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User`s Manual Q173HCPU Q172HCPU

1. 90 3 54 55 2 2 17 2 Q64P Unit mm inch nn x CA Co T Ke O POWER GEES AAA e 2 e Oo Oo f f f f f AAA PULL 6 1 v I 115 4 53 55 2 2 17 App 19 APPENDICES NEN APPENDIX 2 6 Battery holder unit Q170HBATC 1 Battery holder unit Q170HBATC Unit mm inch 2 5 3 0 21 Fixing screw M5x14 45 1 77 60 2 36 C a Q170HBATC L Al e J 40 1 57 KI 80 3 15 0 39 0 65 App 20 APPENDICES APPENDIX 2 7 Connector 1 Honda connectors make HDR model Cable connector for the SSC I F communication cable teaching unit Number of pins Type Connector Connector case HDR E14MG1 HDR E14LPA5 HDR E26FG1 HDR E26LPA5 Specified tool FHAT 0029 FHPT 0004C Maker Honda connectors These tools are not sold in Mitsubishi Please purchase them by customers Type Connector HDR E14MG1 Type Connector HDR E26FG1 Connector case HDR E14LPA5 Connector case HDR E26LPA5 Unit mm inch 17 0 67 21 8 0 86 6x7 0 24 x 0 28 i A A A za 9o Elle j e ge 1 yo e El e E i 4o i i Elle i o i o i e A i i i i i H i i App 21 APPENDICES 2 Sumitomo 3M make MDR type
2. Motion CPU 1 Check external inputs to Q172LX Check the wiring of following external inputs by monitoring of the peripheral device 1 FLS Upper stroke limit input 2 RLS Lower stroke limit input 3 STOP Stop signal Check external inputs to Q172EX Check the wiring of following external inputs by monitoring of the peripheral device or LED indicators 1 Serial absolute synchronous encoder setting Check external inputs to Q173PX Check the wiring of following external inputs by monitoring of the peripheral device or LED indicators 1 Manual pulse generator incremental synchronous encoder setting UO module Check the I O module wiring Servo data setting mode A Positioning parameters setting Set the following positioning parameters by the peripheral device 1 Fixed parameters 2 Servo parameters 3 Home position return data 4 Limit switch Refer to Section 2 4 4 ee Refer to Section 2 4 5 Refer to Section 2 4 6 N CAUTION Do not install 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 servomotor to operate abnormally N CAUTION Set parameter values to those that are
3. Note 1 The 5V P5 DC power supply from the Q173PX must not be connected if a separated power supply is used as the Manual pulse generator Incremental synchronous encoder power supply Use a 5V stabilized power supply as a separated power supply Any other power supply may cause a failure Note 2 Connect 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 Interface between Manual pulse generator Voltage output Open collector type Incremental synchronous encoder Pin No t PULSER connector nput or _ Ko 5 m P D Ce put Signal name Voltage Output Wiring example Internal circuit Specification Description type 1 2 3 Manual Rated input voltage For connection pulse 5 5VDC or less manual pulse generator A20 A15 A10 TU generator eve phase A 3 to 525VDC Phases A B li Pulse width HAD Manual pulse 2mA or less 20us or more generato Manual synchronous LOW level m Input pulse encoder 1VDC or less ormore ormore 5mA Duty ratio 5096 2596 generator B20 B15 B10 mA or more see tans phase B lus or less HBO Phase difference Phase A SLIT Select type Phase B l 1 signal A18 A13 A8 No connect
4. MODE RUN Put your finger here to open the cover Side face Bottom Q172HCPU T Q173HCPU T 15 H 18 15 18 MESI D 19 19 UL Jr Tel dl l 17 09 17 D UIT Tire IPIE d OH Du D Eo IL I ICH U D E Qu CMI 0 IL ILI 2 SYSTEM CONFIGURATION Application G Module fixing hook Hook used to fix the module to the base unit Quick release installation MODE LED Mode judgin Lit green Normal mode udgi judging Lit orange Installation mode mode written in ROM i Motion CPU normal start 3 RUN LED Motion CPU fault LED turns off when the trouble occurred at Motion CPU start or WDT error occurrence LED turns on at following error occurrence 1 WDT error 2 System setting error 3 Servo error 4 ERR LED 4 Self diagnostic error which will not stop the operation except battery error 5 Operating system software is not installed Detection of self diagnostic error which will stop the operation Normal During motion control 5 M RUN LED Latch clear start Not during motion control or detection of self diagnostic error which will stop the operation
5. SI 6 1 0 24 E 8 00 31 or less 10 8 0 43 Note Give the processing of the control panel referring to the above chart at cable producing 0 50 7 A31TUD3TM Type Connector 17JE 23250 02 D8A Maker DDK Unit mm inch JE Cable outside diameter 9 0 35 or less 35 KLS 38 35 ei Qi E A31TUD3TM Si T CCS C 54 0 2 13 dg S App 25 APPENDICES NEN APPENDIX 2 8 Manual pulse generator MR HDPO1 Unit mm inch 3x Studs M4x10 PCD72 equi spaced 0 63 0 79 1 06 The figure of processing a disc APPENDIX 2 9 Serial absolute synchronous encoder Q170ENC Unit mm inch 84 3 31 58 5 2 30 D d amp 2 8 72 0 34 A ite e Oo co t e N X rA i5 4 NS _N EL gue get 5 OSs ts 2 Cross section diagram AA D e O ei N NN JEDE wd 5 5 0 22 1 gt W y Ny 36 5 1 44 40 1 57 App 26 APPENDICES NEN APPENDIX 2 10 Teaching unit A31TU DS3L1 A31TU DNLI Unit mm inch 153 6 02 DISABLE ENABLE MITSUBISHI A31TU L 7 p EM M a ITEM CLEAR e it 8 T 9 2 m n 136 5 35 nd Front face Back face AE N N 1 34 0 8 Bottom pu zu ike is CH e O o ke
6. a Flowchart for when POWER LED is turned off POWER LED is OFF MODE LED is OFF b Flowchart for when MODE LED is turned off RUN LED is OFF c l Flowchart for when RUN LED is turned off d ERR LED is ON flickers Flowchart for when ERR LED is turned on flickered M RUN LED is OFF e l Flowchart for when M RUN LED is turned off BAT LED is ON f Flowchart for when BAT LED is turned on 9 Flowchart for when output load of output module I O module is not operating correctly is not turned on h Flowchart for when the peripheral device cannot communicate to the Motion CPU l i The power supply of teaching unit Flowchart for when the power supply of teaching is not turned on unit is not turned on The peripheral devices cannot communicate to the Motion CPU 6 INSPECTION AND MAINTENANCE a Flowchart for when POWER LED is turned off The following shows the flowchart when the POWER LED is turned off at the power supply ON or during operation POWER LED is turned off Is there a power supply Supply power supply Is POWER LED YES turned on Is the wiring terminal block screws connection correct Connect the wiring terminal block Screws
7. 3 Motion controller installation orientation a Since the Motion controller generates heat it should be fitted on a well ventilated location in the orientation shown below for heat release Vertical Flat 4 Installation surface Fit the base unit on a flat surface If the installation surface is not even this may strain the printed circuit boards and cause malfunctions 5 Installation of Motion controller in an area where the other devices are installed Avoid fitting base unit in proximity to vibration sources such as large electromagnetic contractors and no fuse circuit breakers fit them on a separate panel or at a distance 6 Distances from the other devices In order to avoid the effects of radiated noise and heat provide the clearances indicated below between the Motion controller and the other devices contactors and relays In front of Motion controller 100 mm 3 94 inch or more On the right and left of Motion controller 50 mm 1 97 inch or more 100mm 3 94inch or more Contactor relay etc 4 INSTALLATION AND WIRING 4 1 3 Installation and removal of module This section explains how to install and remove a power supply module PLC CPU module Motion CPU module 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 Q30B Q600B The installation and removal procedure of the module from Q3L1B Q6L
8. correspond to the signal names Refer to the 2 Check that the terminal screws are tightened correctly UO Module Type EN Building Block User s 4 Check that the external power supply are connected correctly Manual 24 VDC 5 VDC 2 Check that the total I O points of the I O modules and special function Refer to the module does not exceed the number I O points of the CPU module programming manual of operating system software 3 Check that the installation modules are connected ee EE I 4 1 3 1 Check that the installation 1 Check that the installation SSCNETII cable model names are correct cable model names are correct 2 4 9 SSCNETIII cable 2 Check that the installation positions of the connector for SSCNETIII cables are correct 3 Check that the SSCNETIII cables are connected correctly 1 Check that the battery cabl ted tly Battery holder unit Q170HBATC 1 Check that the battery ca es are connected correctly 2 Check that the battery is connected to the battery connector 6 4 2 2 1 Check that the installation SSC I F communication cable model names 22 SSC I F communication cable are correct 2 Check that the SSC I F communication cables are connected correctly 1 Check that the combination of teaching unit and the connecting cable are Teaching unit correct A31TU D3LT1 A31TU DN 2 Check that short circuit connector for teaching unit is connected when teaching unit is not using Extens
9. 17JE 13250 02 D8A connector 17L 002A stud BB 2 2 BB BBL 15 15 BBL BA 3 3 BA BAL 16 16 BAL CB 4 4 CB CBL 17 17 CBL CA 5 5 CA CAL 18 18 CAL 5V 12 12 5V SG 7 T SG 5V 13 13 5V 5V 24 24 5V SG 8 8 SG 5V 25 25 5V FG 1 1 FG EMG1 22 22 EMG1 DC24VE 9 9 DC24VE EMG2 19 19 EMG2 DC24GE 23 23 DC24GE DED1 10 10 DED1 DC24VD 11 11 DC24VD DED2 6 6 DED2 DC24GD 14 14 DC24GD AB 21 21 AB SG 20 20 SG shell shell Twisted pair cable Note Use a cable of wire size AWG24 App 12 APPENDICES APPENDIX 1 4 Battery cable Generally use the battery cable available as our options If the required length is not found in our options fabricate the cable on the customer side Make the battery cable within 0 5m 1 64ft 1 Hirose Electric make DF3 model Number of pin DF3 2428 S00 DF3 25 20 2 Connection diagram DF3 2428SCC terminal DF3 2428SCC terminal DF3 28 2C connector DF3 28 2C connector 1 r 1 i 2 2 e J Twisted pair cable Note Use a cable of wire size AWG24 App 13 APPENDICES APPENDIX 2 Exterior Dimensions APPENDIX 2 1 CPU module 1 Q172HCPU Module III JIL 114 3 4 50 nn 2 Q173HCPU Module MN 00000 114 3 4 50 App 14 Unit mm inch A FRONT SSCNETII BAT CN1 Dre PULL v USB 27 4 1 08
10. Enforced covering cord 50 1 97 MR J3BUSLIM B Code 30 1 18 2 Tension If tension is added on the SSCNETIII 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 SSCNETII cable or damage of SSCNETII connector may occur For cable laying handle without putting forced tension Refer to APPENDIX1 1 SSCNETII cables for the tension strength 3 Lateral pressure If lateral pressure is added on the SSCNETTI cable the cable itself distorts internal code gets stressed and then transmission loss will increase At worst the breakage of optical cable may occur As the same condition also occurs at cable laying if the SSCNETII cable is fixed do not tighten up optical cable with a thing such as nylon band TY RAP 4 Twisting If the 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 optical fiber may occur at worst 4 INSTALLATION AND WIRING 5 Wiring process of SSCNETITI cable Put the SSCNETTI cable in the duct or fix the cable at the closest part to the Motion CPU module with bundle material in order to prevent SSCNETII cable from putting its own weight on SSCNETII connector Leave the following space for wiring Putting in the duct To
11. He ost e EI BS le le S M E e o 17 63 0 2 0 692 0 01 20 9 0 2 0 82 0 01 App 23 APPENDICES 4 Hirose Electric make DF3 model Battery cable connector Type Connector DF3 28 2C Terminal DF3 24288CC Unit mm inch L x J S BE 5 e 7 6 0 24 5 Q170TUD3CBL A31TU D3LI side connector Type Connector DB 25SF N Maker Japan Aviation Electronics Industry Screw lock D20418 J3 Maker Japan Aviation Electronics Industry Installation plate Not for sale Circular clamp DB20962 Maker Japan Aviation Electronics Industry a Connector Unit mm inch k 76 0 2 99 J 65 0 2 56 5 5 0 22 47 1 0 2 1 85 0 01 l 24 0 0 94 5 0 0 20 e Oto o x o 3 9 lt a 12 6 0 50 4 ewe TAE a ge wl ce EE En st i J oo0oo0o 000000000 12 0 047 1 6 0 06 Zon 21 35 9 1 41 b Control panel fixing processing dimension Unit mm inch 66 0 2 60 6 0 0 24 54 0 2 13 0 0 24 x 2 13 f 22 5 3 0 21 Fixing screw M5 x14 I o D 15 0 0 59 App 24 APPENDICES NEN 6 Japan Aviation Electronics Industry make Cable connector for the teaching unit Type Connector DB 25SF N Unit mm inch 53 0 2 09 47 04 1 85 38 3 1 51 O Oooooooooooooo ooo 0000 00 000 2 3 05 0 13 0 12 0 01 1 2 0 05 ME
12. Installation Check visually Connection Battery Preventive maintenance 85 to 132VAC 170 to 264VAC Change the power supply 15 6 to 31 2VDC Retighten the screws The module must be installed If the CPU I O or power supply fixedly module is loose fix it with Screws Dirt and foreign matter must not Remove and clean be present Looseness of terminal Try to further tighten screws with a Screws must nat be loos Further tighten Screws screwdriver Distance between of Crimping terminals must be S t Check visually Gr Correct crimping terminals positioned at proper intervals connectors Connectors must not be loose Retighten the connector fixing Screws Even if the lowering of a battery capacity is not shown replace the battery with a new one if a service life time of the battery is exceeded 6 INSPECTION AND MAINTENANCE 6 4 External Battery The special relays M9006 M9007 turn ON due to the Motion CPU program or the decrease in voltage of memory back up battery Even if these special relays turn ON the program and the contents of memory back up are not erased immediately However if these relays are overlooked the contents may be erased While a total of the memory back up time after the M9006 M9007 turn ON is within a specified time replace the battery with a new one M9007 turns ON due to the dec
13. Output Circuit Troubleshooting and Corrective Action Condition Caue Corrective action If load is internally half wave rectified some solenoids are like this Output module 2 With polarity of power supply 1 C is charged With polarity 2 the C charge voltage plus the power supply voltage is applied across D1 Max voltage is approx 2 2E Leakage current due to built in surge suppressor Output module eegen p Load eee Leakage current Output module SS CR timer Leakage current Connect a resistor between several tens kQ and several hundreds k across the load This method causes no problems with output terminals but lead to deterioration or burnout of load internal diodes Resistor Connect a resistor across the load If long wiring exists between the output card and the load leakage currents also arise due to wiring capacity Resistor Drive a relay and use the contacts to drive the CR timer Be careful of example 1 as some timers are half wave rectified internally Resistor et Calculate resistor E constant from load 6 INSPECTION AND MAINTENANCE S 6 7 Confirm method of Error Code When an error occurs the error code and error message can be read by the personal computer IBM PC AT installation of the SW6RN G
14. 0 05 0 43 0 43 0 114 x5 6 84 W d Power consumption of a total of 5 VDC logic section of each module Wov 0 64 1 25 0 05 0 07 0 11 0 05 0 05 0 43 0 43 0 114 x5 15 97 W D A total of 24 VDC average power consumption of the output module W24v 192 W 8A common f Average power consumption due to voltage drop in the output section of the output module Wour 0 W g Average power consumption of the input section of the input module WIN 0 004 x 24 x 32 x 1 3 07 W h Power consumption of the power supply section of the intelligent function module Ws 0 W i Power consumption of overall system W 6 84 15 97 192 0 3 07 0 217 88 W 3 DESIGN 3 4 Design Checklist At the worksite copy the following table for use as a check sheet Sub Item Design confirmation Numberofaxes axes H i Number of V O points pons O CPU module selection Motion CPU module selection S o PLC CPU module selection man a Manual pulse generator C y E Synchronous encoder ps O Teaching unit Eos Upper limit point pons O Lower limit point points Oo Motion module STOP input point poms O selection Proximity dog input point points O Module Speed switching input point ponts O selection Tracking enable signal point pons O Q172LX modies O Q172EX modues O Q173PX modues O Motion CPU module mo iel O CPU base u
15. 2 Power consumption of a total of 5 VDC logic section of each module The power consumption of the 5 VDC output circuit section of the power module is the power consumption of each module including the current consumption of the base unit wsv lev x 5 W 3 Atotal of 24 VDC average power consumption of the output module power consumption for simultaneous ON points The average power of the external 24 VDC power is the total power consumption of each module Waav Day x 24 W 124V Current consumption of the output module 4 Average power consumption due to voltage drop in the output section of the output module Power consumption for simultaneous ON points Wour louT x Vdrop x Number of output points x Simultaneous ON rate W Jour Output current Current in actual use A Vdrop Voltage drop in each output module V 3 DESIGN 5 Average power consumption of the input section of the input module Power consumption for simultaneous ON points WIN IIN x E x Number of input points x Simultaneous ON rate W IN Input current Effective value for AC A E Input voltage Voltage in actual use V 6 Power consumption of the power supply section of the intelligent function module Ws I5v x 5 I24V x 24 I100v x 100 W The total of the power consumption values calculated for each block becomes the power consumption of the overall Motion system W WPW Way W24v WOUT WIN Ws W
16. 50 50 164 04 b Connection diagram When fabricating a cable use the recommended wire and connector set Q170ENCCNS for encoder cable given on APPENDIX 1 2 and make the cable as show in the following connection diagram Maximum cable length is 50m 164 04ft SY ENC connector Q172EX Encoder connector Q170ENC Encoder connector Synchronous encoder cable SY ENC 10r2 50m 164 04ft or less Q172EX side Encoder side 10120 3000VE connector MS3106B22 14S plug 10320 52F0 008 connector case MS3057 12A cable clump Piha ote Ecce 8 P5 19 5 Ss LG 11I7 tt Hir R P5 20H E LG 1277 Wi MEE P5 18Li TE LG GOSS II BAT 9H E LG 1 l i i MR 7 Pod K MRR 17 ror IL MD SI H MDR 16 be EE w J SD plate ES N J Twisted pair cable Cable length 50m 164 04 ft or less App 6 APPENDICES APPENDIX 1 3 Cable for the teaching unit Generally use the cables for the teaching unit available as our options If the required length is not found in our options fabricate the cable on the customer side 1 Selection The following table indicates the cables used with the cable for the teaching unit Make selection according to your operating conditions Table 4 Wire models Length
17. Do not short circuit charge overheat incinerate or disassemble the batteries 6 INSPECTION AND MAINTENANCE 6 6 Troubleshooting This section describes the various types of trouble that occur when the system is operated and causes and corrective actions of these troubles 6 6 1 Basics of troubleshooting In order to increase the reliability of the system not only highly reliable devices are used but also the speedy startup of the system after the occurrence of trouble becomes an important factor To start up the system speedily the cause of the trouble must be located and eliminated correctly The basic three points that must be followed in the troubleshooting are as follows 1 Visual inspection 3 Visually check the following a Movement of machine stopped condition operating condition b Power supply on off c State of I O devices d Installation condition of the Power supply module Q173HCPU Q172HCPU module PLC CPU module I O module Q172LX Q172EX Q173PX Motion module SSCNETII cable SSC I F communication cable Synchronous encoder cable and cable for the teaching unit e State of wiring I O cables cables f Display states of various types of indicators MODE LED RUN LED M RUN LED ERR LED I O LED etc g Setting states of various types of set switches Number of extension bases setting me
18. Layout design within control panel Layout design based on the design environment such as temperatures Refer to section 3 3 and vibrations in consideration of heat generated from modules and handling of module installation N CAUTION Provide appropriate circuits external to the Motion CPU to prevent cases where danger may result from abnormal operation of the overall system in the event of an external power supply fault or Motion CPU failure Install the Motion controller servo amplifier servomotor and regenerative resistor on inflammable material Direct installation on flammable material or near flammable material may lead to fire If a fault occurs in the Motion controller or servo amplifier shut the power OFF at the servo amplifier s 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 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 destruc
19. 2 APPENDICES NENNEN a MR J3BUSLIM 1 Model explanation Type MR J3BUSLIM 3 B Long distance cable Cable length m ft 0 15 0 49 0 3 0 98 0 5 1 64 1 3 28 3 9 84 5 16 40 10 32 81 20 65 62 30 98 43 40 131 23 50 164 04 2 Exterior dimensions MR J3BUS015M Unit mm inch 37 65 1 48 15 134 6 7 0 26 0 59 0 53 A o RD A Ee 20 9 0 82 d 8 ud In vu UBJ J ojo 8 0 31 gt H4 2 3 0 09 1 7 0 07 e MR J3BUSO3M to MR J3BUS3M Unit mm inch Refer to the table of this section 1 for cable length L Note EE TD Le Note Dimension of connector part is the same as that of MR J3BUS015M App 3 APPENDICES NEN 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 SSCNETI cable MR J3BUS5M A to MR J3BUS20M A 100 3 94 30 1 18 MR J3BUS30M B to MR J3BUS50M B 150 5 91 50 1 97 Unit mm inch Note Dimension of connector part is the same as that of MR J3BUS015M App 4 APPENDICES APPENDIX 1 2 Serial absolute synchronous encoder cable
20. Display the input status from the external equipment Input signal status of the Manual pulse PLS A 1to3 Mode judging LED PLSB 1103 generator Incremental synchronous encoder phases A and B TREN 1 to 3 Tracking enable signal This LED is not turned on if it is not set the Q173PX in the System settings Input connector of the Manual pulse generator Incremental 3 PULSER connector synchronous encoder Module loading lever Used to load the module to the base unit 5 Module fixing screw Hole for the screw used to fix to the base unit hole M3x12 screw Purchase from the other supplier 2 SYSTEM CONFIGURATION Application Detection setting of TREN1 signal Dip switch 1 SW1 SW2 OFF OFF N O 1 TREN is detected when J TREN signal turns off to on i ON OFF Dip switch 2 Dip switches TREN is detected when TREN Note 1 Note 2 ON signal turns on to off Ag IO Detection setting of TREN2 signal N uw Dip switch 3 SW3 SW4 om OFF OFF LR ON q TREN is detected when om i J TREN signal turns off to on om EES TREN is detected when TREN Shipped from the ii signal turns on to off factory in OFF Detection setting of TREN3 signal position Dip switch 5 S W5 SW6 EE OFF OFF TREN is detected when 2 N J TREN signal turns off to on Dip switch 6 oN TREN is detected when TREN signal turns on to off 7 Module fixing hook Hook used to fix to the base unit Note 1 When using the Q173PX
21. EE d MODE I RUN CJ ERR M RUN E BATI BOOT O Aren SSCNETII L BAT e Ofc 27 4 1 08 4 i C4 Q172HCPU A 104 6 4 12 Unit mm inch 104 6 4 12 APPENDICES 3 Q172HCPU T Module Unit mm inch Q172HCPU T 104 6 4 12 i Z 1 000020 II 114 3 4 50 4 Q173HCPU T Module t y Unit mm inch 104 6 4 12 D E 00000 114 3 4 50 27 4 1 08 App 15 APPENDICES 5 Q173HCPU TQ172HCPU T Module with cable 1Q173HCPU Q173HCPU T Q172HCPU T module 4 gt rRont 104 6 4 12 2 E g A III O i Ls o E e SSC I F communication FW cable v 27 4 1 08 App 16 Unit mm inch APPENDICES APPENDIX 2 2 Servo external signals interface module Q172L X Unit mm inch Q172LX 4 O oo og og nu co oo eo uu ba nn eo CTRL oo O uu og uu nn oo uu uu nau oo oo og nu O Q172LX Y P 90 3 54 45 1 77 27 4 1 08 APPENDIX 2 3 Serial absolute synchronous encoder interface module Q172EX S2 Q172EX S3 Unit mm inch 98 3 86 JG d e c D H 5 5
22. From this overall power consumption W calculate the heating value and a rise in ambient temperature inside the control panel The outline of the calculation formula for a rise in ambient temperature inside the control panel is shown below W Toga ed W Power consumption of overall Motion system value obtained above A Surface area inside the control panel m U When the ambient temperature inside the control panel is uniformed by a fan nennen 6 When air inside the control panel is not circulated 4 When a rise in ambient temperature inside the control panel exceeds the specified limit itis recommended that you install a heat exchanger in the control panel to lower the ambient temperature inside the control panel If a normal ventilating fan is used dust will be sucked into the Motion controller together with the external air and it may affect the performance of the Motion controller 3 DESIGN 7 Example of average power consumption calculation Q173HCPU use a System configuration Q38B Q61P A1 QO02HCPU Q173HCPU Q172LX Q172bX S2 Q173PX QX40 QX40 QY10 QY10 b 5 VDC current consumption of each module QO2HCPU 0 64 A Q173HCPU 1 25 A Q172LX 0 05 A Q172bEX S2 0 07 A Q173PX 0 11 A QX40 0 05 A QY10 0 43 A Q38B 0 114 A c Power consumption of power module WPw 3 7 X 0 64 1 25 0 05 0 07 0 11 0 05
23. 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 A1 100 to 120VAC input 5VDC 6A output Q61P A2 200 to 240VAC input 5VDC 6A output 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 Q64P 100 to 120VAC 200 to 240VAC input 5VDC 8 5A output 9 1 MELSEC Qe2P INPUT 100 240VAC 50 60Hz 105VA OUTPUT 5VDC 3A 24VDC 0 6A Pr IC MHS 6 24VDC 0 54 ae OH LG S INPUT N 100 240VAC 2 SYSTEM CONFIGURATION Application ON green Normal BVDC output momentary power failure within 20ms OFF AC power supply is ON however the power supply module is out of order 5VDC error internal circuit failure blown fuse Over current protection or over voltage protection operated AC power supply is not ON 1 POWER LED i i i power failure of more than 20ms Normal 5VDC outp
24. Note SSCNETII Axis select switch dno Note SSCNETII Axis select switch no no ES of servo amplifier E of servo amplifier N Note The dno is number of servo amplifier axis displayed in the system setting of programming software Axis No is set relative to dno in the system settings Correspondence between SSCNETII system and connector No of CPU is shown below Correspondence between SSCNETII system No and connector No of CPU SSCNETII system No Connector No of CPU SSCNETII CN1 SSCNETII CN2 Note Number of SSCNETII systems Q173HCPU 2 systems Q172HCPU 1 system 2 SYSTEM CONFIGURATION 2 4 10 External battery This section describes the battery specifications used in the Motion CPU handling precautions and equipments External battery specifications For Motion CPU module Model name Classification Manganese dioxide lithium primary battery Initial voltage V SSS aS Nominal capacity mAh 1800 Storage life Actually 5 years Room temperature Lithium content g For long continuous power failure For IC RAM memory back up of Q173HCPU Q172HCPU Exterior dimensions mm inch 16 0 63 x32 1 26 Note The 44th Edition of the IATA International Air Transportation Association Dangerous Goods Regulations was effected in January 1st 2003 and administered immediately Applications In this edition the provisions relating to lithium and lithium ion batteries have been revised to st
25. When the teaching unit A31TU D3L1 is not used connect the short circuit connector for teaching unit A31TUD3TM to the control panel side connector of the cable for teaching unit Q170TUD3CBL3M Connection example between the cable for teaching unit Q170TUD3CBL3M and external safety circuit is shown below Control panel Q173HCPU T Q172HCPU T A31TU D30 Deadman switch Emergency stop contact point A31TUD3TM When the A31TU D3L1 is not used Servo amplifier 1 ee a Wasco Main circuit power supply External safety circuit Relay MC etc S N CAUTION Q Do not use it in the combination of the teaching unit without deadman switch A31TU DND and cable for teaching unit with deadman switch Q170TUDS3CBL3M The protective function stops working When the teaching unit A31TU D3L1 is not used in the Motion CPU Q173HCPU T Q172HCPU T connect the short circuit connector for teaching unit A31TUD3TM to the control panel side connector of the cable for teaching unit Q170TUD3CBL3M If it is not connected the emergency stop state of Motion CPU occurs and the servomotor becomes coasting state 2 SYSTEM CONFIGURATION EE b Connection between the teaching unit A31TU DNL1 and Motion CPU Q
26. compatible with the Motion controller servo amplifier servomotor and regenerative resistor model name and the system name application The protective functions may not function if the settings are incorrect 5 TRIAL OPERATION AND ADJUSTMENT Motion CPU v PLC CPU v A Motion CPU v A Motion CPU v Programming mode Create Motion programs Create the Motion programs by SWGRN GSVI IP Parameter setting mode y PLC parameter setting Set the parameter setting and system setting by the peripheral device with the GX Developer Programming mode Create PLC programs Create the PLC programs to start of Motion programs by the peripheral device with the GX Developer Write PLC programs Write the PLC programs created by the peripheral device to the PLC CPU module Write Motion programs Write the positioning data and Motion programs created by the peripheral device to the Motion CPU module Turn ON power supply again Turn ON again the power supply or reset of Multiple CPU system Turn ON servo amplifiers power supply Check the emergency stop ON and forced stop ON and turn ON the power supply of servo amplifiers and servomotors Test mode servo start up Initial check Check servo amplifier Check that the installe
27. estate m MDC egen mwpg o89ormoe Overvoltage protection Note 2 SE 5 5 to 6 5V Allowable momentary power failure A YP 20ms or less time Note 3 Across inputs LG and 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 By noise simulator of 1 500Vp p noise voltage 1s noise width and 25 to 60Hz noise frequency Noise voltage IEC61000 4 4 2kV Operation indication LED indication Normal ON Green Error OFF Fuse Built in Unchangeable by user ERR contact contact switched off opened normally closed contact at an error stop of CPU for CPU module operating status output Rated switching 24VDC 0 5A Contaci voltage current x Minimum switching load SVDC 1mA outpu RO OFF to ON 10ms or less ON to OFF 12ms or less Mechanical 20 million times or more Electrical 100 thousand times at rated switching voltage current or more Surge suppressor Fuse None Terminal screw size M3 5 screw 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 98 H x 55 2 W x 90 D 3 86 H x 2 17 W x 3 54 D Mass L i Dielectric withstand voltage Insulation resistance Noise immunity Application Life time Exterior
28. gt BAT LED Lit Battery error occurrence External battery use e Lit Mode operated by ROM BOOT LED Not lit Mode eee lt MN by RAM Installation mode mode written in ROM 8 Module Moduleloadinglever lever Used to install the module to the base unit 00 to install the module to the base unit USB connector Note 1 Connector for connection with USB compatible peripheral device Connector type B It can be connected by USB dedicated cable Note 1 When normally connecting a cable to the USB connector clamp the cable to prevent it from coming off due to the dangling moving or careless pulling of the cable 2 SYSTEM CONFIGURATION 2 Applications of switches connectors on Q173HCPU Q172HCPU Application Dip switch 1 Must not be used Shipped from the factory in OFF position ROM operating setting Shipped from the factory in OFF position 10 Dip switches Dip switch 2 sw2 sw3 ON SW OFF OFF Mode operated by RAM ON OFF Must not be set Dip switch 3 OFF ON Must not be set ON ON Mode operated by ROM ON Installation mode mode written in ROM OFF Normal mode Mode operated by RAM Mode operated by ROM Turn ON dip switch 5 when installed the operating system software into the Motion CPU module from the peripheral device After completing the installation move to switch and re start Move to RUN STOP RUN STOP switch RUN Motion SFC program SV13 SV22 Motion Program S
29. 1 Wiring precautions Ensure the connector lock after connecting the connector Q173HCPU Q172HCPU Motion CPU module Q172EX Serial absolute synchronous encoder interface module MITSUBISHI SY ENC connector Serial absolute synchronous encoder cable Q170ENCCBL 1M 4 Serial absolute synchronous encoder Q170ENC 2 SYSTEM CONFIGURATION 5 Interface between SY ENC connector and external equipment Input or Signal Output Pin No SY ENC connector Wiring example Internal circuit Specification Description Serial absolute synchronous Transmission method serial communications Position detection method absolute encoder 1231112 Input TREN Note Note Note As for the connection to power line TREN TREN COM both and are possible Always use a shield cable for connection of the SY ENC connector and external equipment and avoid running it close to or bundling it with the power and main circuit cables to minimize the influence of electromagnetic interface Separate them more than 200mm 0 66 ft away Connect the shield wire of the connection cable to the FG terminal of the external equipment When increasing the cable length use the cable 50m 164 04ft
30. BE i i MR Dag r KK MRR ht CIE MD 6 3 m H MDR 16 1J SDplate J EM N TREN 4 Kai ms TTREN COM 14 24VDC Twisted pair cable Cable length 50m 164 04ft or less Note 1 Be sure to use a wire model name AWG24 Note 2 When using tracking enable signal fabricate the encoder cable by customer side 2 52 2 SYSTEM CONFIGURATION 7 Connection of the battery This section describes the battery specifications handling precautions and installation of the Q172EX a Specifications The specifications of the battery for memory back up are shown in the table below Battery Specifications Model name Classification Manganese dioxide lithium primary battery Battery discharge capacity mAh 1600 Battery warranty period 5 years Lithium content g 0 48 nS For backup absolute positioning data of the serial absolute Applications synchronous encoder Q170ENC Exterior dimensions mm inch 16 0 63 x 30 1 18 Note The 44th Edition of the IATA International Air Transportation Association Dangerous Goods Regulations was effected in January 1st 2003 and administered immediately In this edition the provisions relating to lithium and lithium ion batteries have been revised to strengthen regulations on the air transportation of battery This battery is not dangerous goods not class 9 Therefore these batteries of 24 units or less are not subject to the regulations These batteries mo
31. LED turned on flickered d Flowchart for when ERR LED is turned on flickered RESET position Set the RESET L CLR switch to the neutral position When started the latch clear M RUN LED is flickered Note 1 Neutral position Is the RESET L CLR Switch of the CPU module in the neutral position YES Is M RUN LED turned on M2000 is turned on Is M RUN LED YES turned on Is M2000 turned on H W error Explain the error symptom and get advice from our sales representative Note 1 When the RUN STOP switch is stop position and the RESET L CLR is tilted to L CLR several times for latch clear operation the M RUN LED flashes to indicate that the latch clear processing is under operation When the RESET L CLR switch is further tilted to L CLR while the M RUN LED flickers M RUN LED turned off and terminates the latch clear processing 6 INSPECTION AND MAINTENANCE m f Flowchart for when BAT LED is turned on In the Motion CPU when the external battery capacity of the Battery holder unit is lowered the LED is turned on After replacing the battery with a new one BAT LED is turned off with the executing reset by the RESET L CLR switch When it is selected used the external battery though the external battery in the system settings
32. Note 1 When using the external battery be sure to connect the Battery holder unit Q170HBATC And be sure to set the Battery Q6BAT to the Battery holder unit Q170HBATC Battery Q6BAT is optional Note 2 It is possible to use only Q173HCPU T Q172HCPU T It is packed together with Q173HCPU T Q172HCPU T Note 3 It varies by the connecting teaching unit Note 4 It is packed together with Q170TUDLICBLDM Note 5 When using the A31TU D301 A31TU DNO be sure to use the Q173HCPU T Q172HCPU T Note 6 A31TU D30 A31TU DNO corresponds to only Japanese It does not correspond to display for English 2 SYSTEM CONFIGURATION 2 Peripheral device configuration for the Q173HCPU Q172HCPU The following a b can be used a USB configuration b SSCNET configuration O00000 O00000 Motion CPU module Motion CPU module Q173HCPU Q172HCPU Q173HCPU Q172HCPU GE ee e SSC I F communication cable USB cable Q170CDCBLUM Q170BDCBL IM MITSUBISHI SSCNET CARD T A30CD PCF V AUNT EERO e E Ee EE ZE E SS LESS EE A AE E LE FEES SSE Personal computer SSC I F Card Board Windows 98 2000 XP only A30CD PCF ALIOBD PCF Personal computer Note For information about GPP functions
33. S1 only Note 2 The function is different according to the operating system software installed POINTS The lighting condition of input display LED is shown below 1 PLS A 1 to 3 PLS B 1 to 3 e Q173PX is set on the system setting display of SWGRN GSVLIP All axes servo ON command M2042 turned on Manual pulse generator enable flag M2051 M2052 M2053 turned on Manual pulse generator signal is input TREN 1 to 3 e Q173PX is set on the system setting display of SW6RN GSVLIP Tracking signal is input 2 56 2 SYSTEM CONFIGURATION 2 Performance specifications a Module specifications Memory for data exchange Specifications Q173PX None Provided Number of I O occupying points Internal current consumption 5VDC A Exterior dimensions mm inch 32 points l O allocation Intelligent 32 points 98 H x 27 4 W X 90 D 3 86 H x 1 08 W x 3 54 D Mass kg b Tracking enable signal input Item Number of input points Input method Isolation method Rated input voltage Rated input current Operating voltage range ON voltage current OFF voltage current Input resistance OFF to ON ON to OFF Common terminal arrangement Response time Indicates to display Specifications Tracking enable signal 3 points Sink Source type Photocoupler 12 24VDC 12VDC 2mA 24VDC 4mA 10 2 to 26 4VDC 12 24VDC 10 15 ripple ratio 5 or less 10VDC or more 2 0mA or more 1 8VDC or
34. among the modules input and COM terminals What is the voltage among the various output COM terminals of the output module Is the operation OFF indicator of input module lit Supply voltage value Is it reaching the supply voltage value OK Y Check the external wiring and external input devices Confirm input signal off to the monitor mode of the SW6RN GSVL IP Confirm rush current when the load is at the maximum simultaneous on Input signal turned on Change the output relay number and let the load maximum simultaneous Check the wiring for power supply on current to within the specification load and recover the power supply Check the wiring for load and load and recover the power supply Explain the error symptom and get advice from our sales representative Output module failure Replace the output module For information about input signal of the input module is not turned off refer to section 6 6 3 I O modules troubleshooting 6 INSPECTION AND MAINTENANCE A h Flowchart for when the peripheral device cannot communicate to the Motion controller The following shows the flowchart when the Motion CPU cannot communicate with the SW6RN GSVOP during the power supply ON The peripheral device cannot communicate to
35. as the control CPU of various motion modules Q172LX Q172EX etc 6 Itis possible to execute not only servo control but also DI O input output control according to programs described in Motion SFC program by setting the Q173HCPU Q172HCPU as the control CPU of Q series PLC I O modules When the Motion SFC is used as the operating system software Refer to Section 2 2 2 for Q series PLC I O modules that can be controlled by Motion CPU 7 Itis possible to exchange a data among CPUS such as automatic refresh as the Q series PLC Multiple CPU system 8 There is no restriction for installation position of Q172LX Q173PX among modules controlled by Motion CPU The installation position of Q172EX is only CPU base unit Set the installation position in the system settings 9 It is possible to change a servo program monitor or execute JOG operation by connecting the teaching unit A31TU DS3LT A31TU DNL1 Q173HCPU T Q172HCPU T only 10 It is possible to execute the synchronous control corresponding to resolution 262144 PL S rev of servo amplifier MR J3 L1B by connecting the serial absolute synchronous encoder Q170ENC to Q172EX 2 SYSTEM CONFIGURATION NEN 11 The maximum distance between the Motion CPU and servo amplifier servo amplifier and servo amplifier of the SSCNETII cable on the same bus was set to 50 164 04 m ft and the flexibility improved at the Motion system design 12 Motion CPU becomes difficult
36. cannot be detected by the ERR terminal The ERR terminal is always OFF 2 SYSTEM CONFIGURATION 3 Selection of the power supply module The power supply module is selected according to the total of current consumption of the I O modules special function module and peripheral devices supplied by its power module Select the power supply module in consideration of the current consumption of the peripheral device connected to the Q170ENC MR HDP01 or A31TU D3LT1 A31TU DNLI etc For information about the current consumption of 5VDC of the I O modules special function module and peripheral device refer to the QCPU User s Manual Hardware Design Maintenance and Inspection The current consumption of Motion controller is as follows Current Part name Model name Description consumption 5VDC A Q173HCPU Up to 32 axes control 1 25 Q173HCPU T Up to 32 axes control For teaching unit 1 56 Noe Motion CPU module Q172HCPU Up to 8 axes control Q172HCPU T Upto 8 axes control For teaching unit 1 45 e Servo external signal Servo external signal 8 axes interface module FLS RLS STOP DOG CHANGEx8 F Serial absolute synchronous encoder Q170ENC interfacex2 Serial absolute synchronous Q172EX S2 Tracking input 2 points encoder interface module Note 1 Serial absolute synchronous encoder Q170ENC interfacex2 Maso Q172EX S3 Tracking input 2 points Memory built in for data exchange Manual pulse generator MR HDP01 Incre
37. circuit in a A31TU DNLI Use the A31TU D3L1 to raise safety more by the deadman switch or external safety circuit Refer to the following table for selection of the teaching unit ASITU DS ASITU DN Provided Normally open contact double contact Normally open contact is connected by gripping releasing this switch Provided Provided Normally closed contact double contact Normally closed contact double contact 3 position deadman switch Emergency stop switch Normally closed contact is released by Normally closed contact is released by Push lock return reset type pushing switch pushing switch Normally closed contact is connected by Normally closed contact is connected by turning to the right this switch turning to the right this switch Provided Emergency stop switch x 2 Deadman switch x 2 Emergency stop input to Motion CPU x 1 Terminal for external safety circuit Connect to the external safety circuit Connect directly the emergency stop Normally closed contact input Switch of A31TU DN The emergency stop state of Motion CPU Normally closed contact input Emergency stop input to Motion CPU d occurs by releasing the normally closed The emergency stop state of Motion CPU contact of external safety circuit occurs by pushing the emergency stop switch of A31TU DNLI Q170TUDNCBL3M Control panel connecting type Q170TUDNCBLOS3M A Direct connecting type Q
38. dimensions mm inch 2 SYSTEM CONFIGURATION The power supply module specifications continued Q63P Oe Base loading position Power supply module loading slot Q33B Q35B Q38B Q312B Q65B Q68B Q612B 24VDC 30 35 100 to 120VAC 200 to 240VAC 10 15 15 6 to 31 2VDC 85 to 132VAC 170 to 264VAC 50 60Hz 5 Input voltage distortion factor 5 or less Max input apparent power 45W 160VA Inrush current 100A 1ms or less at 24VDC input 20A 8ms or less Note 4 5VDC 6A 8 5A Rated output current 24VDC Overcurrent 5VDC 6 6A or more 9 9A or more protection Note 1 24VDC Overvoltage 5VDC 5 5 to 6 5V protection Note 2 24VDC 70 or more Permissible instantaneous power off nd ESPON 10ms or less at 24VDC input 20ms or less time Note 3 Across inputs LG and outputs FG Dielectric withstand voltage 500VAC across primary and 5VDC 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 By noise simulator of 1 500Vp p noise voltage 1ys noise width and 25 to 60Hz noise frequency Noise voltage IEC61000 4 4 2kV Operation indication LED indication Normal ON Green Error OFF Built in Unchangeable by user ERR contact contact switched off opened normally closed contact at an error stop of CPU for CPU module operating status output R
39. fire prevention N CAUTION Install the Motion controller servo amplifier servomotor and regenerative resistor on inflammable material Direct installation on flammable material or near flammable material may lead to fire If a fault occurs in the Motion controller or servo amplifier shut the power OFF at the servo amplifier s 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 3 For injury prevention N 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 servo amplifier s heat radiating fins 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 serv
40. for Choosing the Products 1 These products have been manufactured as a general purpose part for general industries and have not been designed or manufactured to be incorporated in a device or system used in purposes related to human life 2 Before using the products for special purposes such as nuclear power electric power aerospace medicine passenger movement vehicles or under water relays contact Mitsubishi 3 These products have been manufactured under strict quality control However when installing the product where major accidents or losses could occur if the product fails install appropriate backup or failsafe functions in the system 4 When exporting any of the products or related technologies described in this catalogue you must obtain an export license if it is subject to Japanese Export Control Law MOTION CONTROLLER Qseries Q173HCPU Q172HCPU User s Manual d MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN MODEL MODEL CODE Q173H U E 1XB910 IB NA 0300110 C 0609 MEE IB NA 0300110 C 0609 MEE 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
41. for Q173HCPU Q172HCPU can not be replaced Even if the QOBAT AGBAT MR BAT is not connected to the Q173HCPU Q172HCPU Q172EX or a total power failure time does not exceed the guaranteed value replace it with a new one in 4 to 5 years If a total of power failure time exceeds the guaranteed value specified above the M9006 M9007 is turned on replace the battery with a new one immediately 6 INSPECTION AND MAINTENANCE 6 4 2 Battery replacement procedure 1 Q172EX module battery replacement procedure When the Q172EX module battery has been exhausted replace the battery with a new one in accordance with the procedure shown below Before removing the battery turn ON the power supply for 10 minutes or longer Even when the battery is removed the memories are backed up by the capacitor for a while However if the replacement time exceeds the guaranteed value specified in the table below the contents stored in the memories may be erased To prevent this trouble replace the battery speedily Backup time by capacitor Backup time by capacitor min Replacing Battery Turn on the power supply of the power supply module for 10 minutes or longer Turn off the power supply of the power supply module Remove the encoder cable from Q172EX Remove the Q172EX from the base unit Remove the old battery from its holder of Front the Q172EX EL Install a new battery i
42. hook off the module fixing hole of the base unit Forcibly removal the module will damage the module 4 INSTALLATION AND WIRING 4 2 Installation and Removal of Cable 4 2 1 SSCNETII cable 1 Precautions for handling the SSCNETI cable Do not stamp the SSCNETIII cable 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 E cause malfunctions due to characteristic deterioration wire breakage etc Model name of Li name of SSONETH caie cable Minimum bend p M EEN MRJBBUSUEM J3BUSLI 25098 sd 98 Enforced covering cord 50 1 97 MR J3BUSCIM A Code 25 0 98 Enforced covering cord 50 1 97 MR J3BUSDLIM B Code 30 1 18 For installation or removal of the SSCNETTI cable hold surely a tab of cable connector Refer to Section 4 4 3 for wiring precautions Motion CPU module CN2 CN1 2 Installation of the SSCNETII cable For installation of the SSCNETII cable to the Motion CPU connect it to the SSCNETII connector CN1 or CN2 of Motion CPU while holding a tab of SSCNETII cable connector Be sure to insert it until it clicks 3 Removal of the SSCNETII cable For removal of the SSCNETII cable pull out it while holding a tab of SSCNETII cable connector or the connector After removal of the SSCNETIII cable be sure to put a cap attached to Motion CPU or servo amplifier
43. 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 100 mm 3 94 inch 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 are listed below Table 6 1 Daily Inspection EE Installation of the base Check Marine Ting Screws Retighten the 1 are not loose and the cover is The screws and cover must be installed correctly unit screws not dislocated Installation of the I O The module fixing hook must be engaged and installed module etc Connecting condition crimping terminals intervals Q W m E 2 ba 2 o E o 2 3 o Module indication LED Power supply module Motion CPU module PLC CPU module UO module Check that the module is not Correctly engaged dislocated and the unit fixing the unit fixing hook is engaged correctly hook Check that terminal screws are Retighten the Screws should not be loose z not loose terminal screws Check distance between of Crimping terminals must be pos
44. is not used the LED is also turned on BAT LED is turned on Is the used the external battery in the system settings NO Reset by the RESET L CLR switch YES YES NO Is the BAT LED turned off NO Set Not used the external Is the external battery used battery in the system settings YES Reset by the RESET L CLR switch NO Is the BAT LED turned off YES Is the voltage of the external battery correct Replace the external battery Reset by the RESET L CLR switch Is the BAT LED turned off H W error Explain the error symptom and get advice from our sales representative Y Completion A 6 INSPECTION AND MAINTENANCE O g Flowchart for when output load of output module is not turned on The following shows the flowchart when the output load of the output module is not turned on during operation Output load of output module is not turned on Is the operation indicator of output module lit Check the output conditions with the monitor mode of the SW6RN GSVL IPP Check the output condition then execute to the output programs Are the output conditions completed or the output programs executed Is voltage for the power supply load added Voltage measurement
45. 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 servomotor with cooling fan Do not allow conductive 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 N CAUTION Securely fix the Motion controller and servo amplifier to the machine according to the instruction manual If the fixing is insufficient t
46. o ee Possibility of extension Applicable module Q series modules 5VDC WEIS current 0 105 0 110 0 114 0 121 consumption A Fixing hole size M4 screw hole or 4 5 hole for M4 screw 189 W x 98 H x 245 W x 98 H x 328 W x 98 H x 439 W x 98 H x Exterior dimensions 44 1 D 44 1 D 44 1 D 44 1 D mm inch 7 44 W x3 86 H x 9 65 W x3 86 H x 12 91 0W x3 86 H 17 28 W x3 86 H x 174 D 174 D x1 74 D 1 74 D Fixing screw M4 X 14 4 pieces DIN rail fixing adapter is optional E rail fixing adapter Q6DIN3 Q6DIN2 Q6DIN1 2 SYSTEM CONFIGURATION 2 Table of the extension cable specifications The list below describes the specifications of the extension cables which can be used for the PLC CPU system ee QC05B QCO6B QC12B QC30B QC50B QC100B Cable length m f Connection between the CPU base unit and extension base unit or connection between the Application extension base units Mass kg o os 022 os oso 1n When the extension cables are used in combination limit the overall length of the combined cable to 13 2m 43 31ft 3 Names of parts of the base unit Names of parts of the base unit are described below a CPU base unit Q33B Q35B Q38B Q312B 3 Application connector extension cables are connected Protective cove
47. of 100VAC to 200VAC Power input terminals Q61P Q62P Power input terminals connected to a power supply of 24VDC Q63P 24V 24G terminals Used to supply 24VDC power to inside the output module using external wiring M3 5 7 screw Protective cover of the terminal block Used to fix the module to the base unit 9 Module fixing screw hole j M3 x 12 screw user prepared Tightening torque 0 36 to 0 48 Nem 10 Module loading lever Used to load the module into the base unit 2 SYSTEM CONFIGURATION POINTS 1 The Q61P A1 is dedicated for inputting a voltage of 100VAC Do not input a voltage of 200VAC into it or trouble may occur on the Q61P A1 Power Supply power voltage module type 100VAC 200VAC P dul Q61P A1 Operates normally is ban VID eee Power supply module does not cause trouble CPU module cannot be operated Operates normally 2 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 3 Q64P automatically switches the input range 100 200VAC Therefore it is not compatible with the intermediate voltage 133 to 169VAC The CPU module may not work normally if the above intermediate voltage is applied 4 Ensure that the earth terminals LG and FG are grounded Ground resistance 100 Q or loss 5 When the Q61P A1 Q61P A2 Q61P Q62P Q63P or Q64P is loaded on the extension base unit a system error
48. of PLC CPU refer to the operating manual of PLC Also refer to the programming manual of the operating System for information about creating Motion programs and refer to the help of each software for information about operation of each programming software package 2 SYSTEM CONFIGURATION 2 1 1 Q173HCPU System overall configuration Motion CPU control module e a ra ra gt 2 o 2 T i Se SZ 8 2 88 8 9 E O ES LE X o 5 0 25g CPU base o28 593 SES Unit PLCCPU 25 285 E25 Q30B Motion CPU Oo 5 H5E SHE l l l Q61P AG Q173H Q172LX Q172bX Q172PX Oe QXLICI Q60AD S2 S3 S1 7 7 r1 DND QSODA yo module of the Q Series or L Special function module Qr Ut 100 200VAC Personal Computer Analogue input output IBM PC AT Input output Up to 256 points B USB Interrupt signals 16 points CS i Manual pulse generator x 3 module MR HDP01 Up to 1 module Serial absolute synchronous encoder cable e Q170ENCCBLOM Battery holder unit Q170HBATC E Serial absolute synchronous encoderx 2 module Q170ENC Up to 6 modules Teaching unit Nete 1 A31TU D3LT A31TU DN External input signals Number of Inputs Cable for the teachi ev FLS Upper stroke limit
49. 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 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 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 Periodical
50. or less Note that the cable should be run in the shortest possible distance to avoid induced noise 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 6 Details of encoder cable connections Note 1 a When not using tracking enable signal SY ENC side connector Synchronous encoder side connector plug 10120 3000VE connector 10320 52F0 008 connector case MS3106B22 14S cable clump E ctii siis ri EE 8 P5 19 iJ En LG leen gL P5 207 e Ai LG 12 1 1 if t1 x ji P5 18L 44 TEE LG 2 i dT 4T i i BAT 9 H E LG 1 ES i i MR H TER MRR 17 mi IL MD 6 H MDR 16 4 Geesse SDplate Vi n N Twisted pair cable Q170ENCCBL2M to Q170ENCCBL50M 50m 164 04ft or less Note 1 Note 2 b When using tracking enable signal i SY ENC side connector Synchronous encoder side connector plug 10120 3000VE connector 10320 52F0 008 connector case MS3106B22 14S cable clump EE EE 8 P5 lesen 1 18S LG Hi TR nouas p dom d olet E I mit lh LG TUM ui 1 iff Fb D A 7 d P5 IERT A LG 2 71 roti d 1 1987 3 e ca NEI 1 1 t 3 Poy i HN N BAT HIT See E LG 1
51. power supply and charge the internal rechargeable battery for eight hours or more before starting to use the Q173HCPU Q172HCPU It is possible to provide backup power for the IC RAM memory for at least 200 hours by charging the internal rechargeable battery for eight hours or more even if it is empty If the battery is charged for five days while applying power eight hours a day i e 40 hours of normal operation it will be able to provide backup power for the IC RAM memory for 1100 hours Battery backup by the external battery will be necessary if there is a possibility that a continuous power off that lasts longer than the continuous power failure hours for the internal rechargeable battery specified in the table below may occur for example when transporting the system on a ship Item Continuous power failure time h Guaranteed time MIN Actual time TYP Internal rechargeable Charging time 8 hours or more battery Charging time 40 hours or more 1100 4300 2 SYSTEM CONFIGURATION 2 4 2 Power supply module 1 Table of the power supply module specifications This section describes the power supply modules specifications Q61P A1 Q61P A2 Oe Q62P Base loading position Power supply module loading slot Applicable base unit Q33B Q35B Q38B Q312B Q65B Q68B Q612B 100 to 120VAC 200 to 240VAC 3 100 to 240VAC 10 15 Input power supply 10 15 10 15 85 to 264VAC 85 to 132VAC 170 to 264VAC E EM EES
52. 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 inspections are completed confirm that the position detection of the absolute position detector function is correct 6 INSPECTION AND MAINTENANCE E n N 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 t
53. sales representative Completion 6 INSPECTION AND MAINTENANCE R i Flowchart for when the power supply of teaching unit is not turned on The following shows the flowchart when the power supply of teaching unit is not turned on during the power supply of Motion CPU ON The power supply of teaching unit is not turned on Does the current consumption of the system added teaching unit exceed the rated output current of power supply module Review the system Are all the connecting cable connected to the connector correctly Connect the connector correctly Is the power supply of teaching unit turned on Wiring the connecting cable correctly Is the power supply of teaching unit turned on Are all the connecting cable wired to the correct connector connecting cable is feplaced or the wiring is corrected is the power supply of teaching unit turned on Is the connecting cable made by the user Connecting cable is placed or the wiring is corrected is the power supply of teaching unit turned on Connecting cable error Explain the error symptom and get advice from our sales representative Teaching unit H W error Explain the error symptom and get advice from our sales representative Motion CPU H W error Explain
54. start signal which start the input from synchronous encoder must be used Q173PX Type of synchronous encoder is voltage output incremental or differential output incremental The external input signal of the synchronous encoder is indicated below External input signal of the It Number of points em synchronous encoder on one ee Tracking enable signal input High speed reading function 2 2points 2 SYSTEM CONFIGURATION 4 Connection of synchronous encoder interface module a Connection with serial absolute synchronous encoder Q170ENC Use the SY ENC connector at the Q172EX module front to connect the serial absolute synchronous encoder Q170ENC When tracking enable signal is not used use the Q170ENCCBLLIM encoder cable between the serial absolute synchronous encoder Q170ENC and SY ENC connector The following pin layout of the Q172EX SY ENC connector viewed from the front The pin layout and connection description of the SY ENC connector are described below SY ENC connector Applicable connector model names 10120 3000VE connector 10320 52F0 008 connector cover 3M make BE E RECENTI ee 4 men 14 TREN CO 15 6 m 16 MR 7 m m m 8 Noconnect 18 Ps EET E EN o Ps 2 Ps j Note Do not connect a wire to MD 6Pin MDR 16Pin b Interface with external equipment The interface between the SY ENC connector and external equipment is described below
55. the Motion controller Operating system softwar installed to the Motion CPU module NO Install the operating system software YES NO onnecting cable connected t the connecting connector Connect the connecting cable correctly Can the CPU communicate with the SWGRN GSV IP YES YES Can the CPU communicate with the W6ERN GSVEP by replacing the connecting cable YES Is the Is the connection type connecting setting The connecting setting is SSCNET SSCNET correct YES communicate with the SWE6RN GSVOP Is the connection type USB Explain the error symptom and get advice from our sales representative v Completion 6 INSPECTION AND MAINTENANCE Is the communication setting correct NO The communication setting is USB YES Can the CPU communicate with the SWGRN GSVLIP YES Explain the error symptom and get advice from our sales representative Is the USB driver installed in the personal computer with Win 98 2000 XP Install the USB driver into the personal computer Can the CPU communicate with the SWGRN GSVLIP Explain the error symptom and get advice from our
56. 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 Be sure to ground the Motion controller servo amplifier and servomotor Do not ground commonly with other devices Ground resistance 100 2 or less Q 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 grounding or signal wires of the Motion controller and servo amplifier as this may lead to electric shocks 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
57. the dedicated instructions use to the synchronous control by virtual main shaft 1B 0300114 mechanical system program create mechanical module 1XB914 This manual explains the servo parameters positioning instructions device list error list and others Optional Q173HCPU Q172HCPU Motion controller SV43 Programming Manual This manual describes the dedicated instructions to execute the positioning control by Motion program of 1B 0300145 EIA language G code 1XB915 This manual explains the servo parameters positioning instructions device list and error list and others Optional 2 PLC Model Code QCPU User s Manual Hardware Design Maintenance and Inspection This manual explains the specifications of the QCPU modules power supply modules base modules SH 080483ENG extension cables memory card battery and others 13JR73 Optional QCPU User s Manual Function Explanation Program Fundamentals This manual explains the functions programming methods and devices and others to create programs SH 080484ENG with the QCPU 13JR74 Optional QCPU User s Manual Multiple CPU System This manual explains the functions programming methods and cautions and others to construct the SH 080485ENG Multiple CPU system with the QCPU 13JR75 Optional QCPU Q Mode QnACPU Programming Manual Common Instructions This manual explains how to use the sequence instructions basic instructions application instructions
58. the error symptom and get advice from our sales representative module is replaced is the power supply of teaching unit H W error Explain the error symptom and get advice from our sales representative Completion 6 22 6 INSPECTION AND MAINTENANCE a 6 6 3 I O modules troubleshooting Input signal is not turned OFF Example 1 Input signal is not turned OFF Input signal is not turned OFF Input signal is not turned OFF N 9 a E G x Lu e 9 Si E x Lu lt 9 a E x Lu This section describes troubleshooting with I O circuits and their corrective actions 1 Input circuit troubleshooting and corrective action This section describes troubleshooting with input circuits and their corrective actions Input Circuit Troubleshooting and Corrective Action Condition Cause Corrective action Leakage current of input switch e g drive by non contact switch AC input S Leakage H current Power supply Input module Drive by a limit switch with neon lamp AC input i Leakage Power supply Leakage current due to wiring capacity of wiring cable Wiring capacity C of twisted pair wire is approx 100 PF m Leakage current Power supply AC input Input module Drive by switch with LED indicator DC input plus common Leakage c
59. time exceeds guaranteed time Refer to Section 2 4 10 External battery end Continuous power failure time h Guaranteed time MIN Actual time TYP Internal rechargeable Charging time 8 hours or more battery 9 Charging time 40 hours or more 1100 4300 External battery 60000 240000 Note Internal rechargeable battery is charged while power ON 2 SYSTEM CONFIGURATION 2 2 System Configuration Equipment Servo external signals Serial absolute synchronous encoder interface interface module PLC CPU module Power supply module CPU base unit Extension base unit Extension cable 1 Table of Motion controller related module Q173HCPU Up to 32 axes control Operation cycle 0 4 ms or more Up to 32 axes control Operation cycle 0 4 ms or more Q173HCPU T e For teaching unit Q172HCPU Up to 8 axes control Operation cycle O 4 ms or more Up to 8 axes control Operation cycle 0 4 ms or more Q172HCPU T F 1 45 For teaching unit Servo external signal input 8 axes FLS RLS STOP DOG CHANGEx8 Tracking input 2 points Serial absolute synchronous encoder Q170ENC interfacex2 Tracking input 2 points Memory built in for data exchange Manual pulse generator MR HDP01 Incremental synchronous Current Model name M e Q173PX j e encoder interface x3 Tracking input 3 points Manual pulse generator MR HDP01 Incremental synchronous encoder interface x3 Tracking input 3 points Memory
60. to be influenced of an electromagnetic noise from servo amplifier etc by using the SSCNETII cable optical communication 2 SYSTEM CONFIGURATION 2 1 4 Restrictions on Motion systems 1 It is not allowed to use the Motion CPU as the control CPU of a module installed on the QA1S6LIB extension base unit PLC CPU must be used as the control CPU 2 Motion CPU module cannot be used as standalone module It must always be used in combination with the PLC CPU module version that supports Multiple CPU systems Moreover it must be installed on the right side of PLC CPU module PLC CPU module cannot be installed in a position to the right of Motion CPU module 3 Personal computer CPU unit must be installed on the right side of Motion CPU module Motion CPU module cannot be installed in a position to the right of personal computer CPU unit 4 Make sure to use the PLC CPU module in Q mode 5 Motion CPU module cannot be set as the control CPU of intelligent function module or Graphic Operation Terminal GOT 6 SSCNETII cable which connects the Motion CPU and servo amplifier and the teaching unit connecting cable which connects the Motion CPU and A31TU D30 A31TU DNO fe are pulled from the bottom part of unit Make sure to secure sufficient space for pulling out the cable when designing the control panel 7 Motion CPU module is one module element of Q series multiple PLC system It must be set the parameters of Q series mult
61. types differ in connection method design according to the connection method of section 2 4 6 5 Serial type absolute synchronous encoder Q170ENC not connected to Q173PX Then connect to Q172EX In addition the usable numbers of synchronous encoders differ depending on the modules The following number of serial absolute synchronous encoders and incremental synchronous encoders combined can be used Motion CPU module Synchronous encoder Up to 12 modules Q173HCPU Q173PX Up to 4 modules Up to 8 modules Q172HCPU Q173PX Up to 3 modules Tracking enable signal Tracking enable signal of Q173PX is used to start the input from incremental synchronous encoders The external input signal of the incremental synchronous encoder is indicated below This signal is used as the input start signal or high speed reading function from incremental synchronous encoder External input signal of the It Number of points on em incremental synchronous encoder one Q173PX T Input start function from incremental Each 1 point Tracking enable signal input synchronous encoder Total 3 points 2 SYSTEM CONFIGURATION 5 Connection of manual pulse generator interface module a The pin layout of the PULSER connector Use the PULSER connector at the Q173PX module front to connect the manual pulse signals incremental synchronous encoder signals The following pin layout of the Q173PX PULSER connector viewed from the front The pin layou
62. 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 N 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 encoder 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 t
63. 0962 cover BB 2 BB BBL 14 15 BBL BA 3 BA BAL 15 16 BAL CB 4 CB CBL 17 17 CBL CA 5 CA CAL 1 18 CAL 5V 12 5V SG 7 SG PV 13 5V SG 8 SG 5V 25 5V SG 10 20 SG 5V 19 24 5V SG 16 5V 20 SG 22 5V 21 SG 23 AB 41 21 AB EMG 25 FG 13 i FG 22 EMG1 SD shell i 9 DC24VE 6 DED2 14 DC24GD shell SD J Twisted pair cable App 10 APPENDICES 4 Q170TUDNCBLO3M A a Connection diagram When fabricating a cable use the recommended wire and connector given on APPENDIX 1 3 and make the cable as show in the following connection diagram Make the cable within 3m 9 84ft Q170TUDNCBLO3M A HDR E26FG1 connector 17JE 13250 02 D8A connector HDR E26 LPAS connector case BB BB BBL BBL BA BA BAL BAL CB CB CBL CBL CA CA CAL CAL 5V 5V SG SG 5V 5V SG SG 5v 5V SG SG 5v 5V SG 5V SG 5V SG AB AB EMG FG FG EMG1 SD DC24VE DED2 DC24GD SD J Twisted pair cable App 11 APPENDICES 5 A31TU DU extended cable a Connection diagram When fabricating a cable use the recommended wire and connector given on APPENDIX 1 3 and make the cable as show in the following connection diagram The cable overall distance between the Motion CPU and teaching unit is within 30m 98 43ft include the A31TU DO cable 5m 16 40ft Make the cable within 22m 72 18ft when using Q170TUDLICBL3M 17JE 23250 02 D8A connector A31TU DL extended cable Nee
64. 170 to 264VAC Input frequency 50 60Hz 5 Tolerable momentary 20ms or less power failure 7 Corrective actions for errors N 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 failure 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 magnetic brake signal signal EMG Servomotor a EMG o Electro magnetic brakes N CAUTION 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 N 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
65. 170TUD3CBL3M Connecting cable with Motion CPU Control panel connecting type It is used as the following cases It is used as the following cases en When the deadman switch is used When the deadman switch is not used When the double contact raises safety by When the teaching unit is used with attaching the external safety circuit simple connecting 2 SYSTEM CONFIGURATION External safety circuit Construct the circuit power supply OFF of servomotor etc of parts which may occur machine breakdown and accidents due to abnormal operations outside of the Motion CPU in a fail safe viewpoint to avoid abnormal operations of whole system N CAUTION If the teaching unit A31TU D30 is released during operation the emergency stop state of Motion CPU occurs and the servomotor becomes coasting state 2 SYSTEM CONFIGURATION 2 A31TU D30 A31TU DNO Name of parts DISABLE ENABLE MITSUBISHI L pi d Name Application N no wee 4 lines x 16 characters LCD display 1 Display With back lighted auto light off 2 DISABLE ENABLE key Switch the operation of teaching unit to DISABLE ENABLE select switch Input the emergency stop signal to the Motion CPU The emergency stop state of Motion CPU occurs by pushing the switch 3 Emergency stop switch and the servomotor stops and becomes coasting state EMG STOP button The emergency stop state is released by turning to the right this swi
66. 173HCPU T Q172HCPU T There are following two connecting method When the connector is connected to the control panel When the connector is connected directly in the control panel 1 When the connector is connected to the control panel a Connect the cable for teaching unit Q170TUDNCBL3M between the TU connector of Motion CPU Q173HCPU T Q172HCPU T and control panel Refer to the exterior dimensions of APPENDIX 1 3 Cable for the teaching unit and APPENDIX 2 7 Connector when it is fit to the control panel b Connect the teaching unit A31TU DNL to the cable for teaching unit Q170TUDNCBL3M connected to the control panel c When the teaching unit A31TU DNLT1 is not used connect the short circuit connector for teaching unit A31TUD3TM to the control panel side connector of the cable for teaching unit Q170TUDNCBL3M Connection example between the cable for teaching unit Q170TUDNCBL3M is shown below A31TU DN Control panel Q173HCPU T Q172HCPU T H No deadman switch ZEE M A31TUD3TM H l s TR e Main circuit When the A31TU DNL power supply is not used Q Do not use it in the combination of the teaching unit with deadman switch A31TU D3LT1 and cable for teaching unit without deadman switch Q170TUDNCBL3M The protective function stops working When the t
67. 1B base unit are described below a Installation of the module to Q3LIB and Q60B Base unit L Base unit Module LD Module Insert the module fixing hook connector into the module fixing hole of the base unit lever i Module y Module loading fixing hook Push the module in the direction of arrow to install it into the base unit Make sure that the module is installed in the base unit correctly Module fixing hole L C Completion 2 1 Always insert the module fixing hook of the module into the module fixing hole Forcing the hook into the hole will damage the module connector and module 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 M3X12 purchase from the other supplier 4 INSTALLATION AND WIRING b Removal from Q3OB and Q6LIB Hold the module with both hands and push the hook on the top of the module with a finger until it stops Base unit Module connector While pushing the hook and using the bottom of the module as a support pull the module toward you Lift the module upwards and remove the module fixing hook from the module fixing hole C Completion P When the module fixing screw is used always remove the module by removing the module fixing screw and then taking the module fixing
68. 2 29u8 or 1 Positioning address HPSELH increases if Phase A leads Phase B 2 Positioning address Note Power Supp decreases if Phase B P5 B18 B13 B8 a Se y leads Phase A Power suppl SG VA pRa A19 A14 AQ SG B19 B14 B9 Note The 5V P5 DC power supply from the Q173PX must not be connected if a separated power supply is used as the Manual pulse generator Incremental synchronous encoder power supply Use a 5V stabilized power supply as a separated power supply Any other power supply may cause a failure d Interface between PULSER connector and tracking enable signal Interface between tracking enable signal Pin No PULSER connector Wiring example Internal circuit Specification Description 3 Tracking enable TREN A2 oe signal input Note 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 Connection of manual pulse generator Connection of manual pulse generator Voltage output Open collector type Differential output type Q173PX Manual pulse Q173PX Manual pulse Se name T7777 n generator side gj generator side Twisted pair cable Note 1 The 5V P5 DC power supply from the Q173PX must not be connected if a separated power supply is used a
69. 2 Instructions for installation of the base unit Install the Motion controller module to a panel etc considering enough about operability maintainability and environmental resistance 1 Fitting dimensions Fitting dimensions of each base unit are as follows 4 fixing screw M4 x14 x o o o o o o o o o o o o o he ET L I ES o o I I 1700 KA V i 1 07 KA 1 09 d Q e 245 9 65 328 12 91 439 17 28 245 9 65 328 12 91 439 17 28 E 224 5 8 84 308 12 13 419 16 50 222 5 8 76 306 12 05 417 16 42 98 3 86 80 3 15 Unit mm inch 2 Motion controller installation position For enhanced ventilation and ease of module replacement leave the following space between the module top bottom and structure parts Top of panel or wiring duct Base unit i uf 30mm Note 2 Motion d 1 18inch controller or more Control Li Door panel 100mm i Motion CPU module 3 94inch 100mm 123mm or more 3 94inch 4 84inch or more Mh MM Nu O TB T 5mm Note 1 rM 0 20inch 0 20inch or more or more Note 1 20mm 0 79 inch or more when the extension cable is connected without removing the adjacent module Note 2 Height of a wiring duct is 50mm 1 97 inch or more 40mm 1 57 inch or more 4 INSTALLATION AND WIRING
70. 32 to 131 F 2 Ambient humidity is within the range of 5 to 95 RH 3 No condensing from sudden temperature changes 4 No corrosive or inflammable gas b There must not be a lot of conductible dust iron filings oil mist or salt organic solvents 6 No direct sunlight 7 No strong electrical or magnetic fields 8 No direct vibrations or shocks on the Motion controller 3 DESIGN 3 3 2 Layout design of the base units This section describes the precautions related to install a Motion controller in an enclosure 1 To improve ventilation and permit easy replacement of the module leave a space of the following table between the top bottom side of the module and any other object For details on layout design refer to section 4 1 2 Instructions for installation of the base unit E ee o usd Duct height 40mm 1 57inch over 50mm 1 97inch or more 100mm 3 94inch 5mm 0 20inch or more or more Duct height 30mm 1 18inch 50mm 1 97inch or less or more 2 Provide a wiring duct if required N CAUTION Due to ventilation problems do not install the base units vertically or horizontally Install the base units on a flat surface Unevenness or warping of the surface can apply undue force to printed circuit boards and lead to operation failures Avoid installing the base units close to a vibration source such as a large electromagnetic contactor or no fuse breaker Install them on a separat
71. 3HCPU T Q172HCPU T does not start or communication error with servo amplifier will occur However all the operating system software are SV43 there is no restriction for the combination of Motion CPU REN Installation example of Motion CPU Abbreviation gt Q17LIHCPU Q170HCPU T S 5 Q170CPU Q170CPU N Q170CPUN T o D O 8 a Note 1 Be sure to install the following operating a Note 1 Note 2 system software to the Q170CPU Application Version CP i 2 SV13 SV22 OOR or later Q17LIHQ17L1H CPU CPU Note 2 There is no restriction for the operating system software and version installed to the Q170HCPU Power supply PLC CPU Note 1 Note 2 Note 2 Note 3 There is no restriction for the operating system software and version installed to the Q170CPU Power supply PLC CPU z er p A 1 Note 3 Note 2 o U Q170 Q170H CPU CPU PLC CPU e Power supply PLC CPU Note 1 Note 2 12 When the operation cycle is 0 4 ms set the system setting as the axis select switch of servo amplifier O to 7 If the axis select switch of servo amplifier 8 to F is set the servo amplifiers are not recognized 13 The backup time when it is charged for 40 hours for internal rechargeable battery of Motion CPU is 1100 hours Guaranteed time 4300 hours Actual time Set the external battery if the power failure
72. A bus loading type 2ch board SSC I F card A30CD PCF PCMCIA TYPED 1ch card Cable for SSC Q173HCPU Q172HCPU SSC I F board Q170BDCBLOM VE board 3m 9 84ft 5m 16 40ft 10m 32 81ft Cable for SSC Q173HCPU Q172HCPU SSC I F card Q170CDCBLOM VE card 3m 9 84ft 5m 16 40ft 10m 32 81ft 2 SYSTEM CONFIGURATION Table of Motion controller related module continued Current Part name Model name e Description consumption Remark 5VDCIA For positive common sink type input module sink type output module A6TBXY36 Connector terminal standard type block conversion For positive common sink type input module sink type output module A6TBXY54 2 wire type A6TBX70 For positive common sink type input module 3 wire type ACO5TB Length 0 5m 1 64ft AC10TB Length 1m 3 28ft AC20TB Length 2m 6 56ft E Ee AC30TB Length 3m 9 84ft AC50TB Length 5m 16 40ft module Length 8m 26 25ft Length 10m 32 81ft connector terminal Q173HCPU Q172HCPU MR J3 SSCNETII cable MR J3BUSCIM A MR Standard cable for outside panel e 5m 16 40ft 10m 32 81ft 20m 65 62ft Q173HCPU Q172HCPU MR J3 e MR J3 LIB MR J3 OB Long distance cable e 30m 98 43ft 40m 131 23ft 50m 164 04ft M B Note 5 Q173HCPU Q172HCPU MR J3 L1B e MR J3
73. AM Installation mode Mode written in ROM The LED must be ON at input signal ON d The LED must be OFF at input signal OFF Input LED CREDE LEL IS OMORE Abnormal if the LED does not turn ON or turn OFF as Refer to indicated above I O Module Type The LED must be ON at output signal ON EE The LED must be OFF at output signal OFF Seto MANUM Output LED CheGK that the LED i ON OFF Abnormal if the LED does not turn ON or turn OFF as indicated above Note 1 The QOOCPU Q01CPU dose not have the MODE LED Note 2 The QOOCPU Q01CPU dose not have the BAT LED 6 4 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 Ambient temperature Ambient humidity hygrometer Measure corrosive gas Ambient environment Measure with a thermometer and a 0 to 55 C 32 to 131 F If the controller is used in the control panel temperature within the control panel is equivalent to ambient temperature 5 to 95 RH No corrosive gases Measure a voltage across the Power voltage terminals of 100 200VAC and 24VDC Move the module to check for Looseness rattlin 9 looseness and rattling
74. App 27 WARRANTY Please confirm the following product warranty details before using this product 1 Gratis Warranty Term and Gratis Warranty Range If any faults or defects hereinafter Failure found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company However if repairs are required onsite at domestic or overseas location expenses to send an engineer will be solely at the customer s discretion Mitsubishi shall not be held responsible for any re commissioning maintenance or testing on site that involves replacement of the failed module Gratis Warranty Term Note that an installation period of less than one year after installation in your company or your customer s premises or a period of less than 18 months counted from the date of production after shipment from our company whichever is shorter is selected Gratis Warranty Range 1 Diagnosis of failure As a general rule diagnosis of failure is done on site by the customer However Mitsubishi or Mitsubishi service network can perform this service for an agreed upon fee upon the customer s request There will be no charges if the cause of the breakdown is found to be the fault of Mitsubishi 2 Breakdown repairs There will be a charge for breakdown repairs exchange replacements and on site visits for the following four
75. B2P HB3P and the B phase inverse signal to HB1N HB2N HB3N Connect the shield cable between manual pulse generator incremental synchronous encoder and Q173PX at the FG signal Connector terminal block conversion modules cannot be used 2 SYSTEM CONFIGURATION Emse aa b Interface between PULSER connector and manual pulse generator Differential output type Incremental synchronous encoder Interface between Manual pulse generator Differential output type Incremental synchronous encoder i t PULSER connector nput or a T g AE Ns d t Signal name Voltage Output Wiring example Internal circuit Specification Description utpu type Rated input voltage For connection Manual A7 A 5 5VDC or less manual pulse pulse e E e ee ee Ee HIGH level generator generator eve phase A B7 2 0 to5 25vpc Passes A B Manual pulse Pulse width 20us or more generator Pst ee E synchronous LOW level Manual F Input pulse a encoder 0 8VDC or less of mars NN Lcuesjeezrresbeveme UE EE D 2 228 Duty ratio 5096 2596 generator EE phase B B6 261831 or ise fall time equivalent 1us or less pn e Phase difference Phase a U L Select type 9 signal A8 Note 2 Chose B 2 518 or HPSELO 1 Positioning address increases if Phase A leads Phase B Note 1 Power supply 2 Positioning address P5 B8 5VDC decreases if Phase B 5V leads Phase A Power lt suppl SG pply A9 SG B9
76. C 104 F Note 1 You can use these cables when the tracking enable signal is not used When the tracking enable signal is used fabricate the cable on the customer side Note 2 Serial absolute synchronous encoder MR HENC for Q173CPU N Q172CPU N can also be used Refer to the Q173CPU N Q172CPU N Motion controller User s Manual IB 0300040 for details of MR HENC 2 SYSTEM CONFIGURATION 3 Select to number of the synchronous encoder modules Synchronous encoders are available in voltage output type incremental differential output type incremental and serial absolute output type Q170ENC Q172EX can be connected to only serial absolute output type Q170ENC When using the incremental synchronous encoder of voltage output type or differential output type must be used Q173PX The synchronous encoders are used only in the SV22 virtual mode In addition the usable numbers of synchronous encoders differ depending on the modules The following number of serial absolute synchronous encoders and incremental synchronous encoders combined can be used Motion CPU module Synchronous encoder Up to 12 modules Q173HCPU Q172bX Up to 6 modules Up to 8 modules Q172HCPU Q172EX Up to 4 modules Tracking enable signal Tracking enable signal of Q172EX is used as a high speed reading function It cannot be used as the input start signal which start the input form serial absolute synchronous encoders When using the inputs
77. CH Cable for the teaching e FLS Upper stroke limit unit e RLS Lower stroke limit 8 axes module Q170TUDLICBLLIM A STOP Stop signal Up to 1 module DOG CHANGE Proximity dog SC LER ae SSCNETII Speed position switching cal cable le Q170CDCBL M Q170BDCBL M SSC I F Card Board A30CD PCF ALJOBD PCF SSCNETII CN1 d2 d3 IP a k A A v E MR J3 L B model Servo amplifier Panel Personal Computer WinNT Win98 Win2000 WinXP Computer link SSC eG Extension base unit Q6 Up to 8 axes Extension External input signals of servo amplifier cable Proximity dog Upper stroke limit Lower stroke limit UP to 7 extensions Note 1 Be sure to use the Q173HCPU T A31TU D30 A31TU DNC corresponds to only Japanese It does not correspond to display for English Note 2 QI60 can be used in SV13 SV22 2 SYSTEM CONFIGURATION Q Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system The ratings and characteristics of the parts other than Motion controller servo amplifier and servomotor used in a system must be compatible with the Motion controller servo amplifier and servomotor Set the parameter values to those that ar
78. Cable connector for the serial absolute synchronous encoder Type Number of pins Connector Connector case Solder connection type Quick release metal latch type Solder connection type Threaded type Insulation displacement type Quick release metal latch type 10120 3000VE 10320 52F0 008 10120 3000VE 10320 52A0 008 10120 6000EL Noe 10320 3210 000 Note Note These connectors are not options Please purchase them by customer a Solder connection type Quick release metal latch type Type Connector 10120 3000VE Connector case 10320 52F0 008 Unit mm inch 12 0 0 47 a e ERE He s E 14 0 0 55 FTIF 1 O o Ge amp IN Number of pins A B 20 pin 22 0 0 87 33 3 1 31 B 427 0 50 b Solder connection type Threaded type Type Connector 10120 3000 VE Connector case 10320 52A0 008 Unit mm inch 120 047 e J is 14 0 0 55 Number of pins A B C 20pi 22 0 0 87 33 3 1 31 27 4 1 08 12 7 0 50 App 22 APPENDICES NEN c Insulation displacement type Quick release metal latch type Type Connector 10120 6000EL Connector case 10320 3210 000 ee Position where e g B logo is indicated Unit mm inch 11 5 0 45 Number of pins A B C D 20 pin 29 7 1 17 20 9 0 82 33 0 1 30 6 7 3 SSCNETII cable connector 4 8 0 19 Sid y
79. Changes for the Better MITSUBISHI ELECTRIC MOTION CONTROLLERS wwe MOTION CONTROLLER Qseries HB 0 User s Manual SAFETY PRECAUTIONS 6 Read these precautions before using When using this equipment thoroughly read this manual and the associated manuals introduced in this manual Also pay careful attention to safety and handle the module properly These precautions apply only to this equipment Refer to the Users manual of the QCPU module to use for a description of the PLC system safety precautions These SAFETY PRECAUTIONS classify the safety precautions into two categories DANGER and CAUTION s s N 1 Indicates that incorrect handling may cause hazardous conditions i SE DANGER resulting in death or severe injury l l i N CAUTION Indicates that incorrect handling may cause hazardous conditions I resulting in medium or slight personal injury or physical damage d Depending on circumstances procedures indicated by CAUTION may also be linked to serious results In any case it is important to follow the directions for usage Store this manual in a safe place so that you can take it out and read it whenever necessary Always forward it to the end user For Safe Operations 1 Prevention of electric shocks 4 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 N
80. D3 1 A31TU DNO is not used Servo amplifier Main circuit power supply N CAUTION When the teaching unit A31TU D3L1 A31TU DNL1 is not used in the Motion CPU Q173HCPU T Q172HCPU T connect the short circuit connector for teaching unit Q170TUTM to a TU connector of Motion CPU Q173HCPU T Q172HCPU T If itis not connected the emergency stop state of Motion CPU occurs and the servomotor becomes coasting state 2 SYSTEM CONFIGURATION 2 4 9 SSCNETII cables and connection method This section describes how to connect between the Motion CPU module and servo amplifiers Between the Motion CPU module and servo amplifiers is connected by SSCNETITI cable When using the Q172HCPU only 1 SSCNETII cable for connection to servo amplifier can be used Connect to CN1 When using the Q173HCPU up to 2 SSCNETTI cables for connection to servo amplifier can be used Connect to CN1 and CN2 Up to 16 servo amplifies can be connected to 1 SSCNETII cable However when using the Q172HCPU up to 8 servo amplifiers can be connected 1 Connection between the Q173HCPU and servo amplifiers Q173HCPU Ze Motion CPU module SSCNETI cable length MR J3BUS IM use 1 s3m 9 84ft MR J3BUSLIM A use 1 s 20m 65 62ft MR J3BUSLTIM B use 1 s 50m 164 04ft Attach a cap to connectors of system not being used Fi SSCNETII S
81. EX S3 App 17 APPENDIX 2 4 Manual pulse generator interface module Q173PX Q173PX S1 App 18 APPENDIX 2 5 Power supply module Q61P A1 Q61P A2 Q62P Q63P Q64P App 19 APPENDIX 2 6 Battery holder unit O77OHDATC App 20 EE RTE WEE App 21 APPENDIX 2 8 Manual pulse generator MPR HDPOT App 26 APPENDIX 2 9 Serial absolute synchronous encoder O1 ZOENC App 26 APPENDIX 2 10 Teaching unit A21TU DOCIHAZITU DNDI App 27 About Manuals The following manuals are related to this product Referring to this list please request the necessary manuals Related Manuals 1 Motion controller Model Code Q173HCPU Q172HCPU Motion controller Programming Manual COMMON This manual explains the Multiple CPU system configuration performance specifications common 1B 03001 11 parameters auxiliary applied functions and others 1XB911 Optional Q173HCPU Q172HCPU Motion controller SV13 SV22 Programming Manual Motion SFC 1B 03001 12 This manual explains the functions programming debugging error codes and others of the Motion SFC 1XB912 Optional Q173HCPU Q172HCPU Motion controller SV13 SV22 Programming Manual REAL MODE gt EN Gas d 1B 0300113 This manual explains the servo parameters positioning instructions device list error list and others 1XB913 Optional Q173HCPU Q172HCPU Motion controller SV22 Programming Manual VIRTUAL MODE This manual describes
82. G terminals and FG terminals are connected without grounding the wires the Motion controller may be susceptible to noise In addition since the LG terminals have potential of 1 2 input voltage the operator may receive an electric shock when touching metal parts No system error can be detected by the ERR terminal of an extension base unit ERR terminal is always set off 4 INSTALLATION AND WIRING 4 4 3 Precautions of SSCNETTI 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 Be sure to use optical fiber within the range of operating temperature described in this manual Optical fiber 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 brake option of servo amplifier Read described item of this section carefully and handle it with caution 1 Minimum bend radius When laying the SSCNETII cable be sure to secure the minimum cable bend radius or more If itis less than the minimum cable bend radius it may cause malfunctions due to characteristic deterioration wire breakage etc Model name of SSCNETII cable Minimum bend radius mm inch MR J3BUSLIM 25 0 98 Enforced covering cord 50 1 97 MR J3BUSLIM A Code 25 0 98
83. Generally use the serial absolute synchronous encoder cables available as our options If the required length is not found in our options fabricate the cable on the customer side 1 Selection The following table indicates the serial absolute synchronous encoder cables used with the serial absolute synchronous encoder Connector sets Q170ENCCNS are also available for your fabrication Table 1 Wire models Gate 2 6 56 5 16 40 10 32 81 20 65 62 Q170ENCCBLEIM M14B0023 12 pair BLACK 30 98 43 50 164 04 Use the following or equivalent twisted pair cables as the serial absolute synchronous encoder cables Table 2 Connector sets Connector shell kits Q170ENCCNS Plug cable clump Table 3 Wire specifications Characteristics of one core W Finished Wire model Number of Structure Conductor Mu OD Number of resistance Se mm wires mm o km E Note 2 M14B0023 12 pair BLACK 0 2 24 12 pair 40 0 08 105 or less Note 1 d is as shown below d or sheath Conductor Note 2 Standard OD Outside Diameter Maximum OD is about 10 larger N CAUTION When fabricating the encoder cable do not make incorrect connection Wrong connection will cause runaway or explosion App 5 APPENDICES 2 Q170ENCCBLLIM a Model explanation Type Q170ENCCBL M 7 Symbol Cable length m ft 2 2 6 56 5 5 16 40 10 10 32 81 20 20 65 62 30 30 98 43
84. I E E c D 4 m D X d V Y 4 2 0 17 p 90 3 54 39 1 54 App 17 APPENDICES APPENDIX 2 4 Manual pulse generator interface module Q173PX Q173PX S1 1 Q173PX Unit mm inch dkR Q173PX PLSA PLS B TREN 1 1 1 3 3 3 O 98 3 86 ncOngoonoonaoonononaaoooo cOncooooooooooooooaoooo O Q173PX lg 90 3 54 45 1 77 27 4 1 08 2 Q173PX S1 Unit mm inch amp R Q173PX S1 PLSA PLS B TREN ug O 98 3 86 ncOngoonoonaooononnaaoooo cOncgocoooooooooonoaaoooo O Q173PX le 90 3 54 45 1 77 besen App 18 APPENDICES NENNEN APPENDIX 2 5 Power supply module Q61P A1 Q61P A2 Q61P Q62P Q63P Q64P Unit mm inch 1 Q61P A1 Q61P A2 Q61P Q62P Q63P nn co WELSEC Oe O POWER 98 3 86 PULL MITSUBISHI
85. IGURATION 5 Operating environment of personal computer Operating environment is shown below IBM PC AT with which WindowsNT 4 0 Windows 98 Windows 2000 Windows XP English version operates normally WindowsNT 4 0 Item Service Pack 2 or later Note Windows 2000 Windows XP or Windows 98 C cru Pentium 133MHz or more Pentium 1 233MHz or more Pentium 1 450MHz or more PU Recommended 32MB or more Recommended 64MB or more Hard disk free space is as following list 3 5inch 1 44MB floppy disk drive CD ROM disk drive 800x600 pixels 256 colors or more Note Impossible to use USB connection It is necessary the following capacity depending on the installed software SW6RN GSV22P Standard 60MB SW6RN SNETP 3MB Custom When all selection 60 5MB SW3RN DOCPRNP 45MB SW20RN DOCPRNP 45MB Note 1 WindowsNT Windows are either registered trademarks or trademarks of Microsoft Corporation in the United States and or other countries Note 2 Pentium 9 are trademarks or registered trademarks of Intel Corporation or its subsidiaries in the United States and other countries 2 SYSTEM CONFIGURATION 6 Related software packages a PLC software package GX Developer SWLID5C GPPW E Note L1 used 6 or later b Servo set up software package MR Configurator MRZJW3 SETUP221E 1 When the operation of Windows is not unclear in the operation of this software ref
86. L B MR J3 L B MR J3BUSLIM NT Standard code for inside panel 0 15m 0 49ft 0 3m 0 98ft 0 5m 1 64ft 1m 3 28ft 3m 9 84ft Note 1 L1 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 30 30m 98 43ft 40 40m 131 23ft 50 50m 164 04ft Note 2 Q172EX S3 and Q173PX S1 can be used in only the operating system software of special specification that needs data exchange function Note 3 Be sure to use the power supply module within the range of power supply capacity Note 4 Battery Q6BAT is not attached to Battery holder unit Q170HBATC Please purchase it separately Note 5 Please contact your nearest Mitsubishi sales representative for the cable of less than 30m 98 43ft 2 SYSTEM CONFIGURATION 2 Q series PLC module which can be control by Motion CPU Model ch Part name Description Remark name QX10 M00 120VAC 7 8mA 16 points Terminal block i QX40 24VDC 4mA Positive common 16 points Terminal block QX41 24VDC AmA Positive common 32 points Connector QX42 24VDC 4mA Positive common 64 points Connector QX70 12VDC 5V Positive common Negative common shared 16 points Terminal block QX 1 12VDC 5V Positive common Negative common shared 32 points Terminal block 12VDC 5V Positive common Negative common shared 64 points Terminal In
87. Note Connector terminal block conversion modules and cables can be used at the wiring of CTRL connector A6TBXY36 A6TBXY54 A6TBX70 Connector terminal block conversion module ACLITB O Length m Connector terminal block conversion cable Signal No 1 to 8 can be assigned to the specified axis To make assignment make the system settings of the positioning software package 2 SYSTEM CONFIGURATION 4 Interface between CTRL connector and servo external signal Input or Output Input Signal name eed LED Wiring example Internal circuit FLS1 B20 0 FLS2 B16 4 BESS B12 8 Upper stroke LM B8 c limit input 5 6kQ FLS5 A20 10 FLS6 A16 14 FLS7 A12 18 FLS8 A8 1C BE RLS1 B19 1 RLS2 B15 5 RLS3 B11 9 RLS4 e gt Lower stroke Se E limit input 5 6k2 RLS7 A11 19 RLS8 AT 1D STOP1 B18 2 B14 6 B10 A B6 E g M8 12 Stop signal A14 16 npu 5 6k A10 TA de c STOPE EE TEC M reet eter DOG CHANGE1 B17 3 DOG CHANGE2 BI 7 Proximi DOG CHANGE3 B9 B roximity dog DOG CHANGE4 B5 p Speed position DOG CHANGE5 A17 q3 Switching signal DOG CHANGE6 A13 17 5 6k9 DOG CHANGE7 AQ 1B H D L3 DOGICHANGES a5 Li Power supply B1 B2 ES di Note i 12VDC to 24VDC Specification Supply voltage 12 to 24 VDC 10 2 to 26 4 VDC stabilized power _ Supply High level 10 0 VDC or more 2 0mA or more Low lev
88. Pulse resolution 25PLS rev 100PLS rev after magnification by 4 Permitted axial loads Radial load Up to 19 6N MR HDP01 Thrust load Up to 9 8N Permitted speed 200r min Normal rotation Voltage output Battery holder unit Noe Q170HBATC Battery holder for Q6BAT Attachment battery cable For IC RAM memory backup of Q173HCPU Q172HCPU module Batte Q6BAT Motion SFC programs SV13 SV22 Servo programs SV13 SV22 S Motion programs SV43 Parameters Description A6BAT For backup of Q170ENC A31TU D3K13 For SV13 With 3 position deadman switch Only Japanese Teaching unit A31TU DNK13 For SV13 Without deadman switch Only Japanese Q173HCPU T Q172HCPU T A31TU D3LI 3m 9 84ft Q170TUD3CBL3M SE e Attachment Short circuit connector A31TUD3TM for teaching unit Q173HCPU T Q172HCPU T A31TU DNO 3m 9 84ft Q170TUDNCBL3M PET e Attachment Short circuit connector A31TUD3TM for teaching unit Exchange cable for direct connection of Q173HCPU T Q172HCPU T Q170TUDNCBLO3M A A31TU DND 0 3m 0 98ft Short circuit connector for teaching unit for direct connection to Q170TUTM Q173HCPU T Q172HCPU T It is packed together with Q173HCPU T Q172HCPU T Short circuit connector for teaching unit for connection to A31TUD3TM Q170TUD3CBL3M Q170TUDNCBL3M It is packed together with Q170TUD3CBL3M Q170TUDNCBL3M A10BD PCF PCI bus loading type 2ch board SSC I F board A30BD PCF IS
89. SVLIP The procedure for reading error codes by the SW6RN GSVLPP is as follows 1 Start the SWGRN GSVLDIP 2 Connect the Motion CPU to the personal computer IBM PC AT 3 Select Create a new project Motion CPU Read Menu by the SW6RN GSVLIP and also read the project data from the Motion CPU 4 Select the Monitor PV Enlarged Monitor Menu 5 Confirm the error code and error message that is displayed on the screen For details of the SWG6RN GSVLIP operating method refer to help of each programming software package APPENDICES APPENDICES APPENDIX 1 Cables In this cable connection diagram maker names of connectors are omitted Refer to APPENDIX 2 7 Connector for maker names of connectors APPENDIX 1 1 SSCNETITI cables Generally use the SSCNETII cables available as our options 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 Cable length m ft Application 049 0 98 1 64 3 28 9 84 16 40 32 81 65 62 98 43 MR J3BUSEIM 015 03 05 1 3 APA Suid ee for inside panel CT TINPAPAPAPAPAERERER mapa Papa Pa Pa Papa Note 1 For the cable of less than 30 m 98 43 ft contact your nearest Mitsubishi sales representative Long distance cable Standard Standard cable for outside panel 40 50 Long flex 2 Specifications Descri
90. T Servo System Controller NETwork Note 4 Teaching unit can be used in SV13 For information about the each module design method for program and parameter refer to the following manuals relevant to each module Item Reference Manual PLC CPU peripheral devices for PLC program design I O modules and intelligent function module Multiple CPU system configuration Performance specification Q173HCPU Q172HCPU Motion controller Design method for common parameter Programming Manual COMMON Auxiliary and applied functions common Manual relevant to each module Design method for Motion SFC program Q173HCPU Q172HCPU Motion controller SV13 SV22 Design method for Motion SFC parameter j Programming Manual Motion SFC Motion dedicated PLC instruction SV13 SV22 Design method for positioning control program in the real mode Q173HCPU Q172HCPU Motion controller SV13 SV22 Design method for positioning control Programming Manual REAL MODE parameter SV22 Design method for mechanical system Q173HCPU Q172HCPU Motion controller SV22 Virtual mode program Programming Manual VIRTUAL MODE Design method for Motion program Motion dedicated PLC instruction Q173HCPU Q172HCPU Motion controller SV43 Design method for positioning control Programming Manual parameter 2 SYSTEM CONFIGURATION 2 SYSTEM CONFIGURATION This section describes the Q173HCPU Q172HCPU system configuration precautions on
91. V43 is started STOP Motion SFC program SV13 SV22 Motion Program SV43 is stopped Dip switch 5 Installation ROM writing switch RESET Set the switch to the RESET position once to reset the hardware Applies a reset after an operation error and initialized the operation L CLR Clear the latch area all data which set with the parameters LATCH CLEAR also clears data outside the latch area at this time RESET L CLR switch Die Latch clear operating method Momentary switch 1 Set the RUN STOP switch to STOP 2 Move the RESET L CLR switch to L CLR several times until the M RUN LED flickers M RUN LED flickers Latch clear completed 3 Move the RESET L CLR switch to L CLR once more M RUN LED turn off 3 Module fixing screw hole Hole for the screw used to fix to the base unit M3x12 screw Purchase from the other supplier Module fixing hook Hook used to fix to the base unit SSCNETII CN1 connector zs 5 note 2 Connector to connect between Motion CPU module and servo amplifier of system 1 up to 16 axes 6 Connector to connect between Motion CPU module and servo amplifier of system 2 up to 16 axes 7 Connector to connect between Motion CPU module and teaching unit 1 1 Note 1 It is not possible to reset the Multiple CPU system by each of the PLC CPU Motion CPU No 2 to 4 If it is reset other CPU occurred to stop of t
92. When fabricating the cable for teaching unit do not make incorrect connection The protective function stops working App 8 APPENDICES 2 Q170TUD3CBL3M a Connection diagram When fabricating a cable use the recommended wire and connector given on APPENDIX 1 3 and make the cable as show in the following connection diagram Make the cable within 3m 9 84ft Q170TUD3CBL3M HDR E26FG1 connector DB 25SF N connector HDR E26 LPA5 connector case DB 20962 cover BB 2 BB BBL 15 BBL BA 3 BA BAL 16 BAL CB 4 CB CBL 17 CBL CA 5 CA CAL 18 CAL 5V 12 5V SG 7 SG 5V 13 5V SG 8 SG 5V 25 5V SG 20 SG 5V 24 5V SG 5V SG 5V SG AB 21 AB EMG FG 1 FG SD 19 EMG2 Note 23 DC24GE ote 22 EMG1 9 DC24VE 6 DED2 Mote 14 DC24GD ote 10 DED1 11 DC24VD shell SD Twisted pair cable Note These terminals are used to construct a double circuit by external safety circuit Not connected by the cable Q170TUD3CBL3M when purchased Please contact your nearest Mitsubishi sales representative for a double circuit App 9 APPENDICES 3 Q170TUDNCBL3M a Connection diagram When fabricating a cable use the recommended wire and connector given on APPENDIX 1 3 and make the cable as show in the following connection diagram Make the cable within 3m 9 84ft Q170TUDNCBL3M HDR E26FG1 connector DB 25SF N connector HDR E26 LPAS connector case DB 2
93. YSTEM1 el bj S ird CN1A B E c CN1B 1 m CN1B Do Servo amplifier Servo amplifier SSCNETII SYSTEM2 e Je Di D 2 CNIA Leslie Sp o H B L 3 E Cap o o CN1B E cn1B H RS 4 Servo amplifier Servo amplifier Note It cannot communicate with that the connection of CN1A and CN1B is mistaken 2 SYSTEM CONFIGURATION 2 Connection between the Q172HCPU and servo amplifiers Q172HCPU Motion CPU module SSCNETITI cable length MR J3BUSL IM use 1 s3m 9 84ft MR J3BUSLIM A use 1 s 20m 65 62ft MR JSBUSLIM B use 1 s 50m 164 04ft CN1A KE m CN1B Servo amplifier Servo amplifier Note It cannot communicate with that the connection of CN1A and CN1B is mistaken List of SSCNETIL cable model name 0 15m 0 49ft 0 3m 0 98ft 0 5m 1 64ft Standard code for MR J3BUSLIM nes 1m 3 28ft 3m 9 84ft inside panel Standard cable for Q173HCPU Q172HCPU MR J3 MR J3BUSLIM A 5m 16 4ft 10m 32 81ft 20m 65 62ft z outside panel MR J3 LIB MR J3 O1B MR J3BUSCIM B 30m 98 43ft 40m 131 23ft 50m 164 04ft Long distance cable Note D cable length 2 SYSTEM CONFIGURATION POINTS 1 Be sure to connect SSCNETIII cable with
94. a mechanical allowance so that the machine itself can stop even if the stroke limits switch is passed through at the max speed 1 Make note of motor module names before the motor is installed on a machine The motor name plate may not be visible after the motor is installed 2 When the servo amplifier servomotor is first turned on check the operation before the servomotor is installed on a machine to avoid an unexpected accidents such as machine breakage 5 TRIAL OPERATION AND ADJUSTMENT YN 5 3 Operating System Software Installation Procedure The operating system software must be installed to the Motion CPU module by using the peripheral device and programming software package The installation procedure is shown below Start installation Open the cover at the front of the Motion CPU and turn ON the install Refer to Section 2 4 1 2 for install switch Switch Turn ON the Motion CPU power supply RUN STOP key switch is ignored Install of operating system software according to the programming software package instructions After installation turn OFF the Motion CPU power supply Turn OFF the install switch and close the cover at the front of the Motion CPU POINTS 1 The operating system software was not installed at the time of Motio
95. and SH 080039 micro computer program 13JF58 Optional QCPU Q Mode QnACPU Programming Manual PID Control Instructions This manual explains the dedicated instructions used to exercise PID control ZE Optional QCPU Q Mode QnACPU Programming Manual SFC This manual explains the system configuration performance specifications functions programming SH 080041 debugging error codes and others of MELSAP3 13JF60 Optional UO Module Type Building Block User s Manual This manual explains the specifications of the UO modules connector connector terminal block SH 080042 conversion modules and others 13JL99 Optional 3 Servo amplifier Manual Name Manual Number Model Code MR J3 L B Servo amplifier Instruction Manual This manual explains the I O signals parts names parameters start up procedure and others for SH 030051 MR J3 OB Servo amplifier 1CW202 Optional Fully Closed Loop Control MR J3 L1B RJ006 Servo amplifier Instruction Manual This manual explains the I O signals parts names parameters start up procedure and others for Fully SH 030056 Closed Loop Control MR J3 DJB RJO06 Servo amplifier 1CW304 Optional 1 OVERVIEW 1 OVERVIEW 1 1 Overview This User s Manual describes the hardware specifications and handling methods of the Motion Controller s Model Q173HCPU Q172HCPU for the Q series PLC Multiple CPU system The Manual also describes those items rela
96. ated switchin Deeg SE Mechanical 20 million times or more Electrical 100 thousand times at rated switching voltage current or more 98 H x 55 2 W x 90 D 98 H x 55 2 W x 115 D 3 86 H x 2 17 W x 3 54 D 3 86 H x 2 17 W x 4 53 D Mass kg Insulation resistance 10MQ or more by insulation resistance tester By noise simulator of 500Vp p noise voltage Noise immunity Jus noise width and 25 to 60Hz noise frequency Exterior dimensions mm inch 2 SYSTEM CONFIGURATION 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 Note 2 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 start for the system to take
97. ation Automatic operation Torque check Check Check that the each module is installed correctly Check that the each connector is connected correctly i Check that the earth wires of power supply module or servo amplifiers etc are correct Check that the regenerative option wiring are correct Check that the circuit of emergency stop and forced stop are correct correct in the PLC Motion CPU module correctly Check the communications with servo amplifiers Check that the rotation direction for JOG operation is correct Check that the rotation at maximum command speed is motor rating or less Check that the machine operates correctly by the JOG operation Check the each operation in manual operation mode of system during Motion program execution Check that the machine operation stops immediately by the emergency stop or forced stop Check the operation of each actuator and confirmation limit switch S z ificati Check that the upper lower limit switches operate correctly correct equipment Check the each operation in manual operation mode of system during Motion program execution Check that the automatic operation motions Check that the machine operation stops immediately by the emergency stop or forced stop Check that the module or equipmen
98. attaching the terminal cover could result in electric shock N CAUTION Be sure to ground of the earth terminal FG and LG Not doing so could result in electric shock or operation failure Ground resistance 100 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 described instructions for the wir
99. axes 0 88ms 1 to 4 axes iss 3 55ms 15 to 28 axes 1 77ms 5 to 8 axes 7 11ms 29 to 32 axes E Linear interpolation Up to 4 axes Circular interpolation 2 axes Interpolation functions HAE Helical interpolation 3 axes PTP Point to Point control Speed control Speed position control Fixed pitch feed Control modes Constant speed control Position follow up control Speed control with fixed position stop Speed switching control High speed oscillation control Synchronous control SV22 Acceleration Automatic trapezoidal acceleration deceleration deceleration control S curve acceleration deceleration Backlash compensation Electronic gear Phase compensation SV22 Programming language Motion SFC Dedicated instruction Mechanical support language SV22 Servo program capacity 14k steps Number of positioning 3200 points points Positioning data can be designated indirectly Programming tool IBM PC AT Peripheral I F USB SSCNET Teaching operation 1 F None Provided SV13 use None Provided SV13 use function Proximity dog type 2 types Count type 3 types Data set type 2 types Dog cradle type Hoite posliri Felis ximity dog type 2 types Count type yp 5 yp 2 typ g yp Hinati Stopper type 2 types Limit switch combined type unction Home position return re try function provided home position shift function provided JOG operation function 2 SYSTEM CONFIGURATION Motion control specificat
100. built in for data exchange QOOCPU Program capacity 8k steps Q01CPU Program capacity 14k steps QO2CPU Program capacity 28k steps 060 Program capacity 28k steps Q12HCPU Program capacity 124k steps asap Dis 120VAC 200 to 240VAC input 5VDC 8 5A output Number of I O modules installed 3 slots Q173PX S1 oc Number of I O modules installed 5 slots Number of I O modules installed 8 slots Number of I O modules installed 12 slots Number of I O modules installed 3 slots Number of I O modules installed 5 slots Number of I O modules installed 8 slots Number of I O modules installed 12 slots QC05B Length 0 45m 1 48ft QCO6B Length 0 6m 1 97ft Length 1 2m 3 94ft Length 3m 9 84ft QC50B Length 5m 16 40ft QC100B Length 10m 32 81ft 2 SYSTEM CONFIGURATION Table of Motion controller related module continued Current Note 1 Part name Model name Resolution 262144PLS rev Serial absolute i Permitted axial loads Radial load Up to 19 6N Q170ENC Thrust load Up to 9 8N Permitted speed 3600r min Serial absolute Serial absolute synchronous encoder Q170ENC Q172EX S2 S3 synchronous Q170ENCCBL 2m 6 56ft 5m 16 40ft 10m 32 81ft 20m 65 62ft 30m 98 43ft encoder cable 50m 164 04ft Q172EX S2 S3 side connector Connector set for Connector 10120 3000VE serial absolute Connector case 10320 52F0 008 Q170ENCCNS X synchronous Q170ENC side connector Plug MS3106B22 14S Cable clump MS3057 12A
101. c bag with a zipper of SSCNETIII cable to prevent them from becoming dirty 13 When exchanging the servo amplifier or Motion controller make sure to put a cap on SSCNETIII connector When asking repair of servo amplifier or Motion controller for some troubles make also sure to put a cap on SSCNETIII 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 4 2 2 SSC I F communication cable 1 Precautions for handling the SSC I F communication cable Do not stamp the SSC I F communication cable When laying the SSC I F communication cable be sure to secure the minimum cable bend radius of 30 mm 1 18 inch or more If the bend radius is less than 30 mm 1 18 inch it may cause malfunctions due to characteristic deterioration wire breakage etc For installation or removal of the SSC I F communication cable hold surely a tab of cable connector Motion CPU module PC connector Em Installation of the SSC I F communication cable For installation of the SSC I F communication cable to the Motion CPU connect it to the PC connector of Motion CPU while holding a tab of SSC I F communication cable connector Be sure to insert it until it clicks Removal of the SSC I F communication cable For removal of the SSC I F communication cable pull out it while holding a tab of SSC I F commun
102. can cause an operation failure failure or drop When using the Motion controller in the environment of much vibration tighten the module with a screw 4 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 install the extension cable to connectors of the base unit correctly After installation check them for looseness Poor connections could cause an input or output failure Completely turn off all lines of power supply externally before loading or unloading the module Not doing so could result in electric shock or damage to the product Do not directly touch the module s conductive parts Touching the conductive parts could cause an operation failure or give damage to the module This section describes instructions for handling the CPU modules I O modules intelligent function modules power supply modules and base units etc 1 Do not drop or apply strong impact on the CPU modules I O modules intelligent function modules power supply modules base units and memory card etc 2 Do not remove modules printed circuit boards from the case in order to avoid failure 3 The module fixing screws and terminal block screws within the tightening torque range specified below Tightening torque range Module fixing screw M3 X 12 screw 0 36 t
103. conditions otherwise there will be a charge 1 Breakdowns due to improper storage handling careless accident software or hardware design by the customer 2 Breakdowns due to modifications of the product without the consent of the manufacturer 3 Breakdowns resulting from using the product outside the specified specifications of the product 4 Breakdowns that are outside the terms of warranty Since the above services are limited to Japan diagnosis of failures etc are not performed abroad If you desire the after service abroad please register with Mitsubishi For details consult us in advance 2 Exclusion of Loss in Opportunity and Secondary Loss from Warranty Liability Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi opportunity loss or lost profits caused by faults in the Mitsubishi products damage secondary damage accident compensation caused by special factors unpredictable by Mitsubishi damages to products other than Mitsubishi products and to other duties 3 Onerous Repair Term after Discontinuation of Production Mitsubishi shall accept onerous product repairs for seven years after production of the product is discontinued 4 Delivery Term In regard to the standard product Mitsubishi shall deliver the standard product without application settings or adjustments to the customer and Mitsubishi is not liable for on site adjustment or test run of the product 5 Precautions
104. correctly Is POWER LED YES turned on Is the power supply voltage reaching 85 to 132VAC or 170 to 264VAC NO The supply voltage should be within the rated range YES YES Is POWER LED turned on NO Is the power supply module fixed Fix the power supply module correctly Is POWER LED turned on 1 Check the current capacity and reduce the amount of overcurrent 2 Turn the input power supply off and then immediately turn it on protection and overvoltage protection working Is POWER LED turned on Explain the error symptom and get advice from our sales representative Completion 6 INSPECTION AND MAINTENANCE sy b Flowchart for when MODE LED is turned off The following shows the flowchart when the MODE LED is turned off at the power supply ON MODE LED is turned off s the power supply for all the power supplies modules turned on s the wiring of the power suppl module correct Check the wiring and turn on the all power supplies Is MODE LED turned on Is the LED of power supply module turned on Replace the power supply module and check that the LED is ON Is MODE LED turned on connecting direction o extension cable correct
105. cy stop 9 m on stop at upper lower limit switch Interlock circuits as necessary Provide external interlock Turns output equipment circuits for conflicting operations such as forward power off when STOP occurs on emergency Stop on stop at rotation and reverse rotation and for parts that could damage the machine or cause accidents if no upper lower limit Switch interlock were used The power ON procedure is as follows For AC For AC DC 1 Switch power ON 1 Switch power ON 2 Set CPU to RUN 2 Set CPU to RUN 3 Turn ON the start switch 3 When DC power is established RA2 goes ON 4 When the electromagnetic contactor MC comes on the 4 Timer TM times out after the DC power reaches 100 output equipment is powered and may be driven by the The TM set value should be the period of time from when program RA2 goes ON to the establishment of 100 DC voltage Set this value to approximately 0 5 seconds 5 Tum 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 10 3 DESIGN b System design circuit example when using ERR contact of power supply module P eee Using AC and DC gt Transformer Transformer DC power supply established signal input Fus
106. d limits Do not connect the shaft of Q170ENC directly to machine side rotary shaft Always after connecting the shaft of Q170ENC to another bearing once connect the shaft through a flexible coupling Bearing Gear E Q170ENC Coupling 1 L _ L __ Fig 4 2 Connecting the shaft of Q170ENC to a machine side rotary shaft Never hit the end of the Q170ENC coupling shaft with a hammer when connecting the coupling to it The large loads applied to Q170ENC will damage it The Q170ENC uses optical parts Install it in an atmosphere where there are extremely few water drops and little oil and dust In any place where the Q170ENC is exposed to water and or oil provide protection from oil and water e g install a cover In addition run the cable downward to prevent oil and or water from running on the cable into the Q170ENC When it is inevitable to install the Q170ENC vertically or obliquely trap for the cable Use the Q170ENC within the specified temperature range 5 C to 55 C 23 to 131 F 4 INSTALLATION AND WIRING 4 4 Wiring 4 4 1 Instructions for wiring lt DANGER Completely turn off the all lines of the power supply externally before wiring Not completely turning off all power 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
107. d 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 lt gt DANGER 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 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 e Wire the units after installing the Motion controller servo amplifier and servomotor Failing to do so may lead to electric shocks or damage N CAUTION Always install a leakage breaker on the Motion controller and servo amplifier power source 9 Install emergency 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 N CAUTION If safety standards ex robot safety rules etc apply to the system using the Motion controller servo amplifier and servomotor make sure that t
108. ded Motion SFC chart comments Up to 4094 steps 255 255 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 Up to 32 levels Descriptive m f S Calculation expression bit conditional expression expression Transition program i 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 motion main cycle 0 88ms 1 77ms 3 55ms 7 11ms 14 2ms task interrupt 16 points masked ae PLC interrupt Execute with interrupt instruction S P GINT from PLC CPU Execute when input ON is set among interrupt module QI60 NMI task 3 16 points 2 SYSTEM CONFIGURATION 5 SV43 Motion control specifications performance specifications a Motion control specifications Q173HCPU Q172HCPU Number of control axes Up to 32 axes Up to 8 axes 0 88ms 1 to 5 axes Operation cycle 1 77ms 6 to 14 axes 0 88ms 1 to 5 axes default 3 55ms 15 to 28 axes 1 77ms 6 to 8 axes 7 11ms 29 to 32 axes g Linear interpolation Up to 4 axes Circular interpolation 2 axes Interpolation functions MEM Helical interpolation 3 axes PTP Point to Point control Constant speed positioning High speed oscillation control decelera
109. e EE SK Operation Ready OFF ON CP3 Rat Ra2 Ra3 Rad gt ana lk o o o 6 o1L0 19 ovo de EI S EMG Ra2 Ra3 uc of 0 0 Cable Cable o 1SkK ayant Jl 3 DESIGN POINT Example For control axis 1 and axis 2 1 Note 1 The following is the Motion SFC program example 2 Note 2 It is also possible to use a full wave rectified power supply as the power supply for the Servo error detection electromagnetic brake 3 Note 3 It is also possible to use forced stop signal of the servo amplifier IF 1 m SET PYm PYm ON with initial 4 Note 4 It recommends using one leakage breaker for one servo amplifier When electric power ON normal is supplied to multiple servo amplifiers for one leakage breaker select the wire connected to the servo amplifier according to the capacity of the leakage breaker Ga 5 Please contact your nearest Mitsubishi sales representative when you construct a double circuit M2408 M2428 Servo error detection by external safety circuit a iesse 6 Sample system circuit design is not based on JIS B9705 1 ISO 13849 1 EN954 1 Safety of um machinery Safety related parts of control systems ansi RIA R15 06 American National RST PYm OFF abnormal error Standard for industrial Robots and Robot systems Safety requirements revision and JIS B8433 Manipulating industrial robots Safety END Out of control panel Teachi
110. e MR J3BUS5M A MR J3BUS10M A MR J3BUS20M A Cable length m ft 5 16 40 10 32 81 20 65 62 c MR J3BUSLIM B Model name MR J3BUS30M B MR J3BUS40M B MR J3BUS50M B Cable length m ft 30 98 43 40 131 23 50 164 04 2 SYSTEM CONFIGURATION 4 Setting of the axis No and axis select switch of servo amplifier Axis No is used to set the axis numbers of servo amplifiers connected to SSCNETII connector CNL1 in the program Axis No of 1 to 32 can be set for Q173HCPU and axis No of 1 to 8 can be set for Q172HCPU Axis No is set for each system of SSCNETT in the system setting of programming software Axis No Q173HCPU 1 to 32 Q172HCPU 1 to 8 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 switch 0 to F of servo amplifier set the axis select switch referring to the table of next page System setting Allocation of axis No Axis select switch Servo amplifier System Setting GSV22P MT Developer C iol xl Fie Edit View Option Communicat tion Update Help 1 89 e Set the axis No relative to axis number dno Note Correspondence between dno and axis select switch of servo amplifiers is shown in the next page 2 SYSTEM CONFIGURATION Correspondence between dno s and axis select switches of servo amplifier dno
111. e Fuse H H des DC power START STOP circuit supply Starting possible Els C when the PLC RUN Fuse output RA1 is ON H H Set TM to time to establish DC input signal Start Stop switch switch 9 A voltage relay is recommended Anput mo He RA2 i o L i i L i output module Lee MODEL CL M 1 mm Alarm output 1 e H O lamp or buzzer 1 Yn 1 O 69 31 i SE RA3 switched Power supply module ERR Pee OFF by ERR oe eg tput modul output module mc Lu Interlock circuits as d 1 E output equipment necessary Provide 2 power off when ERR 1 external interlock if 2 M switch OFF 1 D 1 o i circuits for conflicting i 1 MC2 on emergency stop operations such as ty p ic 4 on stop at upparlionet forward rotation and eege reverse rotation 1 MO limit switch and for parts that could damage the machine or peru cause accident if no interlock were used The power ON procedure is as follows For AC DC 1 Switch power ON 2 Set CPU 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 com
112. e compatible with the Motion controller servo amplifier servomotor and regenerative resistor model and the system application The protective functions may not function if the settings are incorrect When a teaching unit is used the cable for the teaching unit is necessary between the Motion CPU Q173HCPU T Q172HCPU T and teaching unit And connect the short circuit connector for teaching unit after removing the teaching unit or when not using it 2 SYSTEM CONFIGURATION 2 1 3 Function explanation of the Q173HCPU Q172HCPU Motion CPU modules 1 Up to 32 axes servo amplifiers per 2 systems up to 16 axes per 1 system can be used in Q173HCPU Up to 8 axes servo amplifiers per 1 system can be used in Q172HCPU 2 It is possible to set the program which synchronized with the motion operation cycle and executed at fixed cycle 0 88 ms 1 77 ms 3 55 ms 7 11 ms 14 2 ms 3 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 Q173HCPU Q172HCPU and servo amplifier with SSCNETITI cable 4 Itis possible to select the servo control functions programming languages by installing the corresponding operating system software in the Q173HCPU Q172HCPU 5 Itis possible to use the signals such as stroke limit signals and synchronous encoder connected to various Motion modules for motion control by setting the Q173HCPU Q172HCPU
113. e for SV43 Additional correction partial correction About Manuals Troubleshooting Sep 2006 IB NA 0300110 C Additional model Q61P MR J3 LIB RJOO6 Additional correction partial correction About Manuals Japanese Manual Number IB NA 0300090 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 2005 MITSUBISHI ELECTRIC CORPORATION A 11 INTRODUCTION Thank you for choosing the Q173HCPU Q172HCPU Motion Controller Please read this manual carefully so that equipment is used to its optimum CONTENTS Satety Precautions od dede eodd a eie ui fe eerta EE ug A 1 RevislOrS ciiin emblema endbmdie miim nidumdi xdi eae A 11 Contents eege BEE at el Rea Be ea Eeer A 12 About Manuals 2 e eat EECH A 15 1 OVERVIEW 1 1to1 2 PTS OQVEMVIGW fire incite itt tete EEN 1 1 2 1 Motion System Configuration eene entente ee teer tne thee cath dte thea tend ted adden tad aaa 2 1 2 1 1 Q173HCPU System overall configuration essen nennen 2 3 2 1 2 Q172HCPU System overall configuration nennen 2 5 2 1 3 Function explanation of the Q173HCPU Q172HCPU Motion CPU modules 2 7 2 1 4 Restrictions on Motion SystemS A 2 9 2 2 System C
114. e panel or at a safe distance To limit the effects of reflected noise and heat leave 100mm 3 94inch or more clearance to instruments fitted in front of the Motion controller on the rear of the door Similarly leave 50mm 1 97inch or more clearance between instruments and the left and right sides of the base units 3 DESIGN 3 3 3 Calculating heat generation by Motion controller The ambient temperature inside the control panel storing the Motion controller must be suppressed to a Motion controller operating ambient temperature of 55 C 131 F For the design of radiation from the storing panel it is necessary to know the average power consumption heating value of the devices and instruments stored in the control panel Here the method of obtaining the average power consumption of Q173HCPU Q172HCPU system is described From the power consumption calculate a rise in ambient temperature inside the control panel Calculating average power consumption The power consuming parts of the Motion controller are roughly classified into six blocks as shown below 1 Power consumption of the power supply module The power conversion efficiency of the power module is approx 70 96 i e 30 of the output power is consumed by heating As a result 3 7 of the output power becomes the power consumption Therefore the calculation formula is as follows Wp 2 x sv x 5 W I5v Current consumption of logic 5 VDC circuit of each module
115. e unit 1 Module fixing hook Quick release installation Display the input status from the external equipment Indicates to display the signal input status of Mode judging LED each serial absolute synchronous encoder When the serial absolute synchronous encoder cable connected property LED is turned on TREN Indicates to display the signal status of tracking 1 2 enable SY ENC connector Input connector of the serial absolute synchronous encoder Module loading lever Used to install the module to the base unit Module fixing screw Hole for the screw used to fix to the base unit hole M3x12 screw Purchase from the other supplier F Module fixing hook Hook used to fix to the base unit Battery connector For connection of battery lead wire Battery holder Used to the Install the Battery A6BAT MR BAT to the holder Batte 9 d For Serial absolute synchronous encoder battery backup A6BAT MR BAT 2 SYSTEM CONFIGURATION 2 Performance specifications a Module specifications Specifications Q172EX S2 Q172EX S3 Memory for data exchange None Provided Number of I O occupying points 32 points l O allocation Intelligent 32 points Internal current consumption 5VDC A 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 Specifications Number of input points Tracking enable signal 2 points Input method Sink Source type Exterior d
116. eaching unit A31TU DNLI is not used in the Motion CPU Q173HCPU T Q172HCPU T connect the short circuit connector for teaching unit A31TUD3TM to the control panel side connector of the cable for teaching unit Q170TUDNCBL3M If it is not connected the emergency stop state of Motion CPU occurs and the servomotor becomes coasting state 2 SYSTEM CONFIGURATION 2 When the connector is connected directly in the control panel a Connect the cable for teaching unit Q170TUDNCBLO3M A to the TU connector of Motion CPU Q173HCPU T Q172HCPU T after connecting to the teaching unit A31TU DNL1 b When the teaching unit A31TU DNL is not used connect the short circuit connector for teaching unit Q170TUTM after removing a TU connector of cable for teaching unit Q170TUDNCBLOS3M A from a TU connector of Motion CPU Q173HCPU T Q172HCPU T Connection example between the cable for teaching unit Q170TUDNCBLO3M A is shown below A31TU DNO Control panel Q173HCPU T Q172HCPU T Q170TUTM When the A31TU DNLI is not used e x No deadman switch Servo amplifier Main circuit power supply N CAUTION Do not connect the A31TU D3H to the cable for teaching unit Q170TUDNCBLO3M A The protective function stops working Be sure to fix the relay portion of a connect
117. ecifications of the external Refer to MELSEC Q equipment to be controlled series manual Refer to section 2 4 4 Refer to section 2 4 5 Refer to section 2 4 6 Select the CPU base unit extension base units extension power supply module and extension cables and make I O assignment according to necessary number of Q172LX s Q172bEX s Q173PX s QXQO s QYDI s and the number of I O modules Select the servo amplifier and servo motor according to the motor Refer to the servo capacity and number of revolution from the machine mechanism to be amplifier manual controlled each axis Refer t tion 2 4 9 Set the servo amplifier connection by SSCNETII and axis numbers SIR SEDE dno and axis No 3 DESIGN Refer to section 3 2 External circuit design Power supply circuit design Design the power supply circuit which supplies power to such system Refer to section 3 2 1 components as the Motion controller I O equipment and servo amplifiers etc taking into consideration the protective coordination and noise suppression techniques Safety circuit design Refer t tion 3 2 2 Design the operation ready circuit which stops the system at SET 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
118. ed 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 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 N CAUTION 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 Motion 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
119. el 1 8 VDC or less 0 18mA or less Description FLS RLS STOP DOG CHANGE Common terminals for motion control signals external signal Note As for the connection to power line B1 B2 both and are possible 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 EE 2 4 5 Q172EX Serial absolute synchronous encoder interface module Q172EX receive external signals required for serial absolute synchronous encoder The installation position of Q172EX is only CPU base 1 Q172EX S2 Q172EX S3 name of parts 5 Q172EX S2 SY ENC TREN 1 1 44 2 2 SY ENC1 d I5 SY ENC2 M WNAIHLIT IHSISDSLIWN pnm Reap ALD Fa d 6 Q172EX Jo 9 7 UC y Application 7 Hook used to fix the module to the bas
120. er to the manual of Windows or guide book from the other supplier 2 The screen might not be correctly displayed depending on the system font size of WindowsNT 4 0 Windows 98 Windows 2000 Windows XP Be sure to use the small size fonts 2 SYSTEM CONFIGURATION 2 3 General Specifications General specifications of Q173HCPU Q172HCPU module are shown below Specification Operating ambient 0 to 55 C temperature 32 to 131 F Storage ambient 25 to 75 C Note 3 temperature 13 to 167 F EE EN 5 to 9596 RH non condensing humidity siprage pimple 5 to 95 RH non condensing humidity intermittent PERS 14inch _ 10 times each Vibration resistance Conforming vibration inX Y Z JIS B 3502 Under p m directions Operating altitude 2000m 6561 68ft or less Installation location Inside control panel Overvoltage category iorless Note 1 1 By noise simulator of 1 500Vp p noise voltage 1us noise width and 25 to 60Hz noise Noise immunity frequency 2 Noise voltage IEC61000 4 4 2kV Dielectric withstand Across inputs LG and outputs FG voltage 2 830VAC rms 3 cycles Altitude 2000m 6561 68ft Across inputs and outputs LG and FG separated across inputs and See Insulation resistance Across outputs and FG LG 10MQ or more by insulation resistance tester 500VDC Ground resistance 100 9 or less Cooling method Natural air cooling Note 1 This indicates the section of the power supply to which the equipment
121. es Check that a flexible coupling is used for coupling with the machine side synchronous rotary shaft encoder Check the module for damage Beg Check that excessive impact was not given during installation oO Check the teaching unit for damage oO Installation of Check that the combination of teaching unit and connecting cable are teaching unit correct Check that the 100VAC 200VAC and 24VDC wires are twisted as closely as possible respectively and run in the shortest distance Wiring of power Check that the 100VAC 200VAC and 24VDC wires are not bind the cable supply modules together with and run close to the power and I O wires and I O modules Check that each wiring is of the specified wire size Rea wires Check for looseness of terminal block screw Check that the terminal block screw tightening torque is as specified Check that grounding of the earth terminal FG and LG Check that SSCNETII cable model names for connection between Q173HCPU Q172HCPU and servo amplifier servo amplifier and servo amplifier are connect Wiri f Mie Check for looseness rattling or distorted connector and connective SSCNETII cable Check that the minimum cable bend radius or more is secured Installation of contains plasticizing material Wiring of attached teaching unit and cable connects CPU Q173HCPU T Q172HCPU T 5 TRIAL OPERATION AND ADJUSTMENT 5 TRIAL OPERATION AND ADJUSTMENT 5 1 Checklist before Trial Ope
122. es 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 11 3 DESIGN 3 2 1 Power supply circuit design This section describes the protective coordination and noise suppression techniques of the power supply circuit 1 Separation and protective coordination leakage current protection over current protection of power supply systems When wiring separate the lines of Multiple CPU system power supplies from those of the I O equipment and servo amplifier as shown below When there is much noise connect an insulation transformer f Insulation Main power PLC power transformer supply supply a a 5 Multiple CPU 100 200VAC O O O O 4 NFB CP gt system LT UO power supply ee E gt UO devices CP Main circuit power supply ZTN O O Main circuit device CP Servo amplifier power SUPP y 200VAC O O Servo amplifier NFB 2 Grounding The Motion system may malfunction as it is affected by various noises such as electric path noises from the power supply systems radiated and induced noises from other equipment servo amplifiers and their cables and electromagnetic noises from conductors To avoid such troubles connect the earthing ground of each equipment and the shield grounds of the shielded cables to the earth Also use ferrite cores ex ZCAT3035 1330 TDK make to prevent the sneak
123. ever 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 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 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 Q 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 grounding or signal wires of the Motion controller and servo amplifier as this may lead to electric shocks 2 For
124. g unit is removed the emergency stop and servomotor become coasting state In systems where coasting of the servomotor will be a problem use dynamic brakes 4 INSTALLATION AND WIRING NEM 4 3 Installation of the Serial Absolute Synchronous Encoder This section described instructions for handling the Serial absolute synchronous encoder Q170ENC 1 Ifthe serial absolute synchronous encoder is linked to a chain timing belt or gears the machine rotating shaft should be supported by a separate bearing and connected to Q170ENC through a coupling Ensure that excessive force greater than the permitted shaft load is not applied to the shaft of Q170ENC Table 4 1 Permitted Shaft Loads Gear Bearing Q170ENC Radial direction Thrust direction Coupling Permitted shaft load Up to 19 6N Up to 9 8N Fig 4 1 Example of Encoder Linked to a Gear 2 Large errors in eccentricity and angle of deviation during installation can apply an excessive force to the Q170ENC shaft which can cause deterioration in performance drastically reduce encoder service time Minimize loads applied to the shaft such that they lie within the permitted shaft load range 4 INSTALLATION AND WIRING N CAUTION The Q170ENC contains a glass disk and precision mechanism Take care when handling it The encoder performance may deteriorate if it is dropped or subjected to shocks or vibration exceeding the prescribe
125. hat state use a servomotor with electromagnetic brakes for maintenance 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 Servomotor Electro magnetic brakes 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 that personal safety can be ensured even if the machine restarts suddenly Confirm and adjust the program and each parameter before operation Unpredictable movements may occur depending on the machine Extreme adjustments and changes may lead to unstable operation so never make them Do not apply a voltage other than that specified in the instruction manual on any terminal Doing so may lead to destruction or damage Q 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 servo amplifier s heat radiating fins 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
126. he 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 N 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 special function module s instruction manual for the program corresponding to the special function module 3 Transportation and installation N 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
127. he overall Multiple CPU system where MULTI CPU DOWN Error code 7000 The overall Multiple CPU system reset is resetting the CPU No 1 of PLC CPU Note 2 Put the SSCNETII cable in the duct or fix the cable at the closest part to the Motion CPU module with bundle material in order to prevent SSCNETII cable from putting its own weight on SSCNETII connector Note 3 Q173HCPU Q173HCPU T only Teaching unit corresponds to only Japanese Note 4 Q172HCPU Q172HCPU T only Teaching unit corresponds to only Japanese Note 5 When connecting the teaching unit be sure to use the cable which adjusts to the model name of teaching unit 2 SYSTEM CONFIGURATION 3 Basic specifications of Q173HCPU Q172HCPU a Module specifications Q173HCPU Q173HCPU T Q172HCPU Q172HCPU T Teaching unit ele Le Hee Internal current consumption Note Note 1 25 1 56 1 14 1 45 5VDC A Mass kg Exterior dimensions mm inch 104 6 4 11 H X 27 4 1 08 W X 114 3 4 50 D Note Current consumption 0 26 A of the teaching unit is included 4 SV13 SV22 Motion control specifications performance specifications a Motion control specifications Q173HCPU Q173HCPU T Q172HCPU Q172HCPU T Number of control axes Up to 32 axes Up to 8 axes 0 44ms 1 to 3 axes 0 88ms 4 to 10 axes 0 44ms 1 to 3 axes 1 77ms 11 to 20 axes 0 88ms 4 to 8 axes Operation cycle 3 55ms 21 to 32 axes default 0 88ms 1to 5 axes 1 77ms 6 to 14
128. he 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 TRIAL OPERATION AND ADJUSTMENT n Motion CPU PLC CPU Test mode JOG operation Check machine operation Check the followings by making the machine operate with the JOG operation of peripheral device 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 home position return Check home position return Check the followings by executing the home position return 1 Home position return direction 2 Home position return data 3 Proximity dog position Programming mode Check Motion program Set the RUN STOP key of PLC Motion CPU module to RUN and check that all positioning controls by Motion programs are correct Monitor mode Check by automatic operation Check the sequence operation by executing the PLC program using an actual external input End N CAUTION The system must have
129. hese may come off during operation 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 Environment Motion controller Servo amplifier Servomotor Ambient e 0 C to 40 C With no freezing According to each instruction manual temperature 32 F to 104 F 80 RH or less With no dew condensation Storage d 20 C to 65 C According to each instruction manual temperature 4 F to 149 F Indoors where not subject to direct sunlight Atmosphere f SM 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 synchronization encoder or servomotor shaft end do not apply impact such as by hitting with a hammer Doing so may lead to detector damage Do not apply a load larger than the tolerable load onto the 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 Ambient humidity According to each instruction manual N CAUTION Correctly and securely
130. ication cable connector after making sure that the fixing hook have been removed completely Forcibly removal the SSC I F communication cable from the Motion CPU module will damage the Motion CPU modules and SSC I F communication cables 4 INSTALLATION AND WIRING 4 2 3 Battery cable 1 Precautions for handling the battery cable For installation or removal of the battery cable hold surely a battery cable connector J gt Battery cable CPU BAT connector Battery holder unit v Q170HBATC 2 Installation of the battery cable For installation of the battery cable to the Battery holder unit connect it to the BAT connector of battery holder unit while holding the battery cable connector Be sure to insert it until it clicks 3 Removal of the battery cable For removal of the battery cable pull out it while holding the battery cable connector Forcibly removal the battery cable from the battery holder unit will damage the battery holder unit and battery cable 4 INSTALLATION AND WIRING 4 2 4 Cable for teaching unit 1 Precautions for handling the cable for teaching unit Do not stamp the cable for teaching unit When laying the cable for teaching unit be sure to secure the minimum cable bend radius of 30 mm 1 18 inch or more If the bend radius is less than 30 mm 1 18 inch it may cause malfunctions due to characteristic deterioration wire breakage etc For ins
131. imensions mm inch Isolation method Photocoupler Rated input voltage 12 24VDC Rated input current 12VDC 2mA 24VDC 4mA 10 2 to 26 4VDC Operating voltage range 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 e OFF to ON 0 4ms 0 6ms 1ms Response time k ON to OFF CPU parameter setting Default 0 4ms Ams Common terminal arrangement 1 point common Common terminal TREN COM Indicates to display ON indication LED 2 SYSTEM CONFIGURATION c Serial absolute synchronous encoder input Specifications Applicable signal types Differential output type SN75C1 168 or equivalent Transmission method Serial communications Synchronous method Counter clock wise viewed from end of shaft Communication speed 2 5Mbps Absolute ABS method 262144PLS rev 18bit Applicable connector for Q170ENCCNS Optional the external connection Applicable wire MB14B0023 12Pair Q170ENCCBLLIM Connecting cable L1 cable length 2m 6 56ft 5m 16 40ft 10m 32 81ft 20m 65 62ft Note 1 30m 98 43ft 50m 164 04ft Cable length Up to 50m 164 04ft Back up the absolute position Depends on A6BAT MR BAT Battery service life time 12000 h Example of encoders x2 Ambient temperature 40 C 104 F value in actual 24000 h Example of encoders X 1 Ambient temperature 40
132. ing is the Motion SFC program example Servo error detection 2 Note 2 Itis also possible to use a full wave rectified power supply as the power i EH supply for the electromagnetic brake adi Sa Eva ON ENE 3 Note 3 It is also possible to use forced stop signal of the servo amplifier ON normal 4 Note 4 It recommends using one leakage breaker for one servo amplifier When electric power is supplied to multiple servo amplifiers for one leakage breaker select the ig 1 wire connected to the servo amplifier according to the capacity of the leakage M2408 M2428 D aks b acr d 9 e axis 1 axis 2 breaker OFF abnormal error NW Circuit example when using MR J3 B m Note 4 DIE L1 MR J3 B H 6 v o w Ra2 D Electro Ground magnetic brake DICOM Note 2 Ae ISSCNET I ous Au ous pu Gi DOCOM Note 3 24vDC Circuit example when using MR J3 B jp i R L1 MR J3 B Y VT 7 d O 12 V A Oo w Wo Ra3 L3 i d Electro emp aT L11 Ground magnetic A K L21 2 brake DINCOM Note 2 A H eria M ad CN1B EMI x Ue ocn Note 3 24VDC Circuit example when using MR J3 B NFB4 ieh Ap ers ii T U Ax L1 MR J3 B H V 2 8mn 1 1 L2 V t HH 6 Ops w Pei Electro Keen 11 n Gr
133. ing of the power supply 1 Power supply wiring a 100VAC 200VAC and 24VDC wires should be twisted as dense as possible respectively Connect the modules with the shortest distance Also to reduce the voltage drop to the minimum use the thickest wires possible Use the wires of the following core size for wiring Application 100VAC 200VAC 24VDC wires 2 0mm or less UO equipment 0 75mm 0 75 to 1 5mm usable Ground wire 2 0mm or more 4 INSTALLATION AND WIRING NENNEN b Do not bunch or lay them closely the main circuit high voltage large current cables of the 100VAC and 24VDC with the I O signal cables If possible separate them 100mm 3 94inch or more away c As a countermeasure to power surge due to thunder connect a surge absorber for thunder as shown below Multiple CPU system WS E17 t Surge absorber for thunder 1 Separate the ground of the surge absorber for thunder E1 from that of the PLC E2 2 Select a surge absorber for thunder whose power supply voltage does not exceed the maximum allowable circuit voltage even if 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 sh
134. ion base unit 5 TRIAL OPERATION AND ADJUSTMENT J 5 2 Trial Operation and Adjustment Procedure PLC CPU Motion CPU v A Servo amplifier v PLC CPU Motion CPU A Motion CPU v Servo start up procedure Turn OFF Multiple CPU system power supply Check that the power supply of Multiple CPU system is OFF Check wiring and module installation 1 Check the installation position and condition of each modules 2 Check the installation condition of connectors 3 Check that all terminal screws are tight 4 Check the ground wires of servo amplifier etc 5 Check the servomotor wiring U V W 6 Check the regenerative resistor wiring 7 Check the circuit of emergency stop or forced stop Servo amplifier setting Set the axis number of servo amplifier Turn ON power supply Set the RUN STOP key of CPU module to STOP Turn ON the power supply of CPU module Install mode Install operating system software gt Install the operating system software to the CPU module by the peripheral device System setting mode Multiple CPU parameters setting Set the following positioning parameters by the peripheral device 1 Multiple CPU setting 2 Automatic refresh setting 3 System se
135. ions continued Q173HCPU Q173HCPU T Q172HCPU Q172HCPU T Manual pulse generator Possible to connect 3 modules operation function Synchronous encoder Possible to connect 12 modules Possible to connect 8 modules operation function M code output function provided M code function 7 M code completion wait function provided Limit switch output Number of output points 32 points function Watch data Motion control data Word device Made compatible by setting battery to servo amplifier Absolute position system 1 Possible to select the absolute data method or incremental method for each axis Number of SSCNET IZ Note 1 2 systems 1 system systems Q172LX 4 modules usable Q172LX 1 module usable EES Q172EX 6 modules usable Q172EX 4 modules usable Q173PX 4 modules usable Note 1 The servo amplifiers for SSCNET cannot be used Note 2 When using the incremental synchronous encoder SV22 use you can use above number of modules When connecting the manual pulse generator you can use only 1 module module Note 2 Q173PX 3 modules usable 2 SYSTEM CONFIGURATION b Motion SFC performance specifications Motion SFC program capacity Motion SFC program Operation control program F FS Transition program G Execute specification Code total Motion SFC chart Operation control 543k bytes Transition Operation control Transition Up to 64k bytes Inclu
136. iple PLC system for each PLC CPU Motion CPU module must also be set to support the Multiple CPU system in the system settings 8 Make sure to use the Motion CPU as the control CPU of motion modules dedicated for Motion CPU Q172LX Q172EX Q473PX etc They will not operate correctly if PLC CPU is set and installed as the control CPU by mistake Motion CPU is treated as a 32 point intelligent module by PLC CPU of other CPU It cannot be accessed from other CPU 9 When a Multiple CPU system is configured make sure to configure the modules so that the total current consumption of individual modules on the CPU base does not exceed the 5VDC output capacity of power supply module Refer to Section 2 4 2 3 4 Selection of the power supply module 10 Installation position of the Q172EX is only CPU base unit Note 1 Teaching unit can be used in SV13 It cannot be used in SV22 SV43 Note 2 Q172EX can be used in SV22 It cannot be used in SV13 SV43 2 SYSTEM CONFIGURATION OEEEHEEEIIITIUCGOUGGGOILLGOTGOIGOGGZSGGUCSGLELLLLL B LI LLLLIILL BE T tHILOL LLESLLULLULULULLULLL UL IIELEEREOEEALAA AA LLGOLELbX UBEX LIIILI LLLuLULLELLILALLLBLSLHSEaALLEOLLALALA LANNIMED1MAZA 11 When combining the Q173HCPU T Q172HCPU T with Q173CPU N Q172CPU N Q173CPUN T Q172CPUN T set as following combination If itis used in combination except for the following the Q173HCPU T Q172HCPU T does not operate normally such as Q17
137. is assumed to be connected between the public electrical power distribution network and the machinery within premises Category II applies to equipment for which electrical power is supplied from fixed facilities The surge voltage withstand level for up to the rated voltage of 300V is 2500V Note 2 This index indicates the degree to which conductive material is generated in terms of the environment in which the equipment is used Pollution level 2 is when only non conductive pollution occurs A temporary conductivity caused by condensing must be expected occasionally Note 3 Do not use or store the Motion CPU module under pressure higher than the atmospheric pressure of altitude Om Doing so can cause an operation failure 2 SYSTEM CONFIGURATION N 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 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 2 SYSTEM CONFIGURATION 2 4 Specifications of Equipment and Settings 2 4 1 Name of parts for CPU module This section explains the names and setting of the module 1 Q173HCPU T Q172HCPU T Front face With front cover open pu E Q170HCPU T
138. itch with LED indicator connected to Q172LX causing 4 mA leakage current Q172LX Leakage current 4 mA Motion CPU module 24 VDC a The 0 18 mA OFF current of the Q172LX is not satisfied Connect a resistor as shown below Q172LX Iz 0 18 mA i i izi Input impedance T 5 6 kQ b Calculate the connecting resistor value R as indicated below To satisfy the 0 18 mA OFF current of the Q172LX the resistor R to be connected may be the one where 3 82 mA or more will flow IR Iz Z Input impedance R SE i 9 18 d Rs Tm x Z Input impedance 2 55 x5 6 x10 2264 n R lt 264 Q Assuming that resistor R is 220 N the power capacity W of resistor R is W Input voltage R 26 4 220 3 168 W c The power capacity of the resistor selected is 3 to 5 times greater than the actual current consumption 220 Q 10 to 15 W resistor may therefore be connected to the terminal in question 6 INSPECTION AND MAINTENANCE n Overvoltage applied to load when output turns OFF Example 1 Load does not turn OFF Time period fluctuates when load is a CR timer Triac output N 9 Si E x Lu e 9 Si E G x Lu Triac output 2 Output circuit troubleshooting and corrective action This section describes troubleshooting with output circuits and their corrective actions
139. itioned at proper correctly Correct Retighten the Connector must not be loose connector fixing screws Check the connector part of the cable The LED must be ON green POWER LED Check that the LED iS ON Abnormal if the LED is OFF or ON red Refer to QCPU User s Manual Function Explanation MODE LED The LED must be OFF E Check that the LED is ON Abnormal if the LED is ON or flickers NR dm RUN LED Check that the LED is ON in The LED must be ON RUN state Abnormal if the LED is OFF The LED must be OFF ERR LED Check that the LED is OFF abnormal if the LED is ON or flickers BAT LED The LED must be OFF Check that the LED is OFF abnormal if the LED is ON The LED must be ON green MODE LED Check that the LED is ON The LED must be ON orange in the Installation mode Mode written in ROM Abnormal if the LED is OFF The LED must be ON RUN LED Check that the LED is ON Abnormal if the LED is OFF The LED must be OFF ERR LED Check that the LED is OFF abnormal if the LED is ON or flickers Refer to Section SS n 2 4 1 E Check that the LED is ON in D must be ON during operation in motion RUN Stale Abnormal if the LED is OFF The LED must be OFF BAT LED Check that the LED is OFF Abnormal if the LED is ON The LED must be ON in the mode operated by ROM BOOT LED Check that the LED is ON OFF The LED must be OFF in the mode operated by R
140. justments 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 6 Usage methods N 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 The units must be disassembled and repaired by a qualified technician 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 the EMC Installation Guidelines data number IB NA 67339 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 Q61P A1 Q61P A2 Q61P Q62P Q63P Q64P 100 to 120VAC e 200 to 240VAC pu 100 to 240VAC ECH 24VDC p 100 to 120VAC pu Input power 200 to 240VAC SCH 85 to 132VAC 170 to 264VAC 85 to 264VAC 15 6 to 31 2VDC 85 to 132VAC
141. layout of the CTRL connector Use the CTRL connector at the Q172LX module front to connect the servo external signals The following pin layout of the Q172LX CTRL connector viewed from the front The pin layout and connection description of the CTRL connector are described below CTRL connector Pin No Signal Name Signal No A20 FLS5 A19 RLS5 00 gt 5 oo A18 STOP5 op B17 DOG1 CHANGE1 A17 DOGS5 CHANGES J Uu B16 FLS2 A16 FLS6 o 5 RLS2 A15 RLS6 Dus nn STOP2 A14 STOP6 og B13 DOG2 CHANGE2 A13 DOG6 CHANGE6 J D FLS3 A12 FLS7 z P B11 RLS3 A11 RLS7 ur uu B10 STOP3 A10 STOP7 od DOG3 CHANGE3 A9 DOG7 CHANGE7 J E E FLS4 A8 FLS8 oo AT RLS8 L 8 UD STOP4 A6 STOP8 r a DOG4 CHANGE4 A5 DOG8 CHANGE8 J DH No connect A4 No connect A3 No connect A2 No connect A1 No connect Applicable connector model name A6CON1 type soldering type connector FCN 361J040 AU connector FUJITSU TAKAMISAWA Attachment COMPONENT LIMITED FCN 360C040 B connector cover A6CONZ type Crimp contact type connector A6CONS type Pressure displacement type connector Optional DOG CHANGE STOP RLS FLS functions of each axis 1 to 8 For information about DOG CHANGE Proximity dog Speed position signal details referto switching signal the programming manual STOP see eee n Bg Stop signal RES rt utt ce eI ore Lower stroke limit FESS IW wine EE Upper stroke limit
142. less 0 18mA or less Approx 5 6kQ 0 4ms 0 6ms 1ms CPU parameter setting Default 0 4ms 1 point common Common contact TREN COM ON indication LED Q173PX S1 2 SYSTEM CONFIGURATION c Manual pulse generator Incremental synchronous encoder input Voltage output Open collector type Differential output type 26L831 or equivalent Voltage output type Open collector type 5VDC Recommended product MR HDPO01 Differential output type 26LS31 or equivalent External connector type 40 pin connector Applicable wire size Applicable connector for the external A6CON1 Attachment connection A6CON2 AGCON3 Optional Voltage output 30m 98 43ft Cable length Open collector type Open collector type 10m 32 81ft Differential output type Op yp 3 Connection of manual pulse generator Manual pulse generators are available in voltage output open collector type and differential output type Since these types differ in connection method design according to the connection method of section 2 4 6 5 In addition the usable numbers of manual pulse generator which can be used with each CPU modules are up to 3 modules Motion CPU module Manual pulse generator Q173HCPU Up to 3 modules Q172HCPU Up to 1 module 2 SYSTEM CONFIGURATION 4 Connection of incremental synchronous encoder Incremental synchronous encoders are available in voltage output Open collector type and differential output type Since these
143. ly Isn t IN IN or OUT OUT connection Connect the extension cable correctly Is MODE LED turned on RESET position Set the RESET L CLR switch in the neutral position PU module of the No and corresponding CPU module RESET L CLR switch in the neutral position Neutral position Is MODE LED turned on Completion Note Lit green Normal Lit orange Installation mode mode written in ROM H W error Confirm the operation in the order starting from the minimum system Explain the error symptom and get advice from our sales representative for the modules with failure 6 INSPECTION AND MAINTENANCE A y c Flowchart for when RUN LED is turned off The following shows the flowchart when the RUN LED is turned off during operation RUN LED is turned off d I ERR SLED Flowchart for when ERR LED turned on flickered is turned on flickered RUN LED turned on Reset the PLC CPU module of the CPU No 1 with RESET L CLR switch 1 Motion CPU parts connection fault 2 By excessive noise RUN LED turned off For the case of 1 For the case of 2 Set the RUN STOP switch to STOP Explain the error symptom and get and write the servo setting data to the advice fro
144. ly replace these to prevent secondary damage from faults Replacements can be made by our sales representative 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 N CAUTION Q 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 N CAUTION 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 covers and partitions to the designated positions and operate according to the instruction manual REVISIONS The manual number is given on the bottom left of the back cover May 2006 IB NA 03001 10 B Additional model Softwar
145. m ON with initial ON normal Servo error detection of the axis 1 axis 2 OFF abnormal error Note 4 Circuit example when using MR J3 B L1 MR J3 B H V L2 L3 Electro MC Ground magnetic brake Note 2 Note 3 24vDC 3 DESIGN NEM 3 Sample system circuit design for motion control 3 For A31TU D3D3 3 phase 200 220VAC VN MN Power Supply PLC CPU Motion CPU _ Servo external Input module Output module Oy Oy O signals interface HS era Qn H CPU Q173HCPU T module e we WE Q172HCPU T QAN SS R S T CP1 Q172LX q0 o 6 se I O 200VAC eho I O 200VAC Fbst Forced stop PYm S O xn o DOGB8 Ra4 Internal connection CO com Se is nomial ON 9 FG EMG O Alarm OFF O LG SG O 4 i 9 com Q170TUD3CBL3M Number of inputs 8 axes module DOGB CHANGES yO CP2 Ra1 t7 7 1 9 24vpc 9 d mes li A95 9 30 pe Power KA O supply 2460 Ne Emergency stop EMG Ra2 Ra3 olo oO O oO O A Pt Ra AG1TU D3O Internal circuit SK Emergency stop switch DC24VE T EMG1 C 1 ud Cable t Raz 1 SK t Dead man switch DC24VvD_L_ DED GER Cable Cabl
146. m ft Q170TUD3CBL3M 39 84 Q170TUDNCBL3M UL20276 AWG 28 13pair CREAM Q170TUDNCBLO3M A 0 3 0 98 A31TU DO extended cable wv 9 UL20276 AWG 24 18pair CREAM Note The cable overall distance between the Motion CPU and teaching unit is within 30m 98 43ft include the A31TU DO cable 5m 16 40ft Use the following cables or equivalent twisted pair cables as the cables for the teaching unit Table 5 Connector models teaching unit TU connector side HDR E26FG1 Connector HDR E26 LPA5 Connector case Teaching unit side DB 25SF N Connector D20418 J3 Screw lock DB20962 Circular clamp TU connector side HDR E26FG1 Connector HDR E26 LPA5 Connector case Teaching unit side 17JE 13250 02 D8A Connector 17L 002A Stud e Q170TUDOCBLOM A side 17JE 23250 02 D8A Connector O extended cable Teaching unit side 17 JE 13250 02 D8A Connector 17L 002A Stud Q170TUDSCBL3M Q170TUDNCBL3M Q170TUDNCBLO3M A App 7 APPENDICES Table 6 Wire specifications Number of cores Wire model UL20276 AWG 28 T PEE 0 08 26 13 mm Characteristics of one core Structure Number of wires mm 7 0 127 Note 1 d is as shown below d or sheath Conductor Conductor resistance a km 222 or less Insulating sheath OD d mm Note 1 0 38 Finished Note 2 Standard OD Outside Diameter Maximum OD is about 10 larger g N CAUTION
147. m our sales representative Motion CPU module with the SW6RN GSV IP v Specify the noise source and remove it Is RUN LED turned on Completion 6 INSPECTION AND MAINTENANCE d Flowchart for when ERR LED is turned on flickered The following shows the flowchart to be followed when the ERR LED is turned on flickered at the power supply ON or operation start or during operation H W error ERR LED is turned on flickered Confirm error contents for self CPU by H W error Explain the error symptom and get advice from our sales representative PC diagnostics of the GX Developer Refer to the help of the GX Developer and correct error contents Confirm error contents by SW6RN GSVDP error history Refer to the help of the SW6RN GSVDP and correct error contents Reset by the RESET L CLR switch Set the RUN STOP switch to RUN Is the ERR LED turned off Completion 6 INSPECTION AND MAINTENANCE e Flowchart for when M RUN LED is turned off The following shows the flowchart when the M RUN LED is turned off during operation M RUN LED is turned off Is ERR
148. mental synchronous encoder Q173PX Manual pulse generator interfacex3 Tracking input 3 points interface module ae 0 05 Manual pulse generator MR HDP01 Incremental synchronous encoder Q173PX S1 S NE interfacex3 Tracking input 3 points Memory built in for data exchange Pulse resolution 25PLS rev 100 PLS rev after magnification by 4 Permitted axial loads Radial load Up to 19 6N Manual pulse generator Thrust load Up to 9 8N Permitted speed 200r min Normal rotation Voltage output A31TU D3K13 For SV13 With 3 position deadman switch Teaching unit A31TU DNK13 For SV13 Without deadman switch Resolution 262144PLS rev Serial absolute synchronous Permitted axial loads Radial load up to 19 6N encoder Thrust load up to 9 8N Permitted speed 3600r min Note 1 Select the power supply module in consideration of the current consumption of connecting peripheral device Q170ENC or MR HDP01 Note 2 Current consumption of A31TU DS3LT A31TU DNCI is included 2 SYSTEM CONFIGURATION 4 Example of the power supply selection calculation When using the Q173HCPU T a System configuration Q172LX Q172EX Q173PX Q38B vngea b 5VDC current consumption of each module QO2HCPU 0 64 A Q173PX 0 11 A Q173HCPU T 9 456 A MR HDPO01 0 06 A Q172LX 0 05 A QX40 0 05 A Q172EX S2 0 07 A QY10 0 43 A Q170ENC 0 20 A Q38B 0 114 A No
149. mory back up etc After confirming items a to g Motion CPU module connect the SW6RN GSVLIP PLC CPU module connect the GX Developer and check the operating conditions of the servomotors and the error code Check of trouble Check to see how the operating condition varies while the Motion controller is operated is operated as follows a Set the RUN STOP switch to STOP b Reset the trouble with the RESET L CLR switch c Turn ON and OFF the power supply Reduction in area Estimate the troubled part in accordance with items 1 and 2 above a Multiple CPU system or external devices b Motion CPU or PLC CPU c HO module or others d Servo program or Motion SFC program e PLC program o wo a 6 INSPECTION AND MAINTENANCE 6 6 2 Troubleshooting of Motion CPU module and I O modules This section describes the contents of troubles for the error codes and corrective actions of the troubles As for troubleshooting of PLC CPU refer to the QCPU User s Manual Function Explanation Program Fundamentals of their respective modules Check that the operating system software is installed at the time of Motion CPU module start 1 Troubleshooting flowchart The followings show the contents of the troubles classified into a variety of groups according to the types of events Error occurrence description
150. n 6 or later Manual pulse generator MR HDPO1 Multiple CPU system or Motion system Programming software package Operating system software MT Developer GX Developer 2 c o o o D Q D 2 D ke o o E e I g U e gt o S c S o 2 St kel Abbreviation for Serial absolute synchronous encoder Q170ENC or Q170ENC SSCNET 963 High speed synchronous network between Motion controller and servo amplifier sscNET te High speed synchronous communication network between Motion controller and servo amplifier General name for System using the servomotor and servo amplifier for absolute position Battery holder unit Q170HBATC External battery General name for Q170HBATC and Q6BAT U gt Wu E o 9 69 D 4 amp RS Es y Di o SI 3 voee oO c S 5 g soi 3 5 S o Ss 3 S o c o o 2 o re o 1 OVERVIEW Generic term Abbreviation ALIOBD PCF A10BD PCF A30BD PCF SSC I F board SSC I F communication cable Abbreviation for Cable for SSC I F board card Teaching unit s Note 4 A31TU D3LI A31TU DNLI Teaching unit or A31TU D3LT A31TU DNC Abbreviation for MELSECNET H module Ethernet module CC Link module Intelligent function module ee A Serial communication module Note 1 Q172EX can be used in SV22 Note 2 Refer to Section 2 2 4 Software packages for the correspondence version Note 3 SSCNE
151. n CPU module purchase Be sure to install the operating system software to be used before a system start 2 Even if the operating system software is installed the positioning data and servo programs written in the Motion CPU module does not be rewritten 3 Do not turn off the power supply during installation The Motion CPU module may break down 4 When the operating system software is installed at set the multiple not installed Motion CPU modules in one base unit be sure to turn ON the install switches of all not installed Motion CPU modules to install Note If the power supply is turned ON in the state of the install switch OFF of all not installed Motion CPU modules it does not operate normally Be sure to install the operating system software before system start 5 TRIAL OPERATION AND ADJUSTMENT 5 4 Trial Operation and Adjustment Checklist Work Step Item Trial Operation and Adjustment Confirmation Before power supply ON Power supply ON Motion CPU module in STOP status PLC CPU module in STOP status Motion CPU module in RUN status PLC CPU module in STOP status Motion CPU module in RUN status PLC CPU module in RUN status At the worksite copy the following table for use as a check sheet Installation of unit module and basic wiring OS installation System setting Q172LX external signals Program positioning data Basic axis operations Check each axis Manual oper
152. nd use the total length of the grounding cable as short as possible 4 INSTALLATION AND WIRING 4 4 2 Wiring to the power supply module The following diagram shows the wiring example of power lines grounding lines etc to the CPU and extension base units CPU base unit p 100 110VAC Q38B CPU module ERR Note r INPUT 100 240VAC Connect to 24VDC terminals of I O module that requires 24VDC internally y Extension base unit Q68B Q61P UO module Extension cable 100VAC INPUT 100 240VAC Ground wire Grounding Note The ERR terminal turns ON OFF as described below lt When the power supply module is mounted on the main base unit gt The terminal turns OFF opens when the AC power is not input a CPU module stop error including a reset occurs or the fuse of the power supply module is blown lt When the power supply module is mounted on the extension base unit gt The terminal is always OFF open 1 Use the thickest possible up to 2 mm wires for the 100 200 VAC and 24 VDC power cables Be sure to twist these wires starting at the connection terminals To prevent a short circuit should any screws loosen use solderless terminals with insulation sleeves 2 When the LG terminals and FG terminals are connected be sure to ground the wires Do not connect the LG terminals and FG terminals to anything other than ground If L
153. ng unit JM X A31TU D3LI use Short circuit connector for teaching unit Zeg A31TUDSTM A31TU D3 A31TU DN not use SE Circuit example when using MR J3 B Zo D 2 Note 4 L1 MR J3 B L2 V Q9 z Jolo Ra5 G g Electro magnetic brake Note 2 Note 4 OOo o _ MC 3 DESIGN 4 System design circuit example of the PLC I O a System design circuit example when not using ERR contact of power supply module Power supply Using AC Using AC and DC Power supply i 9 Transformer Ap fansformer Transformer DC l poet supp y H Fuse Fuse H Fuse established signal input ol CPU c y cH AS PEE yg ee 1 START STOP circuit 79 i SM52 434 i 4 A m f Starting possible i i hen the PLC RUN SS sM403 NE d i i output RA1 is ON 1 XM l GE i Set TM to time to establish i Program 1 i TM j 3 UNE CE FOL No 434 ee eae zz M10 Stat Stop Program 1 switch switch To senec a ps Dei eo MC t3 c A voltage relay Alarm output is recommended lamp or buzzer E LE S RA1 switched ON by SM403 Alarm output MC Output moduk lamp or buzzer En TT nl MC T 6 Ni eue output equipment 1 1 r RA1 switched Jn power off when STOP l ON by SM403 occurs on emergen
154. nit UO module installed to CPU base modues O selection CPU base unit selection 1 H Number of I O modules installed to extension modules Extension base unit base and extension cable Distance between CPU base and extension base 1 mm O selection Extension base unitselection O Extension cable selection oO Avoidance of operation failure at power on Oo Au f Fail safe circuit design circuit design Avoidance of hazard at Motion controller failure oO Conformance with general specifications such as ambient Rg temperature humidity dust etc Total power consumption of base unit Module layout design Calculate the heating value Layout in consideration of clearances between enclosure s inside E walls other structures and modules and heats generated by modules within the control panel 4 INSTALLATION AND WIRING 4 INSTALLATION AND WIRING 4 1 Module Installation 4 1 1 Instructions for handling N CAUTION Use the Motion controller in an environment that meets the general specifications contained in this manual Using this Motion controller in an environment outside the range of the general specifications could result in electric shock fire operation failure and damage to or deterioration of the product Hold down the module loading lever at the module bottom and securely install the module fixing hook into the fixing hole in the base unit Incorrect loading of the module
155. nnect the lead connector to the BAT connector Battery connector for QOBAT i eter ta A MITSUBISHI BAT LITHIUM BATTERY Turn on the power supply of the power Battery supply module Q6BAT 6 INSPECTION AND MAINTENANCE 6 5 Discard of internal rechargeable battery 1 Discard procedure of internal rechargeable battery The rechargeable lithium battery is built in in the Motion CPU module When you discard the Motion CPU module discard an internal rechargeable battery according to the following procedure Discard procedure im L JE JL OE G OE 1 2 Push in 4 hooks of the Motion CPU module side and remove a front cover V Te e 3 Take outa printed circuit board from a case 4 Turn up a printed circuit board which has install the 6 Check that the internal rechargeable battery is set on SSCNETIII connector and then remove 7 fixing a surface of printed circuit board which has install the screws M3 from circuit board USB connector and cut lead sections of internal 5 Separate printed circuit boards rechargeable battery 7 When you discard an internal rechargeable battery please follow the law of each country area Do not disassemble the modules except the time of discard
156. noises from the panel personal computer For grounding use the exclusive ground terminal wire of each equipment or a single point earth method to avoid grounding by common wiring where possible since noises may sneak from other equipment due to common impedances Panel personal computer 100 200VAC Line noise filter DE EPU i C O CH Ferrite core SSCNETII Servo amplifier il 1 Note Be sure to ground the line noise filter Multiple CPU system servo amplifier and servomotor Ground resistance 100 or less 3 12 3 DESIGN 3 2 2 Safety circuit design 1 Concept of safety circuits When the Motion controller is powered on off proper outputs may not be provided temporarily due to the delays and rise times of the Motion controller power supply and external I O control power supplies especially DC Also abnormal operations may be performed when the external power supply becomes faulty or the Motion controller fails Construct the circuit emergency stop protective and interlock circuits etc of parts which may occur machine breakdown and accidents due to abnormal operations outside of the Motion controller in a fail safe viewpoint to avoid abnormal operations of whole system 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 ci
157. nto the holder in the correct direction Connect the lead connector to the connector Side of the Q172EX AYLLY WNIHLIT Helge Um e FA Encoder cable Install the Q172EX into the base unit J Battery Connector Y A6BAT MR BAT Connect the encoder cable to the Q172EX Y Turn on the power supply of the power supply module 6 INSPECTION AND MAINTENANCE A J 2 Battery replacement procedure of the Battery holder unit When the battery has been exhausted replace the battery with a new one in accordance with the procedure shown below POINTS Replace the battery taking care of the following 1 Start the replacement operation after backing up the data to the personal computer which is installed the SWG6RN GSVL IP 2 Firstly back up the data stored in the Motion CPU to the personal computer which is installed the SWGRN GSVLIP then replace the battery with a new one After installation the battery in the Battery holder unit verify the backing up the data to the personal computer which is installed the SW6RN GSVOIP and the data in the Motion CPU module confirm the data is not changing Replacing Battery Turn cine power supply ofthe power lt Battery holder unit Q170HBATC gt supply module Remove the old battery from its holder j Install a new battery into the holder in the correct direction Co
158. o 0 48 Nem UO module terminal block screw M3 screw 0 42 to 0 58 Nem UO module terminal block fixing screw M3 5 screw 0 66 to 0 89 Nem Power supply module terminal screw M3 5 screw 0 66 to 0 89 Nem 4 Make sure to install the power supply module on the CPU base unit and extension base unit When the power supply module is not installed and if the I O modules and intelligent function module installed on the base units are light load type the modules may be operated In this case because a voltage becomes unstable we cannot guarantee the operation 4 INSTALLATION AND WIRING 5 When an extension cable is used do not bind the cable together with the main circuit high voltage heavy current line or lay them close to each other 6 Install the CPU base unit by screwing in the following procedure a Fit the two fixing screws for top of the CPU base unit to the panel b Place the right hand side notch of the CPU base unit onto the right hand side Screw c Place the left hand side pear shaped hole of the CPU base unit onto the left hand side screw d Fit the fixing screws into the fixing screw holes in the CPU base unit bottom and re tighten the four fixing screws Note Install the CPU base unit to a panel with no module installed in the rightmost slot Remove the CPU base unit after unloading the module from the rightmost slot 4 INSTALLATION AND WIRING 4 1
159. ocation UO Allocations o 6 7 8 9 Q172LX XO to X1F Y20 to Y3F Y40 to YSF Intelligent PXO to PX1F PY20 to PY3F YCO to YDF 32 points X60 to X7F Y80 to Y9F Power supply 2 z 3 o E CPU No 1 CPU No 2 CPU No 3 Module of Module of Module of Module of Module of Module of Module of control control control control control control control CPU No 1 CPU No 1 CPU No2 CPU No 3 CPU No 3 CPU No 3 CPU No 1 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 Q173HCPU Q172HCPU Motion Controller Programming Manual COMMON about the I O allocation setting method Refer to the QCPU User s Manual Function Explanation Program Fundamentals about the I O allocation setting method of the Qn H CPU I O device of the Motion CPU 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 SYSTEM CONFIGURATION 2 4 4 Q172LX Servo external signals interface module Q172LX receives external signals servo external signals required for positioning control 1 Q172LX name of parts 5 Q172LX Application Hook used to fix the module to the base unit 1 Module fixing hook e Quick release installation Display the servo external input status from the external equipmen
160. odel and the system application The protective functions may not function if the settings are incorrect When a teaching unit is used the cable for the teaching unit is necessary between the Motion CPU Q173HCPU T Q172HCPU T and teaching unit And connect the short circuit connector for teaching unit after removing the teaching unit or when not using it 2 SYSTEM CONFIGURATION 2 1 2 Q172HCPU System overall configuration Motion CPU control module bk ere re r 2 2 2 s 8 3 3 E 92 60 8 6 9 Elo E SLE Kk o 6 0 25g CPU o28 Ega SES base Unit PLcCPU 85 289 E25 Q3L1B Motion CPU G tt SOE l l Q172H Q172LX Q172bX Q172PX QI60 QXLILDI QeL1AD S2 83 aen yj 7 VD Q6DDA 1 0 module of the Q Series or gt Th Special function module 100 200VAC Ir Note 2 Personal Computer Analogue input output IBM PC AT Input output Up to 256 points USB Interrupt signals 16 points SS Manual pulse generator x 3 module MR HDP01 Up to 1 module Serial absolute synchronous encoder cable Q170ENCCBLL IM Battery holder unit Q170HBATC O ees E Serial absolute synchronous encoder x 2 module Q170ENC Up to 4 modules Teaching unit Nete 1 ASTTU D3LT AS1TU DN External input signals Number of Inputs of Inputs I
161. omotor 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 N 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 combi nations listed in the instruction manual Other combinations may lead to fire or faults If safety standards 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 forc
162. onfiguration Eouipment nennen nnne nennen enne nennen 2 11 2 3 General Specifications cecccccecceeeceeeeeeeeeeeeeeeeeeeeeeceaeeseaeeecaeeecaneeeeaeeseaeescaeeesaeeesaeeseaeseaeeseaeessueeeeieeesaas 2 18 2 4 Specifications of Equipment and Gettngs enne 2 20 2 4 1 Name of parts for CPU module enne enne rnnt 2 20 2 4 2 Power supply module eene entente tnmen e nnne tenes nnne nennen entren 2 29 2 4 3 Base unit and extension cable sse eene rennen nnne 2 38 2 4 4 Q172LX Servo external signals interface module seen 2 41 2 4 5 Q172EX Serial absolute synchronous encoder interface module 2 46 2 4 6 Q173PX Manual pulse generator interface module 2 55 2 4 7 Manual pulse generator Serial absolute synchronous encoder sse 2 64 2 4 8 A31TU D3LT A31TU DNLI Teaching unit Japanese version on 2 66 2 4 9 SSCNETII cables and connection method 2 74 2 44 10 External battery 2D ok att duet e aee caked td ae ne adde bct a EE 2 79 3 1 System Designing Procedure sesucine annaa teste entes dte dann tna tn e natn dn natn dn n dns 3 1 3 2 External Circuit Deson nennen nnne nnne nre nnne nr ER A Sa a Eaa 3 4 3 2 1 Power supply circuit design siiis AA RA data dans dann 3 12 3 2 2 Safety circult design i deemed eade edtecdg esed eod entes eda eme 3 13 3 3 Layout Design within The Control Panel nennen nennen nnns 3 15 3 3 1 Installatiori environiment zi us oii tei te t te t OR e t ghe d
163. ons Total of program files 248k bytes Program capacity Number of programs Up to 1024 No 1 to 1024 Unary operation Addition and subtraction operation Multiplication and division operation Remainder operation Operation controls Comparison operation Equal to Not equal to ceres op ration Logical shift operation Logical negation Logical AND Sep Logical OR Exclusive OR G00 G01 G02 G03 G04 G09 G12 G13 G23 G24 G25 G26 Positioning command G28 G30 G32 G43 G44 G49 G53 G54 G55 G56 G61 G64 G90 G91 G92 G98 G99 G100 G101 Nurseneald neton ABS SQR BIN LN EXP BCD RND FIX FUP INT FLT DFLT SFLT Start end CALL CLEAR Home position return CHGA Speed torque setting TL CHGV CHGT Instructions Motion control WAITON WAITOFF EXEON EXEOFF CALL GOSUB GOSUBE IF GOTO IF THEN ELSE END WHILE DO END BMOV BDMOV FMOV BSET BRST SET RST MULTW Bla operation MULTR TO FROM ON OFF IF THEN SET RST OUT PB Number of controls GOSUB GOSUBE Number of program calls M98 Up to 8 Arithmetic operation Jump repetition processing 2 SYSTEM CONFIGURATION 6 Selection of Q172EX Q173PX Synchronous encoder Item Manual pulse generator Serial absolute Q173HCPU 12 modules Q172HCPU 8 modules Module selection Q172EX Q173PX 3 modules 7 Q173HCPU Q172HCPU internal rechargeable battery Initial charging of the Q173HCPU Q172HCPU Turn on the
164. onse time of the OFF to ON Upper Lower stroke limit and 1ms STOP signal ON to OFF Response time of the OFF to ON d dms proximity dog Speed position switching signal 40 pin connector Applicable connector for the external A6CON T1 Attachment connection A6CON2 A6CON3 Optional Applicable connector A6TBXY36 AGTBXY54 AGTBXY70 Optional Terminal block converter module ON to OFF CPU parameter setting Default 0 4ms 2 SYSTEM CONFIGURATION 3 Connection of servo external signals interface module a Servo external signals There are the following servo external signals Upper stroke limit is limit value of address increase direction lower stroke limit is limit value of an address decrease direction The Q172LX is assigned a set of input No s per axis Make the system setting of the positioning software package to determine the I O No s corresponding to the axis No s ES Number of points Servo external signal Application on one Q172LX Upper stroke limit input FLS PP imit input laver roken t detection of upper and lower stroke limits Lower stroke limit input Lower stroke limit input RLS Stop signal input STOP For stopping under speed or positioning control 32 points For detection of proximity dog at proximity dog or count 4 points 8 axes Speed position switching input type home position return of for switching from speed to position switching control 2 SYSTEM CONFIGURATION b The pin
165. or fix the cable at the closest part to the Motion CPU module with bundle material in order to prevent SSCNETII cable from putting its own weight on SSCNETII connector If laying the SSCNETII cable do not make the cable touched wires or cables made from soft polyvinyl chloride PVC polyethylene resin PE teflon Fluorocarbon resin or nylon which contains plasticizing material to cord part Never use vinyl tape for cord Plasticizing material in vinyl tape goes into optical fiber and lowers the optical characteristic At worst it may cause wire breakage If using adhesive tape for cable laying the fire resistant acetate cloth adhesive tape 570F Teraoka Seisakusho Co Ltd is recommended 9 If the adhesion of solvent and oil to the code part of SSCNETII cable may lower the optical characteristic and machine characteristic If itis used such an environment be sure to do the protection measures to the cord part 4 INSTALLATION AND WIRING POINTS 10 When keeping the Motion CPU or servo amplifier be sure to put on a cap to connector part so that a dirt should not adhere to the end of SSCNETIII connector 11 SSCNETII connector is put a cap to protect light device inside connector from dust For this reason do not remove a cap until just before mounting SSCNETII cable Then when removing SSCNETIII cable make sure to put a cap 12 Be sure to keep a cap and the tube for protecting light code end of SSCNETII cable in a plasti
166. or which has connected the cable for teaching unit Q170TUDNCBLOS3M A with teaching unit A31TU DNLI so that impossible power is not applied for the connector of Motion CPU Q173HCPU T Q172HCPU T A connector may be damaged Do not pull a teaching unit A31TU DND A connector may be damaged When a teaching unit A31TU DNLI is removed first be sure to remove a TU connector of Motion CPU Q173HCPU T Q172HCPU T so that impossible power is not applied for the connector If a connector of teaching unit A31TU DNLI is removed connecting a TU connector of Motion CPU Q173HCPU T Q172HCPU T a TU connector of Motion CPU Q173HCPU T Q172HCPU T may be damaged When the teaching unit A31TU DNL is not used in the Motion CPU Q173HCPU T Q172HCPU T connect the short circuit connector for teaching unit Q170TUTM after removing a TU connector of cable for teaching unit Q170TUDNCBLO3M A from a TU connector of Motion CPU Q173HCPU T Q172HCPU T If itis not connected the emergency stop state of Motion CPU occurs and the servomotor becomes coasting state 2 SYSTEM CONFIGURATION c When not using a teaching unit A31TU D3LT A31TU DNLJ Connect a short circuit connector for teaching unit Q170TUTM to a TU connector of Motion CPU Q173HCPU T Q172HCPU T Connection example without teaching unit A31TU D3LT1 A31TU DNLI is shown below Control panel Q173HCPU T Q172HCPU T da E sum When the A31TU
167. orced stop PY 6 O Xn o QDOGB CHANGE8 fe Servo normal Internal connection O com loutput O FG EMGO Servo normal ON L 1 9 LG SG O 4 Alarm OFF i 9 com CH G24 F Q170TUDNCBL3M Ro Number of inputs 8 axes module FLS1 i Doce CHANGER ud EMG M T 0 24VDC 24vO N Qo A Power 1 P suy ae e 7 i I 1 I Emergency Stop ENG alo 1 I 1 I EE E 1 I i 1 d Operation Ready ON A E Rat UN oO O QO alo O O E T s O O SK 4 anwar ran 3 DESIGN 1 Note 1 2 Note 2 3 4 Note 3 Note 4 The following is the Motion SFC program example supply for the electromagnetic brake power is supplied to multiple servo amplifiers for one I wire connected to the servo amplifier according to the breaker Out of control panel Short circuit connector for teaching unit A31TUD3TM A31TU D3D A31TU DN Ss Teaching unit X A31TU DN use aen sorry O not use It is also possible to use forced stop signal of the servo amplifier It recommends using one leakage breaker for one servo amplifier When electric Example For control axis 1 and axis 2 Servo error detection It is also possible to use a full wave rectified power supply as the power F 1 G 1 M2408 t M2428 eakage breaker select the capacity of the leakage PY
168. otor are not touched during operation There may be some cases where holding by the electromagnetic brakes is not possible due to the service life time 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 3 DESIGN 3 2 External Circuit Design As to the ways to design the external circuits of the Motion system this section explains the method and instructions for designing the power supply circuits and safety circuits etc 1 Sample system circuit design for motion control 1 3 phase 200 220VAC Power Supply PLC CPU Motion CPU Servo external Input module Output module signals interface Q61P A2 Qn H CPU Q173HCPU OMS QX40 QY10 Q172HCPU Q172LX o 200VAC isi CO 200VAC Forced stop PYm 6 7 xn Oo poes CHANGES Servo normal output o COM Servo normal ON O FG Alarm OFF O LG 9 com CH en SSCNETII Number of inputs 8 axes module are ae DOG8 CHANGES o CP2 EMG ell nave rr m D ege i Power 1 PS supply 24G Oj Pas IS 1 i Emergency Stop d EMG olo i E 4 Operation Ready CP3 Rat OFF ON en T o o alo o o nc L ss MC SK ra Ling Ak 3 DESIGN Example For control axis 1 and axis 2 1 Note 1 The follow
169. ould 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 in the opposite side Multiple CPU system Shielded cable A A C Input P C Output DC e Where wiring runs through piping ground the piping without fail f Run the 24VDC input line away from the 100VAC and 200VAC lines 4 INSTALLATION AND WIRING g Wiring of 200m 656 17ft or more distance will give rise to leakage currents due to the wiring capacity resulting in a fault Refer to the troubleshooting chapter of the I O Module User s Manual 3 Grounding To ground the cable follow the steps a to c shown below a Use the dedicated grounding as independent as possible Ground resistance 1002 or less b When the Multiple CPU system and the another equipment cannot be departed to ground the cable each other use 2 Common Grounding shown below Multiple CPU Another System equipment O O grounding Multiple CPU Another system equipment 1 Independent grounding Best 2 Common grounding Good 3 Joint grounding Not allowed c Use the grounding cable of 2 mm or more Position the ground contact point as nearly to the Multiple CPU system as possible a
170. ound magnetic CE g brake MC en DINCOM Note 2 yH cenia ir Ra cne Em S DOCOM Ee Ee CP4 Note 3 24vDC olo OO 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 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 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 2 Sample system circuit design for motion control 2 For A31TU DND 3 phase 200 220VAC Y v Power Supply PLC CPU Motion CPU Servo external Input module Output module Oy On O signals interface Q61P A2 Qn H CPU Q173HCPU T 9 module QX40 QY10 E eae Q172HCPU T R s T CP1 Q172LX KIT __ 6 6 0 200vAC Sen eto o O 200VAC F
171. p of panel or wiring duct Base unit mn mmm bo 30mm Note 2 Motion M 1 18inch controller or more Control Door panel EU PS 100mm Motion CPU module I o 3 94inch 100mm 123mm or more 3 94inch 4 84inch or more d ch AU 5mm 0 20inch or more Nete t 5mm 0 20inch or more Note 1 When the extension cable is connected without removing the adjacent module 20 mm 0 79inch or more Note 2 When height of a wiring duct is 50 mm 1 97inch or more 40 mm 1 57inch or more Bundle fixing Base unit Control panel H Motion controller Code Loose slack Bundle material Recommended product NK clamp SP type NIX INC Cable 4 INSTALLATION AND WIRING 4 5 Installation Wiring Checklist At the worksite copy the following table for use as a check sheet Sub Item Installation wiring confirmation fraises Check for looseness rattling or distorted installation HN nstallation o Check that the fixing screw tightening torque is as specified sp base unit Check the unit for damage oO Check that the installation module model names are correct E Fco aient EC Installation of Motion CPU slots PLC CPU slots E cx base unit CPU control slots check for looseness ating or astona instalation O Check that the amplitude eccentricity and axial displacement relative to the machine side rotary shaft are within the permissible valu
172. pen lists us e RLS Lower stroke limit 8 axes module Q170TUDDCBLOM A e STOP Stop signal Up to 4 modules DOG CHANGE Proximity dog SSC I F Speed position switchin Communication SSCNETII pee 8 cable cable Q170CDCBLD M co Q170BDCBLUM SSCNETII CN1 SSC I F Card Board A30CD PCF ALIOBD PCF SSCNETII CN2 di6 di di6 Le lt gt A Panel Personal Computer WinNT Win98 Win2000 WinXP Computer link SSC mE Extension base unit OB model Servo amplifier Q60B Up to 32 axes Up to 16 axes system Extension amp External input signals of servo amplifier cable Zo Proximity dog 2 3 Upper stroke limit ae Lower stroke limit UP to 7 extensions Note 1 Be sure to use the Q173HCPU T A31TU D30 A31TU DNU corresponds to only Japanese It does not correspond to display for English Note 2 QI60 can be used in SV13 SV22 2 SYSTEM CONFIGURATION Q Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system The ratings and characteristics of the parts other than Motion controller servo amplifier and servomotor used in a system must be compatible with the Motion controller servo amplifier and servomotor Set the parameter values to those that are compatible with the Motion controller servo amplifier servomotor and regenerative resistor m
173. place The power supply module must be changed if the system is not booted and the LED remains OFF 2 SYSTEM CONFIGURATION POINTS Note 3 Allowable momentary power failure period 1 For AC input power supply QX10 etc 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 cause 24VDC down to be detected but operation will continue Note will 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 then 24VDC may Note 4
174. ps 3 15 3 3 2 Layout design of the base units sssssssssssseeseeeneeeeneenne nennen nnne 3 16 3 3 3 Calculating heat generation by Motion controller esee 3 17 SA Design Ghecklist EE 3 20 4 INSTALLATION AND WIRING 4 1to 4 22 4 1 Module Installation sessssssssssssssseseeeeenee nnne nnne terne etr enters sert r trennen tenen enne nnne 4 1 4 4 1 Instructions for handling ante e ee eee bep en tite teu 4 1 4 1 2 Instructions for installation of the base unit nennen 4 3 4 1 3 Installation and removal of module nennen nennen 4 5 4 2 Installation and Removal of Cable sese 4 7 42T SSCNET M Cable oreinen a R 4 7 4 2 2 SSC HE communication cable AA 4 10 4 2 3 Battery cable 37 aote eee O E dena be E AE E T 4 11 4 2 4 Cable for teaching Unit x eee ee he det e dte be ete Poe oet o A 4 12 4 3 Installation of the Serial Absolute Synchronous Encoder sse 4 14 4 4 le ner ne ec nda tem opa Ute dec ce dta al ete HORUM e de cal pn HYS 4 16 4 4 1 Instructions for wiring ssseseeeneeeneennenen enne rennen rennen enne nnne 4 16 4 4 2 Wiring to the power supply module nennen ennt 4 19 4 4 3 Precautions of SSCNETII cable wiring nennen 4 20 4 5 Installation Wiring Checklist AAA 4 22 5 1 Checklist before Trial Operation 5 1 5 2 Trial Operation and Adjustment Procedure sss ener 5 2 5 3 Operating Sy
175. ption SSCNETIII cable model MR J3BUSLIM MR J3BUSLIM A MR J3BUSLIM B 0 49 0 98 to 9 84 16 40 to 65 62 98 43 to 164 04 25 0 98 Reinforcing coat cable 50 1 97 Reinforcing coat cable 50 1 97 mm inch Code 25 0 98 Code 30 1 18 Tension strength N 420 Enforced covering cord 980 Enforced covering cord Temperature range 40 to 80 20 to 70 for use C F e 40 to 176 4 to 158 Indoors no direct sunlight No solvent or oil External appearance mm Note 1 This temperature range for use is the value for optical cable cord only App 1 APPENDICES POINTS 1 If the end face of code 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 If the end face of code tip for 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 3 When incinerating the SSCNETI cable optical fiber hydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may be generated For disposal of the SSCNETII cable optical fiber request for specialized industrial waste disposal services who has incineration facility for disposing hydrogen fluoride gas or hydrogen chloride gas App
176. put module X72 3 block QX80 24VDC 4mA Negative common 16 points Terminal block QX81 24VDC 4mA Negative common 32 points Connector Contact output module QY10 240VAC 24VDC 2A point 8A common 16 points common Terminal block QY40P 12V 24VDC 0 1A point 1 6A common 16 points common Terminal block QY41P 12V 24VDC 0 1A point 2A common 32 points common Connector 12V 24VDC 0 1A point 2A common 64 points 32 points common Sink Type QY42P Connector ays0 12V 24VDC 0 5A point 4A common 16 points 16 points common Terminal block Transistor xX Ka x Source Type QYB1P 12V 24VDC 0 1A point 2A common 32 points 32 points common Connector QY70 5 12VDC 16mA point 16 points 16 points common Terminal block QY80 12V 24VDC 0 5A point 4A common 16 points 16 points common Terminal block TTL CMOS Sink QY71 5 12VDC 16mA point 32 points 32 points common Connector x 24VDC Positive common 32 points QH42P DC12 24V 0 1A Output Sink type 32 points Connector Input Output e E Provided Thermal protectors protector against short circuit Transistor output 24VDC Positive common 8 points DC12 24V 0 5A Output Sink type 7 points Terminal block Provided When face is broken LED lights and signal is output to CPU QX48Y57 Interrupt module DC24V AmA Positive common 16 points Terminal block Q64AD Q6BADV Q68ADI Q62DA Q64DA Q68DAV 8ch D A con
177. r of extension cable connector Before an extension cable is connected 2 Base cover the area of the base cover surrounded by the groove under the word OUT on the base cover must be removed with a tool such as nippers Connector for installing the power supply module CPU 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 base Screw size M3 x 12 Base fixing hole Hole for fixing this base unit onto the panel of the control panel for M4 X 14 screw DIN rail adapter fixing hol Hole for fixing DIN rail adapter ole 2 SYSTEM CONFIGURATION NENNEN 4 I O allocations It is possible to allocate unique I O No s for each Motion CPU independently of the PLC s I O No s I O No s are unique between the Q series PLC CPU within a given system but the I O No s of the Motion CPU are unique for each Motion CPU ON OFF data input to the Motion CPU is handled via input devices PXLILI while ON OFF data output from the Motion CPU 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 all
178. ral devices to the CPU module during operation Erroneous operation may cause machine breakage or accident Never try to disassemble or modify module It may cause product failure operation failure injury or fire When using cellular phone keep them away from the Motion controller 25 cm 9 84 inch or more It may cause an operation failure Turn off the all lines of the power supply externally when installing or removing the modules Not doing so could damage the module or result in operation failure 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 INSPECTION AND MAINTENANCE m 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 N CAUTION 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
179. ration Table 5 1 Checklists before Trial Operation Confirmation Items Q173HCPU Q172HCPU 1 Check that the battery lead connector is connected into the BAT 24 10 Motion CPU modul connector of battery holder unit correctly lotion module d 2 Check that the battery voltage is normal Normal value 3 0V 2 4 10 1 1 Check that the installation position of module corresponds to the system Refer to the Q172LX Servo external signals setting programming manual interface module of operating system software 2 Check that the external equipment are connected to the 2 4 4 Q172LX Q172bEX Q173PX correctly 2 4 5 2 4 6 Q173PX Manual pulse generator 3 Check that the battery is connected to the battery connector intorrace module 4 Check that the battery voltage of Q172EX is normal 245 7 Normal value 3 6V 1 Check that the installation module model names are correct 2430 4 3 1 5 CPU base unit 2 Check that the installation orders are correct 3 Check that the modules are installed correctly Aes OE 1 3 1 1 Check that the power supply module model name installed on base unit 242 1 is correct Power supply module 2 Check that FG and LG are wired correctly 7 Check that the terminal screws are tightened correctly 4 1 1 3 4 Check that the cable sizes are correct 4 4 1 1 1 Check that the cables connected to each terminal of terminal block Q172EX Serial absolute synchronous encoder interface module
180. rcuit make the electromagnetic brakes of the servomotor operated 3 Forced stop circuit a Itis possible to effect the forced stop all axes of the servo amplifier at once via the forced stop input of the input modules After the forced stop remove the forced stop factor and cancel the forced stop The servo error detection signal does not turn on with the forced stop It is possible to set the forced stop input No by the parameter setting of the System setting The forced stop wiring example is shown below Input module Example QX10 Forced stop TB1 100VAC Note It is possible to set the forced stop Xn of the system settings at the user side 3 DESIGN b It is 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 The servomotor is stopped according to the stop Forced Fees Emergency sto Shut off the power supply to the external servo amplifier SE Edad Servo OFF by external circuit make the servomotor stopped instruction from Motion controller to the servo amplifier 3 DESIGN 3 3 Layout Design within The Control Panel 3 3 1 Installation environment Install the Motion controller system in the following environment conditions 1 Ambient temperature is within the range of 0 to 55 C
181. re than 24 units require packing based on Packing Instruction 903 If you need the self certification form for the battery safety test contact Mitsubishi For more information contact Mitsubishi b Battery replacement For Battery replacement procedure refer to section 6 4 2 DO Battery is supplied to the serial absolute synchronous encoder by the encoder cable Battery connector A6BAT MR BAT Aga WOIHLIT IHSIGNSLINY ED 2 SYSTEM CONFIGURATION c Battery service life time Battery service life time Guaranteed time MIN h Actual time TYP h Q170ENC 1 pcs 8000 24000 Q170ENC 2 pcs 4000 12000 Do not short a battery Do not charge a battery Do not disassemble a battery Do not burn a battery Do not overheat a battery Do not solder the battery terminals 2 SYSTEM CONFIGURATION 2 4 6 Q173PX Manual pulse generator interface module Q173PX receive external signals required for Manual pulse generator and Incremental synchronous encoder Voltage output Open collector type Differential output type 1 Q173PX Q173PX S1 name of parts nan Cm Lu 58 1 5 4 Q173PX S1 PLS A PLS B TREN 1 1 1 2 2 2 2 3 3 3 IPULSER Application T Hook used to fix the module to the base unit 1 Module fixing hook Quick release installation
182. rease in voltage of battery Even if M9007 turns ON it holds the data within a specified time However for safety replace the battery with a new one as soon as possible When the external battery voltage is lowered the M9006 and M9007 tum ON M9006 always detects the battery decrease and it turns ON when the battery voltage becomes normal M9007 detects the battery decrease and it holds an alarm until the power supply is turned ON again or reset even if the battery voltage becomes normal Set the available not available of external battery in the system settings 6 INSPECTION AND MAINTENANCE 6 4 1 Battery service life time 1 Q173HCPU Q172HCPU Q172EX module battery service life time The battery service life time corresponding to the type is shown below ane Battery service life time Total power failure time h Note 1 Classification Guaranteed time Actual time After the battery MIN TYP decrease Charging time Internal 200 500 rechargeable 8 hours or more No battery decrease d Charging time detection battery gmg 1100 4300 40 hours or more External battery Q6BAT Note 2 60000 240000 ar M9006 M9007 on Internal battery Q170ENC X1 8000 200 Note 1 The actual time in use means the averaged time and the guaranteed time means the minimum time Note 2 The external battery for Q173HCPU Q172HCPU is installed to the Battery holder unit Q170HBATC Note 3 The internal rechargeable battery
183. rengthen regulations on the air transportation of battery This battery is not dangerous goods not class 9 Therefore these batteries of 24 units or less are not subject to the regulations These batteries more than 24 units require packing based on Packing Instruction 903 If you need the self certification form for the battery safety test contact Mitsubishi For more information contact Mitsubishi 2 Q173HCPU Q172HCPU back up by the external battery When using the external battery set the external battery Q6BAT in the system settings Set the external battery Q6BAT to battery holder unit Q170HBATO in the case h h Continuous power failure time External battery use 60000 240000 Note The self discharge influences the service life time of battery The external battery should be exchanged approximately every four or five years 2 SYSTEM CONFIGURATION 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 When using the external battery be sure to select the external battery use in the system settings If not setting the external battery the back up data of Motion CPU may not back up since the battery voltage detection error is not detected 3 Connection procedure with Q173HCPU Q172HCPU a Set the Q6BAT to the Battery holder unit Q170HBATC b Connect the Q6BAT connec
184. s the Manual pulse generator Incremental synchronous encoder power supply Use a 5V stabilized power supply as a separated power supply Any other power supply may cause a failure Note 2 Connect HPSELLI to the SG terminal if the manual pulse generator differential output type incremental synchronous encoder is used if a separate power supply is used as the manual pulse generator incremental synchronous encoder power supply use a 5V stabilized power supply Any other power supply may cause a failure 2 SYSTEM CONFIGURATION 2 4 7 Manual pulse generator Serial absolute synchronous encoder 1 Table of the Manual pulse generator specifications Specifications Model name MR HDP01 Ambient temperature 10 to 60 C 14 to 140 F Pulse resolution 25PLS rev 100 PLS rev after magnification by 4 Voltage output power supply voltage 1V or more Output method le i vanag Output current Up to 20mA ICwremtconumpionm Permitted axial loads Number of max revolution Instantaneous Up to 600r min normal 200r min 0 1Nim at 20 C 68 F 2 SYSTEM CONFIGURATION 2 Table of the Serial absolute synchronous encoder specifications Ambient temperature 5 to 55 C 23 to 131 F 262144PLSIrev Transmission method Serial communications Connected to Q172EX S2 S3 Direction of increasing CCW viewed from end of shaft addresses f Dustproof Waterproof Protective construction IP65 Except for the shaft thro
185. stem Software Installation Procedure seen 5 6 5 4 Trial Operation and Adjustment Checklist ennemis 5 7 6 1 Maintenance Works A 6 2 6 1 1 Instruction of Inspection works nisasie ana aaaea aiai adardi aai aeaea 6 2 REI Ee ee EE 6 4 6 3 Periodic Inepechon nennen nnne tnnnr nenne e nnne nnns t entr t nter net entre nrnn nnns 6 5 6 4 External Battery Ae enee a PR eg d ed b ee be ed i ei c Ue fd 6 6 6 4 1 Battery service life time nennen 6 7 6 4 2 Battery replacement procedure enne nnnm entrent 6 8 6 5 Discard of internal rechargeable battery A 6 10 ell Ee te BEE 6 11 6 6 1 Basics of troubleshooting AAA 6 11 6 6 2 Troubleshooting of Motion CPU module and I O modules sene 6 12 6 6 3 VO modules troubleshooting AA 6 23 6 7 Confirm method of Error Code AAA 6 26 APPENDICES App 1 to App 27 APPENDIX 1 Cables tette eren e ue a sane ger E e eas gee tdscaethas pave sigs cde e eee sities App 1 APPENDIX 1 1 SSCNETII CableS 3 dB unc else spe te nie gis App 1 APPENDIX 1 2 Serial absolute synchronous encoder cable App 5 APPENDIX 1 3 Cable for the teaching unt App 7 APPENDIX 1 4 Battery cable eene eene tnn nennt nnne nnne nnns App 13 APPENDIX 2 Exterior Dimensions edd aa deed de oce noxa dde eoa ane d App 14 APPENDDG 2 1 CRW module nitentem naria tbe nta App 14 APPENDIX 2 2 Servo external signals interface module Q172LX sse App 17 APPENDIX 2 3 Serial absolute synchronous encoder interface module Q172EX S2 Q172b
186. t 2 The teaching unit is shipped a protection sheet is attached in the surface of the display and operation key to prevent the crack for conveyance Remove a protection sheet to use Operation and display check without removing a protection sheet are possible however adhesives may remain in a teaching unit by secular change 3 When the servomotor is operated by the JOG feed etc using the teaching unit A31TU D3L1 with deadman switch operate it pushing the deadman switch at middle position The emergency stop state of Motion CPU occurs by gripping or releasing this switch and the servomotor stops and becomes coasting state 4 Connection between the teaching unit and Motion CPU a Connection between the teaching unit A31TU D3L1 and Motion CPU Q173HCPU T Q172HCPU T 1 Connect the cable for teaching unit Q170TUD3CBL3M between the TU connector of Motion CPU Q173HCPU T Q172HCPU T and control panel Refer to the exterior dimensions of APPENDIX 1 3 Cable for the teaching unit and APPENDIX 2 7 Connector when it is fitto the control panel 2 Connect the connector for external safety circuit connector for emergency stop switchx2 sets connector for deadman switchx2 sets and connector for emergency stop input to Motion CPUx1 set to the external safety circuit 3 Connect the teaching unit A31TU D3SL1 to the cable for teaching unit Q170TUD3CBL3M connected to the control panel 2 69 2 SYSTEM CONFIGURATION 4
187. t Mode judging LED Oto 4p Indicates to display the servo external signal input status of each axis This LED is not turned on if it is not set the Q172LX in the system settings CTRL connector The servo external signal input connector of each axis Module loading lever Used to install the module to the base unit Module fixing screw Hole for the screw used to fix to the base unit hole M3x12 screw Purchase from the other supplier Module fixing hook Hook used to fix to the base unit Mode judging LED turns ON at the following conditions e Q172LX is set on the system setting display of SW6RN GSVLDIP DOG CHANGE signal is input 2 SYSTEM CONFIGURATION 2 Performance specifications a Module specifications Specifications Number of I O occupying points 32 points l O allocation Intelligent 32 points Internal current consumption SVDC A 98 H x 27 4 W X90 D 3 86 H x 1 08 W x3 54 D Mass kg 0 15 b Input Specifications Servo external signals 32 points Exterior dimensions mm inch f Upper stroke limit Lower stroke limit Stop input Number of input points NT nU Proximity dog Speed position switching signal 4 points X 8 axes Photocoupler 10 2 to 26 4VDC Operating voltage range 12 224VDC 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 Resp
188. t alarm causes an immediate stop or cycle stop Check that the restoring operation can be performed after an alarm stop and equipment Check that the continuous effective load torque is rated torque or less 5 TRIAL OPERATION AND ADJUSTMENT CEU MEMO 6 INSPECTION AND MAINTENANCE w 6 INSPECTION AND MAINTENANCE lt 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 Turn off the all lines of the power supply externally when cleaning the module tightening the terminal screws or module fixing screws Not doing so could result in electric shocks Under tightening the terminal screws 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 N CAUTION Read the manual carefully and pay careful attention to safety for the on line operation especially program change forced stop or operation change performed by connecting periphe
189. t and connection description of the PULSER connector are described below PULSER connector Signal Name Pin No Signal Name O HB1 A20 HA1 2 SG A19 SG B e 5V A18 HPSEL1 1 ane HAIN A17 HA1P A oo HB1N A16 HB1P Dn HB2 A15 HA2 2 U e SG A14 SG on 5V A13 HPSEL2 1 n HA2N A12 HA2P oo 3 E HB2N A11 HB2P Dn HB3 A10 HA3 2 od SG AQ SG ae 5V A8 HPSEL3 1 i o HA3N AT HA3P i od HB3N AG HB3P oa No connect A5 No connect n TREN1 A4 TREN1 TREN2 A3 TREN2 TREN3 A2 TREN3 e 4 B1 FG A1 FG Ai Applicable connector model name 1 2 4 5 A6CON 1 type soldering type connector FCN 361J040 AU connector FUJITSU TAKAMISAWA Attachment COMPONENT LIMITED FCN 360C040 B connector cover A6CON2 type Crimp contact type connector Saiora A6CONS type Pressure displacement type connector Optional Input type from manual pulse generator incremental synchronous encoder switched by HPSELQ Not connection Voltage output type open collector type HPSELLI SG connection Differential output type Switching is possible for each input 1 to 3 Voltage output open collector type Connect the A phase signal to HA1P HA2P HA3P and the B phase signal to HB1P HB2P HB3P Differential output type Connect the A phase signal to HA1P HA2P HAS3P and the A phase inverse signal to HA1N HA2N HA3N Connect the B phase signal to HB1P H
190. tallation or removal of the cable for teaching unit hold surely a tab of cable connector When the teaching unit is removed the emergency stop and servomotor become coasting state Motion CPU module TU connector MNT Installation of the cable for teaching unit For installation of the cable for teaching unit to the Motion CPU Q173HCPU T Q172HCPU T connect it to the TU connector of Motion CPU Q173HCPU T Q172HCPU T while holding a tab of cable for teaching unit Be sure to insert it until it clicks Removal of the cable for teaching unit For removal of the cable for teaching unit pull out the connector while holding a tab of connector connected to the TU connector of Motion CPU Q173HCPU T Q172HCPU T after making sure that the fixing hook have been removed completely First be sure to remove the TU connector of Motion CPU Q173HCPU T Q172HCPU T for removal If the connector of teaching unit is removed first load may be applied and damaged to a connector of Motion CPU POINTS 1 Forcibly removal the cable for teaching unit from the Motion CPU module will damage the Motion CPU modules and the cable for teaching unit 2 When the cable for teaching unit or short circuit connector is connected to the connector for teaching unit screw them to the connector for teaching unit Under tightening can cause a drop short circuit or operation failure 4 INSTALLATION AND WIRING N CAUTION When a teachin
191. tch Operation keys Operation key of the teaching unit Adjust the contrast of display 5 Contrast adjusting switch The emergency stop signal is input to the Motion CPU by the external safety circuit 3 position deadman switch The Motion CPU will be in the state which can be operated by holding the A31TU D3LI only middle position of enable switch The emergency stop state of Motion CPU occurs by gripping or releasing this switch and the servomotor stops and becomes coasting state Buzzer sounds at the operation key input or any alarm occurrence 7 Internal buzzer It is possible to switch off the buzzer at the key input by setting 2 SYSTEM CONFIGURATION 3 Teaching unit specifications Specifications Items A31TU D3 A31TU DN Tact switch 28 keys for SVO ENABLE DISABLE switch Operation enable disable Operation Emergency stop switch Push lock return reset type Deadman switch 3 position switch Contrast adjusting switch Shadellight Display method 4 lines x 16 characters LCD display Conforming RS 422 Protective construction IP54 equivalent Ambient temperature 0 to 40 C 32 to 104 F 5VDC power supply Supplied from Motion CPU 5VDC consumption current A Mass kg 1 74 Including cable 5m 16 40ft POINTS 1 The total extended distance of cable between the Motion CPU and teaching unit is within 30m 98 43ft including the A31TU D3LT1 A31TU DNLI cable 5m 16 40f
192. te Current consumption of A31TU D3K13 0 26A is included c Power consumption of overall modules I5v 0 64 1 56 0 05 0 07 0 20 0 11 0 06 x 2 0 05 x 2 0 43 x 2 0 114 3 824 A Select of the power supply module Q61P 100 240VAC 6A according to this internal current consumption 3 824 A Note Configure the system in such a way that the total current consumption at 5VDC of all the modules is less than the allowable value 2 SYSTEM CONFIGURATION 2 4 3 Base unit and extension cable This section describes the specifications of the extension cables for the base units CPU base unit or extension base unit used in the system and the specification standards of the extension base unit 1 Table of the base unit specifications a CPU base unit specifications e M eme o Number of I O modules 3 5 Extendable Applicable module module Q series modules consumption A Fixing hole size M4 screw hole or 4 5 hole for M4 screw 189 W x 98 H x 245 W X 98 H x 328 W x 98 H X 439 W x 98 H x Exterior dimensions 44 1 D 44 1 D 44 1 D 44 1 D mm inch 7 44 W x3 86 H x 9 65 W x3 86 H x 12 91 0W x3 86 H 17 28 W x3 86 H x 1 74 D 1 74 D x 1 74 D 1 74 D Mass kg 0 35 045 Attachment Fixing screw MAX 14 4 pieces DIN rail fixing adapter is optional SE rail fixing adapter Q6DIN3 Q6DIN2 Q6DIN1 Extension base unit specifications Number of I O modules ha p dab
193. ted to the specifications of the option module for the Motion controller Manual pulse generator Synchronous encoder Teaching unit and cables In this manual the following abbreviations are used Generic term Abbreviation Q173HCPU Q172HCPU or j Q173HCPU Q172HCPU Q173HCPU T Q172HCPU T Motion CPU module Motion CPU module Q172LX Servo external signals interface module Q172LX Q172EX Q173PX or Note 1 Q172EX S2 S3 Serial absolute synchronous encoder interface module Motion module Q173PX S1 Manual pulse generator interface module MR J3 L B Servo amplifier model MR J3 DL1B AMP or Servo amplifier General name for Servo amplifier model MR J3 L1B QCPU PLC CPU or PLC CPU module Qn H CPU gt o o kb bd s o 2 Si m ao T o U LE O o lt o KO D 3 o E 2 D oO o b D o Abbreviation for CPU No n n 1 to 4 of the CPU module for the Multiple CPU System General name for MT Developer and GX Developer General name for SWLIRN SVLIQLCI Operating system software for conveyor assembly use Motion SFC SW6RN SV1300 Operating system software for automatic machinery use Motion SFC SW6RN SV2200 Operating system software for machine tool peripheral use SW5RN SV43QLI Abbreviation for Integrated start up support software package Note 2 MT Developer VersionO or later Abbreviation for MELSEC PLC programming software package GX Developer Versio
194. the above connector If the connection is mistaken between the Motion controller and servo amplifier cannot be communicated SSCNETII connector is put a cap to protect light device inside connector from dust For this reason do not remove a cap until just before mounting SSCNETII cable Then when removing SSCNETII cable make sure to put a cap Be sure to keep a cap and the tube for protecting light code end of SSCNETIII cable in a plastic bag with a zipper of SSCNETII cable to prevent them from becoming dirty Do not remove the SSCNETII cable while turning on the power supply of Motion CPU and servo amplifier Do not see directly the light generated from the end of SSCNETII cable When the light gets into eye may feel something is wrong for eye The light source of SSCNETII cable corresponds to class1 defined in JISC6802 or IEC60825 1 When exchanging the servo amplifier or Motion controller make sure to put a cap on SSCNETIII connector When asking repair of servo amplifier or Motion controller for some troubles make also sure to put a cap on SSCNETIII 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 3 Cable specifications a MR J3BUSLIM Model name ECL MR J3BUS015M MR J3BUSO3M MR J3BUS05M MR J3BUS1M MR J3BUS3M Cable length m ft 0 15 0 49 0 3 0 98 0 5 1 64 1 3 28 3 9 84 MR J3BUSLIM A Model nam
195. tion control S curve acceleration deceleration 248k bytes start programs Control program 16 Control program 16 Number of positioning Approx 10600 points points Positioning data can be designated indirectly Programming tool IBM PC AT Peripheral I F USB SSCNET Teaching operation None function Fei Proximity dog type 2 types Count type 3 types Data set type 2 types Dog cradle type Home position return incl Stopper type 2 types Limit switch combined type unction Home position return re try function provided home position shift function provided JOG operation function Manual pulse generator Possible to connect 3 modules operation function M code output function provided M code function s M code completion wait function provided Limit switch output Number of output points 32 points function Watch data Motion control data Word device Skip function Override ratio setting Override ratio setting 0 to 100 function e Made compatible by setting battery to servo amplifier Absolute position system Possible to select the absolute data method or incremental method for each axis Number of SSCNETII Note 1 2 systems 1 system systems Number of Motion related Q172LX 4 modules Q172LX 1 module modules Q173PX 1 module Q173PX 1 module Note 1 The servo amplifiers for SSCNET cannot be used 2 26 2 SYSTEM CONFIGURATION b Motion program performance specificati
196. tion or damage 3 DESIGN N CAUTION Do not touch the servo amplifier s heat radiating fins 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 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 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 combinations listed in the instruction manual Other combinations may lead to fire or faults If safety standards 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 ser
197. to the Motion CPU and servo amplifier 4 INSTALLATION AND WIRING POINTS 1 Forcibly removal the SSCNETII cable from the Motion CPU module will damage the Motion CPU modules and SSCNETII cables After removal of the SSCNETIII cable be sure to put a cap on the SSCNETIII 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 CPU and servo amplifier Do not see directly the light generated from the end of SSCNETII cable When the light gets into eye may feel something is wrong for eye The light source of SSCNETII cable corresponds to 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 mot 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 The cable part and code part melt 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 brake option of servo amplifier or servomotor When laying the SSCNETII cable be sure to secure the minimum cable bend radius or more Put the SSCNETITI cable in the duct
198. tor to the BAT connector of Q170HBATC c Connect between BAT of Q173HCPU Q172HCPU and CPU of Q170HBATC Q173HCPU Q172HCPU Motion CPU module Gy A MITSUBISHI IUM BATTERY L THU BAT 3 DESIGN 3 DESIGN 3 1 System Designing Procedure Design the system which uses the Multiple CPU system in the following procedure Motion control system design Select the Motion CPU module according to number of control axes and whether teaching unit is required or not Select the motion functions to be installed according to the machinery and equipment to be controlled selection of the programming software packages according to the operating system software Select the number of Q172LX s and design according to the each Refer to section 2 4 4 axis control system and whether servo external signals are required or not When there is mechanical home position and dog type home position return is made Proximity dog required For speed control Speed position switching control signal required When overrun prevention is necessary Stroke limit required When each axis stop is necessary STOP signal required Select Q173PX Q172EX and design according to whether manual Refer to section 2 4 5 pulse generators and synchronous encoders are required or not Refer to section 2 4 6 Select interrupt module QI60 according to whether interrupt input are required or not Select I O modules according to the sp
199. tting Turn ON power supply again Turn ON again the power supply or reset of Multiple CPU system l 1 The mode indicated in the brackets at top left of each step is the mode for checking or setting by the peripheral device Refer to Section 2 1 4 for installation method and installation position Refer to Section 4 1 3 for installation of modules X DANGER Be sure to ground the Motion controllers servo amplifiers and servomotors Ground resistance 100 or less Do not ground commonly with other devices Refer to Section 2 4 9 4 N 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 installed and for the wires used Failing to do so may lead to fires Refer to Section 5 3 k The operating system software is not installed at the time of Motion CPU module purchase Be sure to install the operating system software to be used before a system start Note An error may occur if the power is turned on before system setting If it happens reset the CPU after the system setting 5 TRIAL OPERATION AND ADJUSTMENT
200. ugh portion Permitted speed at power ON 3600r min Permitted speed at power OFF Note 2 500r min Radial load Up to 19 6N Permitted axial loads Thrust load Up to 9 8N 0 02mm 0 00079 inch or less 15mm 0 59 inch from tip Recommended coupling Bellows coupling Permitted angular acceleration 40000rad s Runout at input shaft tip Internal current consumption A Mass kg Q170ENCCBLLIM L Cable length 2m 6 56ft 5m 16 40ft 10m 32 81ft 20m 65 62ft 30m 98 43ft 50m 164 04ft Communications method Differential driver receiver conforming to RS422A Transmission distance Up to 50m 164 04ft Note 1 It is possible to use only by Q172bEX S2 S3 When o ring is required please purchase separately by customers Connecting cable Note 2 If it exceeds a permitted speed at power OFF a position displacement is generated 2 SYSTEM CONFIGURATION 2 4 8 A31TU DSLT A31TU DNL Teaching unit Japanese version only Teaching unit A31TU D3LT A31TU DNLI can be easily set the teaching of positioning point each parameter settings creation of servo program servo monitor servo test and so on without the peripheral devices Motion CPU module Q173HCPU T Q172HCPU T is usable only Refer to the A31TU D Teaching Unit Operating Manual for the usable operating system software and version 1 Selection of the teaching unit There are no deadman switch and emergency stop terminal for the external safety
201. urrent Input module Connect an appropriate resistor which will make the voltage across the terminals of the input module lower than the OFF voltage AC input Input module It is recommended to use 0 1 to 0 47 uF 47 to 120 IQ 1 2W for the CR constant Same as Example 1 Or make up another independent display circuit Same as Example 1 However leakage current is not generated when the power supply is located in the input equipment side as shown below AC input Input module 7 Power supply Connect a register which will make the voltage between the input module terminal and common higher than the OFF voltage value as shown below DC input plus common Resistor Input module Note 1 A calculation example of a value for a connected resistor is given on the following page 6 INSPECTION AND MAINTENANCE Input Circuit Troubleshooting and Corrective Action Continued Condition Cause Corectiveaction Sneak path due to the use of two power Use only one power supply supplies Connect a sneak path prevention diode Input signal Figure below does not l t modul turn OFF TREES Example 5 Input module Depending on short response time setting noise Change response time setting False input is imported as input Example 10 ms 20 ms due to noise o 9 a E G x W lt Calculation example of Example 4 gt For the case with a sw
202. use of system and configured equipments 2 1 Motion System Configuration 1 Equipment configuration in Q173HCPU Q172HCPU system SEIN ioc Power supply module QCPU I O module Intelligent unction module of the Q series Motion module Q172LX Q172EX Q173PX CPU base unit Q33B Q35B Q38B Q312B Battery holder unit Q170HBATC Motion CPU module Q173HCPU Q172HCPU Battery Q6BAT SSCNETII cable MR J3BUSOM A B MR J3 DB NE Extension cable QCLIB Short circuit connector for the teaching unit Q170TUTM pop Cable for the teaching unit Q170TUDOCBLOM A ote 3 Short circuit connector for the teaching unit A31TUD3TM It is possible to select the best according to the system Extension of the Q series module Motion module Q172LX Q172EX Q173PX Q6LB extension base unit Q63B Q65B Q68B Q612B GE o 8 Power supply module UO module Intelligent function module of the Q series Teaching unit A31TU D30 A31TU DN
203. ut momentary power failure within 10ms DC power supply is ON however the power supply module is out of order 5VDC error internal circuit failure blown fuse Over current protection or over voltage protection operated DC power supply is not ON Power failure including an momentary power failure of more than 10ms Turned ON when the whole system operates normally This terminal turns OFF opens when the AC power is not input a stop error including a reset occurs in the CPU module or the fuse is blown In a Multiple CPU system configuration turned OFF opens when a stop error occurs in any of the CPU modules 2 ERR terminals Normally OFF when loaded in an extension base unit Turned ON when the whole system operates normally This terminal turns OFF opens when the DC power is not input a stop error including a reset occurs in the CPU module or the fuse is blown In a Multiple CPU system configuration turned OFF opens when a stop error occurs in any of the CPU modules Normally OFF when loaded in an extension base unit Ground terminal connected to the shield pattern of the printed circuit board alig terminal Grounding for the power supply filter The potential of Q61P A1 Q61P A2 Q61P Q62P i and Q64P terminal is 1 2 of the input voltage Power input terminals connected to a power supply of 100VAC or 200VAC Q61P A1 Q61P A2 Q64P 5 Power input terminals connected to a power supply
204. version Voltage output 8ch D A conversion Current output Marked connectors are not provided Q68DAI 2 SYSTEM CONFIGURATION 3 Table of servo amplifier MESS p MESSE Refer to catalogue of the servo amplifier servo amplifier MR J3 OB RJ006 Battery MR J3BAT Back up for the absolute position detection 4 Software packages a Operating system software packages EE Software package Application Q173HCPU Q172HCPU For conveyor assembly SV13 d SWE6RN SV13QK SW6RN SV13QM Motion SFC For automatic machinery SV22 SW6RN SV22QJ SW6RN SV22QL Motion SFC For machine tool peripheral SV43 SW5RN SV43QJ SW5RN SV43QL b Integrated start up support software package SW6RNC GSVE Integrated start up support software 1 CD ROM pm NEE Automatic machinery software SWGRN GSV22P 1 oos oox o Machine tool peripheral software SWORN GSVA3P oF os Camdatacreaionsofare SWSRN CAMP oom oom oom MT Developer Communicaton system software SWERN SNETP oos ook oo Document print software SW3RN DOCPRNP SW20RN DOCPRNP SW6RNC GSVHELPE Operation manual 1 CD ROM Installation manual SW6RNC GSVPROE A30CD PCF SSC I F card PCMCIA TYPE II 1CH card Q170CDCBL3M A30CD PCF cable 3m 9 84ft Note Operating environment of the MT Developer is WindowsNT 4 0 Windows 98 Windows 2000 Windows XP English version only 2 SYSTEM CONF
205. vo 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 described 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 servom
206. wire the wires Reconfirm the connections for mistakes and the terminal screws for tightness after wiring Failing to do so may lead to run away of the servomotor After wiring install the protective covers such as the terminal covers to the original positions Do not install a phase advancing capacitor surge absorber or radio noise filter option FR BIF on the output side of the servo amplifier Correctly connect the output side terminals U V W 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 Servo amplifier signals etc Incorrect installation may lead to signals not being output when trouble occurs or the protective functions not functioning Control output Do not connect or disconnect the connection cables between signal 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 24VDC 5 Trial operation and adjustment N CAUTION Confirm and adjust the program and each parameter before operation Unpredictable movements may occur depending on the machine Extreme ad

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