When installing the module, always insert the module fixing projection into the module fixing hole

4 - 9 4 INSTALLATION AND WIRING (b) Removal PushModule fixing hookENDSupport the module with bothhands and securely press the module fixing h

4 - 10 4 INSTALLATION AND WIRING 4.1.4 Instructions for mounting of the battery holder unit QD When mounting the battery holder unit (Q170DBATC)

4 - 11 4 INSTALLATION AND WIRING 4.2 Connection and Disconnection of Cable 4.2.1 SSCNET cable (1) Precautions for handling the SSCNET cable

4 - 12 4 INSTALLATION AND WIRING (4) Precautions of SSCNET cable wiring SSCNET cable is made from optical fiber. If optical fiber is added a

4 - 13 4 INSTALLATION AND WIRING (d) Twisting If SSCNET cable is twisted, it will become the same stress added condition as when local latera

4 - 14 4 INSTALLATION AND WIRING • Bundle fixing Optical cord should be given loose slack to avoid from becoming smaller than the minimum bend r

A - 15 7. EMC DIRECTIVES 7- 1 to 7-10 7.1 Requirements for Compliance with the EMC Directive...

4 - 15 4 INSTALLATION AND WIRING POINTS (1) Be sure to connect SSCNET cable with the above connector. If the connection is mistaken, between

4 - 16 4 INSTALLATION AND WIRING POINTS (9) Migrating plasticizer is used for vinyl tape. Keep the MR-J3BUS M, and MR-J3BUSM-A cables away f

4 - 17 4 INSTALLATION AND WIRING 4.2.2 Battery cable QD (1) Handling the battery cable (a) Precautions for handling the battery cable • For

4 - 18 4 INSTALLATION AND WIRING POINT (1) Forcibly removal the battery cable from the battery holder unit will damage the battery holder uni

4 - 19 4 INSTALLATION AND WIRING 4.2.3 Forced stop input cable (1) Precautions for handling the forced stop input cable • For connection or re

4 - 20 4 INSTALLATION AND WIRING 4.2.4 Internal I/F connector cable QDS (1) Precautions on use of Internal I/F connector cable When using the

4 - 21 4 INSTALLATION AND WIRING 4.3 Mounting of Battery (1) Handling the battery lead wire (a) Q173DSCPU/Q172DSCPU 1) Precautions for mou

4 - 22 4 INSTALLATION AND WIRING (b) Q173DCPU(-S1)/Q172DCPU(-S1) 1) Precautions for handling the battery lead wire • For connection or remov

4 - 23 4 INSTALLATION AND WIRING 4.4 Mounting of Serial Absolute Synchronous Encoder This section describes precautions for handling the serial

4 - 24 4 INSTALLATION AND WIRING 4.5 Wiring 4.5.1 Instructions for wiring DANGER Completely turn off the externally supplied power used in the

A - 16 About Manuals The following manuals are also related to this product. In necessary, order them by quoting the details in the tables below.

4 - 25 4 INSTALLATION AND WIRING (b) Do not bundle the 100VAC and 24VDC wires with, or run them close to, the main circuit (high voltage, larg

4 - 26 4 INSTALLATION AND WIRING (e) Where wiring runs through piping, ground the piping without fail. (f) Run the 24VDC input line away fr

4 - 27 4 INSTALLATION AND WIRING 4.5.2 Connecting to the power supply module The following diagram shows the wiring example of power lines, grou

4 - 28 4 INSTALLATION AND WIRING POINT (1) Use the thickest possible (up to 2mm2) wires for the 100/200VAC and 24VDC power cables. Be sure to

5 - 1 5 5 START-UP PROCEDURES 5. START-UP PROCEDURES 5.1 Check Items Before Start-up Table 5.1 Check items before start-up

5 - 2 5 START-UP PROCEDURES Part name Confirmation Items Check Reference Q172DLX Servo external signals interface module/ Q172DEX synchronou

5 - 3 5 START-UP PROCEDURES 5.2 Start-up Adjustment Procedure Parameter settingSet the SSCNET /H head module parameter using MT Developer2.(S

5 - 4 5 START-UP PROCEDURES PLC CPU[Parameter setting]Parameter settingSet the PLC parameter using GX Works2/GX Developer.Set parameter values t

5 - 5 5 START-UP PROCEDURES Check the wiring of I/O module of the intelligent function modules that are connected to the SSCNET /H head module

5 - 6 5 START-UP PROCEDURES Check the sequence operation by executingthe sequence program using an actual external input.Set the RUN/STOP/RESET

A - 17 (2) PLC Manual Name Manual Number (Model Code) QCPU User's Manual (Hardware Design, Maintenance and Inspection) This manual explains t

5 - 7 5 START-UP PROCEDURES 5.3 Operating System Software Installation Procedure The operating system software must be installed to the Motion C

5 - 8 5 START-UP PROCEDURES POINTS (1) When the software security key function is used in Q173DSCPU/Q172DSCPU, if the software security key o

5 - 9 5 START-UP PROCEDURES 5.4 Trial Operation and Adjustment Checklist At the worksite, copy the following table for use as a check sheet. W

5 - 10 5 START-UP PROCEDURES MEMO

6 - 1 6 6 INSPECTION AND MAINTENANCE 6. INSPECTION AND MAINTENANCE DANGER Do not touch the terminals while power is on. Do

6 - 2 6 INSPECTION AND MAINTENANCE 6.1 Maintenance Works 6.1.1 Instruction of inspection works In order that can use the Motion controller in sa

6 - 3 6 INSPECTION AND MAINTENANCE CAUTION Do not short circuit, charge, overheat, incinerate or disassemble the batteries. The electrolytic c

6 - 4 6 INSPECTION AND MAINTENANCE 6.2 Daily Inspection The items that must be inspected daily are shown below. Table 6.1 Daily Inspection Item

6 - 5 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

6 - 6 6 INSPECTION AND MAINTENANCE 6.4 Life The following parts must be changed periodically as listed below. However, if any part is found faul

A - 18 (3) Servo amplifier Manual Name Manual Number (Model Code) SSCNET /H interface MR-J4- B Servo amplifier Instruction Manual This manual expl

6 - 7 6 INSPECTION AND MAINTENANCE 6.5 Battery The battery installed in the Motion CPU module is used for data retention during the power failur

6 - 8 6 INSPECTION AND MAINTENANCE 6.5.1 Battery life The battery life is shown below. Module type Battery type Battery life (Total power fail

6 - 9 6 INSPECTION AND MAINTENANCE POINT (1) Do not use the battery exceeding its guaranteed life. (2) When the battery hours (total power

6 - 10 6 INSPECTION AND MAINTENANCE 6.5.2 Battery replacement procedure (1) Battery replacement procedure of the Motion CPU module When the ba

6 - 11 6 INSPECTION AND MAINTENANCE (a) Q173DSCPU/Q172DSCPU battery replacement procedure LITHICN2Remove the internal I/F connectorcable from M

6 - 12 6 INSPECTION AND MAINTENANCE (b) Q173DCPU(-S1)/Q172DCPU(-S1) battery replacement procedure BATTERYCPUQ170DBATCMITSUBISHILITHIUM BATTERY&

6 - 13 6 INSPECTION AND MAINTENANCE (2) Q172DEX module battery replacement procedure When the battery has been exhausted, replace the battery

6 - 14 6 INSPECTION AND MAINTENANCE 6.5.3 Resuming operation after storing the Motion controller When the operation is to be resumed after being

6 - 15 6 INSPECTION AND MAINTENANCE 6.6 Troubleshooting This section describes the various types of trouble that occur when the system is operat

6 - 16 6 INSPECTION AND MAINTENANCE 6.6.2 Troubleshooting of Motion CPU module This section describes the contents of troubles for the error co

A - 1 SAFETY PRECAUTIONS (Please read these instructions before using this equipment.) Before using this product, please read this manual and t

1 - 1 1 1 OVERVIEW 1. OVERVIEW 1.1 Overview This User's Manual describes the hardware specifications and handling meth

6 - 17 6 INSPECTION AND MAINTENANCE (a) Flowchart for when "POWER" LED turns off The following shows the flowchart for when "

6 - 18 6 INSPECTION AND MAINTENANCE NOA hardware faultCheck operation in the order starting with the minimum system.If the module will not work,

6 - 19 6 INSPECTION AND MAINTENANCE (b) Flowchart for when " ." does not flash in the first digit of 7-segment LED ENDYESYESNONO

6 - 20 6 INSPECTION AND MAINTENANCE (c) Flowchart for when "A00" displays on 7-segment LED "A00" displays when the operat

6 - 21 6 INSPECTION AND MAINTENANCE (d) Flowchart for when "AL" "L01" displays on 7-segment LED ""AL" (f

6 - 22 6 INSPECTION AND MAINTENANCE (e) Flowchart for when "AL" "A1" " " displays on 7-segment LED. "&

6 - 23 6 INSPECTION AND MAINTENANCE (f) Flowchart for when "BT " displays on 7-segment LED "BT1" or "BT2" displ

6 - 24 6 INSPECTION AND MAINTENANCE (g) Flowchart for when " . . ." displays on 7-segment LED " . . ." displays at the WD

6 - 25 6 INSPECTION AND MAINTENANCE (h) Flowchart for when servo amplifier does not start The following shows the flowchart for when servo am

6 - 26 6 INSPECTION AND MAINTENANCE (i) Flowchart for when "AL" "S01" displays on 7-segment LED ""AL" (f

1 - 2 1 OVERVIEW Generic term/Abbreviation Description SSCNET /H(Note-3) High speed synchronous network between Motion controller and servo amp

6 - 27 6 INSPECTION AND MAINTENANCE 6.6.4 Internal input circuit troubleshooting QDS This section describes possible problems with internal inpu

6 - 28 6 INSPECTION AND MAINTENANCE (b) Calculate the connecting resistor value R as indicated below. To satisfy the 0.9 [mA] OFF current of t

7 - 1 7 7 EMC DIRECTIVES 7. EMC DIRECTIVES Compliance to the EMC Directive, which is one of the EU Directives, has been a l

7 - 2 7 EMC DIRECTIVES 7.1.1 Standards relevant to the EMC directive The standards relevant to the EMC Directive are listed in table below. Cer

7 - 3 7 EMC DIRECTIVES 7.1.2 Installation instructions for EMC directive (1) Installation Motion controller is an open type device and must be

7 - 4 7 EMC DIRECTIVES (3) Cables The cables extracted from the control panel contain a high frequency noise component. On the outside of the

7 - 5 7 EMC DIRECTIVES (4) Precautions relevant to the electrostatic discharge There is a weak part to electrostatic discharge in the surface

7 - 6 7 EMC DIRECTIVES 7.1.3 Parts of measure against noise (1) Ferrite core A ferrite core has the effect of reducing noise in the 30MHz to 1

7 - 7 7 EMC DIRECTIVES (3) Cable clamp It is also possible to ground the exposed shielded part of the cable to the panel with the cable clamp.

7 - 8 7 EMC DIRECTIVES 7.1.4 Example of measure against noise SSCNET cableControl panelAC powersupplyMCCB1)Noise ferrite(FR-BLF)2)3)4)Encoder

1 - 3 1 OVERVIEW MEMO

7 - 9 7 EMC DIRECTIVES (2) In wiring inside the panel, the power line connected to the power or servo amplifier and the communication cable su

7 - 10 7 EMC DIRECTIVES MEMO

App - 1 App. APPENDICES APPENDICES APPENDIX 1 Cables In this cable connection diagram, maker names of connectors are omitted.

App - 2 APPENDICES POINTS (1) If the end face of cord tip for the SSCNET cable is dirty, optical transmission is interrupted and it may cause

App - 3 APPENDICES • MR-J3BUS03M to MR-J3BUS3M Refer to the table of this section (1) for cable length (L). [Unit: mm(inch)] L(Note)100(3.94)100

App - 4 APPENDICES APPENDIX 1.2 Serial absolute synchronous encoder cable Generally use the serial absolute synchronous encoder cables available a

App - 5 APPENDICES (2) Q170ENCCBL M (a) Model explanation 2Cable length [m(ft.)]5Symbol1020302(6.56)5(16.40)10(32.81)20(65.62)30(98.43)50 50(16

App - 6 APPENDICES (3) Q170ENCCBL M-A (a) Model explanation 2Cable length [m(ft.)]5Symbol1020302(6.56)5(16.40)10(32.81)20(65.62)30(98.43)50 50(

App - 7 APPENDICES APPENDIX 1.3 Battery cable Generally use the battery cable available as our products. If the required length is not found in ou

App - 8 APPENDICES APPENDIX 1.4 Forced stop input cable Generally use the forced stop input cable available as our products. If the required lengt

1 - 4 1 OVERVIEW 1.2 Differences between Q173D(S)CPU/Q172D(S)CPU and Q173HCPU/Q172HCPU Item Q173DSCPU Q172DSCPU Q173DCPU(-S1) Q172DCPU(-S1) Ope

App - 9 APPENDICES APPENDIX 1.5 Internal I/F connector cable Fabricate the internal I/F connector cable on the customer side. (1) Differential-o

App - 10 APPENDICES (2) Voltage-output/Open-collector type (a) Connection diagram Make the cable within 10m(32.81ft.). Attach a ferrite core i

App - 11 APPENDICES CAUTION When fabricating the internal I/F connector cable, do not make incorrect connection. Doing so may cause an operation

App - 12 APPENDICES APPENDIX 1.6 RIO cable Generally use the RIO cable available as our products. If the required length is not found in our produ

App - 13 APPENDICES APPENDIX 1.7 SSCNET cables (SC-J3BUS M-C) manufactured by Mitsubishi Electric System & Service POINTS • For the details

App - 14 APPENDICES APPENDIX 2 Exterior Dimensions APPENDIX 2.1 Motion CPU module (1) Q172DSCPU [Unit: mm (inch)] 08C41235679ABDEF08C41235679ABD

App - 15 APPENDICES (3) Q172DCPU [Unit: mm (inch)] STOP RUN08C41235679ABDEF08C41235679ABDEFCN11CAUTION2SWBATFRONTEMIQ172DCPU119.3(4.70)4(0.16)2

App - 16 APPENDICES (5) Q172DCPU-S1 [Unit: mm (inch)] STOP RUN08C41235679ABDEF08C41235679ABDEFCN11CAUTION2SWRIOQ172DCPU-S1EMIPERIPHERAL I/FBAT

App - 17 APPENDICES APPENDIX 2.2 Servo external signals interface module (Q172DLX) [Unit: mm (inch)] Q172DLXQ172DLXCTRL90(3.54)98(3.86)45(1.77)4(

App - 18 APPENDICES APPENDIX 2.4 Manual pulse generator interface module (Q173DPX) [Unit: mm (inch)] Q173DPXQ173DPX123PLS.A123PLS.B123TRENPULSER6

1 - 5 1 OVERVIEW Q173HCPU Q173HCPU 0.44ms/ 1 to 3 axes 0.88ms/ 4 to 10 axes 1.77ms/11 to 20 axes 3.55ms/21 to 32 axes 0.44ms/ 1 to 3 a

App - 19 APPENDICES APPENDIX 2.6 Power supply module [Unit: mm (inch)] (1) Q61P-A1, Q61P-A2, Q61P, Q62P, Q63P Q61PMITSUBISHIPULLPOWER55.2(2.17

App - 20 APPENDICES (3) Q64PN [Unit: mm (inch)] 55.2(2.17)115(4.53)98(3.86)Q64PN POWERMITSUBISHIPULL

App - 21 APPENDICES APPENDIX 2.7 Battery holder unit (Q170DBATC) [Unit: mm (inch)] BATTERYCPUQ170DBATC45(1.77)60(2.36)40(1.57)80(3.15)18.4(0.72)1

App - 22 APPENDICES APPENDIX 2.8 Connector (1) Cable connector for serial absolute synchronous encoder (Sumitomo 3M Limited make (MDR type)) Nu

App - 23 APPENDICES (c) Insulation displacement type (Quick release metal latch type) Type Connector : 10120-6000EL Connector case : 10320-3210

App - 24 APPENDICES (3) SSCNET cable connector [Unit: mm (inch)] 20.9 0.2(0.82 0.01)17.6 0.2(0.69 0.01)8(0.31)2.3(0.09)1.7(0.07)4.8(0.1

App - 25 APPENDICES (5) Forced stop input connector (Molex Incorporated make) Type Connector : 5557-02R-210 Terminal : 5556PBTL [Unit: mm (inch)

App - 26 APPENDICES (7) RIO connector (Molex Incorporated make) Type Connector: 55103-300 Terminal: 50351-8100 [Unit: mm (inch)] 5.89.7(0.38) 7.

App - 27 APPENDICES APPENDIX 2.9 Manual pulse generator (MR-HDP01) [Unit: mm (inch)] 72(2.83)0.2+2-0 621060207030809012V 0V A B+5to05040SpaceT

App - 28 APPENDICES APPENDIX 2.10 Serial absolute synchronous encoder (1) Q171ENC-W8 [Unit: mm (inch)] 7(0.28)4- 5.5(0.22)42(1.65)85(3.35)37.5

1 - 6 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 o

WARRANTY Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range We will

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

1 - 7 1 OVERVIEW Programming software version Section of reference MELSOFT MT Works2 (MT Developer2) MR Configurator2 MR Configurator

1 - 8 1 OVERVIEW Table 1.1 Restrictions by the Software's Version (continued) Function Operating system software version (Note-1), (Note-2)

1 - 9 1 OVERVIEW Programming software version Section of reference MELSOFT MT Works2 (MT Developer2) MR Configurator2 MR Configurator Q173D

1 - 10 1 OVERVIEW 1.4 Programming Software Version The programming software versions that support Motion CPU are shown below. Motion CPU MELSOF

A - 2 For Safe Operations 1. Prevention of electric shocks DANGER Never open the front case or terminal covers while the power is ON or the unit is

2 - 1 2 2 SYSTEM CONFIGURATION 2. SYSTEM CONFIGURATION This section describes the Motion controller system configuration, p

2 - 2 2 SYSTEM CONFIGURATION (b) Q173DCPU(-S1)/Q172DCPU(-S1) (Note-1): Be sure to install the Battery (Q6BAT) to the Battery holder unit (Q17

2 - 3 2 SYSTEM CONFIGURATION (2) Peripheral device configuration for the Q173D(S)CPU/ Q172D(S)CPU The following (a)(b)(c) can be used. Person

2 - 4 2 SYSTEM CONFIGURATION 2.1.1 Q173DSCPU/Q172DSCPU System overall configuration LJ72MS15L61PI/O module/Intelligent functionmoduleMEd16MEd01M

2 - 5 2 SYSTEM CONFIGURATION CAUTION Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operatio

2 - 6 2 SYSTEM CONFIGURATION 2.1.2 Q173DCPU(-S1)/Q172DCPU(-S1) System overall configuration d01MEQI60Motion CPU control module PLC CPU/ Motion C

2 - 7 2 SYSTEM CONFIGURATION 2.1.3 Function explanation of the Motion CPU modules (1) The following servo amplifiers can be controlled in Moti

2 - 8 2 SYSTEM CONFIGURATION 2.1.4 Restrictions on Motion systems (1) Combination of Multiple CPU system (a) Motion CPU module cannot be use

2 - 9 2 SYSTEM CONFIGURATION (2) Motion modules (a) Installation position of Q172DEX(Note-1) and Q173DSXY is only the main base unit. It ca

2 - 10 2 SYSTEM CONFIGURATION (3) Other restrictions (a) Motion CPU module cannot be set as the control CPU of intelligent function module (

A - 3 3. For injury prevention CAUTION Do not apply a voltage other than that specified in the instruction manual on any terminal. Doing so may lea

2 - 11 2 SYSTEM CONFIGURATION (j) MR-J4W3-B (Software version "A2" or before) and MR-J3W- B does not support operation cycle 0.2 [ms

2 - 12 2 SYSTEM CONFIGURATION 2.2 Checking Serial Number and Operating System Software Version Checking for the serial number of Motion CPU modu

2 - 13 2 SYSTEM CONFIGURATION (2) Motion CPU module (Q173DCPU(-S1)/Q172DCPU(-S1)) (a) Rating plate The rating plate is situated on the side

2 - 14 2 SYSTEM CONFIGURATION (3) Motion module (Q172DLX/Q172DEX/Q173DPX/Q173DSXY) (a) Rating plate The rating plate is situated on the side

2 - 15 2 SYSTEM CONFIGURATION 2.2.2 Checking operating system software version Ver.! The operating system software version can be checked on the

2 - 16 2 SYSTEM CONFIGURATION REMARK (1) "Serial number of Motion CPU module" and "Operating system software version" on t

2 - 17 2 SYSTEM CONFIGURATION 2.3 System Configuration Equipment (1) Motion controller related module Part name Model name (Note-1) Descripti

2 - 18 2 SYSTEM CONFIGURATION Motion controller related module (continued) Part name Model name (Note-1) Description Current consumption5VDC[A]

2 - 19 2 SYSTEM CONFIGURATION Motion controller related module (continued) Part name Model name (Note-1) Description Current consumption5VDC[A]

2 - 20 2 SYSTEM CONFIGURATION Motion controller related module (continued) Part name Model name (Note-1) Description Current consumption5VDC[A]

A - 4 CAUTION The dynamic brakes must be used only on errors that cause the forced stop, emergency stop, or servo OFF. These brakes must not be use

2 - 21 2 SYSTEM CONFIGURATION (2) PLC module which can be controlled by Motion CPU Part name Model name Current consumption 5VDC[A] (Note-1)

2 - 22 2 SYSTEM CONFIGURATION PLC module which can be controlled by Motion CPU (continued) Part name Model name Current consumption 5VDC[A](No

2 - 23 2 SYSTEM CONFIGURATION (4) Operating system software Application Software package Q173DSCPU (Note-1)Q172DSCPU (Note-1)Q173DCPU(-S1) Q1

2 - 24 2 SYSTEM CONFIGURATION 2.4 General Specifications General specifications of the Motion controller are shown below. Item Specification Op

2 - 25 2 SYSTEM CONFIGURATION 2.5 Specifications of Equipment and Settings 2.5.1 Name of parts for CPU module This section explains the names an

2 - 26 2 SYSTEM CONFIGURATION (b) Q173DCPU(-S1)/Q172DCPU(-S1) STOP RUN08C41235679ABDEF08C41235679ABDEFCN11CAUTION2SWRIOQ172DCPU-S1EMIPERIPHER

2 - 27 2 SYSTEM CONFIGURATION No. Name Application 1) 7-segment LED Indicates the operating status and error information. 2) Rotary function

2 - 28 2 SYSTEM CONFIGURATION No. Name Application 18) Battery holder Holder to support the battery (Q6BAT). 19) Battery cover Cover for ba

2 - 29 2 SYSTEM CONFIGURATION Item 7-segment LED Remark Battery error Early stage warning (2.7V or less) Steady "BT1" display Displa

2 - 30 2 SYSTEM CONFIGURATION (3) Rotary switch assignment (a) Rotary function select 1 switch (SW1) Rotary switch Setting (Note) Mode Desc

A - 5 CAUTION Set the sequence function program capacity setting, device capacity, latch validity range, I/O assignment setting, and validity of co

2 - 31 2 SYSTEM CONFIGURATION (4) Operation mode (a) Rotary switch setting and operation mode Rotary switch setting (Note-1) Operation mode

2 - 32 2 SYSTEM CONFIGURATION POINTS (1) Be sure to turn OFF the Multiple CPU system's power supply before the rotary switch setting cha

2 - 33 2 SYSTEM CONFIGURATION (5) Basic specifications of Q173D(S)CPU/Q172D(S)CPU (a) Module specifications Item Q173DSCPU Q172DSCPU Q173

2 - 34 2 SYSTEM CONFIGURATION Motion control specifications (continued) Item Q173DSCPU Q172DSCPU Q173DCPU(-S1) Q172DCPU(-S1) Manual pulse gener

2 - 35 2 SYSTEM CONFIGURATION Motion control specifications (continued) Item Q173DSCPU Q172DSCPU Q173DCPU(-S1) Q172DCPU(-S1) SSCNET communicati

2 - 36 2 SYSTEM CONFIGURATION (b) Motion SFC performance specifications Item Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1)Motion SFC progra

2 - 37 2 SYSTEM CONFIGURATION (7) SV43 Motion control specifications/performance specifications (a) Motion control specifications Item Q173

2 - 38 2 SYSTEM CONFIGURATION (b) Motion program performance specifications Item Q173DCPU(-S1)/Q172DCPU(-S1) Program capacity Total of progra

2 - 39 2 SYSTEM CONFIGURATION (9) Internal I/F connector QDS (a) The pin layout of the internal I/F connector Use the internal I/F connector

2 - 40 2 SYSTEM CONFIGURATION (b) Input signal/Mark detection 1) Specifications of input signal/mark detection input signal Item Specificat

A - 6 CAUTION Always install the servomotor with reduction gears in the designated direction. Failing to do so may lead to oil leaks. Store and u

2 - 41 2 SYSTEM CONFIGURATION (c) Manual pulse generator/Incremental synchronous encoder input 1) Specifications of manual pulse generator/i

2 - 42 2 SYSTEM CONFIGURATION 2) Interface between manual pulse generator (differential-output type)/ incremental synchronous encoder (Note-1

2 - 43 2 SYSTEM CONFIGURATION 4) Connection examples of manual pulse generator/incremental synchronous encoder (Note-1): The 5V(P5)DC power s

2 - 44 2 SYSTEM CONFIGURATION (e) Axis No. of manual pulse generator/synchronous encoder The axis No. of synchronous encoder built-in interfac

2 - 45 2 SYSTEM CONFIGURATION 2.5.2 Power supply module (1) Power supply module specifications Power supply modules specifications (Q61P-A1,

2 - 46 2 SYSTEM CONFIGURATION Power supply modules specifications (Q63P, Q64P, Q64PN) Item Q63P Q64P Q64PN Base loading position Q series pow

2 - 47 2 SYSTEM CONFIGURATION POINTS (Note-1): Overcurrent protection The overcurrent protection device shuts off the 5V, 24VDC circuit and sto

2 - 48 2 SYSTEM CONFIGURATION POINTS (Note-4): Inrush current When power is switched on again immediately (within 5 seconds) after power-off, a

2 - 49 2 SYSTEM CONFIGURATION (2) Names of Parts and Setting This section describes the names of the parts of each power module. • Q61P-A1 (

2 - 50 2 SYSTEM CONFIGURATION No. Name Application 1) POWER LED AC input power supplyON (green): Normal (5VDC output, momentary power failure w

A - 7 (4) Wiring CAUTION Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal screws for tightness after

2 - 51 2 SYSTEM CONFIGURATION POINTS (1) The Q61P-A1 is dedicated for inputting a voltage of 100VAC. Do not input a voltage of 200VAC into

2 - 52 2 SYSTEM CONFIGURATION (3) Selection of the power supply module The power supply module is selected according to the total of current c

2 - 53 2 SYSTEM CONFIGURATION 2.5.3. Base unit and extension cable This section describes the specifications of the extension cables for the bas

2 - 54 2 SYSTEM CONFIGURATION (2) Extension cable specifications The list below describes the specifications of the extension cables which can

2 - 55 2 SYSTEM CONFIGURATION (4) I/O allocations It is possible to allocate unique I/O No.s for each Motion CPU independently of the PLC’s I/

2 - 56 2 SYSTEM CONFIGURATION 2.5.4 Q172DLX Servo external signals interface module Q172DLX receives external signals (servo external signals) r

2 - 57 2 SYSTEM CONFIGURATION (2) Performance specifications (a) Module specifications Item Specifications Number of I/O occupying points

2 - 58 2 SYSTEM CONFIGURATION (3) Connection of servo external signals interface module (a) Servo external signals There are the following s

2 - 59 2 SYSTEM CONFIGURATION (b) The pin layout of the CTRL connector Use the CTRL connector on the front of the Q172DLX module to connect t

2 - 60 2 SYSTEM CONFIGURATION (4) Interface between CTRL connector and servo external signal Stop signal inputRLSFLSSTOPDOG/CHANGEB1 B2Suppl

A - 8 (6) Usage methods CAUTION Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the Motion controller, servo amp

2 - 61 2 SYSTEM CONFIGURATION 2.5.5 Q172DEX Synchronous encoder interface module Q172DEX receive external signals required for serial absolute s

2 - 62 2 SYSTEM CONFIGURATION POINT (1) Input indicator LED of the serial absolute synchronous encoder signal turns ON at the normal connecti

2 - 63 2 SYSTEM CONFIGURATION (c) Serial absolute synchronous encoder input Item Specifications Applicable types Q171ENC-W8 Q170ENC Applica

2 - 64 2 SYSTEM CONFIGURATION (3) Select to number of the synchronous encoder modules Synchronous encoders are available in voltage-output typ

2 - 65 2 SYSTEM CONFIGURATION (4) Connection of synchronous encoder interface module. (a) Connection with serial absolute synchronous encode

2 - 66 2 SYSTEM CONFIGURATION (5) Interface between SY.ENC connector and external equipment Transmission method:serial communicationsPosition

2 - 67 2 SYSTEM CONFIGURATION (6) Details of encoder cable connections (a) When not using tracking enable signal (Note-1) LG 11P5 20LG 12BA

2 - 68 2 SYSTEM CONFIGURATION (7) Connection of the battery This section describes the battery specifications, handling precautions and instal

2 - 69 2 SYSTEM CONFIGURATION (b) Battery replacement For Battery replacement procedure, refer to section 6.5.2. A6BAT/MR-BATBattery connecto

2 - 70 2 SYSTEM CONFIGURATION CAUTION Do not short a battery. Do not charge a battery. Do not disassemble a battery. Do not burn a battery.