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APP - 42

APPENDICES

(3) Processing time by the combination F and G (program described

in F/G is NOP)

F alone

G alone

F+G

GSUB

CLR

JMP/coupling

F

G

F

G

SUB

F

END

SUB

(Note)

P

P

F

G

SUB

SUB

(Note)

CLR

P

P

Processing time [µs]
Q170MCPU

14.0 13.5 15.5 22.0 14.5 4.5

(Note): Varies greatly with the started or cleared program.

Parallel branch (2 Pcs.)

Parallel branch (5 Pcs.)

F

G

F

G

F

G

F

G

F

G

F

G

F

G

At branch

At coupling

At branch

At coupling

Processing time [µs]
Q170MCPU

23.0 18.5

49.0

32.5

Selective branch (2 Pcs.)

Selective branch (5 Pcs.)

F

G

F

G

F

G

F

G

F

G

F

G

F

G

Processing time [µs]
Q170MCPU

48.0 55.0

POINT

Long processing time may cause a Motion CPU WDT error or servo fault.
Especially for the Motion SFC programs run by event/NMI tasks, take care so that
the processing time will not be too long (the processing time will not exceed the
operation cycle).

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Summary of Contents for Q170MCPU

Page 1: ......

Page 2: ...afety precautions In this manual the safety instructions are ranked as DANGER and CAUTION DANGER Indicates that incorrect handling may cause hazardous conditions resulting in death or severe injury CAUTION Indicates that incorrect handling may cause hazardous conditions resulting in medium or slight personal injury or physical damage Depending on circumstances procedures indicated by CAUTION may a...

Page 3: ...servomotor Failing to do so may lead to electric shocks or damage Never operate the switches with wet hands as this may lead to electric shocks Do not damage apply excessive stress place heavy things on or sandwich the cables as this may lead to electric shocks Do not touch the Motion controller servo amplifier or servomotor terminal blocks while the power is ON as this may lead to electric shocks...

Page 4: ...ied in the instruction manual for the servo amplifier etc always install the electromagnetic contactor Install the emergency stop circuit externally so that the operation can be stopped immediately and the power shut off Use the Motion controller servo amplifier servomotor and regenerative resistor with the correct combinations listed in the instruction manual Other combinations may lead to fire o...

Page 5: ...mpatible with the Motion controller servo amplifier servomotor and regenerative resistor model and the system application The protective functions may not function if the settings are incorrect The regenerative resistor model and capacity parameters must be set to values that conform to the operation mode servo amplifier and servo power supply module The protective functions may not function if th...

Page 6: ...onnected wires or cables When transporting the servomotor never hold the cables shaft or detector When transporting the Motion controller or servo amplifier never hold the front case as it may fall off When transporting installing or removing the Motion controller or servo amplifier never hold the edges Install the unit according to the instruction manual in a place where the mass can be withstood...

Page 7: ...ct sunlight No corrosive gases flammable gases oil mist or dust must exist Altitude 1000m 3280 84ft or less above sea level Vibration According to each instruction manual When coupling with the synchronous encoder or servomotor shaft end do not apply impact such as by hitting with a hammer Doing so may lead to detector damage Do not apply a load larger than the tolerable load onto the synchronous ...

Page 8: ...ol signal output of brake signals etc Incorrect installation may lead to signals not being output when trouble occurs or the protective functions not functioning Do not connect or disconnect the connection cables between each unit the encoder cable or PLC expansion cable while the power is ON RA Servo amplifier VIN 24VDC Control output signal Securely tighten the cable connector fixing screws and ...

Page 9: ...nditions Item Conditions Input power According to each instruction manual Input frequency According to each instruction manual Tolerable momentary power failure According to each instruction manual 7 Corrective actions for errors CAUTION If an error occurs in the self diagnosis of the Motion controller or servo amplifier confirm the check details according to the instruction manual and restore the...

Page 10: ...orrectly When the Motion controller or absolute value motor has been replaced carry out a home position return operation using one of the following methods otherwise position displacement could occur 1 After writing the servo data to the Motion controller using programming software switch on the power again then perform a home position return operation 2 Using the backup function of the programmin...

Page 11: ...er electric power or submarine repeating applications please contact your nearest Mitsubishi sales representative Although this product was manufactured under conditions of strict quality control you are strongly advised to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the product is likely to cause a serious accident 10 General cautions A...

Page 12: ...ual Number IB NA 0300154 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 2009 MITSUBISHI ELECTRIC CORPORATION ...

Page 13: ...troller 2 6 2 2 Checking Serial Number and Operating System Software Version 2 8 2 2 1 Checking serial number 2 8 2 2 2 Checking operating system software version 2 10 2 3 System Configuration Equipment 2 11 2 4 General Specifications 2 16 2 5 Specifications of Equipment 2 17 2 5 1 Q170MCPU Motion controller 2 17 2 5 2 Extension base unit and extension cable 2 31 2 5 3 Q172DLX Servo external signa...

Page 14: ...dure 5 3 5 3 Operating System Software Installation Procedure 5 7 5 4 Trial Operation and Adjustment Checklist 5 9 6 INSPECTION AND MAINTENANCE 6 1 to 6 30 6 1 Maintenance Works 6 2 6 1 1 Instruction of Inspection works 6 2 6 2 Daily Inspection 6 4 6 3 Periodic Inspection 6 5 6 4 Life 6 6 6 5 Battery 6 7 6 5 1 Battery life 6 8 6 5 2 Battery replacement procedure 6 9 6 5 3 Resuming operation after ...

Page 15: ...8 APPENDIX 3 Processing Times APP 32 APPENDIX 3 1 Processing time of operation control Transition instruction APP 32 APPENDIX 3 2 Processing time of Motion dedicated PLC instruction APP 43 APPENDIX 4 Cables APP 44 APPENDIX 4 1 SSCNET cables APP 44 APPENDIX 4 2 Forced stop input cable APP 47 APPENDIX 4 3 24VDC power supply cable APP 48 APPENDIX 5 Exterior Dimensions APP 49 APPENDIX 5 1 Motion contr...

Page 16: ...ists and others Optional IB 0300134 1XB928 Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual Motion SFC This manual explains the functions programming debugging error lists for Motion SFC and others Optional IB 0300135 1XB929 Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual REAL MODE This manual explains the servo parameters positioning instructions device lists erro...

Page 17: ...tion between CPU modules and communication with the I O modules or intelligent function modules Optional SH 080485ENG 13JR75 QCPU Programming Manual Common Instructions This manual explains how to use the sequence instructions basic instructions application instructions and micro computer program Optional SH 080809ENG 13JW10 QCPU Q Mode QnACPU Programming Manual PID Control Instructions This manua...

Page 18: ...ar Servo MR J3 B RJ004 Servo amplifier Instruction Manual This manual explains the I O signals parts names parameters start up procedure and others for Linear Servo MR J3 B RJ004 Servo amplifier Optional SH 030054 1CW943 SSCNET Compatible Fully Closed Loop Control MR J3 B RJ006 Servo amplifier Instruction Manual This manual explains the I O signals parts names parameters start up procedure and oth...

Page 19: ...A 18 MEMO ...

Page 20: ...e General name for SW DNC SV Q SV13 Operating system software for conveyor assembly use Motion SFC SW8DNC SV13Q SV22 Operating system software for automatic machinery use Motion SFC SW8DNC SV22Q Programming software package General name for MT Developer2 GX Developer MR Configurator MELSOFT MT Works2 Abbreviation for Motion controller engineering environment MELSOFT MT Works2 MT Developer2 Note 1 ...

Page 21: ... method for common parameter Auxiliary and applied functions common Q173DCPU Q172DCPU Motion controller Programming Manual COMMON Design method for Motion SFC program Design method for Motion SFC parameter Motion dedicated PLC instruction Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual Motion SFC SV13 SV22 Design method for positioning control program in the real mode Design metho...

Page 22: ...e unit for installation Extension base unit Main base unit Extension base unit Impossible to install on I O slots of 0 to 2 main base unit Battery Demand Q6BAT Packed together with Motion controller Q7BAT Large capacity Usable sold separately Unusable Number of CPUs 2 modules 2 to 4 modules CPU No 1 PLC CPU area PLC CPU module C controller module CPU No 2 Motion CPU area CPU No 3 Multiple CPU syst...

Page 23: ... CPU area control None Proximity dog type 2 types Data set type 2 types Dog cradle type Stopper type 2 types Limit switch combined type Count type 3 types External input signal DOG of servo amplifier usable Count type 3 types Home position return function Home position return re try function provided home position shift function provided JOG operation function Provided Manual pulse generator opera...

Page 24: ...program F FS Transition program G Descriptive expression Transition program Calculation expression bit conditional expression comparison conditional expression Number of multi execute programs Up to 256 Number of multi active steps Up to 256 steps all programs Normal task Execute in main cycle of Motion controller Fixed cycle Execute in fixed cycle 0 44ms 0 88ms 1 77ms 3 55ms 7 11ms 14 2ms Execute...

Page 25: ... Total 32 32 Total 64 8 Total 16 Gear 32 64 16 Direct clutch Smoothing clutch 32 64 16 Speed change gear 32 64 16 Differential gear 16 32 8 Transmission module Differential gear to main shaft 16 32 8 Roller 16 32 8 Ball screw 16 32 8 Rotary table 16 32 8 Number of modules which can be set per CPU Output module Cam 16 Total 16 32 Total 32 8 Total 8 Types Up to 256 Note 1 Resolution per cycle 256 51...

Page 26: ...20k steps 30k to 260k steps QCPU standard memory 8k bytes CPU shared memory Multiple CPU high speed transmission area 32k bytes No of I O device points X Y 8192 points No of I O points X Y 512 points 4096 points Internal relay M 8192 points Latch relay L 8192 points Link relay B 8192 points Timer T 2048 points Retentive timer ST 0 points Counter C 1024 points Data register D 12288 points Link regi...

Page 27: ...n Q52B Q55B usable 7 extensions Extension base unit GOT bus connection Extension base unit use Connection after the extension base unit of stage 1 Extension base unit not use Direct bus connection to Motion controller Bus connection on main base unit or extension base unit PC type when program is made by GX Developer Q03UDCPU QnUD E H CPU ...

Page 28: ...s included sold separately M I T S U B I S H I L I T H I U M B A T T E R Y PROGRAMMABLECONTROLLER TYPE Q6BAT Battery Q6BAT M I T S U B I S H I L I T H I U M B A T T E R Y Q7BAT TYPE PROGRAMMABLE CONTROLLERPUSH Battery holder Q170MBAT SET SSCNET cable MR J3BUS M A B Servo amplifier MR J3 B Extension cable QC B Forced stop input cable Q170DEMICBL M Motion controller Q170MCPU I O module Intelligent f...

Page 29: ...lowing a b c can be used Personal computer Motion controller Q170MCPU a USB configuration b RS 232 configuration c Ethernet configuration Motion controller Q170MCPU Motion controller Q170MCPU Personal computer Personal computer RS 232 communication cable QC30R2 Ethernet cable USB cable ...

Page 30: ...nals of servo amplifier MR J3 B model Servo amplifier Up to 16 axes Panel personal computer Servo external signals interface module Manual pulse generator interface module Motion CPU area Note control module PLC CPU area control module Note Interrupt module QI60 and analog I O module Q6 AD Q6 DA can also be used as the Motion CPU area control module CAUTION Construct a safety circuit externally of...

Page 31: ...er2 M 24VDC PERIPHERAL I F Device memory Device memory Multiple CPU high speed bus Multiple CPU high speed transmission memory PLC control processor Motion control processor Q series PLC system bus PLC I O module DI O PLC intelligent function module A D D A Network etc Motion module Proximity dog signal manual pulse generator input Servo amplifier Servomotor Motion controller Personal computer MT ...

Page 32: ...r 1 system can be controlled in Q170MCPU b It is possible to set the program which synchronized with the motion operation cycle and executed at fixed cycle 0 44 ms 0 88 ms 1 77 ms 3 55 ms 7 11 ms 14 2 ms c It is possible to execute a download of servo parameters to servo amplifier servo ON OFF to servo amplifier and position commands etc by connecting between the Q170MCPU and servo amplifier with ...

Page 33: ...on base unit of stage 1 in the case with the extension base use and connect directly to the Motion controller in the case with the extension base unused 8 The synchronous encoder interface module Q172DEX Q172EX S1 S2 S3 cannot be used 9 Be sure to control the Motion modules Q172DLX Q173DPX with the Motion CPU area They will not operate correctly if PLC CPU area is set by mistake 10 Q172LX Q173PX S...

Page 34: ... recognized 17 When the extension base units are used make sure to configure the modules so that the total current consumption of the Q170MCPU and individual modules on the extension base do not exceed the 5VDC output capacity of Q170MCPU power supply 18 The module name displayed by System monitor Product information list of GX Developer is different depending on the function version of Motion mod...

Page 35: ...on controller The serial number is printed in the projection parts forward of the lower side of Motion controller MODEL MITSUBISHI ELECTRIC MITSUBISHI US LISTED UL 80M1 IND CONT EQ C MOTION CONTROLLER PASSED Q170MCPU SERIAL B8Y054306 JAPAN USB POWER STOP RESET RUN PERIPHERAL I F CN1 EXT IO 24VDC OUT FRONT CARD RS 232 EMI EJECT MITSUBISHI Q170MCPU MODE RUN ERR USER BAT BOOT PULL PUSH B 8Y 054306 Ra...

Page 36: ...n the projection parts forward of the lower side of Motion module MODEL PASSED Q172DLX Q172DLX CTRL MITSUBISHI US LISTED UL 80M1 IND CONT EQ C CLASS2 ONLY Rating plate Serial number Serial number B86054999 MOTION I F UNIT SERIAL B86054999 MITSUBISHI ELECTRIC JAPAN Q172DLX 12 24VDC 2 4mA REMARK The serial number display was corresponded from the Motion modules manufactured in early April 2008 ...

Page 37: ...e operating system software version can be checked on the system monitor screen in GX Developer Select Product Inf List button on the system monitor screen displayed on Diagnostics System monitor of GX Developer Serial number of Motion controller Operating system software version ...

Page 38: ...ulse generator MR HDP01 Pulse resolution 25PLS rev 100PLS rev after magnification by 4 Permitted axial loads Radial load Up to 19 6N Thrust load Up to 9 8N Permitted speed 200r min Normal rotation Voltage output 0 06 Battery Q6BAT Large capacity battery Q7BAT For memory data backup of RAM built in Motion controller Large capacity battery holder Q170BAT SET Battery holder for Q7BAT Attachment Q7BAT...

Page 39: ...t Note 1 Cable length 015 0 15m 0 49ft 03 0 3m 0 98ft 05 0 5m 1 64ft 1 1m 3 28ft 2 2m 6 56ft 3 3m 9 84ft 5 5m 16 40ft 10 10m 32 81ft 20 20m 65 62ft 25 25m 82 02ft 30 30m 98 43ft 40 40m 131 23ft 50 50m 164 04ft Note 2 Be sure to use the cable for forced stop input sold separately The forced stop cannot be released without using it Cable for forced stop input is not attached to the Motion controller...

Page 40: ...k 0 085 TYP All points ON QX80 24VDC 4mA Negative common 16 points Terminal block 0 05 TYP All points ON QX81 24VDC 4mA Negative common 32 points Connector 0 075 TYP All points ON Note 2 Input module DC QX82 S1 High response type 24VDC 4mA Negative common 64 points Connector 0 09 TYP All points ON Note 2 Contact output module QY10 240VAC 24VDC 2A point 8A common 16 points common Terminal block 0 4...

Page 41: ...nversion Current input 0 64 Q62DA 2ch D A conversion Voltage Current output 0 33 Q62DA FG 2ch D A conversion Voltage Current output Channel isolated 0 37 Q64DA 4ch D A conversion Voltage Current output 0 34 Q68DAV 8ch D A conversion Voltage output 0 39 Analogue module Q68DAI 8ch D A conversion Current output 0 38 Note 1 5VDC internal current consumption of shared equipments with PLC might be chang...

Page 42: ... Works2 b PLC software package Model name Software package GX Developer SW8D5C GPPW E c Servo set up software package Model name Software package MR Configurator MRZJW3 SETUP221E POINTS When the operation of Windows R is not unclear in the operation of this software refer to the manual of Windows R or guide book from the other supplier Note Windows R is either registered trademarks or trademarks o...

Page 43: ...d to be connected between the public electrical power distribution network and the machinery within premises Category applies to equipment for which electrical power is supplied from fixed facilities The surge voltage withstand level for up to the rated voltage of 300V is 2500V Note 2 This index indicates the degree to which conductive material is generated in terms of the environment in which the...

Page 44: ...en 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 connector of the Q170MCPU Note 3 Inrush current Take care that the inrush current of several amperes may flow when the sharp square voltage is applied or the power supply is turned ON with the mechanical switch When selectin...

Page 45: ...mber of positioning points 3200 points Positioning data can be designated indirectly Peripheral I F USB RS 232 PLC CPU area PERIPHERAL I F Motion CPU area Proximity dog type 2 types Count type 3 types External input signal DOG of servo amplifier usable Data set type 2 types Dog cradle type Stopper type 2 types Limit switch combined type Home position return function Home position return re try fun...

Page 46: ... battery to servo amplifier Possible to select the absolute data method or incremental method for each axis Number of SSCNET systems Note 1 1 system Motion related interface module Q172DLX 2 module usable Q173DPX 3 modules usable Note 2 Note 1 The servo amplifiers for SSCNET cannot be used Note 2 When using the incremental synchronous encoder SV22 use you can use above number of modules When conne...

Page 47: ...ression Operation control program F FS Transition program G Descriptive expression Transition program Calculation expression bit conditional expression comparison conditional expression Number of multi execute programs Up to 256 Number of multi active steps Up to 256 steps all programs Normal task Execute in main cycle of Motion controller Fixed cycle Execute in fixed cycle 0 44ms 0 88ms 1 77ms 3 ...

Page 48: ...20k steps 80k byte QCPU standard memory 8k bytes CPU shared memory Multiple CPU high speed transmission area 32k bytes No of I O device points X Y 8192 points No of I O points X Y 512 points Internal relay M 8192 points Latch relay L 8192 points Link relay B 8192 points Timer T 2048 points Retentive timer ST 0 points Counter C 1024 points Data register D 12288 points Link register W 8192 points An...

Page 49: ...by GX Developer Q03UDCPU 4 Q170MCPU names of parts USB POWER STOP RESET RUN PERIPHERAL I F CN1 EXT IO 24VDC OUT FRONT CARD RS 232 EMI EJECT MITSUBISHI Q170MCPU MODE RUN ERR USER BAT BOOT PULL PUSH 6 5 7 8 16 18 20 4 MODE RUN ERR USER BAT BOOT 0 8 C 4 1 2 3 5 6 7 9 A B D E F 0 8 C 4 1 2 3 5 6 7 9 A B D E F SW1 SW2 USB POWER STOP RESET RUN PERIPHERAL I F CN1 EXT IO 24VDC RIO OUT FRONT CARD EMI EJECT...

Page 50: ...mplifier 8 24VDC power supply connector The DC power of 24VDC is connected 9 Serial number display Displays the serial number described on the rating plate 10 MODE LED Indicates the mode of the PLC CPU area ON green Q mode 11 RUN LED Indicates the operating status of the PLC CPU area ON During operation with the RUN STOP RESET switch set to RUN OFF During stop with the RUN STOP RESET switch set to...

Page 51: ... connect the peripheral devices for RS 232 connection Connect with the dedicated cable QC30R2 for RS 232 18 Forced stop input connector EMI Note 2 Input to stop all axes of servo amplifier in a lump EMI ON opened Forced stop EMI OFF 24VDC input Forced stop release 19 Memory card EJECT button Used to eject the memory card from the Motion controller 20 Memory card loading connector Connector used to...

Page 52: ...flag M2000 OFF RUN Steady RUN display Executed the Motion SFC with the PLC READY flag M2000 ON Early stage warning 2 7V or less Steady BT1 display Displayed at battery voltage 2 7V or less Refer to Section 6 5 Battery Battery error Final stage warning 2 5V or less Steady BT2 display Displayed at battery voltage 2 5V or less Refer to Section 6 5 Battery Operating system software not installed A00 r...

Page 53: ...ch SW1 Rotary switch Setting Note Mode Description 0 Normal mode Normal operation mode D 0 8 C 4 F E B A 9 6 7 5 3 2 1 A Installation mode Installed the operating system software using MT Developer2 Note Not to be set except above setting b Rotary function select 2 switch SW2 Rotary switch Setting Note Mode Description 0 Mode operated by RAM Normal operation mode Operation by the setting data and ...

Page 54: ...the user programs and parameters stored in the FLASH ROM built in Motion controller are read to the RAM built in Motion controller at power supply on or reset of the Motion controller If the ROM writing is not executed even if the user programs and parameters are changed using the MT Developer2 during mode operated by ROM operation starts with the contents of the FLASH ROM built in Motion controll...

Page 55: ...er IP address Note ex 192 168 3 1 Link status Note When the Ethernet parameters are not written in the Motion controller the addresses are displayed as follows IP address 192 168 3 39 Subnet mask pattern 255 255 255 0 Default router IP address 192 168 3 1 8 PERIPHERAL I F connector Item Specification Data transmission speed 100Mbps 10Mbps Communication mode Full duplex Half duplex Transmission met...

Page 56: ...al and the forced stop input of EMI terminal is invalidated Applicable connector model name 24VDC power supply connector set Q170MPWCON Attachment 1 1827864 2 connector Tyco Electronics AMP K K make 1827587 2 terminal Crimping tool Tool type 1762846 1 Maker name Tyco Electronics AMP K K Conductor size for power line 0 34 to 0 37mm 2 CAUTION 24V pin is upper side and 24G pin is lower side of 24VDC ...

Page 57: ...e MELSEC Q series PLC Manuals a Calculation example of module selection System configuration QJ71 LP21 25 Q170M CPU Q55B MR HDP01 MR HDP01 QX40 QY40P Q62DA Q173D PX 5VDC current consumption of each module Q170MCPU 2 00 A QY40P 0 065 A QX40 0 05 A QJ71LP21 25 0 55 A Q173DPX 0 38 A Q62DA 0 33 A MR HDP01 0 06 A Q55B 0 10 A Power consumption of overall modules I5V 2 00 0 05 0 38 0 06 2 0 065 0 55 0 33...

Page 58: ... Q series modules 5VDC internal current consumption A 0 08 0 10 Fixing hole size M4 screw hole or 4 5 hole for M4 screw Exterior dimensions mm inch 106 W 98 H 44 1 D 4 17 W 3 86 H 1 74 D 189 W 98 H 44 1 D 7 44 W 3 86 H 1 74 D Mass kg 0 14 0 23 Attachment Fixing screw M4 14 4 pieces 2 Extension cable specifications The list below describes the specifications of the extension cables which can be use...

Page 59: ...on the base cover must be removed with a tool such as nippers 3 Stage No setting connector Connector for setting the number of stages of extension base units Used for setting in stage 1 4 Module connector Connector for installing the Motion modules I O modules and intelligent function module To the connectors located in the spare space where these modules are not installed attach the supplied conn...

Page 60: ... PY3F Y60 to Y7F QX41 X0 to X1F Q62DA 20 to 3F QX41 PX0 to PX1F X40 to X5F QY41 Y80 to Y9F PLC CPU area control module Motion CPU area control module PLC CPU area control module Note 1 When the number of modules to be installed is 32 points Note 2 When the PX PY No does not match the PLC I O No Refer to the Q173DCPU Q172DCPU Motion Controller Programming Manual COMMON about the I O allocation sett...

Page 61: ...switching signal DOG CHANGE does not turn ON without setting Q172DLX in the system setting 3 CTRL connector The servo external signal input connector of each axis 4 Module mounting lever Used to install the module to the base unit 5 Module fixing screw hole Hole for the screw used to fix to the base unit M3 12 screw Purchase from the other supplier 6 Module fixing projection Projection used to fix...

Page 62: ...VDC 2mA 24VDC 4mA Operating voltage range 10 2 to 26 4VDC 12 24VDC 10 15 ripple ratio 5 or less ON voltage current 10VDC or more 2 0mA or more OFF voltage current 1 8VDC or less 0 18mA or less Input resistance Approx 5 6k OFF to ON Response time of the Upper Lower stroke limit and STOP signal ON to OFF 1ms OFF to ON Response time of the proximity dog Speed position switching signal ON to OFF 0 4ms...

Page 63: ...ystem setting of MT Developer2 to determine the I O No s corresponding to the axis No s Servo external signal Application Number of points on one Q172DLX Upper stroke limit input FLS Lower stroke limit input RLS For detection of upper and lower stroke limits Stop signal input STOP For stopping under speed or positioning control Proximity dog Speed position switching input DOG CHANGE For detection ...

Page 64: ...S7 STOP7 DOG7 CHANGE7 RLS8 FLS8 STOP8 DOG8 CHANGE8 RLS2 FLS2 STOP2 DOG2 CHANGE2 RLS3 FLS3 STOP3 DOG3 CHANGE3 RLS4 FLS4 STOP4 DOG4 CHANGE4 COM COM Optional Applicable connector model name Pin No Signal Name Signal No No connect DOG CHANGE STOP RLS FLS functions of each axis 1 to 8 No connect No connect No connect No connect No connect A6CON2 type Crimp contact type connector A6CON3 type Pressure di...

Page 65: ...more 2 0mA or more Description Low level 1 8 VDC or less 0 18mA or less Common terminals for servo external input signal Power supply Note DOG CHANGE2 DOG CHANGE3 DOG CHANGE4 DOG CHANGE5 DOG CHANGE6 DOG CHANGE7 DOG CHANGE8 5 6k 5 6k 5 6k 5 6k PIN No Note As for the connection to power line B1 B2 both and are possible CAUTION Always use a shield cable for connection of the CTRL connector and extern...

Page 66: ...from the external equipment LED Details PLS A 1 to 3 PLS B 1 to 3 Display for input signal status of manual pulse generator incremental synchronous encoder phases A B TREN 1 to 3 Display for signal status of tracking enable 2 Mode judging LED The manual pulse generator incremental synchronous encoder phases A B and tracking enable signal does not turn ON without setting Q173DPX in the system setti...

Page 67: ...r display Display the serial number described on the rating plate Note 1 The function is different according to the operating system software installed CAUTION Before touching the DIP switches always touch grounded metal etc to discharge static electricity from human body Failure to do so may cause the module to fail or malfunction Do not directly touch the module s conductive parts and electronic...

Page 68: ...U parameter setting Default 0 4ms Common terminal arrangement 1 point common Common contact TREN COM Indicates to display ON indication LED Note Functions are different depending on the operating system software installed c Manual pulse generator Incremental synchronous encoder input Item Specifications Number of modules 3 module High voltage 3 0 to 5 25VDC Voltage output Open collector type Low v...

Page 69: ...ype and differential output type Since these types differ in connection method design according to the connection method of section 2 5 4 5 In addition the usable synchronous encoder is up to 8 Motion controller Synchronous encoder Q170MCPU Up to 8 modules Q173DPX Up to 3 modules Tracking enable signal Tracking enable signal of Q173DPX is used to start the input from incremental synchronous encode...

Page 70: ...HPSEL Not connection Voltage output type open collector type HPSEL SG connection Differential output type Switching is possible for each input 1 to 3 1 4 3 2 1 3 1 3 2 1 2 4 3 2 3 2 3 2 No connect Voltage output open collector type Connect the A phase signal to HA1 HA2 HA3 and the B phase signal to HB1 HB2 HB3 2 Differential output type Connect the A phase signal to HA1P HA2P HA3P and the A phase ...

Page 71: ...lse generator phase B LOW level 20 s or more Leading edge Trailing edge time 1 s or less Phase difference 2 Positioning address decreases if Phase B leads Phase A Select type signal HPSEL The 5V P5 DC power supply from the Q173DPX must not be connected if a separated power supply is used as the Manual pulse generator Incremental synchronous encoder power supply Use a 5V stabilized power supply as ...

Page 72: ... leads Phase B Phase difference B Power supply 5VDC 1 2 3 Manual pulse generator phase B HA HB LOW level 2 Positioning address decreases if Phase B leads Phase A Select type signal HPSEL The 5V P5 DC power supply from the Q173DPX must not be connected if a separated power supply is used as the Manual pulse generator Incremental synchronous encoder power supply Use a 5V stabilized power supply as a...

Page 73: ...X must not be connected if a separated power supply is used as the Manual pulse generator Incremental synchronous encoder power supply Use a 5V stabilized power supply as a separated power supply Any other power supply may cause a failure Note 2 Connect HPSEL to the SG terminal if the manual pulse generator differential output type incremental synchronous encoder is used CAUTION If a separate powe...

Page 74: ... supply voltage 4 5 to 13 2VDC Note 2 Current consumption mA 60 Life time 1 000 000 revolutions or more at 200r min Permitted axial loads Radial load Up to 19 6N Thrust load Up to 9 8N Mass kg 0 4 Number of max revolution Instantaneous Up to 600r min normal 200r min Pulse signal status 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 conn...

Page 75: ...3BUS10M A 10 32 81 MR J3BUS M A MR J3BUS20M A 20 65 62 MR J3BUS30M B 30 98 43 MR J3BUS40M B 40 131 23 MR J3BUS M B MR J3BUS50M B 50 164 04 Q170MCPU MR J3 B MR J3 B MR J3 B 2 Connection between the Q170MCPU 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 Q170MCPU CN1A Servo amplifier Servo amplifi...

Page 76: ...t switch referring to the table below Setting display of axis No Set the axis No relative to axis number dno Axis select switch Servo amplifier 1 C B A 9 8 7 6 5 4 3 2 0 F E D Note Correspondence between dno and axis select switch of servo amplifiers is shown below Correspondence between dno s and axis select switches of servo amplifier dno Note SSCNET system Axis select switch of servo amplifier ...

Page 77: ... 32 1 26 24 0 94 52 2 05 Note The 44th Edition of the IATA International Air Transportation Association Dangerous Goods Regulations was effected in January 1st 2003 and administered immediately In this edition the provisions relating to lithium and lithium ion batteries have been revised to strengthen regulations on the air transportation of battery This battery is not dangerous goods not class 9 ...

Page 78: ...o of Motion controller power on time to one day 24 hours When the total power on time is 17 hours and the total power off time is 7 hours the power on time ratio is 70 Note 3 The guaranteed value MIN equivalent to the total power failure time that is calculated based on the characteristics value of the memory SRAM supplied by the manufacturer and under the storage ambient temperature range of 25 C...

Page 79: ... without using the battery 3 Connection procedure with Motion controller Set the battery Q6BAT Q7BAT to the battery holder and connect between the lead connector of battery and connector of Motion controller Put the lead wire in the battery holder and set it to the Motion controller PROGRAMMABLECONTROLLER TYPE Q6BAT PUSH Motion controller Battery holder Refer to Section 4 1 4 for the mounting and ...

Page 80: ...method Sink Source type Rated input current 2 4mA Isolation method Photocoupler Operating voltage range 20 4 to 26 4VDC 10 15 ripple ratio 5 or less ON voltage current 17 5VDC or more 2 0mA or more OFF voltage current 1 8VDC or less 0 18mA or less Input resistance Approx 10k OFF to ON Response time ON to OFF 1ms or less External connector type 2 pin connector Applicable wire size 0 3mm 2 AWG22 ...

Page 81: ...2 54 2 SYSTEM CONFIGURATION MEMO ...

Page 82: ...ording to whether manual pulse generators and incremental synchronous encoders are required or not Refer to section 2 5 4 Select interrupt module QI60 according to whether interrupt input are required or not Select I O modules intelligent function modules according to the specifications of the external equipment to be controlled Refer to MELSEC Q series manual Select the extension base units and e...

Page 83: ...xternal to the Motion controller to prevent cases where danger may result from abnormal operation of the overall system in the event of an external power supply fault or Motion controller failure Mount the Motion controller servo amplifier servomotor and regenerative resistor on incombustible Mounting them directly or close to combustibles will lead to fire If a fault occurs in the Motion controll...

Page 84: ...n in the system In systems where coasting of the servomotor will be a problem during the forced stop the emergency stop servo OFF or when the power is shut OFF use dynamic brakes Make sure that the system considers the coasting amount even when using dynamic brakes In systems where perpendicular shaft dropping may be a problem during the forced stop the emergency stop servo OFF or when the power i...

Page 85: ...4V 24G EMI COM EMG Q5 B QC B Output module QY10 COM PYm Note 2 Servo normal output Servo normal ON Alarm OFF Power supply for electromagnetic brake Power supply for Q170MCPU Power supply for I O 3 2 External Circuit Design As to the ways to design the external circuits of the Motion system this section explains the method and instructions for designing the power supply circuits and safety circuits...

Page 86: ... servo amplifier When electric power is supplied to multiple servo amplifiers for one leakage breaker select the wire connected to the servo amplifier according to the capacity of the leakage breaker Example For control axis 1 and axis 2 Servo error detection END F 1 SET PYm G 1 M2408 M2428 F 2 RST PYm PYm ON with initial ON normal Servo error detection of the axis 1 axis 2 OFF abnormal error Note...

Page 87: ...xternal interlock circuits for conflicting operations such as forward rotation and reverse rotation and for parts that could damage the machine or cause accidents if no interlock were used N0 In the case of an emergency stop or a stop caused by a limit switch The start up procedure is as follows 1 Switch the Motion controller power ON 2 Set the Motion controller to RUN 3 When DC power is establish...

Page 88: ... noise connect an insulation transformer The Motion controller may malfunction as it is affected by various noises such as electric path noises from the power supply systems and electromagnetic noises from conductors To avoid such troubles set the 24VDC power supply according to application 100 200VAC NFB Main power supply Motion controller power supply Isolation transformer I O equipment Motor eq...

Page 89: ...ground of each equipment and the shield grounds of the shielded cables to the earth For grounding use the exclusive ground terminal wire of each equipment or a single point earth method to avoid grounding by common wiring where possible since noises may sneak from other equipment due to common impedances Line noise filter 100 200VAC SSCNET Servo amplifier Servo motor Motion controller 24VDC power ...

Page 90: ...rgency stop circuit The circuit should be constructed outside of the Motion controller or servo amplifier Shut off the power supply to the external servo amplifier by this circuit make the electromagnetic brakes of the servomotor operated 3 Forced stop circuit a The forced stop of all servo amplifiers is possible in a lump by using the forced stop input of Motion controller After forced stop the f...

Page 91: ...input module QX10 is shown below R R R TB17 TB1 TB16 100VAC LED QX10 Internal circuit Forced stop Input module QX10 Note The forced stop input can be set in the system settings Xn QX10 COM AC100V Q170M CPU EMI COM EMI 24V 24G Forced stop 24VDC power supply c It is also possible to use the forced stop signal of the servo amplifier Refer to manual of the servo amplifier about servomotor capacity Ope...

Page 92: ...thin the range of 0 to 55 C 32 to 131 F 2 Ambient humidity is within the range of 5 to 95 RH 3 No condensing from sudden temperature changes 4 No corrosive or inflammable gas 5 There must not be a lot of conductible dust iron filings oil mist or salt organic solvents 6 No direct sunlight 7 No strong electrical or magnetic fields 8 No direct vibrations or shocks on the Motion controller ...

Page 93: ...t circuit of the internal power supply including the current consumption of the base unit W5V I5V 5 W I5V Current consumption of logic 5VDC circuit of each module 2 Power consumption of internal power supply The power conversion efficiency of the internal power supply is approx 80 while 20 of the output power is consumed as heat As a result 1 4 of the output power is the power consumption Therefor...

Page 94: ...power consumption values calculated for each block is the power consumption of the overall Motion system W W5V WPW W24V WOUT WIN WS W From this overall power consumption W calculate the heating value and a rise in ambient temperature inside the panel The outline of the calculation formula for a rise in ambient temperature inside the panel is shown below T W UA C W Power consumption of overall Moti...

Page 95: ...urrent consumption of shared equipments with PLC might be changed Be sure to refer to the MELSEC Q series PLC Manuals c Total power consumption for logic 5VDC circuits of all modules W5V 2 00 0 05 0 38 0 06 2 0 065 0 55 0 33 0 10 5 17 975 W d Power consumption of internal power supply WPW 1 4 17 975 4 494 W e A total of 24VDC average power consumption of the output module W24V 1 60 24 1 38 4 W f A...

Page 96: ...15 3 DESIGN h Power consumption of the external power supply section of the intelligent function module WS 0 12 24 2 88 W i Power consumption of overall system W 17 975 4 494 38 4 0 32 1 536 2 88 65 605 W ...

Page 97: ...t function modules installed to extension base modules Distance between Motion controller and extension base mm Extension base unit selection Module selection Extension base unit and extension cable selection Extension cable selection Avoidance of operation failure at power on External circuit design Fail safe circuit design Avoidance of hazard at Motion controller failure Conformance with general...

Page 98: ...onnecting check them for looseness Poor connections could cause an input or output failure Completely turn off the externally supplied power used in the system before installation or removing the module Not doing so could result in electric shock or damage to the product Do not install remove the module onto from base unit or terminal block more than 50 times after the first use of the product Fai...

Page 99: ... to 0 58 I O module terminal block fixing screw M3 5 screw 0 68 to 0 92 Base unit fixing screw M4 14 screw 1 40 to 1 89 Note 1 Note 1 Torque range applies when the mounting panel is 2mm 0 88inch thick and a fastening nut is used to secure the screw from the back side of the panel 4 When using an extension cable keep it away from the main circuit cable high voltage and large current Keep a distance...

Page 100: ...ion controller Unit mm inch USB POWER STOP RESET RUN PERIPHERAL I F CN1 EXT IO 24VDC OUT FRONT CARD RS 232 EMI EJECT MITSUBISHI Q170MCPU MODE RUN ERR USER BAT BOOT PULL 178 7 01 154 6 06 8 7 0 28 52 2 05 38 1 50 7 0 28 0 31 b Base unit Ws2 W Hs 2 H IN Ws1 Hs 1 I O0 I O1 I O2 I O3 I O4 OUT 4 fixing screw M4 14 Q52B Q55B W 106 4 17 189 7 44 Ws1 15 5 0 61 Ws2 83 5 0 3 3 29 0 01 167 0 3 6 57 0 01 H 98...

Page 101: ... or more 40mm 1 58inch or more 135mm 5 31inch 30mm 1 18inch or more Note 1 Fit the Motion controller at the left side of the servo amplifier b Base unit 5mm 0 20inch or more Note 1 IN OUT Top of panel or wiring duct 5mm 0 20inch or more 30mm 1 18inch or more 30mm 1 18inch or more Note 3 Base unit Door Panel 98mm 3 86inch 20mm 0 79inch or more Note 2 Note 1 20mm 0 79inch or more when the adjacent m...

Page 102: ...lat Upside down 4 Mounting surface Mount the Motion controller and base unit on a flat surface If the mounting surface is not even this may strain the printed circuit boards and cause malfunctions 5 Mounting of unit in an area where the other devices are mounted Avoid mounting base unit in proximity to vibration sources such as large magnetic contractors and no fuse circuit breakers mount those on...

Page 103: ...elow between the Motion controller base unit and devices that generate noise or heat contactors and relays etc In front of Motion controller base unit 100mm 3 94inch or more On the right and left of Motion controller base unit 50mm 1 97inch or more 100mm 3 94inch or more 50mm 1 97inch or more 100mm 3 94inch or more Contactor relay etc 50mm 1 97inch or more ...

Page 104: ... 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 Panel 3 Fit the mounting screws into the holes at the top of the Motion controller and then retighten the all mounting screws Panel POINT Screw the Motion controller to the panel ...

Page 105: ...t in the following procedure 1 Fit the two base unit top mounting screws into the enclosure Panel 2 Place the right hand side pear shaped hole of the base unit onto the right hand side screw Panel 3 Place the left hand side pear shaped hole of the base unit onto the left hand side screw Panel 4 Fit the mounting screws into the holes at the bottom of the base unit and then retighten the all mountin...

Page 106: ...projection into the module fixing hole so that the latch is not misaligned Using the module fixing hole as a fulcrum push the module in the direction of arrow to install it into the base unit END When using module in a place where there is large vibration or impact install them by the unit fixing screws Base unit Module connector Module fixing hole Module Module fixing projection Module fixing pro...

Page 107: ... times after the first use of the product Failure to do so may cause the module to malfunction due to poor contact of connector CAUTION When the modules are installed to the base unit while pressing the installation lever located at the bottom of module insert the module fixing projection into the fixing hole in the base unit until it stops Then securely install the module with the fixing hole as ...

Page 108: ... lifting a module take off the module fixing projection from the module fixing hole When using the module fixing screws remove them Lifting Module Base unit Module connector Module fixing hole Pull POINT When the module fixing screw is used always remove the module by removing the module fixing screw and then taking the module fixing projection off the module fixing hole of the base unit Attemptin...

Page 109: ...ctor for Q170MCPU side b Connection of the battery lead wire For connection of a battery Q6BAT Q7BAT to the Motion controller connect it surely to a battery connector of Motion controller side while holding a battery lead connector Be sure to insert it until it clicks c Removal of the battery lead wire For removal of the battery lead wire pull out it while holding a battery lead connector and a ba...

Page 110: ...he battery lead connector to the battery connector for Motion controller Secure the connector beneath the battery disconnection prevention hook END Make sure that the battery holder is installed in the Motion controller securely Neatly place the lead wires into the battery holder Adjust the battery holder to the installation grooves and slide the battery holder in the direction of the arrow taking...

Page 111: ...Do not pull on the lead wire forcibly to remove the connector 1 3 4 2 Remove the battery lead connector and battery connector for Motion controller Push the battery holder fixing tab Pull the battery holder while pushing the battery holder fixing tab and remove the holder from the Motion controller Battery disconnection prevention hook Push Move the connector away from the battery disconnection pr...

Page 112: ... Battery holder 2 Battery holder 3 Push Motion controller 2 3 END Neatly place the lead wires and connector into the battery holder Make sure that the battery holder is installed in the Motion controller securely Installation grooves Adjust the battery holder to the installation grooves and slide the battery holder in the direction of the arrow taking care to not damage the lead wires Be sure to i...

Page 113: ...y holder 1 2 3 Note Note Do not pull on the lead wire forcibly to remove the connector Push the battery holder fixing tab Pull the battery holder while pushing the battery holder fixing tab and remove the holder from the Motion controller Remove the battery lead connector and battery connector for Motion controller Remove the connector from the battery holder by pulling straight out ...

Page 114: ...able to the Motion controller connect it to the SSCNET connector CN1 of Motion controller while holding a tab of SSCNET cable connector Be sure to insert it until it clicks If the 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 3 Disconnection of SSCNET cab...

Page 115: ...ontroller and servo amplifier When closing the door of control panel pay careful attention for avoiding the case that SSCNET cable is hold down by the door and the cable bend becomes smaller than the minimum bend radius Model name of SSCNET cable Minimum bend radius mm inch MR J3BUS M 25 0 98 MR J3BUS M A Enforced covering cord 50 1 97 Cord 25 0 98 MR J3BUS M B Enforced covering cord 50 1 97 Cord ...

Page 116: ...isposal services who has incineration facility for disposing hydrogen fluoride gas or hydrogen chloride gas f Wiring process of SSCNET cable Put the SSCNET cable in the duct or fix the cable at the closest part to the Motion controller with bundle material in order to prevent SSCNET cable from putting its own weight on SSCNET connector Leave the following space for wiring Putting in the duct Top o...

Page 117: ...ndling the cable fix and hold it in position by using cushioning such as sponge or rubber which does not contain migratable plasticizing If using adhesive tape for bundling the cable fire resistant acetate cloth adhesive tape 570F Teraoka Seisakusho Co Ltd is recommended PUSH Bundle material Recommended product NK clamp SP type NIX INC Panel Motion controller Cable Cord Loose slack ...

Page 118: ...nsmission will not be available Be sure to take care enough so that the short SSCNET cable is added a twist easily 6 Be sure to use the SSCNET cable within the range of operating temperature described in this manual Especially as optical fiber for MR J3BUS M and MR J3BUS M A are made of synthetic resin it melts down if being left near the fire or high temperature Therefore do not make it touched t...

Page 119: ...he optical characteristic and machine characteristic If it is used such an environment be sure to do the protection measures to the cord part 11 When keeping the Motion controller or servo amplifier be sure to put on a cap to connector part so that a dirt should not adhere to the end of SSCNET connector 12 SSCNET connector to connect the SSCNET cable is put a cap to protect light device inside con...

Page 120: ...stop input cable For connection of a forced stop input cable to the Motion controller connect it surely to a EMI connector of Motion controller while holding a connector Be sure to insert it until it clicks 3 Removal of the forced stop input cable For removal of the forced stop input cable push a tab and pull out the cable while holding a connector POINTS Forcibly removal the forced stop input cab...

Page 121: ...upply cable For connection of a 24VDC power supply cable to the Motion controller connect it surely to a 24VDC power supply connector of Motion controller while holding a connector Be sure to insert it until it clicks 3 Removal of the 24VDC power supply cable For removal of the 24VDC power supply cable push a tab and pull out the cable while holding a connector POINTS Forcibly removal the 24VDC po...

Page 122: ...que range If the terminal screws are loose it could result in short circuit fire or operation failure Tightening the terminal screws too far may cause damages to the screws and or the module resulting in drop short circuit or operation failure Be sure there are no foreign matters such as sawdust or wiring debris inside the module Such debris could cause fire damage or operation failure The module ...

Page 123: ...r lighting E1 24VDC power supply E2 and Motion controller E3 2 Select a surge absorber for lighting whose power supply voltage does no exceed the maximum allowable circuit voltage even at the time of maximum power supply voltage elevation 2 Wiring of I O equipment a Insulation sleeved crimping terminals cannot be used with the terminal block It is recommended to cover the wire connections of the c...

Page 124: ...3 1 1 Failure to do so increases the risk of I O device failure due to lightning 3 Grounding For grounding follow the steps a to c shown below a Use a dedicated grounding wire as far as possible Ground resistance 100 or less b When a dedicated grounding cannot be performed use 2 Common Grounding shown below Another equipment grounding 1 Independent grounding Best 2 Common grounding Good 3 Joint gr...

Page 125: ...roller 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 9 for the pin layout of 24VDC power supply connector and refer to APPENDIX 4 3 for the connection diagram of 24VDC power supply cable 4 Motion controller and 24VDC power supply are an open type device and must be installed in a contro...

Page 126: ...y is installed Q170MCPU Motion controller 13 Check that the battery lead connecter is connected correctly 4 1 4 1 Check that the extension base unit is Q52B or Q55B type not requiring power supply module 2 5 2 2 Check that the model name of module is correct 2 3 3 Check that the damage for installed modules 4 Check that the modules are installed correctly 4 1 3 5 Check for looseness rattling or di...

Page 127: ...respectively and run in the shortest distance 6 Check that the 100VAC 200VAC and 24VDC wires are not bind the cable together with and run close to the I O wires I O module 7 Check that the I O wires are wired correctly 4 3 1 1 Check that the model name of SSCNET cables is correct 2 Check that the connecting position for connector of SSCNET cables are correct 2 5 6 3 Check that the SSCNET cables ar...

Page 128: ...ure to ground the Motion controllers servo amplifiers and servo motors Ground resistance 100 or less Do not ground commonly with other devices DANGER CAUTION Refer to Section 4 1 3 for installation of module Refer to Section 5 3 Installation mode Note 1 The operating system software is not installed at the time of Motion controller purchase Be sure to install the operating system software to be us...

Page 129: ...generative resistor model name and the system name application The protective functions may not function if the settings are incorrect Do not mount a phase advancing capacitor surge absorber or radio noise filter option FR BIF on the output side of the servo amplifier Correctly connect the output side terminal U V W Incorrect connections will lead the servo motor to operate abnormally Check the wi...

Page 130: ...utes and then check the voltage with a tester etc Failing to do so may lead to electric shocks Wire the units after mounting the Motion controller servo amplifier and servo motor Failing to do so may lead to electric shocks or damage CAUTION Create PLC programs Programming PLC CPU area Write PLC programs Motion CPU area Write the positioning data and Motion programs created to the Motion CPU area ...

Page 131: ...sition return direction 2 Home position return data 3 Proximity dog position Check home position return Check Motion program Programming Check by automatic operation Monitor PLC CPU area END The system must have a mechanical allowance so that the machine itself can stop even if the stroke limits switch is passed through at the max speed Execute the test operation in the system that it is low speed...

Page 132: ...llation is completed is displayed The operating system software can be installed normally by dialog display Operation in MT Developer2 Note START Set a rotary switch1 SW1 of Motion controller to A Rotary switch 2 SW2 is optional Factory default in SW1 A SW2 0 position Turn ON the Motion controller s power supply Set to installation mode Refer to Section 2 5 1 6 for rotary switch Steady INS display...

Page 133: ...e sure to change a rotary switch after turning off the power supply 4 Even if the operating system software is installed the programs parameters and absolute position data written in the Motion controller do not be rewritten 5 Do not do any of the following while installing operation system software Doing so could result damage the Motion controller Turn OFF the Motion controller s power supply Ch...

Page 134: ...heck that the rotation at maximum command speed is motor rating or less Check that the machine operates correctly by the JOG operation Check that the machine stops by the upper lower stroke limit Check that the machine stops by the emergency stop or forced stop Check that the home position return is executed correctly Power supply ON Motion controller in STOP status Basic axis operations Check eac...

Page 135: ...5 10 5 START UP PROCEDURES MEMO ...

Page 136: ...eration may cause machine breakage or accident Never try to disassemble or modify module It may cause product failure operation failure injury or fire Use any radio communication device such as a cellular phone or a PHS phone more than 25cm 9 84 inch away in all directions of the Motion controller Failure to do so may cause a malfunction Completely turn off the externally supplied power used in th...

Page 137: ...r fire Do not touch the built in power supply built in grounding or signal wires of the Motion controller and servo amplifier as this may lead to electric shocks CAUTION Be sure to ground the Motion controller servo amplifier and servomotor Do not ground commonly with other devices Ground resistance 100 or less The wiring work and inspections must be done by a qualified technician Wire the units a...

Page 138: ...may suddenly restart after a power failure is restored so do not go near the machine Design the machine so that personal safety can be ensured even if the machine restarts suddenly Confirm and adjust the program and each parameter before operation Unpredictable movements may occur depending on the machine Extreme adjustments and changes may lead to unstable operation so never make them Do not appl...

Page 139: ...OFF or flickering RUN LED Check that the LED is ON in RUN status The LED must be ON Abnormal if the LED is OFF ERR LED Check that the LED is OFF The LED must be OFF Abnormal if the LED is ON or flickering BAT LED Check that the LED is OFF The LED must be OFF Abnormal if the LED is ON yellow Steady RUN display Abnormal if RUN does not display or incorrect display Normal Steady STP display Abnormal ...

Page 140: ...he Motion controller Motion or I O module is loose fix it with screws 3 Installation Adhesion of dirt and foreign matter Check visually Dirt and foreign matter must not be present Remove and clean Looseness of terminal screws Try to further tighten screws with a screwdriver Screws must not be loose Retighten the terminal screws Proximity of solderless terminals to each other Check visually Solderl...

Page 141: ...eplacement please contact your sales representative Table 6 3 Life Module name Part name Life guideline Remark Motion controller Motion module Electrolytic capacitor 10 years Life guideline is reference time It must be changed immediately even when it has not yet reached the life guideline 1 Capacitor The life of the capacitor greatly depends on ambient temperature and operating conditions The cap...

Page 142: ... and retained data are not erased immediately However if these relays are overlooked the contents may be erased After relay SM51 or SM58 turns on replace the battery quickly within the data retention time for power failure 3 minutes POINT 1 SM51 or SM58 turns on when the battery voltage falls below the specified value and remains ON even after the battery voltage is recovered to the normal value S...

Page 143: ... Note 5 The actual service value Reference value equivalent to the total power failure time that is calculated based on the measured value and under the storage ambient temperature of 25 C 77 F This value is intended for reference only as it varies with characteristics of the memory Note 6 In the following status the backup time after power OFF is 3 minutes Q6BAT Q7BAT lead connector is disconnect...

Page 144: ...Firstly back up the data stored in the Motion controller to the personal computer which is installed MT Developer2 then replace the battery with a new one After setting the battery in the Battery holder verify the backing up the data to the personal computer which is installed MT Developer2 and the data in the Motion controller confirm the data is not changing In the following status the backup ti...

Page 145: ...Be sure to insert it until it clicks Turn on the Motion controller s power supply Remove the old battery from the battery holder Secure the connector beneath the battery disconnection prevention hook and neatly place the battery lead wires into the battery holder Remove the battery lead connector and battery connector Note Set the new battery to the battery holder correctly after confirming side a...

Page 146: ...tery holder while pushing a tab Anchor the lead wire to the pass through slot Adjust the battery holder to the installation grooves and slide the battery holder in the direction of the arrow taking care to not damage the lead wires Be sure to insert it until it clicks Pull Battery holder Push Installation grooves Note 1 Do not pull on the lead wire forcibly to remove the connector Note 2 Tilt the ...

Page 147: ...the battery has gone flat during storage the contents for the data Refer to Section 6 5 of RAM built in Motion controller cannot be guaranteed Before resuming operation write the contents for the data backed up prior to storage to RAM built in Motion controller POINT Before storing the Motion controller always back up the contents for the data to RAM built in Motion controller ...

Page 148: ... LED BAT LED 7 segment LED Installation mode Operation mode Battery error STOP RUN etc etc g Status of setting of various types of switches Setting of No of stages of extension base unit power interrupt hold on status After checking a to g monitor the operating conditions of servomotors and error code using MT Developer2 and GX Developer 2 Check of trouble Check to see how the operating condition ...

Page 149: ...e troubles As for troubleshooting of PLC CPU area refer to the QCPU User s Manual Hardware Design Maintenance and Inspection of their respective modules As for troubleshooting of I O modules refer to the I O Module Type Building Block User s Manual of their respective modules POINT Check that the operating system software is installed before starting the Motion controller ...

Page 150: ...01 displays on 7 segment LED AL A1 displays on 7 segment LED AL S01 displays on 7 segment LED BT displays on 7 segment LED b Flowchart for when does not flash in the first digit of 7 segment LED d Flowchart for when AL L01 displays on 7 segment LED e Flowchart for when AL A1 displays on 7 segment LED Motion CPU area PLC CPU area MODE LED does not turn on MODE LED is flickering RUN LED turns off RU...

Page 151: ...ation YES YES POWER LED turns off Is there a power supply Is the wiring terminal connection correct YES END NO NO YES NO NO YES NO NO Supply power Does POWER LED turn on The supply voltage should be within the rated range 1 Is the power supply voltage within the rated range YES Connect wiring and fix terminal connection correctly Does POWER LED turn on Does POWER LED turn on ...

Page 152: ...ve Remove all modules from the extension base unit Does POWER LED turn on The extension base unit or extension cable is faulty Replace it with a normal extension base unit or extension cable Install all modules that removed from the extension base unit to the extension base unit Check the sum of internal current consumption of the modules that comprise the system Does the total current exceed the ...

Page 153: ...Normally flashes in the first digit of 7 segment LED YES NO does not flash in the first digit of 7 segment LED a Flowchart for when POWER LED turns off Does flash in the first digit of 7 segment LED A hardware fault Check operation in the order starting with the minimum system If the module will not work explain the error symptom and get advice from our sales representative for the modules with fa...

Page 154: ...flowchart for when A00 displays on 7 segment LED at the power supply ON or operation start END YES NO YES NO Explain the error symptom and get advice from our sales representative A00 displays on 7 segment LED Is the operating system software installed to Motion controller Install the operating system software Reset the Motion controller Does A00 disappear on 7 segment LED ...

Page 155: ...batch monitor of MT Developer2 Does a ROM ERROR occur Is ROM operation executed Does a LAY ERROR SL occur Check that the installed modules correspond to system setting and correct details of error Set by relative check of the system setting not to occur a error and write the setting to the Motion CPU area CPU No 2 fixed Reset the Motion controller Does A00 L01 disappear on 7 segment LED Set a rota...

Page 156: ...ion 4 digits error code is displayed in two sequential flashes of 2 digits each END NO YES YES NO YES NO AL A1 displays on 7 segment LED Hardware cause fault Correct each Motion controller setting based on the error causes Noise cause Take measures against noise Reset the Motion controller Does AL A1 disappear on 7 segment LED Explain the error symptom and get advice from our sales representative ...

Page 157: ...splays on 7 segment LED Turn off the Motion controller s power supply Replace the battery Turn on the Motion controller s power supply A hardware fault Explain the error symptom and get advice from our sales representative END YES SM58 SM51 OFF NO SM58 or SM51 ON Does BT disappear on 7 segment LED Confirm ON OFF by monitoring SM REMARK If SM51 turns on the contents for the data Refer to Section 6 ...

Page 158: ...event task program and NMI task program in the Motion SFC program 3 Reduce the number of execution to the normal task program executed simultaneously in the Motion SFC program 4 Reduce the number of automatic refresh points of CPU shared memory Correct the Motion operating time to shorten by the following methods and write it to Motion CPU area CPU No 2 fixed 1 Change the operation cycle to large ...

Page 159: ... axis in the system setting YES YES NO NO Is the connection of SSCNET cable correct END Explain the error symptom and get advice from our sales representative YES NO NO Connect the SSCNET cable correctly Is the axis select switch setting of servo amplifier correct NO Set the axis select switch correctly YES NO YES YES YES Has the servo amplifier connected from target axis near controller started R...

Page 160: ...chart for when AL flashes 3 times Steady S01 display displays on 7 segment LED during operation Does AL S01 disappear on 7 segment LED END YES NO Remove the error cause of servo amplifier and then execute the servo error reset M3208 20n ON or re turn on the servo amplifier power supply Confirm details of error by Motion CPU error batch monitor of MT Developer2 AL S01 displays on 7 segment LED ...

Page 161: ...g to the diagnostics result Is the extension cable connected properly Isn t IN connected to IN or OUT connected to OUT Connect the extension cable properly NO YES Does MODE LED turn on Is the RUN STOP RESET switch in the STOP position Does MODE LED turn on After resetting the Motion controller with the RUN STOP RESET switch set the RUN STOP RESET switch to the STOP position END YES NO NO A hardwar...

Page 162: ...ing Have the forced ON OFF settings made Cancel forced ON OFF Does MODE LED turn on YES NO Does MODE LED turn on YES NO NO YES A hardware fault Check operation in the order starting with the minimum system If the module will not work explain the error symptom and get advice from our sales representative for the modules with failure Set the RUN STOP RESET switch to the STOP position Is the RUN STOP...

Page 163: ...oor connection between the module and base unit 2 Excessive noise generation Explain the error symptom and get advice from our sales representative For the case of 1 NO NO Set the RUN STOP RESET switch to STOP and write END to address 0 with the GX Developer Set the RUN STOP RESET switch to RUN and enter to the monitor mode with the GX Developer to be operated Does RUN LED turn on NO YES Possible ...

Page 164: ...the RUN STOP RESET switch from STOP to RUN again With this setting the RUN LED turns on n Flowchart for when ERR LED turns on is flickering The following shows the flowchart for when ERR LED turns on or flickers at Motion controller s power on at operation start or during operation ERR LED turns on or is flickering NO YES A hardware fault Explain the error symptom and get advice from our sales rep...

Page 165: ...RUN STOP RESET switch or Executing the LEDR instruction in the sequence program p When BAT LED turns on yellow If BAT LED turns on yellow follow the steps described below BAT LED turns on yellow when a low battery capacity is detected If the BAT LED is on monitor the special relays and special registers in the monitor mode of GX Developer to check which of the SRAM card batteries was lowered in ca...

Page 166: ...XFFF Note 1 Hexadecimal Actual output PY 256 PY0 to PYFFF Note 1 Hexadecimal Internal relay M 12288 M0 to M12287 Decimal Link relay B 8192 B0 to B1FFF Hexadecimal Annunciator F 2048 F0 to F2047 Decimal Bit devices Special relay SM 2256 SM0 to SM2255 Decimal Data register D 8192 D0 to D8191 Decimal Link register W 8192 W0 to W1FFF Hexadecimal Motion register 12288 0 to 12287 Decimal Special registe...

Page 167: ...Application M0 M0 to User device 2000 points to User device 2000 points M2000 M2000 to Common device 320 points to Common device 320 points M2320 M2320 to Unusable 80 points to Unusable 80 points M2400 M2400 to Axis status 20 points 16 axes to Axis status 20 points 16 axes Real mode Each axis Virtual mode Output module M2720 M2720 to User device 320 points Note 1 to User device 320 points Note 1 M...

Page 168: ...le 16 points Note 2 M5488 to User device 4352 points to User device 2704 points Note 4 M8192 M8192 to to M12287 Unusable 4096 points M12287 Unusable 4096 points It can be used as an user device Note 1 When extending it to the system more than 17 axes in Q17 DCPU Q17 HCPU T Q17 CPUN T Q17 CPU this device is recommended not to be used Note 2 It can be used as an user device in the SV22 real mode onl...

Page 169: ...nusable 42 points to Unusable 42 points D800 D800 to Virtual servo motor axis monitor device 10 points 16 axes Note 2 D960 to User device 160 points Note 1 D1120 to Synchronous encoder axis monitor device 10 points 8 axes D1200 to Unusable 40 points D1240 to CAM axis monitor device 10 points 16 axes Note 2 D1400 to User device 160 points Note 1 D1560 to to D8191 User device 7392 points D8191 User ...

Page 170: ...e 1 For replacement from a project of Q17 HCPU T Q17 CPUN T Q17 CPU to the project of Q170MCPU Refer to the Q173DCPU Q172DCPU Motion controller Programming Manual COMMON APPENDIX 1 3 Replacement of special relays special registers for details 7 2 5 Special Registers Table 7 6 Special register list Device No Application SD0 to System device 2000 points SD2000 to SD2255 System device For replacement...

Page 171: ...7 6 7 POSITIONING DEDICATED SIGNALS MEMO ...

Page 172: ...lowing manuals for contents in common with Q173DCPU Q172DCPU Manual name Manual number Q173DCPU Q172DCPU Motion controller Programming Manual COMMON IB 0300134 Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual Motion SFC IB 0300135 Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual REAL MODE IB 0300136 Q173DCPU Q172DCPU Motion controller SV22 Programming Manual VIRTUAL...

Page 173: ...urns OFF Add 263 8008 20n Servo amplifier display servo error code This register stores the servo error code read from the servo amplifier The hexadecimal display is the same as the LED of servo amplifier Refer to the Servo amplifier Instruction Manual for details of the servo error codes New Current value SD720 SD721 is incremented by 1 per 444μs Read SD720 device in 2 word unit Item Specificatio...

Page 174: ...he MR J3W B APPENDIX 1 3 Differences of programs Table 1 3 Differences of Motion SFC and servo programs Program Item Q170MCPU Q173DCPU Q172DCPU Motion SFC Event task Fixed cycle 0 44ms 0 88ms 1 77ms 3 55ms 7 11ms 14 2ms Fixed cycle 0 88ms 1 77ms 3 55ms 7 11ms 14 2ms Speed position control Servo program Count type home position return DOG CHANGE signal of Q172DLX and external input signal DOG of se...

Page 175: ...e Auxiliary input axis side Virtual servo motor 16 16 32 32 8 8 Drive module Synchronous encoder 8 Total 24 8 Total 18 12 Total 44 12 Total 34 8 Total 16 8 Total 10 Virtual main shaft 16 16 32 32 8 8 Virtual axis Virtual auxiliary input axis 16 Total 32 16 32 Total 64 32 8 Total 16 8 Gear 32 32 1 1 64 64 1 1 16 16 1 1 Direct clutch Smoothing clutch 32 32 1 1 64 64 1 1 16 16 1 1 Speed change gear 3...

Page 176: ...Flicker Stop At power ON At reset Error contents and cause Corrective action A module is mounted on the settable slot or later slot A module is mounted on the slot whose number is greater than the number of slots specified at Slots in Standard setting of the base setting A module is mounted on the slot whose number of I O points exceeds 512 points A module is mounted on the slot whose number of I ...

Page 177: ...veloper2 MR Configurator GX Developer GOT Direct bus connection to CPU USB RS 232 Direct connection PERIPHERAL I F Connection via HUB Possible Impossible The connection procedure for PERIPHERAL I F is shown below 1 PERIPHERAL I F There are following two ways to communicate between the Motion controller and MT Developer2 Direct connection connected with the Ethernet cable Connection via HUB connect...

Page 178: ...een in MT Developer2 as shown below b c a a Select Ethernet Board for PC side I F b Select PLC Module for CPU side I F Select the Ethernet Port Direct Connection on the CPU side I F Detailed Setting of PLC Module screen Select Ethernet Port Direct Connection c Make the setting for Other Station Setting ...

Page 179: ...dition in which direct connection communication may not be available Under the following conditions direct connection communication may not be available In that case check the setting of the Motion controller and or personal computer In the Motion controller IP address bits corresponding to 0 in the personal computer subnet mask are all ON or all OFF Example Motion controller IP address 64 64 255 ...

Page 180: ...PERIPHERAL I F HUB Ethernet cable Straight cable Panel computer 1 Setting in Motion controller side Set the items on the Built in Ethernet Port Setting in Basic Setting as shown below a b a Set the Motion controller IP address Default IP address 192 168 3 39 Change the IP address if required No need to set Subnet Mask Pattern and Default Router IP Address ...

Page 181: ...ion write the settings in parameter to the Motion controller by selecting Online Write to CPU in MT Developer2 After writing the parameter settings power the Motion controller OFF to ON or perform the reset operation of the Motion controller using the RUN STOP RESET switch so that the parameters become valid Connect directly with an Ethernet cable crossover cable between the personal computer and ...

Page 182: ...wn below b c a a Select Ethernet Board for PC side I F b Select PLC Module for CPU side I F Select the Connection via HUB on the CPU side I F Detailed Setting of PLC Module screen and set the Motion controller IP address Select the Connection via HUB Set the Motion controller IP address c Make the setting for Other Station Setting ...

Page 183: ...s MT Developer2 and displays a list Find CPU Built in Ethernet port on Network button Found Motion controller is displayed Set the label and comment of the Motion controller in CPU Name Setting of Basic Setting The label and comment set in CPU Name Setting are displayed on the CPU side I F Detailed Setting of PLC Module screen Item Description Setting range Label Enter a label name and or purpose ...

Page 184: ...ng personal computer IP address 192 168 3 39 Motion controller IP address Set the same value as the personal computer IP address Example Personal computer IP address 192 168 3 1 Setting for Motion controller side Set the same value as the personal computer IP address Example 192 168 3 Set the IP address not used with devices connected to network Example 39 Set the same value as the Motion controll...

Page 185: ... module operation is not guaranteed if any of the following connection is used Check the module operation on the user side Connections using the Internet general public line Connections using devices in which a firewall is installed Connections using broadband routers Connections using wireless LAN f When multiple Motion controllers are connected to MT Developer2 beware of the below cautions IP ad...

Page 186: ... slot etc is automatic determined and the points are assigned I O assignment setting Base mode Detail I O assignment points are individually assigned When the first address of the extension base is set to address 0 the setting is as follows Main base 8 slots Number of points of each empty slot 0 point I O assignment points are individually assigned The CPU display and setting of I O assignment are...

Page 187: ...set to Detail The first address of the extension base is set to 0 by setting 0 point to the empty slot of the main base Set Detail Set the number of points of slot 1 0 1 to 7 0 7 to 0 point Set the number of points of I O module Set the number of slots of the main base to 8 Set the number of slots to be used to the number of slots of the extension base POINT The first address of the extension base...

Page 188: ...CPU project 1 Create the new project 2 Convert the project for Q17 DCPU Q17 HCPU T Q17 CPUN T Q17 CPU 3 Create the new project using the sample data Refer to the help of MT Developer2 for creation method of project The contents to create the project using the sample data describes in APPENDIX 2 1 ...

Page 189: ... to use The following methods to use the sample data are shown below Divert the sample data Overwrite the sample data to the created project 3 Setting description Outline of overwrite sample data is shown table below Add the extension base units and each module according to the system Refer to this section 7 for details of the sample data Project name CPU area Item Description SV13 SV22 Programmin...

Page 190: ...sed by diverting the sample data to the created project 5 Procedure for project creation a When the sample data is diverted 1 Motion CPU area Sample data Save folder C Program Files MELSOFT MTD2 SampleData MT2 Project name SV13 Q170M_SV13_MT2 SV22 Q170M_SV22_MT2 END Start up MT Developer2 START Open a project of sample data Save projects under the specified name 2 PLC CPU area Sample data Save fol...

Page 191: ... CPU setting 2 PLC CPU area START Start up GX Developer Create the project END Sample data Save folder C Program Files MELSOFT MTD2 SampleData GX1 Project name SV13 Q170M_SV13_GX1 SV22 Q170M_SV22_GX1 Diversion file COMMENT of device comment Divert the following sample data in the Multiple CPU settings or I O assignment of PLC parameter I O assignment PLC system Multiple CPU settings Divert the fol...

Page 192: ...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 Select the Import Multiple CPU Parameter button b Confirm the sample data Compare the Automatic Refresh Setting List screen with the contents of this section 7 and then confirm the sample data are diverted correctly Data of automatic refresh ...

Page 193: ...e 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 Select the Import Multiple CPU Parameter button ...

Page 194: ...e the Auto refresh settings screen with the contents of this section 7 and then confirm the sample data are diverted correctly Multiple CPU settings Data of automatic refresh I O assignment Number of slots of the main base Points occupied by empty slot ...

Page 195: ...nsmission 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 Select the device comment COMMENT on the copy screen displayed by Project Copy of menu bar of device comment Select the COMMENT ...

Page 196: ...U high speed transmission area setting CPU specific send range User setting area Automatic refresh CPU Points k Points Start End Points No 1 7 7022 G10000 G17021 146 No 2 7 6482 G10000 G16481 686 d Automatic refresh setting CPU No 1 Receive Automatic refresh CPU specific send range U3E0 Setting No Points Start End Start End 1 28 M3072 M3519 G17022 G17049 2 118 D640 D757 G17050 G17167 CPU No 2 Send...

Page 197: ...tting area Automatic refresh CPU Points k Points Start End Points No 1 7 6980 G10000 G16979 188 No 2 7 5840 G10000 G15839 1328 d Automatic refresh setting CPU No 1 Receive Automatic refresh CPU specific send range U3E0 Setting No Points Start End Start End 1 28 M3072 M3519 G16980 G17007 2 42 M4800 M5471 G17008 G17049 3 118 D640 D757 G17050 G17167 CPU No 2 Send Automatic refresh CPU specific send r...

Page 198: ...iption Slots Main 8 Base mode Detail b Multiple CPU settings Setting items Description 1 No of PLC 2 modules 2 Host CPU number No specification 3 Operating mode All station stop by stop error of PLC1 PLC2 4 Multiple CPU synchronous startup setting Check the PLC No 1 PLC No 2 5 Online module change Not check the Enable online module change with another PLC 6 Input sharing when using Multiple CPUs N...

Page 199: ... High speed 10 00ms RUN Not used 2 RUN PAUSE contacts PAUSE Not used 3 Latch data backup operation valid contact Not used 4 Remote reset Not checked 5 Output mode at STOP to RUN Check the Previous state 6 Floating point arithmetic processing 7 Intelligent function module setting Not used 8 Module synchronization Check the Synchronize intelligent module s pulse up 9 Common pointer No Not used 10 Po...

Page 200: ...Slots Main 8 Base mode Detail b Multiple CPU setting Setting items Description 1 No of PLC 2 modules 2 Host CPU number No specification 3 Operating mode All station stop by stop error of PLC1 PLC2 4 Multiple CPU synchronous startup setting Check the PLC No 1 PLC No 2 5 Online module change Not check the Enable online module change with another PLC 6 Input sharing when using Multiple CPUs Not check...

Page 201: ...tion Low speed 100ms 1 Timer limit setting High speed 10 00ms RUN Not used 2 RUN PAUSE contacts PAUSE Not used 3 Latch data backup operation valid contact Not used 4 Remote reset Not checked 5 Output mode at STOP to RUN Check the Previous state 6 Floating point arithmetic processing 7 Intelligent function module setting Not used 8 Module synchronization Check the Synchronize intelligent module s p...

Page 202: ... transmission area CPU No 1 transmitting data CPU No 2 receiving data CPU No 1 receiving data CPU No 2 transmitting data Transfer in 0 88ms cycle Transfer in 0 88ms cycle Motion CPU area CPU No 2 PLC CPU area CPU No 1 Multiple CPU high speed transmission area Automatic refresh area Automatic refresh area Data register E N D p r o c e s s i n g E N D p r o c e s s i n g END processing Automatic ref...

Page 203: ... 2L 4L D800L D802L D804L 2 5 U3E1 G10000L U3E1 G10002L U3E1 G10004L 3 5 0F 4F 8F D800F D804F D808F 3 0 Addition U3E1 G10000F U3E1 G10004F U3E1 G10008F 4 5 0 1 2 D800 D801 D802 2 5 U3E1 G10000 U3E1 G10001 U3E1 G10002 3 5 0L 2L 4L D800L D802L D804L 2 5 U3E1 G10000L U3E1 G10002L U3E1 G10004L 3 5 0F 4F 8F D800F D804F D808F 3 0 Subtraction U3E1 G10000F U3E1 G10004F U3E1 G10008F 5 0 0 1 2 D800 D801 D802...

Page 204: ... 2 5 0 1 2 D800 D801 D802 2 5 U3E1 G10000 U3E1 G10001 U3E1 G10002 3 5 0L 2L 4L D800L D802L D804L 2 0 Bit logical AND U3E1 G10000L U3E1 G10002L U3E1 G10004L 3 5 0 1 2 D800 D801 D802 2 0 U3E1 G10000 U3E1 G10001 U3E1 G10002 3 0 0L 2L 4L D800L D802L D804L 2 0 Bit logical OR U3E1 G10000L U3E1 G10002L U3E1 G10004L 3 0 0 1 2 D800 D801 D802 2 0 U3E1 G10000 U3E1 G10001 U3E1 G10002 3 0 0L 2L 4L D800L D802L ...

Page 205: ...IN Arcsine U3E1 G10000F ASIN U3E1 G10004F 14 5 0F ACOS 4F D800F ACOS D804F 10 5 ACOS Arccosine U3E1 G10000F ACOS U3E1 G10004F 11 5 0F ATAN 4F D800F ATAN D804F 4 5 ATAN Arctangent U3E1 G10000F ATAN U3E1 G10004F 6 0 0F SQRT 4F D800F SQRT D804F 2 5 SQRT Square root U3E1 G10000F SQRT U3E1 G10004F 3 5 0F LN 4F D800F LN D804F LN Natural logarithm U3E1 G10000F LN U3E1 G10004F 5 5 0F EXP 4F D800F EXP D804...

Page 206: ...002L 0 USHORT 4F D800 USHORT D804F 2 5 USHORT Converted into 16 bit integer type unsigned U3E1 G10000 USHORT U3E1 G10004F 3 5 0L LONG 2 D800L LONG D802 2 0 U3E1 G10000L LONG U3E1 G10002 2 5 0L LONG 4F D800L LONG D804F 3 0 LONG Converted into 32 bit integer type signed U3E1 G10000L LONG U3E1 G10004F 3 5 0L ULONG 2 D800L ULONG D802 2 0 U3E1 G10000L ULONG U3E1 G10002 2 5 0L ULONG 4F D800L ULONG D804F...

Page 207: ...evice set SET U3E1 G11000 0 2 5 RST M1000 2 0 RST Y100 RST PY0 2 5 RST Device reset RST U3E1 G11000 0 3 0 DOUT M0 0 3 0 DOUT M0 0L DOUT Y100 0 2 5 DOUT Y100 0L 4 0 DOUT PY0 0 3 0 DOUT Device output DOUT PY0 0L 4 5 DIN 0 M0 DIN 0L M0 3 0 DIN 0 X0 2 5 DIN 0L X0 3 0 DIN 0 PX0 8 0 DIN Device input DIN 0L PX0 10 5 OUT M100 M0 2 5 OUT Y0 M0 3 0 OUT PY0 M0 Bit device control OUT Bit device output OUT U3E...

Page 208: ...E1 G10000F U3E1 G10004F 6 0 SET M1000 0 1 SET M1000 D800 D801 4 0 SET M1000 U3E1 G10000 U3E1 G10001 4 5 SET M1000 0L 2L SET M1000 D800L D802L 4 0 SET M1000 U3E1 G10000L U3E1 G10002L SET M1000 0F 4F SET M1000 D800F D804F 4 5 Less than Completion of condition SET M1000 U3E1 G10000F U3E1 G10004F 6 0 SET M1000 0 1 SET M1000 D800 D801 3 5 SET M1000 U3E1 G10000 U3E1 G10001 4 5 SET M1000 0L 2L SET M1000 ...

Page 209: ...on CHGT Torque limit value change request CHGT K1 U3E1 G10000L 3 0 EI Event task enable EI 0 5 DI Event task disable DI 0 5 NOP No operation NOP 0 5 BMOV 0 100 K10 BMOV D800 D100 K10 5 5 BMOV U3E1 G10000 U3E1 G10100 K10 7 5 BMOV 0 100 K100 BMOV D800 D100 K100 19 0 BMOV U3E1 G10000 U3E1 G10100 K100 28 0 BMOV N1 0 K512 BMOV N1 D800 K512 123 5 BMOV Block transfer BMOV N1 U3E1 G10000 K512 250 5 FMOV 0...

Page 210: ...d device data from CPU shared memory MULTR U3E1 G10000 H3E0 H800 K256 435 0 TO H0 H0 0 K1 TO H0 H0 D800 K1 18 5 TO H0 H0 U3E1 G10000 K1 20 5 TO H0 H0 0 K10 TO H0 H0 D800 K10 28 0 TO H0 H0 U3E1 G10000 K10 30 5 TO H0 H0 0 K100 TO H0 H0 D800 K100 145 5 TO H0 H0 U3E1 G10000 K100 183 0 TO H0 H0 0 K256 TO H0 H0 D800 K256 432 0 TO Write device data to intelligent function module TO H0 H0 U3E1 G10000 K256...

Page 211: ...5 M0 M1 1 5 X100 X101 2 0 PX0 PX1 8 5 Logical operation Logical OR U3E1 G10000 0 U3E1 G10000 1 2 5 0 1 D800 D801 1 5 U3E1 G10000 U3E1 G10001 2 5 0L 2L D800L D802L 2 0 U3E1 G10000L U3E1 G10002L 0F 4F D800F D804F 2 5 Equal to Completion of condition U3E1 G10000F U3E1 G10004F 4 0 0 1 D800 D801 1 5 U3E1 G10000 U3E1 G10001 2 5 0L 2L D800L D802L 1 5 U3E1 G10000L U3E1 G10002L 2 5 0F 4F D800F D804F 2 0 No...

Page 212: ... 5 Less than or equal to Completion of condition U3E1 G10000F U3E1 G10004F 3 5 0 1 D800 D801 1 5 U3E1 G10000 U3E1 G10001 2 5 0L 2L D800L D802L 1 5 U3E1 G10000L U3E1 G10002L 2 5 0F 4F D800F D804F 2 0 More than Completion of condition U3E1 G10000F U3E1 G10004F 3 5 0 1 D800 D801 2 0 U3E1 G10000 U3E1 G10001 2 5 0L 2L D800L D802L 1 5 U3E1 G10000L U3E1 G10002L 2 5 0F 4F D800F D804F 2 0 Comparison operat...

Page 213: ...ranch 2 Pcs Parallel branch 5 Pcs F G F G F G F G F G F G F G At branch At coupling At branch At coupling Processing time µs Q170MCPU 23 0 18 5 49 0 32 5 Selective branch 2 Pcs Selective branch 5 Pcs F G F G F G F G F G F G F G Processing time µs Q170MCPU 48 0 55 0 POINT Long processing time may cause a Motion CPU WDT error or servo fault Especially for the Motion SFC programs run by event NMI tas...

Page 214: ...xis 82 0 122 0 D CHGV Speed change request of the specified axis 82 0 122 0 Multiple CPU high speed bus Motion dedicated instruction D CHGT Torque control value change request of the specified axis 82 0 122 0 Number of writing data 1 76 0 126 0 D DDWR Write device data of the self CPU to the device of other CPU Number of writing data 16 91 0 142 0 Number of reading data 1 82 0 133 0 D DDRD Read de...

Page 215: ...3 ft contact your nearest Mitsubishi sales representative 2 Specifications Description SSCNET cable model MR J3BUS M MR J3BUS M A MR J3BUS M B SSCNET cable length m ft 0 15 0 49 0 3 to 3 0 98 to 9 84 5 to 20 16 40 to 65 62 30 to 50 98 43 to 164 04 Minimum bend radius mm inch 25 0 98 Enforced covering cord 50 1 97 Cord 25 0 98 Enforced covering cord 50 1 97 Cord 30 1 18 Tension strength N 70 140 42...

Page 216: ...isposal of the SSCNET cable optical fiber request for specialized industrial waste disposal services who has incineration facility for disposing hydrogen fluoride gas or hydrogen chloride gas a MR J3BUS M 1 Model explanation 015 Cable length m ft 05 1 0 15 0 49 0 3 0 98 0 5 1 64 03 1 3 28 A Symbol B Cable type Standard cord for inside panel Standard cable for outside panel Long distance cable 3 3 ...

Page 217: ...R J3BUS50M B Refer to the table of this section 1 for cable length L Variation mm inch SSCNET cable A B MR J3BUS5M A to MR J3BUS20M A 100 3 94 30 1 18 MR J3BUS30M B to MR J3BUS50M B 150 5 91 50 1 97 Unit mm inch A A L B B Note Protective tube Note Dimension of connector part is the same as that of MR J3BUS015M POINTS Keep the cap and the tube for protecting light cord end of SSCNET cable in a plas...

Page 218: ...stop input cable within 30m 98 43ft 1 Q170DEMICBL M a Model explanation Type Q170DEMICBL M 1 Cable length m ft 5 Symbol 10 1 3 28 3 9 84 5 16 40 3 10 32 81 15 15 49 21 20 25 20 65 62 25 82 02 30 30 98 43 05 0 5 1 64 b Connection diagram Note Use a cable of wire size AWG24 2 1 EMI COM EMI EMI COM EMI 2 1 Solderless terminal 5556PBTL Terminal 5557 02R 210 Connector Twisted pair cable Solderless term...

Page 219: ...tor Q170MCPU side Solderless terminal Note Use a cable of wire size AWG22 Twisted pair cable 1B 2B 1A 2A 24V 24G 24V 24G 24V 24G 2A 2B 1A 1B b With EMI terminal 1827587 2 Terminal 1 1827864 2 Connector 1B 2B 1A 2A 24V 24G 24V 24G Note Use a cable of wire size AWG22 Twisted pair cable 24V 24G Solderless terminal Q170MCPU side 2A 2B 1A 1B 2 1 2 1 EMI COM EMI 5556PBTL Terminal 5557 02R 210 Connector ...

Page 220: ...EXT IO 24VDC OUT FRONT CARD RS 232 EMI EJECT MITSUBISHI Q170MCPU MODE RUN ERR USER BAT BOOT PULL PUSH USB POWER STOP RESET RUN PERIPHERAL I F CN1 EXT IO 24VDC OUT FRONT CARD RS 232 EMI EJECT MITSUBISHI Q170MCPU MODE RUN ERR USER BAT BOOT PULL 135 5 31 4 6 0 18 168 6 61 161 6 34 178 7 01 154 6 06 52 2 05 52 2 05 6 0 24 7 0 28 8 0 31 38 1 50 7 0 28 ...

Page 221: ... Unit mm inch Q172DLX Q172DLX CTRL 90 3 54 98 3 86 45 1 77 4 0 16 23 0 91 27 4 1 08 APPENDIX 5 3 Manual pulse generator interface module Q173DPX Unit mm inch Q173DPX Q173DPX 1 2 3 PLS A 1 2 3 PLS B 1 2 3 TREN PULSER 6 1 2 3 4 5 ON 90 3 54 98 3 86 45 1 77 4 0 16 23 0 91 27 4 1 08 ...

Page 222: ... 1 86 1 5 0 06 2 4 0 09 25 35 1 00 27 15 1 07 19 9 0 78 49 6 1 95 22 6 0 89 23 9 0 94 26 2 1 03 3 1 0 12 6 9 0 27 2 Battery holder For Q7BAT Unit mm inch PUSH 10 29 4 1 16 29 4 1 16 47 2 1 86 18 0 71 45 9 1 81 26 2 1 03 27 7 1 09 34 7 1 37 27 4 1 08 2 4 0 09 1 5 0 06 6 9 0 27 2 0 08 4 8 0 19 0 39 ...

Page 223: ...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 19 13 4 0 53 15 0 59 6 7 0 26 9 3 0 37 2 Forced stop input connector Molex Incorporated make Type Connector 5557 02R 210 Terminal 5556PBTL Unit mm inch 10 6 10 7 19 6 0 77 8 5 6 3 3 5 0 14 0 42 0 42 0 33 0 25 9 6 0 38 5 4 0 21 ...

Page 224: ... 0 12 7 6 0 30 12 45 0 49 0 23 APPENDIX 5 6 Manual pulse generator MR HDP01 Unit mm inch 72 2 83 0 2 2 0 6 2 10 6 0 2 0 7 0 3 0 8 0 90 12V 0V A B 5to 0 50 4 0 Space The figure of processing a disc equi spaced 3 4 8 0 19 2 4 4 Packing t 2 0 16 20 0 63 0 79 3 6 0 14 0 5 27 0 1 06 1 80 3 15 0 5 60 2 36 8 89 7 6 50 1 97 70 2 76 0 35 0 30 M3 6 PCD72 equi spaced 3 Studs M4 10 ...

Page 225: ...APP 54 APPENDICES MEMO ...

Page 226: ...incorporated is equipped with a safety device required by applicable laws and has any function or structure considered to be indispensable according to a common sense in the industry 4 A failure which may be regarded as avoidable if consumable parts designated in the instruction manual etc are duly maintained and replaced 5 Any replacement of consumable parts battery fan etc 6 A failure caused by ...

Page 227: ...nies and also which require a special quality assurance system including applications for railway companies and government or public offices are not recommended and we assume no responsibility for any failure caused by these applications when used In addition applications which may be substantially influential to human lives or properties for such as airlines medical treatments railway service inc...

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