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Q170MSCPU User`s Manual

1. PERIPHERAL UF 168 6 61 154 6 06 186 7 32 G CD GE EXT IO SY EEL O s 2 SE I C H m 135 5 31 L 28 52 2 05 0 11 With battery holder remove APP 35 APPENDICES E APPENDIX 5 2 Servo external signals interface module Q172DLX Unit mm inch kel O Si ke O j d Q172DLX y 23 0 91 So S L 90 3 54 le 45 1 77 27 4 1 08 g APPENDIX 5 3 Manual pulse generator interface module Q173DPX Unit mm inch Q173DPX PLS A PLS B TREN 1 1 2 2 2 3 3 3 10 10 10 d 10 10 10 LO ro e 00 Ka 10 D pulser 9 10 10 0 BaS oo ha 10 Ce 10
2. LH on Q172DLX JO aa oa d faMITSUBISH wt Rating plate od MODELT OT72DLX oa 24VDC 0 16A 5VDC 0 064 5 oo or Serial number oa 3 CH SC d CE H eg Wi Ha KCC REI MEl oo oo od oa oa od Do l H Kean JO Q172DLX Serial number K oe J The serial number display was corresponded from the Motion modules manufactured in early April 2008 2 SYSTEM CONFIGURATION 2 2 2 Checking operating system software version The operating system software version can be checked on the system monitor screen in GX Works2 Select Product Information List button on the system monitor screen displayed on Diagnostics System monitor of GX Works2 System Monitor Monitor Status Connection Channel List Monitoring Serial Port PLC Module Connection System Image Main Base Main Base Operation to Selected Module Main Base 10 Ad Base Information List r Module Information List Main Base Slot D Q170MSCPU PCPU Detailed Information Hau Information Diagnostics Eror History Detail Base Module Base Model Name Power Base sots Noes Status BaSe series ModelName Point _ Parameter____ IfO_ Network No Master Supply Type Modules Slot Type Point Address Station No PLC Main Base Exist o 8 Power Power Extension Base1 CPU o Q06UDHCPU cu Extension B
3. Bundle material Recommended product NK clamp SP type NIX INC gt Cable 4 INSTALLATION AND WIRING 1 Be sure to connect SSCNETII cable with the above connector If the connection is mistaken between the Motion controller and servo amplifier cannot be communicated Forced removal of the SSCNETII cable from the Motion controller will damage the Motion controller and SSCNETII cables After removal of the SSCNETII cable be sure to put a cap on the SSCNETI connector Otherwise adhesion of dirt deteriorates in characteristic and it may cause malfunctions Do not remove the SSCNETII cable while turning on the power supply of Motion controller and servo amplifier Do not see directly the light generated from SSCNETII connector of Motion controller or servo amplifier and the end of SSCNETII cable When the light gets into eye may feel something is wrong for eye The light source of SSCNETII cable complies with class1 defined in JISC6802 or IEC60825 1 If the SSCNETII cable is added a power such as a major shock lateral pressure haul sudden bending or twist its inside distorts or brakes and optical transmission will not be available Be sure to take care enough so that the short SSCNETII cable is added a twist easily Be sure to use the SSCNETII cable within the range of operating temperature described in this manual Especially as optical
4. Q170MSCPU side Solderless terminal Q O O O O View A 10126 3000PE Connector 10326 52F0 008 Connector case ch S ty EE en EEN e f pe HBL 13 Se Se CO HBL HBH 12 E e as 7 K d HBH eal os des HAH 25 CO HAH HB 11 ie 3 we Differential output type noA ie Manual pulse generator TE A incremental synchronous encoder side HA 24 b 3 i I 1 1 SG 22 1 f 1 CO sven i i i I 5V 9 5V J I 1 1 i SEL d d i i I i d DO Ce DO COM2 i ipei Output signal side DO2 Ces DO2 DOCOM 1 i i DI E pm COM1 DI3 T DI3 i iti Input signal mark detection input side oz Ir Die put sig H i D14 D14 DICOM i FG f Twisted pair cable Note 1 Connect SEL to the SG terminal if differential output type is used Note 2 Use cable of wire side AWG28 APP 32 APPENDICES 2 Voltage output Open collector type a Connection diagram Make the cable within 10m 32 81ft Solderless terminal Q170MSCPU side OXOXOXOXO 10126 3000PE Connector 10326 52F0 008 Connector case HBL 13 HBH 12 HAL HAH HB HB HA HA Voltage output open collector type Manual pulse generator incremental synchronous encoder side SG 5VGND 5V 5V SEL DO1 por COM2 i gt Output signal side DO2 DO2 DOCOM a gt DI DI COM1 DI3 DI3 Inp
5. Oo B LR 47 2 1 86 2 2 0 09 24 4 0 96 JOU i 2 Battery holder For Q7BAT Unit mm inch 64 5 2 54 R Vi 2 0 08 27 7 1 09 l 4 APP 38 APPENDICES APPENDIX 5 6 Connector 1 SSCNETIL cable connector Unit mm inch 4 8 0 19 SEIS Kei um 69 0 01 EEN 1 0 82 0 01 13 4 0 53 Pit 0 59 10 267 WC 9 3 0 37 2 Forced stop input connector PHOENIX CONTACT make Type Connector FK MCP1 5 3 ST 3 81 12 22 0 48 Unit mm inch 20 8 0 82 12 4 0 49 3 24VDC power supply connector PHOENIX CONTACT make Type Connector FKC2 5 3 ST 5 08 15 86 0 62 Unit mm inch 25 6 1 01 15 0 59 x LES io APP 39 APPENDICES 4 Internal I F connector Sumitomo 3M Limited make Type ype Soldering type Quick release metal latch type 10126 3000PE 10326 52F0 008 LD77MHIOCON Soldering type Threaded type 10126 3000PE 10326 52A0 008 Pressure displacement type Note 1 10126 6000EL 10326 3210 000 Quick release metal latch type Note 1 The following specialized tools are required These specialized tools are not provided by Mitsubishi Please purchase them by customers e M
6. 3 1 Ground the FG terminal of the Motion controller and 24VDC power supply module to the control panel 2 Measure against noise of the power supply cable 24VDC twisted cable Wire the power supply cable as short as possible using the twisted cable Install a ferrite core at a position 20 to 30cm 7 87 to 11 81inch away from the product 3 Measure against noise of the extension cable QCOB Ground the cables at a position 20 to 30cm 7 87 to 11 81inch away from the module with the cable clamp etc When the cables are extracted from the control panel ground the cables at a position 5 to 10cm 1 97 to 3 94inch away from the exit entrance of the control panel with the cable clamp etc 4 Install a ferrite core in the secondary side of NF Approx 1 turn 5 Measure against noise of the internal I F connector cable Install a ferrite core at a position 20 to 30cm 7 87 to 11 81inch away from the module Ground the cables at a position 30 to 40cm 11 81 to 15 75inch away from the module with the cable clamp etc When the cables are extracted from the control panel ground the cables at a position 5 to 10cm 1 97 to 3 94inch away from the exit entrance of the control panel with the cable clamp etc 1 Refer to Section 2 for the following cables e Ethernet cable e RS 232 communication cable e USB cable e SSCNETT cable e Extension cable e Forced stop inpu
7. Jo le no gg no po a Servo amplifier MR J3 W OB Servo amplifier MR J4 W OB Power supply module I O module Intelligent function module of the Q series Note d Note 3 i i i g m i 1 A 7 OD LOGGED i i 7 UO module Intelligent 5 Large capacity battery holder d i 4 Q50B extension base unit Q170MSBAT SET Forced stop input cable function module of the Q52B Q55B 1 i Q series 1 d CN i i i 5 Motion module Q172DLX Q173DPX Q6LB extension base unit Q63B Q65B Q68B Q612B i D ai It is possible to select the best according to the system Note 1 Be sure to install the Battery Q6BAT to the Battery holder It is packed together with Q170MSCPU Note 2 Large capacity battery use Q7BAT is included sold separately Note 3 Fabricate the forced stop input cable on the customer side 2 SYSTEM CONFIGURATION 2 Peripheral device configuration for the Q170MSCPU The following a b c can be used a USB configuration b RS 232 configuration c Ethernet configuration 20 ail Bi ji ji ji d GH Motion controller Motion controller Motion controller Q170MSCPU Q170MSCPU
8. aia ia fala lalate Base Setting 1 Base Mode Base Model Name Extension Cable Main leg Set Detail Detail 8 Slot Default 12 Slot Default Select stim Set the number of slots of the Export to CSY File Import Multiple CPU Parameter Read PLC Data main base to 8 1 Setting should be set as same when using multiple CPU Set the number of slots to be used to the number of slots of the extension base Print Window Print Window Preview Acknowledge XY Assignment Default Check Cancel The first address of the extension base can be assigned from address 0 by using the sample data Refer to APPENDIX 2 1 for details of the sample data APP 5 APPENDICES APPENDIX 1 4 Differences of I O signals Table 1 4 Differences of I O signals Q170MSCPU Q173DSCPU Q172DSCPU Q170MSCPU s internal I F N Built in interface in Motion CPU N Input 4 points output 2 points Input 4 points e PLC I O module e PLC I O module e Intelligent function module e Intelligent function module UO signal Note 1 Real input device PX or real output device PY is in units of 16 points e Real input PX 4 points Dummy Unsable Fixed at 0 12 points e Real output PY 2 points Dummy Unsable Fixed at 0 14 points Example When the first I O No is set to 0 H e PXO to PX3 Real input PX4
9. MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN See Q170MSCPU instruction manual 1 Authorized representative in Europe Authorized representative in Europe is shown below Name Mitsubishi Electric Europe BV Address Gothaer strase 8 40880 Ratingen Germany H 7 1 Requirements for Compliance with the EMC Directive The EMC Directive specifies that products placed on the market must be so constructed that they do not cause excessive electromagnetic interference emissions and are not unduly affected by electromagnetic interference immunity Section 7 1 1 through Section 7 1 4 summarize the precautions on compliance with the EMC Directive of the machinery constructed with the Motion controllers These precautions are based on the requirements and the standards of the regulation however it does not guarantee that the entire machinery constructed according to the descriptions will comply with above mentioned directive The method and judgement for complying with the EMC Directive must be determined by the person who construct the entire machinery 7 EMC DIRECTIVES 7 1 1 Standards relevant to the EMC Directive EN61000 6 4 2007 EN61131 2 2007 EN61000 6 2 2005 EN61131 2 2007 The standards relevant to the EMC Directive are listed in table below Certification Test details Standard value EN55011 2007 A2 2007 Radiated emission Radio waves from the product are Note 1 measured EN55011 2
10. COM Forced stop ir _ 100VAC lt Input module QX10 gt 100VAC TB17 QX10 TB16 A O Internal circuit 1 k Forced stop Note The forced stop input can be set in the system settings c Itis also possible to use the forced stop signal of the servo amplifier Refer to manual of the servo amplifier about servomotor capacity Operation status of the emergency stop and the forced stop are as follows Operation of Item Remark the signal ON Forced Forced sop e i Shut off the power supply to the external servo amplifier mergency sto ia genes Servo OFF by external circuit make the servomotor stopped The servomotor is stopped according to the stop instruction from Motion controller to the servo amplifier 3 DESIGN 3 3 Layout Design within the Control Panel 3 3 1 Mounting environment Mount the Motion controller system in the following environment conditions 1 Ambient temperature is within the range of 0 to 55 C 32 to 131 F Ambient humidity is within the range of 5 to 95 RH No condensing from sudden temperature changes No corrosive or inflammable gas There must not be a lot of conductible dust iron filings oil mist or salt organic solvents No direct sunlight No strong electrical or magnetic fields No direct vibrations or shocks on the Motion controller 3 DESIGN 3 3 2 Calculating heat generation by Motion controller The ambient t
11. L eee z am LR ox uM i xX gt L3 RA3 O pen d l ai N Ground imagnetic oh N brake i L21 DICOM Note 3 Le Me DATA DANTAS MCCB4 Note 5 MG Lo eet OS ES ee NS Ground magnetic Drake 1 t Note 4 Note 1 When the control power supply of servo amplifier is shut off it is not possible to communicate with the servo amplifier after that Example When the control power supply L11 L21 of servo amplifier in above IB figure is shut off it is also not possible to communicate with the servo amplifier E If only a specific servo amplifier main circuit power supply is shut off be sure to shut off the main circuit power supply L1 L2 L3 and do not shut off the control power supply L11 L21 Note 2 Be sure to shut off the both of main circuit power supply L1 L2 L3 and control power supply L11 L21 after disconnection of SSCNET communication by the connect disconnect function of SSCNET communication at the time of exchange of servo amplifier At this time it is not possible to communicate between the servo amplifier and Motion controller Therefore be sure to exchange the servo amplifier after stopping the operating of machine beforehand 3 5 3 DESIGN Eee 2 System design circuit example of the PLC CPU area Power supply NAAA __ Transformer Transformer Input switched when ill ll Fuse Fuse power supply established PLC
12. Correct the Motion operating time to shorten by the following methods and write it to Motion CPU area CPU No 2 fixed 1 Change the operation cycle to large value in the system setting 2 Reduce the number of execution to the event task program and NMI task program in the Motion SFC program SV13 SV22 Reset the Motion controller Does disappear on 7 segment LED END Explain the error symptom and get advice from our sales representative 6 INSPECTION AND MAINTENANCE h Flowchart for when servo amplifier does not start The following shows the flowchart for when servo amplifier does not start Servo amplifier does not start Is there error display NO on 7 segment LED of Motion controller Remove the error cause YES Does servo amplifier start Set the target axis in the system setting Is the target axis set in the system setting YES Does servo amplifier start Is the connection of NO SSCNET f cable correct Connect the SSCNET M cable correctly YES Does servo amplifier start NO Set the axis select rotary switch correctly NO Is the axis select rotary switch setting of servo amplifier correct YES YES Does servo amplifier start Is the servo amplifier connected from target axis near controller started NO Remove the error cause of servo amplifier that does not start YES
13. Beenie Empty empty gen Q170MSCPU PCPU Extension Base5 Empty Empty OPoint Extension Base6 Empty Empty OPoint Extension Base Empty Empty OPoint Empty Empty OPoint L _ Empty Empty OPaint Legend Error Major Error Moderate Error JA Minor Error __ Assignment Error_ Assignment Incorrect Stop Monitor Print Product Information List System Error History APP 4 APPENDICES 2 Setting of I O assignment Set the I O assignment points in I O assignment of PC parameter of GX Works2 a When the Base mode is set to Auto default 16 points are set to empty slot of the main base Therefore the first address of the extension base is set to 70 b When the Base mode is set to Detail The first address of the extension base is set to 0 by setting 0 point to the empty slot of the main base Q Parameter Setting PLC Name PLC System PLC File PLCRAS Boot File Program SFC weu nment Multiple CPU Setting Serial Communication 1 0 Assignment 1 Switch Setting D eg 0 Point Detailed Setting 0 Point TPoint lect PLE type Set the number of points of slot as New Module 1 0 1 to 7 0 7 to O point O Point Bag ch Set the number of points of I O Assigning the I O address is not necessary as the CPU does it automatically module Leaving this setting blank will not cause an error to occur
14. 2 Bit device Detection accuracy us Signal detection direction Bit device Setting range y IH Leading edge Trailing edge X PX Oto 1FFF Ne Y PY 0 to 1FFF Set direction in the mark Note 2 S e M 0 to 8191 Operation cycle 222 us 222 detection signal detection B 0 to 1FFF e Operation cycle 444 us or more 444 direction 0 to 1999 UD G 10000 0 to 10000 p 1 F ole Note 1 The range of PXn 4 to PXn F cannot be used fixed at 0 for the input device PXn 0 to PXn F allocated to the built in interface in Motion CPU DI n First input No Note 2 The range of MO to M12287 is valid in the SV22 advanced synchronous control Note 3 p indicates the user setting area points of the Multiple CPU high speed transmission area for each CPU APP 8 APPENDICES APPENDIX 2 Creation of Project There are following methods to create the Q170MSCPU project 1 Create the new project 2 Convert the project for Q170MCPU Q170OD S CPU Q170HCPU T Q170CPUN T Q1701CPU 3 Create the new project using the sample data Refer to the help of MT Developer2 for creation method of project The contents to create the project using the sample data describes in APPENDIX 2 1 APP 9 APPENDICES EH APPENDIX 2 1 Sample data An easy setting can be achieved for the parameter setting such as the automatic refresh setting of Multiple CPU setting and I O assignment setti
15. ON voltage current 17 5VDC or more 2 0mA or more OFF voltage current 1 8VDC or less 0 18mA or less Input resistance Approx 10kQ OFF to ON Response time 1ms or less ON to OFF External connector type 0 3 to 1 5mm AWG16 to AWG22 2 SYSTEM CONFIGURATION MEMO 74 3 DESIGN 3 DESIGN 3 1 System Designing Procedure System designing procedure is shown below Motion control system design Select the operating system software to be installed according to the machinery and equipment to be controlled Select the number of Q172DLX s and design according to the each axis control system and whether servo external signals are required or not When there is mechanical home position and home position return is made Proximity dog required e For speed control Speed position switching control signal required When overrun prevention is necessary Stroke limit required When each axis stop is necessary STOP signal required Select whether the manual pulse generators incremental synchronous encoders or I O signals built in Motion controller are required or not Select Q173DPX and design according to whether manual pulse generators and incremental synchronous encoders are required or not Select interrupt module QI60 according to whether interrupt input are required or not Select I O modules intelligent function modules according to the specifications of the
16. e Sample data e Save folder C Program Files MELSOFT MTD2 SampleData MT2 e Project name V13 Q170MS_SV13_MT2 SV22 Q170MS_SV22_MT2 Note 1 Q170MS_SV22_AD_MT2 Note 2 Note 1 Project for virtual mode switching method Note 2 Project for advanced synchronous control method e Sample data e Save folder C Program Files MELSOFT MTD2 SampleData Gx2 e Project name V13 Q170MS_SV13_GX2 SV22 Q170MS_SV22_GX2 Note 1 Q170MS_SV22_AD_GX2 Note 2 e Diversion file COMMENT of device comment Note 1 Project for virtual mode switching method Note 2 Project for advanced synchronous control method The existing data are overwritten and erased by diverting the sample data to the created project APP 12 APPENDICES 6 Operation procedure for sample data Refer to the help of MT Developer2 for details a Motion CPU area MT Developer2 1 Multiple CPU setting a Diversion of sample data Divert the sample data by selecting the Import Multiple CPU Parameter button of the base setting or Multiple CPU setting of the basic setting of system setting Basic Setting Base Setting Multiple CPU Setting System Basic Setting SSCNET Setting CPU Name Setting Built in Eth 4 E Extension Base soc A Stage 2 Nothing EN Stage 3 Nothing e n Stage 5 Nothing x M s sco M Select the Import Multiple CPU Parameter button b Confirm the sample data Compare the Automatic Refre
17. Before power supply ON Power supply ON Motion controller in STOP status Motion controller in RUN status At the worksite copy the following table for use as a check sheet Check that each module is installed correctly Check that each connector is connected correctly Check each terminal screw for looseness Installation of Check that the earth wires of Motion controller or servo amplifiers etc are correct unit module Check that the servomotor wiring is correct and basic wiring Check that the regenerative option wiring is correct Check that the circuit of emergency stop and forced stop are correct Check that the rotary switch setting is correct Installation of OS _ Check that the operating system software is compatible System setting Check that the system setting is correct signal Check that the proximity dog and speed position switching signal input are correct Check that the wiring of each power supply and I O are correct Check that the rotation direction for JOG operation is correct Check that the upper lower limit switches operate correctly Program Check that the Motion program PLC program and positioning data are stored in the positioning data Motion controller correctly Check the communications with servo amplifiers operations Check Check that the machine ope
18. 0 5M 30MHz AC power line Common mode 2 5kV Differential mode 1 5kV DC power line Common mode 0 5kV Differential mode 0 5kV I O communication line Common mode 1kV 0 15 80MHz 80 AM modulation 1kHz 10Vrms EN61000 4 11 2004N Immunity test in which power supply e o S 0 of rated voltage 250cycle Short interruptions immunity has short interruptions Note EN61000 4 11 2004 Voltage dip Test in which voltage dip is applied to the power supply 40 of rated voltage 10cycle 70 of rated voltage 25cycle EN61131 2 2007 Immunity test in which voltage dip is EN61131 2 2007 0 of rated voltage 0 5cycle 20 times Voltage dip immunity applied to the power supply Note 1 This product is an open type device a device designed to be housed inside other equipment and must be installed inside a conductive control panel The corresponding test has been done with the programmable controller installed inside a control panel Note 2 QP Quasi peak value Note 3 Note 4 For the AC power supply line For the electrical communication port Note 5 AV Average value 7 EMC DIRECTIVES 7 1 2 Installation instructions for EMC Directive 1 Installation Motion controller is an open type device and must be installed inside a control panel for use This not only ensures safety but also ensures effective shielding of Motion controller generated electromagnetic noise a Control panel 1 Use a c
19. 2 SYSTEM CONFIGURATION 1 Be sure to turn OFF the Motion controller s power supply before the rotary switch setting change 2 Itis recommended to shift to the mode operated by ROM after the programs and parameters are fixed The erasing of the programs and parameters can be avoided even if the battery decrease The ROM writing cannot be executed for the current position of the servo motor in the absolute position system home position and latch device Back up them beforehand using MT Developer2 Refer to Section 4 4 of the Q173D S CPU Q172D S CPU Motion controller Programming Manual COMMON for details of the ROM operation c Ethernet IP address display mode overview 7 segment LED Note IP address ex 192 168 3 39 H Subnet mask pattern Note ex 255 255 255 0 Default router IP address Ce ex 192 168 3 1 J Link status Disconnect Connect 10Mbps RW Full duplex ew d DE E IL D Connect 100Mbps Half duplex E Note When the Ethernet parameters are not written in the Motion controller the addresses are displayed as follows e IP address 192 168 3 39 e Subnet mask pattern 255 255 255 0 e Default router IP address 192 168 3 1 2 32 2 SYSTEM CONFIGURATION 8 Internal I F connector The pin layout of the Q170MSCPU s internal I F connector Use the internal I F connector on the front of the Q170MSCPU to connect to manual pulse sign
20. 4 Servo parameters 5 Parameter block 6 Limit output data 1 Z CAUTION Set parameter values to those that are compatible with the Motion controller servo amplifier servo motor and regenerative resistor model name and the system name application The protective functions may not function if the settings are incorrect 5 START UP PROCEDURES 1 Parameter setting PLC CPU Parameter setting area Set the PLC parameter using GX Works2 v Parameter setting Parameter setting SSCNETII H Set the SSCNETII H head module head module parameter using GX Works2 SSCNETII H head module use Turn ON power supply again Turn ON again the power supply or reset of Motion controller Check pulse input signal of internal I F Check the wiring of pulse input signals of internal I F by monitoring of MT Developer 1 Manual pulse generator incremental synchronous encoder setting Check I O signal of internal I F Check the wiring of I O signals of internal I F by monitoring of MT Developer2 Check external inputs to Q172DLX Check the wiring of following external inputs by monitoring of MT Developer 1 FLS Upper stroke limit input 2 RLS Lower stroke limit input 3 STOP Stop signal 4 DOG Proximity dog Motion CPU area Check servo external inputs signal Check the wiring of servo external input signals by monitorin
21. Description 2 modules No specification All station stop by stop error of PLC1 PLC2 PLC No 1 PLC No 2 checked Enable online module change with another PLC not checked 6 Input sharing when using Multiple CPUs All CPUs can read all inputs not checked Output sharing when using Multiple CPUs All CPUs can read all outputs not checked Use multiple CPU high speed communication CPU specific send range ae eon ii D I PLC User setting area Auto refresh e speed transmission Hes an oo E point k _1 O No il u3E0 7022 G10000 617021 u3e1_ 6482 _ G10000 Tee APP 24 APPENDICES c Auto refresh settings e PLC No 1 Auto refresh CPU specific send range U3E0 ot moz weem onge ema 2 ms neo ozz oe eme e PLC No 2 l Point Start End Start End Point aan end Stat eg _ i 1 4 mow m35 16482 ees 2 Ia wo ps9 oe ee 3 3 omg oe c1esas ene d PLC system setting Only Points occupied by empty slot is overwritten at the sample data diversion The content before sample data diversion are retained without rewriting for the other data Setting items pee oe High speed 10 00ms Not used 2 RUN PAUSE contacts PAUSE Not used Latch data backup operation valid contact Not used Allow not checked 5 Output mode at STOP to RUN Previous state checked el Floating point arithmetic processing 7 Intel
22. Q170MSCPU USB cable RS 232 communication cable Ethernet cable Note 1 QC30R2 Personal computer Personal computer Personal computer Note 1 Corresponding Ethernet cables Connection type Cable type Ethernet standard Module name 10BASE T Connection with HUB Straight cable f f 100BASE TX Compliant with Ethernet standards category 5 or higher Ethernet cable d F ee T e Shielded twisted pair cable STP cable Direct connection Crossover cable 100BASE TX TX Selection criterion of cable Category 5 or higher e Diameter of lead AWG26 or higher e Shield Copper braid shield and drain wire Copper braid shield and aluminium layered type shield 2 SYSTEM CONFIGURATION 2 1 1 Q170MSCPU System overall configuration MELSEC L series SSCNETII H head module d03 d16 L61P LJ72MS15 1 0 module gt eg lt Intelligent function module Up to 4 stations Motion controller Q170MSCPU USB RS 232 SSCNET II cable am do2 Th MR J3BUSOM A B 5 SSCNETI H Personal Computer ia IBM PC AT 24VDC EMI forced stop input MR J3 W 24VDC Up to 16 axes Battery Q6BAT Q7BAT B MR J4 W B model Servo amplifier PERIPHERAL UE External input signals of s
23. covers and partitions to the designated positions and operate according to the instruction manual REVISIONS x The manual number is given on the bottom left of the back cover Print Date_ Manual Number Apr 2013 IB NA 0300212 A Firstediion 2013 IB NA 0300212 A First edition Japanese Manual Number IB NA 0300205 This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual 2013 MITSUBISHI ELECTRIC CORPORATION A 11 INTRODUCTION Thank you for choosing the Mitsubishi Motion controller Q170MSCPU Before using the equipment please read this manual carefully to develop full familiarity with the functions and performance of the Motion controller you have purchased so as to ensure correct use CONTENTS Daley Kiterag one de EENS A 1 PROVISIONS iene E steeped EENS eene ENEE ENEE ENEE set A 11 Contents iain hit wa eae we aa aie hada ee een A 12 AboutaManUallS eege EEN A 15 a Ba EE 1 1 1 2 Comparison between Q170MSCPU and OT OMC 1 3 7 3 Program software Verso inne ele EE delt 1 12 2 1 Motion System Configuration ceecceecceeeeeeeeceeeeeeeeeeeceeeeeeseeseeseesaeecaeesaeeseeeaeeseesaeesaeesaeeeesieeseeeaeeas 2 1 2 1 1 Q170MSCPU System overall configurat
24. A hardware fault Check operation in the order starting y with the minimum system If the module will not work explain the error symptom and get advice from our sales representative for the modules with failure 6 INSPECTION AND MAINTENANCE b Flowchart for when does not flash in the first digit of 7 segment LED does not flash in the first digit of 7 segment LED NO a Flowchart for when POWER LED turns off Does POWER LED turn on YES connecting direction of extension cable correctly Isn t IN IN or OUT OUT connection NO Connect the extension cable correctly YES Does flash in the first digit of 7 segment LED NO YES RESET Is the e RUN STOP RESET switch Set the RUN STOP RESET switch to STOP set to STOP Does flash in the first digit of 7 segment LED YES A hardware fault Check operation in the order starting END with the minimum system If the module will not work explain the error symptom and get advice from our sales representative for the Note Normally flashes in the first digit of modules with failure 7 segment LED 6 INSPECTION AND MAINTENANCE c Flowchart for when A00 displays on 7 segment LED A00 displays when the operating system software is not installed The following shows the flowchart for when A00 displays on 7 segment LED at the power supply ON or operat
25. For cable laying handle without putting forced tension Refer to APPENDIX 4 1 SSCNET cables for the tension strength c Lateral pressure If lateral pressure is added on the SSCNETII cable the cable itself distorts internal optical fiber gets stressed and then transmission loss will increase At worst the breakage of SSCNETII cable may occur As the same condition also occurs at cable laying do not tighten up SSCNETII cable with a thing such as nylon band TY RAP Do not trample it down or tuck it down with the door of control panel or others 4 INSTALLATION AND WIRING d Twisting If SSCNETII cable is twisted it will become the same stress added condition as when local lateral pressure or bend is added Consequently transmission loss increases and the breakage of SSCNETI cable may occur at worst e Disposal When incinerating optical cable cord used for SSCNETII cable hydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may be generated For disposal of SSCNETII cable request for specialized industrial waste disposal services who has incineration facility for disposing hydrogen fluoride gas or hydrogen chloride gas f Wiring process of SSCNETII cable Put the SSCNETII cable in the duct or fix the cable at the closest part to the Motion controller with bundle material in order to prevent SSCNET II cable from putting its own weight on SSCNETII connector Leave the following space for w
26. MITSUBISHI ELECTRIC MOTION CONTROLLERS wee MOTION CONTROLLER 3 series User s Manual SAFETY PRECAUTIONS Please read these instructions before using this equipment Before using this product please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly These precautions apply only to this product Refer to the Users manual of the QCPU module to use for a description of the PLC system safety precautions In this manual the safety instructions are ranked as DANGER and CAUTION E EE en N i Indicates that incorrect handling may cause hazardous l i AN DAN G F R conditions resulting in death or severe injury Indicates that incorrect handling may cause hazardous i bg CA U T O N conditions resulting in medium or slight personal injury or i physical damage 7 Depending on circumstances procedures indicated by A CAUTION may also be linked to serious results In any case it is important to follow the directions for usage Please save this manual to make it accessible when required and always forward it to the end user For Safe Operations 1 Prevention of electric shocks Z ADANGER Never open the front case or terminal covers while the power is ON or the unit is running as this may lead to electric shocks Never run the unit with the front case or terminal cover removed The high voltage term
27. Module fixing hole When using module in a place where there is large vibration or impact install them by the unit fixing screws Base unit Base unit RE Module fixing C END E L hook Module fixing projection Module fixing hole 4 INSTALLATION AND WIRING POINTS 1 When installing the module always insert the module fixing projection into the module fixing hole of the base unit At that time securely insert the module fixing projection so that it does not come off from the module fixing hole If the module is forcibly installed without the latch being inserted the module connector and module will be damaged 2 When using the modules in a place where there is large vibration or impact screw the module to the base unit Module fixing screw M3 x12 user prepared 3 Do not install remove the module onto from base unit or terminal block more than 50 times after the first use of the product Failure to do so may cause the module to malfunction due to poor contact of connector Z CAUTION When the modules are installed to the base unit while pressing the installation lever located at the bottom of module insert the module fixing projection into the fixing hole in the base unit until it stops Then securely install the module with the fixing hole as a supporting point Incorrect installation of the module can cause an operation failure damage or drop When using the Motion
28. Multiple CPU Synchronous Startup Setting 1 Points k uo No Points _ lace zuo 7002 0000 eer ml Refresh Target PLE BE gl Ee E IT EE ee M No 1 M No 2 Set auto refresh setting if it is needed N g Already Set V No 3 ec Rn E 14K Points Advanced Setting 1 Assia it ic The total number of points is up to 14K 1 Setting should be set as same when using multiple CPU LE Select the Import Multiple CPU Parameter button Print Window Print Window Preview Acknowledge XY Assignment Default Check Cancel APP 14 APPENDICES b Confirm the sample data Compare the Auto refresh settings screen with the contents of this section 7 and then confirm the sample data are diverted correctly e Multiple CPU settings Q Parameter Setting PLC Name In m PLC File PLCRAS Boot File Pr PLCNo 1 PLCNo 2 Refresh Device Shared Memory PLC No 2 Auto Refresh CPU Specific Send e No Points 1 Start End Start End 1 46 m2000 M2735 G16482 616527 2 320 D0 D319 G16528 G16847 3 320 D8000 D8319 z G16848 617167 5 6 7 8 9 10 11 12 13 14 15 16 A Total Points mee Settable Points AS Available start devices are X Y M L B D W R ZR 5M 5D 5B SW Word is used for points Every 2 points are counted as a set 1 Setting should be set as same when using multiple CPU Check Cancel e I O assignment ogram Si UO
29. Must be turned OFF BT1 or Even if the lowering of a battery front side of Motion controller BT2 display capacity is not shown replace 5 Battery in monitor 6 INSPECTION AND MAINTENANCE 6 4 Life The following parts must be changed periodically as listed below However if any part is found faulty it must be changed immediately even when it has not yet reached the end of its life which depends on the operating method and environmental conditions For parts replacement please contact your sales representative Table 6 3 Life Life guideline Life guideline is reference time Motion controller S If faulty it must be changed Electrolytic capacitor 10 years immediately even when it has Motion module not yet reached the life guideline 1 Capacitor The life of the capacitor greatly depends on ambient temperature and operating conditions The capacitor will reach the end of its in 10 years of continuous operation in normal air conditioned environment 6 INSPECTION AND MAINTENANCE 6 5 Battery The battery installed in the Motion controller is used for data retention during the power failure of the program memory and latch device The data stored in the RAM built in Motion controller are shown below e PLC CPU area Clock data Latch devices L Devices of latch range Error history and Data in standard RAM e Motion CPU area Programs Parameters Motion devices Devices of latch range and
30. Set the axis No relative to axis number dno Note Correspondence between dno and axis select rotary switch of servo amplifiers is shown below Correspondence between dno s and axis select rotary switches of servo amplifier Note Axis select rotary switch of dno servo amplifier NS eee 4 Note The dno is number of servo amplifier axis displayed with the system setting of MT Developer2 Axis No is set relative to dno in the system settings The setting of axis select rotary switch is different depending on the servo amplifier Refer to the Servo amplifier Instruction Manual for details 2 68 2 SYSTEM CONFIGURATION 2 5 8 Battery This section describes the battery specifications and handling precautions used in the Motion controller Battery specifications Model name Q6BAT Q7BAT Classification Manganese dioxide lithium primary batter Initial voltage V Nominal current mAh 1800 5000 Storage life Actually 5 years Room temperature Lithium content g Applications For memory data backup of RAM built in Motion controller Exterior dimensions mm inch 16 0 63 x32 1 26 24 0 94 x52 2 05 Note The following points are changed for lithium metal batteries transportation by sea or air due to Recommendations of the United Nations Rev 15 and ICAO TI 2009 2010 edition 1 A package containing 24 cells or 12 batteries or less that are not contained in equipment are no longer exempt
31. e Executing the LEDR instruction in the sequence program When BAT LED turns on yellow If BAT LED turns on yellow follow the steps described below BAT LED turns on yellow when a low battery capacity is detected If the BAT LED is on monitor the special relays and special registers in the monitor mode of GX Works2 to check which of the SRAM card batteries was lowered in capacity SM51 to SM52 SD51 to SD52 After confirmation replace the battery with a new one and reset the Motion controller with the RUN STOP RESET switch or run the LEDR instruction and the BAT LED will turn off The error codes and error contents can be read using GX Works2 and MT Developer Refer to the Operating Manual of GX Works2 and help of MT Developer2 for details of operating method 6 INSPECTION AND MAINTENANCE 6 6 4 Internal I O circuit troubleshooting This section describes possible problems with internal I O circuits and their corrective actions 1 Internal input circuit troubleshooting The following describes possible problems with internal input circuits and their corrective actions Internal Input Circuit Troubleshooting and Corrective Action Cl condition cause Corrective action e Drive by switch with LED indicator e Connect an appropriate resistor so that the current across the Motion controller becomes lower than the off current DC input DC input plus common plus common Internal input signal is n
32. ex robot safety rules etc apply to the system using the Motion controller servo amplifier and servomotor make sure that the safety standards are satisfied Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system In systems where coasting of the servomotor will be a problem during the forced stop the emergency stop servo OFF or when the power is shut OFF use dynamic brakes Make sure that the system considers the coasting amount even when using dynamic brakes In systems where perpendicular shaft dropping may be a problem during the forced stop the emergency stop servo OFF or when the power is shut OFF use both dynamic brakes and electromagnetic brakes The dynamic brakes must be used only during the forced stop the emergency stop and errors where servo OFF occurs These brakes must not be used for normal braking The brakes electromagnetic brakes assembled into the servomotor are for holding applications and must not be used for normal braking The system must have a mechanical allowance so that the machine itself can stop even if the stroke limits switch is passed through at the max speed Use wires and cables that have a wire diameter heat resistance and bending resistance compatible with the system Use wires and cables within the length of the range desc
33. operation failure Ground resistance 1002 or less When wiring in the Motion controller be sure that it is done correctly by checking the product s rated voltage and the terminal layout Connecting a power supply that is different from the rating or incorrectly wiring the product could result in fire or damage External connections shall be crimped or pressure welded with the specified tools or correctly soldered Imperfect connections could result in short circuit fire or operation failure Tighten the terminal screws within the specified torque range If the terminal screws are loose it could result in short circuit fire or operation failure Tightening the terminal screws too far may cause damages to the screws and or the module resulting in drop short circuit or operation failure Be sure there are no foreign matters such as sawdust or wiring debris inside the module Such debris could cause fire damage or operation failure The module has an ingress prevention label on its top to prevent foreign matter such as wiring debris from entering the module during wiring Do not remove this label during wiring Before starting system operation be sure to remove this label because of heat dissipation This section describes instructions for the wiring of the power supply Refer to the 7 EMC directives for grounding method and measure against noise 1 Power supply wiring a 24VDC power supply wires should be twisted as
34. 0 3 to 3 5 to 20 30 to 50 SSCNETII cable length m ft 0 49 0 98 to 9 84 16 40 to 65 62 98 43 to 164 04 Minimum bend radius 25 0 98 Enforced covering cord 50 1 97 Enforced covering cord 50 1 97 mm inch Cord 25 0 98 Cord 30 1 18 Tension strength N mm Iw 420 Enforced covering cord 980 Enforced covering cord Temperature ange for 40 to 80 20 to 70 use C F Nt 40 to 176 4 to 158 Indoors no direct sunlight No solvent or oil 0 17 0 016 0 1720 0047 BE SS ole S N H WIES s 0 090 008 22 0 07 External appearance fo 09 0 003 iy 10 16 Note 2 SE St 0 40 i 170 004 2 20 07 L n 0 240 008 SE Note 1 This temperature range for use is the value for optical cable cord only Note 2 Dimension of connector fiber insert location The distance of two cords is changed by how to bend it APP 28 APPENDICES POINTS 1 If the end face of cord tip for the SSCNETII cable is dirty optical transmission is interrupted and it may cause malfunctions If it becomes dirty wipe with a bonded textile etc Do not use solvent such as alcohol 2 Do not add impossible power to the connector of the SSCNETT cable 3 When incinerating the SSCNETIL cable optical fiber hydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may be generated For disposal of the SS
35. 02 aan AutoCont C S S R 0 ZECH REPUBLI EE EUROPE B V RUSSIA Kafkova 1853 3 Izletnicka 10 CZ 702 00 Ostrava 2 SER 113000 Smederevo SERGE Phone 420 595 691 150 Phone 381 0 26 615 401 Phone 7 495 721 2070 Fax 420 595 691 199 Fax 381 0 26 615 401 Fax 7 495 721 2071 Beijer Electronics A S DENMARK raat ae Ge SLOVAKIA Lykkegardsvej 17 na Derku EES SPAIN K 4000 Roskilde SK 911 01 Trencin SE de Rubi 76 80 Phone 45 0 46 75 76 66 Phone 421 0 32 743 0472 E 08190 Sant Cugat del Vall s Barcelona Fax 45 0 46 75 56 26 Fax 421 0 32 743 75 20 Phone 902 131121 34 935653131 Beijer Electronics Eesti OU ESTONIA INEA RBT don SLOVENIA Fax 34 935891579 Parnu mnt 160i Se 11 H EE 11317 Tallinn 1 1000 Ljubljana MITS UE SHI ELECTRIC EUROPE B Y UK Phone 372 0 6 51 81 40 Phone 386 0 1 513 8116 Travellers Lane Fax 372 0 6 518149 Fax 386 0 1 513 8170 UK Hatfield Herts AL10 8XB Beijer Electronics OY FINLAND Beijer Electronics Automation AB SWEDEN Phone 44 0 1707 28 87 80 Vanha Nurmijarventie 62 Box 426 Fax 44 0 1707 27 86 95 FIN 01670 Vantaa on a Mw erte Phone 358 0 207 463 500 one The Bilding 2T CORPORATION JAPAN Fax 358 0 207 463 501 Fax 46 0 40 93 23 01 Marunouchi Chiyoda ku PROVENDOR OY FINLAND OMNI RAY AG SWITZERLAND Tokyo 100 8310 Teljankatu 8 A3 Im Schorli 5 Phone 81 3 3218 2111 FIN 28130 Pori CH 8600 Diibendorf Fax 81 3 3218 2185 Phone 358 0 2 522 3300 Phone 41 0 4
36. 030051 This manual explains the I O signals parts names parameters start up procedure and others for 1CW202 MR J3 LB Servo amplifier SSCNETI interface 2 axis AC Servo Amplifier MR J3W OB Servo amplifier Instruction Manual SH 030073 This manual explains the I O signals parts names parameters start up procedure and others for 2 axis 1CW604 AC Servo Amplifier MR J3W LIB Servo amplifier SSCNETII Compatible Linear Servo MR J3 LB RJ004 Instruction Manual SH 030054 This manual explains the I O signals parts names parameters start up procedure and others for Linear 1CW943 Servo MR J3 OB RJ004 Servo amplifier SSCNETI Compatible Fully Closed Loop Control MR J3 LB RJ006 Servo amplifier Instruction Manual SH 030056 This manual explains the I O signals parts names parameters start up procedure and others for Fully 1CW304 Closed Loop Control MR J3 LJB RJ006 Servo amplifier SSCNETT Interface Direct Drive Servo MR J3 L1B RJO80W Servo amplifier Instruction EE SH 030079 This manual explains the I O signals parts names parameters start up procedure and others for Direct 1CW601 Drive Servo MR J3 LJB RJO80W Servo amplifier SSCNETI interface Drive Safety integrated MR J3 L1B Safety Servo amplifier Instruction Manual SH 030084 This manual explains the I O signals parts names parameters start up procedure and others for safety 1CW205 integrated MR J
37. 1 axis can also be used with Q170MSCPU s internal I F g The stroke limit signals and proximity dog signals connected to the servo amplifiers can be used for the motion control h W O controls DI 4 points DO 2 points built in Q170MSCPU Motion CPU area can be realized 2 SYSTEM CONFIGURATION i PLC I O modules and intelligent function modules excluding some modules can be controlled with the Motion CPU area Refer to Section 2 3 2 j Wiring is reduced by issuing the external signal upper lower stroke limit signal proximity dog signal via the servo amplifier Note 1 The incremental synchronous encoder can be used in SV22 It cannot be used in SV13 2 SYSTEM CONFIGURATION 2 1 4 Restrictions on Motion controller 1 Q170MSCPU Multiple CPU system is composed of the PLC CPU area CPU No 1 fixed and Motion CPU area CPU No 2 fixed Other CPU CPU No 3 CPU No 4 cannot be set 2 It takes about 10 seconds to startup state that can be controlled of Motion controller Make a Multiple CPU synchronous startup setting suitable for the system 3 Execute the automatic refresh of the Motion CPU area and PLC CPU area by using the automatic refresh of Multiple CPU high speed transmission area setting 4 The Motion modules I O modules and intelligent function modules etc can be installed on the extension base unit only 5 The CPU modules cannot be installed on the extension base unit 6 The synchro
38. 4 25 Gell DEET 4 26 A 3 AsINSTUCTOMS TON ln EE 4 26 4 3 2 Connecting to the power Supply ssssssssssessressrestrerttertnernnttnnttnntenttenntnnsttnstnnsttnttatnnetnnenn mennee nn nenn 4 29 4 3 3 Wiring Oh CONNECION ee baat EE EE EE ee Na aed 4 31 5 1 Check Items before Gtart up 5 1 5 2 Start up Adjustment Procedure ecceecceeceeeeeeeeeeeeeeeeeeeeeeeeeaeeeaeesaeesaeesaeesaeesaeesaeesaeesaeesaeesaeesaeesteseeeatenas 5 3 5 3 Operating System Software Installation Procedure ecceeceeeeeeeeeeeeeeeeeeeeeeeaeeeaeseaeeeaeeeaeeeaeeeaeeeaeeeaeas 5 7 5 4 Trial Operation and Adjustment Checklist AAA 5 9 6 INSPECTION AND MAINTENANCE 6 1 to 6 34 6 1 Maintenance ANotke eege ee SEENEN NENNEN EENS dE ENNEN 6 2 6 1 1 Instruction Of INSPECTION works iiie iiaia iia aii i aaa 6 2 e2 Daily INSPOCtlon EE 6 4 6 3 Periodic Inspection cccceecceeeceeeceeeeeeceaeecaeeeeaeeecaceeeaaeecaeeecaeescaeeesaaesseaeeseaeessaeesseceseeaeessaeessaeeesineetaas 6 5 GA E EAEE EA EEEE E EE EEEE ee E EEE ETT EE AE TEORA TE ee ee Ee 6 6 6 0 EEE E EE 6 7 6 5 1 Battery Merenre eara aiaiai a ede ned a e GA 6 8 6 5 2 Battery replacement Drocedure 6 11 6 5 3 Resuming operation after storing the Motion controller A 6 14 6 5 4 Symbol for the new EU Battery Directive AA 6 14 6 6 TroubleshootnG RE 6 15 GD else ele EE 6 15 6 6 2 Troubleshooting of Motion Controller AAA 6 16 6 6 3 Confirming eror COU eeh eeh eet ede ee ecen eet eeh ede ede a e
39. 55 A QX40 0 05 A Q62DAN 0 33 A Q173DPX 0 38 A Q55B 0 10 A MR HDP01 0 06 A e Power consumption of overall modules I5v 2 50 0 20 0 05 0 38 0 06 x 2 0 065 0 55 0 33 0 10 4 295 A System configuration is possible because of the total of current consumption 4 295 A is the allowable value 4 5 A or less Configure the system in such a way that the total current consumption at 5VDC of all the modules is the allowable value 4 5 A or less 2 SYSTEM CONFIGURATION 2 5 2 Power supply module 1 Power supply module specifications oe oer oer Q64PN Base loading position Q series power supply module loading slot Applicable base unit Input power suppl Er Pree 85 to 264VAC 85 to 264VAC Input frequency 50 60Hz 5 i el 50 60Hz 5 Input voltage distortion factor _______Shorless_ __ _ _stearless_ Max input apparent power 130VA 105VA 160VA 20A 8ms or less Note 109A Ims Or less 20A 8ms or less Notesy at 24VDC input Ratedoutput svoe o TI a o O current a a a e Eston cuit otegs f awon ______ _____ Overcurrent 5voc_ 66Aormore 33Aormore 66Aormore 99Aormoe pe 5VDC protection N Q35DB Q38DB Q312DB Q63B Q65B Q68B Q612B 100 to 240VAC 10 15 100 to 240VAC 10 15 24VDC 30 35 15 6 to 31 2VDC Inrush current te 1 oe avoc Oger mes Overvoltage Note 2 5VDC 5 5 to 6 5V protection
40. Allowable momentary power 10ms or less 20ms or less 20ms or less failure time N at 24VDC input Across inputs LG and Across inputs LG and outputs FG Dielectric withstand voltage Insulation resistance Noise immunity Operation indicator Applicaton 500VAC across 2 830VAC rms 3 cycles Altitude 2000m f primary and 5VDC 6561 68ft Across inputs and outputs LG and FG separated across inputs and LG FG across outputs and LG FG 10MQ or more by insulation resistance tester 500VDC 10MQ or more by insulation resistance tester e By noise simulator of 500Vp p noise voltage 1us noise width and 25 to 60Hz noise frequency e By noise simulator of 1 500Vp p noise voltage Tus noise width and 25 to 60Hz noise frequency e Noise voltage IEC61000 4 4 2kV outputs FG 2 830VAC rms 3 cycles Altitude 2000m 6561 68ft Across inputs and outputs LG and FG separated across inputs and LG FG across outputs and LG FG 10MQ or more by insulation resistance tester 500VDC e By noise simulator of 1 500Vp p noise voltage 1us noise width and 25 to 60Hz noise frequency e Noise voltage IEC61000 4 4 LED indication Normal ON Green Error OFF Built in eee so by user Po ERR comte SES contact Rated switching 24VDC 0 5A voltage current Minimum switching load OFF to ON 10ms or less ON to OFF 12ms or less Mechanical 20 million times or more Electrical 100 thousand times a
41. CPU setting Setting items Operating mode All station stop by stop error of CPU 1 2 Multiple CPU synchronous startup setting Set CPU No 1 2 to synchronous startup c Multiple CPU high speed transmission area setting CPU Ee send range User sUsersettingarea sd area Points a Ena ra a a a d Automatic refresh setting e CPU No 1 Receive Setting No EEE refresh a Wien CPU specific send range U3E0 Points Stat stat o End 1 2 sore m3s19 Giors emm e CPU No 2 Send Setting No Automatic refresh CPU specific send range U3E1 Points stat Ena 14 ue m00 m2735 gt 615838 G15883 44 mooo mazos oa Loes 3 320 o p9 gt os eso 4 eo Dom p39 gt creas een 5 320 0 8319 gt cms eme APP 18 APPENDICES 3 SV22 Q170MS_SV22_AD_MT2 Project for advanced synchronous control method a Base setting Setting items Description Stage 1 Nothing Stage 2 Nothing Stage 3 Nothing Extension base Stage 4 Nothing Stage 5 Nothing Stage 6 Nothing Stage 7 Nothing b Multiple CPU setting Setting items Operating mode All station stop by stop error of CPU 1 2 Multiple CPU synchronous startup setting Set CPU No 1 2 to synchronous startup c Multiple CPU high speed transmission area setting CPU specific send range CPU d Automatic refresh setting e CPU No 1 Receive CPU No 2 S
42. Count type 3 types Data set type 2 types Dog cradle type Stopper type 2 types Limit switch combined type Scale home position signal detection type Proximity dog type 2 types Count type 3 types Data set type 2 types Dog cradle type Stopper type 2 types Limit switch combined type Scale home position signal detection type Dogless home position signal reference type Home position return function Home position return re try function provided home position shift function provided Manual pulse generator Possible to connect 3 modules Q173DPX use operation function Possible to connect 1 module Internal I F use EE Possible to connect 8 modules Possible to connect 12 modules SV22 use ie SV22 use ie Q173DPxX Internal I F Via device Geier Q173DPX Internal I F ABS synchronous encoder unusable ABS synchronous encoder unusable M code function M code output function provided M code completion wait function provided aus Number of output points 32 points Watch data Motion control data Word device Virtual mode switching method e DEE EE EE EH Number of output points 32 points imit swi utpu p leeden Watch data Motion control data function Advanced synchronous control method d SV22 f Word device Number of output points 64 points x 2 settings Synchronous encoder operation function Output timing compensation Watch data Motion control data Word device 1 OVERVIEW Comparison of
43. DOP may affect optical characteristic of cable Generally soft polyvinyl chloride PVC polyethylene resin PE and fluorine resin contain non migrating plasticizer and they do not affect the optical characteristic of SSCNETII cable However some wire sheaths and cable ties which contain migrating plasticizer phthalate ester may affect MR J3BUSOIM and MR J3BUSLIM A cables made of plastic In addition MR J3BUSOIM B cable made of quartz glass is not affected by plasticizer 10 If the adhesion of solvent and oil to the cord part of SSCNETII cable may lower the optical characteristic and machine characteristic If it is used such an environment be sure to do the protection measures to the cord part 11 When keeping the Motion controller or servo amplifier be sure to put ona cap to connector part so that a dirt should not adhere to the end of SSCNETIH connector 12 SSCNETI connector to connect the SSCNETII cable is put a cap to protect light device inside connector from dust For this reason do not remove a cap until just before connecting SSCNETII cable Then when removing SSCNETII cable make sure to put a cap 13 Keep the cap and the tube for protecting light cord end of SSCNETII cable in a plastic bag with a zipper of SSCNETII cable to prevent them from becoming dirty 14 When exchanging the Motion controller or servo amplifier make sure to put a cap on SSCNETII connector When asking repair of Motion controll
44. FLASH ROM built in Motion controller e remains flashing in the first digit and steady display in the second digit of 7 segment LED e Operation starts after the user programs and parameters stored in the FLASH ROM built in Motion controller are read to the RAM built in Motion controller at power supply on or reset of the Motion controller If the ROM writing is not executed even if the user programs and parameters are changed using the MT Developer2 during mode operated by ROM operation starts with the contents of the FLASH ROM built in Motion controller at next power supply on or reset Also If the ROM writing is not executed even if the auto tuning data are reflected on Mode operated by ROM the servo parameter of Motion controller by operation in the auto tuning setting operation starts with the contents of the FLASH ROM built in Motion controller at next power supply on or reset e Refer to next page c Ethernet IP address display mode overview Ethernet IP e It is STOP status regardless of the RUN STOP RESET switch position on the front Refer to next page c side of Motion controller e The stop error MULTI CPU DOWN error code 7000 will occur at the PLC CPU area e remains flashing in the first digit of 7 segment LED SRAM clear je The data Refer to Section 6 5 of RAM built in Motion controller are cleared by a turning ON the Motion controller s power supply after the rotary switch2 is set to C
45. G Up to 14336 points Note 1 19824 points can be used for SV22 advanced synchronous control Note 2 Usable number of points changes according to the system settings Number of operation control programs 2 SYSTEM CONFIGURATION BESSERES 3 PLC control specifications Item Specification Q170MSCPU Q170MSCPU S1 PLC CPU area QO3UDCPU or equivalent QO6UDHCPU or equivalent Control method Stored program repeat operation I O control mode Refresh mode Sequence contotiergege Relay symbol language ladder logic symbolic language list Sequence control language MELSAP3 SFC MELSAP L Structured text ST Processing speed 0 019 us sequence instruction Floating point addition 0 057 us 858 Yes Yes PID instruction Yes Special function instruction Trigonometric function square root exponential operation etc Constant scan 0 5 to 2000ms Setting available in 0 5ms unit Program capacity 30k steps 120k byte 60k steps 240k byte QCPU standard memory 8k bytes CPU shared memory Multiple CPU high speed transmission area Sak bytes No of I O device points X Y 8192 points No of I O points X Y 4096 points Internal relay M 8192 points Latch relay L 8192 points Link relay B 8192 points Timer T 2048 points Retentive timer ST 0 points Counter C Points by default 1024 points Data register D changeable by parameters 12288 points Link register W 8192 points Annunciator F 204
46. Motion controller with the RUN STOP RESET switch set the RUN STOP RESET switch to the STOP position Is the RUN STOP RESET switch in the STOP position Does MODE LED turn on y A hardware fault D Check operation in the order starting END with the minimum system If the module will not work explain the error symptom and get advice from our sales representative for the modules with failure 6 INSPECTION AND MAINTENANCE k Flowchart for when MODE LED is flickering The following shows the flowchart for when MODE LED flickers at Motion controller s power on at operation start or during operation MODE LED is flickering Have the forced ON OFF settings made Cancel forced ON OFF YES Does MODE LED turn on Is the RUN STOP RESET switch in the STOP position Set the RUN STOP RESET switch to the STOP position Does MODE LED turn on YES A hardware fault Check operation in the order starting with the minimum system If the module will not work explain the error symptom and get advice from our sales representative for the modules with failure END 6 INSPECTION AND MAINTENANCE I Flowchart for when RUN LED turns off The following shows the flowchart for when RUN LED turns off during operation RUN LED turns off a Flowchart for when POWER LED turns off Does POWER
47. S CPU Q172D S CPU Motion controller Programming Manual COMMON for details Servo error of the Motion controller Refer to the Programming Manual of the operating system software used for details Hardware fault or software fault Refer to the Programming Manual of the operating system software used for details 2 SYSTEM CONFIGURATION 7 segment LED i AL flashes 3 times J iSteady A1 display H S Setting error of the Multiple CPU system i Self diagnosis error Self diagnostic error H Refer to the Q173D S CPU Q172D S CPU Error related for Multiple CPU l Motion controller Programming Manual d it de i HN error code IS _ COMMONY for details idisplayed in two sequential iflashes of 2 digits each Hen error code 3012 POINTS 1 An error is displayed at the 7 segment LED confirm the error code etc using MT Developer 2 Refer to the Motion CPU error batch monitor of MT Developer2 or error list of Programming Manual for error details 6 Rotary switch assignment a Rotary function select 1 switch SW1 Rotary switch _ Seting Installed the operating system software using Installation mode MT Developer2 Note Do not set other than the above setting b Rotary function select 2 switch SW2 Normal operation mode Mode operated by RAM Operation by the setting data and parameters stored in the RAM built in Motion controller Mode to operate based on the setting data
48. SS 10 fr i 10 Ge H 10 Q173DPX 23 0 91 27 4 1 08 ER et 4 0 16 90 3 54 uy 45 1 77 APP 36 APPENDICES APPENDIX 5 4 Power supply module 1 Q61P Q62P Q63P Unit mm inch 4 no Ek i S EZ 8 MITSUBISHI LT Ur E Dw E 90 3 54 R 55 2 2 17 2 Q64PN Unit mm inch Iw Een n A d Me eege MEKEO Q64PN POWER iji S g Au i i MITSUBISHI L 115 4 53 A p 55 2 2 17 APP 37 APPENDICES APPENDIX 5 5 Battery holder 1 Battery holder For Q6BAT Unit mm inch 17 8 0 70 27 8 1 09
49. WO module or others d Servo program or Motion SFC program e Sequence program 6 INSPECTION AND MAINTENANCE ns 6 6 2 Troubleshooting of Motion controller This section describes the contents of troubles for the error codes and corrective actions of the troubles As for troubleshooting of PLC CPU area refer to the QCPU User s Manual Hardware Design Maintenance and Inspection of their respective modules As for troubleshooting of I O modules refer to the I O Module Type Building Block User s Manual of their respective modules Check that the operating system software is installed before starting the Motion controller 6 INSPECTION AND MAINTENANCE 1 Troubleshooting flowchart The following show the contents of the troubles classified into a variety of groups according to the types of events Error occurrence description y POWER LED turns off H a Flowchart for when POWER LED turns off y does not flash in the first digit of b Flowchart for when P does not flash in the first digit of 7 segment LED 7 segment LED A00 displays on 7 segment LED c Flowchart for when A00 displays on 7 segment LED AL gt L01 displays on 7 segment LED d Flowchart for when AL L01 displays on 7 segment LED AL gt A1 gt O displays on 7 segment e Flowchart for when AL A1 displays on Motion LED 7 segment LED CPU area y BTO displays on 7 seg
50. amplifier Correctly connect the output side terminal U V W and ground Incorrect connections will lead the servomotor to operate abnormally Do not connect a commercial power supply to the servomotor as this may lead to trouble Do not mistake the direction of the surge absorbing diode installed on the DC relay for the control signal output of brake signals etc Incorrect installation may lead to signals not being output when trouble occurs or the protective functions not functioning Servo amplifier Servo amplifier 24VDC Control output Control output signal signal DICOM DICOM For the sink output interface For the source output interface Do not connect or disconnect the connection cables between each unit the encoder cable or PLC expansion cable while the power is ON Securely tighten the cable connector fixing screws and fixing mechanisms Insufficient fixing may lead to the cables combing off during operation Do not bundle the power line or cables 5 Trial operation and adjustment Z CAUTION Confirm and adjust the program and each parameter before operation Unpredictable movements may occur depending on the machine Extreme adjustments and changes may lead to unstable operation so never make them When using the absolute position system function on starting up and when the Motion controller or absolute value motor has been replaced always perform a home position return Before starting
51. and Mode operated by ROM _ parameters wrote to the FLASH ROM built in Motion controller Ethernet IP address Mode to display the Ethernet IP address EA mode c sRaMcear sd clear ISRAM O clear ss DOT clear Note Do not set other than the above setting Z CAUTION Be sure to turn OFF the Motion controller s power supply before the rotary switch setting change 2 SYSTEM CONFIGURATION 7 Operation mode a Rotary switch setting and operation mode Rotary switch setting N Eh oo Any ar Except C Installation mode Mode operated by RAM DREES Mode operated by ROM 0o Ethernet IP address display mode Any setting SRAM clear D Note 1 Do not set other the above setting Note 2 The data Refer to Section 6 5 of RAM built in Motion controller are cleared b Operation mode overview Operation mode 7 segment LED e Steady INS display at the 7 segment LED e Operating system software can be installed e It is STOP status regardless of the RUN STOP RESET switch position at the front side of Motion controller e The stop error MULTI CPU DOWN error code 7000 will occur at the PLC CPU area e remains flashing in the first digit of 7 segment LED e It operates based on the user programs and parameters stored in the RAM built in Installation mode Mode operated by RAM Motion controller The user programs and parameters for the ROM operation can be written to the
52. by the groove under the word OUT on the base cover must be removed with a tool such as nippers Stage No setting f 3 Connector for setting the number of stages of extension base units connector Connector for installing the Motion modules power supply module I O modules and intelligent function module Module connector To the connectors located in the spare space where these modules are not installed attach the supplied connector cover or the blank cover module QG60 to prevent entry of dirt Module fixing screw hole_ Screw hole for fixing the module to the extension base unit Screw size M3 x12 Base mounting hole Hole for mounting this base unit onto the panel of the control panel for M4 screw 2 SYSTEM CONFIGURATION et 4 I O allocations It is possible to allocate unique I O No s for each Motion CPU area independently of the PLC CPU area s I O No s ON OFF data input to the Motion CPU area is handled via input devices PXOO while ON OFF data output from the Motion CPU area is handled via output devices PIC It is not mandatory to match the I O device PX PY No s used in the Motion program with the PLC I O No s but it is recommended to make them match as much as possible The following figure shows an example of I O allocation Q170MS CPU QX41 Q62DAN QY41P QX41 QY41P XO to X1F 20 to 3F Y80 to YOF PXO to PX1F PY20 to PY3F X40 to X5F Y60 to Y7F PLC CPU area Motion CPU area contro
53. circuit and output module The average power of the external 24VDC power is the total power consumption of the internal output circuit and each output module Waav l24v X 24 x Simultaneous ON rate W 124V Average current consumption of external 24VDC power supply A Power consumption for simultaneous ON points 4 Average power consumption due to voltage drop in the output section of the internal output circuit and output module Power consumption for simultaneous ON points Wout louT X Vdrop x Number of outputs X Simultaneous ON rate W Jour Output current Current in actual use A Vdrop Voltage drop in the internal output circuit and each output module V 3 12 3 DESIGN 5 Average power consumption of the input section of the internal input circuit and input module Power consumption for simultaneous ON points WIN IIN x E X Number of input points x Simultaneous ON rate W liN Input current Effective value for AC A E Input voltage Voltage in actual use V 6 Power consumption of the external power supply section of the intelligent function module Ws 15V X 15 15v X 15 l24v x 24 W l 15V Power consumption of the 15VDC external power supply section of the intelligent function module l 15V Power consumption of the 15VDC external power supply section of the intelligent function module 124v Power consumption of the 24VDC external power supply section of the intelligent function modu
54. communication method When the operation cycle is 0 2 ms set the system setting and the axis select rotary switch of servo amplifier to 0 to 3 If the axis select rotary switch of servo amplifier is set to 4 to F the servo amplifiers are not recognized When the operation cycle is 0 4 ms set the system setting and the axis select rotary switch of servo amplifier to 0 to 7 If the axis select rotary switch of servo amplifier is set to 8 to F the servo amplifiers are not recognized There is no restriction when SSCNETII H is set in the SSCNET setting Note The setting of axis select rotary switch differs according to the servo amplifier Refer to the Servo amplifier Instruction Manual for details Maximum number of control axes of servo amplifier is shown below e Operation cycle is 0 2 ms 4 axes per line e Operation cycle is 0 4 ms 8 axes per line There is no restriction when SSCNETII H is set in the SSCNET setting When the operation cycle is default setting the operation cycle is set depending on the number of axes used However when SSCNETII is set in the SSCNET communication setting and the number of axes used of servo amplifier is 9 axes or more per line the operation cycle of 0 8 ms or more is set Refer to Section 2 5 1 2 MR J4W3 0B Software version A2 or before and MR J3W OB does not supports operation cycle 0 2 ms Set 0 4 ms or more as operation cycle to use MR J4W3 O1B Softwa
55. controller The battery should be exchanged approximately every 4 or 5 years Exchange the battery with a new one in 4 to 5 years even if a total power failure time is guaranteed value or less 2 SYSTEM CONFIGURATION Z CAUTION Do not short a battery Do not charge a battery Do not disassemble a battery Do not burn a battery Do not overheat a battery Do not solder the battery terminal The data Refer to Section 6 5 of RAM built in Motion controller are not backed up without using the battery 3 Connection procedure with Motion controller Set the battery Q6BAT Q7BAT to the battery holder and connect the lead connector of battery to the battery connector of Motion controller Put the lead wire in the battery holder and set it to the Motion controller Motion controller Battery holder Refer to Section 4 1 4 for the mounting and removal of the battery holder and the connection of the battery lead wire 2 SYSTEM CONFIGURATION 2 5 9 Forced stop input terminal 1 Table of the forced stop input terminal specifications Specifications Number of input points Forced stop signal 1 point Input method Sink Source type Rated input current Isolation method Photocoupler F 20 4 to 26 4VDC Operating voltage range e 10 15 ripple ratio 5 or less
56. controller in the environment of much vibration tighten the module with a screw Tighten the screw in the specified torque range Under tightening may cause a drop short circuit or operation failure Over tightening may cause a drop short circuit or operation failure due to damage to the screw or module 4 INSTALLATION AND WIRING b Removal When using the module fixing screws remove them Support the module with both hands and securely press the module fixing hook with your finger Jf Base unit Module Module Pull the module based on the supporting point of module bottom while pressing the module fixing hook While lifting a module take off the module fixing projection from the module fixing hole Module fixing hole When the module fixing screw is used always remove the module by removing the module fixing screw and then taking the module fixing projection off the module fixing hole of the base unit Attempting to remove the module by force may damage the module fixing projection 4 INSTALLATION AND WIRING 4 1 4 Mounting and removal of the battery holder Mounting and removal procedure of the battery holder to the Motion controller is shown below 1 Handling the battery lead wire a Precautions for mounting the battery Set the battery to the battery holder correctly after confirming side and side for the battery Precautions
57. dense as possible Connect them with the shortest distance Also to reduce the voltage drop to the minimum use the thickest wires Up to 2 0mm possible Use the wires of the following core size for wiring Application awe Wr 24VDC power supply wires 0 3 to 2 5mm AWG12 to AWG22 0 3 to 0 75mm UO equipment S AW G18 to AWG22 Outside diameter 2 8mm 0 11inch or less AWG14 or less Note 1 AWG stands for American Wire Gauge AWG is a unit of the thickness of conducting wire 4 26 4 INSTALLATION AND WIRING b Do not bundle the 24VDC power supply wires with or run them close to the main circuit high voltage large current and I O signal lines including common line Reserve a distance of at least 100mm 3 94inch from adjacent wires c Momentary power failure may be detected or the Motion controller may be reset due to surge caused by lightning As measures against surge caused by lightning connect a surge absorber for lightning as shown below Using the surge absorber for lightning can reduce the influence of lightning eege 24VDC Motion power supply controller a E Eo 2 i El _ Surge absorber for lightening 1 1 U 1 POINTS 1 Separate the ground of the surge absorber for lightning E1 24VDC power supply E2 and Motion controller E3 2 Select a surge absorber for lightning whose power supply voltage does no exceed the maximum allowable cir
58. e Phase difference PEENES Aap EE Phase aJ UL Ph B z Select type ane 2 5us or more No connect signal A18 A13 A8 1 Positioning address HPSELO increases if Phase A leads Phase B 2 Positioning address decreases if Phase B Note leads Phase A P5 B18 B13 B8 Power supply 5V 5VDC Power BE supply SG 2 ae A19 A14 A9 SG B19 B14 B9 Note 1 The 5V P5 DC power supply from the Q173DPX must not be used if a separate power supply is applied to the Manual pulse generator Incremental synchronous encoder If a separate power supply is used be sure it is 5V voltage Anything else may cause a failure d Interface between PULSER connector and tracking enable signal Input or Pin No Output Signal name Wiring example Internal circuit Specification Description 1 2 3 Tracking enable TRENO A4 A3 A2 signal input wen 29 E e TRENO B4 B3 B2 12V to 24VDC Note As for the connection to tracking enable TRENO TREND both and are possible 2 SYSTEM CONFIGURATION 6 Connection examples of manual pulse generator Manual pulse generator Manual pulse generator Voltage output Open collector type Differential oputput type Q173DPX Manual pulse Q173DPX Manual pulse Signal name a gener
59. e spee Multiple CPU processor a high speed us high speed D transmission transmission ZS memory memory 0 Q series PLC system bus PLC I O module PLC intelligent Motion module 24VDC DI O function module Proximity dog signal manual A D D A Network etc pulse generator input y Forced stop input 24VDC Personal computer GX Works2 Manual pulse generator Incremental Pe SSCNETIN H MT Developer2 synchronous encoder 1 module Input signal Mark detection input signal 4 points Servo Output signal 2 points We amplifier PERIPHERAL I F Jk SSO motor Servo external input signals FLS RLS DOG Personal computer MT Developer2 a The device memory is the memory area for the bit devices X Y M etc and word devices D W etc b The Multiple CPU high speed transmission memory between the PLC CPU area and Motion CPU area can be communicated at 0 88ms cycles 2 SYSTEM CONFIGURATION 2 1 3 Function explanation of the Q170MSCPU Motion controller 1 Whole a The Multiple CPU high speed bus is equipped with between the PLC CPU area and Motion CPU area With this reserved Multiple CPU high speed bus data transfer of 0 88ms period is possible for up to 14k words b Data transfer between the PLC CPU area and Motion CPU area is possible by Multiple CPU high speed transmission memory or automatic refresh c The Multiple CPU high speed transmission cycle is synchronized with the motion control cycl
60. failure within 10ms DC input e DC power supply is ON however the power supply module is out of order 5VDC error overload internal circuit failure blown fuse e Power failure including an momentary power failure of more than 10ms ERR terminals e Normally OFF when loaded in an extension base unit FG terminal Ground terminal connected to the shield pattern of the printed circuit board i Grounding for the power supply filter The potential of Q61P Q62P and Q64PN terminal 4 LG terminal i is 1 2 of the input voltage e Power input terminals connected to a power supply of 100VAC to 200VAC 5 Power input terminals Q61P Q62P Q64PN e Power input terminals connected to a power supply of 24VDC Q63P 24V 24G terminals ar di Q62P onl Used to supply 24VDC power to inside the output module using external wiring only M3 5 x7 screw Protective cover of the terminal block Used to fix the module to the base unit M3 x 12 screw user prepared Tightening torque 0 36 to 0 48 Nem 10 Module mounting lever Used to load the module into the base unit 9 Module fixing screw hole 2 SYSTEM CONFIGURATION 1 The Q63P is dedicated for inputting a voltage of 24VDC Do not input a voltage of except 24VDC into it or trouble may occur on the Q63P 2 Ensure that the earth terminals LG and FG are grounded Ground resistance 100 Q or loss Since the LG terminal has a half of the input voltage touching this
61. inspections are completed confirm that the position detection of the absolute position detector function is correct 6 INSPECTION AND MAINTENANCE ZA CAUTION Do not short circuit charge overheat incinerate or disassemble the batteries The electrolytic capacitor will generate gas during a fault so do not place your face near the Motion controller or servo amplifier The electrolytic capacitor and fan will deteriorate Periodically change these to prevent secondary damage from faults Replacements can be made by our sales representative If an error occurs in the self diagnosis of the Motion controller or servo amplifier confirm the check details according to the instruction manual and restore the operation If a dangerous state is predicted in case of a power failure or product failure in order to prevent that state use a servomotor with electromagnetic brakes for maintenance or mount a brake mechanism externally Use a double circuit construction so that the electromagnetic brake operation circuit can be operated by emergency stop signals set externally Shut off with the Shut off with servo ON signal OFF emergency stop alarm electromagnetic brake signal signal EMG Servo motor if an error occurs remove the cause secure the safety and then resume operation after alarm release The unit may suddenly restart after a power failure is restored so do not go near the machine Design the machine so tha
62. instructions Servo program mechanical system program Drive mocuje DZ servomotor GI wun 2 wun Dive modue module Total 28 O Taa 24 Synchronous encoder GI wun Virtual main shaft Virtual axis Virtual auxiliary input Total 32 Total 32 a a Number of Direct clutch si clutch modules Sp Smoothing clutch Transmission which can be Speed change gear module set per CPU Differential gear EE Differential gear to main shaft Output Total 16 Total 16 module a table Up to 256 Resolution per cycle 256 512 1024 2048 Memory capacity 132k bytes Storage memory for CPU internal RAM memory cam data Stroke resolution 32767 Control mode Two way cam feed cam Note 1 Relation between a resolution per cycle of cam and type are shown below 1 OVERVIEW 3 Comparison of PLC CPU area control and performance Q170MSCPU Q170MSCPU S1 Q170MCPU QO3UDCPU or QO6UDHCPU or QO3UDCPU or equivalent PLC CPU area equivalent 30k steps equivalent 60k steps 20k steps Control method Stored program repeat operation I O control mode Refresh mode Relay symbol language ladder logic symbolic language list MELSAP3 SFC MELSAP L Structured text ST Sequence control language LD instruction 0 02 us 0 0095 us 0 02 us Processing speed MOV instruction 0 04 us 0 019 us 0 04 us sequence instruction PC MIX value instructioniys 28 6 28 Special function instruction Trigonometric functio
63. may damage the internal circuit e Connection of manual pulse generator incremental synchronous encoder Manual pulse generators incremental synchronous encoders of the voltage output open collector type and differential output type can be a Both connection methods are different Refer to this section 8 Connectable manual pulse generator Motion controller incremental synchronous encoder Q170MSCPU Internal I F Up to 1 module 2 SYSTEM CONFIGURATION f Axis No of manual pulse generator incremental synchronous encoder Any incremental synchronous encoder connected to the Q170MSCPU s internal I F will automatically be assigned an axis No one integer greater than the number of encoders connected to any Q173DPX modules The setting for the axis No of manual pulse generator incremental synchronous encoder used by the internal I F and Q173DPX Q170MS Internal I F CPU Pp Note 1 1st 2nd 3rd Q173D Q173D Q173D Note 3 Note 2 Note 1 O Axis No The following Axis No s are automatically set depending on the number of Q173DPX modules 0 P1 e 1 P4 P7 to P9 DER 3 P10 P4 to P6 Note 2 Q173DPX installed to the smallest slot number of the extension base unit is the 1st P1 to P3 Notes Note 3 Axis No P1 to P3 of the manual pulse generator can be used 4th Q173D PX Note When the manual pulse generator is used with the internal I F do not s
64. more bus or more Phase A 1 2us or more Example of waveform Phase B 1 2us or less 1 2us or less Note Duty ratio 50 Use a manual pulse generator or an incremental synchronous encoder that consumes less than 0 2 A of current 2 SYSTEM CONFIGURATION 2 Interface between manual pulse generator differential output type incremental synchronous encoder Input or gt Sa SE SE E Output Signal name Pin No Wiring example Internal circuit Specification Description A Rated input voltage connection manual Manual HAH 25 5 5VDC or less pulse generator pulse incremental generator HIGH level SC encoder A 2 0 to 5 25VDC es phase A HAL 26 Mondal i Pulse width generators a wa JS ormore Incremental Low i B synchronous eve 0 5us 0 5us Ei Manual HBH 12 encoder 0 8VDC or less eros conor npu H Be Duty ratio 50 Ge B B 26LS31 or Leading edge Trailing H HBL 13 equivalent edge time 0 25ys or less Phase difference Phasea LI L_ Select type F signal 10 Note 2 Phage 0 25us or more SEL 1 Positioning address increases if Phase A leads Phase B 2 Positioning address p5 Note 1 9 Power supply decreases if Phase B 5V 5VDC leads Phase A Power G supply SG SG 22 Note 1 The 5V P5 DC power supply from the Q170MSCPU must not be used if a separate power supply is applied to the manual pulse generator in
65. new battery to the battery holder correctly after confirming side and side for the battery Anchor the lead wire to the lead wire fixing hook y Adjust the battery holder to the installation grooves and slide the battery holder in the direction of the arrow taking care to not damage the lead wires Be sure to insert it until it clicks Turn on the Motion controller s power supply END Motion controller Battery holder Battery holder fixing tab Ne Battery connector Q170MSCPU side 3 Battery lead connector Battery side Lead wire fixing hook H ASLI WAHI USEK Li ng side Top face of battery holder 4 side Installation grooves J 6 INSPECTION AND MAINTENANCE 2 Q7BAT Replacing Battery Turn off the Motion controller s power supply Pull the battery holder while pushing the battery holder fixing tab and remove the holder from the Motion controller Remove the battery lead connector J 773 from battery connector Note 1 Remove the lead wire from the 74 pass through slot Have side of new battery forward and align the lead wire to the pass through slot Note 2 and then set it to the b
66. not requiring power supply module or Q63B Q65B Q68B Q612B type requiring power supply module RECH Wes ES GE o o emi oo Ene ES 2 Check that the model name of module is correct LD 3 Check that the damage for installed modules ream ol Kee D D SCH EE enz D Ken 4 Check that the modules are installed correctly 5 Check for looseness rattling or distorted installation 6 Check that the module fixing screw tightening torque is as specified Extension base unit Refer to the Q173D S CPU Q172D S CPU Motion controller Programming Manual COMMON or QCPU User s Manual Hardware Design Maintenance and Inspection 7 Check that the total I O points of I O modules and intelligent function modules do not exceed the I O points of the Motion controller 1 Check that the model name of power supply modules is correct 2 Check that the wire sizes of cables are correct 3 4 5 Check that the terminal screws are tightened correctly Power supply module 6 Check that the terminal screws are tightening torque is as specified 7 Check that the 100VAC 200VAC and 24VDC wires are twisted as closely as possible respectively and run in the shortest distance Check that the power line is wired correctly Check that FG and LG are wired correctly 8 Check tha
67. not installed System setting error Servo error Initializing gt remains flashing Steady INS display gt remains flashing gt remains flashing Steady display 3 remains flashing AL flashes 3 times J Steady L01 display AL flashes 3 times J Steady S01 display It takes about 10 seconds to initialize RUN STOP display Execute the power cycle of the Motion controller if the operation stopped at initializing It may be Motion controller s hardware fault when it is not improved Explain the error symptom LED display and get advice from our sales representative for the modules with failure Normal operation Mode to install the operating system software via personal computer Mode to operate based on the user programs and parameters stored in the RAM built in Motion controller Mode to operate after the user programs and parameters stored in the FLASH ROM built in Motion controller are read to the RAM built in Motion controller Stopped the Motion SFC program with the PLC READY flag M2000 OFF Executed the Motion SFC with the PLC READY flag M2000 ON Displayed at battery voltage 2 7V or less Refer to Section 6 5 Battery Displayed at battery voltage 2 5V or less Refer to Section 6 5 Battery It becomes the status of installation mode when the operating system software is not installed System setting error of the Motion controller Refer to the Q173D
68. npu composite P QX48Y57 0 08 TYP All points ON Transistor output module QX41Y41P 0 13 TYP All points ON Interrupt module oen 0 06 TYP Al points ON Output module 2 SYSTEM CONFIGURATION PLC module which can be controlled by Motion CPU area continued Current consumption 5VDC A Part name Model name Note 1 Remark Voltage input Q6BADV Q62AD DGH Q66AD DG Q68ADI Q64AD Voltage current input Q64AD GH Q68AD G Voltage output Q68DAVN Current output Q68DAIN Q62DAN 0 33 Q62DA FG Voltage current output Q64DAN Q66DA G Analogue input output module Q64AD2DA Differential input open High speed z 5 12 24VDC input counter module ie QD65PD2 0 23 Differential input QD75P1 QD75P2 QD75P4 8 QD75D1 Positioning Differential output QD75D2 module QD75D4 QD75MH1 Refer to the MELSEC Q QD75MH SSCNETII compatible QD75MH2 Positioning Module User s Manual QD75MH4 Details QD77MS2 Refer to the MELSEC Q QD77MS ite ops oso Simple Motion Module User s Manual u QD77MS16 Positioning Control UQ1 01 Refer to the manual of OPTEX FA Control unit of displacement sensor ua1 02 CO LTD Note 1 5VDC internal current consumption of shared equipments with PLC might be changed Be sure to refer to the manuals of each module Current input Analogue input module Analogue output module Refer to the MELSEC Q series PLC Manuals Open collecto
69. or give damage to the module Lock the control panel and prevent access to those who are not certified to handle or install electric equipment Do not touch the heat radiating fins of controller or servo amplifier s regenerative resistor and servo motor etc while the power is ON and for a short time after the power is turned OFF In this timing these parts become very hot and may lead to burns Remove the modules while paying attention This section describes instructions for handling the Motion controller motion I O and intelligent function modules base units and so on 1 Module terminal block connectors and pin connectors are made of resin do not drop them or subject them to strong impact 2 Do not remove modules printed circuit boards from the enclosure in order to avoid changes in operation 4 INSTALLATION AND WIRING 3 Tighten the module fixing screws and terminal block screws within the tightening torque range specified below Tightening torque range N m Motion controller fixing screw M5 screw 2 75 to 3 63 He Motion controller FG fixing screw M4 x 12 screw 0 82 to 1 11 Power supply module terminal screw M3 5 screw 0 68 to 0 92 Base unit fixing screw M4 X 14 screw 1 40 to 1 89 lge Note 1 Torque range applies when the mounting panel is 2mm 0 88inch thick and a fastening nut is used to secure the screw from the back side of the panel 4 When using an extension cable keep it away fro
70. servo amplifier Place the Motion controller and servo amplifier in static electricity preventing vinyl bags and store When storing for a long time please contact with our sales representative Also execute a trial operation 2 SYSTEM CONFIGURATION 2 5 Specifications of Equipment 2 5 1 Q170MSCPU Motion controller This section describes the specification of the Motion controller 1 Basic specifications of Q170MSCPU Input voltage 21 6 to 26 4VDC Note 1 Note 2 3 24VDC_ 10 ripple ratio 5 or less 24VDC power supply Notes Inrush current 100A 1ms or less at 24VDC input Max input current Max supplied current 4 5A Included Q170MSCPU current consumption 5VDC internal power Q170MSCPU current Note 6 supply 2 5A consumption 80 TYP Input method Connector Allowable momentary power failure immunity Note 4 Note 5 10ms at 24VDC input Massi o o e y Exterior dimensions mm inch 186 7 32 H X 52 2 05 W X 135 5 31 D POINTS Note 1 Input power supply Q170MSCPU is rated for use with a 24VDC input power only The Q170MSCPU breaks down when 28VDC or more input Note 2 Select 24VDC power supply and electric wire within the range of 21 6 to 26 4VDC including any input ripple or spike voltage measured at the input connector of the Q170MSCPU Note 3 Inrush current Take care that the inrush current of several amperes may flow when the sharp square voltage is applied or th
71. test operation set the parameter speed limit value to the slowest value and make sure that operation can be stopped immediately by the forced stop etc if a hazardous state occurs 6 Usage methods Z CAUTION Immediately turn OFF the power if smoke abnormal sounds or odors are emitted from the Motion controller servo amplifier or servomotor Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection Do not attempt to disassemble and repair the units excluding a qualified technician whom our company recognized Do not make any modifications to the unit Keep the effect or electromagnetic obstacles to a minimum by installing a noise filter or by using wire shields etc Electromagnetic obstacles may affect the electronic devices used near the Motion controller or servo amplifier When using the CE Mark compliant equipment refer to this manual for the Motion controllers and refer to the corresponding EMC guideline information for the servo amplifiers inverters and other equipment Use the units with the following conditions 7 Corrective actions for errors A CAUTION If an error occurs in the self diagnosis of the Motion controller or servo amplifier confirm the check details according to the instruction manual and restore the operation If a dangerous state is predicted in case of a power failure or product f
72. these troubles 6 6 1 Troubleshooting basics The basic three points that must be followed in the troubleshooting are as follows 1 Visual inspection Visually check the following a Movement of machine stopped condition operating condition Power supply on off c Status of input output devices Installation condition of the Motion controller I O module Motion module intelligent function module SSCNETII cable Synchronous encoder cable e State of wiring I O cables cables f Display states of various types of indicators e MODE LED RUN LED ERR LED BAT LED 7 segment LED Installation mode Operation mode Battery error STOP RUN etc etc g Status of setting of various types of switches Setting of No of stages of extension base power interrupt hold on status After checking a to g monitor the operating conditions of servomotors and error code using MT Developer and GX Works2 2 Check of trouble Check to see how the operating condition varies while the Motion controller is operated as follows a Set the RUN STOP RESET switch of Motion controller to STOP b Reset the trouble with the RUN STOP RESET switch of Motion controller c Turn ON and OFF the Motion controller s power supply 3 Narrowing down the range of trouble occurrence causes Estimate the troubled part in accordance with items 1 and 2 above a Motion controller or external devices b Motion CPU area or PLC CPU area c
73. unit of stage 1 e Extension base unit not Number of extension Extension base unit GOT bus connection No restriction use Direct bus connection to Motion controller D P DDRD D P DDWR D P SFCS D P SVST D P CHGV D P cHavs Dik pyP cHGa DIP CHGT D P CHGT2 D P cHGAS He D P GINT D P CHGV D P CHGA D P GINT D P DDRD D P DDWR D P SFCS D P SVST D P CHGT D P CHGT2 Motion dedicated PLC instruction Note 1 Occupies 8 slots of the main base unit as empty slots Note 2 SV22 advanced synchronous control only 1 11 1 OVERVIEW 1 3 Programming Software Version The programming software versions that support Motion CPU are shown below MELSOFT MT Works2 Motion CPU ee Developer2 MR Configurator2 tzisv22 O 3 SV22 ae 1 56J 1 19V a17oMmscPuU s1 S1 1 12 2 SYSTEM CONFIGURATION 2 SYSTEM CONFIGURATION This section describes the Motion controller Q170MSCPU system configuration precautions on use of system and configured equipments 2 1 Motion System Configuration 1 Equipment configuration in Q170MSCPU system Extension of the Q series module SE F Battery Q6BAT Motion controller Q170MSCPU Extension cable QCOB H e SSCNETI cable MR J3BUSOM A B
74. with a scientific technology that was not available at the time of the shipment of the Product from our company 8 Any other failures which we are not responsible for or which you acknowledge we are not responsible for 2 Onerous Repair Term after Discontinuation of Production 1 We may accept the repair at charge for another seven 7 years after the production of the product is discontinued The announcement of the stop of production for each model can be seen in our Sales and Service etc 2 Please note that the Product including its spare parts cannot be ordered after its stop of production 3 Service in overseas countries Our regional FA Center in overseas countries will accept the repair work of the Product However the terms and conditions of the repair work may differ depending on each FA Center Please ask your local FA center for details 4 Exclusion of Loss in Opportunity and Secondary Loss from Warranty Liability Whether under or after the term of warranty we assume no responsibility for any damages arisen from causes for which we are not responsible any losses of opportunity and or profit incurred by you due to a failure of the Product any damages secondary damages or compensation for accidents arisen under a specific circumstance that are foreseen or unforeseen by our company any damages to products other than the Product and also compensation for any replacement work readjustment start up test run of local machines and th
75. 0000 617021 u3e1_ 6482 _ G10000 Tee APP 20 APPENDICES c Auto refresh settings e PLC No 1 Auto refresh CPU specific send range U3E0 ot moz weem onge ema 2 ms neo ozz oe eme e PLC No 2 l Point Start End Start End Point aan end Stat eg _ i 1 4 mow m35 16482 ees 2 Ia wo ps9 oe ee 3 3 omg oe c1esas ene d PLC system setting Only Points occupied by empty slot is overwritten at the sample data diversion The content before sample data diversion are retained without rewriting for the other data Setting items pee oe High speed 10 00ms Not used 2 RUN PAUSE contacts PAUSE Not used Latch data backup operation valid contact Not used Allow not checked 5 Output mode at STOP to RUN Previous state checked el Floating point arithmetic processing 7 Intelligent function module setting Not used 5 eal g Module smchrontzeten Synchronize intelligent module s pulse up checked 9 CommonpointerNo o Not used 16 points 11 12 System interrupt settings 12 13 APLC APP 21 APPENDICES 2 SV22 Q170MS_SV22_GX2 Project for virtual mode switching method When using Q170MSCPU S1 change the PLC type to QO6UDH in the change PLC type of GX Works2 a I O assignment e UO assignment Setting items Points 0 point 0 point 0 point 0 point 0 point 0 point 0 point Start XY 3E00 3
76. 007 A2 2007 N 9 Power line EN55022 2006 A1 2007 Electrical communication port Conducted emission Noise from the product to the power line and electrical communication port is measured Note 4 EN61000 4 2 1995 A1 1998 A2 2001 Electrostatic discharge immunity Immunity test in which electrostatic discharge is applied to the product EN61000 4 3 2006 Immunity test in which electric fields Radiated immunity are radiated to the product EN61000 4 4 2004 Electrical fast transient burst EFT B immunity Immunity test in which burst noise is applied to the power cable and signal line EN61000 4 5 2006 Surge immunity Immunity test in which surge is applied to the power line and signal line EN61000 4 6 2007 A 2001 Conducted immunity Immunity test in which high frequency noise is applied to the power line and signal line 40dBuV m 10m 32 81ft in measurement range 230M 1000MHz QP 47dByV m 10m 32 81ft in measurement range AC power line 0 15M 0 5MHz QP 79dBuV Ave epopuu QP 73dBuV AV 60dBpuV Electrical communication port 0 15M 0 5MHz QP AV Logarithmic decrease QP 87dByuV AV 74dBuV 8kV 10 times at 1 second interval Air discharge 4kV 10 times at 1 second interval Contact discharge 80 1000MHz 10V m 1400M 2000MHz 3V m 2000M 2700MHz 1V m 80 AM modulation 1kHz AC power line 2kV 5kHz DC power line 2kV 5kHz UO communication line 1kV 5kHz 0 5M 30MHz
77. 01 disappear on 7 segment LED NO YES END 6 INSPECTION AND MAINTENANCE e Flowchart for when AL gt A1 gt O displays on 7 segment LED AL flashes 3 times Steady A1 display gt UI displays at the self diagnosis error occurrence The following shows the flowchart for when AL flashes 3 times gt Steady A1 display gt O displays during operation O 4 digits error code is displayed in two sequential flashes of 2 digits each AL gt A1 gt D displays on 7 segment LED Confirm details of error by Motion CPU error batch monitor of MT Developer2 YES Hardware cause fault NO y Correct each Motion controller setting based on the error causes Noise cause Take measures against noise Reset the Motion controller Explain the error symptom and get advice from our sales representative Does AL A1 e O disappear on 7 segment LED NO 6 INSPECTION AND MAINTENANCE f Flowchart for when BTL displays on 7 segment LED BT1 or BT2 displays when the battery voltage is lowered BT1 or BT2 displays at the following cases e BT1 Battery voltage 2 7V or less e BT2 Battery voltage 2 5V or less The following shows the flowchart for when BTO displays BTO displays on 7 segment LED Turn off the Motion controller s power supply Replace the battery Turn on the M
78. 3 LB Safety Servo amplifier MEMO 1 OVERVIEW 1 OVERVIEW 1 1 Overview This User s Manual describes the hardware specifications and handling methods of the Motion Controller Q170MSCPU for the Q series PLC Multiple CPU system The Manual also describes those items related to the specifications of the option module for the Motion controller Manual pulse generator and cables In this manual the following abbreviations are used Generic term Abbreviation Q170MSCPU or Motion controller Q170MSCPU Q170MSCPU S1 Motion controller Q172DLX Servo external signals interface module 172DLX Q173DPX or Mot dul Q173DPX Manual pulse generator interface module MR J4 W O1B Servo amplifier model MR J4 OB MR J4W OB MR J3 W O1B Servo amplifier model MR J3 OB MR J3W OB ANP or Servo amplifier General name for Servo amplifier model MR J4 OB MR J4W OB MR J3 0B p MR J3W O1B Multiple CPU system or Motion system Abbreviation for Multiple PLC system of the Q series PLC CPU area PLC control area CPU No 1 of Q170MSCPU Q170MSCPU S1 Motion controller Motion control area CPU No 2 of Q17OMSCPU Q170MSCPU S1 Motion controller Abbreviation for CPU No n n 1 to 4 of the CPU module for the Multiple CPU system General name for SW8DNC SVOQD Operating system software for conveyor assembly use Motion SFC SW8DNC SV13Q0 Operating system software for automatic machinery use Motion SFC SW8DNC SV22Q00 General name for MT Developer2 GX Wor
79. 4 802 28 80 MITSUBISHI ELECTRIC AUTOMATION Inc usa Fax 358 0 2 522 3322 e 500 Corporate Woods Parkway UTECO A B E E GREECE Fabrika Otomasyonu Merkezi TURKEY Vernon Hills IL 60061 5 Mavrogenous Str Serifali Mahallesi Nutuk Sokak No 5 Phone 1 847 478 2100 GR 18542 Piraeus TR 34775 Umraniye ISTANBUL Fax 1 847 478 0328 Phone 30 211 1206 900 Phone 90 0 216 526 39 90 Fax 30 211 1206 999 Fax 90 0 216 526 39 95 MELTRADE Ltd HUNGARY GC AUTOMATION Ltd UKRAINE Fert utca 14 4 B M Raskovoyi St HU 1107 Budapest UA 02660 Kiev Phone 36 0 1 431 9726 Phone 380 0 44 494 33 55 Fax 36 0 1 431 9727 Fax 380 0 44 494 33 66 Beijer Electronics SIA LATVIA Ritausmas iela 23 LV 1058 Riga Phone 371 0 6 784 2280 Fax 371 0 6 784 2281 Beijer Electronics UAB LITHUANIA Gostautu g 3 LT 48324 Kaunas MITSUBISHI ELECTRIC Phone 370 37 262707 Fax 370 37 455605 Mitsubishi Electric Europe B V FA European Business Group Gothaer Stra e 8 D 40880 Ratingen Germany FACTORY AUTOMATION Tel 49 0 2102 4860 Fax 49 0 2102 4861120 info mitsubishi automation com www mitsubishi automation com
80. 4ms 1 to 4 axes 0 44ms 1 to 6 axes SV22 0 88ms 5 to 12 axes 0 88ms 7 to 16 axes 1 77ms 13 to 16 axes Interpolation functions Linear interpolation Up to 4 axes Circular interpolation 2 axes Helical interpolation 3 axes PTP Point to Point control Speed PTP Point to Point control Speed control control Speed position control Speed position control Fixed pitch feed Constant speed control Fixed pitch feed Constant speed Contrai modes Position follow up control Speed control with fixed position stop control Position follow up control Speed switching control High speed oscillation control Speed control with fixed position Speed torque control Synchronous control SV22 Virtual mode stop Speed switching control switching method Advanced synchronous control method High speed oscillation control Synchronous control SV22 Trapezoidal acceleration deceleration S curve acceleration deceleration Acceleration deceleration control Advanced S curve acceleration deceleration Backlash compensation Electronic gear Phase compensation SV22 0 44ms 1 to 6 axes 0 88ms 7 to 16 axes Programming language Motion SFC Dedicated instruction Mechanical support language SV22 sae Servo program capacity 16k steps Number of positioning points 3200 points Positioning data can be designated indirectly USB RS 232 PLC CPU area control Peripheral I F PERIPHERAL I F Motion CPU area control Proximity dog type 2 types
81. 5 3 29 0 01 6 57 0 01 7 48 0 01 7 48 0 01 6 57 0 01 8 76 0 01 Ws2 Ws3 Ws2 Ws3 Heo SE 4 57 0 01 8 93 0 01 98 3 86 7 0 28 80 0 3 3 15 0 01 Unit mm inch INSTALLATION AND WIRING nt 2 Module mounting position Keep the clearances shown below between the top bottom faces of the module and other structures or parts to ensure good ventilation and facilitate module replacement a Motion controller Top of panel or wiring duct We A 100mm 3 94inch or more Door Uy Z 40mm 1 58inch A or more went otion E controller BL 3 Een amplifier Note 1 H i IS a Panel gt il L_ f Extension cable gt 70mm 2 76inch or more i SE E E EE 30mm 1 18inch 30mm 1 18inch or more or more tt gt q4 10mm 0 39inch or more ka Note 1 Fit the Motion controller at the left side of the servo amplifier b Base unit Top of panel or wiring duct 30mm 1 18inch Ye or more Note 3 Panel 6 30mm 1 18inch GY or more 7 AZ Yn LU 5mm 0 20inch 5
82. 54 A6TBX70 Connector terminal block converter module ACOTB O Length m Connector terminal block converter module cable Signal No 1 to 8 can be assigned to the specified axis Make the assignment in the system settings of MT Developer2 2 SYSTEM CONFIGURATION 4 Interface between CTRL connector and servo external signal ete Signal name Pin No LED Wiring example Internal circuit Specification Description FLS1 B20 0 Supply voltage FLS2 B16 4 12 to 24 VDC FLS3 B12 8 10 2 to 26 4 VDC FLS4 B8 C stabilized power suppl FLS Ces A20 10 Upper stroke pply imit input FLS6 A16 14 FLS7 A12 18 FLS8 A8 1c CLAY FR pO RLS1 B19 1 RLS2 B15 5 RLS3 B11 9 RLS4 B7 D RLS RLS5 A19 11 SE siroke imit input RLS6 A15 15 RLS8 A11 19 High level _ RLS8 AT 1D 10 0 VDC or more sd STOP1 B18 2 2 0mA or more Wer STOP2 B14 6 nee STOP3 B10 A STOP4 B6 E STOP5 A18 12 STOR STOP6 A14 16 Stop signal input STOP7 A10 1A res Low level _ STOP8 A6 1E SE 1 8 VDC or less ss DOG CHANGE1 B17 3 0 18mA or less DOG CHANGE2 B13 7 DOG CHANGE3 B9 B DOG CHANGE4 B5 F Proximity dog DOG CHANGE DOG CHANGE5 A17 13 Speed position DOG CHANGE6 A13 17 Switching signal DOG CHANGE7 AQ 1B DOG CHANGE8 A5 1F IS eer el ae Common terminals oe supply B1 B2 for servo ex
83. 6 4VDC ernal power su P pe e 10 ripple ratio 5 or less Maximum voltage drop at ON Vdorp ssi VDC orless O or less OFF voltage current 11VDC or less 1 7mA or less OFF to ON 1ms or less Response time ON to OFF ims or less Rated load resistance load Interface between output ee Input or fae EEN Wiring Signal name Internal circuit Description output ae py Nete 1 Signal output Note 1 D 1 to 2 Note 2 As for the 24VDC sign both and are possible 2 SYSTEM CONFIGURATION d Manual pulse generator Incremental synchronous encoder input 1 Specifications of manual pulse generator incremental synchronous encoder Specifications Signal input form Phase A Phase B Maximum input pulse F 1Mpps After magnification by 4 up to 4Mpps frequency Pulse width 1us or more Leading edge trailing edge ii 0 25us or less ime High voltage 2 0 to 5 25VDC Dees type dee equivalent 1s or more D bus or more Bus or more 0 25us or more Example of waveform Phase B 0 25us or less 0 25ys or less Note Duty ratio 50 Maximum input pulse 200kpps cee ee magnification by 4 up to 800kpps Pulsewidth width Busormore OS or more Leading edge trailing edge 1 2us or less time Phase difference wah or High voltage 3 0 to 5 25 VDC otage output Low voltage 0 to1 0VDC Open collector Cable length Up to 10m 32 81ft type Bus or more 2 5us or
84. 6 5 of RAM built in Motion controller are not backed up without using the battery In the following status the backup time after power OFF is 3 minutes e The Q6BAT Q7BAT lead connector is disconnected e The lead wire of Q6BAT Q7BAT is broken Table 2 1 Battery life of Q6BBAT Q7BAT Battery life Total power failure time h Nole Actual service Guaranteed Note 6 Note 5 value Reference value TYP 25 C 77 F Battery P Guaranteed consumption WE Value Deier Note 1 time ratio MIN Note 3 75 C 167 F value TYP 40 C 104 F Backup time after alarm 21000 70 24000 100 43800 39000 90 After SM51 SM52 ON 2 SYSTEM CONFIGURATION Table 2 1 Battery life of Q6BBAT Q7BAT continued Battery life Total power failure time h Ge Actual service Battery Guaranteed Guaranteed Note 6 i al Motion controller Battery type consumption Poweron value Notes value Nol Kan Backup time Note 1 time ratio Reference value Note 3 MIN TYP after alarm 75 C 167 F 40 C 104 F SIYE 75 C 167 F 40 C 104 F ve 77 F 90 7BAT ai7omscpu st 50 15100 After SM51 L it Large capacity SM52 ON E 00 11900 13750 EH 5900 17000 19500 ER 8200 23600 27000 a 13600 38600 43800 100 43800 43800 Note 1 The battery consumption represents consumption of the Motion controller battery energy The
85. 6BAT Q7BAT Note 2 Battery life Total power failure time h Actual service Battery p Guaranteed Guaranteed Note 6 Motion controller Battery type consumption pres value Moe dE Note 5 value Backup time Note 1 time ratio Reference value after alarm Note 3 MIN TYP Note 7 TYP 75 C 167 F 40 C 104 F 25 C 77 F 13000 30 18000 24000 Q170MSCPU 100 43800 Note 8 Ee 39000 Q7BAT Large capacity Note 9 43800 100 90 After SM51 SM52 ON Q170MSCPU S1 Q6BAT TT 5900 6900 6 INSPECTION AND MAINTENANCE Table 6 4 Battery life of Q6BBAT Q7BAT continued Battery life Total power failure time h Ge Actual service Battery Guaranteed Guaranteed Note 6 i al Motion controller Battery type consumption Poweron value Notes value Nol Kan Backup time Note 1 time ratio Reference value Note 3 MIN TYP TYP after alarm 75 C 167 F 40 C 104 F 25 C 77 F Q7BAT 3o 90 Q170MSCPU S1 Large capacity 50 15100 After SM51 SE SM52 ON E 00 11900 13750 EH 5900 17000 19500 ER 8200 23600 27000 a 13600 38600 43800 100 43800 43800 Note 1 The battery consumption represents consumption of the Motion controller battery energy The larger the battery consumption value is the more battery per time unit is consumed Refer to the QCPU User s Manual Hardware Design Maintenance and Insp
86. 73DPX Internal I F Via device DCH M code function M code output function provided M code completion wait function provided Sv13 Number of output points 32 points Watch data Motion control data Word device Limit switch Virtual mode switching method Number of output points 32 points output function sv22 Advanced synchronous control method Number of output points 64 points x 2 settings Output timing compensation Watch data Motion control data Word device ROM operation function External input signal Q172DLX External input signals FLS RLS DOG of servo amplifier Internal I F Dl Bit device Note 2 Note 3 High speed reading function P N Note 6 Provided Via internal I F input module Via tracking of Q173DPX Forced stop Motion controller forced stop EMI connector System setting Forced stop terminal of servo amplifier Total 256 points Number of I O points Internal I F Input 4 points output 2 points UO module Intelligent function module Mark detection F f Continuous detection mode Specified number of detection mode Ring buffer mode mode setting Mark detection Mark detection n F Internal I F DI Bit device function signal Mark detection 32 settings setting Clock data setting Clock synchronization between Multiple CPU 2 SYSTEM CONFIGURATION Motion control specifications continued Specification Security function Provided Protection by software security key or p
87. 8 points Edge relay V 2048 points Link special relay SB 2048 points 2048 points Yes PB points S Po 096 points po points S Latch relay L p92 points S Link retay B PBZ points S Timer T po 204 points S Retentive timer ST Po points O Counter c po tM points O Data register D ooo Bos S Link register W po points S Annunciator F Po 204 points O Edge reyv Po 204 points Link special relay SB p04 points S P2048 points S Link special register SW File register R ZR Step relay S Index register Standard device register Z Index register Z Up to 10 points Z0 to 218 32 bit modification specification of ZR device Index register Z is used in double words Pointer P 4096 points Interrupt pointer I 256 points 2048 points 2048 points 16 points 98304 points 393216 points 8192 points 20 points Special relay SM Special register SD Function input FX Function output FY 16 points Function register FD 5 points lt D n Local device lt D n Device initial values 2 SYSTEM CONFIGURATION PLC control specifications continued Item Specification Q170MSCPU Q170MSCPU S1 i 7 extension Up to 64 slots Notesi Extension base unit Number of extensions Q52B Q55B Q63B Q65B Q68B Q612B usable PC type when program is made by GX Works2 QO3UDCPU QO6UDHCPU Note 1 Occupies 8 slots of the main base unit as empty slots 4 Q170MSCPU names
88. Absolute position data Special relays SM51 SM52 SM58 or SM59 of Motion CPU area turn on due to the decrease of battery voltage Even if the special relays turn on the program and retained data are not erased immediately However if these relays are overlooked the contents may be erased After relay SM51 or SM58 turns on replace the battery quickly within the data retention time for power failure 3 minutes 1 SM51 or SM58 turns on when the battery voltage falls below the specified value and remains ON even after the battery voltage is recovered to the normal value SM51 or SM58 turns off by power supply on again or reset 2 After SM51 SM52 SM58 or SM59 turns on replace the battery quickly SM51 or SM52 turns on at the battery voltage 2 5V or less e SM58 or SM59 turns on at the battery voltage 2 7V or less 3 If SM51 turns on the details for the data of RAM built in Motion controller cannot be guaranteed It is recommended to back up the data periodically 4 Whether or not to check the battery of Motion CPU can be set in the system basic setting of system setting If Perform battery check is not set a self diagnosis error will not occur and the 7 segment LED BT1 or BT2 is not also displayed Refer to the Q173D S CPU Q172D S CPU Motion controller Programming Manual COMMON for details 6 INSPECTION AND MAINTENANCE 6 5 1 Battery life The battery life is shown below Table 6 4 Battery life of Q
89. Assignment 1 PLC No 2 Empty Empty 0 Point Empty 0 Point Switch Setting Detailed Setting Select PLC type Empty 0 Point Empty 0 Point Empty 0 Point New Module Empty 0 Point Assigning the I O address is not necessary as the CPU does it automatically Leaving this setting blank will not cause an error to occur p Base Setting 1 Base Model Name Main 1 Setting should be set as same when using multipl Export to CS File Import Multiple CPU Parameter Read PLC Data le CPU Base Mode C Auto Detail 8 Slot Default 12 Slot Default Select module name Print Window Print Window Preview Acknowledge XY Assignment Default Check Cancel APP 15 Data of automatic refresh Points occupied by empty slot Number of slots of the main base APPENDICES 2 Device comment The device comment data is allocated in the Multiple CPU high speed transmission area setting for the positioning dedicated signal The device can be used while confirming the comment to execute the control for the Motion CPU area in the PLC CPU area a Diversion of device comment After opening the diversion source project Sample data and the diversion project execute the following steps 1 Operation of the diversion source project Sample data Copy Select the Global Device Comment in t
90. B to MR J3BUS50M B 150 5 91 50 1 97 Unit mm inch Protective tube Note Note Dimension of connector part is the same as that of MR J3BUS015M Keep the cap and the tube for protecting light cord end of SSCNETII cable in a plastic bag with a zipper of SSCNETT cable to prevent them from becoming dirty APP 30 APPENDICES EH APPENDIX 4 2 Forced stop input cable Fabricate the forced stop input cable on the customer side Make the forced stop input cable within 30m 98 43ft 1 Connection diagram Q170MSCPU side Solderless terminal side cS FK MCP1 5 3 ST 3 81 Connector Solderless terminal size R1 25 35 EMI COM 3 CT EMI com 2 EMI 1 OCH EMI J Twisted pair cable Note Use a cable of wire size AWG16 to AWG22 APPENDIX 4 3 24VDC power supply cable Fabricate the forced stop input cable on the customer side 1 Connection diagram Q170MSCPU side Solderless terminal side lei Rh Oe a re Ce CT Jeep ae SETS ql S J Twisted pair cable Note Use a cable of wire size AWG12 to AWG22 APP 31 APPENDICES APPENDIX 4 4 Internal I F connector cable Fabricate the Q170MSCPU s internal I F connector cable on the customer side 1 Differential output type a Connection diagram Make the cable within 30m 98 43ft
91. CNETII cable optical fiber request for specialized industrial waste disposal services who has incineration facility for disposing hydrogen fluoride gas or hydrogen chloride gas a MR J3BUSOM 1 Model explanation Type MR J3BUSLIM Symbol None Cable type Standard cord for inside panel A Standard cable for outside panel B Long distance cable Unit mm inch Symbol Cable length m ft 015 0 15 0 49 03 0 3 0 98 05 0 5 1 64 1 1 3 28 3 3 9 84 5 5 16 40 10 10 32 81 20 20 65 62 30 30 98 43 40 40 131 23 50 50 164 04 2 Exterior dimensions e MR J3BUS015M 15 13 4 37 65 6 7 0 26 0 59 0 53 1 48 Protective tube gt lt gt lt i at H e see S Se Eh U 15075 eet 5 91 ee a CH S E Di APP 29 gt APPENDICES e MR J3BUS03M to MR J3BUS3M Refer to the table of this section 1 for cable length L Unit mm inch ee SC 100 3 94 L 3 94 gt Note Dimension of connector part is the same as that of MR J3BUS015M Protective tube Note e MR J3BUS5M A to MR J3BUS20M A MR J3BUS30M B to MR J3BUS50M B Refer to the table of this section 1 for cable length L Variation mm inch SE B O MR J3BUS5M A to MR J3BUS20M A 100 3 94 30 1 18 MR J3BUS30M
92. CPU SV22 and OS version OQA OS software S V 2 2 ON V E R 3 0 0 A v N Q170MSCPU 4 OS version v 3 Motion SFC compatibility Motion SFC not compatibility 2 SYSTEM CONFIGURATION 7 Programming software packages a Motion controller engineering environment MELSOFT MT Works2 MT Developer2 W s SW1DNC MTW2 E Note 1 This software is included in Motion controller engineering environment MELSOFT MT Works2 b PLC software package Software package GX Works2 SW1DNC GXW2 E c Servo set up software package Software package MR Configurator2 SW1DNC MRC2 E POINTS When the operation of Windows is unclear in the operation of this software refer to the manual of Windows or guide book from the other supplier 2 SYSTEM CONFIGURATION 2 4 General Specifications General specifications of the Motion controller are shown below Specification Operating ambient temperature 0 to 55 C 32 to 131 F Storage ambient temperature 25 to 75 C 13 to 167 F Operating ambient humidity 5 to 95 RH non condensing Storage ambient humidity 5 to 95 RH non condensing Constant Frequency Half amplitude Sweep count acceleration c ianei Under 5 to 9H 3 5mm 10 times each in z ompiant wiin intermittent enn 14inch X Y Z directions Vibration resistance JISB3502 and vibration 9 to 150Hz For 80 min IEC 61131 2 Under 75mm 5 to 9Hz continuous EE 07inch vibr
93. CPU area RUN STOP circuit Interlocked with RA1 Run monitor relay Fuse Set time for DC power supply to be established M10 Teraa ig eh a a EEN z START SW EN t Voltage relay is recommended Low battery alarm einem en sear Lamp or buzzer ON when run by SM403 gees MC 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 Power to output equipment switched OFF when the STOP signal is given 1 i l In the case of an emergency stop or a stop caused by a limit switch 1 Ogee ee The start up procedure is as follows 1 Switch the Motion controller power ON 2 Set the Motion controller to RUN 3 When DC power is established RA2 goes ON 4 Timer TM times out after the DC power reaches 100 The TM set value should be the period of time from when RA2 goes ON to the establishment of 100 DC voltage Set this value to approximately 0 5 seconds 5 Turn ON the start switch 6 When the electromagnetic contactor MC comes on the output equipment is powered and may be driven by the program If a voltage relay is used at RA2 no timer TM is required in the program 3 DESIGN eet 3 2 1 Power supply circuit design This section describes the protective c
94. D Mass kg Attachment Fixing e screw M4 x 14 4 pieces Noe Note 1 The 5 base mounting screws are included with the Q68B and Q612B that have 5 base mounting holes 2 SYSTEM CONFIGURATION 2 Extension cable specifications The list below describes the specifications of the extension cables which can be used Ka e QC05B QC06B QC12B QC30B QC50B QC100B Cable length m ft 0 45 1 48 0 6 1 97 1 2 3 94 3 0 9 84 5 0 16 40 10 0 32 81 Connection between the Motion controller and extension base unit Application Mass kg 0 15 or connection between the extension base units When the extension cables are used in combination limit the overall length of the combined cable to 13 2m 43 31ft 2 SYSTEM CONFIGURATION 3 Names of parts of the extension base unit Names of parts of the extension base unit are described below a Extension base unit Q50B Q60B e Q52B Q55B e Q63B Q65B Q68B Q612B Application 1 Extension cable Connector for connecting an extension cable for signal communications with the connector extension base unit Protective cover of extension cable connector Before an extension cable is connected 2 Base cover the area of the base cover surrounded
95. DC Note 4 Inrush current When power is switched on again immediately within 5 seconds after power off an inrush current of more than the specified value 2ms or less may flow Reapply power 5 seconds after power off When selecting a fuse and breaker in the external circuit take account of the blow out detection characteristics and above matters 2 SYSTEM CONFIGURATION 2 Names of Parts and Setting This section describes the names of the parts of each power module Q61P 100 to 240VAC input 5VDC 6A output Q62P 100 to 240VAC input 5VDC 3A 24VDC 0 6A output Q63P 24VDC input 5VDC 6A output Q64PN 100 to 240VAC input 5VDC 8 5A output H e INPUT 100 240VAC 50 60Hz 105VA OUTPUT 5VDC 3A 24VDC 0 64 cole E Q62P only Application ower suppl p SES e DC power supply is not ON ON green Normal 5VDC output momentary power failure within 20ms ET OFF e AC power supply is ON however the power supply module is out of order 5VDC error overload internal circuit failure blown fuse power supply e AC power supply is not ON 1 POWER e Power failure including an momentary power failure of more than 20ms LED Normal 5VDC output momentary power
96. DR assembly press for pressure displacement type Sumitomo 3M Limited Model name 10960 Hand press 10962 Fixture unit 10963 Fixture block 10964 1 Cable clamp black 14 50 position a Soldering type Quick release metal latch type LD77MHIOCON Unit mm inch 12 0 0 47 OIE 14 0 25 8 1 02 0 55 A 39 0 1 54 FAS i We FS 23 8 0 94 37 2 1 46 12 7 I 0 50 APP 40 APPENDICES b Soldering type Threaded type Unit mm inch 12 0 0 47 CH S 14 0 L 25 81 02 0 55 A a So S O Q o ise 5 CH CN Vv 37 2 1 46 TTA 12 7 gt NIN Si 0 50 c Pressure displacement type Quick release metal latch type Unit mm inch 7 1 0 28 24 8 0 24800 98 rare S Cl o a Oo vt oO oO y y UU 33 5 1 32 11 5 gt ke E 0 45 APP 41 APPENDICES APPENDIX 5 7 Manual pulse generator MR HDP01 3 6 0 14 L 1 06 70 2 76 50 1 97 60 2 36 80 3 15 y 16 20 Atd 3 4 8 0 19 0 63 0 79 eee K equi spaced Packing t 2 0 The figure of a processing disc APP 42 Unit mm inch 3x Studs M4
97. Does servo amplifier start Explain the error symptom and get advice from our sales representative 6 INSPECTION AND MAINTENANCE i Flowchart for when AL gt S01 displays on 7 segment LED AL flashes 3 times Steady S01 display displays at the servo error occurrence The following shows the flowchart for when AL flashes 3 times gt Steady S01 display displays on 7 segment LED during operation AL S01 displays on 7 segment LED Confirm details of error by Motion CPU error batch monitor of MT Developer2 Remove the error cause of servo amplifier and then execute the servo error reset M3208 20n ON or re turn on the servo amplifier power supply Does AL S01 disappear on 7 segment LED 6 INSPECTION AND MAINTENANCE j Flowchart for when MODE LED does not turn on The following shows the flowchart for when MODE LED does not turn on at Motion controller s power on MODE LED does not turn on y Connect a personal computer and Motion controller Does the Motion Carry out PLC diagnostics and controller communicate with perform troubleshooting according to GX Works2 the diagnostics result Is the extension cable connected properly Isn t IN connected to IN or OUT connected to OUT Connect the extension cable properly Does MODE LED turn on VES After resetting the
98. E10 0000 0000 0000 0000 0000 0000 0000 fswitent S dododo hd KC i fswiten2 LL Lt Hh olo i fswitens LL Lt hd K oS i swtna LL Lt ee ee DEn Error time outputmode _ Hardware error time Detailed j PLC ere mode settin J VO UO response time time EE e Base setting Setting items Slots Main EE b Multiple CPU setting settingitems Description 2 modules No specification All station stop by stop error of PLC1 PLC2 PLC No 1 PLC No 2 checked Enable online module change with another PLC not checked 6 Input sharing when using Multiple CPUs All CPUs can read all inputs not checked All CPUs can read all outputs not checked Use multiple CPU high speed communication CPU specific send range Mine cpU hioi oi ae PLC User setting area Auto refresh e speed transmission mio GPU Noh nei sani on I u3E0 6978 G10000 G16977 U3E1 5838 G10000 615837 1330 APP 22 APPENDICES c Auto refresh settings e PLC No 1 Auto refresh CPU specific send range U3E0 1 moz m eem eem 2 44 M4800 M5503 G17006 G17049 3 118 D640 D757 G17050 G17167 e PLC No 2 No Auto refresh CPU specific send range U3E1 M2000 m2735 615838 G15883 2 4 mow mos cisss4 es 3 La po ps9 on ae 4 eo nso pms creas cisa 5 ep nso oeas oa eme d PLC system On
99. ENANCE 1 Do not use the battery exceeding its guaranteed life 2 When the battery hours total power failure time may exceed its guaranteed value take the following measure e Perform ROM operation to protect a program even if the battery dies at the Motion controller s power OFF e If SM51 turns on the contents for the data Refer to Section 6 5 of RAM built in Motion controller cannot be guaranteed It is recommended to back up the data periodically When the total power failure time exceeds its guaranteed value and SM51 SM52 SM58 and SM59 of Motion CPU area turns on immediately change the battery Even if the alarm has not yet occurred it is recommended to replace the battery periodically according to the operating condition The self discharge influences the life of battery without the connection to the Motion controller The battery should be exchanged approximately every 4 or 5 years And exchange the battery with a new one in 4 to 5 years even if a total power failure time is guaranteed value or less It is recommended to shift to the mode operated by ROM after the programs and parameters are fixed The erasing of the programs and parameters can be avoided even if the battery decrease The ROM writing cannot be executed for the current position of the servo motor in the absolute position system home position and latch device Back up them beforehand using MT Developer Refer to Section 4 4 of the Q173D S CPU Q172D S CPU Moti
100. ENRE E EO AEAN set EAA AE ERA RTA E IEAA 2 69 2 5 9 Forced stop input terminal n s dns ea aa ennaa aaiae gag a e a ene a aa aE aaa aA 2 73 3 1 System Designing Procedure ccccesceesceseneesseeeeeeseedeneeseeeseeeseeeeseesseeeeeeseedeneeseeeeneeaedeneseeeeeneseeeeaeteneesee 3 1 3 2 External Grevi DoS iners R E E ER E 3 4 3 2 1 Power supply Circuit Ee ER 3 7 3 2 2 Safety Circuit AOSIQM snoin anA NEAS EANES E AAE E E E i e 3 9 3 3 Layout Design within the Control Panel 3 11 3 3 1 Mounting erwitronment 00 cen cciveete cet eecteedivectedetnecteedi AA RA 3 11 3 3 2 Calculating heat generation by Motion Controller AAA 3 12 3 4 Design leckert sanctieih danke Ee Ee e 3 16 41 Module Installation BEE 4 1 4 1 1 Instructions for NANCIING 00 eee eeeeceneeeneteeeeeeeeeeeeeaeeeeeeeaeeeaeseaeeeaeseaeseaeseaeeeaeeeaeeeaeseaeeeaseateeeeeateeaeeeas 4 1 4 1 2 Instructions for mounting the modules AA 4 3 4 1 3 Installation and removal of module to the base unt 4 10 4 1 4 Mounting and removal of the battery holder 4 13 4 2 Connection and Disconnection Of Cable ccccccececceeeeeeeeeeeeeeeeeeeeeeeeceeseaeeeeaeeeeaeeesacesseneeseeetieeseieeess 4 18 42 41 SSGNE GUD Cable gui eet d s teste deet soe dee deed det d e dd gedoe de steered eee 4 18 4 2 2 Forced stop input cable EEn nn nennen 4 24 4 2 3 24VDC power supply Cable ccccccccceeccceeceeceeeeeeaeeceneeeeeeeeseaeeceaeescaeeesaceeseaeeseaeeseaeessiceeseaeseaeessaees
101. Feed current value Ax2 Real current value Ax2 Real current value Ax2 Deviation counter value Ax2 Deviation counter value English Unlabeled Host No l M APP 16 APPENDICES 7 Description of sample data a Motion CPU area 1 SV13 Q170MS_SV13_MT2 a Base setting Setting items Description Stage 1 Nothing Stage 2 Nothing Stage 3 Nothing Extension base Stage 4 Nothing Stage 5 Nothing Stage 6 Nothing Stage 7 Nothing b Multiple CPU setting Setting items Operating mode All station stop by stop error of CPU 1 2 Multiple CPU synchronous startup setting Set CPU No 1 2 to synchronous startup c Multiple CPU high speed transmission area setting CPU jee 2 send range User sUsersettingarea area Automatic refresh Points k Points aen Lo Points No 1 7022 G10000 G17021 146 Foz r eae cro eren os d Automatic refresh setting e CPU No 1 Receive senese EE Pilo amie 0 stt End e CPU No 2 Send Setting No Automatic refresh CPU specific send range U3E1 E f E E 32 oo oso oss Leen Ce m e ee lees Lee APP 17 APPENDICES 2 SV22 Q170MS_SV22_MT2 Project for virtual mode switching method a Base setting Setting items Description Stage 1 Nothing Stage 2 Nothing Nothing Extension base Nothing Stage 5 Nothing Stage 6 Nothing Stage 7 Nothing b Multiple
102. Gothaer Stra e 8 AT 2500 Baden Malta Paola PLA 1702 KAZ 100017 Karaganda D 40880 Ratingen Phone 43 0 2252 85 55 20 Phone 356 0 21 697 816 Phone 7 7212 50 10 00 Phone 49 0 2102 486 0 Fax 43 0 2252 488 60 Fax 356 0 21 697 817 Fax 7 7212 50 11 50 Fax 43 0 2102 486 1120 TECHNIKON BELARUS Wer SRL MOLDOVA MITSUBISHI ELECTRIC EUROPE B V org sl CZECH REP Oktyabrskaya 19 Off 705 bld Traian 23 1 Czech Branch BY 220030 Minsk MD 2060 Kishinev Radlick 751 113e Phone 375 0 17 210 46 26 Phone 373 0 22 66 4242 MIDDLE EAST REPRESENTATIVE CZ 158 00 Praha 5 Fax 375 0 17 210 46 26 Fax 373 0 22 66 4280 Phone 420 251 551 470 ESCO DRIVES BELGIUM HIFLEX AUTOM B V NETHERLANDS LS SYSTEMS Ltd EGYET Fax 420 251 551 471 Culi e 23 Al Saad Al Alee St ganlaan 3 Wolweverstraat 22 EG Sarayat Maadi Cairo MITSUBISHI ELECTRIC EUROPE B V FRANCE BE 1831 Diegem NL 2984 CD Ridderkerk Phone 20 0 2 235 98 548 French Branch Phone 32 0 2 717 64 60 Phone 31 0 180 46 60 04 Fax 20 0 2 235 96 625 25 Boulevard des Bouvets Fax 32 0 2 717 64 61 Fax 31 0 180 44 23 55 F 92741 Nanterre Cedex SHERF Motion Techn Ltd ISRAEL Phone KONING amp HARTMAN B V BELGIUM KONING amp HARTMAN B V NETHERLANDS Rehov Hamerkava 19 one 33 0 1 55 68 55 68 S Fax 33 0 1 55 68 57 57 Woluwelaan 31 Haarlerbergweg 21 23 IL 58851 Holon BE 1800 Vilvoorde NL 1101 CH Amsterdam Phone 972 0 3 559 5462 MITSUB
103. I L Select type Rhase nm 2 5us or more signal EE 1 Positioning address HPSELO increases if Phase A leads Phase B 2 Positioning address decreases if Phase B Note leads Phase A P5 B18 B13 B8 Power supply 5VDC Power S supply A19 A14 A9 SG B19 B14 B9 Note 1 The 5V P5 DC power supply from the Q173DPX must not be used if a separate power supply is applied to the Manual pulse generator Incremental synchronous encoder If a separate power supply is used be sure it is 5V voltage Anything else may cause a failure Note 2 Connect HPSELD to the SG terminal if the manual pulse generator differential output type incremental synchronous encoder is used 2 SYSTEM CONFIGURATION c Interface between PULSER connector and manual pulse generator Voltage output Open collector type Incremental synchronous encoder A Pin No SC Gees EES eier one Signal name 7 7 3 Wiring example Internal circuit Specification Description Rated input voltage For connection manual GE 5 5VDC or less pulser reels ases A generator B20 AIS AIO e Pulse width h A HIGH level 20 phase Manual 3 to 5 25VDC jg 20H5 oF more y HAO pulse 2mA or less J generator ul 5us 5us Incremental or more or more Manual Synchronous LOW level pulse encoder 4VDC or less Duty ratio 50 25 Input generator B20 B15 B10 5mA or more e Leading edge Trailing edge time 1s or less ie B
104. ISHI ELECTRIC EUROPE B V IRELAND Phone 32 0 2 257 02 40 Phone 31 0 20 587 76 00 Fax 972 0 3 556 01 82 Irish Branch Fax 32 0 2 257 02 49 Fax 31 0 20 587 76 05 Westgate Business Park Ballymount 7 CEG LIBAN LEBANON IRL Dublin 24 INEA RBT d o o BOSNIA AND HERZEGOVINA Beijer Electronics AS NORWAY Cebaco Center Block A Autostrade DORA Phone 353 0 1 4198800 gene Il ee ae Lebanon Beirut Fax 353 0 1 4198890 SI 1000 Ljubljana NO 3002 Drammen Phone 961 0 1 240 445 Phone 386 0 1 513 8116 Phone 47 0 32 24 30 00 Fax 961 0 1 240 193 MITSUBISHI ELECTRIC EUROPE B V ITALY Fax 386 0 1 513 8170 Fax 47 0 32 84 85 77 eier AKHNATON BULGARIA Fonseca S A PORTUGAL 1 20864 Agrate Brianza MB 4 Andrei Ljapchev Blvd PO Box 21 R Jodo Francisco do Casal 87 89 Phone a 039 60 53 1 BG 1756 Sofia PT 3801 997 Aveiro Esgueira AFRICAN REPRESENTATIVE Fax 439 039 6053 312 Phone 359 0 2 817 6000 Phone 351 0 234 303 900 Fax 359 0 2 97 4406 1 Fax 351 0 234 303 910 ADROIT TECHNOLOGIES SOUTH AFRICA MITSUBISHI ELECTRICEUROPEB V POLAND ees CROATIA Sirius Trading amp Services srl ROMANIA 20 Waterford Office Park 189 Witkoppen Road Polish Branch tosinisk e ZA Fourways jska 4a Aleea Lacul Morii Nr 3 GE HR 10000 Zagreb RO 060841 Bucuresti Sector 6 ER AS gz SI Phone 385 0 1 36 940 01 02 03 Phone 40 0 21 430 40 06 ax 27 0 Fax 48 0 12 630 47 01 Fax SE z 940 03 az ka 0 21 430 40
105. LED turn on Is ERR LED on flickering n Flowchart for when ERR LED turns on is flickering Reset the Motion controller 1 Controller part fault poor connection between the module and base unit 2 Excessive noise generation Does RUN LED turn on For the case of 2 For the case of 1 y Explain the error symptom and get advice from our sales representative Set the RUN STOP RESET switch to STOP and write END to address 0 with the GX Works2 Set the RUN STOP RESET switch to RUN and enter to the monitor mode with the GX Works2 to be operated Does RUN LED turn on Possible cause is a sequence program error Check the program and modify the program error location Connect a surge suppression circuit such as CR to the noise source Does RUN LED turn on 6 INSPECTION AND MAINTENANCE m When RUN LED is flickering If the RUN LED flickers follow the steps below When the programs or parameters are written into the Motion controller during STOP status and then the RUN STOP RESET switch is set from STOP to RUN the RUN LED flickers Although this status does not mean the Motion controller error the Motion controller stops the operation To set the Motion controller into RUN status reset the Motion controller using the RUN STOP RESET switch or set the RUN STOP RESET switch from STOP to RUN
106. Motion control specifications continued Q170MSCPU Q170MSCPU S1 Q170MCPU ROM operation function Q172DLX External input signals FLS RLS DOG of servo Q172DLX or External input signals External input signal S E amplifier Internal I F Dl Bit device FLS RLS DOG of servo amplifier High speed reading function oe A Note 6 Via internal I F input module Via tracking of Q173DPX Forced stop Motion controller forced stop EMI connector system setting Forced stop terminal of servo amplifier Total 256 points Total 256 points Number of I O points Internal I F Input 4 points Output 2 points I O module Internal I F Input 4 points Intelligent function module Output 2 points I O module Mark detection function Clock data setting Clock synchronization between Multiple CPU i Provided Provided Security function Protection by software security key or password Protection by password All clear function Remote operation Remote RUN STOP Remote latch clear Optional data SSCNETIO Up to 3 data axis Communication data Up to 3 points axis monitor function SSCNETI H Up to 6 data axis Communication data Up to 6 points axis Motion buffering method Real time waveform can be displayed Sampling data Word 4CH Bit 8CH SA Made compatible by setting battery to servo amplifier Absolute position system i Possible to select the absolute data method or incremental method for each axis SSCNETH Communica
107. PENDIX 1 1 Differences of parameters Table 1 1 Differences of parameters Q170MSCPU Q173DSCPU Q172DSCPU Axis No 1 to 16 Amplifier type Amplifier setting MR J4 W B RJ MR J3 W B MR J3 B S Fully closed MR J3 W B Linear MR J3 W B DD motor I O setting Used Unused First I O No 0000 to OFFO High speed read setting Used Unused Input signal detection direction Valid on leading edge Normal open Valid on trailing edge Normal close Note 1 Q170MS I O setting CPU setting e Communication type SSCNETII H use e Communication type SSCNETII use Axis No Q173DSCPU 1 to 32 Q172DSCPU 1 to 16 Amplifier type e Communication type SSCNETII H use MR J4 W B RJ e Communication type SSCNETII use MR J3 W B MR J3 B S Fully closed MR J3 W B Linear MR J3 W B DD motor Self CPU installation position setting Self CPU Other CPU CPU empty Input setting Used Unused First input No 0000 to OFFO High speed read setting Used Unused Input signal detection direction Valid on leading edge Normal open Valid on trailing edge Normal close Multiple CPU synchronous control setting Independent CPU Master CPU Slave CPU Status device setting Set device to Synchronous controlling Status for each CPU and Error status for CPU and axis Bit device X Y M B F Word device D W U Note 1 Note 2 Note 1 This cannot be set in SV22 ad
108. RAM built in Motion controller Before storing the Motion controller always back up the contents for the data to RAM built in Motion controller 6 5 4 Symbol for the new EU Battery Directive This section describes a symbol for the new EU Battery Directive 2006 66 EC that is labeled batteries Note This symbol mark is for EU countries only This symbol mark is according to the directive 2006 66 EC Article 20 Information for end users and Annex Il Your MITSUBISHI ELECTRIC product is designed and manufactured with high quality materials and components which can be recycled and or reused This symbol means that batteries and accumulators at their end of life should be disposed of separately from your household waste If a chemical symbol is printed beneath the symbol shown above this chemical symbol means that the battery or accumulator contains a heavy metal at a certain concentration This will be indicated as follows Hg mercury 0 0005 Cd cadmium 0 002 Pb lead 0 004 In the European Union there are separate collection systems for used batteries and accumulators Please dispose of batteries and accumulators correctly at your local community waste collection recycling centre Please help us to conserve the environment we live in 6 INSPECTION AND MAINTENANCE 6 6 Troubleshooting This section describes the various types of trouble that occur when the system is operated and causes and corrective actions of
109. S15 MR J3BUS Note 6 Q170MSCPU MR J3 W OB MR J3 W O1B e MR J3 W e Long distance cable 30m 98 43ft 40m 131 23ft 50m 164 04ft EA d wo Ww C n SSCNETII H head module LJ72MS15 Note 5 Maximum link points Input 64 bytes Output 64 bytes Transmission cycle 222us 444uUs 888us Note 1 D Cable length 015 0 15m 0 49ft 03 0 3m 0 98ft 05 0 5m 1 64ft 1 1m 3 28ft 2 2m 6 56ft 3 3m 9 84ft 5 5m 16 40ft 10 10m 32 81ft 20 20m 65 62ft 25 25m 82 02ft 30 30m 98 43ft 40 40m 131 23ft 50 50m 164 04ft Note 2 Be sure to use the cable for forced stop input The forced stop cannot be released without using it Cable for forced stop input is not attached to the Motion controller Note 3 The manual pulse generator or incremental synchronous encoder that consumes less than 0 2 A of current can be connected to the internal I F connector Note 4 Be sure to use the power supply module within the range of power supply capacity Note 5 5VDC internal current consumption of shared equipments with PLC might be changed Be sure to refer to the MELSEC Q L series PLC Manuals Note 6 Please contact your nearest Mitsubishi sales representative for the cable of less than 30m 98 43ft 2 SYSTEM CONFIGURATION PLC module which can be
110. SYSTEM CONFIGURATION ses 5 Connection of manual pulse generator interface module a The pin layout of the PULSER connector Use the PULSER connector on the front of the Q173DPX module to connect to manual pulse signals and incremental synchronous encoder signals The following is the pin layout of the Q173DPX PULSER connector as viewed from the front PULSER connector Pin No SignalName PinNo Signal Name 2 B20 HB1 A20 HA1 B19 SG A19 SG B20 A20 B18 5V A18 HPSEL1 al B17 HAIN A17 HA1P 1 B16 HB1N A16 HB1P 2 B15 HB2 A15 HA2 B14 SG A14 SG B13 5V A13 HPSEL2 H B12 HA2N A12 HA2P 3 L B11 HB2N A11 HB2P 2 B10 HB3 A10 HA3 B9 SG A9 SG B8 5V A8 HPSEL3 J B7 HA3N A7 HA3P 3 L B6 HB3N A6 HB3P B5 No connect A5 No connect B1 A1 B4 TREN1 A4 TREN1 B3 TREN2 A3 TREN2 B2 TREN3 A2 TREN3 4 B1 FG A1 FG Applicable connector model name A6CON1 type soldering type connector FCN 361J040 AU connector FUJITSU COMPONENT LIMITED Attachment FCN 360C040 B connector cover A6CON2Z type Crimp contact type connector A6CON3 type Pressure displacement type connector Optional A6CON4 type soldering type connector 1 Input type from manual pulse generator incremental synchronous encoder switched by HPSELD Not connected Voltage output open collector type HPSELL SG connection Differential output type Switching is po
111. again With this setting the RUN LED turns on Flowchart for when ERR LED turns oni is flickering The following shows the flowchart for when ERR LED turns on or flickers at Motion controller s power on at operation start or during operation ERR LED turns on or is flickering Confirm details of error by PC diagnostics of GX Works2 YES Hardware cause fault Set the RUN STOP RESET switch to STOP A hardware fault Explain the error symptom and get advice from our sales representative Correct error contents while referring to the help of the GX Works2 Reset the Motion controller Set the RUN STOP RESET switch to RUN Does ERR LED turn off 6 INSPECTION AND MAINTENANCE 0 When USER LED turns on 6 6 3 Confirming error code If the USER LED turns on follow the steps described below USER LED turns on when an error is detected by the CHK instruction or the annunciator F turns on If USER LED is on monitor the special relays SM62 and SM80 in the monitor mode of GX Works2 e When SM62 has turned ON The annunciator F is ON Using SD62 to SD79 check the error cause e When SM80 has turned ON The USER LED turned ON by the execution of the CHK instruction Using SD80 check the error cause Eliminate the error cause after confirming it The USER LED can be turned off by e Making a reset with the RUN STOP RESET switch or
112. ailure use a servomotor with electromagnetic brakes or install a brake mechanism externally Use a double circuit construction so that the electromagnetic brake operation circuit can be operated by emergency stop signals set externally Shut off with the Shut off with servo ON signal OFF emergency stop alarm electromagnetic brake signal signal EMG Servo motor If an error occurs remove the cause secure the safety and then resume operation after alarm release The unit may suddenly resume operation after a power failure is restored so do not go near the machine Design the machine so that personal safety can be ensured even if the machine restarts suddenly 8 Maintenance inspection and part replacement A CAUTION Perform the daily and periodic inspections according to the instruction manual Perform maintenance and inspection after backing up the program and parameters for the Motion controller and servo amplifier Do not place fingers or hands in the clearance when opening or closing any opening Periodically replace consumable parts such as batteries according to the instruction manual Do not touch the lead sections such as ICs or the connector contacts Before touching the module always touch grounded metal etc to discharge static electricity from human body Failure to do so may cause the module to fail or malfunction Do not directly touch the module s conductive parts and electronic co
113. als and incremental synchronous encoder signals The following is the pin layout of the internal I F connector as viewed from a 26 14 the front Internal I F connector C Pin No Signal Name Pin No Signal Name 26 HAL 13 HBL Note 1 25 HAH 12 HBH mote Note 2 24 HA 11 HB Note 2 13 Note 6 23 No connect 10 SEL Note 3 22 SG 9 5V 21 No connect 8 No connect 20 No connect 7 No connect Notes 19 No connect 6 No connect oe 1 18 No connect 5 No connect 17 DI3 4 DI4 16 DI1 3 DI O Note 4 15 COM1 2 COM2 Note 5 14 DO1 1 DO2 Applicable connector model name Soldering type connector LD77MHIOCON 10126 3000PE connector Sumitomo 3M Limited make gt Optional 10326 52F0 008 connector case Wire size AWG28 Note 1 Input type from manual pulse generator Incremental synchronous encoder is switched by SEL Not connected SEL SG connection Differential output type Note 2 Voltage output open collector type Connect the A phase signal to HA and the B phase signal to HB Note 3 Differential output type Connect the A phase signal to HAH and the A phase inverse signal to HAL Connect the B phase signal to HBH and the B phase inverse signal to HBL Note 4 COM1 is the common terminal of DI DI DI3 and DI4 Note 5 COM2 is the common terminal of DO1 and Do2 Note 6 Do n
114. and servomotor etc while the power is ON and for a short time after the power is turned OFF In this timing these parts become very hot and may lead to burns Always turn the power OFF before touching the servomotor shaft or coupled machines as these parts may lead to injuries Do not go near the machine during test operations or during operations such as teaching Doing so may lead to injuries 4 Various precautions Strictly observe the following precautions Mistaken handling of the unit may lead to faults injuries or electric shocks 1 System structure CAUTION Always install a leakage breaker on the Motion controller and servo amplifier power source If installation of an electromagnetic contactor for power shut off during an error etc is specified in the instruction manual for the servo amplifier etc always install the electromagnetic contactor Install the emergency stop circuit externally so that the operation can be stopped immediately and the power shut off Use the Motion controller servo amplifier servomotor and regenerative resistor with the correct combinations listed in the instruction manual Other combinations may lead to fire or faults Use the Motion controller base unit and motion module with the correct combinations listed in the instruction manual Other combinations may lead to faults If safety standards ex robot safety rules etc apply to the system using the Motion contro
115. and 24G for 24VDC power line Power off the Motion controller before wiring 24VDC power supply Use proper size wire for 24VDC power line 2 SYSTEM CONFIGURATION 11 Forced stop input connector The pins layout from front view and connection of the forced stop input connector is shown below eels EMI COM a l2 No connec t Note 1 Note 1 Do not connect to any of the terminal is explained as No connect e Applicable connector model name FK MCP1 5 3 ST 3 81 connector PHOENIX CONTACT make Attachment e Conductor size for power line 0 3 to 1 5mm AWG16 to AWG22 2 SYSTEM CONFIGURATION eee ee eee se ee cee een sss sss es 12 Selection of the modules used in the extension base unit The modules used in the extension base unit are selected according to the total of current consumption of the modules and peripheral devices Manual pulse generator Incremental synchronous encoder etc supplied by the Motion controller and Motion controller internal power supply 5VDC internal current consumption of shared equipments with PLC might be changed Be sure to refer to the MELSEC Q series PLC Manuals a Calculation example of module selection lt System configuration gt Q170MS CPU Incremental synchronous encoder PX LP21 25 MR HDP01 e 5VDC current consumption of each module Q170MSCPU 2 50 A QY40P 0 065 A Incremental synchronous encoder 0 20 A QJ71LP21 25 0
116. ase2 00 Q QI70MSCPU PCPU CPU Extension Base3 0 1 Empty Empty mont Extension Base4 0 2 _ Empty Empty OPoint gt Extension Base5 0 3 Empty Empty OPoint Extension Base6 0 4 Empty Empty OPoint H Extension Base Empty Empty OPoint Module E Empty Empty OPoint Empty Empty OPoint r Legend Error Minor Error __ Assignment Error_ Assignment Incorrect Major Error A Moderate Error Stop Monitor Pint System Enor History Close Serial number of Motion controller Operating system software version Product Information List Sort Order by Installation Order by Type Name YO Master Base Slot Type Series Model Name Poit actress Pte CPU CPU o QU6UDHCPU CPU Q QI7OMSCPU PCPU Empty Empty Empty Empty Empty Empty Empty Create CSV File 2 13 2 SYSTEM CONFIGURATION 2 3 System Configuration Equipment Part name Motion controller Servo external Manual pulse generator interface module Manual pulse generator 1 Motion controller related module Model name Dok Q170MSCPU S1 Q1 gef Battery Q6BAT L it arge capacity Q7BAT battery Large capacity Q170MSBAT SET Battery holder for Q7BAT Attachment Q7BAT battery holder Internal I F Incremental synchronous encoder Mark detection signal interface LD77MHIOCON A connector set connector Not inclu
117. assword All clear function Provided Remote operation Remote RUN STOP Remote latch clear Optional data SSCNETIOV H Up to 6 data axis Communication data Up to 6 points axis monitor function SSCNETI Up to 3 data axis Communication data Up to 3 points axis BW d Motion buffering method Real time waveform can be displayed Digital oscilloscope function Sampling data Word 16CH Bit 16CH Ss Made compatible by setting battery to servo amplifier Absolute position system 8 Possible to select the absolute data method or incremental method for each axis SSCNETI Communication doch SSCNETII H SSCNETHL communication method Note 7 S K Number of lines Driver communication function Note 8 Provided Number of Q172DLX 2 modules usable Motion related S Q173DPX 4 modules usable modules Number of SSCNETII head 7 a h Up to 4 stations usable module communication stations Note 1 SV22 virtual mode only Note 2 When the manual pulse generator is used via the Q170MSCPU s internal I F the Q173DPX cannot be used Note 3 When the operation cycle is 7 11ms or less the manual pulse generator I F built in CPU can be used Note 4 Any incremental synchronous encoder connected to the Q170MSCPU s internal UE will automatically be assigned an Axis No one integer greater than the number of encoders connected to any Q173DPX modules Note 5 SV22 advanced synchronous control only Note 6 This cannot be used i
118. ate Motion programs Create the Motion programs using MT Developer2 Programming Create PLC programs Create the PLC programs to start of Motion programs using GX Works2 Write PLC programs Write the PLC programs created to the PLC CPU area CPU No 1 fixed Write Motion programs Write the positioning data and Motion programs created to the Motion CPU area CPU No 2 fixed Turn ON power supply again Turn ON again or reset the Motion controller s power supply Turn ON servo amplifiers power supply Check the emergency stop ON and forced stop ON and turn ON the power supply of servo amplifiers Test mode servo start up Initial check Check servo amplifier Check that the mounted servo amplifiers operate correctly Test mode servo start up Upper lower stroke limit check Check upper lower stroke limits Check that the upper lower stroke limits operate correctly 3 Z DANGER When performing wiring work or inspections turn the power OFF wait at least ten minutes and then check the voltage with a tester etc Failing to do so may lead to electric shocks Wire the units after mounting the Motion controller servo amplifier and servo motor Failing to do so may lead to electric shocks or damage Z CAUTION Always mount a leakage breaker on the Motion controller and servo amplifier power source Install em
119. ation 9 to 150Hz Shock resistance Compliant with JIS B 3502 and IEC 61131 2 SES 3 times in e of 3 directions X Y Z Operating ambience No corrosive gases Operating altitude VT 2000m 6561 68ft or less Mounting location Inside control panel Note Overvoltage category ll or less i Note Pollution level 2 or less Note 1 Do not use or store the Motion controller under pressure higher than the atmospheric pressure of altitude Om Doing so can cause an operation failure When using the Motion controller under pressure please contact with our sales representative Note 2 This indicates the section of the power supply to which the equipment is assumed to be connected between the public electrical power distribution network and the machinery within premises CategoryI applies to equipment for which electrical power is supplied from fixed facilities The surge voltage withstand level for up to the rated voltage of 300V is 2500V Note 3 This index indicates the degree to which conductive material is generated in terms of the environment in which the equipment is used Pollution level 2 is when only non conductive pollution occurs A temporary conductivity caused by condensing must be expected occasionally Z CAUTION The Motion controller must be stored and used under the conditions listed in the table of specifications above When not using the module for a long time disconnect the power line from the Motion controller or
120. ation failure and damage to or deterioration of the product When the modules are installed to the base unit while pressing the installation lever located at the bottom of module insert the module fixing projection into the fixing hole in the base unit until it stops Then securely install the module with the fixing hole as a supporting point Incorrect installation of the module can cause an operation failure damage or drop When using the Motion controller in the environment of much vibration tighten the module with a screw Tighten the screw in the specified torque range Under tightening may cause a drop short circuit or operation failure Over tightening may cause a drop short circuit or operation failure due to damage to the screw or module Be sure to connect the extension cable to connectors of the base unit correctly After connecting check them for looseness Poor connections could cause an input or output failure Completely turn off the externally supplied power used in the system before installation or removing the module Not doing so could result in electric shock or damage to the product Do not install remove the module onto from base unit or terminal block more than 50 times after the first use of the product Failure to do so may cause the module to malfunction due to poor contact of connector Do not directly touch the module s conductive parts and electronic components Doing so may cause an operation failure
121. ator side Signal name m generator side HAD m A A HBO i B A SG ov B SG 5V B SG Note 1 ov P5 5V FG Note 1 O 1 to3 HPSELO O 1to3 Twist pair cable Note 1 The 5V P5 DC power supply from the Q173DPX must not be used if a separate power supply is applied to the manual pulse generator incremental synchronous encoder If a separate power supply is used be sure it is 5V voltage Anything else may cause a failure Note 2 Connect HPSELD to the SG terminal if the manual pulse generator differential output type incremental synchronous encoder is used ZA CAUTION If a separate power supply is applied to the manual pulse generator incremental synchronous encoder be sure it is 5V voltage Anything else may cause a failure Always wire the cables when power is off Not doing so may damage the circuit of modules Wire the cable correctly Wrong wiring may damage the internal circuit P5 terminal is the power supply for the manual pulse generator Do not apply a voltage and do not use it for other purposes 2 SYSTEM CONFIGURATION 2 5 6 Manual pulse generator 1 Manual pulse generator specifications Voltage output Output current Up to 20mA 4 5 to 13 2VDC Current consumption mA 1 000 000 revolutions or more at 200r min Radial load Up to 19 6N Thrust load Up to 9 8N 0 4 Instantaneous Up to 600r min normal 200r min 2 signals A phase B phase 90 phase differen
122. attery holder Be sure to insert it until it clicks Anchor the lead wire to the pass through slot Connect the battery lead connector to the battery connector for Motion controller Neatly place the lead wires and connector into the battery holder Adjust the battery holder to the installation grooves and slide the battery holder in the direction of the arrow taking care to not damage the lead wires Be sure to insert it until it clicks Turn on the Motion controller s power supply Motion controller Battery holder Battery holder fixing tab Battery connector Q170MSCPU side Battery lead connector Battery side Battery Q7BAT Lead wire Note 2 A R Battery holder Note 1 Do not pull on the lead wire forcibly to remove the connector Note 2 Tilt the battery not to hitch the lead wire to the battery holder 6 13 6 INSPECTION AND MAINTENANCE 6 5 3 Resuming operation after storing the Motion controller When the operation is to be resumed after being stored with the battery removed or the battery has gone flat during storage the contents for the data Refer to Section 6 5 of RAM built in Motion controller cannot be guaranteed Before resuming operation write the contents for the data backed up prior to storage to
123. bout each module design method for program and parameter refer to the following manuals UO modules and intelligent function module Manual relevant to each module e Multiple CPU system configuration e Performance specification Q173D S CPU Q172D S CPU Motion controller e Design method for common parameter Programming Manual COMMON e Auxiliary and applied functions common e Design method for Motion SFC program V13 SV22 e Design method for Motion SFC parameter e Motion dedicated PLC instruction Q173D S CPU Q172D S CPU Motion controller SV13 SV22 Programming Manual Motion SFC e Design method for positioning control program in the real mode Q173D S CPU Q172D S CPU Motion controller e Design method for positioning control SV13 SV22 Programming Manual REAL MODE parameter SV22 e Design method for mechanical system Q173D S CPU Q172D S CPU Motion controller SV22 Virtual mode program Programming Manual VIRTUAL MODE V22 Advanced e Design method for synchronous control Q173DSCPU Q172DSCPU Motion controller SV22 synchronous parameter Programming Manual Advanced Synchronous Control 1 OVERVIEW 1 2 Comparison between Q170MSCPU and Q170MCPU 1 Comparison of hardware Q170MSCPU Q170MSCPU S1 Q170MCPU Power supply Built in 24VDC QO3UDCPU or equivalent QO6UDHCPU or equivalent QO3UDCPU or equivalent PLC CPU area 30k steps 60k steps 20k steps Program capacity 30k steps 120 bytes 60k steps 240 byt
124. c cccccceieccecedeccecateeccecacvecdecadeeceeatdeadecadenaeeeaddesdenanenseatandenteeees APP 28 APPENDIX 4 2 Forced stop input cable snnsnnesneenneeeneesrestrertnetnetnsttnsttnsttnsttnsttnnttnnttnnnnnnnnnnnnnn nne APP 31 APPENDIX 4 3 24VDC power supply cable nenen APP 31 APPENDIX 4 4 Internal I F Connector cable nen APP 32 APPENDIX 4 5 SSCNETI cables SC J3BUSHIM C manufactured by Mitsubishi Electric System Zen ii evi eee ee vie ee EEN APP 34 APPENDIX 5 Exterior Dimensions sneosneosneesneeeneennsrtnstnsttnsttnsttnetnntnntnnntnnttnnttnntnnntansttnnttnnnne nnne nn een APP 35 APPENDIX 5 1 Motion controller c cccccceceecceeeeeeeeceeeeceeceaeeeeaeescaeeecaaeeceaeeseaeessaeeeeaeeeseneeseeeseeeesaees APP 35 APPENDIX 5 2 Servo external signals interface module OD APP 36 APPENDIX 5 3 Manual pulse generator interface module OD APP 36 APPENDIX 5 4 Power supply module ccccceeecceeeeeeeeceeceaeeeeaeeseaeeesaaeeseaeeseaeeseaeeecaeeeseneeseaeeseaeesaees APP 37 APPENDIX 5 5 Battery holder APP 38 APPENDIX 5 6 ConneCt0r Ae a ea niaeened a idee dingd als APP 39 APPENDIX 5 7 Manual pulse generator MPR HDPOT APP 42 About Manuals The following manuals are also related to this product In necessary order them by quoting the details in the tables below Related Manuals 1 Motion controller Model Code Q170MSCPU Motion controller User s Manual This manual explains specifications of the Q170MSCPU Motio
125. ce Start friction torque 0 06Nem 20 C 68 F Note 1 Use MR HDP01 by connecting with internal I F or Q173DPX or Q170MSCPU s internal I F H level Power supply voltage UE 1V or more with no load Output level F rr L level 0 5V or less with maximum leading in Note 2 If a separate power supply is used be sure it is 5 DC 0 25V voltage 2 SYSTEM CONFIGURATION 2 5 7 SSCNETIL cables Between the Motion controller and servo amplifiers or servo amplifier and servo amplifier connected by SSCNETI cable Up to 16 servo amplifies can be connected 1 SSCNETI cable specifications MR J3BUSO3M MR J3BUS MR J3BUS3M 3 9 84 ve Q170MSCPU Servo amplifier MR J3BUS5M A 5 16 MA MR J3BUS10M A 10 32 81 MR J3BUS20M A 20 65 62 MR J3BUS30M B 30 98 43 MR J3BUSOM B MR J3BUS40M B 40 131 23 MR J3BUS50M B 50 164 04 Servo amplifier Servo amplifier 2 Connection between the Q170MSCPU and servo amplifiers Connect the SSCNETII cables to the following connectors Refer to Section 4 2 1 for the connection and disconnection of SSCNET T cable Q170MSCPU SSCNETII cable l
126. ce bit devices nesting block Up to 32 levels Calculation expression bit conditional expression soe Operation control program at i Descriptive branch repetition processing expression Si Calculation expression bit conditional expression Transition program i n comparison conditional expression Binary operation Sar hA SIN COS TAN ASIN ACOS ATAN SQRT LN EXP ABS RND FIX FUP BIN BCD 7 SHORT USHORT LONG ULONG FLOAT UFLOAT DFLT SFLT Transition program Bit device status Bit device control SET RST DOUT DIN OUT Logical operation None Comparison operation CHGV cHGVS ET euer Instruction Motion dedicated function CHGV CHGT CHGT2 CHGP El DI NOP BMOV FMOV El DI NOP BMOV FMOV Others MULTW MULTR TO FROM MULTW MULTR TO FROM RTO RFROM TIME TIME Vision system dedicated MVOPEN MVLOAD MVTRG MVPST MVIN MVOUT MVFIN function MVCLOSE MVCOM Data control SCL DSCL Program control IF ELSE IEND SELECT CASE SEND FOR NEXT BREAK Synchronous control CAMRD CAMWR CAMWR2 dedicated function CAMMK CAMPSCL Operation control program F FS Standard function 1 OVERVIEW Comparison of Motion SFC performance specifications continued QI70MSCPU S1 Q170MCPU Number of multi execute programs Up to 256 Number of multi active steps Up to 256 steps all programs Normal task Execute in main cycle of Motion controller Execute in fixed cycle E
127. controlled Motion CPU area Current consumption 5VDC A Part name Model name Note 1 Remark oun ops TYP All points 0 05 TYP All points ON 0 05 Se All points ON 0 05 TYP All points ON 0 05 TYP All points ON 0 09 TYP All points ON QX70 0 055 TYP All points ON DC sensor QX70H 0 08_ TYP All points ON DC Positive common Input module QX71 0 07_ TYP All points ON QX72 0 085 TYP All points ON 0 05 TYP All points ON QX80 TS 0 05 TYP All points ON QX80H 0 08 TYP All points ON QX81 0 075 TYP All points ON DC Negative common QX81 S2 0 075 TYP All points ON Refer to the MELSEC Q series PLC QX82 0 09 TYP All points ON Manuals QX82 S1 0 09 TYP All points ON QX90H 0 08 TYP All points ON 0 43 TYP All points ON QY10 TS 0 43 TYP All points ON QY18A 0 24 TYP All points ON Qy22 0 25 TYP All points ON QY40P 0 065 TYP All points ON QY40P TS 0 065 TYP All points ON Sink Type QY41P 0 105 TYP All points ON eel 0 15 TYP All points ON ayso 0 08 TYP All points ON Transistor Independent QY68A 0 11 TYP All points ON QY80 0 08 TYP All points ON QY80 TS 0 08 TYP All points ON Source Type QY81P 0 095 TYP All points ON a 0 16 TYP All points ON ewen W 0 095 TYP All points ON engem CMOS Sink QY71 0 15 TYP All points ON Input Output DC Inout QH42P 0 13 TYP All points ON
128. cremental synchronous encoder If a separate power supply is used be sure it is 5V voltage Anything else may cause a failure Note 2 Connect SEL to the SG terminal if the manual pulse generator differential output type incremental synchronous encoder is used 2 SYSTEM CONFIGURATION 3 Interface between manual pulse generator voltage output open collector type incremental synchronous encoder Input or S eg Sa SES H Signal name Pin No Wiring example Internal circuit Specification Description Output Rated input voltage For connection manual Manual pulse A 5 5VDC or less pulse eee generator incrementa 24 synchronous encoder phase A HIGH level Phases A B HA Manual 3 to 5 25VDC Ba rg pulse 2mA or less bR Ze generator il us or more Incremental synchronous LOW level d 2 bus 2 5us Manual pulse encoder 1VDC or less or more or more Input generator 11 5mA or more phase B Duty ratio 50 HB eLeading edge Trailing edge time 1 2us or less Phase difference Select type phase A signal 10 No connect Phase B SEL 1 2us or more 1 Positioning address increases if Phase A leads Phase B 2 Positioning address p5 Note 1 9 Power supply decreases if Phase B 5V 5VDC leads Phase A Power supply SG SG 22 Note 1 The 5V P5 DC power supply from the Q170MSCPU must not be used if a separate power supply is applied to the manual pulse generator increme
129. ctive matter such as screw or cutting chips or combustible matter such as oil enter the Motion controller servo amplifier or servomotor The Motion controller servo amplifier and servomotor are precision machines so do not drop or apply strong impacts on them Securely fix the Motion controller servo amplifier and servomotor to the machine according to the instruction manual If the fixing is insufficient these may come off during operation Z CAUTION Always install the servomotor with reduction gears in the designated direction Failing to do so may lead to oil leaks Store and use the unit in the following environmental conditions Conditions Environment S S Motion contrller Servo amplifier Ambient 0 C to 40 C With no freezing According to each instruction manual temperature 32 F to 104 F a 80 RH or less Ambient humidity According to each instruction manual i With no dew condensation Storage S 20 C to 65 C According to each instruction manual temperature 4 F to 149 F Indoors where not subject to direct sunlight Atmosphere No corrosive gases flammable gases oil mist or dust must exist Altitude 1000m 3280 84ft or less above sea level According to each instruction manual When coupling with the synchronous encoder or servomotor shaft end do not apply impact such as by hitting with a hammer Doing so may lead to detector damage Do not apply a load lar
130. cuit voltage even at the time of maximum power supply voltage elevation 2 Wiring of I O equipment a Insulation sleeved crimping terminals cannot be used with the terminal block It is recommended to cover the wire connections of the crimping terminals with mark or insulation tubes b The wires used for connection to the terminal block should be 0 3 to 0 75mm in core and 2 8mm 0 11inch or less in outside diameter c Run the input and output lines away from each other d When the wiring cannot be run away from the main circuit and power lines use a batch shielded cable and ground it on the Motion controller side In some cases ground it on the opposite side Motion controller Shield cable 4 INSTALLATION AND WIRING e Where wiring runs through piping ground the piping without fail f Run the 24VDC input line away from the 100VAC and 200VAC lines g Wiring of 200m 656 17ft or longer distance will give rise to leakage currents due to the line capacity resulting in a fault Refer to the troubleshooting chapter of the I O Module User s Manual h As a countermeasure against the power surge due to lightning separate the AC wiring and DC wiring and connect a surge absorber for lightning Refer to Section 4 3 1 1 Failure to do so increases the risk of I O device failure due to lightning 3 Grounding For grounding follow the steps a to c shown below a Use a dedicated grounding
131. d However it will not be charged if we are responsible for the cause of the failure 2 This limited warranty applies only when the condition method environment etc of use are in compliance with the terms and conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed to the Product 3 Even during the term of warranty the repair cost will be charged on you in the following cases 1 A failure caused by your improper storing or handling carelessness or negligence etc and a failure caused by your hardware or software problem 2 A failure caused by any alteration etc to the Product made on your side without our approval 3 A failure which may be regarded as avoidable if your equipment in which the Product is incorporated is equipped with a safety device required by applicable laws and has any function or structure considered to be indispensable according to a common sense in the industry 4 A failure which may be regarded as avoidable if consumable parts designated in the instruction manual etc are duly maintained and replaced 5 Any replacement of consumable parts battery fan etc 6 A failure caused by external factors such as inevitable accidents including without limitation fire and abnormal fluctuation of voltage and acts of God including without limitation earthquake lightning and natural disasters 7 A failure generated by an unforeseeable cause
132. d from the front CTRL connector Pin No SignalName PinNo Signal Name Signal No B20 FLS1 A20 FLS5 Signal No B19 RLS1 A19 RLS5 B20 A20 Wee STOP1 A18 STOP5 5 B17 DOG1 CHANGE1 A17 DOG5 CHANGE5 B16 FLS2 A16 FLS6 D 24 B15 RLS2 A15 RLS6 6 B14 STOP2 A14 STOP6 B13 DOG2 CHANGE2 A13 DOG6 CHANGE6 B12 FLS3 A12 FLS7 2 B11 RLS3 A11 RLS7 el B10 STOP3 A10 STOP7 B9 DOG3 CHANGE3 A9 DOG7 CHANGE7 B8 FLS4 A8 FLS8 B7 RLS4 A7 RLS8 45 B6 STOP4 A6 STOP8 S B5 DOGAICHANGEA A5 DOG8 CHANGE8 B1 A1 B4 No connect A4 No connect B3 No connect A3 No connect B2 COM A2 No connect B1 COM A1 No connect Applicable connector model name A6CON1 type soldering type connector FCN 361J040 AU connector FUJITSU COMPONENT LIMITED Attachment FCN 360C040 B connector cover A6CON2Z type Crimp contact type connector A6CONS type Pressure displacement type connector Optional A6CON4 type soldering type connector DOG CHANGE STOP RLS FLS functions of each axis 1 to 8 For information about Tee e Sien details reterto e DOG CHANGE Proximity dog Speed position the programming manual switching signal ESTOP wieren aa eeh Stop signal RLS EE EK tay Lower stroke limit SES ee E RS Upper stroke limit Note Connector terminal block conversion modules and cables can be used at the wiring of CTRL connector A6TBXY36 A6TBXY
133. d range NO The supply voltage should be within the rated range YES NO YES Does POWER LED turn on Remove the internal I F connector from the Motion controller 1 END 6 INSPECTION AND MAINTENANCE The manual pulse generator incremental synchronous encoder or connection cable is faulty Replace it with a normal manual pulse generator incremental synchronous encoder or connection cable Does POWER LED turn on Does POWER LED turn on Remove all modules from the extension base unit A hardware fault If the module will not work explain the error symptom and get advice from our sales representative for the modules with failure The extension base unit or extension cable is faulty Replace it with a normal extension base unit or extension cable Does POWER LED turn on Does POWER LED turn on Install all modules that removed from the extension base unit to the extension base unit A hardware fault Explain the error symptom and get advice from our sales representative Check the sum of internal current consumption of the modules that comprise the system Reexamine the system configuration to make the total current less than the rated output current Does the total current exceed the rated output current Does POWER LED turn on
134. d section to spacious area on the control panel A clamp can be used as shown in Figure 7 2 In this case mask the inner wall surface when coating the control panel and contact the exposed shield section with the clamp at the exposed bare metal surface go Clamp fittin Shield section j 3 lt b Shield cable Exposed bare metal surface Figure 7 1 Part to be exposed Figure 7 2 Shield grounding Correct example Note The method of grounding with a vinyl coated wire soldered onto the shielded section of the shielded cable as in shown Figure 7 3 is not recommended Doing so will raise the high frequency impedance resulting in loss of the shielding effect Shield cable Wire Solderless terminal crimp contact Figure 7 3 Shield grounding Incorrect example 7 EMC DIRECTIVES 4 Precautions relevant to the electrostatic discharge There is a weak part to electrostatic discharge in the surface of the module Before touching the module always touch grounded metal etc to discharge static electricity from human body Failure to do so may cause the module to fail or malfunction Do not directly touch the module s conductive parts and electronic components Touching them could cause an operation failure or give damage to the module 7 EMC DIRECTIVES 7 1 3 Parts of measure against noise 1 Ferrite core A ferrite core has the effect of reducing noise in the 30MHz to 100MHz band It is not required to fit ferrite cores to cables bu
135. d stop of all servo amplifiers is possible in a lump by using the forced stop input of Motion controller After forced stop the forced stop factor is removed and the forced stop canceled The servo error detection signal does not turn on with the forced stop The forced stop input cannot be invalidated in the parameter setting of system setting Make the forced stop input cable within 30 m 98 43 ft The wiring example for the forced stop input of Motion controller is shown below Q170MS CRU EMI COM Forced stop 24VDC lt Motion controller gt 24vDC Note L 1 a Forced stop Note The forced stop input can not be invalidated in the system settings Note 1 As for the connection both and are possible 3 9 3 DESIGN b The forced stop of all servo amplifiers is possible in a lump by using the forced stop input of input modules After forced stop the forced stop factor is removed and the forced stop canceled The servo error detection signal does not turn on with the forced stop The forced stop input can be set by allocation of the device number in the parameter setting of system setting When the device is used apply 24VDC voltage on EMI connector and invalidate the forced stop input of EMI connector The wiring example that uses the forced stop input of input module QX10 is shown below Q170MS CPU EMI COM 24VDC power supply O QX10
136. ded with Q170MSCPU Q170MSCPU S1 Power supply Note 4 module 70MSCPU 72DLX HDP01 P Description Power supply PLC CPU Motion CPU all in one type Battery OB AT 24VDC power supply connector and connector for forced stop input cable CES are attached e Motion CPU area Up to 16 axes control Operation cycle 0 22 ms or more Servo program capacity 16k steps Internal I F Incremental synchronous encoder interface 1ch Input signal Mark detection input signal 4 points Output signal 2 points e PLC CPU area Program capacity 30k steps LD instruction processing speed 0 02uUs Power supply PLC CPU Motion CPU all in one type Battery Sota 24VDC power supply connector and connector for forced stop input cable CS are attached e Motion CPU area Up to 16 axes control Operation cycle 0 22 ms or more Servo program capacity 16k steps Internal I F Incremental synchronous encoder interface 1ch Input signal Mark detection input signal 4 points Output signal 2 points e PLC CPU area Program capacity 60k steps LD instruction processing speed 0 0095uUs Servo external signal input 8 axes FLS RLS STOP DOG CHANGEx8 Manual pulse generator MR HDP01 Incremental synchronous encoder interface x3 Tracking input 3 points Pulse resolution 25PLS rev 100PLS rev after magnification by 4 Permitted axial loads Radial load Up to 19 6N Thrust load Up to 9 8N Permitted speed 200r min Normal rotation Voltage output For memory data back
137. e Product and any other operations conducted by you 5 Change of Product specifications Specifications listed in our catalogs manuals or technical documents may be changed without notice 6 Precautions for Choosing the Products 1 For the use of our Motion controller its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in Motion controller and a backup or fail safe function should operate on an external system to Motion controller when any failure or malfunction occurs 2 Our Motion controller is designed and manufactured as a general purpose product for use at general industries Therefore applications substantially influential on the public interest for such as atomic power plants and other power plants of electric power companies and also which require a special quality assurance system including applications for railway companies and government or public offices are not recommended and we assume no responsibility for any failure caused by these applications when used In addition applications which may be substantially influential to human lives or properties for such as airlines medical treatments railway service incineration and fuel systems man operated material handling equipment entertainment machines safety machines etc are not recommended and we assume no responsibility for any failure caused by these applications when used We will review the acceptabili
138. e power supply is turned ON with the mechanical switch Turn ON the primary AC side of power supply When selecting a fuse and breaker in the external circuit take account of the blow out detection characteristics and above matters Note 4 Allowable momentary power failure period 1 An instantaneous power failure lasting less than 10ms 24VDC down to be detected but operation will continue 2 An instantaneous power failure lasting in excess of 10ms cause the operation to continue or initial start to take place depending on the power supply load Note This is for a 24VDC input This is 10ms or less for less than 24VDC Note 5 Select 24VDC power supply with allowable momentary power failure period of 20ms or more Note 6 The current consumption 0 2 A of manual pulse generator incremental synchronous encoder connected to the internal I F connector is not included Note will cause Note may 2 SYSTEM CONFIGURATION 2 Motion control specifications performance specifications a Motion control specifications Specification Number of control axes Up to 16 axes 0 22ms 1 to 4 axes 0 44ms 5 to 10 axes 0 88ms 11 to 16 axes 0 44ms 1 to 6 axes 0 88ms 7 to 16 axes Interpolation functions Linear interpolation Up to 4 axes Circular interpolation 2 axes Helical interpolation 3 axes Operation cycle default EVER PTP Point to Point control Speed control Speed position control Fi
139. e thus optimizing the control system PLC CPU area a The I O modules analog I O modules pulse I O modules positioning modules information modules and network can be controlled with the sequence program b The device data access and program start of the Motion CPU area can be executed by the Motion dedicated PLC instructions c The real time processing can be realized by the Multiple CPU synchronous interrupt program Motion CPU area a Up to 16 axes servo amplifiers per 1 line can be controlled in Q170MSCPU b Itis possible to set the program which synchronized with the motion operation cycle and executed at fixed cycle 0 22 ms 0 44 ms 0 88 ms 1 77 ms 3 55 ms 7 11 ms 14 2 ms c Itis possible to execute a download of servo parameters to servo amplifier servo ON OFF to servo amplifier and position commands etc by connecting between the Q170MSCPU and servo amplifier with SSCNETII cable d Itis possible to select the servo control functions programming languages by installing the corresponding operating system software in the Q170MSCPU e Motion modules Q172DLX Q173DPX are controlled with the Motion CPU area and the signals such as stroke limit signals connected to Motion Note 1 modules and incremental synchronous encoder can be used as motion control f The synchronous control can be executed by using the incremental synchronous encoder up to 12 axes The incremental synchronous encoder
140. ea BOOT LED ON_ Start of boot operation OFF Non execution of boot operation e Connector to connect the peripheral devices for USB connection USB connector Connector type mini B e Connect with the dedicated cable for USB e Connector to connect the peripheral devices for RS 232 connection Rs282comnecor Connect with the dedicated cable QC30R2 for RS 232 Forced stop input connector EMI Input to stop all axes of servo amplifier in a lump Note 2 EMI ON opened Forced stop EMI OFF 24VDC input Forced stop release 20 Used to eject the memory card from the Motion controller 21 Note 1 Put the SSCNETII cable in the duct or fix the cable at the closest part to the Motion controller with bundle material in order to prevent SSCNETII cable from putting its own weight on SSCNETIL connector Note 2 Be sure to use the cable for forced stop input The forced stop cannot be released without using it If the cable for forced stop input is fabricated on the customer side make it within 30m 98 43ft Note 3 Be sure to set the battery The data Refer to Section 6 5 of RAM built in Motion controller are not backed up if the battery cable is not set correctly Note 4 Purchase the M5 screws 2 SYSTEM CONFIGURATION 5 7 segment LED display The LED displays flashes in the combination with errors 7 segment LED Mode operated by error Final stage warning 2 5V or less Operating system software
141. ead wires Be sure to insert it until it clicks Make sure that the battery holder is installed in the Motion controller securely Battery connector E Q170MSCPU side V Battery lead connector Battery side Lead wire fixing hook Battery holder Installation grooves Battery holder 4 INSTALLATION AND WIRING b Removal Pull the battery holder while pushing the battery holder fixing tab and remove the holder from the Motion controller y Remove the battery lead connector from battery connector Note C END J 1 2 3 Battery holder Motion controller Battery holder fixing tab C Battery connector Q170MSCPU side V Battery lead connector Battery side Note Do not pull on the lead wire forcibly to remove the connector 4 INSTALLATION AND WIRING 3 Battery holder For Q7BAT a Mounting Anchor the lead wire to the lead wire fixing hook ee Connect the battery lead connector to the battery connector DEE Adjust the battery holder to the installation grooves and slide the battery holder in the direction of the arrow taking care to not damage the lead wires Be sure to insert it u
142. ection for details Note 2 The actual service value indicates the average value and the guaranteed value indicates the minimum value Note 3 The power on time ratio indicates the ratio of Motion controller power on time to one day 24 hours When the total power on time is 17 hours and the total power off time is 7 hours the power on time ratio is 70 Note 4 The guaranteed value MIN equivalent to the total power failure time that is calculated based on the characteristics value of the memory SRAM supplied by the manufacturer and under the storage ambient temperature range of 25 C to 75 C 13 to 167 F operating ambient temperature of 0 C to 55 C 32 to 131 F Note 5 The guaranteed value TYP equivalent to the total power failure time that is calculated based on the normal air conditioned environment 40 C 104 F Note 6 The actual service value Reference value equivalent to the total power failure time that is calculated based on the measured value and under the storage ambient temperature of 25 C 77 F This value is intended for reference only as it varies with characteristics of the memory Note 7 In the following status the backup time after power OFF is 3 minutes Q6BAT Q7BAT lead connector is disconnected e Lead wire of Q6BAT Q7BAT is broken Note 8 Battery consumption 1 cannot be used in Q170MSCPU Note 9 Set the battery Q6BAT Q7BAT to battery holder 6 INSPECTION AND MAINT
143. ection methods are different Refer to this section 5 When the manual pulse generator is connected to the Q173DPx it cannot be connected to the internal I F Motion controller Connectable manual pulse generator Up to 3 modules Q170MSCPU Q173DPX Up to 1 module 4 Connection of incremental synchronous encoder Incremental synchronous encoders of the voltage output Open collector type and differential output type can be connected Both connection methods are different Refer to this section 5 Motion controller Connectable synchronous encoder Up to 12 modules Q170MSCPU Q173DPX Up to 4 modules Q170MSCPU Combination of Q173DPX and internal I F Note Q173DPX Up to 3 modules Up to 10 modules Note Refer to Section 2 5 1 for details of the internal I F e Tracking enable signal Tracking enable signal of Q173DPxX is used to start the input from incremental synchronous encoders in the external input mode for the clutch The external input signal of the incremental synchronous encoder is indicated below This signal is used as the input start signal high speed reading function or high speed input request signal from incremental synchronous encoder External input signal of the eo Number of points on Application incremental synchronous encoder one Q173DPX A Input start function from incremental Each 1 point Tracking enable signal input l synchronous encoder Total 3 points 2 61 2
144. eed as much as possible and put forced stop and confirm the operation and safety home position return Check home position return Motion CPU Ke area Check the following by executing the home position return 1 Home position return direction 2 Home position return data 3 Proximity dog position Programming Check Motion program Set the RUN STOP RESET switch of Motion controller to RUN and check that all positioning controls by Motion programs are correct v a Monitor Check by automatic operation PLC CPU Check the sequence operation by executing area the PLC program using an actual external input v END POINTS 1 Make note of servo motor module names before the servo motor is mounted on a machine The servo motor rating plate may not be visible after the servo motor is mounted 2 When the servo amplifier servo motor is first turned on check the operation before the servo motor is mounted on a machine to avoid an unexpected accidents such as machine breakage 5 START UP PROCEDURES 5 3 Operating System Software Installation Procedure The operating system software must be installed to the Motion controller by using the peripheral device and MT Developer2 The installation procedure is shown below START Set a rotary switch1 SW1 of Motion controller to A sew Rotary switch 2 SW2 is optional Set to installation mode Refer to Sectio
145. electrolytic capacitor and fan will deteriorate Periodically replace these to prevent secondary damage from faults Replacements can be made by our sales representative Lock the control panel and prevent access to those who are not certified to handle or install electric equipment Do not burn or break a module and servo amplifier Doing so may cause a toxic gas 9 About processing of waste When you discard Motion controller servo amplifier a battery primary battery and other option articles please follow the law of each country area A CAUTION This product is not designed or manufactured to be used in equipment or systems in situations that can affect or endanger human life When considering this product for operation in special applications such as machinery or systems used in passenger transportation medical aerospace atomic power electric power or submarine repeating applications please contact your nearest Mitsubishi sales representative Although this product was manufactured under conditions of strict quality control you are strongly advised to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the product is likely to cause a serious accident 10 General cautions All drawings provided in the instruction manual show the state with the covers and safety partitions removed to explain detailed sections When operating the product always return the
146. emperature inside the panel storing the Motion controller must be suppressed to an ambient temperature of 55 C 131 F or less which is specified for the Motion controller For the design of a heat releasing panel it is necessary to know the average power consumption heating value of the devices and instruments stored inside Here the method of obtaining the average power consumption of system is described From the power consumption calculate a rise in ambient temperature inside the control panel How to calculate average power consumption The power consuming parts of the Motion controller are roughly classified into six blocks as shown below 1 Total power consumption for 5VDC logic circuits of all modules including Motion controller This is a power to which each module consumes the current supplied by the 5VDC output circuit of the internal power supply including the current consumption of the base unit Wsv lau x 5 W I5v Current consumption of 5VDC logic circuit of each module 2 Power consumption of internal power supply The power conversion efficiency of the internal power supply is approx 80 while 20 of the output power is consumed as heat As a result 1 4 of the output power is the power consumption Therefore the calculation formula is as follows Won f x Wsv W I5v Current consumption of 5VDC logic circuit of each module 3 A total of 24VDC average power consumption of the internal output
147. end Setting No Automatic refresh CPU specific send range U3E1 2 320o wo p9 gt cress een APP 19 APPENDICES b PLC CPU area 1 SV13 Q170MS_SV13_GX2 When using Q170MSCPU S1 change the PLC type to QO6UDH in the change PLC type of GX Works2 a I O assignment e I O assignment Points LJ L it opoint point opoint geen gea 0 point fswitent hd hd KC i Switch 2 woa E e elede e swtna S S EE EE E oS olsson oS i swtns S S Slll Error time outputmode _ setting ENEE Detailed i PLC operation mode vOresponsetime I O response time controlpLc PLC No 1 PLC No 1 PLC No 1 PLC No 1 PLC No 1 PLC No 1 PLC No 1 e Base setting Setting items Slots Main ae e b Multiple CPU settings LL Settingitems Description 2 modules No specification All station stop by stop error of PLC1 PLC2 PLC No 1 PLC No 2 checked Enable online module change with another PLC not checked 6 Input sharing when using Multiple CPUs All CPUs can read all inputs not checked Output sharing when using Multiple CPUs All CPUs can read all outputs not checked Use multiple CPU high speed communication CPU specific send range ae eon ii D I PLC User setting area Auto refresh e speed transmission Hes an oo E point k _1 O No il u3E0 7022 G1
148. ength MR J3BUS OM use 1 lt 3m 9 84ft Lo wei MR J3BUSOM A use H 1 lt 20m 65 62ft P oH MR J3BUSOIM B use a 1 s50m 164 04ft w il 1 CN1A LP EE To im R CN1B O L Servo amplifier Servo amplifier Note It cannot communicate if the connection of CN1A and CN1B is mistaken 2 SYSTEM CONFIGURATION 3 Setting of the axis No and axis select rotary switch of servo amplifier Axis No is used to set the axis numbers of servo amplifiers connected to SSCNETI connector in the program Axis No of 1 to 16 can be set Axis No is set in the system setting of MT Developer2 Axis No 1 to 16 is allocated and set for the setting axis number d01 to d16 of servo amplifier Since the axis number d01 to d16 of servo amplifier on the system setting screen corresponds to axis select rotary switch 0 to F of servo amplifier set the axis select rotary switch referring to the table below e Setting display of axis No e Axis select rotary switch 1 SSCNET Structure Sele Servo amplifier Amplifier Setting Amplifier Information Amplifier Model MR 34 W B RI KH Amplifier Operation Mode Standard e SSCNET III LINE 1 SSCNET III H Axis Infor Axis No u P E Axis Label H H i 1 Only the scale measurement mode corresponding MR 14 B RJ can be used r Input Filter Setting Nothing amp Servo Parameter Setting C 0 8ms C 1 7ms C 2 6ms 3 5ms Cancel NI
149. equence program Motion SFC program is stopped e RESET Momentary switch Set the switch to the RESET position 1 second or more to reset the hardware 4 POWER LED For communication UE with peripheral devices e Upper LED Remains flashing It communicates with the peripheral devices ON It does not communicate with the peripheral devices e Lower LED Data transmission speed ON 100Mbps OFF 10Mbps Connector to connect the manual pulse generator incremental synchronous Internal I F connector encoder or to input output the signals Voltage output open collector type Differential output type 9 24VDC power supply connector The DC power of 24VDC is connected 10 Serial number display Displays the serial number described on the rating plate 1 MODE LED Indicates the mode of the PLC CPU area e ON green Q mode Indicates the operating status of the PLC CPU area e ON During operation with the RUN STOP RESET switch set to RUN OFF During stop with the RUN STOP RESET switch set to STOP When an error is detected and operation must be halted due to the error e Remains flashing Parameters or programs are written with the RUN STOP RESET switch set to STOP and then the RUN STOP RESET switch is turned from STOP to RUN e To turn ON the RUN LED after writing the program carry out the following steps 1 Set the RUN STOP RESET switch in the order of RUN 12 RUN LED to STOP to RUN 2 Rese
150. er or servo amplifier for some troubles make also sure to put a cap on SSCNETIO connector When the connector is not put a cap the light device may be damaged at the transit In this case exchange and repair of light device is required 4 INSTALLATION AND WIRING EH 4 2 2 Forced stop input cable 1 Precautions for handling the forced stop input cable For connection or removal of the forced stop input cable do it surely while holding a connector of forced stop input cable Motion controller gt l EES 7 ke 8 LP E dE 2 Connection of the forced stop input cable For connection of a forced stop input cable to the Motion controller connect it surely to a EMI connector of Motion controller while holding a connector Be sure to insert it until it clicks 3 Removal of the forced stop input cable For removal of the forced stop input cable pull out the cable while holding a connector POINTS The following handling will damage the Motion CPU module or forced stop input cable e Forced removal of the forced stop input cable from the CPU module e The forced stop input cable is twined other cables e Excessive power is applied at cable laying Wire the cable correctly 4 INSTALLATION AND WIRING 4 2 3 24VDC power supply cable 1 Precautions for handling the 24VDC power s
151. er type increment absolute position type etc parameter to a value that is compatible with the system application The protective functions may not function if the setting is incorrect Set the servomotor capacity and type standard low inertia flat etc parameter to values that are compatible with the system application The protective functions may not function if the settings are incorrect Set the servo amplifier capacity and type parameters to values that are compatible with the system application The protective functions may not function if the settings are incorrect Use the program commands for the program with the conditions specified in the instruction manual Z CAUTION Set the sequence function program capacity setting device capacity latch validity range I O assignment setting and validity of continuous operation during error detection to values that are compatible with the system application The protective functions may not function if the settings are incorrect Some devices used in the program have fixed applications so use these with the conditions specified in the instruction manual The input devices and data registers assigned to the link will hold the data previous to when communication is terminated by an error etc Thus an error correspondence interlock program specified in the instruction manual must be used Use the interlock program specified in the intelligent function module s instruc
152. erative resistor is mounted and for the wires used Failing to do so may lead to fire Do not apply a voltage other than that specified in the instruction manual on any terminal Doing so may lead to destruction or damage Do not mistake the polarity as this may lead to destruction or damage 3 DESIGN ZA CAUTION Do not touch the heat radiating fins of controller or servo amplifier regenerative resistor and servomotor etc while the power is ON and for a short time after the power is turned OFF In this timing these parts become very hot and may lead to burns Always turn the power OFF before touching the servomotor shaft or coupled machines as these parts may lead to injuries Do not go near the machine during test operations or during operations such as teaching Doing so may lead to injuries Always mount a leakage breaker on the Motion controller and servo amplifier power source If mounting of an electromagnetic contactor for power shut off during an error etc is specified in the instruction manual for the servo amplifier etc always mount the electromagnetic contactor Mount an emergency stop circuit externally so that the operation can be stopped immediately and the power shut off Use the Motion controller servo amplifier servomotor and regenerative resistor with the correct combinations listed in the instruction manual Other combinations may lead to fire or faults If safety standards
153. ergency stop circuit externally so that operation can be stopped immediately and the power shut off Use the program commands for the program with the conditions specified in the instruction manual Some devices used in the program have fixed applications so use these with the conditions specified in the programming manual Z CAUTION If safety standards ex robot safety rules etc apply to the system using the Motion controller servo amplifier and servo motor make sure that the safety standards are satisfied Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system Axis No and error description of servo amplifier which detected errors are displayed on initial check screen 5 START UP PROCEDURES 3 Test mode JOG operation Check machine operation Z CAUTION Check the following by making the machine i The system must have a mechanical allowance so operate with the JOG operation of Feet MT Developer that the machine itself can stop even if the stroke 1 Machine operates correctly no vibration hunting etc 2 Stroke limits operate correctly 3 Machine stops by the emergency stop or forced stop Test mode l limits switch is passed through at the max speed Execute the test operation in the system that it is low sp
154. erminal blocks while the power is ON as this may lead to electric shocks or fire Do not touch the built in power supply built in grounding or signal wires of the Motion controller and servo amplifier as this may lead to electric shocks Z CAUTION Be sure to ground the Motion controller servo amplifier and servomotor Do not ground commonly with other devices Ground resistance 100 2 or less The wiring work and inspections must be done by a qualified technician Wire the units after mounting the Motion controller servo amplifier and servomotor Failing to do so may lead to electric shocks or damage Perform the daily and periodic inspections according to the instruction manual Perform maintenance and inspection after backing up the program and parameters for the Motion controller and servo amplifier Do not place fingers or hands in the clearance when opening or closing any opening Periodically replace consumable parts such as batteries according to the instruction manual Do not touch the lead sections such as ICs or the connector contacts Do not place the Motion controller or servo amplifier on metal that may cause a power leakage or wood plastic or vinyl that may cause static electricity buildup Do not perform a megger test insulation resistance measurement during inspection When replacing the Motion controller or servo amplifier always set the new unit settings correctly After maintenance and
155. ervo amplifier Proximity dog Speed position switching e Upper stroke limit Lower stroke limit Manual pulse generator Incremental synchronous encoder X1 module j Panel personal computer Input signal Mark detection input signal 4 points Output signal 2 points h Motion CPU area control module le PLC CPU area control module a Fa r 2 2 kK 3 3 E 2 8 5 E Extension i ace as a cable S Sjow g QCOB S25 285 oog ase naoEl2os v Power Qiso QXOO OCI 3 Q6DAD Q172D Q173D supply E H LX PX UO module gt module ER OGCDA Intelligent function module 2 Eei 2 OD E x 5 Extension base unit Manual pulse generator Q60B Q50B Incremental synchronous encoder UP to 7 extensions 64 slots 3 module MR HDP01 External input signals Number of Inputs FLS Upper stroke limit RLS Lower stroke limit 8 axes module STOP Stop signal DOG CHANGE Proximity dog Speed position switching p Analogue input output p gt Input output Up to 256 points Interrupt signals 16 points External input signals e Upper stroke limit Lower stroke limit STOP signal Proximity dog Speed position switching 2 SYSTEM CONFIGURATION Z CAUTION Constr
156. es 30k steps 80 bytes LD instruction processing speed 0 02us 0 0095us 0 02us Q172DCPU or equivalent Motion CPU area Q172DSCPU or equivalent 16 axes 16 axes xi Forced stop input Use forced stop input terminal 7 extensions Up to 64 slots SE 1 extension Extension base unit Q52B Q55B Q63B Q65B Q68B Q612B usable Q52B Q55B usable Base unit e Extension base unit use Connection after the extension GOT bus a base unit of stage 1 i No restriction i connection e Extension base unit not use Direct bus connection to Motion controller Q172DLX 2 modules Q172DEX Unusable N Sa oam F Base unit for installation Extension base unit Demand Q6BAT Packed together with Motion controller Q7BAT Large capacity Usable sold separately Number of CPUs 2 modules A CPU No 1 PLC CPU area Multiple CPU CPU No 2 Motion CPU area system CPU No 3 a CPU No 4 Mounting method Be sure to mount Motion controller on control panel by fixing screws a i e 178 7 01 H x 52 2 05 W Exterior dimensions mm inch 186 7 32 H x 52 2 05 W x 135 5 31 D x 135 5 31 D Medium of operating system The operating system software ed ee CD ROM 1 disk software SV22 Virtual mode switching method is installed Model of operating system software svs S Programming GX Works2 tool MT Developer2 1 OVERVIEW Comparison of hardware continued Q170MSCPU Q170MSCPU S1 Q170MCPU Communication
157. es of 0 8mm 0 03inch or less Also only two solderless terminals can be connected per terminal block Terminal block Solderless terminals with insulation sleeves 6 Ensure that the earth terminals LG and FG are grounded Ground resistance 1002 or less If not the programmable controller may become susceptible to noise Since the LG terminal has a half of the input voltage touching this terminal may result in an electric shock 7 No system error can be detected by the ERR terminal of an extension base unit The ERR terminal is always set off 4 INSTALLATION AND WIRING 4 3 3 Wiring of connector Specialised tools are not required for wiring the 24VDC power supply connector and forced stop input connector because plugs with spring connection are used 1 Applicable wire size and wire fabrication a Applicable wire size The applicable wire size for 24VDC power supply connector and forced stop input connector are shown below Applicable wire size 24VDC power supply connector FKC 2 5 3 ST 5 08 0 3 t0 2 5mm AWG12 to AWG22 Forced stop input connector FK MCP1 5 3 ST 3 81 0 3 t0 1 5mm AWG16 to AWG22 b Wire fabrication Strip the wire according to stripped length indicated in the figure below Slide the sheath off the wire and gently twist and straighten the strands When using the wire be careful not to short with stray strands entering the neighbouring poles Do not use solder on the wire s core as
158. et the Q173DPX in the system settings P10 to P12 Number of Q173DPXs eee a ee ee om o EH Usable by internal I F Or Usable only by the 1st Q173DPX Gr Usable only by the 2nd Q173DPX Gr Usable only by the 3rd Q173DPX Gr Usable only by the 4th Q173DPX Unusable 2 SYSTEM CONFIGURATION For advanced synchronous control method set the axis No of synchronous encoder in the synchronous encoder axis parameter Refer to the Q173DSCPU Q172DSCPU Motion controller SV22 Programming Manual Advanced Synchronous Control for details 9 PERIPHERAL I F connector Item Specification Data transmission speed 100Mbps 10Mbps Communication mode Full duplex Half duplex Transmission method Base band Cable length m ft Up to 30 98 43 Transmission 10 24VDC power supply connector 24VDC power supply is supplied from the 24VDC power supply connector of the front face of the Motion controller The pins layout from front view and connection of the 24VDC power supply connector is shown below e Applicable connector model name FKC2 5 3 ST 5 08 connector PHOENIX CONTACT make Attachment e Conductor size for power line 0 3 to 2 5mm AWG12 to AWG22 ZA CAUTION 24V pin is upper side and 24G pin is lower side of 24VDC power supply connector from front view of Motion controller If the polarity is wrong the unit may be damaged Twist 24V
159. etting CTRL connector The servo external signal input connector of each axis Used to install the module to the base unit Hole for the screw used to fix to the base unit hole M3x12 screw Purchase from the other supplier Display the serial number described on the rating plate Input indicator LED of the proximity dog speed position switching signal DOG CHANGE turns ON at the following conditions e Q172DLX is set on the system setting of MT Developer2 e The proximity dog speed position switching signal DOG CHANGE is input 2 SYSTEM CONFIGURATION 2 Performance specifications a Module specifications Specifications Number of I O occupying points 32 points I O allocation Intelligent 32 points Internal current consumption 5vDC A oo oo 98 H x 27 4 W x90 D 3 86 H x 1 08 W x 3 54 D Mass kg 0 15 b Input Specifications Servo external signals 32 points Exterior dimensions mm inch Upper stroke limit Lower stroke limit Stop input Number of input points at e waded 8 Proximity dog Speed position switching signal 4 points x 8 axes Photocoupler 10 2 to 26 4VDC Operating voltage range i 12 24VDC 10 15 ripple ratio 5 or less ON voltage current 10VDC or more 2 0mA or more OFF voltage current 1 8VDC or less 0 18mA or less Input resistance Approx 5 6kQ Response time of the Upper Lower stroke limit im and STOP signal eo Response time of the proxi
160. expression bit conditional expression Sei Operation control program NW Descriptive branch repetition processing expression E Calculation expression bit conditional expression Transition program ei comparison conditional expression Number of multi execute programs Up to 256 Number of multi active steps Up to 256 steps all programs Normal task Execute in main cycle of Motion controller Eventtask lene ale Execute in fixed cycle IXI eae 0 22ms 0 44ms 0 88ms 1 77ms 3 55ms 7 11ms 14 2ms Execute specification Execution p F Executed aes External Execute when input ON is set among interrupt module QI60 task interrupt 16 points masked PLC interrupt Execute with interrupt instruction D P GINT from PLC Execute when input ON is set among interrupt module QI60 NMI task i 16 points Number of I O points X Y 8192 points Total 256 points Number of real I O points PX PY Internal I F Input 4 points Output 2 points I O module Intelligent function module Internal relays M 12288 points Link relays B 8192 points Annunciators F 2048 points Number of devices Special relays SM 2256 points Device In the Motion CPU 3 Note Data registers D 8192 points area only Link registers W 8192 point Included the positioning ink registers W PONS dedicated device Special registers SD 2256 points Motion registers 12288 points Coasting timers FT 1 point 888s N e Multiple CPU area devices UL
161. external equipment to be controlled Select the extension base units extension power supply module and extension cables and make I O assignment according to necessary number of Q172DLXs Q173DPxs I O modules intelligent function modules Select the servo amplifier and servo motor according to the motor capacity and number of revolution from the machine mechanism to be controlled each axis Set the servo amplifier connection by SSCNETIE H and axis numbers dno and axis No Select SSCNETII H head module and I O modules intelligent function modules according to the specifications of the external equipment to be controlled Select the head module connection by SSCNETII H station number and axis No Refer to section 2 5 4 Refer to section 2 5 1 Refer to section 2 5 5 Refer to MELSEC Q series manual Refer to section 2 5 4 Refer to section 2 5 5 Refer to MELSEC Q series manual Refer to the servo amplifier manual Refer to section 2 5 7 Refer to MELSEC L series SSCNETIL H head module manual 3 DESIGN y External circuit design Refer to section 3 2 Power supply circuit design Design the power supply circuit which supplies power to such dee system components as the Motion controller UO equipment and servo amplifiers etc taking into consideration the protective coordination and noise suppression techniques Safety circuit design Design the operati
162. fiber for MR J3BUSOIM and MR J3BUSUOIM A are made of synthetic resin it melts down if being left near the fire or high temperature Therefore do not make it touched the part which becomes high temperature such as radiator or regenerative option of servo amplifier or servomotor When laying the SSCNETII cable be sure to secure the minimum cable bend radius or more Put the SSCNETII cable in the duct or fix the cable at the closest part to the Motion controller with bundle material in order to prevent SSCNETII cable from putting its own weight on SSCNETII connector When laying cable the optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius and it should not be twisted When bundling the cable fix and hold it in position by using cushioning such as sponge or rubber which does not contain migratable plasticizing If using adhesive tape for bundling the cable fire resistant acetate cloth adhesive tape 570F Teraoka Seisakusho Co Ltd is recommended 4 INSTALLATION AND WIRING POINTS 9 Migrating plasticizer is used for vinyl tape Keep the MR J3BUSOM and MR J3BUSOIM A cables away from vinyl tape because the optical characteristic may be affected I Optical cord Cable SSCNETII cable MR J3BUSOM C ooa e MR J3BUSOM A E EE MR JSBUSCIM B S eE SN O Normally cable is not affected by plasticizer A Phthalate ester plasticizer such as DBP and
163. fix the module to the base unit 1 Module fixing hook ee Single motion installation Display the input status from the external equipment PLSA 103 Display for input signal status of manual pulse generator incremental synchronous PLS B 1to3 Input indicator LED encoder phases A B Display for signal status of tracking TREN 1 to 3 enable The manual pulse generator incremental synchronous encoder phases A B and tracking enable signal does not turn ON without setting Q173DPX in the system setting Input connector of the Manual pulse generator Incremental 3 PULSER connector synchronous encoder Module mounting lever Used to install the module to the base unit it Hole for the screw used to fix to the base unit 5 Module fixing screw hole M3x12 screw Purchase from the other supplier 2 SYSTEM CONFIGURATION Application Detection setting of TREN1 signal Dip switch 1 SW1 SW2 OFF ON TREN is detected at leading edge of TREN signal OFF Dip switch 2 ON TREN is detected at trailing edge of TREN signal Detection setting of TREN2 signal SW3 SW4 OFF ON ON ON OFF Note 1 Dip switches Dip switch 3 Dip switch 4 Dip switch 5 Dip switch 6 TREN is detected at leading edge of TREN signal TREN is detected at trailing edge of TREN signal Detection setting of TREN3 signal SW5 SW6 OFF OFF ON ON ON OFF OFF Factory default
164. for handling the battery lead wire For connection or removal of the battery lead wire do it surely while holding a battery lead connector Motion controller Us E pe a Battery lead connector Do not hold lead wire Battery connector Battery lead wire KS Q6BAT r P 4 side c Connection of the battery lead wire For connection of a battery Q6BAT Q7BAT to the Motion controller connect it surely to a battery connector while holding a battery lead connector Be sure to insert it until it clicks d Removal of the battery lead wire For removal of the battery lead wire pull out it while holding a battery lead connector 1 Forced removal of a connector while holding the battery lead wire will damage the battery connector or battery lead wire 2 The data Refer to Section 6 5 of RAM built in Motion controller are not backed up if the battery connector is not connect correctly 4 INSTALLATION AND WIRING 2 Battery holder For Q6BAT a Mounting Anchor the lead wire to the lead Se wire fixing hook Connect the battery lead connector 2 to the battery connector N Adjust the battery holder to the 3 installation grooves and slide the battery holder in the direction of the arrow taking care to not damage the l
165. from the following attachment of a handling label submission of the Shipper s Declaration for Dangerous Goods and a 1 2m drop test 2 A battery handling label size 120 x 110mm is required Emergency telephone number must be filled out in the additional handling information of the Shipper s Declaration for Dangerous Goods 3 New label design containing battery illustration must be used in air transportation only KH CAUTION g ia A Lithium Metal batteries DO NOT LOAD OR TRANSPORT PACKAGE IF DAMAGED For more information call 81 3 3218 3639 International Weise AAA Veedel ee ANN Fig 2 1 Example of Label with Battery Illustration e Transportation precaution for customers Documentations like the handling label in the specified design and the Shipper s Declaration for Dangerous Goods are required for air and sea transportation Please attach documentations like the handling label in the specified design and the Shipper s Declaration for Dangerous Goods to the package If you need the self certification form for the battery safety test contact Mitsubishi For more information contact Mitsubishi 2 SYSTEM CONFIGURATION 2 Motion controller Q170MSCPU Note 7 Q7BAT Large capacity Q170MSCPU S1 Q6BAT Battery type Data back up of Motion controller by the battery Be sure to set the battery to the Motion controller Set the battery Q6BAT Q7BAT to battery holder The data Refer to Section
166. ful attention to safety for the on line operation especially program change forced stop or operation change performed by connecting peripheral devices to the Motion controller during operation Erroneous operation may cause machine breakage or accident Never try to disassemble or modify module It may cause product failure operation failure injury or fire Use any radio communication device such as a cellular phone or a PHS phone more than 25cm 9 84 inch away in all directions of the Motion controller Failure to do so may cause a malfunction Completely turn off the externally supplied power used in the system before installation or removing the module Not doing so could result in electric shock damage to the module or operation failure Do not install remove the module on to from base unit or terminal block more than 50 times after the first use of the product Failure to do so may cause the module to malfunction due to poor contact of connector Do not drop or impact the battery installed to the module Doing so may damage the battery causing battery liquid to leak in the battery Do not use the dropped or impacted battery but dispose of it Before touching the module always touch grounded metal etc to discharge static electricity from human body Failure to do so may cause the module to fail or malfunction Do not directly touch the module s conductive parts and electronic components Touching them could ca
167. g of MT Developer2 1 FLS Upper stroke limit input 2 RLS Lower stroke limit input 3 DOG Proximity dog Check external inputs to Q173DPX Check the wiring of following external inputs by monitoring of MT Developer2 or LED indicators 1 Manual pulse generator incremental synchronous encoder setting Check I O module Check the wiring of I O modules l 2 Note An error may occur if the power is turned on before system setting In the case reset the Motion controller after system setting Refer to the Q173D S CPU Q172D S CPU Motion controller Programming Manual COMMON at the system setting error occurrence Refer to Section 2 5 1 Refer to Section 2 5 1 Refer to Section 2 5 4 Refer to Section 2 5 5 Z CAUTION Do not mount a phase advancing capacitor surge absorber or radio noise filter option FR BIF on the output side of the servo amplifier Correctly connect the output side terminal U V W Incorrect connections will lead the servo motor to operate abnormally 5 START UP PROCEDURES SSCNETIO H head module v A Motion CPU area A PLC CPU area Motion CPU area Motion CPU area 2 Check SSCNETII H head module Check the wiring of I O module of the intelligent function modules that are connected to the SSCNETII H head module by monitoring of GX Works2 SSCNETII H head module use Programming Cre
168. ger than the tolerable load onto the synchronous encoder and servomotor shaft Doing so may lead to shaft breakage When not using the module for a long time disconnect the power line from the Motion controller or servo amplifier Place the Motion controller and servo amplifier in static electricity preventing vinyl bags and store When storing for a long time please contact with our sales representative Also execute a trial operation When you disinfect or protect wooden packing from insects take measures except by fumigation Fumigating the Motion controller and servo amplifier or packing the Motion controller and servo amplifier with fumigated wooden packing can cause a malfunction of the Motion controller and servo amplifier due to halogen materials such as fluorine chlorine bromine and iodine which are contained in fumigant The Motion controller and servo amplifier must not be used with parts which contain halogen series flame retardant materials such as bromine under coexisting conditions A CAUTION Correctly and securely wire the wires Reconfirm the connections for mistakes and the terminal screws for tightness after wiring Failing to do so may lead to run away of the servomotor After wiring install the protective covers such as the terminal covers to the original positions Do not install a phase advancing capacitor surge absorber or radio noise filter option FR BIF on the output side of the servo
169. h een 6 32 6 6 4 Internal I O Circuit troubleshooting A 6 33 7 EMC DIRECTIVES 7 1to7 8 7 1 Requirements for Compliance with the EMC Directive cccccceeeceeeeeeeeeeeeceeeeeeaeeeeeeeseneeseaeeseeeeeaes 7 1 7 1 1 Standards relevant to the EMC Directive AA 7 2 7 1 2 Installation instructions for EMC Directive 0 cccccccceceeeceeeeeeeeeeeeeeeceneeseaeescaeeesaeeseaeeseaeeeeieeeieeees 7 3 7 1 3 Parts of measure against NOISE 0 2 eee eeeeeeeeeeeeeeeeteeeeeeeeeeeteeeteeeseeseneseaeseeeseeeseeeseneseeeseaeseateaeeeneeeaes 7 6 7 1 4 Example of measure against NOISE eececeeeceeeeeeeeteeeeeeeeeeeseeeseeeseeseeseeeseeeseeeseeeseeeseaeseaeseateneeaaes 7 8 APPENDICES APP 1 to APP 42 APPENDIX 1 Differences Between Q170MSCPU and Q173DSCPU Q172DSCPU n se APP 1 APPENDIX 1 1 Differences of parameters nssneesneeteesteetteetnettntttrsttnettnsttnsttnsttnntnnnttnnnnnnnnnnnne nnne APP 2 APPENDIX 1 2 Differences of peripheral device interface cccccceescceeeeeeeeeeeeeeeeeeeseeeeteeetsaees APP 3 APPENDIX 1 3 Differences of CPU display and I O assionment APP 4 APPENDIX 1 4 Differences of I O signals ceceeceeeceeeeeeeeeeeeeeeeseesaeesaeesaeetaeesaeesieesieesieesieetieesieeeeees APP 6 APPENDIX 2 Creation of Project Ee APP 9 APPENDIX 2 1 Sample data APP 10 APPENDIX 3 Processmg TIMOS 20000 erecta area ASA AELK APP 27 APPENDIX 4 e EE APP 28 APPENDIX 4 1 SSCNETID CableS 0
170. he project view and then Project Object Copy of menu bar 2 Operation of the diversion project Paste Select the Global Device Comment in the project view and then Project Object Paste of menu bar E MELSOFT Series GX Works2 MELSOFTWTD2 SampleData GX 2101 70MS_S 22_AD_GX2 Device Comment COMMENT fel Project Edit Find Replace Compile View Online Debug Diagnostics Tool Window Help Onine Debug Diagnostics Tool Window Help Sk CA Ea Parameter FF PLC Parameter E Network Parameter Remote Password Device Name D0 show All Bit Specification Information Hide All Bit Specification Information Device Name Comment a ul Feed current value HP PLC Parameter Ax1 Feed current value POU amp D Device Memory n S Device Initial Val Fe D Network Parameter Ve Bed current value Co py the Global fig Remote Password el Bed current value i D Ax1 Deviation counter value Device Comment Axt Deviation counter value i i Ga NM de to the diversion POU EFTTA D o E Device Memory roject from the ac Zeng enor code H d Zi Device Initial Value al Home position offset diversion source Axt Proximity dog ON offset i Ax1 Proximity dog ON offset project zen Axl Execute program No Ax1 Mcode Ax1 Torque limit value Ax1 ConstantS peedD ataS etPoint Wa Bea Stopinput Ax1 RealCur Val Stopinput Ax2 Feed current value Ax2
171. he side face of the Motion controller b Front of Motion controller The serial number is printed in the projection parts forward of the lower side of Motion controller POWER uss OD sch ale lt DI O O UNI DD L Mrtrsupen OH MOTION CONTROLLER gt RS 232 cnt MODEL Q170MSCPU WAC ADD meer H Rating plate 24VDC_1 40A 9999 4 cE Serial number PERIPHERAL wl DIE J Ke EXT IO a j rir rir MITSUBISHI ELECTRIC CORPOF M 3 H H HH ui een E d 24VDC JE II mor lo H tor Hop O U UUUUUU SS CH CDD DO Serial number l i c System monitor product information list The serial number can be checked on the system monitor screen in GX Worksz2 Refer to Section 2 2 2 2 SYSTEM CONFIGURATION 2 Motion module Q172DLX Q173DPX a Rating plate The rating plate is situated on the side face of the Motion module b Front of Motion module The serial No is printed in the projection parts forward of the lower side of Motion module
172. ice PX mark detection signal Dl Usable as the mark detection signal DI 3 High speed reading of specified data This function is used to store the specified positioning data in the specified device D W ULIG The signal from input module controlled in the Motion CPU area is used as a trigger Refer to the Q173D S CPU Q172D S CPU Motion Controller Programming Manual COMMON for the high speed reading of specified data a Modules and signals to be used Input module Read timing Number of settable points Q173DPX TREN DO S i Note 1 Note 2 Internal VF is LA PLC input module Note 1 Only one PLC input module can be used Note 2 Either of the input signal of internal I F DI and PLC input module can be used 4 Mark detection function Any motion control data and all device data can be latched at the input timing of the mark detection signal Also data within a specific range can be latched by specifying the data detection range Refer to the Q173D S CPU Q172D S CPU Motion Controller Programming Manual COMMON for the mark detection function a Mark detection signal Set the input signal for mark detection 1 Module input signal a Q170MSCPU s internal I F Detection Signal detection direction Input module Signal Signal No accuracy us Leading edge Trailing edge Se Set direction in the Q170MS I O Q170MSCPU s internal I F 1to4 30 Setting of System Settings APP 7 APPENDICES
173. in OFF position TREN is detected at leading edge of TREN signal OFF TREN is detected at trailing edge of TREN signal Module fixing projection _ Projection used to fix to the base unit Serial number display Display the serial number described on the rating plate Note 1 The function is different depending on the operating system software installed ZA CAUTION Before touching the DIP switches always touch grounded metal etc to discharge static electricity from human body Failure to do so may cause the module to fail or malfunction Do not directly touch the module s conductive parts and electronic components Touching them could cause an operation failure or give damage to the module POINTS Input indicator LED of the manual pulse generator incremental synchronous encoder phases A B and tracking enable signal turns ON at the following conditions 1 PLS A1 to 3 PLS B 1 to 3 e Q173DPX is set in the system setting of MT Developer e All axes servo ON command M2042 turned on e Manual pulse generator enable flag M2051 M2052 M2053 turned on e Manual pulse generator signal is input TREN 1 to 3 e Q173DPX is set in the system setting of MT Developer e The tracking enable signal is input 2 SYSTEM CONFIGURATION 2 Performance specifications a Module specifications Specifications Number of I O occupying points 32 points I O allocation Intelligent 32 points Internal curre
174. inal and charged sections will be exposed and may lead to electric shocks Never open the front case or terminal cover at times other than wiring work or periodic inspections even if the power is OFF The insides of the Motion controller and servo amplifier are charged and may lead to electric shocks Completely turn off the externally supplied power used in the system before mounting or removing the module performing wiring work or inspections Failing to do so may lead to electric shocks When performing wiring work or inspections turn the power OFF wait at least ten minutes and then check the voltage with a tester etc Failing to do so may lead to electric shocks Be sure to ground the Motion controller servo amplifier and servomotor Ground resistance 100 or less Do not ground commonly with other devices The wiring work and inspections must be done by a qualified technician Wire the units after installing the Motion controller servo amplifier and servomotor Failing to do so may lead to electric shocks or damage Never operate the switches with wet hands as this may lead to electric shocks Do not damage apply excessive stress place heavy things on or sandwich the cables as this may lead to electric shocks Do not 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 ground
175. inch or more 50mm 1 97inch 100mm 3 94inch 50mm 1 97inch SEAN or more or more 100mm 3 oe or more Contactor relay etc 4 INSTALLATION AND WIRING Ts 7 Mounting method for the modules a Motion controller Mount a Motion controller in the following procedure 1 Fit the one Motion controller bottom mounting screws into the enclosure Panel 2 Place the bottom side notch of the Motion controller onto the bottom side screw J P U eg 4 Panel EE e E Ze O 3 Fit the mounting screws into the holes at the top of the Motion controller and then retighten the all mounting screws Votan DA e Es Ply ou Screw the Motion controller to the panel 4 INSTALLATION AND WIRING ZA CAUTION Do not touch the heat radiating fins of controller or servo amplifier s regenerative resistor and servomotor etc while the power is ON and for a short time after the power is turned OFF In this timing these parts become very hot and may lead to burns Remove the modules while paying attention b Base unit Mount a base unit in the following procedure 1 Fit the two base unit top mounting screws into the enclosure Pa
176. ing or signal wires of the Motion controller and servo amplifier as this may lead to electric shocks 2 For fire prevention Z CAUTION Install the Motion controller servo amplifier servomotor and regenerative resistor on incombustible Installing them directly or close to combustibles will lead to fire if a fault occurs in the Motion controller or servo amplifier shut the power OFF at the servo amplifiers power source If a large current continues to flow fire may occur When using a regenerative resistor shut the power OFF with an error signal The regenerative resistor may abnormally overheat due to a fault in the regenerative transistor etc and may lead to fire Always take heat measures such as flame proofing for the inside of the control panel where the servo amplifier or regenerative resistor is installed and for the wires used Failing to do so may lead to fire Do not damage apply excessive stress place heavy things on or sandwich the cables as this may lead to fire 3 For injury prevention Z CAUTION Do not apply a voltage other than that specified in the instruction manual on any terminal Doing so may lead to destruction or damage Do not mistake the terminal connections as this may lead to destruction or damage Do not mistake the polarity as this may lead to destruction or damage Do not touch the heat radiating fins of controller or servo amplifier regenerative resistor
177. ion 20 eect eeeeteeeeeeeeeeeeeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeaeens 2 3 2 1 2 Q170MSCPU System internal configuration 00 ee eee eeeeteeeteeeeteeeeeaeeeaeeeaeeeaeeeaeecaeeeaeeeaeeeaeeeaeenaeess 2 5 2 1 3 Function explanation of the Q170MSCPU Motion controller 2 6 2 1 4 Restrictions on Motion controller AAA 2 8 2 2 Checking Serial Number and Operating System Software Version 2 11 2 2 1 Checking serial number 2 11 2 2 2 Checking operating system software version ccecceeceeeeeeeeeeneeeeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeneeeaeens 2 13 2 3 System Configuration Eoupment 2 14 2 4 General Specifications cccecccceecceceseeeeeeeceeceeeeneeceneesaeesaeeceaceeseneesaeeseaeecsaceesaneeseneeeaeeseaeeseeessineesans 2 20 ee e le Ee Ree E 2 21 2 5 1 Q17OMSCPU Motion Controller AAA 2 21 Ke E Tele due el 2 44 2 5 3 Extension base unit and extension cable eeeeeeeeeneeeeeeeeeeneeeeeeeceaeeeaeeeaeeeaeeeaeeeaeeeaeeeeeeneatenas 2 49 2 5 4 Q172DLX Servo external signals interface module eeeeceeeceeeeeeeeeeeeeeeeeeeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeas 2 53 2 5 5 Q173DPX Manual pulse generator interface module eee eeceeeeeeeeeeeeeeeeeeeeeeetaeeeaeeeaeeeeeeaeeeaeeas 2 58 2 5 6 Manual pulSe generator ccc ceecsecseeseseeceestdesceesetesseesssesceesetesseessdesdensedasdeesndeseeeadesdeneensndessensednecs 2 66 220 F SOGNEMM Cables ction keen ac hte ine Rie ai ang hee ee eis ong hes er Be ead 2 67 2 o O Batter
178. ion start A00 displays on 7 segment LED Is the operating system software installed to Motion controller Install the operating system software Reset the Motion controller Does A00 disappear on 7 segment LED Explain the error symptom and get advice from our sales representative 6 INSPECTION AND MAINTENANCE d Flowchart for when AL gt L01 displays on 7 segment LED AL flashes 3 times Steady L01 display displays at the system setting error occurrence The following shows the flowchart for when AL flashes 3 times gt Steady L01 display displays during operation AL gt L01 displays on 7 segment LED Confirm details of error by Motion CPU error batch monitor of MT Developer2 Does a ROM ERRORO YES occur NO NO Is ROM operation executed YES Set a rotary switch1 SW1 to 0 a Set a rotary switch1 SW1 to 0 a rotary switch2 SW2 to 6 of Motion rotary switch2 SW2 to 0 of Motion controller and then execute ROM controller writing Mode operated by RAM Check that the installed modules YES correspond to system setting and correct details of error Does a LAY ERROR SL occur NO Set so that an error does not occur by a relative check of system setting then write to the Motion CPU area CPU No 2 fixed Reset the Motion controller Does A00 L
179. iring e Putting in the duct Top of panel or wiring duct LLL j 40mm 1 58inch 47 jor more D 5 d D 100mm obbpopbpg 3 94inch Motion or more controller E E Zan amplifier Note 1 Door Panel gt LO olke olode fol m BES g d f cable gt 70mm 2 76inch Ce or more N Extension p Lo a hy LIV Ui 30mm 1 18inch 30mm 1 18inch or more or more hal Let 1 10mm 0 39inch or more Note 1 Fit the Motion controller at the left side of the servo amplifier 4 INSTALLATION AND WIRING e Bundle fixing Optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius and it should not be twisted When bundling the cable fix and hold it in position by using cushioning such as sponge or rubber which does not contain migratable plasticizing If using adhesive tape for bundling the cable fire resistant acetate cloth adhesive tape 570F Teraoka Seisakusho Co Ltd is recommended UW Motion controller Panel Cord Loose slack
180. it design Avoidance of hazard at Motion controller failure Conformance with general specifications such as ambient Module layout design Design confirmation Number of axes Manual pulse generator Incremental synchronous encoder Number of I O points Manual pulse generator Incremental synchronous encoder Upper limit point Lower limit point STOP input point Check pcs Oo 0 0 cS points points mimina points Proximity dog input point Speed switching input point Tracking enable signal point Q172DLX Q173DPX Number of I O modules intelligent function modules installed to extension base unit Distance between Motion controller and extension base unit Extension base unit selection Extension cable selection temperature humidity dust etc Total power consumption of base unit Calculate the heating value Layout in consideration of clearances between enclosure s inside walls other structures and modules and heats generated by modules within the control panel points modules oomoo OO 3 3 O 4 INSTALLATION AND WIRING 4 INSTALLATION AND WIRING 4 1 Module Installation 4 1 1 Instructions for handling ZA CAUTION Use the Motion controller in an environment that meets the general specifications contained in this manual Using this Motion controller in an environment outside the range of the general specifications could result in electric shock fire oper
181. ks2 MR Configurator2 Abbreviation for Motion controller engineering environment MELSOFT MT Works2 Abbreviation for Motion controller programming software MT Developer2 Version 1 56J or later Abbreviation for Programmable controller engineering software MELSOFT GX Works2 Version 1 98C or later Motion CPU area Operating system software Programming software package MELSOFT MT Works2 MT Developer Wio GX Works2 Ke Ke CH s lt Ble S 5 2 Note 1 Abbreviation for Servo setup software package MR Configurator2 Version 1 19V or later Manual pulse generator or MR HDP01 Abbreviation for Manual pulse generator MR HDP01 SSCNETI H NO Note 2 MR Configurator High speed synchronous network between Motion controller and servo amplifier Oo Oo Q Z m 4 H SSCNETIN H lok General name for SSCNETII H SSCNETII S General name for system using the servomotor and servo amplifier for absolute Absolute position system ee a position General name for module that has a function other than input or output such as A D converter module and D A converter module SSCNETII H head module TE Abbreviation for MELSOFT L series SSCNET II H head module LJ72MS15 Intelligent function module Note 1 This software is included in Motion controller engineering environment MELSOFT MT Works2 Note 2 SSCNET Servo System Controller NETwork 1 1 1 OVERVIEW For information a
182. kup the data in advance using MT Developer The operating system software SV22 Virtual mode switching method is installed at the time of product purchase The operating system software is installed to the Motion CPU area It has already been installed to the PLC CPU area The PLC CPU area is never rewritten Be sure to turn power supply OFF before changing rotary switch setting Even if the operating system software is installed the programs parameters and absolute position data written in the Motion controller not rewritten Do not do any of the following while installing operation system software Doing so could result damage the Motion controller e Turn OFF the Motion controller s power supply e Change the RUN STOP RESET switch of Motion controller to RESET e Turn OFF the power supply of the personal computer e Pull out the personal computer s communication cable Only when the operating system software SV22 is installed on the Motion controller select one of the following operation methods e Virtual mode switching method e Advanced synchronous control method To change the operation method after the operating system software is installed install the operating system software SV22 again or change the operation method in Change CPU operation method of MT Developer2 Refer to help of MT Developer for details 5 START UP PROCEDURES 5 4 Trial Operation and Adjustment Checklist Work Step Item Check Items Check
183. l current consumption of shared equipments with PLC might be changed Be sure to refer to the MELSEC Q series PLC Manuals c Total power consumption for 5VDC logic circuits of all modules Wsv 2 50 0 20 0 05 0 38 0 06 x 2 0 065 0 55 0 33 0 10 x 5 21 475 W d Power consumption of internal power supply WPw 1 x 21 475 5 369 W e A total of 24VDC average power consumption of the internal output circuit and output module Waav 0 08 1 60 x 24 x 1 40 32 W f Average power consumption due to voltage drop in the output section of the internal output circuit and output module Wout 0 04 x 2 75 X 2 X 1 0 1 x 0 2 x 16 x 1 0 54 W 3 DESIGN g Average power consumption of the input section of the internal input circuit and input module WIN 0 005 x 24 x 4 x 1 0 004 x 24 x 16 x 1 2 016 W h Power consumption of the external power supply section of the intelligent function module Ws 0 15 x 24 3 60 W i Power consumption of overall system W 21 475 5 369 40 32 0 54 2 016 3 60 73 32 W 3 DESIGN 3 4 Design Checklist At the worksite copy the following table for use as a check sheet Sub Item Motion controller selection Motion module Module selection selection Extension base unit and extension cable selection External TAF Avoidance of operation failure at power on S Fail safe circuit design 7 circu
184. l module control module Note 1 When the number of modules to be installed is 32 points Note 2 When the PX PY No does not match the PLC I O No Refer to the Q173D S CPU Q172D S CPU Motion Controller Programming Manual COMMON about the I O allocation setting method of the Motion CPU area and refer to APPENDIX 1 3 and the QnUCPU User s Manual Function Explanation Program Fundamentals about the I O allocation setting method of the PLC CPU area I O device of the Motion CPU area can be set in the range PX PY000 to PX PYFFF The real I O points must be 256 points or less As for the I O No it is possible not to continue 2 52 2 SYSTEM CONFIGURATION 2 5 4 Q172DLX Servo external signals interface module Q172DLX receives external signals servo external signals required for positioning control 1 Q172DLX name of parts oo om e e Lae I 2 JO a0 Do 1 an CTRL 1 iq 3 Do d oo oo an W IO 6 Q172DLX 7 Application S Hook used to fix the module to the base unit 1 Module fixing hook DAN Single motion installation Display the servo external input status from the external equipment Input indicator LED DT Display for servo external signal input status of each axis The proximity dog speed position switching signal DOG CHANGE does not turn ON without setting Q172DLX in the system s
185. larger the battery consumption value is the more battery per time unit is consumed Refer to the QCPU User s Manual Hardware Design Maintenance and Inspection for details Note 2 The actual service value indicates the average value and the guaranteed value indicates the minimum value Note 3 The power on time ratio indicates the ratio of Motion controller power on time to one day 24 hours When the total power on time is 17 hours and the total power off time is 7 hours the power on time ratio is 70 Note 4 The guaranteed value MIN equivalent to the total power failure time that is calculated based on the characteristics value of the memory SRAM supplied by the manufacturer and under the storage ambient temperature range of 25 C to 75 C 13 to 167 F operating ambient temperature of 0 C to 55 C 32 to 131 F Note 5 The guaranteed value TYP equivalent to the total power failure time that is calculated based on the normal air conditioned environment 40 C 104 F Note 6 The actual service value Reference value equivalent to the total power failure time that is calculated based on the measured value and under the storage ambient temperature of 25 C 77 F This value is intended for reference only as it varies with characteristics of the memory Note 7 Battery consumption 1 cannot be used in Q170MSCPU POINTS The self discharge influences the life of battery without the connection to Motion
186. lder C Program Files MELSOFT MTD2 SampleData MT2 es e Project name Save projects under the specified SV13 Q170MS SV13 MT2 name SV22 Q170MS_SV22_MT2 Note 1 Q170MS_SV22_AD_MT2 Note 2 END Note 1 Project for virtual mode switching method Note 2 Project for advanced synchronous control method 2 PLC CPU area START T Start up GX Works2 Pan Ge Open a project of sample data Sample data e Save folder C Program Files MELSOFT MTD2 SampleData GX2 e Project name Save projects under the specified SV13 Q170MS SV13 GX2 name SV22 Q170MS_SV22_GX2 Note 1 Q170MS_SV22_AD_GX2 Note 2 C END D Note 1 Project for virtual mode switching method Note 2 Project for advanced synchronous control method APP 11 APPENDICES b When the sample data is overwritten to the created project 1 Motion CPU area C START D y Start up MT Developer2 Create the project Divert the following sample data in the basic setting of System setting Base setting Multiple CPU setting 2 PLC CPU area START Start up GX Works2 Create the Get Divert the following sample data in the Multiple CPU settings or I O assignment of PLC parameter UO assignment PLC system e Multiple CPU settings Divert the following sample data by making a copy of project e Device comment S END E
187. le The total of the power consumption values calculated for each block is the power consumption of the overall Motion system W Wsv Wew Wa24v Wout WIN Ws W From this overall power consumption W calculate the heating value and a rise in ambient temperature inside the panel The outline of the calculation formula for a rise in ambient temperature inside the panel is shown below W T gale W Power consumption of overall Motion system value obtained above A Surface area inside the panel m3 U When the ambient temperature inside the panel is uniformed by a fan 6 When air inside the panel is not crculated 4 If the temperature inside the panel has exceeded the specified range it is recommended to mount a heat exchanger to the panel to lower the temperature If a normal ventilating fan is used dust will be sucked into the Motion controller together with the external air and it may affect the performance of the Motion controller 3 DESIGN 7 Example of average power consumption calculation a System configuration Incremental synchronous encoder Q55B Q173D QY40P QJ71 MR HDP01 MR HDP01 b 5SVDC 24VDC current consumption of each module 5VDC 24VDC 0 08 A Q170MSCPU 2 50 A GC Internal output circuit Incremental synchronous 0 20 A encoder games say wem aen S O om uem ooo o o oe TI oun TI Note 5VDC interna
188. ligent function module setting Not used 5 eal g Module smchrontzeten Synchronize intelligent module s pulse up checked 9 CommonpointerNo o Not used 16 points 11 12 System interrupt settings 12 13 APLC APP 25 APPENDICES 8 Automatic refresh of sample data The data to the internal relay and data register of PLC CPU area are transmitted to the positioning dedicated signals of Motion CPU area via the Multiple CPU high speed transmission area The positioning dedicated signals of Motion CPU area can be controlled by only control of the sequence program of PLC CPU area And add the special relays special registers and user devices to the parameters of automatic refresh if required The flow for the data of automatic refresh that uses the sample data is shown below Example SV13 use PLC CPU area CPU No 1 Internal relay Multiple CPU high speed transmission area U3E0 G10000 CPU No 1 transmitting data U3E1 G10000 CPU No 2 receiving data Automatic refresh area in 0 88ms Multiple CPU high speed transmission area U3E0 G10000 CPU No 1 receiving data Automatic refresh area U3E1 G10000 CPU No 2 transmitting data Automatic refresh area Motion CPU area CPU No 2 Internal relay MO M1999 Axis status M3072 Axis command signal M3519 Data register pg Axis mo
189. ller servo amplifier and servomotor make sure that the safety standards are satisfied Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system In systems where coasting of the servomotor will be a problem during the forced stop emergency stop servo OFF or power supply OFF use dynamic brakes Make sure that the system considers the coasting amount even when using dynamic brakes In systems where perpendicular shaft dropping may be a problem during the forced stop emergency stop servo OFF or power supply OFF use both dynamic brakes and electromagnetic brakes Z CAUTION The dynamic brakes must be used only on errors that cause the forced stop emergency stop or servo OFF These brakes must not be used for normal braking The brakes electromagnetic brakes assembled into the servomotor are for holding applications and must not be used for normal braking The system must have a mechanical allowance so that the machine itself can stop even if the stroke limits switch is passed through at the max speed Use wires and cables that have a wire diameter heat resistance and bending resistance compatible with the system Use wires and cables within the length of the range described in the instruction manual The ratings and characteristics of the parts other than Moti
190. ly Points occupied by empty slot is overwritten at the sample data diversion The content before sample data diversion are retained without rewriting for the other data Setting items High speed 10 00ms 2 RUN PAUSE contacts PAUSE Latch data backup operation valid contact Not used Allow not checked D Output mode at STOP to RUN Previous state checked el Floating point arithmetic processing 7 Intelligent function module setting 1 Not used Synchronize intelligent module s pulse up checked 5 RS 8 Module synchronization 9 CommonpointerNo E 2 Not used 16 points System interrupt settings 12 APP 23 APPENDICES 3 SV22 Q170MS_SV22_AD_GX2 Project for advanced synchronous control method When using Q170MSCPU S1 change the PLC type to QO6UDH in the change PLC type of GX Works2 a I O assignment e I O assignment Points LJ L it opoint point opoint geen gea 0 point fswitent hd hd KC i Switch 2 woa E e elede e swtna S S EE EE E oS olsson oS i swtns S S Slll Error time outputmode _ setting ENEE Detailed i PLC operation mode vOresponsetime I O response time controlpLc PLC No 1 PLC No 1 PLC No 1 PLC No 1 PLC No 1 PLC No 1 PLC No 1 e Base setting Setting items Slots Main ae e b Multiple CPU settings LL Settingitems
191. m the main circuit cable high voltage and large current Keep a distance of 100mm or more from the main circuit 5 Be sure to fix a Motion controller or base unit to the panel using mounting screws Not doing so could result in vibration that may cause erroneous operation 4 INSTALLATION AND WIRING 4 1 2 Instructions for mounting the modules When mounting the Motion controller base unit to an enclosure or similar fully consider its operability maintainability and environmental resistance 1 Fitting dimensions a Motion controller Unit mm inch EC ae S o ke le H AIR S a dE E amp I N E 2 5 EN L cb o EG i 7 0 28 kr 52 2 05 Wb 4 INSTALLATION AND WIRING b Base unit 1 Q52B Q55B 4 fixing screw M4x14 2 Q63B Q65B Q68B Q612B 5 fixing screw M4x14 O A B T Q Q EE 0 0 Ee 0 0 ZOE A A v s1 Ws2 Ws3 it Pit gt WwW rt Lei ml Q63B Q65B Q68B Q612B 106 4 17 189 7 44 189 7 44 245 9 65 328 12 91 439 17 28 15 5 0 61 83 5 0 3 167 0 3 190 0 3 190 0 3 Ws2 167 0 3 222
192. mbient environment Ambient temperature 0 to 55 C 32 to 131 F When the controller is used in Measure with a thermometer and a the board the ambient Ambient humidity hygrometer 5 to 95 RH temperature in the board Measure corrosive gas becomes the ambient Measure a voltage across the Power voltage j 21 6 to 26 4 Change the power supply terminals of 24VDC Installation ion Connecti Retighten the screws Move the module to check for The module must be installed If the Motion controller Motion looseness and rattling solidly modules or I O modules are loose fix it with screws Looseness rattling g Dirt and foreign matter must not Check visually be present Remove and clean Looseness of terminal Try to further tighten screws with a e i Screws must not be loose Retighten the terminal screws screws screwdriver Proximity of solderless d Solderless terminals must be d Check visually es Correct terminals to each other positioned at proper intervals Looseness of Retighten the connector fixing Check visually Connectors must not be loose connectors screws the battery with a new one if a service life time of the battery is exceeded Check the length of term after Must not be used more than 5 purchasing the battery years Check that SM51 or SM58 is Replace the battery with a new one when SM51 or SM58 is ON turned OFF using MT Developer Must be turned OFF Check the 7 segment LED at the
193. ment LED H f Flowchart for when BTO displays on 7 segment LED _ displays on 7 segment LED g Flowchart for when displays on 7 segment LED y Servo amplifier does not start H h Flowchart for when servo amplifier does not start y Dn WAP nn Hi AL gt S01 displays on 7 segment LED i i eee for when AL gt S01 displays on 7 segment XQ MODE LED does not turn on j Flowchart for when MODE LED does not turn on MODE LED is flickerin k Flowchart for when MODE LED is flickering i RUN LED turns off l Flowchart for when RUN LED turns off PEC RUN LED is flickerin m When RUN LED is flickering ERR LED turns on is flickering n Flowchart for when ERR LED turns on is flickering j USER LED turns on o When USER LED turns on BAT LED Yellow turns on p When BAT LED turns on yellow ii 6 INSPECTION AND MAINTENANCE SSS SSS ee a Flowchart for when POWER LED turns off The following shows the flowchart for when POWER LED turns off at the power supply ON or during operation POWER LED turns off Is there a power supply Supply power Does POWER YES LED turn on NO Connect wiring and fix terminal connection correctly Is the wiring terminal connection correct YES NO YES Does POWER LED turn on Is the power supply voltage within the rate
194. mity dog Speed 0 4ms 0 6ms 1ms a Bee ON to OFF CPU parameter setting Default 0 4ms position switching signal connection A6CON2 AGCON3 AGCON4 Optional Applicable connector i A6TBXY36 A6TBXY54 A6TBX70 Optional Terminal block converter module 2 SYSTEM CONFIGURATION eee 3 Connection of servo external signals interface module a Servo external signals There are the following servo external signals Upper stroke limit is limit value of address increase direction lower stroke limit is limit value of an address decrease direction The Q172DLX is assigned a set of input No s per axis Make the system setting of MT Developer2 to determine the I O No s corresponding to the axis No s p ae Number of points Servo external signal Application on one Q172DLX Upper stroke limit input FLS f ak For detection of upper and lower stroke limits Lower stroke limit input RLS Stop signal input STOP For stopping under speed or positioning control 32 points Proximity dog For detection of proximity dog at proximity dog or count 4 points 8 axes type home position return or for switching from speed to position switching control Speed position switching input DOG CHANGE 2 SYSTEM CONFIGURATION b The pin layout of the CTRL connector Use the CTRL connector on the front of the Q172DLX module to connect to servo external signals The following is the pin layout of the Q172DLX CTRL connector as viewe
195. mm 0 20inch or more Note 1 or more E Z JE fA Base unit 20mm 0 79inch or more Note 2 SS Note 1 20mm 0 79inch or more when the adjacent module is not removed and the extension cable is connected Note 2 80mm 3 15inch or more for the connector type Note 3 For wiring duct with 50mm 1 97inch or less height 40mm 1 57inch or more for other cases 4 INSTALLATION AND WIRING Vertical 3 Module mounting orientation a Mount the Motion controller in the orientation shown below to ensure good ventilation for heat release 4 Upside down Mounting surface Mount the Motion controller and base unit on a flat surface If the mounting surface is not even this may strain the printed circuit boards and cause malfunctions Mounting of unit in an area where the other devices are mounted Avoid mounting base unit in proximity to vibration sources such as large magnetic contractors and no fuse circuit breakers mount those on a separate panel or at a distance 4 INSTALLATION AND WIRING 6 Distances from the other devices In order to avoid the effects of radiated noise and heat provide the clearances indicated below between the Motion controller base unit and devices that generate noise or heat contactors and relays etc e In front of Motion controller base unit 100mm 3 94inch or more e On the right and left of Motion controller base unit 50mm 1 97
196. mponents Touching them could cause an operation failure or give damage to the module Do not place the Motion controller or servo amplifier on metal that may cause a power leakage or wood plastic or vinyl that may cause static electricity buildup Do not perform a megger test insulation resistance measurement during inspection When replacing the Motion controller or servo amplifier always set the new module settings correctly When the Motion controller or absolute value motor has been replaced carry out a home position return operation using one of the following methods otherwise position displacement could occur 1 After writing the servo data to the Motion controller using programming software switch on the power again then perform a home position return operation 2 Using the backup function of the programming software load the data backed up before replacement After maintenance and inspections are completed confirm that the position detection of the absolute position detector function is correct Do not drop or impact the battery installed to the module Doing so may damage the battery causing battery liquid to leak in the battery Do not use the dropped or impacted battery but dispose of it Do not short circuit charge overheat incinerate or disassemble the batteries The electrolytic capacitor will generate gas during a fault so do not place your face near the Motion controller or servo amplifier The
197. n ves square root exponential operation etc 0 5 to 2000ms Setting available in 0 5ms unit 30k steps 60k steps 20k steps Program capacity 120k bytes 240k bytes 80k bytes QCPU standard memory 8k bytes CPU shared memory Multiple CPU high speed er 32k bytes transmission area XIY No of I O device points 8192 points 512 points Up to 320 points 64 No of I O points X Y 4096 points points x 5 modules is usable with I O module Internal relay M 8192 points Latch relay L Link relay B Timer T Retentive timer ST Counter C Points by default Data register D changeable by parameters Link register W Annunciator F Edge relay V Link special relay SB Link special register SW File register R ZR Step relay S Index register Standard device register Z Index register Z Up to 10 points Z0 to Z18 32 bit modification specification of ZR device Index register Z is used in double words Pointer P Interrupt pointer 1 Special relay SM Special register SD Function input FX Function output FY 1 10 1 OVERVIEW Comparison of PLC CPU area control and performance continued Q170MSCPU Q170MSCPU S1 Q170MCPU Function register FD Local device Yes Device initial values Yes 7 extensions Up to 64 slots er 1 extension Q52B Q55B Q63B Q65B Q68B Q612B usable Q52B Q55B usable e Extension base unit use Connection after the extension base
198. n 2 5 1 6 for rotary switch e Switch setting of factory default SW1 0 SW2 0 position Turn ON the Motion controller s power Steady INS display supply RUN STOP is ignored y Start the install of MT Developer2 y Set the connection method between the personal computer and Motion controller in the Transfer Setup Operation in MT Developer2 Only when the operating system software Note Select the operating system software SV22 is installed select one of the installed and install it in the Motion following operation methods controller e Virtual mode switching method e Advanced synchronous control method y Dialog Installation is completed is The operating system software can be displayed installed normally by dialog display y Turn OFF the Motion controller s power supply Set a rotary switch1 SW1 and switch2 SW2 of Motion controller to Set to mode operated by RAM g END Note Install the operating system software by screen of MT Developer Refer to help of MT Developer2 for details 5 START UP PROCEDURES 1 When the software security key function is used in Motion controller if the software security key of the operating system software already installed in Motion CPU is different from that embedded to the operating system software to be installed Clear all is executed at installation It is recommended to bac
199. n SV22 advanced synchronous control of Q17MSCPU Q170MSCPU S1 Note 7 The servo amplifiers for SSCNET cannot be used Note 8 Servo amplifier MR J3 ZB only Note 9 When using the incremental synchronous encoder SV22 use you can use above number of modules When connecting the manual pulse generator you can use only 1 module 2 SYSTEM CONFIGURATION b Motion SFC performance specifications Specification Code total Motion SFC chart Operation control 652k bytes Motion SFC program 8 H y Transition capacity Text total ba 668k bytes Operation control Transition Number of Motion SFC programs 256 No 0 to 255 Motion SFC chart size program Up to 64k bytes Included Motion SFC chart comments Number of Motion SFC steps program Up to 4094 steps Motion SFC program Number of selective branches branch 255 Number of parallel branches branch Parallel branch nesting Up to 4 levels 4096 with F Once execution type and FS Scan execution type combined F FSO to F FS4095 Number of transition programs 4096 GO to G4095 ei i ee Code size program Up to approx 64k bytes 32766 steps Ee HEES Number of blocks line program Up to 8192 blocks in the case of 4 steps min blocks Number of characters block Up to 128 comment included 28 Number of operand block Up to 64 operand constants word device bit devices Transition program G nesting block Up to 32 levels Calculation
200. n controller Q172DLX Servo external signal IB 0300212 interface module Q173DPX Manual pulse generator interface module Servo amplifiers SSCNETIHI 1XB962 cables and the maintenance inspection for the system trouble shooting and others Q173D S CPU Q172D S CPU Motion controller Programming Manual COMMON IB 0300134 This manual explains the Multiple CPU system configuration performance specifications common 1XB928 parameters auxiliary applied functions error lists and others Q173D S CPU Q172D S CPU Motion controller SV13 SV22 Programming Manual IB 0300135 Motion SFC 1XB929 This manual explains the functions programming debugging error lists for Motion SFC and others Q173D S CPU Q172D S CPU Motion controller SV13 SV22 Programming Manual 1B 0300136 REAL MODE 1XB930 This manual explains the servo parameters positioning instructions device lists error lists and others Q173D S CPU Q172D S CPU Motion controller SV22 Programming Manual VIRTUAL MODE This manual explains the dedicated instructions to use the synchronous control by virtual main shaft IB 0300137 1XB931 mechanical system program create mechanical module servo parameters positioning instructions device lists error lists and others Q173DSCPU Q172DSCPU Motion controller SV22 Programming Manual Advanced Synchronous Control IB 0300198 This manual explains the dedicated instructions to use the synchronous control by synchronou
201. n immediate stop or cycle stop Make other checks in compliance with control specifications specific to system and equipment Check that the acceleration deceleration torque is maximum torque or less Torque check Check that the continuous effective load torque is rated torque or less 5 START UP PROCEDURES MEMO 10 6 INSPECTION AND MAINTENANCE 6 INSPECTION AND MAINTENANCE Z DANGER Do not touch the terminals while power is on Doing so could cause electric shock Correctly connect the battery Also do not charge disassemble heat place in fire short circuit or solder the battery Mishandling of a battery may cause overheating cracks or ignition which could result in injury and fire Switch off all phases of the externally supplied power used in the system when cleaning the module or retightening the terminal or module mounting screws Not doing so could result in electric shock Under tightening of terminal screws can cause a short circuit or malfunction Over tightening of screws can cause damages to the screws and or the module resulting in fallout short circuits or malfunction The capacitor is mounted to the modules Do not incinerate the modules so that the incineration of capacitor may cause burst For disposal of the modules request for specialized industrial waste disposal services who has incineration facility Z CAUTION Read the manual carefully and pay care
202. nd MR J3BUSUIM A is made of synthetic resin it melts down if being left near the fire or high temperature Therefore do not make it touched the part which becomes high temperature such as radiator or regenerative option of servo amplifier or servo motor Be sure to use optical fiber within the range of operating temperature described in this manual Read described item of this section carefully and handle it with caution a Minimum bend radius Make sure to lay the cable with greater radius than the minimum bend radius Do not press the cable to edges of equipment or others For SSCNETII cable the appropriate length should be selected with due consideration for the dimensions and arrangement of Motion controller and servo amplifier When closing the door of control panel pay careful attention for avoiding the case that SSCNETII cable is hold down by the door and the cable bend becomes smaller than the minimum bend radius Model name of SSCNET IL cable Minimum bend radius mm inch MR J3BUSOM 25 0 98 Enforced covering cord 50 1 97 MR J3BUSOM A Cord 25 0 98 Enforced covering cord 50 1 97 MR J3BUSOM B Cord 30 1 18 b Tension If tension is added on the SSCNETT cable the increase of transmission loss occurs because of external force which concentrates on the fixing part of SSCNETII cable or the connecting part of SSCNETII connector At worst the breakage of SSCNETI cable or damage of SSCNETII connector may occur
203. nel 2 Place the right hand side pear shaped hole of the base unit onto the right hand side screw 3 Place the left hand side pear shaped hole of the base unit onto the left hand side screw 4 Fit the mounting screws into the holes at the bottom of the base unit and then retighten the all mounting screws Note Mount a base unit to a panel with no module installed in the right end slot Remove the base unit after removing the module from the right end slot 4 INSTALLATION AND WIRING 4 1 3 Installation and removal of module to the base unit This section describes how to install and remove a Motion module I O module intelligent function module or another module to and from the base unit 1 Installation and removal of the module from base unit a Installation Base unit Securely insert the module fixing projection into the module fixing hole so that the Base unit al latch is not misaligned Module connector Module fixing Using the module fixing hole projection Mod le as a fulcrum push the module Module mounting lever in the direction of arrow to v install it into the base unit Module fixing hele Module Module fixing fixing projection Make sure that the module is projection Module fixing hole installed in the base unit securely KE ee
204. ng by using the sample data Creation of project using the sample data is suitable for the machine control in the sequence program The sample data have two types Motion CPU area PLC CPU area 1 Overview a Multiple CPU setting An easy setting can be achieved for the automatic refresh setting of positioning dedicated signal between the PLC CPU area and Motion CPU area b I O assignment setting The main base of eight slots or equivalent is built into the Q170MSCPU All points of empty slot not used on the main base are set to 0 point by the sample data c Device comment The name of positioning dedicated signal can be used as the device comment of the sequence program 2 How to use The following methods to use the sample data are shown below e Divert the sample data e Overwrite the sample data to the created project 3 Setting description Outline of overwrite sample data is shown table below Add the extension base units and each module according to the system Refer to this section 7 for details of the sample data CPU area Item Description Programming Project name software package Motion CPU Stage1 to Stage 7 SV13 Q170MS_SV13_MT2 Note 1 MT Developer2 A e Multiple CPU high speed transmission SV22 Q170MS_SV22_MT2 i CS SEN CPU aen setting Q170MS_SV22_AD_MT2 ae ing e Automatic refresh setting of CPU No 1 2 e Base setting No of slots for the base unit used e UO assignment Unit types UO points UO
205. ng method Digital oscilloscope function Real time waveform can be displayed Sampling data Word 16CH Bit 16CH PLC module which can be control by Motion CPU area Note 8 Servo amplifier MR J3 LB only Note 9 When using the incremental synchronous encoder SV22 use you can use above number of modules When connecting the manual pulse generator you can use only 1 module 1 OVERVIEW b Comparison of Motion SFC performance specifications QI70MSCPU S1 Q170MCPU Code total Motion SFC chart Operation control 652k bytes 543k bytes Motion SFC program We Transition capacity Text total D 668k bytes 484k bytes Operation control Transition Number of Motion SFC programs 256 No 0 to 255 Motion SFC chart size program Up to 64k bytes Included Motion SFC chart comments Number of Motion SFC steps program Up to 4094 steps Motion SFC program Number of selective branches branch 255 Number of parallel branches branch Parallel branch nesting Up to 4 levels 4096 with F Once execution type and FS Scan execution type Number of operation control programs combined F FSO to F FS4095 Number of transition programs 4096 G0 to G4095 Code size program Up to approx 64k bytes 32766 steps Number of blocks line program Up to 8192 blocks in the case of 4 steps min blocks Number of characters block Up to 128 comment included Number of operand block Up to 64 operand constants word devi
206. nitor D319 device D640 Control change D757 register Motion device 7999 8000 Monitor device 8319 8320 12287 APP 26 APPENDICES APPENDIX 3 Processing Times The operation processing times are the same as Q172DSCPU for each operation control and transition instruction and Motion dedicated PLC instruction Refer to the Q173D S CPU Q172D S CPU Motion Controller SV13 SV22 Programming Manual Motion SFC for processing times APP 27 APPENDICES Et APPENDIX 4 Cables In this cable connection diagram maker names of connectors are omitted Refer to APPENDIX 5 6 Connector for maker names of connectors APPENDIX 4 1 SSCNETII cables Generally use the SSCNETII cables available as our products Refer to APPENDIX 4 5 for long distance cable up to 100 328 08 m ft and ultra long bending life cable 1 Model explanation Numeral in the column of cable length on the table is a symbol put in the O part of cable model Cables of which symbol exists are available Sable length m ft Application Cable model 0 15 0 5 a 20 30 40 50 Flex life remark 0 49 r 1 64 3 e 9 Su 16 40 32 81 65 62 98 43 131 23 164 04 ea A eA inside panel pe ee ek SS EE ee Note 1 For the cable of less than 30 m 98 43 ft contact your nearest Mitsubishi sales representative 2 Specifications Se a SSCNETII cable model MR J3BUS ss MRV3BUSOM A MRW3BUSOMB 0 15
207. nous encoder interface module Q172DEX Q172EX S1 S2 S3 cannot be used 7 Be sure to control the Motion modules Q172DLX Q173DPX with the Motion CPU area They will not operate correctly if PLC CPU area is set by mistake 8 Q172LX Q173PX S1 for Q173HCPU T Q172HCPU T Q173CPUN T Q172CPUN T Q173CPU Q172CPU cannot be used 9 Motion CPU area cannot be set as the control CPU of Graphic Operation Terminal GOT 10 Be sure to set the battery 11 There are following methods to execute the forced stop input e Use a EMI connector of Q170MSCPU e Use a device set in the forced stop input setting of system setting 12 Forced stop input for EMI connector of Q170MSCPU cannot be invalidated by the parameter When the device set in the forced stop input setting is used without use of EMI connector of Q170MSCPU apply 24VDC voltage on EMI connector and invalidate the forced stop input of EMI connector 13 Be sure to use the cable for forced stop input The forced stop cannot be released without using it Fabricate the forced stop input cable on the customer side 2 SYSTEM CONFIGURATION 14 15 16 17 18 19 Set SSCNETII H or SSCNETII for every line in the SSCNET setting of system setting to communicate with the servo amplifiers MR J4 W CB can be used by setting SSCNETII H and MP JON VIR can be used by setting SSCNET T There are the following restrictions when SSCNETII is set as
208. nt consumption 5VDC f A 0 38 Exterior dimensions mm inch 98 H x 27 4 W x 90 D 3 86 H x 1 08 W x 3 54 D Mass kg 0 15 b Tracking enable signal input Item Specifications Sink Source type 10 2 to 26 4VDC Operating voltage range i 12 24VDC_ 10 15 ripple ratio 5 or less ON voltage current 10VDC or more 2 0mA or more OFF voltage current 1 8VDC or less 0 18mA or less Input resistance Approx 5 6kQ R i OFF to ON 0 4ms 0 6ms 1ms ERRESTAN ON to OFF CPU parameter setting Default 0 4ms Operation indicator ON indication LED Note Functions are different depending on the operating system software installed c Manual pulse generator Incremental synchronous encoder input Voltage output Open collector type Differential output type 26LS31 or equivalent e Voltage output type Open collector type 5VDC Applicable types Recommended product MR HDP0O1 e Differential output type 26LS31 or equivalent External connector type 40 pin connector Applicable wire size Applicable connector for the external A6CON1 Attachment connection A6CON2 AG6CON3 AGCON4 Optional Voltage output 30m 98 43ft Cable length Open collector type Open collector type 10m 32 8 1ft Differential output type 2 SYSTEM CONFIGURATION 3 Connection of manual pulse generator Manual pulse generators of the voltage output open collector type and differential output type can be connected Both conn
209. ntal synchronous encoder If a separate power supply is used be sure it is 5V voltage Anything else may cause a failure 2 SYSTEM CONFIGURATION 4 Connection examples of manual pulse generator incremental synchronous encoder Differential output type Voltage output Open collector type Manual pulse generator Manual pulse generator Q170MSCPU Incremental synchronous q479MSCPU Incremental synchronous encoder side encoder side Signal name e Signalname A HA A A e B B 5V L BE 5V DA HA e OV SEL pis GE S Lu Shield e EEN 5V Shell f Twist pair cable Twist pair cable Note 1 The 5V P5 DC power supply from the Q170MSCPU must not be used if a separate power supply is applied to the manual pulse generator incremental synchronous encoder If a separate power supply is used be sure it is 5V voltage Anything else may cause a failure Note 2 Input type from manual pulse generator incremental synchronous encoder switched by SEL Not connected Voltage output open collector type SEL SG connection Difference output type Z CAUTION If a separate power supply is applied to the manual pulse generator incremental synchronous encoder be sure it is 5V voltage Anything else may cause a failure Always wire the cables when power is off Not doing so may damage the circuit of modules Wire the cable correctly Wrong wiring
210. ntil it clicks Make sure that the battery holder is installed in the Motion controller securely sect 2 3 Motion controller Le Battery connector Ai Q170MSCPU side Battery lead connector Battery side Battery holder 4 INSTALLATION AND WIRING b Removal Pull the battery holder while 1 2 pushing the battery holder fixing tab and remove the holder from the Motion controller Remove the battery lead connector from battery connector Note 3 Motion controller Battery holder UO oe Battery holder fixing tab Battery connector 3 Q170MSCPU side Battery lead connector Battery side Note Do not pull on the lead wire forcibly to remove the connector 4 INSTALLATION AND WIRING 4 2 Connection and Disconnection of Cable 4 2 1 SSCNETII cable 1 2 Precautions for handling the SSCNETII cable e Do not stamp the SSCNETII cable e When laying the SSCNETII cable be sure to secure the minimum cable bend radius or more If the bend radius is less than the minimum cable bend radius it may cause malfunctions due to characteristic deterioration wire breakage etc e For connection and disconnection
211. nts are assigned UO assignment i SE setting e UO assignment points are individually assigned When the first address of the extension base is set Base mode Detail to address 0 the setting is as follows I O assignment points are individually assigned e Main base 8 slots e Number of points of each empty slot 0 point The CPU display and setting of I O assignment are shown below 1 CPU display Confirm the CPU display of the PLC CPU area and Motion CPU area on the System Monitor screen displayed on Diagnostics System monitor of GX Works2 PLC CPU area is displayed as QO3UDCPU Q170MSCPU use QO6UDHCPU Q170MSCPU S1 use and Motion CPU area is displayed as Q170MSCPU PCPU System Monitor Monitor Status Connection Channel List Monitoring Serial Port PLC Module Connection System Image Main Base Operation to Selected Module Main Base Main Base 1 0 Adr Slot 0 EE Q170MSCPU PCPU Diagnostics Error History Detail Base Information List Module Information List Main Base PLC CPU area Power Base Installed Base Parameter UO Network No Master Base Module Base Model Name Eomer Fase sits steed Status BC Geier Mech ene Point SE QO3UDCPU Main Base Exist Q 8 1 gemeng ieren QO6UDHCPU Extension Base CPU Q QO6UDHCPU H CPU H H H H Q Extension Base2 QU70MSCPU PCPU CPU Motion CPU area Extension Base Empty Emp SP oI
212. number e Base mode setting a SV13 Q170MS_SV13_GX2 SC CPU PLC system Ponts occupied by empty slot GX Works2 SV22 Q170MS_SV22_GX2 S A E 170MS_SV22_AD_GX2 Multiple CPU Multiple CPU high speed transmission Q ES e settings area setting e Auto refresh setting of CPU No 1 2 Device Set the name of positioning dedicated signal comment to the comment of device Note 1 Project for virtual mode switching method Note 2 Project for advanced synchronous control method UO assignment APP 10 APPENDICES 4 Precautions a By using the sample data the positioning dedicated signals of the Motion CPU area are changed to the device value of PLC CPU area by the automatic refresh It needs to set again the automatic refresh setting after rewriting the sample data to transmit the data to the positioning dedicated signal using the Motion SFC program b The existing data are overwritten and erased by diverting the sample data to the created project c The project PLC type used in the PLC CPU area is QO3UD When using sample data for Q170MSCPU S1 the PLC type needs to be changed to QO6UDH in the change PLC type of GX Works2 d Sample data is only for workspace format project There is no single file format project 5 Procedure for project creation a When the sample data is diverted 1 Motion CPU area START E Start up MT Developer y Open a project of sample data e Sample data Save fo
213. of SSCNETII cable hold surely a tab of cable connector Motion controller U CN1 em 7 Ve lg DD eler ees Connection of SSCNETT cable e For connection of SSCNETII cable to the Motion controller connect it to the SSCNETI connector CN1 of Motion controller while holding a tab of SSCNETII cable connector Be sure to insert it until it clicks e If the cord tip for the SSCNETID cable is dirty optical transmission is interrupted and it may cause malfunctions If it becomes dirty wipe with a bonded textile etc Do not use solvent such as alcohol Disconnection of SSCNETII cable e For disconnection of SSCNETII cable pull out it while holding a tab of SSCNETI cable connector or the connector e After disconnection of SSCNETII cable be sure to put a cap attached to Motion controller or servo amplifier to the Motion controller and servo amplifier e For SSCNETT cable attach the tube for protection optical cord s end face on the end of connector 4 INSTALLATION AND WIRING 4 Precautions of SSCNETIL cable wiring SSCNETII cable is made from optical fiber If optical fiber is added a power such as a major shock lateral pressure haul sudden bending or twist its inside distorts or breaks and optical transmission will not be available Especially as optical fiber for MR J3BUSUOIM a
214. of parts With front cover open Side face Front face and battery holder remove 2 11 12 13 m AAA 1 gt USER emm SWZ 14 te we Lu ebel 3 POWER 1 5 fei Gls 17 us ack d 16 uss eke GP rin e 18 E Rs 232 H O I O z O EM COM E S g 19 z ES 20 21 Note Note Unusable 26 al OUUU DULU Bottom face 2 SYSTEM CONFIGURATION Application 7 segment LED Indicates the operating status and error information Rotary function select 1 switch e Set the operation mode SW1 Normal operation mode Installation mode Mode operated by ROM etc Rotary function select 2 switch e Each switch setting is 0 to F SW2 Factory default in SW1 0 SW2 0 position e ON red The internal power 5VDC is ON s OFF The internal power 5VDC is OFF e Move to RUN STOP RUN Sequence program Motion SFC program is started STOP S
215. on controller Programming Manual COMMON for details of the ROM operation 6 INSPECTION AND MAINTENANCE 6 5 2 Battery replacement procedure When the battery has been exhausted replace the battery with a new one in accordance with the procedure shown below POINTS When replacing the battery pay attention to the following 1 The Motion controller power supply must be on for 10 minutes or longer before dismounting the battery Back up the data using MT Developer2 before starting replacement Firstly back up the data stored in the Motion controller to the personal computer which is installed MT Developer2 then replace the battery with a new one After setting the battery in the Battery holder verify the backing up the data to the personal computer which is installed MT Developer2 and the data in the Motion controller confirm the data is not changing In the following status the backup time after power OFF is 3 minutes e The lead connector of Q6BAT Q7BAT is disconnected e The lead wire of Q6BAT Q7BAT is broken 6 INSPECTION AND MAINTENANCE 1 Q6BAT Replacing Battery Turn off the Motion controller s power supply Pull the battery holder while pushing the battery holder fixing tab and remove the holder from the Motion controller Remove the battery lead connector 3 from battery connector Note Remove the lead wire from the lead S wire fixing hook Set the
216. on controller servo amplifier and servomotor used in a system must be compatible with the Motion controller servo amplifier and servomotor Install a cover on the shaft so that the rotary parts of the servomotor are not touched during operation There may be some cases where holding by the electromagnetic brakes is not possible due to the life or mechanical structure when the ball screw and servomotor are connected with a timing belt etc Install a stopping device to ensure safety on the machine side 2 Parameter settings and programming A CAUTION Set the parameter values to those that are compatible with the Motion controller servo amplifier servomotor and regenerative resistor model and the system application The protective functions may not function if the settings are incorrect The regenerative resistor model and capacity parameters must be set to values that conform to the operation mode servo amplifier and servo power supply module The protective functions may not function if the settings are incorrect Set the mechanical brake output and dynamic brake output validity parameters to values that are compatible with the system application The protective functions may not function if the settings are incorrect Set the stroke limit input validity parameter to a value that is compatible with the system application The protective functions may not function if the setting is incorrect Set the servomotor encod
217. on ready circuit which stops the system at occurrence of any alarm such as a Motion controller or servo amplifier alarm or the emergency stop the circuit which avoids a malfunction while power is unstable at power on and the electromagnetic brake circuit for servomotors Refer to section 3 2 2 y Layout design within control panel Refer to section 3 3 Layout design based on the design environment such as temperatures and vibrations in consideration of heat generated from modules and handling of module installation A CAUTION Provide appropriate circuits external to the Motion controller to prevent cases where danger may result from abnormal operation of the overall system in the event of an external power supply fault or Motion controller failure Mount the Motion controller servo amplifier servomotor and regenerative resistor on incombustible Mounting them directly or close to combustibles will lead to fire If a fault occurs in the Motion controller or servo amplifier shut the power OFF at the servo amplifiers power source If a large current continues to flow fire may occur When using a regenerative resistor shut the power OFF with an error signal The regenerative resistor may abnormally overheat due to a fault in the regenerative transistor etc and may lead to fire Always take heat measures such as flame proofing for the inside of the control panel where the servo amplifier or regen
218. onductive control panel 2 When attaching the control panel s top plate or base plate expose bare metal surface and weld so that good surface contact can be made between the panel and plate 3 To ensure good electrical contact with the control panel mask the paint on the installation bolts of the inner plate in the control panel so that contact between surfaces can be ensured over the widest possible area 4 Ground the control panel with a thick wire so that a low impedance connection to ground can be ensured even at high frequencies 5 Holes made in the control panel must be 10cm 3 94inch diameter or less If the holes are 10cm 3 94 inch or larger radio frequency noise may be emitted In addition because radio waves leak through a clearance between the control panel door and the main unit reduce the clearance as much as practicable The leakage of radio waves can be suppressed by the direct application of an EMI gasket on the paint surface 2 Connection of power line and ground wire It is necessary to use the Motion controller grounding terminal only when it is in the grounded condition Be sure to ground the grounding for the safety reasons and EMC Directives Ground wire and power supply cable for the Motion controller system must be connected as described below a Provide a grounding point near the FG terminals Ground the FG terminals FG Frame Ground with the thickest and shortest wire possible The wire leng
219. oordination and noise suppression techniques of the power supply circuit 1 Separation and protective coordination leakage current protection over current protection of power supply lines Separate the lines for Motion controller s power supplies from the lines for I O devices and servo amplifiers as shown below When there is much noise connect an insulation transformer The Motion controller may malfunction as it is affected by various noises such as electric path noises from the power supply lines and electromagnetic noises from conductors To avoid such troubles set the 24VDC power supply according to application Moti Isolation onon transformer Main power controller supply power supply Motion 100 200VAC he mE n D controller MCCB CP I O power supply Lem UO equipment CP Motor power supply x gt Motor equipment CP Main circuit power supply for servo amplifier MCCB Control power supply for servo amplifier 100 200 400VAC Servo amplifier CP 3 DESIGN 2 Grounding The Motion controller may malfunction as it is affected by various noises such as electric path noises from the power supply lines radiated and induced noises from other equipment servo amplifiers and their cables and electromagnetic noises from conductors To avoid such troubles connect the earthing ground of each equipment and the shield grounds of the shielded cables to the earth For grounding use the exclusive ground terminal wi
220. ot Leakage Resistor t d OFF current Motion Motion SS controller controller EI Si E x Lu Note A calculation example of the resistance to be connected is shown below e Sneak path due to the use of two power e Use only one power supply supplies e Connect a sneak path prevention diode DE inpat Figure below Internal input DC input signal is not Motion turned OFF controller Motion controller Example 2 lt Calculation example of Example 1 gt If a switch with LED display is connected to Motion controller and current of 4 mA is leaked Motion controller Leakage current 4 mA Input signal 299 a Because the condition for OFF voltage 0 9 mA of Motion controller is not satisfied Connect a resistor as shown below Motion controller lz 0 9 mA r 1 1 D 4 mA qe Input impedance 5 6k Q 24VDC 6 INSPECTION AND MAINTENANCE b Calculate the connecting resistor value R as indicated below To satisfy the 0 9 mA OFF current of the Motion controller the resistor R to be connected may be the one where 3 1 mA or more will flow IR Iz Z Input impedance R R siz x Z Input impedance 32 x 5 6 x 10 1625 0 R lt 1625 Q Assuming that resistor R is 1500 Q the power capacity W of resistor R is W Input voltage R 26 47 1500 0 464 W c The power capacity of the resistor selected is 3 to 5 times greater
221. ot connect to any of the terminal is explained as No connect Voltage output open collector type 2 SYSTEM CONFIGURATION b Input signal Mark detection 1 Specifications of input signal mark detection input signal Specifications Number of input points Input method Positive common Negative common shared Common terminal arrangement 4 points common Common contact COM1 Isolation method Photocoupler Rated input voltage 24VDC Rated input current liN Approx 5mA 21 6 to 26 4VDC Operating voltage range 24VDC 10 ripple ratio 5 or less ON LON voltage current si 17 5VDC or more 3 5mA or more OFF voltage current 5VDC or less 0 9mA or less Input resistance Approx 5 6kQ LOFFtoON to ON Response time ims or less ON to OFF Interface between input signal mark detection input signal EES Signal name PinNo No Wiring Internal circuit Description output 1 2 3 4 example oe G SE SC Mark detection Mark detection signal input pay Note2 signal input Note 1 LJ 1 to 4 Note 2 As for the 24VDC sign both and are possible 2 SYSTEM CONFIGURATION c Output signal 1 Specifications of output signal Specifications Number of output points Output method Sink Source type Common terminal arrangement 2 points common Common contact COM2 Isolation method Photocoupler Rated load voltage 24VDC 10 Maximum load current lout 40mA point 80mA common Ext i j 21 6 to 2
222. otion controller s power supply Does BTO disappear on 7 segment LED Confirm ON OFF by monitoring SMD NO SM58 or SM51 ON YES SM58 SM51 OFF A hardware fault Explain the error symptom and get advice from our sales representative If SM51 turns on the contents for the data Refer to Section 6 5 of RAM built in Motion controller cannot be guaranteed It is recommended to back up the battery periodically 6 INSPECTION AND MAINTENANCE g Flowchart for when displays on 7 segment LED displays at the WDT error occurrence The following shows the flowchart for when displays on 7 segment LED during operation displays on 7 segment LED Confirm details of error by Motion CPU error batch monitor of MT Developer2 Is the error code of Motion CPU area WDT cause 1 Is the error code of Motion CPU area WDT cause 2 NO Correct the main cycle not to exceed 1 0 s by the following methods and write it to Motion CPU area CPU No 2 fixed 1 Change the operation cycle to large value in the system setting 2 Reduce the number of execution to the event task program and NMI task program in the Motion SFC program SV13 SV22 3 Reduce the number of execution to the normal task program executed simultaneously in the Motion SFC program SV13 SV22 4 Reduce the number of automatic refresh points of CPU shared memory
223. ower supply should be 4 e Power supply Recommended product TDK Lambda corporation HWS30 24 A 4 32 5 START UP PROCEDURES 5 START UP PROCEDURES 5 1 Check Items before Start up Table 5 1 Check items before start up Confirmation Items 1 Check for looseness rattling or distorted installation 2 Check that the module fixing screw tightening torque is as specified 4 1 1 3 Check that the wire sizes of cables are correct 4 4 3 1 Check that the power line is wired correctly 5 Check that FG is wired correctly 6 Check that the FG terminal screws are tightened correctly 7 Check that the FG terminal screws are tightening torque is as specified Q170MSCPU 8 Check that the 24VDC wires are twisted as closely as possible and g run in the shortest distance Motion controller 9 i 9 Check that cables are not binded to 24VDC wires or run close to the power wires 10 Check the grounding of the earth terminal FG 11 Check that the forced stop input is wired correctly 12 Check that the battery is installed 13 Check that the battery lead connector is connected correctly 14 Check that the internal I F is wired correctly 15 Check that the manual pulse generator incremental synchronous encoder is wired correctly 1 Check that the extension base unit is Q52B Q55B type
224. r output Simple Motion SSCNETII H compatible 2 SYSTEM CONFIGURATION 3 PLC module which can be controlled by PLC CPU area They are the same modules as the PLC modules which can be controlled by the universal model QCPU QO3UDCPU Q170MSCPU use or QO6GUDHCPU Q170MSCPU S1 use Refer to the MELSEC Q series PLC Manuals 4 Servo amplifier Description Remarks MR J4 O0B MR J4 series o MR J4 LB RJ servo amplifier MR J4W For 2 axis type 3 axis type MR J3 O0B B Refer to the servo amplifier MR J3W OB For 2 axis type instruction manuals MR J3 series MR J3 OB RJ006 For fully closed control servo amplifier MR J3 OB RJ004 For linear servo motor MR J3 OB RJ080W_ For direct drive motor MR J3 LB Safety For drive safety servo 5 Operating system software Application Software package Conveyor assembly use SV13 SW8DNC SV13QN Automatic machinery use SV22 SW8DNC SV22QN Note 1 The operating system software SV22 Virtual mode switching method is installed at the time of product purchases 6 Operating system type version a Confirmation method in MT Developer2 The operating system software type and version of connected CPU can be confirmed on the following screens 1 Installation screen 2 CPU information screen displayed by menu bar Help CPU Information Example When using Q170MS
225. rates correctly by the JOG operation each axis Check that the machine stops by the upper lower stroke limit Check that the machine stops by the emergency stop or forced stop Q172DLX Servo Check that the upper lower stroke limit inputs are correct Basic axis Check that the rotation at maximum command speed is motor rating or less amplifier external Check that the STOP signal input is correct Q172DLX only Check that the home position return is executed correctly Check that each positioning control of Motion program is operates correctly Check each operation in manual operation mode of system during Motion program executi O bei Check that the machine operation stops immediately by the emergency stop or forced stop Manual operation So Check the operation of each actuator and confirmation limit switch Check that the emergency stop forced stop and equipment alarm signals are correct Checks in compliance with control specifications specific to system and equipment Check each operation in automatic operation mode of system during Motion program execution Check that the automatic operation motions f Check that the machine operation stops immediately by the emergency stop or forced Automatic stop Check that the restoring operation can be performed after an alarm stop operation Check that the module or equipment alarm causes a
226. re of each equipment or a single point earth method to avoid grounding by common wiring where possible since noises may sneak from other equipment due to common impedances Line noise A 7 Motion controller filter O O SSCNETII HI 100 200VAC Note Be sure to ground the line noise filter Motion controller servo amplifier and servomotor Ground resistance 100 or less 3 DESIGN 3 2 2 Safety circuit design 1 Concept of safety circuits When the Motion controller is powered on and off normal control output may not be done momentarily due to a delay or a startup time difference between the Motion controller power supply and the external power supply DC in particular for the control target Also an abnormal operation may be performed if an external power supply fault or Motion controller failure takes place To prevent any of these abnormal operations from leading to the abnormal operation of the whole system and in a fail safe viewpoint areas which can result in machine breakdown and accidents due to abnormal operations e g emergency stop protective and interlock circuits should be constructed outside the Motion controller 2 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 The force
227. re shown below Table 6 1 Daily Inspection 4 Mounting of Motion Check that the fixing controller 2 screws are not loose and Mounting of base unit the cover is not dislocated Check that the module is not dislocated and the unit fixing hook is engaged securely Check for loose terminal screws Installation of Motion modules and I O modules Check the distance 8 between solderless Connecting conditions terminals The screws and cover must be mounted securely The module fixing hook must be engaged and installed correctly Screws should not be loose The proper clearance should be provided between solderless terminals Retighten the screws Securely engaged the module fixing hook Retighten the terminal screws Correct Check the connector part of the cable POWER LED Check that the LED is ON MODE LED Check that the LED is ON Check that the LED is ON RUN LED A in RUN status ERR LED Check that the LED is OFF BAT LED Check that the LED is OFF e AR Motion controller Battery error warning 2 7V or less Battery error Module indication LED warning 2 5V or less oe L Th Input LED Output LED Check that the LED is ON OFF UO module Check that the LED is ON OFF Connections should not be loose The LED must be ON Abnormal if the LED is OFF The LED must be ON Abnormal if the LED is OFF or flickering The LED mus
228. re version A2 or before and MR J3W CB MR J4W3 B Software version A3 or later supports operation cycle 0 2 ms However when using operation cycle 0 2 ms some functions are restricted Refer to the Servo amplifier Instruction Manual for details If there is an axis which is not set at least 1 axis by system setting in applicable servo amplifier at MR J4W OB use all axes connected to applicable servo amplifier and subsequent servo amplifiers cannot be connected Set Not used to the applicable axis with a dip switch for the axis which is not used by MR J4W CB 2 SYSTEM CONFIGURATION 20 The module name displayed by System monitor Product information list of GX Works2 is different depending on the function version of Motion modules Q172DLX Q173DPX Note Even if the function version C is displayed it does not correspond to the online module change Model display Module name Q172DLX Q172LX Q172DLX Q173DPX MOTION UNIT Q173DPX 21 Use the Graphic Operation Terminal GOT that supports Q170MSCPU Refer to the GOT1000 Series Connection Manual Mitsubishi Products 2 SYSTEM CONFIGURATION 2 2 Checking Serial Number and Operating System Software Version Checking for the serial number of Motion controller and Motion module and the operating system software version are shown below 2 2 1 Checking serial number 1 Motion controller Q170MSCPU a Rating plate The rating plate is situated on t
229. ribed in the instruction manual The ratings and characteristics of the parts other than Motion controller servo amplifier servomotor used in a system must be compatible with the Motion controller servo amplifier and servomotor Install a cover on the shaft so that the rotary parts of the servomotor are not touched during operation There may be some cases where holding by the electromagnetic brakes is not possible due to the life or mechanical structure when the ball screw and servomotor are connected with a timing belt etc Mount a stopping device to ensure safety on the machine side 3 DESIGN 3 2 External Circuit Design As to the ways to design the external circuits of the Motion system this section describes the method and instructions for designing the power supply circuits and safety circuits etc Example Q170MSCPU and MR J4 OB use 1 Sample system circuit design for Motion CPU area 3 phase 200 to 230VAC YY ae Q170MSCPU D r x A Forced stop Node CR EMI COM Output module ay QY10 Power supply for Q170MSCPU PYmO CP1 Note 2 S NN Se 24V O O 24V Servo normal i ower output x supply 24GO O 24G Servo normal ON OFG L Alarm OFF COMO Power supply for I O CP2 Hx SE 24V0 24V ower ee 24GO 24G i supply j Emergency Stop EMG l 1 H Operation Ready OFF ON CP3 RA1 e MNA TN MN Power suppl
230. round the noise filter grounding terminal to the control cabinet with the shortest wire possible approx 10cm 3 94 inch 7 EMC DIRECTIVES 3 Cable clamp It is also possible to ground the exposed shielded part of the cable to the panel with the AD75CK cable clamp Mitsubishi e Ground the shield at a position 20 to 30cm 7 87 to 11 81 inch away from the module e When the cables pulled out from the control panel ground the cables at a position 5 to 10cm 1 97 to 3 94inch near the input output hole of the control panel with the cable clamp AD75Ck etc Motion controller Inside control panel 20 to 30cm 7 87 to 11 81 O 5 to 10cm 1 97 to 3 94 inch e Cable clamp Recommended product Mitsubishi electric A CAUTION Do not ground the cable clamp to the top of control panel Doing so may lead to damage by drop of screws etc during installation or removing the cable clamp 7 EMC DIRECTIVES 7 1 4 Example of measure against noise Control panel A Motion controller LJ AD75CK cable clamp N Ferrite core Recommended product ZCAT3035 1330 IN SSCNETII cable Ethernet cable Shield tuisted pair of category 5 or more J gt Internal I F connector cable Manual pulse generator Synchronous encoder DI DO Control panel B Extension base
231. s control 1XB953 parameters device lists error lists and others Motion controller Setup Guidance MT Developer Version i i i IB 0300142 This manual explains the items related to the setup of the Motion controller programming software MT Developer 2 PLC Manual Name Manual Number Model Code QCPU User s Manual Hardware Design Maintenance and Inspection This manual explains the specifications of the QCPU modules power supply modules base units SH 080483ENG extension cables memory card battery and the maintenance inspection for the system trouble shooting 13JR73 error codes and others QnUCPU User s Manual Function Explanation Program Fundamentals r P d SH 080807ENG This manual explains the functions programming methods and devices and others to create programs 13JZ27 with the QCPU QCPU User s Manual Multiple CPU System This manual explains the Multiple CPU system overview system configuration I O modules SH 080485ENG communication between CPU modules and communication with the I O modules or intelligent function 13JR75 modules QnUCPU User s Manual Communication via Built in Ethernet Port SH 080811ENG This manual explains functions for the communication via built in Ethernet port of the CPU module 135229 MELSEC Q L Programming Manual Common Instruction di dE SH 080809ENG This manual explains how to use the sequence instructions basic instructions application ins
232. sh Setting List screen with the contents of this section 7 and then confirm the sample data are diverted correctly MELSOFT Series MT Developer Automatic Refresh Setting List Documents Workspace Project E Data of automatic refresh APP 13 APPENDICES b PLC CPU area GX Works2 1 Multiple CPU settings I O assignment a Diversion of sample data Divert the sample data by selecting the Import Multiple CPU Parameter button of the Multiple CPU settings or I O assignment of the PLC parameter setting Q Parameter Setting PLC Name PLC System PLC File PLCRAS Boot File Program SFC Device 170 Assignment Multiple CPU Setting kond Communication Mo of PLC 1 Online Module Change 1 T Enable Online Module Change with Another PLC 2 zj Count When the online module change is enabled with another PLC UO status outside the group cannot be taken Host Station T O Sharing When Using Multiple CPUs 1 No Specification v T all CPUs Can Read All Inputs JT all CPUs Can Read All Outputs Operation Mode 1 Error Operation Mode at the Stop of PLC Ra c f ap error of PLCI JW All station stop by stop error of PLC2 E al d E Al station stop f CPU Specific Send Range DI Multiple CPU High Speed Transmission Area Setting Communication Area Setting Refresh Setting IJ Use Multiple CPU High Speed Transmission
233. speed 50Mbps Up to 20m 65 62ft between stations Ch Standard cable f d Transmission Maximum overall distance 320m 1049 87ft 20m 65 62ft x16 axes distance Long distance Up to 50m 164 04ft between stations cable Maximum overall distance 800m 2624 67ft 50m 164 04ft x16 axes MR J3 OB MR J3W OB MR J3 LB RJ004 MR J3 OB RJ006 MR J3 OB RJ080W MR J3 OB Safety Communication speed 150Mbps Up to 20m 65 62ft between stations Standard cable Maximum overall distance 320m 1049 87ft Transmission 20m 65 62ft x16 axes distance Up to 100m 328 08ft between stations Long distance i hie Maximum overall distance 1600m 5249 34ft 100m 328 08ft x16 axes Servo amplifier B RJ MR J4W Note 1 Occupies 8 slots of the main base unit as empty slots Note 2 When using the incremental synchronous encoder SV22 use you can use above number of modules When connecting the manual pulse generator you can use only 1 module Servo amplifier H ke DI zZ WW Ka Ka Unusable SSCNETII H 1 OVERVIEW 2 Comparison of SV13 SV22 Motion control specifications performance specifications a Comparison of Motion control specifications Q170MSCPU Q170MSCPU S1 Q170MCPU Number of control axes Up to 16 axes 0 22ms 1 to 4 axes SV13 0 44ms 5 to 10 axes Operation cycle 0 88ms 11 to 16 axes default 0 4
234. ssible for each input 1 to 3 Voltage output open collector type Connect the A phase signal to HA1 HA2 HA3 and the B phase signal to HB1 HB2 HB3 Differential output type Connect the A phase signal to HA1P HA2P HAS3P and the A phase inverse signal to HA1N HA2N HASN Connect the B phase signal to HB1P HB2P HB3P and the B phase inverse signal to HB1N HB2N HB3N 4 Connect the shield cable between manual pulse generator incremental synchronous encoder and Q173DPxX at the FG signal 5 Connector terminal block conversion modules cannot be used Y wo lt 2 SYSTEM CONFIGURATION b Interface between PULSER connector and manual pulse generator Differential output type Incremental synchronous encoder apace Signal name 7 PIN Ns 3 Wiring example Internal circuit Specification Description A T Rated input voltage For connection manual A17 A12 A7 A 5 5VDC or less pulse generator Menua HADOP Phases A B pererdler A HIGH level e Pulse width phase A B17 B12 B7 Manual 2 0 to 5 25VDC Zes or more HAOP pulse 2mA or less generator ee I ee incremental Ee e A synchronous LOW level Manual HADP A16 A11 A6 encoder ey 0 8VDC or less Duty ratio 50 25 Input Bae e Leading edge Trailing Shas B S A 26LS31 or edge time 1s or less HAP B16 B11 B6 equivalent e Phase difference Hi et E EEN Phase A L
235. t F ANDE terminals of I O signals that require 24VDC Ground wire E Grounding J Extension cable Ground wire Extension base unit Q68B R opp CPU module Grounding ERR Note 1 FG LG INPUT 100 240VAC Ch D Ground wire os Extension cable Grounding Extension base unit Q68B Q61P CRU module H j ERR Note 1 FG LG INPUT 100 240VAC Gi Ze IR Ground wire Grounding Note 1 The operation of the ERR terminal is always OFF open 4 INSTALLATION AND WIRING 1 Use a different 24VDC power supply for the Motion controller and for I O signals 2 Use a different 24VDC power supplies for the Motion controller and the electromagnetic brake of the servo motor 3 Refer to Section 2 5 1 10 for the pin layout of 24VDC power supply connector and refer to APPENDIX 4 3 for the connection diagram of 24VDC power supply cable 4 Motion controller and 24VDC power supply are an open type device and must be installed in a control panel for use This not only ensures safety but also ensures effective shielding for Motion controller and 24VDC power supply generated electromagnetic noise 5 Use the thickest possible up to 2mm wires for the 100 200VAC and 24VDC power cables Be sure to twist these wires starting at the connection terminals For wiring a terminal block be sure to use a solderless terminal To prevent a short circuit should any screws loosen use solderless terminals with insulation sleev
236. t be ON Abnormal if the LED is OFF The LED must be OFF Abnormal if the LED is ON or flickering The LED must be OFF Abnormal if the LED is ON yellow Steady RUN display Abnormal if RUN does not display or incorrect display Steady STP display Abnormal if STP does not display or incorrect display BT1 does not display Abnormal if steady BT1 display BT2 does not display Abnormal if steady BT2 display does not display Abnormal if steady display AL does not flash Abnormal if flashes The LED must be ON when the input power is turned ON The LED must be OFF when the input power is turned OFF Abnormal if the LED does not turn ON or turn OFF as indicated above The LED must be ON when the output power is turned ON The LED must be OFF when the output power is turned OFF Abnormal if the LED does not turn ON or turn OFF as indicated above Retighten the connector fixing screws Refer to Section 2 5 1 Refer to Section 6 5 Refer to Section 2 5 1 Refer to I O Module Type Building Block User s Manual 6 INSPECTION AND MAINTENANCE 6 3 Periodic Inspection The items that must be inspected one or two times every 6 months to 1 year are listed below When the equipment is moved or modified or layout of the wiring is changed also implement this inspection Table 6 2 Periodic Inspection Item Inspection item 2 A
237. t cable 2 Refer to APPENDIX 4 4 for the internal I F connector cable Correctly wire the internal I F connector cable Use the shielded twisted pair cable 3 In wiring inside the panel the power line connected to the power or servo amplifier and the communication cable such as bus connection cable or network cable must not be mixed If the cables are installed closely with each other for wiring reasons using a separator made of metal can make the cables less influenced by noise Mixing the power line and communication cable may cause malfunction due to noise APPENDICES APPENDICES APPENDIX 1 Differences Between Q170MSCPU and Q173DSCPU Q172DSCPU This section describes the differences between Q170MSCPU and Q173DSCPU Q172DSCPU and the details of change The specifications of Q170MSCPU are equal to those of Q172DSCPU Refer to the following manuals for the specifications in common with Q172DSCPU Q173D S CPU Q172D S CPU Motion controller IB 0300134 Programming Manual COMMON Q173D S CPU Q172D S CPU Motion controller i IB 0300135 SV13 SV22 Programming Manual Motion SFC Q173D S CPU Q172D S CPU Motion controller 1B 0300136 SV13 SV22 Programming Manual REAL MODE Q173D S CPU Q172D S CPU Motion controller IB 0300137 SV22 Programming Manual VIRTUAL MODE Q173DSCPU Q172DSCPU Motion controller i IB 0300198 SV22 Programming Manual Advanced Synchronous Control APP APP 1 APPENDICES AP
238. t cables are not binded to 100VAC 200VAC and 24VDC wires or run close to the power wires 9 Check the grounding of the earth terminal FG and LG 5 START UP PROCEDURES Confirmation Items Q172DLX Servo external Refer to the Q173D S CPU signals interface module 1 Check that the installation position of modules correspond to the Q172D S CPU Motion system setting controller Programming Q173DPX Manual pulse Manual COMMON generator interface N i n 2 5 4 2 Check that the connection with external equipments is correct module 2 5 5 1 Check that the wire size of cable is correct RS 2 Check that the terminal block screws are tightened correctly ES 3 Check that the cables connected to each terminal of terminal block correspond to the signal names Refer to the I O Module Type Building Block User s Manual 4 Check that the external power supply are connected correctly UO module 24VDC 5VDC 5 Check that the 100VAC 200VAC and 24VDC wires are twisted as closely as possible respectively and run in the shortest distance 6 Check that the 100VAC 200VAC and 24VDC wires are not bind the fea 4 3 1 i a cable together with and run close to the I O wires 1 Check that the model name of SSCNETIL cables is correct 2 Check that the connecting position for connector of SSCNETII 2 5 7 cables are correct SSCNETID cable 6 Check tha
239. t it is recommended to fit ferrite cores if shield cables pulled out of the enclosure do not provide sufficient shielding effects Note that the ferrite cores must be fitted to the cables in the position immediately before they are pulled out of the enclosure If the fitting position is improper the ferrite will not produce any effect e Ferrite core Recommended product TDK ZCAT3035 1330 2 Noise filter power supply line filter A noise filter is a component which has an effect on conducted noise The attachment of the noise filter to the power supply line of the servo amplifier and controller s power supply is effective for the reducing noise The noise filter has the effect of reducing conducted noise of 10 MHz or less e Noise ferrite Recommended product Manufacturer Model name Mitsubishi electric FR BLF Soshin Electric HF3010A UN The precautions required when installing a noise filter are described below a Do not bundle the wires on the input side and output side of the noise filter When bundled the output side noise will be induced into the input side wires from which the noise was filtered Input side Input side power supply side power supply side Induction Noise filter E The noise will be included when the Separate and lay the input and input and output wires are bundled output wires Output side device side Output side device side Figure 7 4 Precautions on noise filter b G
240. t personal safety can be ensured even if the machine restarts suddenly Confirm and adjust the program and each parameter before operation Unpredictable movements may occur depending on the machine Extreme adjustments and changes may lead to unstable operation so never make them Do not apply a voltage other than that specified in the instruction manual on any terminal Doing so may lead to destruction or damage Do not mistake the terminal connections as this may lead to destruction or damage Do not mistake the polarity as this may lead to destruction or damage Do not touch the heat radiating fins of controller or servo amplifier regenerative resistor and servomotor etc while the power is ON and for a short time after the power is turned OFF In this timing these parts become very hot and may lead to burns Always turn the power OFF before touching the servomotor shaft or coupled machines as these parts may lead to injuries Do not go near the machine during test operations or during operations such as teaching Doing so may lead to injuries Do not bunch the control wires or communication cables with the main circuit or power wires or lay them closely They should be installed 100mm 3 94inch or more from each other Trying to bunch or install could result in noise that would cause operation failure 6 INSPECTION AND MAINTENANCE 6 2 Daily Inspection The items that must be inspected daily a
241. t rated ree ee oe voltage current or more Life time Surge suppressor _ suppressor PO None SES Fuse None Terminal screw size M3 5 screw 2 SYSTEM CONFIGURATION Power supply module specifications continued Q61P Q62P Q63P Q64PN Applicable wire size 0 75 to 2mm Applicable crimping terminal RAV1 25 to 3 5 RAV2 to 3 5 Applicable tightening torque 0 66 to 0 89 Nem Exterior dimensions 98 H x 55 2 W x 90 D 98 H x 55 2 W x 115 D mm inch 3 86 H x 2 17 W x 3 54 D 3 86 H x 2 17 W x 4 53 D Mass kg POINTS Note 1 Overcurrent protection The overcurrent protection device shuts off the 5V 24VDC circuit and stops the system if the current flowing in the circuit exceeds the specified value The LED of the power supply module is turned off or lights up in dim green when voltage is lowered If this device is activated switch the input power supply off and eliminate the cause such as insufficient current capacity or short Then a few minutes later switch it on to restart the system The initial start for the system takes place when the current value becomes normal Overvoltage protection The overvoltage protection device shuts off the 5VDC circuit and stops the system if a voltage of 5 5VDC or more is applied to the circuit When this device is activated the power supply module LED is switched OFF If this happens switch the input power OFF then a few minutes later ON This causes the initial s
242. t the MR J3BUSOM or MR J3BUSLIM A do not come in contact with wires cables that use materials where the plasticizing material is contained 5 START UP PROCEDURES 5 2 Start up Adjustment Procedure Motion CPU area Servo amplifier SSCNETII H head module Motion CPU area Y A v A START Turn OFF Motion controller s power supply Check that the power supply of Motion controller is OFF Check wiring and module installation 1 Check the installation position and condition of each modules 2 Check the connecting condition of connectors 3 Check that all terminal screws are tight 4 Check the ground wires of servo amplifier etc 5 Check the servo motor wiring U V W 6 Check the regenerative option wiring 7 Check the circuit of emergency stop or forced stop Installation mode Install operating system software Install the operating system software to the Motion controller using MT Developer2 Servo amplifier setting Set the axis number of servo amplifier SSCNETII H head module setting Set the station number of SSCNETII H head module SSCNETII H head module use Turn ON power supply Set the RUN STOP RESET switch of Motion controller to STOP and turn ON the Motion controller s power supply System setting Parame
243. t with the RUN STOP RESET switch 3 Power ON the Motion controller again e To turn ON the RUN LED after writing the parameters carry out the following steps 1 Reset with the RUN STOP RESET switch 2 Power ON the Motion controller again If the RUN STOP RESET is set in the order of RUN to STOP to RUN after changing the parameters network parameters and intelligent function module parameters will not be updated PERIPHERAL UE connector 2 SYSTEM CONFIGURATION Application Indicates the operating status of the PLC CPU area s ON Detection of self diagnosis error which will not stop operation except battery error When operation continued at error detection is set in the 13 ERR LED parameter setting e OFF Normal e Remains flashing Detection of error whose occurrence stops operation Resetting with the RUN STOP RESET switch becomes valid Indicates the operating status of the PLC CPU area 14 USER LED s ON Annunciator F turned ON e OFF Normal Indicates the operating status of the PLC CPU area e ON yellow Occurrence of battery error due to reduction in battery voltage of the memory card e ON green Turned ON for 5 seconds after restoring of data backup to the standard ROM by the latch data backup is completed e Remains flashing green Backup of data to the standard ROM by latch data backup is completed BAT LED OFF Normal Indicates the operating status of the PLC CPU ar
244. tart for the system to take place The power supply module must be changed if the system is not booted and the LED remains OFF 2 SYSTEM CONFIGURATION Note 3 Allowable momentary power failure period 1 For AC input power supply a b a b An instantaneous power failure lasting less than 20ms will cause AC down to be detected but operation will continue An instantaneous power failure lasting in excess of 20ms may cause the operation to continue or initial start to take place depending on the power supply load Further when the AC supply of the AC input module is the same as that of the power supply module it prevents the sensor connected to the AC input module which is ON at power off from turning OFF by switching off the power supply However if only the AC input module is connected to the AC line which is connected to the power supply detection of the AC down for the power supply module may be delayed by the capacitor in the AC input module Thus connect a load of approx 30mA per AC input module to the AC line 2 For DC input power supply An instantaneous power failure lasting less than 10ms N will cause 24VDC down to be detected but operation will continue An instantaneous power failure lasting in excess of pense may cause the operation to continue or initial start to take place depending on the power supply load Note This is for a 24VDC input This is 10ms or less for less than 24V
245. terminal may result in an electric shock 3 When the Q61P Q62P Q63P or Q64PN is loaded on the extension base unit a system error cannot be detected by the ERR terminal The ERR terminal is always OFF 2 SYSTEM CONFIGURATION 2 5 3 Extension base unit and extension cable This section describes the specifications of the extension cables for the base units Extension base unit and the specification standards of the extension base unit 5VDC internal current consumption of base unit might be changed Be sure to refer to the MELSEC Q series PLC Manuals 1 oe base unit specifications a Type not requiring power supply module Number of IO modules 2 Possibility of extension Extendable Applicable module Q series modules 5VDC internal current 0 08 0 10 consumption A M4 screw hole or 64 5 hole for M4 screw 106 W x 98 H x44 1 D 189 W x 98 H 44 1 D mm inch 4 17 W x 3 86 H x 1 74 D 7 44 W x 3 86 H x 1 74 D b Type requiring power supply module NumberofvOmedues 3 5 La nv Possibility of extension Extendable Applicable module 5VDC internal current consumption Kees Fixing hole goe hole size M4 screw hole or 4 5 hole for M4 screw 189 W x 98 H 245 W X 98 H 328 W x 98 H 439 W x 98 H Exterior dimensions x 44 1 D x 44 1 D x 44 1 D x 44 1 D mm inch 7 44 W x3 86 H 9 65 W X3 86 H 12 91 W x3 86 H 17 28 W x 3 86 H x 1 74 D Xx 1 74 D x 1 74 D x 1 74
246. ternal ote i i 12VDC to 24VDC input signal Note As for the connection to power line B1 B2 both and are possible A CAUTION Always use a shield cable for connection of the CTRL connector and external equipment and avoid running it close to or bundling it with the power and main circuit cables to minimize the influence of electromagnetic interface Separate them more than 200mm 0 66ft away Connect the shield wire of the connection cable to the FG terminal of the external equipment Make parameter setting correctly Incorrect setting may disable the protective functions such as stroke limit protection Always wire the cables when power is off Not doing so may damage the circuit of modules Wire the cable correctly Wrong wiring may damage the internal circuit 2 SYSTEM CONFIGURATION EH 2 5 5 Q173DPX Manual pulse generator interface module Q173DPxX receives signals required for Manual pulse and Incremental synchronous encoder Voltage output Open collector type Differential output type input 1 Q173DPX name of parts 1 D ee eet Q173DPX 5 ee PLS A PLS B TREN 1 1 1 gt 2 2 2 3 3 3 O ees 10 Wi 0 0 0 00 10 WW 10 1g PULSER j g4 3 II 10 ES oo NED im oa 10 6 e 1 om 10 oan 0 ey O C 7 Q173DPX U Ja 4 Application Hook used to
247. ters setting Set the following parameters using MT Developer2 1 Multiple CPU setting 2 Automatic refresh setting 3 System setting 4 Q170MS UO setting Servo data setting The mode indicated in the brackets at top left of each step is the mode for checking or setting using MT Developer2 GX Works2 e Refer to Section 4 1 3 for installation of module Z DANGER Be sure to ground the Motion controllers servo amplifiers and servo motors Ground resistance 1002 or less Do not ground commonly with other devices Z CAUTION Check that the combination of modules are correct Wrong combination may damage the modules Refer to Section 5 3 e The operating system software SV22 Virtual mode switching method is installed at the time of product purchases Refer to Section 2 5 7 3 Z CAUTION When using a regenerative resistor shut the power OFF with an error signal The regenerative resistor may abnormally overheat due to a fault in the regenerative transistor etc and may lead to fires Always take heat measure such as flame proofing for the inside of the control panel where the servo amplifier or regenerative resistor is mounted and for the wires used Failing to do so may lead to fires Positioning parameters setting Set the following positioning parameters using MT Developer 1 Fixed parameters 2 Home position return data 3 JOG operation data
248. th must be 30cm 11 81inch or shorter The FG terminals function is to pass the noise generated in the Motion controller system to the ground so wire the ground wire as short as possible to ensure a low impedance The wire itself carries a large noise content and thus short wiring means that the wire is prevented from acting noise emission as an antenna 7 EMC DIRECTIVES 3 Cables The cables extracted from the control panel contain a high frequency noise component On the outside of the control panel therefore they serve as antennas to emit noise To prevent noise emission use shielded cables for the cables which are connected to the I O modules and intelligent function modules and may be extracted to the outside of the control panel The use of a shielded cable also increases noise resistance The signal lines including common line of the programmable controller which are connected to I O modules intelligent function modules and or extension cables have noise durability in the condition of grounding their shields by using the shielded cables If a shielded cable is not used or not grounded correctly the noise resistance will not meet the specified requirements a Grounding of shield section of shield cable 1 Ground the exposed shield section of the shielded cable close to the module When the grounded cables and the not yet grounded cables are bundled the cables might be induced to electromagnetic 2 Ground the exposed shiel
249. than the actual current consumption 1 5K Q 2 to 3 W resistor may therefore be connected to the terminal in question Internal output circuit troubleshooting The following describes possible problems with internal output circuits and their corrective actions A lamp relay or photocoupler can be driven Install a diode D for an inductive load relay etc or install an inrush current suppressing resistor R for a lamp load Permissible current 40mA or less inrush current 100mA or less A maximum of 2 6V voltage drop occurs in the servo amplifier a Circuit example of sink output If polarity of diode is reversed Motion controller will fail 24VDC 10 b Circuit example of source output If polarity of diode is reversed Motion controller will fail 7 EMC DIRECTIVES 7 EMC DIRECTIVES Compliance to the EMC Directive which is one of the EU Directives has been a legal obligation for the products sold in European countries since 1996 as well as the Low Voltage Directive since 1997 Manufacturers who recognize their products are compliant to the EMC and Low Voltage Directives are required to declare that print a CE mark on their products Aa MITSUBISHI ps MOTION CONTROLLER MODEL Q170MSCPU MAC ADD 002692475470 24VDC 1 40A SERIAL _A31993011 BOM ga UNL FONT ES oo d s LISTED CE mark KCC REI MEK TC510A842G51 DATE 2013 01
250. this may lead to insufficient contact Sheath Core Approx 10mm 0 39inch 1 Using a ferrule A ferrule can also be used to connect with the connector Use the ferrules in the table below for the 24VDC power supply connector and forced stop input connector By th Ferrule model e Connector Wire size 2 Crimping tool Manufacturer AWG16 Al1 5 10 BK AI TWIN2x1 5 10 BK 24VDC power supply connector AWG14 Al2 5 10 BU CRIMPFOX ZA3_ PHOENIX CONTACT Forced stop input connector AWG21 Al0 5 10 WH e Cut the wire sticking out from the end of the ferrule to 0 5mm 0 02inch or less 0 5mm 0 02inch nie less e When using a twin ferrule be sure to insert the wire in a manner that will keep the insulation sleeve from interfering with the neighbouring poles Be sure to crimp the ferrule Crimping BR Crimping 4 31 4 INSTALLATION AND WIRING 2 Inserting wire 1 Press the connector release with a tool such as a flathead screwdriver 2 While holding the release down insert the wire all the way in Note When using a ferrule make sure the bumpy side is facing towards the release When inserting 2 wires into one terminal use a twin ferrule Insert the wire with the bumpy side facing the release 3 Connecting the power supply a Do not connect the power supply plug when wires are live The inrush current may damage the internal parts b In consideration of safety the maximum number of modules to a p
251. tion e ech SSCNETII H SSCNETH SSCNETH communication method Note 7 s Number of lines 1 line Driver communication function Note 8 Provided None Number of Q172DLX 2 modules usable 2 modules usable Motion related g j Q173DPX 4 modules usable Ui 3 modules usable rie modules Interrupt module Input module Output module Interrupt module Input module Input Output composite module Analogue input module Output module Analogue output module Analogue input output module Input Output composite module High speed counter module Positioning module Analogue input module Simple Motion module Control unit of displacement sensor Analogue output module Number of SSCNETII H head Up to 4 stations usable Unusable module connection stations Note 1 SV22 virtual mode only Note 2 When the manual pulse generator is used via the Q170MSCPU s internal I F the Q173DPX cannot be used Note 3 When the operation cycle is 7 11ms or less the manual pulse generator I F built in CPU can be used Note 4 Any incremental synchronous encoder connected to the Q170MSCPU s internal UE will automatically be assigned an Axis No one integer greater than the number of encoders connected to any Q173DPX modules Note 5 SV22 advanced synchronous control only Note 6 This cannot be used in SV22 advanced synchronous control of Q17MSCPU Q170MSCPU S1 Note 7 The servo amplifiers for SSCNET cannot be used Motion bufferi
252. tion manual for the program corresponding to the intelligent function module 3 Transportation and installation A CAUTION Transport the product with the correct method according to the mass Use the servomotor suspension bolts only for the transportation of the servomotor Do not transport the servomotor with machine installed on it Do not stack products past the limit When transporting the Motion controller or servo amplifier never hold the connected wires or cables When transporting the servomotor never hold the cables shaft or detector When transporting the Motion controller or servo amplifier never hold the front case as it may fall off When transporting installing or removing the Motion controller or servo amplifier never hold the edges Install the unit according to the instruction manual in a place where the mass can be withstood Do not get on or place heavy objects on the product Always observe the installation direction Keep the designated clearance between the Motion controller or servo amplifier and control panel inner surface or the Motion controller and servo amplifier Motion controller or servo amplifier and other devices Do not install or operate Motion controller servo amplifiers or servomotors that are damaged or that have missing parts Do not block the intake outtake ports of the Motion controller servo amplifier and servomotor with cooling fan Do not allow condu
253. to PXF Unsable Fixed at 0 e PYO to PY1 Real output PY2 to PYF Unsable Fixed at 0 1 Q170MS I O setting The setting method for the I O signals of internal I F is shown below Q170MS I O Setting First I O No aen The Following devices cannot be used az Real Input Device PXn 4 to PXn F Real Output Device PYn 2 to PYn F D CHEN Setting for the I O signals High speed Read Setting C Used Unused Input Signal Detection Direction valid on leading edge Normal Open Setting for the mark detection signal Dl Valid on trailing edge Normal Close Setting range Initial value Used Unused 0000 to OFFO Number of I O points First I O No i i 0000 in units of 16 points must be total of 256 High speed read points or less Note 1 Used Unused Unused setting Valid on leading edge Input signal detection Normal open Valid on leading edge direction Valid on trailing edge Normal open Set the detection direction of the mark detection signal DI Normal close Note 1 This cannot be set in SV22 advanced synchronous control APP 6 APPENDICES 2 Application of input signal There are two kinds of applications of the input and mark detection for the Q170MSCPU s internal I F The same signal can be used simultaneously by the input and mark detection I O setting Input signal Mark detection Usable as the real input device PX or Used Usable as the real input dev
254. tructions and 13JW10 micro computer program MELSEC Q L QnA Programming Manual PID Control Instructions SH 080040 This manual explains the dedicated instructions used to exercise PID control 13JF59 MELSEC Q L QnA Programming Manual SFC SH 080041 This manual explains the system configuration performance specifications functions programming 13JF60 debugging error codes and others of MELSAP3 UO Module Type Building Block User s Manual TEE This manual explains the specifications of the I O modules connector connector terminal block 13 JL99 conversion modules and others MELSEC L SSCNETII H Head Module User s Manual 3 ie i SH 081152ENG This manual explains specifications of the head module procedures before operation system 13JZ78 configuration installation wiring settings and troubleshooting 3 Servo amplifier Manual Name Manual Number Model Code SSCNETIMI H interface MR J4 LB Servo amplifier Instruction Manual SH 030106 This manual explains the I O signals parts names parameters start up procedure and others for 1CW805 MR J4 CB Servo amplifier SSCNETM H interface Multi axis AC Servo MR J4W LB Servo amplifier Instruction Manual SH 030105 This manual explains the I O signals parts names parameters start up procedure and others for Multi 1CW806 axis AC Servo MR J4WL LB Servo amplifier SSCNETI interface MR J3 OB Servo amplifier Instruction Manual SH
255. ty of the abovementioned applications if you agree not to require a specific quality for a specific application Please contact us for consultation Microsoft Windows Windows NT and Windows Vista are registered trademarks of Microsoft Corporation in the United States and other countries Ethernet is a trademark of Xerox Corporation All other company names and product names used in this manual are trademarks or registered trademarks of their respective companies IB NA 0300212 A MOTION CONTROLLER Qseries User s Manual Q170MSCPU MODEL Q170MS U E ODE 1XB962 IB NA 0300212 A 1304 MEE sfa MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry for service transaction permission Specifications subject to change without notice A MITSUBISHI ELECTRIC HEADQUARTERS EUROPEAN REPRESENTATIVES EUROPEAN REPRESENTATIVES EURASIAN REPRESENTATIVES MITSUBISHI ELECTRIC EUROPE B V EUROPE GEVA AUSTRIA ALFATRADE Ltd MALTA 100 Kazpromavtomatika KAZAKHSTAN German Branch Wiener Stra e 89 99 Paola Hill UL Zhambyla 28
256. uct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system The ratings and characteristics of the parts other than Motion controller servo amplifier and servomotor used in a system must be compatible with the Motion controller servo amplifier and servomotor Set the parameter values to those that are compatible with the Motion controller servo amplifier servomotor and regenerative resistor model and the system application The protective functions may not function if the settings are incorrect 2 SYSTEM CONFIGURATION i 2 1 2 Q170MSCPU System internal configuration 1 What is Multiple CPU system for Q170MSCPU A Multiple CPU system for Q170MSCPU is a system in which between the PLC CPU area and Motion CPU area are connected with the Multiple CPU high speed bus in order to control the I O modules and intelligent function modules PLC CPU area is fixed as CPU No 1 and Motion CPU area is fixed as CPU No 2 And the Motion CPU area controls the servo amplifiers connected by SSCNETH cable Motion controller PLC CPU area CPU No 1 fixed Motion CPU area CPU No 2 fixed Device memory Device memory gt PLC control eee Se Motion control Q processor Multiple CPU
257. up of RAM built in Motion controller Nominal current 1800mAh For memory data backup of RAM built in Motion controller Nominal current 5000mAh 100 to 240VAC input 5VDC 6A output 100 to 240VAC input 5VDC 3A 24VDC 0 6A output 24VDC input 5VDC 6A output 100 to 240VAC input 5VDC 8 5A output Current consumption Remark 5VDC A 2 SYSTEM CONFIGURATION Motion controller related module continued Current Part name Model name He Description consumption Remark 5VDCIAI module 0 10 Extension base Note 5 unit Number of I O modules installed 5 slots type not requiring power supply module Length 0 45m 1 48ft Length 0 6m 1 97ft Length 1 2m 3 94ft Length 3m 9 84ft Length 5m 16 40ft Length 10m 32 81ft Q170MSCPU MR J4 W DIB MR J4 W OB MR J4 W MR J4 W CIB LJ72MS15 Q170MSCPU MR J3 W OB MR J3 W OB MR J3 W Extension cable QD 1D O 10 O jo YQIQ19N 10 IO JO gt ja ja gt j S ojoj in i ja g P P 5 jw P L wo ei C D e Standard cord for inside panel 0 15m 0 49ft 0 3m 0 98ft 0 5m 1 64ft 1m 3 28ft 3m 9 8 e Q170MSCPU MR J4 W OB MR J4 W OB MR J4 W MR J4 W OB LJ72MS15 Q170MSCPU MR J3 W OB MR J3 W OB MR J3 W e Standard cable for outside panel 5m 16 40ft 10m 32 81ft 20m 65 62ft Q170MSCPU MR J4 W OB MR J4 W OB e MR J4 W MR J4 W O1B LJ72M
258. upply cable For connection or removal of the 24VDC power supply cable do it surely while holding a connector of 24VDC power supply cable Motion controller gt J il we Pe g g e l en J KS 2 Connection of the 24VDC power supply cable For connection of a 24VDC power supply cable to the Motion controller connect it surely to a 24VDC power supply connector of Motion controller while holding a connector Be sure to insert it until it clicks 3 Removal of the 24VDC power supply cable For removal of the 24VDC power supply cable pull out the cable while holding a connector Forced removal of the 24VDC power supply cable from the Motion controller will damage the Motion controller or 24VDC power supply cable 4 INSTALLATION AND WIRING 4 3 Wiring 4 3 1 Instructions for wiring Z DANGER Completely turn off the externally supplied power used in the system before installation or placing wiring Not doing so could result in electric shock or damage to the product When turning on the power supply or operating the module after wiring be sure that the module s terminal covers are correctly attached Not attaching the terminal cover could result in electric shock Z CAUTION Be sure to ground of the earth terminal FG and LG Not doing so could result in electric shock or
259. use an operation failure or damage the module In order that you can use the Motion controller in normal and optimal condition at all times this section describes those items that must be maintained or inspected daily or at regular intervals 6 1 6 INSPECTION AND MAINTENANCE 6 1 Maintenance Works 6 1 1 Instruction of inspection works In order that can use the Motion controller in safety and normal those items that must be inspected list below Z DANGER Never open the front case or terminal covers while the power is ON or the unit is running as this may lead to electric shocks Never run the unit with the front case or terminal cover removed The high voltage terminal and charged sections will be exposed and may lead to electric shocks Never remove the front case or terminal cover at times other than wiring work or periodic inspections even if the power is OFF The insides of the Motion controller and servo amplifier are charged and may lead to electric shocks When performing wiring work or inspections turn the power OFF wait at least ten minutes and then check the voltage with a tester etc Failing to do so may lead to electric shocks Never operate the switches with wet hands as this may lead to electric shocks Do not damage apply excessive stress place heavy things on or sandwich the cables as this may lead to electric shocks or fire Do not touch the Motion controller servo amplifier or servomotor t
260. ut signal mark detection input side DI DI Did DA DICOM E FG J Twisted pair cable Note 1 When voltage output open collector type is used open between SEL and SG Note 2 Use cable of wire size AWG28 ZA CAUTION When fabricating the internal I F connector cable do not make incorrect connection Doing so may cause an operation failure or damage the module APP 33 APPENDICES APPENDIX 4 5 SSCNETII cables SC J3BUSUOIM C manufactured by Mitsubishi Electric System amp Service e For the details of the SSCNETII cables contact your local sales office e Do not look directly at the light generated from CN1A CN1B connector of servo amplifier or the end of SSCNETII cable The light can be a discomfort when it enters the eye The cable is available per 1 m up to 100 m The number of the length 1 to 100 will be in the O part in the cable model Cable model Cable A ot Bending life Application remark 1 to 100 4 to 100 3 28 to 328 08 28 to 328 08 ISC J3BUSOM C J3BUS 1 to 100 Ultra long bending life Long distance cable APP 34 APPENDICES Ell APPENDIX 5 Exterior Dimensions APPENDIX 5 1 Motion controller 1 Q170MSCPU Q170MSCPU S1 Unit mm inch 38 1 50 7 0 28 31 a MITSUBISHI MODE aizomscpu __ POWER D7 RESET STOP RUN POWER mOl RESET STOP RUN
261. vanced synchronous control Note 2 SV22 advanced synchronous control only 1 Set MR J4 B to use the MR J4W LB MR J4W LBB is recognized as two servo amplifiers or three servo amplifiers Set two axes or three axes as MR J4 B 2 Set MR J3 B to use the MR J3W LB MR J3W LB is recognized as two servo amplifiers Set two axes as MR J3 B APP 2 APPENDICES APPENDIX 1 2 Differences of peripheral device interface Table 1 2 Differences of peripheral device interface Q170MSCPU Q173DSCPU Q172DSCPU USB Connect to the USB connector Connect to the PLC CPU ea ten connector of PLC CPU reem 232 module area Direct connection connection Connect to the PERIPHERAL Connect to the PERIPHERAL PERIPHERAL I F I F connector of Motion CPU I F connector of Motion CPU area module APP 3 APPENDICES APPENDIX 1 3 Differences of CPU display and I O assignment Table 1 3 Differences of CPU display and I O assignment e Motion CPU area Q170MSCPU PCPU e PLC CPU area QO3UDCPU Q170MSCPU use Ve Motion CPU Q173DSCPU Q172DSCPU CPU display QO6UDHCPU Q170MSCPU S1 PLC CPU QO6UDHCPU etc use The main base of eight slots corresponding is built The main base and extension base are Base mode into the Q170MSCPU automatically determined Auto e 16 points are set to each empty slot e HO or empty slot etc is automatic determined First address of the extension base is 70 and the poi
262. wire as far as possible Ground resistance 1002 or less b When a dedicated grounding cannot be performed use 2 Common Grounding shown below Motion Another controller equipment grounding Another equipment Motion controller Motion Another controller equipment grounding 1 Independent grounding Best 2 Common grounding Good 3 Joint grounding Not allowed c For grounding a cable use the cable of 2 mm or more Position the ground contact point as nearly to the Motion controller as possible and reduce the length of the grounding cable as much as possible 4 INSTALLATION AND WIRING 4 3 2 Connecting to the power supply The following diagram shows the wiring example of power lines grounding lines etc to the Motion controller 100 200VAC 24VDC ie AC DC x Fuse Hat it DC tt ie SC 24VDC t Connect to power inpu
263. x10 PCD72 equi spaced eg Gelee SIS o Se M3x6 8 89 L 7 6 0 35 0 30 WARRANTY Please confirm the following product warranty details before using this product 1 Gratis Warranty Term and Gratis Warranty Range We will repair any failure or defect hereinafter referred to as failure in our FA equipment hereinafter referred to as the Product arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider However we will charge the actual cost of dispatching our engineer for an on site repair work on request by customer in Japan or overseas countries We are not responsible for any on site readjustment and or trial run that may be required after a defective unit are repaired or replaced Gratis Warranty Term The term of warranty for Product is thirty six 36 months after your purchase or delivery of the Product to a place designated by you or forty two 42 months from the date of manufacture whichever comes first Warranty Period Warranty period for repaired Product cannot exceed beyond the original warranty period before any repair work Gratis Warranty Range 1 You are requested to conduct an initial failure diagnosis by yourself as a general rule It can also be carried out by us or our service company upon your request and the actual cost will be charge
264. xecute in fixed cycle Event task Fixed cycle 0 22ms 0 44ms 0 88ms 1 77ms 0 44ms 0 88ms 1 77ms 3 55ms Execute specification Execution 3 55ms 7 11ms 14 2ms 7 11ms 14 2ms Executed task can be External Execute when input ON is set among interrupt module QI60 masked interrupt 16 points PLC interrupt Execute with interrupt instruction D P GINT from PLC Execute when input ON is set among interrupt module QI60 NMI task 16 points Number of I O points X Y 8192 points Total 256 points Internal I F Input 4 points Output 2 points I O module Intelligent function module Number of devices Device In the Motion CPU area only Included the 8192 points positioning dedicated 2256 points device 12288 points Coasting timers FT 1 point 888uUs Multiple CPU area devices UDI G Up to 14336 points usable Note 1 SV22 advanced synchronous control only Note 2 19824 points can be used for SV22 advanced synchronous control Note 3 Usable number of points changes according to the system settings Number of real I O points PX PY 256 points 1 OVERVIEW c Comparison of Mechanical system program specifications QI70MSCPU S1 Q170MCPU Virtual servomotor servomotor Drive module Synchronous encoder Roller f Control units mm inch Output Ball screw module Rotary table degree Cam O O mm inch degree PLS mm inch PLS Program language Dedicated
265. xed pitch feed Constant speed control Position follow up control Speed control with fixed position stop Control modes Pel e Hi Speed switching control High speed oscillation control Speed torque control Synchronous control SV22 Virtual mode switching method Advanced synchronous control method Trapezoidal acceleration deceleration S curve acceleration deceleration Acceleration deceleration control Advanced S curve acceleration deceleration Backlash compensation Electronic gear Phase compensation SV22 N SS Programming language Motion SFC Dedicated instruction Mechanical support language SV22 e Servo program capacity 16k steps 3200 points Positioning data can be designated indirectly USB RS 232 PLC CPU area control PERIPHERAL I F Motion CPU area control Proximity dog type 2 types Count type 3 types Data set type 2 types Dog cradle type Stopper type 2 types Limit switch combined type Scale home position signal detection type Number of positioning points Home position return function Dogless home position signal reference type Home position return re try function provided home position shift function provided JOG operation function Manual pulse generator operation Possible to connect 3 modules Q173DPX use function Possible to connect 1 module Q170MSCPU s internal I F use Synchronous encoder operation Possible to connect 12 modules SV22 use Incremental only SE function Q1
266. y for Note 6 electromagnetic brake CP4 Surge suppresser wTM SE 24V0 ower M supply 24GO 3 DESIGN 1 Note 1 Make the forced stop input cable within 30m 98 43ft The forced stop lt amp xample gt For control axis 1 axis 2 and axis 3 by the forced stop terminal of input module is also possible 2 Note 2 Motion SFC program example is shown in the right record 3 Note 3 It is also possible to use a full wave rectified power supply as the IF 1 power supply for the electromagnetic brake SET Pm T GEES initial 4 Note 4 It is also possible to use forced stop signal of the servo amplifier 5 Note 5 Refer to the servo amplifier instruction manuals for selection of the Se as Servo Sirak detection circuit breaker and electromagnetic contactor of the axis 1 axis 2 6 Note 6 The surge suppressor is recommended to be used for an AC relay or FS axis 3 electromagnetic contactor MC near the servo amplifier RSTPYm sds OFF abnormal error Refer to the servo amplifier instruction manual for selection of the surge suppressor END MCCB2 Note5 MC1 as P ad x e 2 L2 Vv fl fl L1 MR J4 B U i i gt 3 w QO L11 Ground magnetic q L21 brake if DICOM __ Note 3 SSCNET I H gt Jon1A ALM p lt 24V KN Ee Note 4 MCCB3 Note 5 MH fA C

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