Mitsubishi Q172CPU User Manual Download Page 49

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2 SYSTEM CONFIGURATION

(4) Basic specifications of Q173CPU(N)/Q172CPU(N)

(a) Module specifications

Item Q173CPUN

Q173CPUN-T

Q173CPU

Q172CPUN

Q172CPUN-T

Q172CPU

Teaching unit

——

Usable

——

Usable

——

Internal current
consumption(5VDC) [A]

1.25 1.56

(Note)

1.75 1.14

1.45

(Note)

1.62

Mass [kg]

0.23

0.24

0.22

0.23

0.21

Exterior dimensions
[mm(inch)]

98(3.86)(H) 27.4(1.08)(W)

114.3(4.50)(D)

118(4.65)(H)

27.4(1.08)(W)

89.3(3.52)(D)

98(3.86)(H) 27.4(1.08)(W)

114.3(4.50)(D)

118(4.65)(H)

27.4(1.08)(W)

89.3(3.52)(D)

(Note) : Current consumption 0.26[A] of the teaching unit is included.

(5) SV13/22 Motion control specifications/performance specifications

(a) Motion control specifications

Item

Q173CPUN(-T) Q173CPU Q172CPUN(-T) Q172CPU

Number of control axes

Up to 32 axes

Up to 8 axes

SV13

0.88ms/ 1 to 8 axes

1.77ms/ 9 to 16 axes

3.55ms/17 to 32 axes

0.88ms/1 to 8 axes

Operation cycle
(default)

SV22

0.88ms/ 1 to 4 axes
1.77ms/ 5 to 12 axes

3.55ms/13 to 24 axes
7.11ms/25 to 32 axes

0.88ms/1 to 4 axes
1.77ms/5 to 8 axes

Interpolation functions

Linear interpolation (Up to 4 axes), Circular interpolation (2 axes),

Helical interpolation (3 axes)

Control modes

PTP(Point to Point) control, Speed control, Speed-position control, Fixed-pitch feed,

Constant speed control, Position follow-up control, Speed switching control,

High-speed oscillation control, Synchronous control (SV22)

Acceleration/
deceleration control

Automatic trapezoidal acceleration/deceleration,

S-curve acceleration/deceleration

Compensation

Backlash compensation, Electronic gear

Programming language

Motion SFC, dedicated instruction, Mechanical support language (SV22)

Servo program capacity

14k steps

Number of positioning
points

3200 points

(Positioning data can be designated indirectly)

Programming tool

IBM PC/AT

Peripheral I/F

USB/RS-232/SSCNET

Teaching operation
function

Provided (Q173CPUN-T/Q172CPUN-T, SV13 use)

Home position return
function

Proximity dog type (2 types), Count type (3 types), Data set type (2 types), Dog cradle type,

Stopper type(2 types), Limit switch combined type

(Home position return re-try function provided, home position shift function provided)

JOG operation function

Provided

Manual pulse generator
operation function

Possible to connect 3 modules

Summary of Contents for Q172CPU

Page 1: ...Q173CPU N Q172CPU N Motion Controller User s Manual Q172CPU Q173CPU Q172CPUN Q173CPUN ...

Page 2: ...TIONS classify the safety precautions into two categories DANGER and CAUTION DANGER CAUTION Indicates that incorrect handling may cause hazardous conditions resulting in death or severe injury 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 also be linked...

Page 3: ...s 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 Do not touch the built in power supply built in groun...

Page 4: ...ge breaker on the Motion controller and servo amplifier power source If installation of an electromagnetic contactor for power shut off during an error etc is specified in the instruction manual for the servo amplifier etc always install the electromagnetic contactor Install the emergency stop circuit externally so that the operation can be stopped immediately and the power shut off Use the Motion...

Page 5: ...on the shaft so that the rotary parts of the servomotor are not touched during operation There may be some cases where holding by the electromagnetic brakes is not possible due to the life or mechanical structure when the ball screw and servomotor are connected with a timing belt etc Install a stopping device to ensure safety on the machine side 2 Parameter settings and programming CAUTION Set the...

Page 6: ...have fixed applications so use these with the conditions specified in the instruction manual The input devices and data registers assigned to the link will hold the data previous to when communication is terminated by an error etc Thus an error correspondence interlock program specified in the instruction manual must be used Use the interlock program specified in the special function module s inst...

Page 7: ...ection Failing to do so may lead to oil leaks Store and use the unit in the following environmental conditions Conditions Environment Motion controller Servo amplifier Servomotor Ambient temperature According to each instruction manual 0 C to 40 C With no freezing 32 F to 104 F Ambient humidity According to each instruction manual 80 RH or less With no dew condensation Storage temperature Accordin...

Page 8: ...gnal 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 Servo amplifier VIN 24VDC Control output signal RA Securely tighten the cable connector fixing screws and fixin...

Page 9: ...verters and other equipment Use the units with the following conditions Conditions Item Q61P A1 Q61P A2 Q62P Q63P Q64P 10 10 10 30 10 100 to 120VAC 15 200 to 240VAC 15 100 to 240VAC 15 24VDC 35 100 to 120VAC 15 10 200 to 240VAC 15 Input power 85 to 132VAC 170 to 264VAC 85 to 264VAC 15 6 to 31 2VDC 85 to 132VAC 170 to 264VAC Input frequency 50 60Hz 5 Tolerable momentary power failure 20ms or less 7...

Page 10: ...ricity buildup Do not perform a megger test insulation resistance measurement during inspection When replacing the Motion controller or servo amplifier always set the new module settings correctly When the Motion controller or absolute value motor has been replaced carry out a home position return operation using one of the following methods otherwise position displacement could occur 1 After writ...

Page 11: ...lectric 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 CAUTI...

Page 12: ...tional correction partial correction Safety precautions About processing of waste Discard of internal rechargeable battery Instructions for installation of operation system software Troubleshooting Precautions for air transportation of battery etc Mar 2006 IB NA 0300040 D Addition model Q62P Q172EX S2 Q172EX S3 Q170ENC Additional correction partial correction Safety precautions Operating environme...

Page 13: ... 2 26 2 4 2 Power supply module 2 36 2 4 3 Base unit and extension cable 2 43 2 4 4 Q172LX Servo external signals interface module 2 46 2 4 5 Q172EX Serial absolute synchronous encoder interface module 2 51 2 4 6 Q173PX Manual pulse generator interface module 2 61 2 4 7 Manual pulse generator Serial absolute synchronous encoder 2 70 2 4 8 A31TU D3 A31TU DN Teaching unit Japanese version only 2 72 ...

Page 14: ...e 4 18 4 6 Installation Wiring Checklist 4 19 5 TRIAL OPERATION AND ADJUSTMENT 5 1 to 5 8 5 1 Checklist before Trial Operation 5 1 5 2 Trial Operation and Adjustment Procedure 5 2 5 3 Operating System Software Installation Procedure 5 7 5 4 Trial Operation and Adjustment Checklist 5 8 6 INSPECTION AND MAINTENANCE 6 1 to 6 28 6 1 Maintenance Works 6 2 6 1 1 Instruction of Inspection works 6 2 6 2 D...

Page 15: ... synchronous encoder interface module Q172EX Q172EX S1 Q172EX S2 Q172EX S3 App 24 APPENDIX 2 4 Manual pulse generator interface module Q173PX Q173PX S1 App 25 APPENDIX 2 5 Power supply module Q61P A1 Q61P A2 Q62P Q63P Q64P App 26 APPENDIX 2 6 Dividing unit Q173DV Battery unit Q170BAT App 27 APPENDIX 2 7 Connector App 28 APPENDIX 2 8 Manual pulse generator MR HDP01 App 33 APPENDIX 2 9 Serial absolu...

Page 16: ...81 Q173CPU N Q172CPU N Motion controller SV13 SV22 Programming Manual REAL MODE This manual explains the servo parameters positioning instructions device list error list and others Optional IB 0300043 1XB782 Q173CPU N Q172CPU N Motion controller SV22 Programming Manual VIRTUAL MODE This manual describes the dedicated instructions use to the synchronous control by virtual main shaft mechanical syst...

Page 17: ... system with the QCPU Optional SH 080485ENG 13JR75 QCPU Q Mode QnACPU Programming Manual Common Instructions This manual explains how to use the sequence instructions basic instructions application instructions and micro computer program Optional SH 080039 13JF58 QCPU Q Mode QnACPU Programming Manual PID Control Instructions This manual explains the dedicated instructions used to exercise PID cont...

Page 18: ... FREQROL V500 series QCPU PLC CPU or PLC CPU module Qn H CPU Multiple CPU system or Motion system Abbreviation for Multiple PLC system of the Q series CPUn Abbreviation for CPU No n n 1 to 4 of the CPU module for the Multiple CPU system Programming software package General name for MT Developer and GX Developer Operating system software General name for SW RN SV Q SV13 Operating system software fo...

Page 19: ... peripheral devices for PLC program design I O modules and intelligent function module Manual relevant to each module Operation method for MT Developer Help of each software Multiple CPU system configuration Performance specification Design method for common parameter Auxiliary and applied functions Q173CPU N Q172CPU N Motion controller SV13 SV22 Programming Manual Motion SFC SV13 SV22 Design meth...

Page 20: ...73DV Refer to equipment configuration of a When using the Dividing unit external battery Refer to equipment configuration of a When using the Dividing unit external battery NO Refer to equipment configuration of b When using the Dividing cable Note Use a Q173J2BCBL M Q173HBCBL M Refer to equipment configuration of b When using the Dividing cable Note Use a Q173J2B2CBL M Q173HB2CBL M Use a Q173CPUN...

Page 21: ...t function module of the Q series MR J2HBUS M A MR J2HBUS M Q6 B extension base unit Q63B Q65B Q68B Q612B SSCNET cable for MR H BN SSCNET cable for MR J2 B Teaching unit A31TU D3 A31TU DN Short circuit connector for the teaching unit Q170TUTM Cable for the teaching unit Q170TUD CBL M A Short circuit connector for the teaching unit A31TUD3TM Note 3 Note 5 Note 4 Note 2 Note 5 Note 6 S VO ON Note 1 ...

Page 22: ...the best according to the system Note 1 It is possible to use only Q173CPUN T It is packed together with Q173CPUN T Note 2 It varies by the connecting teaching unit Note 3 It is packed together with Q170TUD CBL M Note 4 When using the A31TU D3 A31TU DN be sure to use the Q173CPUN T Note 5 A31TU D3 A31TU DN corresponds to only Japanese It does not correspond to display for English Q6 B extension ba...

Page 23: ...of a When using the external battery Refer to equipment configuration of b When not using the external battery Is the teaching unit used YES NO Use a Q172CPUN T Note Continuous power off time which can be backed up on the internal rechargeable battery is different depending on the charge time It is possible to continuously power off for 1100 hours because of charge of 40 hours Refer to the section...

Page 24: ...so install the battery A6BAT MR BAT in the Battery unit Q170BAT Battery A6BAT MR BAT is optional Note 2 It is possible to use only Q172CPUN T It is packed together with Q172CPUN T Note 3 It varies by the connecting teaching unit Note 4 It is packed together with Q170TUD CBL M Note 5 When using the A31TU D3 A31TU DN be sure to use the Q172CPUN T Note 6 A31TU D3 A31TU DN corresponds to only Japanese...

Page 25: ...le QC B Q172HBCBL M Q172J2BCBL M Servo amplifier MR H BN Servo amplifier MR J2 B SSCNET cable for MR J2 B SSCNET cable for MR H BN Teaching unit A31TU D3 A31TU DN Cable for the teaching unit Q170TUD CBL M A Short circuit connector for the teaching unit A31TUD3TM Note 2 Note 4 Short circuit connector for the teaching unit Q170TUTM Note 3 Note 4 Note 1 Note 5 SVO ON Note 1 It is possible to use only...

Page 26: ... USB cable R c SSCNET configuration Motion CPU module Q173CPU N Q172CPU N SSC I F communication cable Q170CDCBL M Q170BDCBL M SSC I F Card Board A30CD PCF A 0BD PCF A30CD PCF SSCNET CARD MITSUBISHI Personal computer Note For information about GPP functions of PLC CPU refer to the operating manual of PLC Also refer to the programming manual of the operating system for information about creating Mot...

Page 27: ...module RLS Lower stroke limit STOP Stop signal DOG CHANGE Proximity dog Speed position switching I O module of the Q Series or Special function module Analogue input output QY SSC I F Communication cable Teaching unit A31TU D3 A31TU DN Extension cable Power supply module Q6 B UP to 7 extensions Note 1 Q170TUD CBL M A Cable for the teaching unit Note 1 Be sure to use the Q173CPUN T A31TU D3 A31TU D...

Page 28: ...m must be compatible with the Motion controller servo amplifier and servomotor Set the parameter values to those that are compatible with the Motion controller servo amplifier servomotor and regenerative resistor model and the system application The protective functions may not function if the settings are incorrect When a teaching unit is used the cable for the teaching unit is necessary between ...

Page 29: ...e MR JHSCBL M H Q170ENCCBL M Serial absolute synchronous encoder 2 module RLS Lower stroke limit STOP Stop signal DOG CHANGE Proximity dog Speed position switching I O module of the Q Series or Special function module Analogue input output QY SSC I F Communication cable Teaching unit A31TU D3 A31TU DN Extension cable Power supply module Q6 B UP to 7 extensions Note 1 Q170TUD CBL M A Cable for the ...

Page 30: ...m must be compatible with the Motion controller servo amplifier and servomotor Set the parameter values to those that are compatible with the Motion controller servo amplifier servomotor and regenerative resistor model and the system application The protective functions may not function if the settings are incorrect When a teaching unit is used the cable for the teaching unit is necessary between ...

Page 31: ...ontrol by setting the Q173CPU N Q172CPU N as the control CPU of various motion modules Q172LX Q172EX etc 6 It is possible to execute not only servo control but also DI O input output control according to programs described in Motion SFC program by setting the Q173CPU N Q172CPU N as the control CPU of Q series PLC I O modules When the Motion SFC is used as the operating system software Refer to Sec...

Page 32: ...ing cable which connects the Motion CPU and A31TU D3 A31TU DN Note 1 are pulled from the bottom part of unit Make sure to secure sufficient space for pulling out the cable when designing the control panel 8 Motion CPU module is one module element of Q series multiple PLC system It must be set the parameters of Q series multiple PLC system for each PLC CPU Motion CPU module must also be set to supp...

Page 33: ... 2 When using two or more Motion CPU modules Do not remove the Cooling fan unit Q170FAN Ambient temperature of the Motion CPU Number of the Motion CPU 0 to 40 C 32 to 104 F Over 40 to 55 C Over 104 to 131 F 1 module Removable Not removable 2 modules or more Not removable 13 When the backup time when it is charged for 40 hours for internal rechargeable battery of Motion CPU is 1100 hours Guaranteed...

Page 34: ... 0 07 Q173PX Manual pulse generator MR HDP01 Incremental synchronous encoder interface 3 Tracking input 3 points Manual pulse generator interface module Q173PX S1 Note 2 Manual pulse generator MR HDP01 Incremental synchronous encoder interface 3 Tracking input 3 points Memory built in for data exchange 0 11 Q00CPU Program capacity 8k steps 0 25 Q01CPU Program capacity 14k steps 0 27 Q02CPU Program...

Page 35: ...or the teaching unit Q170TUDNCBL03M A Exchange cable for direct connection Q173CPUN T Q172CPUN T A31TU DN 0 3m 0 98ft Q170TUTM Short circuit connector for teaching unit for direct connection to Q173CPUN T Q172CPUN T It is packed together with Q173CPUN T Q172CPUN T Short circuit connector for teaching unit A31TUD3TM Short circuit connector for teaching unit for connection to connect with Q170TUD3CB...

Page 36: ...o amplifier MR J2 B Note 4 Q173DVCBL M Q173CPU N Dividing unit Q173DV FR V5NSCBL Q172CPU N FR V5NS Note 5 FR V5NS Note 5 FR V5NS Note 5 MR HBUS M Servo amplifier MR H BN Servo amplifier MR H BN MR J2HBUS M A Servo amplifier MR H BN Servo amplifier MR J2 B Note 4 Servo amplifier MR H BN Dividing unit Q173DV SSCNET cable MR J2HBUS M Servo amplifier MR J2 B Note 4 Servo amplifier MR J2 B Note 4 Servo...

Page 37: ...ive common sink type input module 3 wire type AC05TB Length 0 5m 1 64ft AC10TB Length 1m 3 28ft AC20TB Length 2m 6 56ft AC30TB Length 3m 9 84ft AC50TB Length 5m 16 40ft AC80TB Length 8m 26 25ft Cable for connector terminal block conversion module AC100TB Length 10m 32 81ft Note 1 Number of systems none 1 system 2 2 systems 4 4 systems Cable length 05 0 5m 1 64ft 1 1m 3 28ft 2 2m 6 56ft 3 3m 9 84ft...

Page 38: ...Y50 12V 24VDC 0 5A point 4A common 16 points 16 points common Terminal block QY80 12V 24VDC 0 5A point 4A common 16 points 16 points common Terminal block Transistor Source Type QY81P 12V 24VDC 0 1A point 2A common 32 points 32 points common Connector QY70 5 12VDC 16mA point 16 points 16 points common Terminal block Output module TTL CMOS Sink QY71 5 12VDC 16mA point 32 points 32 points common Con...

Page 39: ...Note 1 0 5m 1 64ft 1m 3 28ft 5m 16 40ft SSCNET cable Q172HBCBL M MR H BN FR V5NS Note 2 0 5m 1 64ft 1m 3 28ft 5m 16 40ft MR HSCBL M MR EN1CBL M H HA LH K HC SF RF UF 2000r min series motor MR H BN 2m 6 56ft 5m 16 40ft 10m 32 81ft 20m 65 62ft 30m 98 43ft MR JCCBL M L Encoder cable MR JCCBL M H HA FF HC MF UF 3000r min MR H BN MR JSCNS Encoder connector set MR EN1CNS Servo amplifier side connector f...

Page 40: ... 30m 98 43ft MR JCCBL M L Standard cable MR JCCBL M H HC MFS KFS UFS 3000r min series motor MR J2S B MR J2M B HC MF UF 3000r min and HA FF series motor MR J2 B 2m 6 56ft 5m 16 40ft 10m 32 81ft 20m 65 62ft 30m 98 43ft MR JCCBL M H HC AQ series motor MR J2 03B5 2m 6 56ft 5m 16 40ft 10m 32 81ft 20m 65 62ft 30m 98 43ft Encoder cable MR JRBRCBL M H Long fixing life encoder cable HC AQ series motor MR J...

Page 41: ...SFC SW6RN SV13QB SW6RN SV13QD For automatic machinery SV22 Motion SFC SW6RN SV22QA SW6RN SV22QC For machine tool peripheral SV43 SW5RN SV43QA SW5RN SV43QC b Integrated start up support software package Part name Model name Details Conveyor assembly software SW6RN GSV13P Automatic machinery software SW6RN GSV22P Machine tool peripheral software SW6RN GSV43P Cam data creation software SW3RN CAMP Dig...

Page 42: ... GSVHELPE SW6RN GSV13P 60MB 38MB SW6RN GSV22P 60MB 42MB SW6RN GSV43P 45MB 29MB SW3RN CAMP 2MB 3MB SW6RN DOSCP 30MB 5MB Standard 60MB SW6RN SNETP Custom When all selection 60 5MB 3MB SW3RN DOCPRNP 30MB 5MB SW20RN DOCPRNP 30MB 5MB Note 1 WindowsNT R Windows R are either registered trademarks or trademarks of Microsoft Corporation in the United States and or other countries Note 2 Pentium R are trade...

Page 43: ... 2000m 6561 68ft or less Installation location Inside control panel Overvoltage category Note 1 II or less Pollution level Note 2 2 or less Note 1 This indicates the section of the power supply to which the equipment is assumed to be connected between the public electrical power distribution network and the machinery within premises Category II applies to equipment for which electrical power is su...

Page 44: ...table of specifications above When not using the module for a long time disconnect the power line from the Motion controller or servo amplifier Place the Motion controller and servo amplifier in static electricity preventing vinyl bags and store When storing for a long time please contact with our sales representative ...

Page 45: ...of the module 1 Q173CPUN T Q172CPUN T Front face Q17 CPUN T RS 232 USB MODE RUN ERR M RUN BAT BOOT 2 8 3 4 5 6 7 PULL Put your finger here to open the cover FRONT SSCNET CN2 CN1 TU With front cover open MODE RUN ERR M RUN BAT BOOT ON SW 1 2 3 4 5 STOP RUN RESET LCLR 9 10 11 12 13 14 15 20 Side face Bottom 16 17 1 Q172CPUN T 20 19 18 Q173CPUN T 20 19 18 ...

Page 46: ...SB MODE RUN ERR M RUN BAT BOOT 2 8 3 4 5 6 7 PULL Put your finger here to open the cover FRONT SSCNET CN2 CN1 With front cover open MO DE RUN ERR M RUN BAT BOOT ON SW 1 2 3 4 5 STOP RUN RESET LCLR 9 10 11 12 13 14 15 Side face Bottom 16 17 21 22 1 Q172CPU 18 19 Q173CPU 18 19 ...

Page 47: ...6 BAT LED Lit Battery error occurrence External battery use 7 BOOT LED Lit Not lit Mode operated by ROM Mode operated by RAM Installation mode mode written in ROM 8 Module loading lever Used to install the module to the base unit 9 Memory card EJECT button Used to eject the memory card from the Motion CPU 10 Memory card loading connector Connector used to connect the memory card to the Motion CPU ...

Page 48: ...M RUN LED flickers M RUN LED flickers Latch clear completed 3 Move the RESET L CLR switch to L CLR once more M RUN LED turn off 16 Module fixing screw hole Hole for the screw used to fix to the base unit M3 12 screw Purchase from the other supplier 17 Module fixing hook Hook used to fix to the base unit 18 CN1 connector Note 2 Connector connect between Motion CPU module and servo amplifier 19 CN2 ...

Page 49: ...ctions Linear interpolation Up to 4 axes Circular interpolation 2 axes Helical interpolation 3 axes Control modes PTP Point to Point control Speed control Speed position control Fixed pitch feed Constant speed control Position follow up control Speed switching control High speed oscillation control Synchronous control SV22 Acceleration deceleration control Automatic trapezoidal acceleration decele...

Page 50: ...attery to servo amplifier Possible to select the absolute data method or incremental method for each axis Note When the vector inverter is used only the increment method Number of SSCNET I F 5CH Note 1 2CH Q172LX 4 modules usable Q172LX 1 module usable Q172EX 6 modules usable Q172EX 4 modules usable Motion related interface module Q173PX 4 modules usable Note 2 Q173PX 3 modules usable Note 2 Note ...

Page 51: ...ing block Up to 32 Number of characters block Up to 128 comment included Number of operand block Up to 64 operand constants word device bit devices nesting block Up to 32 levels Operation control program Calculation expression bit conditional expression Operation control program F FS Transition program G Descriptive Expression Transition program Calculation expression bit conditional expression co...

Page 52: ...er of I O X Y points 8192 points Number of real I O PX PY points Total of 256 points Programming tool IBM PC AT Peripheral I F USB RS 232 SSCNET Teaching operation function None Home position return function Proximity dog type 2 types Count type 3 types Data set type 2 types Dog cradle type Stopper type 2 types Limit switch combined type Home position return re try function provided home position ...

Page 53: ...G53 G54 G55 G56 G61 G64 G90 G91 G92 G98 G99 G100 G101 M codes Output command to data register M Special M codes Program control command M00 M01 M02 M30 M98 M99 M100 Variable Device variable PX PY B F D W Trigonometric function SIN COS TAN ASIN ACOS ATAN Functions Numerical function ABS SQR BIN LN EXP BCD RND FIX FUP INT FLT DFLT SFLT Start end CALL CLEAR Home position return CHGA Speed torque sett...

Page 54: ...the internal rechargeable battery for eight hours or more even if it is empty If the battery is charged for five days while applying power eight hours a day i e 40 hours of normal operation it will be able to provide backup power for the IC RAM memory for 1100 hours Battery backup by the external battery will be necessary if there is a possibility that a continuous power off that lasts longer than...

Page 55: ...FG 2 830VAC rms 3 cycles Altitude 2000m 6561 68ft Insulation resistance Across inputs and outputs LG and FG separated across inputs and LG FG across outputs and LG FG 10M or more by insulation resistance tester 500VDC Noise immunity By noise simulator of 1 500Vp p noise voltage 1µs noise width and 25 to 60Hz noise frequency Noise voltage IEC61000 4 4 2kV Operation indication LED indication Lit at ...

Page 56: ...and outputs LG and FG separated across inputs and LG FG across outputs and LG FG 10 or more by insulation resistance tester 500VDC Noise immunity By noise simulator of 500Vp p noise voltage 1µs noise width and 25 to 60Hz noise frequency By noise simulator of 1 500Vp p noise voltage 1µs noise width and 25 to 60Hz noise frequency Noise voltage IEC61000 4 4 2kV Operation indication LED indication Lit...

Page 57: ...t and start up the system again Note 2 Overvoltage protection The overvoltage protection device shuts off the 5VDC circuit and stops the system if a voltage of 5 5 to 6 5V is applied to the circuit When this device is activated the power supply module LED is switched OFF If this happens switch the input power OFF then ON to restart the system The power supply module must be changed if the system i...

Page 58: ...L 24VDC 0 5A FG LG N L 200 240VAC INPUT 9 1 8 2 3 4 5 10 Q61P A2 Q 61P A 2 7 Q62P POWER 100 240VAC INPUT 50 60Hz 105VA OUTPUT 5VDC 3A 24VDC 0 6A ERR L 24VDC 0 5A FG LG N L 100 240VAC INPUT 9 1 8 2 3 4 5 10 7 24V 24G 6 Q 62P Q62P Q63P POWER 100 120 200 240VAC INPUT 50 60Hz 160VA OUTPUT 5VDC 8 5A ERR L 24VDC 0 5A FG LG N L 100 120 200 240VAC INPUT 9 1 8 2 3 4 5 10 Q61P A2 7 Q 61P A2 4 4 Q64P POWER 1...

Page 59: ...al screw M3 5 7 8 Terminal cover Protective cover of the terminal block 9 Module fixing screw Used to fix the module to the base unit M3 12 screw tightening torque 0 36 to 0 48 N m 10 Module loading lever Used to install the module into the base unit POINTS 1 The Q61P A1 is dedicated for inputting a voltage of 100VAC Do not input a voltage of 200VAC into it or trouble may occur on the Q61P A1 Supp...

Page 60: ...s Memory built in for data exchange Q172EX S2 Serial absolute synchronous encoder Q170ENC interface 2 Tracking input 2 points Serial absolute synchronous encoder interface module Note 1 Q172EX S3 Serial absolute synchronous encoder Q170ENC interface 2 Tracking input 2 points Memory built in for data exchange 0 07 Q173PX Manual pulse generator MR HDP01 Incremental synchronous encoder interface 3 Tr...

Page 61: ...UN T Note 1 56 A MR HDP01 0 06 A Q172LX 0 05 A QX40 0 05 A Q172EX 0 07 A QY10 0 43 A MR HENC 0 15 A Q38B 0 114 A Note Current consumption of A31TU D3K13 0 26A is included c Power consumption of overall modules I5V 0 64 1 56 0 05 0 07 0 15 0 11 0 06 2 0 05 2 0 43 2 0 114 3 774 A Select of the power supply module Q61P A1 100VAC 6A according to this internal current consumption 3 774 A Note Configure...

Page 62: ... W 3 86 H 1 74 D 328 W 98 H 44 1 D 12 91 W 3 86 H 1 74 D 439 W 98 H 44 1 D 17 28 W 3 86 H 1 74 D Mass kg 0 21 0 25 0 35 0 45 Attachment Fixing screw M4 14 4 pieces DIN rail fixing adapter is optional DIN rail fixing adapter type Q6DIN3 Q6DIN2 Q6DIN1 b Extension base unit specifications Type Item Q63B Q65B Q68B Q612B Number of I O modules 3 5 8 12 Possibility of extension Extendable Applicable modu...

Page 63: ...1 I 00 CPU POWER 5V 56 F6 No Name Application 1 Extension cable connector Connector for sending and receiving signals from the extension base unit to which the extension cables are connected 2 Base cover Protective cover of extension cable connector Before an extension cable is connected the area of the base cover surrounded by the groove under the word OUT on the base cover must be removed with a...

Page 64: ... No 3 Module of control CPU No 1 QY41 PY20 to PY3F Y80 to Y9F X60 to X7F QX41 X0 to X1F Q25H CPU Q173 CPU N QY41 Y20 to Y3F QY41 Y40 to Y5F Q172LX Intelligent 32 points QX41 PX0 to PX1F QY41 YC0 to YDF YA0 to YBF Power supply module Module of control CPU No 3 Module of control CPU No 2 Module of control CPU No 3 Module of control CPU No 3 Module of control CPU No 1 Module of control CPU No 1 Note ...

Page 65: ... to display the servo external signal input status of each axis 2 Mode judging LED This LED is not turned on if it is not set the Q172LX in the system settings 3 CTRL connector The servo external signal input connector of each axis 4 Module loading 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 ...

Page 66: ... 12VDC 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 ...

Page 67: ...ing of the positioning software package to determine the I O No s corresponding to the axis No s Servo external signal Application Number of points on one Q172LX 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 de...

Page 68: ...A1 RLS5 FLS5 STOP5 DOG5 CHANGE5 RLS6 FLS6 STOP6 DOG6 CHANGE6 RLS7 FLS7 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 A6CON2 type Crimp contact type connector A6CON3 type Pressure displacement type connector Optional Applicable connector model name A6CON1 type soldering type connector Pin No Signal Name...

Page 69: ...2 0mA or more Description Low level 1 8 VDC or less 0 18mA or less Common terminals for motion control signals external signal Power supply Note DOG CHANGE2 DOG CHANGE3 DOG CHANGE4 DOG CHANGE5 DOG CHANGE6 DOG CHANGE7 DOG CHANGE8 connector 5 6K 5 6K 5 6K 5 6K 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 a...

Page 70: ...ndicates to display the signal input status of each serial absolute synchronous encoder When the serial absolute synchronous encoder cable connected property LED is turned on TREN 1 2 Indicates to display the signal status of tracking enable 2 Mode judging LED 3 SY ENC connector Input connector of the serial absolute synchronous encoder 4 Module loading lever Used to install the module to the base...

Page 71: ...gnal input Item Specifications Number of input points Tracking enable signal 2 points Input method Sink Source type Isolation method Photocoupler Rated input voltage 12 24VDC Rated input current 12VDC 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 resi...

Page 72: ...ector type 20 pin connector Applicable connector for the external connection MR J2CNS Optional Applicable wire UL20276 AWG 22 6Pair Connecting cable MR JHSCBL M H cable length 2m 6 56ft 5m 16 40ft 10m 32 81ft 20m 65 62ft 30m 98 43ft Note Cable length Up to 30m 98 43ft Back up the absolute position Depends on A6BAT MR BAT 15000 h Example of encoders 2 Ambient temperature 40 C 104 F Battery service ...

Page 73: ...ber of serial absolute synchronous encoders and incremental synchronous encoders combined can be used Motion CPU module Synchronous encoder Q173CPU N Up to 12 modules Q172EX Up to 6 modules Q172CPU N Up to 8 modules Q172EX Up to 4 modules Tracking enable signal Tracking enable signal of Q172EX is used as a high speed reading function It cannot be used as the input start signal which start the inpu...

Page 74: ...Y ENC connector Pin No Signal name Pin No Signal name 1 LG 11 LG 2 LG 12 LG 3 LG 13 No connect 4 TREN 14 TREN CO 5 No connect 15 No connect 6 MD 16 MDR 7 MR 17 MRR 8 No connect 18 P5 9 BAT 19 P5 10 P5 20 P5 Note Do not connect a wire to MD 6Pin MDR 16Pin b Interface with external equipment The interface between the SY ENC connector and external equipment is described below 1 Wiring precautions Ens...

Page 75: ... are possible CAUTION Always use a shield cable for connection of the SY ENC connector and external equipment and avoid running it close to or bundling it with the power and main circuit cables to minimize the influence of electromagnetic interface Separate them more than 200mm 0 66 ft away Connect the shield wire of the connection cable to the FG terminal of the external equipment When increasing...

Page 76: ... side connector 10120 3000VE Synchronous encoder side connector MS3106B20 29S 24VDC Cable length 10 to 30m 32 81 to 98 43ft SY ENC side connector 10120 3000VE Synchronous encoder side connector MS3106B20 29S Note 3 Note 4 Plate SD TREN 4 TREN COM 14 LG BT 9 1 19 11 20 12 7 17 P5 LG P5 LG MR MRR P5 19 LG 11 P5 20 LG 12 P5 18 LG 3 BT 9 LG 1 SD P5 10 LG 2 MR 7 MRR 17 Plate TREN 4 TREN COM 14 S R C F ...

Page 77: ...7 17 6 16 BAT LG MR MRR MD MDR 19 11 P5 LG P5 LG P5 LG 2 When using tracking enable signal Note 1 Note 2 20 12 18 2 SDplate TREN 4 TREN COM 14 S H J N R K L SY ENC side connector 10120 3000VE connector 10320 52F0 008 connector case MS3106B22 14S cable clump Synchronous encoder side connector plug Twisted pair cable E 24VDC Cable length 50m 164 04ft or less 19 11 P5 LG P5 LG P5 LG 9 1 7 17 6 16 BAT...

Page 78: ...e IATA International Air Transportation Association Dangerous Goods Regulations was effected in January 1st 2003 and administered immediately In this edition the provisions relating to lithium and lithium ion batteries have been revised to strengthen regulations on the air transportation of battery This battery is not dangerous goods not class 9 Therefore these batteries of 24 units or less are no...

Page 79: ...ime MIN h Actual time TYP h MR HENC 1 pcs 10000 30000 MR HENC 2 pcs 5000 15000 Q170ENC 1 pcs 8000 24000 Q170ENC 2 pcs 4000 12000 CAUTION Do not short a battery Do not charge a battery Do not disassemble a battery Do not burn a battery Do not overheat a battery Do not solder the battery terminals ...

Page 80: ...to the base unit Quick release installation Display the input status from the external equipment LED Details PLS A 1 to 3 PLS B 1 to 3 Input signal status of the Manual pulse generator Incremental synchronous encoder phases A and B TREN 1 to 3 Tracking enable signal 2 Mode judging LED This LED is not turned on if it is not set the Q173PX in the system settings 3 PULSER connector Input connector of...

Page 81: ...nal turns off to on 6 Dip switches Note 1 Note 2 1 2 3 4 5 6 ON Shipped from the factory in OFF position Dip switch 6 OFF ON TREN is detected when TREN signal turns on to off 7 Module fixing hook Hook used to fix to the base unit Note 1 When using the Q173PX S1 only Note 2 The function is different according to the operating system software installed POINTS The lighting condition of input display ...

Page 82: ...pecifications Number of input points Tracking enable signal 3 points Input method Sink Source type Isolation method Photocoupler Rated input voltage 12 24VDC Rated input current 12VDC 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 6...

Page 83: ...ent Low voltage 0 to 0 8VDC Input frequency Up to 200kpps After magnification by 4 Applicable types Voltage output type Open collector type 5VDC Recommended product MR HDP01 Differential output type 26LS31 or equivalent External connector type 40 pin connector Applicable wire size 0 3mm 2 Applicable connector for the external connection A6CON1 Attachment A6CON2 A6CON3 Optional Voltage output Open ...

Page 84: ...pe absolute synchronous encoder MR HENC Q170ENC not connected to Q173PX Then connect to Q172EX In addition the usable numbers of synchronous encoders differ depending on the modules The following number of serial absolute synchronous encoders and incremental synchronous encoders combined can be used Motion CPU module Synchronous encoder Q173CPU N Up to 12 modules Q173PX Up to 4 modules Q172CPU N U...

Page 85: ...rator incremental synchronous encoder switched by 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 Attachment FCN 361J040 AU connector A6CON2 type Crimp contact type connector A6CON3 type Pressure displacement type connector Optional Applicable connect...

Page 86: ... 25 Manual pulse generator phase B LOW level 20 s or more Rise fall 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 Q173PX 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 sep...

Page 87: ...A leads Phase B Phase difference B Power supply 5VDC 1 2 3 Manual pulse generator phase B HA HB LOW level Rise fall time 1 s or less 2 Positioning address decreases if Phase B leads Phase A Select type signal HPSEL The 5V P5 DC power supply from the Q173PX must not be connected if a separated power supply is used as the Manual pulse generator Incremental synchronous encoder power supply Use a 5V s...

Page 88: ... pair cable Twisted pair cable Note 1 The 5V P5 DC power supply from the Q173PX 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 ...

Page 89: ... rev after magnification by 4 Output method Voltage output power supply voltage 1V or more Output current Up to 20mA Power supply voltage 4 5 to 13 2VDC Current consumption mA 60 Life time 1 000 000 revolutions at 200r min Radial load Up to 19 6N Permitted axial loads 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 sign...

Page 90: ...Up to 98N Thrust load Up to 49N Radial load Up to 19 6N Thrust load Up to 9 8N Runout at input shaft tip 0 02mm 0 00079 inch or less 15mm 0 59 inch from tip Recommended coupling Bellows coupling Permitted angular acceleration 40000rad s 2 Internal current consumption A 0 15 0 2 Mass kg lb 1 5 0 6 Connecting cable MR JHSCBL M H Cable length 2m 6 56ft 5m 16 40ft 10m 32 81ft 20m 65 62ft 30m 98 43ft Q...

Page 91: ...leased by pushing switch Normally closed contact is connected by turning to the right this switch Provided Normally closed contact double contact Normally closed contact is released by pushing switch Normally closed contact is connected by turning to the right this switch Terminal for external safety circuit Provided Emergency stop switch 2 Deadman switch 2 Emergency stop input to Motion CPU 1 Eme...

Page 92: ... which may occur machine breakdown and accidents due to abnormal operations outside of the Motion CPU in a fail safe viewpoint to avoid abnormal operations of whole system CAUTION If the teaching unit A31TU D3 is released during operation the emergency stop state of Motion CPU occurs and the servomotor becomes coasting state ...

Page 93: ...state of Motion CPU occurs by pushing the switch and the servomotor stops and becomes coasting state The emergency stop state is released by turning to the right this switch 4 Operation keys Operation key of the teaching unit 5 Contrast adjusting switch Adjust the contrast of display 6 3 position deadman switch A31TU D3 only The emergency stop signal is input to the Motion CPU by the external safe...

Page 94: ...heck without removing a protection sheet are possible however adhesives may remain in a teaching unit by secular change 3 When the servomotor is operated by the JOG feed etc using the teaching unit A31TU D3 with deadman switch operate it pushing the deadman switch at middle position The emergency stop state of Motion CPU occurs by gripping or releasing this switch and the servomotor stops and beco...

Page 95: ...When the A31TU D3 is not used Emergency stop input Deadman contact point Emergency stop contact point Main circuit power supply External safety circuit Relay MC etc A31TU D3 Deadman switch A31TU DATA MONITOR TEST STOP OVERRIDE STEP STEP RETURN 8 ITEM 9 CLEAR 5 DELETE E 6 INDIRECT F 3 C 2 B 0 MDI 7 INSTRUCTION 4 WRITE D 1 STORE A SHIFT AXIS NO FUNCTION PROGRAM JOG ERROR RESET SP CAN JOG GO Servo am...

Page 96: ...teaching unit Q170TUDNCBL3M between the TU connector of Motion CPU Q173CPUN T Q172CPUN T and control panel Refer to the exterior dimensions of APPENDIX 1 3 Cable for the teaching unit and APPENDIX 2 7 Connector when it is fit to the control panel b Connect the teaching unit A31TU DN to the cable for teaching unit Q170TUDNCBL3M connected to the control panel c When the teaching unit A31TU DN is not...

Page 97: ...adman switch Q170TUDNCBL3M A31TU DATA MONITOR TEST STOP OVERRIDE STEP STEP RETURN 8 ITEM 9 CLEAR 5 DELETE E 6 INDIRECT F 3 C 2 B 0 MDI 7 INSTRUCTION 4 WRITE D 1 STORE A SHIFT AXIS NO FUNCTION PROGRAM JOG ERROR RESET SP CAN JOG GO Servo amplifier CAUTION Do not use it in the combination of the teaching unit with deadman switch A31TU D3 and cable for teaching unit without deadman switch Q170TUDNCBL3...

Page 98: ... Q170TUDNCBL03M A is shown below MITSUBISHI Q173CPUN T SSCNET M RUN MODE RUN ERR BAT BOOT FRONT CN2 CN1 PULL USB RS 232 TU QX40 0 1 2 3 4 5 6 7 8 9 A B C D E F SY ENC2 SY ENC1 Q172EX Q172EX 2 1 TREN SY ENC 2 1 Q02HCPU USER MODE RUN ERR BAT BOOT PULL USB RS 232 Q61P A1 POWER PULL Q173PX PULSER Q173PX S1 PLS A 3 2 1 PLS B 3 2 1 TREN 3 2 1 MELSEC MITSUBISHI DISABLE EMG STOP ENABLE Q170TUDNCBL03M A Q1...

Page 99: ... removed first be sure to remove a TU connector of Motion CPU Q173CPUN T Q172CPUN T so that impossible power is not applied for the connector If a connector of teaching unit A31TU DN is removed connecting a TU connector of Motion CPU Q173CPUN T Q172CPUN T a TU connector of Motion CPU Q173CPUN T Q172CPUN T may be damaged When the teaching unit A31TU DN is not used in the Motion CPU Q173CPUN T Q172C...

Page 100: ...EX 2 1 TREN SY ENC 2 1 Q02HCPU USER MODE RUN ERR BAT BOOT PULL USB RS 232 Q61P A1 POWER PULL Q173PX PULSER Q173PX S1 PLS A 3 2 1 PLS B 3 2 1 TREN 3 2 1 MELSEC MITSUBISHI Q173CPUN T Q172CPUN T Control panel Q170TUTM When the A31TU D3 A31TU DN is not used Main circuit power supply Servo amplifier CAUTION When the teaching unit A31TU D3 A31TU DN is not used in the Motion CPU Q173CPUN T Q172CPUN T con...

Page 101: ...d to 1 SSCNET cable Also SSCNET cables or terminal connector are different depending on the servo amplifiers 1 Connection between the Q173CPU N and servo amplifiers a When using the Dividing unit external battery Dividing unit Note 1 Q173DV CN1 Q173CPU N Motion CPU module SSCNET SYSTEM1 Servo amplifier 3 MITSUBISHI CN1A CN1B MITSUBISHI CN1A CN1B MITSUBISHI CN1A CN1B MITSUBISHI CN1A CN1B 3 3 3 4 4 ...

Page 102: ...N Motion CPU module Servo amplifier MITSUBISHI CN1A CN1B MITSUBISHI CN1A CN1B MITSUBISHI CN1A CN1B MITSUBISHI CN1ACN1B 3 3 2 4 4 Servo amplifier Servo amplifier Servo amplifier SSCNET cable over all length per 1 system 2 total of 3 30m 98 43ft SSCNET SYSTEM1 SSCNET SYSTEM2 ...

Page 103: ... B Dividing unit Q173DV Servo amplifier MR H BN MR HBUS M 0 5m 1 64ft 1m 3 28ft 5m 16 40ft Servo amplifier MR H BN Servo amplifier MR H BN Q172J2BCBL M 0 5m 1 64ft 1m 3 28ft 5m 16 40ft Servo amplifier MR J2 B FR V5NS Note 4 Dividing unit Q173DV FR V5NS Note 4 Q172HBCBL M 0 5m 1 64ft 1m 3 28ft 5m 16 40ft Servo amplifier MR H BN FR V5NS Note 4 3 Servo amplifier Servo amplifier Dividing unit Servo am...

Page 104: ...o amplifier BAT CPU MITSUBISHI LITHIUM BATTERY 1 Note 1 When using the external battery set the Battery A6BAT MR BAT into the battery unit Q170BAT SSCNET cable over all length per 1 system 1 total of 3 30m 98 43ft SSCNET SYSTEM1 b When not using the external battery Q172CPU N Motion CPU module CN1 Servo amplifier MITSUBISHI CN1A CN1B MITSUBISHI CN1A CN1B 3 4 Servo amplifier 2 SSCNET cable over all...

Page 105: ... 20m 65 62ft Q172CPU N FR V5NS Note 2 MR J2HBUS M 0 5m 1 64ft 1m 3 28ft 5m 16 40ft Servo amplifier MR J2 B Servo amplifier MR J2 B MR J2HBUS M A 0 5m 1 64ft 1m 3 28ft 5m 16 40ft Servo amplifier MR H BN Servo amplifier MR J2 B MR HBUS M 0 5m 1 64ft 1m 3 28ft 5m 16 40ft Servo amplifier MR H BN Servo amplifier MR H BN Q172J2BCBL M 0 5m 1 64ft 1m 3 28ft 5m 16 40ft Servo amplifier MR J2 B FR V5NS Note ...

Page 106: ...able length m ft 0 5 1 64 1 3 28 5 16 40 SSCNET SYSTEM No none SYSTEM 1 2 SYSTEM 2 4 SYSTEM 4 d Q173HB CBL M Model name Item Q173HB CBL05M Q173HB CBL1M Q173HB CBL5M Cable length m ft 0 5 1 64 1 3 28 5 16 40 SSCNET SYSTEM No none SYSTEM 1 2 SYSTEM 2 4 SYSTEM 4 e Q173DVCBL M Model name Item Q173DVCBL05M Q173DVCBL1M Cable length m ft 0 5 1 64 1 3 28 f MR HBUS M Model name Item MR HBUS05M MR HBUS1M MR...

Page 107: ...of the models shown in the following table When absolute position detection control is executed installed battery MR BAT A6BAT to servo amplifier When the vector inverter FR V5 0 is connected fix the ferrite core to the SSCNET cable Refer to SSCNET communication option FR V5NS operating manual for details Part name Model name Depiction in connection example MR HBUS M MR J2HBUS M MR J2HBUS M A Serv...

Page 108: ... J2 B MR J2 B c MR J2 B MR H BN configuration Motion CPU module Battery MR BAT A6BAT Terminal connector Q173CPU N Q172CPU N Battery MR BAT A6BAT Battery MR BAT A6BAT Q172CPU N configuration Q172J2BCBL M Q173CPU N configuration Q173J2B CBL M MR J2 B MR J2 B MR H BN Motion CPU module Battery MR BAT A6BAT Terminal connector Q173CPU N Q172CPU N Battery MR BAT A6BAT Battery MR BAT A6BAT Q172CPU N confi...

Page 109: ...rminal connector SSCNET communication option FR V5NS FR V5 0 Q172J2BCBL M f FR V5 0 MR H BN configuration Battery MR BAT A6BAT Motion CPU module MR H BN Q172CPU N Terminal connector SSCNET communication option FR V5NS FR V5 0 Q172HBCBL M g MR J2 B FR V5 0 configuration Q172CPU N configuration Q172J2BCBL M Q173CPU N configuration Q173J2B CBL M Battery MR BAT A6BAT Motion CPU module MR J2 B Q173CPU ...

Page 110: ... Q173CPU N MR H BN MR J2 B MR H BN configuration Battery Q173DV Motion CPU module MR BAT A6BAT Terminal connector Q173CPU N Battery MR BAT A6BAT Battery MR BAT A6BAT Battery MR BAT A6BAT Q173DVCBL M MR H BN MR H BN MR J2 B MR J2 B MR H BN MR J2 B configuration Battery Q173DV Motion CPU module MR BAT A6BAT Terminal connector Q173CPU N Battery MR BAT A6BAT Battery MR BAT A6BAT Battery MR BAT A6BAT Q...

Page 111: ...tor SSCNET communication option FR V5NS FR V5 0 MR H BN Battery MR BAT A6BAT Q172J2BCBL M Q172HBCBL M MR J2 B FR V5 0 configuration Motion CPU module Q173CPU N Battery Q173DV MR BAT A6BAT Q173DVCBL M SSCNET communication option FR V5NS FR V5 0 MR J2 B Battery MR BAT A6BAT Terminal connector setting is set by connector in FR V5NS Q172J2BCBL M MR H BN FR V5 0 configuration Motion CPU module Q173CPU ...

Page 112: ...inal connector Q172CPU N Battery MR BAT A6BAT Battery MR BAT A6BAT Battery MR BAT A6BAT Q172HBCBL M B MR J2 B MR H BN MR H BN MR J2 B MR H BN MR J2 B configuration Battery Q170BAT Motion CPU module MR BAT A6BAT Terminal connector Q172CPU N Battery MR BAT A6BAT Battery MR BAT A6BAT Battery MR BAT A6BAT Q172J2BCBL M B MR J2 B MR J2 B MR H BN ...

Page 113: ...ware Axis No Q173CPU N 1 to 32 Q172CPU N 1 to 8 is allocated and set for the setting axis number d01 to d8 of servo amplifier Since the axis number d01 to d8 of servo amplifier on the system setting screen corresponds to axis select switch 0 to 7 of servo amplifier set the axis select switch referring to the table of next page System setting Allocation of axis No Axis select switch Servo amplifier...

Page 114: ...4 7 Note The dno is axis number of servo amplifier axis displayed in the system settings of programming software Axis No is set relative to dno in the system settings The Dividing unit Q173DV and the SSCNET cables Q173J2B CBL M Q173HB CBL M between the Motion CPU and servo amplifiers divide signals allocated in CN1 of the Q173CPU N into each of the four systems Corresponding between connector No a...

Page 115: ... of battery This battery is not dangerous goods not class 9 Therefore these batteries of 24 units or less are not subject to the regulations These batteries more than 24 units require packing based on Packing Instruction 903 If you need the self certification form for the battery safety test contact Mitsubishi For more information contact Mitsubishi 2 Q173CPU N Q172CPU N back up by the external ba...

Page 116: ...ot back up since the battery voltage detection error is not detected a Connection with Q173CPU N Connection procedure of Q173CPU N and A6BAT MR BAT 1 Set the A6BAT MR BAT to the Dividing unit Q173DV 2 Connect the A6BAT MR BAT connector to the BAT connector of Q173DV 3 Connect between Q173CPU N and Q173DV by the SSCNET cable Q173DVCBL M Dividing unit Q173DV CN1 Q173CPU N Motion CPU Module Servo amp...

Page 117: ...nector to the BAT connector of Q170BAT 3 Connect between Q172CPU N and Q170BAT by the SSCNET cable Battery unit Q170BAT CN1 Q172CPU N Motion CPU Module Servo amplifier MITSUBISHI CN1A CN1B BAT CPU MITSUBISHI LITHIUM BATTERY 500mm 1 64ft Servo amplifier MR J2 B Q172J2BCBL M B Servo amplifier MR H BN Q172HBCBL M B Note Connection cable length of Q170BAT can use to 0 5m 1 64ft A6BAT MR BAT ...

Page 118: ... to 104 F b When using two or more Motion CPU module Do not remove the Cooling fan unit Q170FAN Ambient temperature of the Motion CPU Number of the Motion CPU 0 to 40 C 32 to 104 F Over 40 to 55 C Over 104 to 131 F 1 module Removable Not removable 2 modules or more Not removable 2 Cooling fan unit specifications Model name Item Q170FAN Type Cooling fan Ambient temperature 0 to 55 C 32 to 131 F Ope...

Page 119: ...out design within the control panel Leave 50mm 1 97inch or more clearance between the top of the modules and structures or parts Top of panel or wiring duct 50mm 1 97inch min Power supply PLC CPU Motion CPU The wind blows lies Cooling fan unit Q170FAN ...

Page 120: ...n return is made Proximity dog required For speed control Speed position switching control signal required When overrun prevention is necessary Stroke limit required When each axis stop is necessary STOP signal required Select Q173PX Q172EX and design according to whether manual pulse generators and synchronous encoders are required or not Select I O modules according to the specifications of the ...

Page 121: ...to the Motion CPU to prevent cases where danger may result from abnormal operation of the overall system in the event of an external power supply fault or Motion CPU failure Install the Motion controller servo amplifier servomotor and regenerative resistor on inflammable material Direct installation on flammable material or near flammable material may lead to fire If a fault occurs in the Motion c...

Page 122: ...m In systems where coasting of the servomotor will be a problem during the forced stop the emergency stop servo OFF or when the power is shut OFF use dynamic brakes Make sure that the system considers the coasting amount even when using dynamic brakes In systems where perpendicular shaft dropping may be a problem during the forced stop the emergency stop servo OFF or when the power is shut OFF use...

Page 123: ...tion control 1 FLS1 CP3 CP1 R S T Ra1 OFF ON MC MC SK 24V 24G FLS1 DOG8 CHANGE8 COM COM NFB 200VAC 200VAC FG LG Q61P A2 Power Supply Qn H CPU PLC CPU QX40 Q172LX Xn 24VDC 3 phase 200 220VAC Forced stop CP2 EMG Q173CPU N Q172CPU N DOG8 CHANGE8 G24 Operation Ready EMG Motion CPU Input module QY10 Output module Servo external signals interface module Number of inputs 8 axes module Power supply Emerge...

Page 124: ... amplifier 6 Refer to Section 2 4 9 4 for the connection of SSCNET cable and terminal connector 5 Note 5 Only the point has described the servo amplifier MR J2M B Refer to MR J2M B Servo amplifier Instruction Manual for details MC Ra3 SM U V W U V W L1 L2 L3 L11 L21 MR J2 B MR J2S B COM MBR EM1 SG 24VDC Ra3 CP5 Note 3 Circuit example when using MR J2 B MR J2S B Ground Electro magnetic brake Note 2...

Page 125: ...CP3 OFF ON MC MC EMG Ra1 SK Internal connection 3 phase 200 220VAC 24VDC Power supply Emergency Stop Operation Ready Number of inputs 8 axes module Power Supply PLC CPU Motion CPU Servo external signals interface module Input module Output module Forced stop 200VAC 200VAC Qn H CPU Q172CPUN T Q172LX DOG8 CHANGE8 FLS1 QX40 QY10 G24 PYm Ra1 Servo normal output Servo normal ON Alarm OFF ...

Page 126: ... 6 Note 6 Select the brake unit of inverter according to the necessity 5 Note 5 Only the point has described the vector inverter FR V5 0 Refer the FR V5 0 INSTRUCTION MANUAL BASIC for details IM U V W U V W R S T R1 S1 FR V520 Ground CP6 Note 6 Circuit example when using FR V520 Note 5 Ra3 SM U V W U V W L1 L2 L3 L11 L21 MR J2 B MR J2S B COM MBR EM1 SG 24VDC Ra3 Ground CP5 Note 3 Circuit example w...

Page 127: ...SG Ra2 Ra3 Cable Ra2 Ra1 Emergency stop switch EMG1 Cable Dead man switch Cable Cable Ra3 Ra1 Ra3 Ra2 SK SK Ra3 Ra2 SK SK Internal connection EMG SG 3 phase 200 220VAC Power Supply PLC CPU Qn H CPU Q173CPUN T Motion CPU Q172CPUN T Servo external signals interface module Q172LX Input module Output module QX40 QY10 Forced stop Operation Ready Cable Cable 24VDC Power supply Number of inputs 8 axes mo...

Page 128: ...r nearest Mitsubishi sales representative when you construct a double circuit by external safety circuit 9 Sample system circuit design is not based on JIS B9705 1 ISO 13849 1 EN954 1 Safety of machinery Safety related parts of control systems ansi RIA R15 06 American National Standard for industrial Robots and Robot systems Safety requirements revision and JIS B8433 Manipulating industrial robots...

Page 129: ...t module MC Input module Output module RA1 switched ON by SM403 Alarm output lamp or buzzer Start switch Stop switch Transformer Fuse CPU Power supply Program MC Interlock circuits as necessary Provide external interlock circuits for conflicting operations such as forward rotation and reverse rotation and for parts that could damage the machine or cause accidents if no interlock were used N0 The p...

Page 130: ...mended Set TM to time to establish DC input signal Using AC and DC Yn DC power supply RA2 Transformer Fuse Fuse Input module Stop switch Start switch output module output module Power supply module Starting possible when the PLC RUN output RA1 is ON on emergency stop on stop at upper lower limit switch MC N0 The power ON procedure is as follows For AC DC 1 Switch power ON 2 Set CPU to RUN 3 When D...

Page 131: ...ystem may malfunction as it is affected by various noises such as electric path noises from the power supply systems radiated and induced noises from other equipment servo amplifiers and their cables and electromagnetic noises from conductors To avoid such troubles connect the earthing ground of each equipment and the shield grounds of the shielded cables to the earth Also use ferrite cores ex ZCA...

Page 132: ... Emergency 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 It is possible to effect the forced stop all axes of the servo amplifier MR H BN MR J2 B at once via the forced stop input of the inp...

Page 133: ...ration status of the emergency stop and the forced stop are as follows Item Operation of the signal ON Remark Emergency stop Shut off the power supply to the external servo amplifier by external circuit make the servomotor stopped Forced stop Servo OFF The servomotor is stopped according to the stop instruction from Motion controller to the servo amplifier ...

Page 134: ...hipped from the factory Without Cooling fan unit 1 0 to 40 C 32 to 104 F 2 or more 0 to 55 C 32 to 131 F Note 1 Note 1 It is need to install the Cooling fan unit Q170FAN 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 ...

Page 135: ...g fan unit Shipped from the factory 50mm 1 97inch or more 100mm 3 94inch or more 5mm 0 20inch or more 2 Provide a wiring duct if required CAUTION Due to ventilation problems do not install the base units vertically or horizontally Install the base units on a flat surface Unevenness or warping of the surface can apply undue force to printed circuit boards and lead to operation failures Avoid instal...

Page 136: ...er is consumed by heating As a result 3 7 of the output power becomes the power consumption Therefore the calculation formula is as follows 3 7 Wpw I5V 5 W I5V Current consumption of logic 5 VDC circuit of each module 2 Power consumption of a total of 5 VDC logic section of each module The power consumption of the 5 VDC output circuit section of the power module is the power consumption of each mo...

Page 137: ... circulated 4 POINT When a rise in ambient temperature inside the control panel exceeds the specified limit it is recommended that you install a heat exchanger in the control panel to lower the ambient temperature inside the control panel If a normal ventilating fan is used dust will be sucked into the Motion controller together with the external air and it may affect the performance of the Motion...

Page 138: ...n due to voltage drop in the output section of the output module WOUT 0 W g Average power consumption of the input section of the input module WIN 0 004 24 32 1 3 07 W h Power consumption of the power supply section of the intelligent function module WS 0 W i Power consumption of overall system W 6 84 15 97 192 0 3 07 0 217 88 W ...

Page 139: ...dules I O module installed to CPU base modules CPU base unit selection CPU base unit selection I O module installed to extension base modules Distance between CPU base 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 de...

Page 140: ...pply externally before loading or unloading the module Not doing so could result in electric shock or damage to the product Do not directly touch the module s conductive parts Touching the conductive parts could cause an operation failure or give damage to the module This section describes instructions for handling the CPU modules I O modules intelligent function modules power supply modules and b...

Page 141: ... unit to the panel Panel 2 Place the right hand side notch of the CPU base unit onto the right hand side screw Panel 3 Place the left hand side pear shaped hole of the CPU base unit onto the left hand side screw Panel 4 Fit the fixing screws into the fixing screw holes in the CPU base unit bottom and re tighten the four fixing screws Note Install the CPU base unit to a panel with no module install...

Page 142: ...8 3 86 Hs 80 3 15 Unit mm inch 2 Motion controller installation position For enhanced ventilation and ease of module replacement leave the following space between the module top bottom and structure parts 20mm 0 79inch The wind blows lies Door Control panel 30mm Note 2 1 18inch or more 100mm 3 94inch or more 5mm 0 20inch or more 5mm Note 1 0 20inch or more Motion controller 100mm 3 94inch or more ...

Page 143: ... Motion controller in an area where the other devices are installed Avoid fitting base unit in proximity to vibration sources such as large electromagnetic contractors and no fuse circuit breakers fit them on a separate panel or at a distance 6 Distances from the other devices In order to avoid the effects of radiated noise and heat provide the clearances indicated below between the Motion control...

Page 144: ...fixing hook Base unit Base unit Module loading lever Completion Insert the module fixing hook into the module fixing hole of the base unit Push the module in the direction of arrow to install it into the base unit Make sure that the module is installed in the base unit correctly Module connector Module fixing hole Module fixing hole Module fixing hook POINTS 1 Always insert the module fixing hook ...

Page 145: ...ops While pushing the hook and using the bottom of the module as a support pull the module toward you Lift the module upwards and remove the module fixing hook from the module fixing hole POINT When the module fixing screw is used always remove the module by removing the module fixing screw and then taking the module fixing hook off the module fixing hole of the base unit Forcibly removal the modu...

Page 146: ...emoval of the SSCNET cable hold surely a tab of cable connector CN2 Motion CPU module CN1 2 Installation of the SSCNET cable For installation of the SSCNET cable to the Motion CPU connect it to the SSCNET connector CN1 or CN2 of Motion CPU while holding a tab of SSCNET cable connector Be sure to insert it until it clicks 3 Removal of the SSCNET cable For removal of the SSCNET cable pull out it whi...

Page 147: ...y a tab of cable connector Motion CPU module PC connector 2 Installation of the SSC I F communication cable For installation of the SSC I F communication cable to the Motion CPU connect it to the PC connector of Motion CPU while holding a tab of SSC I F communication cable connector Be sure to insert it until it clicks 3 Removal of the SSC I F communication cable For removal of the SSC I F communi...

Page 148: ...o the Dividing unit Battery unit connect it to the BAT connector of Dividing unit Battery unit while holding the battery cable connector Be sure to insert it until it clicks 3 Removal of the battery cable For removal of the battery cable pull out it while holding the tab of battery cable connector after making sure that the fixing hook have been removed completely POINT Forcibly removal the batter...

Page 149: ...e TU connector of Motion CPU Q173CPUN T Q172CPUN T while holding a tab of cable for teaching unit Be sure to insert it until it clicks 3 Removal of the cable for teaching unit For removal of the cable for teaching unit pull out the connector while holding a tab of connector connected to the TU connector of Motion CPU Q173CPUN T Q172CPUN T after making sure that the fixing hook have been removed co...

Page 150: ...rvomotor will be a problem use dynamic brakes Do not connect the Motion CPU module side connector of the cable for teaching unit Q170TUD CBL A and the connecting cable for SSCNET dividing unit Q173DVCBL each other The Motion CPU and servo amplifier are damaged A31TU D K13 side Q173DV side TU Do not connect Q170TUD CBL A Q173DVCBL Q173CPUN T side Q173CPUN T side ...

Page 151: ...excessive force greater than the permitted shaft load is not applied to the shaft of MR HENC Q170ENC Table 4 1 Permitted Shaft Loads Gear Coupling Radial direction Thrust direction Up to 98N Up to 49N MR HENC Q170ENC Bearing MR HENC Q170ENC Up to 19 6N Up to 9 8N Fig 4 1 Example of Encoder Linked to a Gear 2 Large errors in eccentricity and angle of deviation during installation can apply an exces...

Page 152: ...C Q170ENC to a machine side rotary shaft Never hit the end of the MR HENC Q170ENC coupling shaft with a hammer when connecting the coupling to it The large loads applied to MR HENC Q170ENC will damage it The MR HENC Q170ENC uses optical parts Install it in an atmosphere where there are extremely few water drops and little oil and dust In any place where the MR HENC Q170ENC is exposed to water and ...

Page 153: ...side fixing hook of the cooling fan unit from the slit of the Motion CPU Q170FAN b Installation of cooling fan unit on Q173CPU Q172CPU The installation of the cooling fan unit are described below Completion Connect the cooling fan unit connector to the connector in the top of the Motion CPU While rear side hook of the cooling fan unit pushing from the top and insert another hook into the slit of t...

Page 154: ...operation failure Tighten the terminal screws within the specified torque range If the terminal screws are loose it could result in short circuit fire or operation failure Tightening the terminal screws too far may cause damages to the screws and or the module resulting in drop short circuit or operation failure Be sure there are no foreign matters such as sawdust or wiring debris inside the modul...

Page 155: ...ximum power supply voltage elevation 2 Wiring of I O equipment a Insulation sleeved crimping terminals cannot be used with the terminal block It is recommended to cover the wire connections of the crimping terminals with mark or insulation tubes b The wires used for connection to the terminal block should be 0 3 to 0 75mm 2 in core and 2 8mm 0 11inch or less in outside diameter c Run the input and...

Page 156: ...e 100 or less b When the Multiple CPU system and the another equipment cannot be departed to ground the cable each other use 2 Common Grounding shown below Multiple CPU system Another equipment grounding 1 Independent grounding Best 2 Common grounding Good 3 Joint grounding Not allowed Another equipment Multiple CPU system Another equipment grounding Multiple CPU system c Use the grounding cable o...

Page 157: ...G LG INPUT 100 120VAC ERR POINT 1 Use the thickest possible up to 2 mm 2 wires for the 100 200 VAC and 24 VDC power cables Be sure to twist these wires starting at the connection terminals To prevent a short circuit should any screws loosen use crimping terminals with insulation sleeves 2 When the LG terminals and FG terminals are connected be sure to ground the wires If LG terminals and FG termin...

Page 158: ...Battery unit are correct Check for looseness rattling or distorted installation Installation of battery unit Check that the module fixing screw tightening torque is as specified Check that the amplitude eccentricity and axial displacement relative to the machine side rotary shaft are within the permissible values Check that a flexible coupling is used for coupling with the machine side rotary shaf...

Page 159: ...nection between Q173CPU N Q172CPU N and servo amplifier when using the Dividing cable Q173DV and servo amplifier when using Q173DV servo amplifier and servo amplifier are correct Check for looseness rattling or distorted connector and connective Wiring of SSCNET cable Check that the ferrite core is connected to wiring of the SSCNET cable from FR V5NS Check that impossible power does not apply to t...

Page 160: ...ignal names 2 Check that the terminal screws are tightened correctly 3 Check that the cable sizes are correct I O module 4 Check that the external power supply are connected correctly 24 VDC 5 VDC Refer to the I O Module Type Building Block User s Manual 1 Check that the installation module model names are correct 2 4 3 1 b 2 Check that the total I O points of the output module and special functio...

Page 161: ... position Servo amplifier setting Set the axis number of servo amplifier Turn ON power supply Refer to Section 4 1 3 for installation of modules Note An error may occur if the power is turned on before system setting If it happens reset the CPU after the system setting Refer to Section 2 4 9 5 Set the RUN STOP key of CPU module to STOP Turn ON the power supply of CPU module When using a regenerati...

Page 162: ...f following external inputs by monitoring of the peripheral device or LED indicators 1 Manual pulse generator incremental synchronous encoder setting Positioning parameters setting Set the following positioning parameters by the peripheral device 1 Fixed parameters 2 Servo parameters 3 Home position return data 4 Limit switch Do not install a phase advancing capacitor surge absorber or radio noise...

Page 163: ...the units after installing the Motion controller servo amplifier and servomotor Failing to do so may lead to electric shocks or damage CAUTION Always install a leakage breaker on the Motion controller and servo amplifier power source Use the program commands for the program with the conditions specified in the instruction manual Some devices used in the program have fixed applications so use these...

Page 164: ...its operate correctly Test mode servo start up Motor speed check Check motor speed Check that motor does not exceed rated speed at maximum commanded number of revolution Test mode JOG operation Check machine operation Compare the set servomotor and servo amplifier model names with the displayed model names Release brake on motor with brake If an error occurs reset the emergency stop and forced sto...

Page 165: ...ode home position return Check home position return Check the followings by executing the home position return 1 Home position return direction 2 Home position return data 3 Proximity dog position Monitor mode 4 POINTS 1 Make note of motor module names before the motor is installed on a machine The motor name plate may not be visible after the motor is installed 2 When the servo amplifier servomot...

Page 166: ...e Motion CPU POINTS 1 The operating system software was not installed at the time of Motion CPU module purchase Be sure to install the operating system software to be used before a system start 2 Even if the operating system software is installed the positioning data and servo programs written in the Motion CPU module does not be rewritten 3 Do not turn off the power supply during installation The...

Page 167: ...s operate correctly Check that the rotation at maximum command speed is motor rating or less Check that the machine operates correctly by the JOG operation Check that the machine stops by the upper lower stroke limit Check that the machine stops by the emergency stop or forced stop Check that the home position return is executed correctly Motion CPU module in RUN status PLC CPU module in STOP stat...

Page 168: ...to damage to the screw or module CAUTION Read the manual carefully and pay careful attention to safety for the on line operation especially program change forced stop or operation change performed by connecting peripheral devices to the CPU module during operation Erroneous operation may cause machine breakage or accident Never try to disassemble or modify module It may cause product failure opera...

Page 169: ...tric 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 Do not touch the built in power supply buil...

Page 170: ...e unit may suddenly restart after a power failure is restored so do not go near the machine Design the machine so that personal safety can be ensured even if the machine restarts suddenly Confirm and adjust the program and each parameter before operation Unpredictable movements may occur depending on the machine Extreme adjustments and changes may lead to unstable operation so never make them Do n...

Page 171: ...D is ON in RUN state The LED must be ON Abnormal if the LED is OFF CPU ERR LED Check that the LED is OFF The LED must be OFF Abnormal if the LED is ON or flickers CPU USER LED Check that the LED is ON The LED must be ON in the detection of CHK instruction or annunciator F is ON CPU BOOT LED Check that the LED is ON OFF The LED must be ON in the mode operated by ROM The LED must be OFF in the mode ...

Page 172: ...oes not turn ON or turn OFF as indicated above Refer to I O Module Type Building Block User s Manual Check for vibration howl and noise No vibration howl and noise A service life time of the cooling fan unit when the number of the revolution lower than the 20 of the initial time Replace it with a new one if a service life time of the cooling fan unit is exceeded 5 Cooling fan unit Q173CPU Q172CPU ...

Page 173: ...The module must be installed fixedly Retighten the screws If the CPU I O or power supply 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 Further tighten Distance between of crimping t...

Page 174: ...fied time replace the battery with a new one POINT M9007 turns ON due to the decrease in voltage of battery Even if M9007 turns ON it holds the data within a specified time However for safety replace the battery with a new one as soon as possible When the external battery voltage is lowered the M9006 and M9007 turn ON M9006 always detects the battery decrease and it turns ON when the battery volta...

Page 175: ...R HENC 2 5000 15000 Q170ENC 1 8000 24000 Q172EX Internal battery A6BAT MR BAT Q170ENC 2 4000 12000 40 After Error code 1152 Note 1 The actual time in use means the averaged time and the guaranteed time means the minimum time Note 2 The external battery for Q173CPU N is installed to the Dividing unit Q173DV The external battery for Q172CPU N is installed to the Battery unit Q170BAT Note 3 The inter...

Page 176: ...s may be erased To prevent this trouble replace the battery speedily Backup time by capacitor Backup time by capacitor min 3 MITSUBISHI LITHIUM BATTERY Front Side of the Q172EX End Replacing Battery Encoder cable Battery A6BAT MR BAT Connector Turn on the power supply of the power supply module for 10 minutes or longer Turn off the power supply of the power supply module Remove the encoder cable f...

Page 177: ...tallation the battery in the Dividing unit or Battery unit verify the backing up the data to the personal computer which is installed the GSV P and the data in the Motion CPU module confirm the data is not changing BAT MITSUBISHI LITHIUM BATTERY SSCNET CN2 Q173CPU Battery connector for A6BAT MR BAT MITSUBISHI LITHIUM BATTERY CPU BAT End Replacing Battery Turn off the power supply of the power supp...

Page 178: ...CPU module side and remove a front cover 3 3 Take out a printed circuit board from a case 5 4 4 Turn up a printed circuit board which has install the memory card socket and then remove 6 fixing screws M3 from circuit board 5 Separate printed circuit boards Lithium battery Cut Memory card socket 6 Check that the internal rechargeable battery is set on a surface of printed circuit board which has in...

Page 179: ...6 12 6 INSPECTION AND MAINTENANCE CAUTION Do not disassemble the modules except the time of discard Do not short circuit charge overheat incinerate or disassemble the batteries ...

Page 180: ...U module I O module Q172LX Q172EX Q173PX Motion module SSCNET cable SSC I F communication cable Synchronous encoder cable and cable for the teaching unit e State of wiring I O cables cables f Display states of various types of indicators MODE LED RUN LED M RUN LED ERR LED I O LED etc g Setting states of various types of set switches Number of extension bases setting memory back up etc After confir...

Page 181: ...DE LED is OFF Error occurrence description POWER LED is OFF ERR LED is ON flickers BAT LED is ON I O module is not operating correctly b Flowchart for when MODE LED is turned off e Flowchart for when M RUN LED is turned off f Flowchart for when BAT LED is turned on a Flowchart for when POWER LED is turned off d Flowchart for when ERR LED is turned on flickered RUN LED is OFF c Flowchart for when R...

Page 182: ...he input power supply off and then immediately turn it on Completion NO YES NO YES YES NO YES NO YES NO YES NO NO NO YES YES Is the wiring terminal block screws connection correct YES NO YES NO Connect the wiring terminal block screws correctly Is POWER LED turned on Supply power supply The supply voltage should be within the rated range Is POWER LED turned on Is POWER LED turned on Is the power s...

Page 183: ...f the power supply module correct Is MODE LED turned on Is the LED of power supply module turned on Replace the power supply module and check that the LED is ON Is MODE LED turned on Connect the extension cable correctly Is MODE LED turned on Is the connecting direction of extension cable correctly Isn t IN IN or OUT OUT connection Is the CPU module of the No 1 and corresponding CPU module RESET L...

Page 184: ...ive noise d Flowchart for when ERR LED is turned on flickered Specify the noise source and remove it YES NO RUN LED turned on For the case of 1 For the case of 2 Completion Is RUN LED turned on YES NO Reset the PLC CPU module of the CPU No 1 with RESET L CLR switch RUN LED turned off Set the RUN STOP switch to STOP and write the servo setting data to the Motion CPU module with the GSV P Explain th...

Page 185: ...d on flickered H W error Is the ERR LED turned off Set the RUN STOP switch to RUN Completion NO YES Confirm error contents for self CPU by PC diagnostics of the GX Developer H W error Refer to the help of the GX Developer and correct error contents Reset by the RESET L CLR switch Confirm error contents by GSV P error history Refer to the help of the GSV P and correct error contents Explain the err...

Page 186: ...tion Is M RUN LED turned on Is M2000 turned on M2000 is turned on Is M RUN LED turned on When started the latch clear M RUN LED is flickered Note 1 H W error Explain the error symptom and get advice from our sales representative Is ERR LED turned on flickered REMARK Note 1 When the RUN STOP switch is stop position and the RESET L CLR is tilted to L CLR several times for latch clear operation the M...

Page 187: ...m settings is not used the LED is also turned on BAT LED is turned on Completion NO YES YES NO YES NO NO YES YES NO 1 NO 1 1 YES Reset by the RESET L CLR switch Is the BAT LED turned off Reset by the RESET L CLR switch Is the BAT LED turned off Reset by the RESET L CLR switch Is the BAT LED turned off Is the used the external battery in the system settings Is the external battery used Set Not used...

Page 188: ...ck the output conditions with the monitor mode of the GSV P Is the operation indicator of input module lit ON Is it reaching the supply voltage value Confirm rush current when the load is at the maximum simultaneous on Change the output relay number and let the load maximum simultaneous on current to within the specification Output module failure Replace the output module Check the wiring for powe...

Page 189: ...ng cable correctly Completion Can the CPU communicate with the GSV P by replacing the connecting cable Is the connection type SSCNET Can the CPU communicate with the GSV P Is the connection type USB or RS 232 Can the CPU communicate with the GSV P Can the CPU communicate with the GSV P Is the connecting setting correct Is the connecting setting correct The connecting setting is SSCNET The connecti...

Page 190: ...rom our sales representative YES Explain the error symptom and get advice from our sales representative YES NO Can the CPU communicate with the GSV P Is the USB driver installed in the personal computer with Win 98 2000 XP Install the USB driver into the personal computer Can the CPU communicate with the GSV P The communication setting is USB ...

Page 191: ...the user NO YES If the teaching unit is replaced is the power supply of teaching unit turned on NO YES Does the current consumption of the system added teaching unit exceed the rated output current of power supply module Review the system NO YES Connecting cable error Explain the error symptom and get advice from our sales representative If the connecting cable is replaced or the wiring is correct...

Page 192: ...mple 2 Input signal is not turned OFF Drive by a limit switch with neon lamp Leakage current AC input Input module Power supply Same as Example 1 Or make up another independent display circuit Example 3 Input signal is not turned OFF Leakage current due to wiring capacity of wiring cable Wiring capacity C of twisted pair wire is approx 100 PF m Leakage current AC input Input module Power supply Sa...

Page 193: ...g 4 mA leakage current Motion CPU module Leakage current 4mA 24VDC 3 6K Q172LX a The 0 18 mA OFF current of the Q172LX is not satisfied Connect a resistor as shown below Input impedance 24VDC 4mA IR 3 82mA Q172LX Iz 0 18mA 5 6K 3 6K b Calculate the connecting resistor value R as indicated below To satisfy the 0 18 mA OFF current of the Q172LX the resistor R to be connected may be the one where 3 8...

Page 194: ...ct a resistor between several tens k and several hundreds k across the load Load Resistor This method causes no problems with output terminals but lead to deterioration or burnout of load internal diodes Example 2 Load does not turn OFF Triac output Leakage current due to built in surge suppressor Output module Load Leakage current Connect a resistor across the load Load Resistor If long wiring ex...

Page 195: ...6RN GSV P is as follows 1 Start the SW6RN GSV P 2 Connect the Motion CPU to the personal computer IBM PC AT 3 Select Create a new project Motion CPU Read Menu by the SW6RN GSV P and also read the project data from the Motion CPU 4 Select the Monitor PV Enlarged Monitor Menu 5 Confirm the error code and error message that is displayed on the screen For details of the SW6RN GSV P operating method re...

Page 196: ...2J2BCBL M Q172CPU N MR J2 B MR J2 B FR V5NS Note 2 Q173DV FR V5NS Note 2 Q172J2BCBL M B Q172CPU N MR J2 B Q170BAT Q172HBCBL M Q172CPU N MR H BN MR H BN FR V5NS Note 2 Q172HBCBL M B 0 5 1 64 1 3 28 5 16 40 Q172CPU N MR H BN Q170BAT Q173DVCBL M 0 5 1 64 1 3 28 Q173CPU N Q173DV Q173J2B CBL M Q173CPU N MR J2 B Q173HB CBL M Q173CPU N MR H BN MR J2HBUS M MR J2 B MR J2 B Q173DV MR J2 B MR J2HBUS M A MR H...

Page 197: ...ne core Wire model Core size mm 2 Number of cores Structure Number of wires mm Conductor resistance km Insulating sheath OD d mm Note 1 Finished OD mm Note 2 UL20276 AWG 28 7pair CREAM 0 08 14 7 pairs 7 0 127 222 or less 0 38 5 5 UL20276 AWG 28 10pair CREAM 0 08 20 10 pairs 7 0 127 222 or less 0 38 6 1 UL20276 AWG 28 13pair CREAM 0 08 26 13 pairs 7 0 127 222 or less 0 38 6 5 A14B2343 6P 0 2 12 6 p...

Page 198: ...T LG RD RD 17 RD RD LG LG TD1 TD1 11 4 6 10 3 9 1 8 2 2 9 7 EMG EMG SD 13 LG 14 12 1 11 4 5 shell BT TD TD LG EMG EMG SD LG shell Q172J2BCBL M HDR E14MG1 10320 3210 000 HDR E14 LPA5 10120 6000EL connector case connector shell kit connector Twisted pair cable Q172J2BCBL M B LG RD RD HDR E14MG1 17 BT RD RD LG LG TD1 TD1 11 4 6 10 3 9 1 8 2 2 9 7 EMG EMG SD 13 LG 14 12 1 11 4 5 shell 10320 3210 000 B...

Page 199: ... BT TD TD LG LG RD RD RD1 RD1 LG LG TD1 TD1 11 4 6 10 3 9 1 8 2 2 9 6 16 EMG EMG 13 14 12 1 11 4 5 EMG EMG 20 SD shell SD LG LG BT Q172HBCBL M HDR E14 LPA5 HDR E14MG1 connector PCR LS20LA1 PCR S20FS connector case connector connector case Twisted pair cable Q172HBCBL M B BAT BT TD TD LG LG RD RD RD1 RD1 LG LG TD1 TD1 11 4 6 10 3 9 1 8 2 2 9 6 16 EMG EMG 13 14 12 1 11 4 5 EMG EMG 20 SD shell SD LG ...

Page 200: ...30m 98 43ft 10326 3210 000 LG LG LG HDR E26 LPA5 HDR E26MG1 10126 6000EL TD2 TD2 RD2 TD1 EMG12 RD2 RD1 RD1 TD1 EMG12 LG BT connector TD4 TD4 RD4 EMG34 EMG34 RD4 RD3 RD3 TD3 TD3 LG SD shell shell LG LG LG TD2 TD2 RD2 TD1 EMG12 RD2 RD1 RD1 TD1 EMG12 LG BT TD4 TD4 RD4 EMG34 EMG34 RD4 RD3 RD3 TD3 TD3 LG SD 16 3 22 17 4 5 14 19 18 15 2 1 6 13 26 23 10 11 12 25 24 8 21 20 7 9 Q173DVCBL M connector case ...

Page 201: ...6 LPA5 HDR E26MG1 10320 3210 000 10120 6000EL TD2 TD2 RD2 TD1 2 9 7 17 EMG12 4 12 1 11 5 RD2 RD1 RD1 LG TD1 EMG12 LG BT connector connector case TD4 TD4 RD4 EMG34 EMG34 RD4 RD3 RD3 14 TD3 TD3 LG SSCNET SYSTEM1 SD shell LG shell SD Q173J2B CBL M Example 4 connector connector case SSCNET SYSTEM2 SSCNET SYSTEM3 SSCNET SYSTEM4 2 9 7 17 4 12 1 11 5 14 shell SD 2 9 7 17 4 12 1 11 5 14 shell SD 2 9 7 17 ...

Page 202: ...TD1 2 9 6 16 EMG12 4 12 1 11 5 RX2 RX1 RX1 LG TD1 EMG12 LG BT HDR E26 LPA5 HDR E26MG1 connector connector case PCR LS20LA1 PCR S20FS TD4 TD4 RD4 EMG34 EMG34 RD4 RD3 RD3 LG 14 shell 2 9 6 16 4 12 1 11 5 14 TD3 TD3 LG SSCNET SYSTEM1 LG SD plate LG LG shell SD none Q173HB CBL M Example 4 connector connector case SSCNET SYSTEM2 SSCNET SYSTEM3 2 9 6 16 4 12 1 11 5 14 shell SD 2 9 6 16 4 12 1 11 5 14 sh...

Page 203: ...e the cable as show in the following connection diagram The overall distance of SSCNET cables is 30m 98 43ft 10120 6000EL connector 10320 3210 000 shell kit EMG LG 16 15 TD RD RD LG 1 14 5 LG LG SD TD 13 11 2 12 3 4 EMG 6 17 7 19 18 BT 8 9 10 20 16 15 1 14 5 13 11 2 12 3 4 6 17 7 19 8 9 10 20 10120 6000EL connector 10320 3210 000 shell kit shell shell 18 EMG LG TD RD RD LG LG LG SD TD EMG BT MR J2...

Page 204: ...re given on APPENDIX 1 1 and make the cable as show in the following connection diagram The overall distance of SSCNET cables is 30m 98 43ft PCR S20FS connector 1 11 2 12 4 14 6 16 1 15 7 17 LG LG RD RD TD TD EMG EMG SD 5 15 LG LG 14 11 2 12 4 5 20 10320 3210 000 shell kit MR J2HBUS M A shell PCR LS20LA1 connector case 10120 6000EL connector LG LG RD RD TD TD EMG SD LG LG EMG Twisted pair cable ...

Page 205: ...iven on APPENDIX 1 1 and make the cable as show in the following connection diagram The overall distance of SSCNET cables is 30m 98 43ft LG LG RD RD TD TD EMG EMG SD BT LG LG 1 11 2 12 4 14 6 16 9 5 15 20 PCR LS20LA1 connector case PCR S20FS connector PCR LS20LA1 connector case PCR S20FS connector 1 11 2 12 4 14 6 16 9 5 15 20 LG LG RD RD TD TD EMG EMG SD BT LG LG MR HBUS M Twisted pair cable ...

Page 206: ...ir cables as the serial absolute synchronous encoder cables Table 5 Connector sets Connector sets type Description Application MR J2CNS MR JHSCBL M L H Q170ENCCNS Connector shell kits Plug cable clump Q170ENCCBL M Table 6 Wire specifications Characteristics of one core Wire model Core size mm 2 Number of cores Structure Number of wires mm Conductor resistance km Insulating sheath OD d mm Note 1 Fi...

Page 207: ...T P H F J E K D L M B C SY ENC connector 12 14 TREN COM 16 MDR 18 20 11 13 15 17 MRR 19 2 4 6 LG 8 10 1 LG 3 LG 5 7 9 TREN MR BAT P5 P5 P5 P5 LG LG MD MR JHSCBL10M H to MR JHSCBL30M H MR JHSCBL2M L MR JHSCBL5M L MR JHSCBL2M H MR JHSCBL5M H 7 17 9 1 MR MRR BAT LG SD P5 LG 18 2 19 11 20 12 S P5 LG P5 LG N MR JHSCBL10M L to MR JHSCBL30M L 19 11 20 12 18 2 7 17 9 1 S R C D F N P5 LG P5 LG P5 LG MR MRR...

Page 208: ...172EX Synchronous encoder cable Q170ENC SY ENC 1 or 2 Synchro nous encoder Encoder connector Pin Signal A MD B MDR C MR D MRR E F BAT G LG H J Pin Signal K L M N SHD P R LG S P5 T Encoder connector A N G S R T P H F J E K D L M B C SY ENC connector 12 14 TREN COM 16 MDR 18 20 11 13 15 17 MRR 19 2 4 6 LG 8 10 1 LG 3 LG 5 7 9 TREN MR BAT P5 P5 P5 P5 LG LG MD 20 12 18 2 SD plate S H J N R K L Q172EX ...

Page 209: ...CREAM Note The cable overall distance between the Motion CPU and teaching unit is within 30m 98 43ft include the A31TU D cable 5m 16 40ft Use the following cables or equivalent twisted pair cables as the cables for the teaching unit Table 8 Connector models Cable models for the teaching unit Description Q170TUD3CBL3M Q170TUDNCBL3M TU connector side HDR E26FG1 HDR E26 LPA5 Teaching unit side DB 25S...

Page 210: ...d OD mm Note 2 UL20276 AWG 28 13pair CREAM 0 08 26 13 pairs 7 0 127 222 or less 0 38 6 5 UL20276 AWG 24 18pair CREAM 0 08 36 18 pairs 7 0 203 92 3 or less 0 85 15 5 Note 1 d is as shown below Insulation sheath Conductor d Note 2 Standard OD Outside Diameter Maximum OD is about 10 larger CAUTION When fabricating the cable for teaching unit do not make incorrect connection The protective function st...

Page 211: ...ector connector case connector cover EMG 25 FG 13 AB 11 5V 21 SG 23 SG 16 5V 19 5V 20 SD shell shell BAL BA SG 5V 5V BBL SG SG CBL CB BB 5V CA CAL FG AB 5V 16 3 8 13 25 15 7 17 4 2 12 5 18 1 21 20 24 23 19 22 9 6 14 10 11 EMG SG EMG2 DC24GE EMG1 DC24VE DED2 DC24GD DED1 DC24VD Red White Red White Red White Red White Red White DC24GD Note DED2 Note DED1 DC24VE DC24VD EMG1 EMG2 Note DC24GE Note SD No...

Page 212: ... within 3m 9 84ft DB 20962 BAL BA SG Q170TUDNCBL3M HDR E26 LPA5 HDR E26FG1 DB 25SF N SG 5V 5V BBL SG SG CBL CB BB 5V CA CAL connector connector case connector cover EMG FG AB 5V SG SG 5V 5V SD shell shell BAL BA SG 5V 5V BBL SG SG CBL CB BB 5V CA CAL FG AB 5V SD 16 3 8 13 25 15 7 17 4 2 12 5 18 1 21 20 24 22 9 6 14 DC24GD DED2 EMG1 DC24VE 1 14 2 15 4 17 5 18 6 3 7 9 8 10 19 16 20 22 21 23 11 25 13...

Page 213: ...able within 3m 9 84ft BAL BA SG Q170TUDNCBL03M A HDR E26 LPA5 HDR E26FG1 17JE 13250 02 D8A SG 5V 5V BBL SG SG CBL CB BB 5V CA CAL connector connector case connector EMG FG AB 5V SG SG 5V 5V SD shell shell BAL BA SG 5V 5V BBL SG SG CBL CB BB 5V CA CAL FG AB 5V SD 16 3 8 13 25 15 7 17 4 2 12 5 18 1 21 20 24 22 9 6 14 DC24GD DED2 EMG1 DC24VE 1 14 2 15 4 17 5 18 6 3 7 9 8 10 19 16 20 22 21 23 11 25 13...

Page 214: ...able within 14m 45 93ft when using Q170TUD CBL3M A31TU D extended cable Note shell BAL BA SG BBL SG 5V CBL CB BB 5V CA CAL FG 5V 5V DED1 16 3 15 7 17 4 2 12 5 18 1 25 13 24 22 9 19 23 10 11 6 14 8 21 20 DC24GE EMG2 EMG1 DC24VE shell BAL BA BBL SG CBL CB BB 5V CA CAL FG 16 3 15 7 17 4 2 12 5 18 1 25 13 24 8 22 9 19 23 10 11 6 14 21 20 17JE 13250 02 D8A 17L 002A stud connector 17JE 23250 02 D8A conn...

Page 215: ...le Unit mm inch 114 3 4 50 17 5 79 5 3 13 0 69 SSCNET M RUN Q172CPUN MODE RUN ERR BAT BOOT FRONT CN2 CN1 PULL USB RS 232 27 4 1 08 98 3 86 2 Q173CPUN Module Unit mm inch Q173CPUN SSCNET M RUN MODE RUN ERR BAT BOOT FRONT CN2 CN1 PULL USB RS 232 27 4 1 08 98 3 86 114 3 4 50 46 1 81 79 5 3 13 ...

Page 216: ...79 5 3 13 46 1 81 SSCNET M RUN Q172CPUN T MODE RUN ERR BAT BOOT FRONT CN2 CN1 PULL USB RS 232 27 4 1 08 98 3 86 TU 4 Q173CPUN T Module Unit mm inch Q173CPUN T SSCNET M RUN MODE RUN ERR BAT BOOT FRONT CN2 CN1 PULL USB RS 232 27 4 1 08 98 3 86 114 3 4 50 46 1 81 79 5 3 13 TU ...

Page 217: ...U MODE RUN ERR BAT BOOT FRONT CN2 CN1 PULL USB RS 232 27 4 1 08 98 3 86 20 26 1 02 0 69 0 79 Cooling fan unit 6 Q173CPU Module Unit mm inch 89 3 3 52 17 5 48 5 1 91 Q173CPU SSCNET M RUN MODE RUN ERR BAT BOOT FRONT CN2 CN1 PULL USB RS 232 27 4 1 08 98 3 86 20 26 1 02 Cooling fan unit 0 69 0 79 ...

Page 218: ... FRONT CN2 CN1 PULL USB RS 232 27 4 1 08 114 3 4 50 SSCNET cable Q173CPUN T Q172CPUN T Motion module 8 Q173CPU Q172CPU Module with SSCNET cable Unit mm inch 89 3 3 52 98 3 86 100 3 94 20 26 1 02 Q173CPU SSCNET M RUN MODE RUN ERR BAT BOOT FRONT CN2 CN1 PULL USB RS 232 27 4 1 08 Q173CPU Q172CPU Motion module SSCNET cable Cooling fan unit 0 79 ...

Page 219: ... Q172LX CTRL Q172LX 98 3 86 27 4 1 08 90 3 54 45 1 77 APPENDIX 2 3 Serial absolute synchronous encoder interface module Q172EX Q172EX S1 Q172EX S2 Q172EX S3 Unit mm inch 4 2 0 17 27 4 1 08 90 3 54 98 3 86 SY ENC2 SY ENC1 Q172EX Q172EX 2 1 TREN SY ENC 2 1 39 0 1 54 MITSUBISHI LITHIUM BATTERY ...

Page 220: ...e Q173PX Q173PX S1 1 Q173PX Unit mm inch Q173PX PULSER Q173PX PLS A 3 2 1 PLS B 3 2 1 TREN 3 2 1 98 3 86 27 4 1 08 90 3 54 45 1 77 2 Q173PX S1 Unit mm inch Q173PX PULSER Q173PX S1 PLS A 3 2 1 PLS B 3 2 1 TREN 3 2 1 98 3 86 27 4 1 08 90 3 54 45 1 77 1 2 3 4 5 6 KSD06S ON ...

Page 221: ...CES APPENDIX 2 5 Power supply module Q61P A1 Q61P A2 Q62P Q63P Q64P Unit mm inch 1 Q61P A1 Q61P A2 Q62P Q63P Q61P A1 POWER PULL 90 3 54 55 2 2 17 98 3 86 2 Q64P Unit mm inch Q64P POWER PULL 115 4 53 55 2 2 17 98 3 86 ...

Page 222: ...Q173CPU SSCNET CN2 SSCNET CN1 SSCNET CN4 SSCNET CN3 Q173DV DATE PASSED 125 4 92 19 5 0 77 10 0 39 45 1 77 60 2 36 140 5 51 7 5 0 30 4 5 3 0 21 Fixing screw M5 14 2 Battery unit Q170BAT Unit mm inch 10 0 39 7 5 0 30 BAT CPU 45 1 77 60 2 36 40 1 57 80 3 15 Q170BAT DATE PASSED 16 5 0 65 2 5 3 0 21 Fixing screw M5 14 ...

Page 223: ...26 HDR E26FG1 HDR E26LPA5 Specified tool FHAT 0029 FHPT 0004C Maker Honda connectors These tools are not sold in Mitsubishi Please purchase them by customers Type Connector HDR E14MG1 Type Connector HDR E26MG1 Connector case HDR E14LPA5 HDR E26FG1 Connector case HDR E26LPA5 Unit mm inch 8 0 0 31 8 0 0 31 25 8 1 02 21 8 0 86 6 7 25 0 98 10 0 39 21 0 83 17 0 67 5 6 0 22 10 0 39 25 0 98 0 24 0 28 ...

Page 224: ...connection type Quick release metal latch type 10126 3000VE 10326 52F0 008 Solder connection type Threaded type 10126 3000VE Note 10326 52A0 008 Note 26 Insulation displacement type Quick release metal latch type 10126 6000EL Note 10326 3210 000 Note Note These connectors are not options Please purchase them by customer a Solder connection type Quick release metal latch type Type Connector 10120 3...

Page 225: ...umber of pins c Insulation displacement type Quick release metal latch type Type Connector 10120 6000EL 10126 6000EL Connector case 10320 3210 000 10326 3210 000 Unit mm inch A 42 0 11 5 0 45 D B 2 0 5 0 02 Position where e g logo is indicated C 1 65 A B C 20 pin 26 pin 29 7 1 17 D 20 9 0 82 33 5 1 32 24 8 0 98 33 0 1 30 33 0 1 30 Number of pins 6 7 6 7 3 Hirose Electric make Battery cable connect...

Page 226: ... 0 0 47 24 0 0 94 1 6 0 06 6 1 35 9 1 41 5 0 0 20 2 R 2 5 0 1 0 0 24 0 50 0 22 1 85 0 01 b Control panel fixing processing dimension Unit mm inch 66 0 2 60 54 0 2 13 15 0 2 5 3 0 21 Fixing screw M5 14 Hole 6 0 6 0 0 59 0 24 0 24 5 Japan Aviation Electronics Industry make Cable connector for the teaching unit Type Connector DB 25SF N Unit mm inch 53 0 2 09 38 3 1 51 47 04 1 85 12 6 8 0 0 31 or less...

Page 227: ...App 32 APPENDICES 6 A31TUD3TM Type Connector 17JE 23250 02 D8A Maker DDK Unit mm inch 35 0 1 38 15 0 A31TUD3TM 19 0 19 0 6 1 54 0 2 13 Cable outside diameter 9 0 35 or less 0 59 0 24 0 75 0 75 ...

Page 228: ...Packing 27 0 20 8 89 0 2 72 2 83 3 6 0 14 t 2 0 3 Studs M4 10 PCD72 M3 6 7 6 16 0 70 2 76 50 1 97 60 2 36 0 5 80 3 15 1 NP 5 to 12V 0V A B equi spaced 6 2 2 4 4 2 0 5 90 8 0 7 0 6 0 50 4 0 3 0 2 0 10 0 Space 3 4 8 0 19 0 79 1 06 equi spaced 0 35 0 30 The figure of processing a disc ...

Page 229: ... 68 56 2 20 68 2 68 4 5 4 0 21 91 3 58 Effective dimension 21 0 83 0 14 0 1 15 0 05 1 15 0 05 2 0 08 20 0 79 28 1 10 3 0 12 33 1 30 5 0 20 2 0 08 102 4 02 135 5 31 19 5 0 B Cross section B B Keyway Dimensional Diagram 0 77 20 0 79 67 2 64 2 Q170ENC Unit mm inch 30 1 18 7 0 28 28 1 10 58 5 2 30 45 84 3 31 2 0 08 14 0 55 8 72 0 34 8 72 0 34 36 5 1 44 A A 75 2 95 9 52 0 37 Cross section diagram AA 40...

Page 230: ...ont face A31TU DISABLE EMG STOP ENABLE Bottom 153 6 02 136 5 35 203 7 99 68 2 68 34 22 19 0 75 DATA MONITOR TEST STOP OVERRIDE STEP STEP RETURN 8 ITEM 9 CLEAR 5 DELETE E 6 INDIRECT F 3 C 2 B 0 MDI 7 INSTRUCTION 4 WRITE D 1 STORE A SHIFT AXIS NO FUNCTION PROGRAM JOG ERROR RESET SP CAN JOG GO 1 34 0 87 ...

Page 231: ...App 36 APPENDICES APPENDIX 2 11 Cooling fan unit Q170FAN Q173CPU Q172CPU only Unit mm inch 25 25 0 5 10 0 5 8 2 3 6 1 18 0 98 0 98 0 02 0 39 0 02 0 31 0 08 0 12 0 24 0 04 0 71 ...

Page 232: ...App 37 APPENDICES MEMO ...

Page 233: ...ations of the product 4 Breakdowns that are outside the terms of warranty Since the above services are limited to Japan diagnosis of failures etc are not performed abroad If you desire the after service abroad please register with Mitsubishi For details consult us in advance 2 Exclusion of Loss in Opportunity and Secondary Loss from Warranty Liability Mitsubishi will not be held liable for damage ...

Page 234: ...hout notice When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry for service transaction permission HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN ...

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