Page 1 MOTION CONTROLLERS Q173CPU ( N ) Q172CPU ( N ) User's Manual...
Page 2: Safety Precautions
SAFETY PRECAUTIONS (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.
Page 3 For Safe Operations 1. Prevention of electric shocks DANGER Never open the front case or terminal covers while the power is ON or the unit is 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.
Page 4 3. For injury prevention 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.
Page 5 CAUTION 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.
Page 6 CAUTION 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.
Page 7 CAUTION 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.
Page 8 (4) Wiring CAUTION Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal screws for tightness after wiring. Failing to do so may lead to run away of the servomotor. After wiring, install the protective covers such as the terminal covers to the original positions. Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF) on the output side of the servo amplifier.
Page 9 (6) Usage methods 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.
Page 10 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 CAUTION...
Page 11 (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). CAUTION This product is not designed or manufactured to be used in equipment or systems in situations that can affect or endanger human life.
Page 12: Revisions
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.
Page 13: Table Of Contents
2.1 Motion System Configuration ........................2- 1 2.1.1 Q173CPU(N) System overall configuration..................2- 8 2.1.2 Q172CPU(N) System overall configuration..................2-10 2.1.3 Function explanation of the Q173CPU(N)/Q172CPU(N) Motion CPU modules ......2-12 2.1.4 Restrictions on Motion systems......................2-13 2.2 System Configuration Equipment......................2-15 2.3 General Specifications ..........................
Page 14 4.2.3 Battery cable............................4- 9 4.2.4 Cable for teaching unit ........................4-10 4.3 Installation of the Serial Absolute Synchronous Encoder............... 4-12 4.4 Replacement of the Cooling fan unit (Q170FAN) (Q173CPU/Q172CPU only)........4-14 4.5 Wiring................................ 4-15 4.5.1 Instructions for wiring ........................4-15 4.5.2 Wiring to the power supply module ....................
Page 15 APPENDIX 2.6 Dividing unit (Q173DV), Battery unit (Q170BAT) ............App-27 APPENDIX 2.7 Connector ........................App-28 APPENDIX 2.8 Manual pulse generator (MR-HDP01) .................App-33 APPENDIX 2.9 Serial absolute synchronous encoder (MR-HENC/Q170ENC) ........App-34 APPENDIX 2.10 Teaching unit (A31TU-D3 /A31TU-DN ) ..............App-35 APPENDIX 2.11 Cooling fan unit (Q170FAN) (Q173CPU/Q172CPU only) ........App-36 A - 14...
Page 16: About Manuals
Related Manuals (1) Motion controller Manual Number Manual Name (Model Code) Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (Motion SFC) IB-0300042 This manual explains the Multiple CPU system configuration, performance specifications, functions, (1XB781) programming, error codes and others of the Motion SFC.
Page 17 (2) PLC Manual Number Manual Name (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 (13JR73) extension cables, memory card battery and others. (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...
Page 18: Overview
1. OVERVIEW 1.1 Overview This User's Manual describes the hardware specifications and handling methods of the Motion Controller's Model Q173CPU(N)/Q172CPU(N) for the Q series PLC Multiple CPU system. The Manual also describes those items related to the specifications of the option module for the Motion controller, Manual pulse generator, Synchronous encoder, Teaching unit and cables.
Page 19 Operation method for MT Developer Help of each software • Multiple CPU system configuration • Performance specification Q173CPU(N)/Q172CPU(N) Motion controller • Design method for common parameter (SV13/SV22) Programming Manual (Motion SFC) • Auxiliary and applied functions SV13/SV22 •...
Page 20: System Configuration
2.1 Motion System Configuration This section describes the equipment configuration, configuration with peripheral devices and system configuration in the Q173CPU(N)/Q172CPU(N) system. (1) Equipment configuration in Q173CPU(N) system Q173CPU(N) System configuration Use a Q173CPUN-T.
Page 21 (Q33B, Q35B, Q38B, Q312B) (Note-5) (Note-2) Power supply module/ Short-circuit connector for Motion CPU module I/O module/Intelligent function the teaching unit (Q173CPU(N)) module of the Q series (Q170TUTM) (Note-3) (Note-5) (Note-6) S VO ON SSCNET cable Cable for the teaching unit...
Page 22 (Q172LX, Q172EX, Q173PX) (Note-4) (Note-1) Power supply module/ Short-circuit connector for Motion CPU module I/O module/Intelligent function the teaching unit (Q173CPU(N)) module of the Q series (Q170TUTM) (Note-2) (Note-4) (Note-5) SV O ON SSCNET cable SSCNET cable Cable for the teaching unit...
Page 23 2 SYSTEM CONFIGURATION (2) Equipment configuration in Q172CPU(N) system Q172CPU(N) System configuration Is the teaching unit used? Use a Q172CPUN-T. (Note) Is this system Refer to equipment configuration of continuously power off for 1000 "(a) When using the external battery". hours or more running? Refer to equipment configuration of "(b) When not using the external battery".
Page 24 2 SYSTEM CONFIGURATION (a) When using the external battery Extension of the Q series module Power supply module/ Motion module QCPU/ I/O module/ Intelligent (Q172LX, Q172EX, Q173PX) function module of the Q series Motion module CPU base unit Extension cable Q6 B extension base unit (Q172LX, Q172EX, Q173PX) (Q33B, Q35B, Q38B, Q312B)
Page 25 2 SYSTEM CONFIGURATION (b) When not using the external battery Extension of the Q series module Power supply module/ Motion module QCPU/ I/O module/ Intelligent (Q172LX, Q172EX, Q173PX) function module of the Q series Motion module CPU base unit Extension cable Q6 B extension base unit (Q172LX, Q172EX, Q173PX) (Q33B, Q35B, Q38B, Q312B)
Page 26 2 SYSTEM CONFIGURATION (3) Peripheral device configuration for the Q173CPU(N)/ Q172CPU(N) The following (a) (b) (c) can be used. (a) RS-232 configuration (b) USB configuration (c) SSCNET configuration Motion CPU module Motion CPU module Motion CPU module (Q173CPU(N), Q172CPU(N)) (Q173CPU(N), Q172CPU(N))
Page 27: Q173Cpu(N) System Overall Configuration
2 SYSTEM CONFIGURATION 2.1.1 Q173CPU(N) System overall configuration Motion CPU control module CPU base PLC CPU/ unit Motion CPU (Q3 B) Qn(H) Q173 Q172LX Q172EX Q172PX Q6 AD Q61P-A QI60 CPU(N) Q6 DA I/O module of the Q Series or...
Page 28 2 SYSTEM CONFIGURATION CAUTION 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.
Page 29: Q172Cpu(N) System Overall Configuration
2 SYSTEM CONFIGURATION 2.1.2 Q172CPU(N) System overall configuration Motion CPU control module CPU base PLC CPU/ unit Motion CPU (Q3 B) Qn(H) Q172 Q172LX Q172EX Q172PX Q6 AD Q61P-A QI60 CPU(N) Q6 DA I/O module of the Q Series or Special function module 100/200VAC (Note-2)
Page 30 2 SYSTEM CONFIGURATION CAUTION 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.
Page 31: Function Explanation Of The Q173Cpu(N)/Q172Cpu(N) Motion Cpu Modules
2.1.3 Function explanation of the Q173CPU(N)/Q172CPU(N) Motion CPU modules (1) Up to 32 axes servo amplifiers per 4 systems (up to 8 axes per 1 system) can be used in Q173CPU(N). Up to 8 axes servo amplifiers per 1 system can be used in Q172CPU(N).
Page 32: Restrictions On Motion Systems
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 QA1S6 B extension base unit. PLC CPU must be used as the control CPU.
Page 33 2 SYSTEM CONFIGURATION (12) Number of Motion CPU modules and temperature conditions (Q173CPU/Q172CPU only) (a) It is possible to remove the Cooling fan unit(Q170FAN) in order to disperse heat from inside the Motion CPU module according to the number of the Motion CPU module and ambient temperature conditions.
Page 34: System Configuration Equipment
Q173CPUN Up to 32 axes control 1.25 Q173CPUN-T Up to 32 axes control, For teaching unit 1.56 Q173CPU Up to 32 axes control, With cooling fan unit 1.75 Servo external Servo external signal input 8 axes signals Q172LX 0.05 (FLS, RLS, STOP, DOG/CHANGE×8)
Page 35 2 SYSTEM CONFIGURATION Table of Motion controller related module (continued) Current (Note-1) Part name Model name Description consumption Remark 5VDC[A] QC05B Length 0.45m(1.48ft.) QC06B Length 0.6m(1.97ft.) QC12B Length 1.2m(3.94ft.) Extension cable —— QC30B Length 3m(9.84ft.) QC50B Length 5m(16.40ft.) QC100B Length 10m(32.81ft.) Pulse resolution: 25PLS/rev(100PLS/rev after magnification by 4) Manual pulse Permitted axial loads...
Page 36 3m(9.84ft.), 5m(16.40ft.), 10m(32.81ft.) Cable for SSC I/F Q173CPU(N)/Q172CPU(N) SSC I/F card Q170CDCBL M card 3m(9.84ft.), 5m(16.40ft.), 10m(32.81ft.) For dividing the SSCNET systems of Q173CPU(N) into 4. Dividing unit Q173DV —— (Attachment: Battery holder for IC-RAM memory backup) Battery unit Q170BAT For IC-RAM memory backup of Q172CPU(N) ——...
Page 37 Remark 5VDC[A] (Note-6) Connector for Q172CPU(N) Q172CPU(N) Q172CON Connector : HDR-E14MG1 —— connector set Case : HDR-E14LPA5 Q173CPU(N) side connector set (Note-6) Q173CPU(N) Q173CON Connector : HDR-E26MG1 —— connector set Case : HDR-E26LPA5 (Note-6) Q173CPU(N) side connector set Connector : HDR-E26MG1...
Page 38 2 SYSTEM CONFIGURATION (2) Q series PLC module which can be control by Motion CPU Model Part name Description Remark name QX10 100-120VAC, 7-8mA, 16 points, Terminal block QX40 24VDC/4mA, Positive common, 16 points, Terminal block QX41 24VDC/4mA, Positive common, 32 points, Connector QX42 24VDC/4mA, Positive common, 64 points, Connector 12VDC/5V, Positive common/Negative common shared, 16 points,...
Page 39 2 SYSTEM CONFIGURATION (3) Table of servo amplifier The following servo amplifier series can be used. (a) MR-H BN Part name Model name Description MR-H series MR-H BN Refer to catalogue of the servo amplifier. servo amplifier MR-H Battery MR-BAT Back-up for the absolute position detection Terminal connector MR-TM...
Page 40 2 SYSTEM CONFIGURATION (b) MR-J2S- B/MR-J2M-B/MR-J2- B/MR-J2-03B5 Part name Model name Description MR-J2-Super series MR-J2S- B Refer to catalogue of the servo amplifier. servo amplifier MR-J2S- B1 MR-J2M- DU Drive unit MR-J2M series Refer to catalogue of the servo amplifier. MR-J2M-P8B Interface unit servo amplifier...
Page 41 (Note-2) : SSCNET communication option for vector inverter When the vector inverter (FR-V5 0- ) is connected, fix the ferrite core to the SSCNET cable. (4) Software packages (a) Operating system software packages Software package Application Q173CPU(N) Q172CPU(N) For conveyor assembly SV13 SW6RN-SV13QB SW6RN-SV13QD (Motion SFC)
Page 42 2 SYSTEM CONFIGURATION (5) Operating environment of personal computer Operating environment is shown below. IBM PC/AT with which WindowsNT4.0/98/2000/XP English version operates normally. WindowsNT 4.0(Service Pack 2 Item Windows 2000 Windows (Note) or later) or Windows Pentium133MHz or more Pentium II 233MHz or more Pentium II 450MHz or more Memory Recommended 32MB or more...
Page 43: General Specifications
2 SYSTEM CONFIGURATION 2.3 General Specifications General specifications of Q173CPU(N)/Q172CPU(N) module are shown below. Item Specification Operating ambient 0 to 55°C temperature (32 to 131°F) (Note-3) Storage ambient -25 to 75°C temperature (-13 to 167°F) Operating ambient 5 to 95% RH...
Page 44 2 SYSTEM CONFIGURATION 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.
Page 45: Specifications Of Equipment And Settings
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) Q173CPUN(-T)/Q172CPUN(-T) Front face With front cover open Q17 CPUN T MODE MODE ERR. ERR.
Page 46 2 SYSTEM CONFIGURATION (2) Q173CPU/Q172CPU Front face With front cover open Q17 CPU MODE MO DE ERR. ERR. M.RUN M.RUN BAT. BAT. BOOT BOOT ON SW FRONT SSCNET STOP RUN RESET L CLR PULL RS-232 Put your finger here to open the cover.
Page 47 2 SYSTEM CONFIGURATION Name Application 1) Module fixing hook • Hook used to fix the module to the base unit.(Quick release installation) • Lit(green) : Normal mode 2) MODE LED (Mode judging) • Lit(orange) : Installation mode • mode written in ROM •...
Page 48 The overall Multiple CPU system reset is resetting the CPU No.1 of PLC CPU. (Note-2) : For example of the Q173CPU(N), the connector CN1 divide signals allocated each of SSCNET SYSTEM 1 to 4. The Dividing unit (Q173DV) or the Dividing cable (Q173J2B CBL M/Q173HB CBL M) between the Motion CPU and servo amplifiers divide signals allocated in CN1 of the Q173CPU(N) into each of the four systems.
Page 49 2 SYSTEM CONFIGURATION (4) Basic specifications of Q173CPU(N)/Q172CPU(N) (a) Module specifications Item Q173CPUN Q173CPUN-T Q173CPU Q172CPUN Q172CPUN-T Q172CPU Teaching unit —— Usable —— —— Usable —— Internal current (Note) (Note) 1.25 1.56 1.75 1.14 1.45 1.62 consumption(5VDC) [A] Mass [kg] 0.23...
Page 50 2 SYSTEM CONFIGURATION Motion control specifications (continued) Item Q173CPUN(-T) Q173CPU Q172CPUN(-T) Q172CPU Synchronous encoder Possible to connect 12 modules Possible to connect 8 modules operation function M-code output function provided M-code function M-code completion wait function provided Limit switch output...
Page 51 2 SYSTEM CONFIGURATION (b) Motion SFC performance specifications Item Q173CPU(N)/Q172CPU(N) Code total (Motion SFC chart+ Operation control+ 287k bytes Motion SFC program Transition) capacity Text total 224k bytes (Operation control+ Transition) Number of Motion SFC programs 256(No.0 to 255) Up to 64k bytes...
Page 52 2 SYSTEM CONFIGURATION (6) SV43 Motion control specifications/performance specifications (a) Motion control specifications Item Q173CPUN Q173CPU Q172CPUN Q172CPU Number of control axes Up to 32 axes Up to 8 axes 0.88ms/ 1 to 4 axes Operation cycle 1.77ms/ 5 to 12 axes 0.88ms/1 to 4 axes...
Page 53 2 SYSTEM CONFIGURATION (b) Motion program performance specifications Item Q173CPU(N)/Q172CPU(N) Total of program files 248k bytes Program capacity Number of programs Up to 1024 (No. 1 to 1024) Unary operation, Additive operation, Arithmetic operation Multiplicative operation, Remainder operation Operation controls...
Page 54 • Initial charging of the Q173CPU(N)/Q172CPU(N) Turn on the power supply and charge the internal rechargeable battery for eight hours or more, before starting to use the Q173CPU(N)/Q172CPU(N). 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.
Page 55: Power Supply Module
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. Performance specifications Item Q61P-A1 Q61P-A2 Q62P Base loading position Power supply module loading slot Applicable base unit Q33B, Q35B, Q38B, Q312B, Q65B, Q68B, Q612B 100 to 120VAC (+10%/-15%) 200 to 240VAC (+10%/-15%)
Page 56 2 SYSTEM CONFIGURATION The power supply module specifications (continued) Performance specifications Item Q63P Q64P Base loading position Power supply module loading slot Applicable base unit Q33B, Q35B, Q38B, Q312B, Q65B, Q68B, Q612B 24VDC (+30%/-35%) 100 to 120VAC/200 to 240VAC (+10%/-15%) Input power supply (15.6 to 31.2VDC) (85 to 132VAC/170 to 264VAC)
Page 57 2 SYSTEM CONFIGURATION POINTS (Note-1) : Overcurrent protection The overcurrent protection device shuts off the 5VDC or 24VDC circuit and stops the system if the current flowing in the circuit exceeds the specified value. When this device is activated, the power supply module LED is switched OFF or dimly lit.
Page 58 2 SYSTEM CONFIGURATION (2) Names of Parts and Setting This section describes the names of the parts of each power module. (a) Q61P-A1, Q61P-A2, Q62P, Q63P, Q64P Q61P-A1 Q61P-A2 POWER Q61P-A2 POWER INPUT 100-120VAC INPUT 200-240VAC 50/60Hz 105VA OUTPUT 5VDC 6A 50/60Hz 105VA OUTPUT 5VDC 6A ERR.
Page 59 2 SYSTEM CONFIGURATION Name Application 1) POWER LED 5VDC power indicator LED Turned OFF (opened) when a stop error occurs in the CPU module. 2) ERR terminals Normally off when loaded in an extension base unit. 3) FG terminal Ground terminal connected to the shield pattern of the printed circuit board. 4) LG terminal Grounding for the power supply filter.
Page 60 Q173CPUN Up to 32 axes control 1.25 (Note-2) Q173CPUN-T Up to 32 axes control, For teaching unit 1.56 Q173CPU Up to 32 axes control, With cooling fan unit 1.75 Motion CPU module Q172CPUN Up to 8 axes control 1.14 (Note-2)
Page 61 2 SYSTEM CONFIGURATION (4) Example of the power supply selection calculation (When using the Q173CPUN-T.) (a) System configuration Q38B Q173PX Q61P-A1 Q173 Q172LX Q172EX QX40 QX40 QY10 QY10 Q02H CPUN-T MR-HDP01 A31TU-D3K13 MR-HDP01 MR-HENC (b) 5VDC current consumption of each module Q02HCPU : 0.64 [A] Q173PX...
Page 62: Base Unit And Extension Cable
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 Type...
Page 63 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 QCPU system. Type QC05B QC06B QC12B QC30B QC50B QC100B Item Cable length[m(ft.)] 0.45(1.48) 0.6(1.97) 1.2(3.94) 3.0(9.84) 5.0(16.40)
Page 64 2 SYSTEM CONFIGURATION (4) I/O allocations It is possible to allocate unique I/O No.s for each Motion CPU independently of the PLC’s I/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 PX , while...
Page 65: Q172Lx Servo External Signals Interface Module
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 Q172LX CTRL Q172LX Name Application Hook used to fix the module to the base unit. Module fixing hook (Quick release installation) Display the servo external input status from the external...
Page 66 2 SYSTEM CONFIGURATION (2) Performance specifications (a) Module specifications Item Specifications Number of I/O occupying points 32 points(I/O allocation: Intelligent, 32 points) Internal current consumption(5VDC) [A] 0.05 98(H) 27.4(W) 90(D) Exterior dimensions [mm(inch)] (3.86(H) 1.08(W) 3.54(D) ) Mass [kg] 0.15 (b) Input Item Specifications...
Page 67 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.
Page 68 2 SYSTEM CONFIGURATION (b) The pin 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.
Page 69 2 SYSTEM CONFIGURATION (4) Interface between CTRL connector and servo external signal Input or CTRL Signal name Wiring example Internal circuit Specification Description connector Output FLS1 Supply voltage FLS2 12 to 24 VDC (10.2 to 26.4 VDC, FLS3 Upper stroke stabilized power FLS4 5.6K...
Page 70: Q172Ex Serial Absolute Synchronous Encoder Interface Module
2 SYSTEM CONFIGURATION 2.4.5 Q172EX Serial absolute synchronous encoder interface module Q172EX receive external signals required for serial absolute synchronous encoder. (1) Q172EX/Q172EX-S1/Q172EX-S2/Q172EX-S3 name of parts Q172EX SY.ENC TREN SY.ENC1 SY.ENC2 Q172EX (Note): The installation position of Q172EX-S2/Q172EX_S3 is only CPU base unit. Name Application Hook used to fix the module to the base unit.
Page 71 2 SYSTEM CONFIGURATION (2) Performance specifications (a) Module specifications Specifications Item Q172EX Q172EX-S1 Q172EX-S2 Q172EX-S3 Memory for data exchange None Provided None Provided Number of I/O occupying points 32 points(I/O allocation: Intelligent, 32 points) Internal current consumption(5VDC)[A] 0.07 98(H) 27.4(W) 90(D) Exterior dimensions [mm(inch)] (3.86(H) 1.08(W) 3.54(D) ) Mass [kg]...
Page 72 2 SYSTEM CONFIGURATION (c) Serial absolute synchronous encoder input Item Specifications Applicable signal types Differential-output type : (SN75C1168 or equivalent) Transmission method Serial communications Synchronous method Counter-clock-wise (viewed from end of shaft) Communication speed 2.5Mbps Applicable types MR-HENC Position detection method Absolute(ABS) method Resolution 16384PLS/rev(14bit)
Page 73 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 Q173CPU(N) ( Q172EX: Up to 6 modules ) Up to 8 modules Q172CPU(N) ( Q172EX: Up to 4 modules ) •...
Page 74 (b) Interface with external equipment The interface between the SY.ENC connector and external equipment is described below. 1) Wiring precautions Ensure the connector lock after connecting the connector. Q173CPU(N)/Q172CPU(N) : Motion CPU module Q173CPU(N)/ Q172EX Q172EX : Serial absolute synchronous Q172CPU(N) encoder interface module SY.ENC connector...
Page 75 2 SYSTEM CONFIGURATION (5) Interface between SY.ENC connector and external equipment Signal Pin No. Input or Wiring example Internal circuit Specification Description SY.ENC connector name Output Transmission method: Serial serial communications absolute Position detection synchronous method: absolute encoder 10 18 19 20 5VDC 1 2 3 11 12 Battery...
Page 76 2 SYSTEM CONFIGURATION (6) Details of encoder cable connections (a) Q172EX(-S1) 1) When not using tracking enable signal Synchronous Synchronous SY.ENC side SY.ENC side encoder side encoder side connector connector connector connector 10120-3000VE MS3106B20-29S 10120-3000VE MS3106B20-29S Plate Plate :Twisted pair cable :Twisted pair cable (Note-1),(Note-3) (Note-1),(Note-4)
Page 77 2 SYSTEM CONFIGURATION (b) Q172EX-S2/Q172EX-S3 (Note-1) 1) When not using tracking enable signal Synchronous encoder side connector(plug) SY.ENC side connector 10120-3000VE (connector) MS3106B22-14S(cable clump) 10320-52F0-008(connector case) SDplate :Twisted pair cable Q170ENCCBL2M to Q170ENCCBL50M(50m (164.04ft.) or less) (Note-1), (Note-2) 2) When using tracking enable signal Synchronous encoder side connector(plug) SY.ENC side connector 10120-3000VE (connector)
Page 78 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 A6BAT/MR-BAT Item Classification...
Page 79 2 SYSTEM CONFIGURATION (c) Battery service life time Battery service life time Guaranteed time(MIN) [ h ] Actual time(TYP) [ h ] MR-HENC 1 pcs. 10000 30000 MR-HENC 2 pcs. 5000 15000 Q170ENC 1 pcs. 8000 24000 Q170ENC 2 pcs. 4000 12000 CAUTION...
Page 80: Q173Px Manual Pulse Generator Interface Module
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 Q173PX-S1 PLS.A PLS.B TREN PULSER Q173PX Name Application Hook used to fix the module to the base unit.
Page 81 2 SYSTEM CONFIGURATION Name Application Detection setting of TREN1 signal Dip switch 1 TREN is detected when TREN signal turns off to on. Dip switch 2 Dip switches TREN is detected when TREN (Note-1)(Note-2) signal turns on to off. Detection setting of TREN2 signal Dip switch 3 TREN is detected when TREN signal turns off to on.
Page 82 2 SYSTEM CONFIGURATION (2) Performance specifications (a) Module specifications Specifications Item Q173PX Q173PX-S1 Memory for data exchange None Provided Number of I/O occupying points 32 points(I/O allocation: Intelligent, 32 points) Internal current consumption(5VDC)[A] 0.11 98(H) 27.4(W) 90(D) Exterior dimensions [mm(inch)] (3.86(H) 1.08(W) 3.54(D) ) Mass [kg] 0.15...
Page 83 2 SYSTEM CONFIGURATION (c) Manual pulse generator/Incremental synchronous encoder input Item Specifications Number of modules 3/module Voltage-output/ High-voltage 3.0 to 5.25VDC Open collector type Low-voltage 0 to 1.0VDC Differential-output type High-voltage 2.0 to 5.25VDC (26LS31 or equivalent) Low-voltage 0 to 0.8VDC Input frequency Up to 200kpps (After magnification by 4) Voltage-output type/Open-collector type (5VDC), Recommended...
Page 84 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 Q173CPU(N) Up to 3 modules ( Up to 1 module ) Q172CPU(N)
Page 85 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.
Page 86 2 SYSTEM CONFIGURATION (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 Pin No. PULSER connector Input or Signal name Voltage-Output Wiring example Internal circuit Specification Description Output...
Page 87 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. PULSER connector Input or Specification Signal name Wiring example Internal circuit Description Voltage-Output Output...
Page 88 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 generator side generator side Signal name Signal name HA P HA N HB P HB N...
Page 89: Manual Pulse Generator/Serial Absolute Synchronous Encoder
2 SYSTEM CONFIGURATION 2.4.7 Manual pulse generator/Serial absolute synchronous encoder (1) Table of the Manual pulse generator specifications Item 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 Output current = Up to 20mA Power supply voltage...
Page 90 2 SYSTEM CONFIGURATION (2) Table of the Serial absolute synchronous encoder specifications Specifications Item (Note-1) MR-HENC Q170ENC Ambient temperature -5 to 55°C(23 to 131°F) Resolution 16384PLS/rev 262144PLS/rev Connectable encoder Q172EX(-S1) Q172EX-S2/-S3 Transmission method Serial communications Direction of increasing addresses CCW(viewed from end of shaft) Dustproof/Waterproof Protective construction IP52...
Page 91: A31Tu-D3 /A31Tu-Dn
2 SYSTEM CONFIGURATION 2.4.8 A31TU-D3 /A31TU-DN Teaching unit (Japanese version only) Teaching unit A31TU-D3 /A31TU-DN 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 Q173CPUN-T/ Q172CPUN-T is usable only.
Page 92 2 SYSTEM CONFIGURATION REMARK 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. CAUTION If the teaching unit A31TU-D3 is released during operation, the emergency stop state of Motion CPU occurs, and the servomotor becomes coasting state.
Page 93 2 SYSTEM CONFIGURATION (2) A31TU-D3 /A31TU-DN Name of parts DISABLE ENABLE A31TU DATA MONITOR TEST PROGRAM STOP EMG.STOP INSTRUCTION ITEM CLEAR OVERRIDE WRITE DELETE INDIRECT STEP - STORE STEP + FUNCTION RETURN ERROR SHIFT RESET AXIS JOG - JOG + Name Application 4 lines ×...
Page 94 2 SYSTEM CONFIGURATION (3) Teaching unit specifications Specifications Items A31TU-D3 A31TU-DN Language Japanese Tact switch 28 keys for SV ENABLE/DISABLE switch Operation enable/disable Operation Emergency stop switch Push lock return reset type Deadman switch 3-position switch None Contrast adjusting switch Shade/light Display method 4 lines ×...
Page 95 2 SYSTEM CONFIGURATION 4) When the teaching unit (A31TU-D3 ) 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.
Page 96 2 SYSTEM CONFIGURATION (b) Connection between the teaching unit (A31TU-DN ) and Motion CPU (Q173CPUN-T/Q172CPUN-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.
Page 97 2 SYSTEM CONFIGURATION Connection example between the cable for teaching unit (Q170TUDNCBL3M) is shown below. A31TU-DN Control panel Q173CPUN-T/Q172CPUN-T DISABLE ENABLE A31TU QX40 Q172EX Q173PX-S1 MELSEC Q02HCPU Q173C PUN-T PLS.A PLS.B TREN Q61P- A1 0 1 2 3 4 5 6 7 SY.ENC TREN POWER...
Page 98 2 SYSTEM CONFIGURATION 2) When the connector is connected directly in the control panel. a) Connect the cable for teaching unit (Q170TUDNCBL03M-A) to the TU connector of Motion CPU (Q173CPUN-T/Q172CPUN-T) after connecting to the teaching unit (A31TU-DN ). b) When the teaching unit (A31TU-DN ) is not used, connect the short-circuit connector for teaching unit (Q170TUTM) after removing a TU connector of cable for teaching unit (Q170TUDNCBL03M-A) from a TU connector of Motion CPU (Q173CPUN-T/Q172CPUN-T).
Page 99 2 SYSTEM CONFIGURATION CAUTION Do not connect the A31TU-D3 to the cable for teaching unit (Q170TUDNCBL03M-A). The protective function stops working. Be sure to fix the relay portion of a connector which has connected the cable for teaching unit (Q170TUDNCBL03M-A) with teaching unit (A31TU-DN ) so that impossible power is not applied for the connector of Motion CPU (Q173CPUN-T/Q172CPUN-T).
Page 100 2 SYSTEM CONFIGURATION (c) When not using a teaching unit (A31TU-D3 /A31TU-DN ) Connect a short-circuit connector for teaching unit (Q170TUTM) to a TU connector of Motion CPU (Q173CPUN-T/Q172CPUN-T). Connection example without teaching unit (A31TU-D3 /A31TU-DN ) is shown below. Q173CPUN-T/Q172CPUN-T Control panel QX40...
Page 101: Sscnet Cables, Terminal Connector And Connection Method
When using the Q172CPU(N), only 1 SSCNET cable for connection to servo amplifier can be used. (Connect to CN1.) When using the Q173CPU(N), up to 4 SSCNET cables for connection to servo amplifier can be used. (Connect to CN1.) Up to 8 servo amplifies can be connected to 1 SSCNET cable.
Page 102 2 SYSTEM CONFIGURATION (b) When using the Dividing cable Q173CPU(N) Motion CPU module SSCNET cable over all length per 1 system 2)+total of 3) 30m(98.43ft.) SSCNET SYSTEM1 MITSUBISHI MITSUBISHI CN1A CN1B CN1A CN1B Servo amplifier Servo amplifier SSCNET SYSTEM2 MITSUBISHI...
Page 103 Connected to the last MR-J2 -B by MR-A-TM —— SSCNET (Note-1) : Branch from a connector on the Q173CPU(N) side according to the number of systems. (Note-2) : =cable length (Note-3) : =SSCNET SYSTEM No.(none(SYSTEM 1), 2(SYSTEM 1/2), 4(SYSTEM 1/2/3/4))
Page 104 2 SYSTEM CONFIGURATION (2) Connection between the Q172CPU(N) and servo amplifiers (a) When using the external battery Q172CPU(N) Motion CPU module SSCNET cable over all length per 1 system 1)+total of 3) 30m(98.43ft.) SSCNET SYSTEM1 MITSUBISHI MITSUBISHI CN1A CN1B CN1A CN1B MITSUBISHI LITHIUM BATTERY Battery unit...
Page 105 2 SYSTEM CONFIGURATION List of SSCNET cable model name (Note-1) Part name Model name Cable length Description Servo 0.5m(1.64ft.), 1m(3.28ft.), Servo amplifier (MR-J2 -B) Q172J2BCBL M-B Q172CPU(N) amplifier 5m(16.40ft.) Battery unit (Q170BAT) Motion 0.5m(1.64ft.), 1m(3.28ft.), Servo amplifier (MR-H-BN) Battery Q172HBCBL M-B Q172CPU(N) 5m(16.40ft.) Battery unit (Q170BAT)
Page 106 2 SYSTEM CONFIGURATION (3) Cable specifications (a) Q172J2BCBL M (-B) Model name Q172J2BCBL05M(-B) Q172J2BCBL1M(-B) Q172J2BCBL5M(-B) Item Cable length [m(ft.)] 0.5(1.64) 1(3.28) 5(16.40) (b) Q172HBCBL M (-B) Model name Q172HBCBL05M(-B) Q172HBCBL1M(-B) Q172HBCBL5M(-B) Item Cable length [m(ft.)] 0.5(1.64) 1(3.28) 5(16.40) (c) Q173J2B CBL M Model name Q173J2B CBL05M Q173J2B CBL1M...
Page 107 2 SYSTEM CONFIGURATION (h) FR-V5NSCBL Model name FR-V5NSCBL01 FR-V5NSCBL05 FR-V5NSCBL10 FR-V5NSCBL20 FR-V5NSCBL005 Item Cable length [m(ft.)] 0.5(1.64) 1(3.28) 5(16.40) 10(32.81) 20(65.62) (4) Connection example with servo amplifiers As the SSCNET cables or terminal connector is different depending on the servo amplifiers, refer to the following connection example.
Page 108 /Q172CPU(N) Battery Battery Battery MR-BAT, MR-BAT, MR-BAT, A6BAT A6BAT A6BAT Q172CPU(N) configuration : Q172HBCBL M Q173CPU(N) configuration : Q173HB CBL M (b) MR-J2 -B configuration Motion CPU module MR-J2 -B MR-J2 -B MR-J2 -B Terminal Q173CPU(N) connector /Q172CPU(N) Battery...
Page 109 Motion CPU MR-J2 -B FR-V5 0- module Terminal connector Q173CPU(N) setting is set by /Q172CPU(N) connector in FR-V5NS. SSCNET Battery communication MR-BAT, option A6BAT FR-V5NS Q172J2BCBL M Q172CPU(N) configuration : Q172J2BCBL M Q173CPU(N) configuration : Q173J2B CBL M 2 - 90...
Page 110 FR-V5NS Q172HBCBL M Q172CPU(N) configuration : Q172HBCBL M Q173CPU(N) configuration : Q173HB CBL M (i) When using the external battery As the SSCNET cable used depend on the servo amplifiers, when using the external battery, refer to the following connection example.
Page 111 2 SYSTEM CONFIGURATION • FR-V5 0- + MR-J2 -B configuration Q173DVCBL M Motion CPU module Q173DV FR-V5 0- MR-J2 -B Terminal connector Q173CPU(N) Battery setting is set by connector in FR-V5NS. MR-BAT, A6BAT SSCNET Battery communication MR-BAT, option A6BAT FR-V5NS Q172J2BCBL M •...
Page 112 2 SYSTEM CONFIGURATION 2) Example of Q172CPU(N) • MR-H-BN + MR-J2 -B + MR-H-BN configuration Q172HBCBL M-B Motion MR-H-BN MR-J2 -B MR-H-BN CPU module Terminal Q172CPU(N) connector Battery Battery Battery MR-BAT, MR-BAT, MR-BAT, A6BAT A6BAT A6BAT Q170BAT MR-BAT, A6BAT Battery •...
Page 113 Axis No. is used to set the axis numbers of servo amplifiers connected to SSCNET connector(CN ) in the program. Axis No. of 1 to 32 can be set for Q173CPU(N), and axis No. of 1 to 8 can be set for Q172CPU(N).
Page 114 The Dividing unit (Q173DV) and the SSCNET cables (Q173J2B CBL M/ Q173HB CBL M) between the Motion CPU and servo amplifiers divide signals allocated in CN1 of the Q173CPU(N) into each of the four systems. Corresponding between connector No. after division and SSCNET system No. is shown below.
Page 115: External Battery
These batteries more than 24 units require packing based on Packing Instruction 903. If you need the self-certification form for the battery safety test, contact Mitsubishi. For more information, contact Mitsubishi. (2) Q173CPU(N)/Q172CPU(N) back-up by the external battery When using the external battery, set the external battery(A6BAT/MR-BAT) in the system settings.
Page 116 Connection procedure of Q173CPU(N) and A6BAT/MR-BAT 1) Set the A6BAT/MR-BAT to the Dividing unit (Q173DV). 2) Connect the A6BAT/MR-BAT connector to the BAT connector of Q173DV. 3) Connect between Q173CPU(N) and Q173DV by the SSCNET cable (Q173DVCBL M). Q173CPU(N) Motion...
Page 117 2 SYSTEM CONFIGURATION (b) Connection with Q172CPU(N) Connection procedure of Q172CPU(N) and A6BAT/MR-BAT 1) Set the A6BAT/MR-BAT to the Battery unit (Q170BAT). 2) Connect the A6BAT/MR-BAT connector to the BAT connector of Q170BAT. 3) Connect between Q172CPU(N) and Q170BAT by the SSCNET cable. Q172CPU(N) Motion CPU Module...
Page 118: Cooling Fan Unit (Q170Fan) (Q173Cpu/Q172Cpu Only)
2 SYSTEM CONFIGURATION 2.4.11 Cooling fan unit (Q170FAN) (Q173CPU/Q172CPU only) This section explains the specifications of the Cooling fan unit (Q170FAN) used for the Motion CPU module. (1) Removable conditions of the Cooling fan unit It is possible to remove the Cooling fan unit (Q170FAN) in order to disperse heat from inside the Motion CPU module according to the number of Motion CPU module and ambient temperature conditions.
Page 119 2 SYSTEM CONFIGURATION (3) In point of the layout design within the control panel Leave 50mm (1.97inch) or more clearance between the top of the modules and structures or parts. Top of panel or wiring duct 50mm The wind blows lies Cooling fan unit (1.97inch) min.
Page 120: Design
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).
Page 121 3 DESIGN Refer to section 3.2 External circuit design Power supply circuit design Refer to section 3.2.1 Design the power supply circuit which supplies power to such system components as the Motion controller, I/O equipment and servo amplifiers, etc., taking into consideration the protective coordination and noise suppression techniques.
Page 122 3 DESIGN 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.
Page 123: External Circuit Design
(1) Sample system circuit design for motion control 1 3-phase 200/220VAC Servo external Power Supply Motion CPU Input module Output module PLC CPU signals interface Q61P-A2 Q173CPU(N)/ QX40 QY10 Qn(H)CPU module Q172CPU(N) Q172LX 200VAC FLS1 200VAC Forced stop DOG8/...
Page 124 3 DESIGN POINT < Example> For control axis 1 and axis 2 Servo error detection 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 electromagnetic brake.
Page 125 3 DESIGN (2) Sample system circuit design for motion control 2 (For A31TU-DN ) 3-phase 200/220VAC Power Supply PLC CPU Motion CPU Servo external Output module Input module signals interface Qn(H)CPU Q173CPUN-T/ Q61P-A2 QX40 QY10 module Q172CPUN-T Q172LX 200VAC FLS1 Forced stop 200VAC DOG8/...
Page 126 3 DESIGN POINT < Example> For control axis 1 and axis 2 1) (Note-1) : The following is the Motion SFC program example. Servo error detection 2) (Note-2) : It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake.
Page 127 3 DESIGN (3) Sample system circuit design for motion control 3 (For A31TU-D3 ) 3-phase 200/220VAC Power Supply PLC CPU Motion CPU Servo external Output module Input module signals interface Qn(H)CPU Q61P-A2 Q173CPUN-T/ module QX40 QY10 Q172CPUN-T Q172LX 200VAC FLS1 200VAC Forced stop DOG8/...
Page 128 3 DESIGN POINT < Example> For control axis 1 and axis 2 1) (Note-1) : The following is the Motion SFC program example. Servo error detection 2) (Note-2) : It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake.
Page 129 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 Transformer Transformer Transformer DC power supply Fuse Fuse established signal input...
Page 130 3 DESIGN (b) System design circuit example(when using ERR contact of power supply module) Power supply Using AC and DC Transformer Transformer DC power supply Fuse Fuse established signal input DC power SM52 START/STOP circuit supply Starting possible (-) (+) SM403 when the PLC RUN Fuse...
Page 131: Power Supply Circuit Design
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.
Page 132: Safety Circuit Design
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.
Page 133 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...
Page 134: Layout Design Within The Control Panel
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 following conditions. Q173CPU/Q172CPU Number of Q173CPUN(-T)/ With Cooling fan unit the Motion CPU...
Page 135: Layout Design Of The Base Units
(For details on layout design refer to section 4.1.2 "Instructions for installation of the base unit".) Bottom Side Q173CPUN/Q172CPUN Duct height : 40mm(1.57inch) Q173CPUN-T/Q172CPUN-T over 50mm(1.97inch) or more Q173CPU/Q172CPU 100mm(3.94inch) 5mm(0.20inch) Duct height : 30mm(1.18inch) (Without Cooling fan unit) or more or more 50mm(1.97inch) or less or more Q173CPU/Q172CPU 50mm(1.97inch)
Page 136: Calculating Heat Generation By Motion Controller
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 Q173CPU(N)/ Q172CPU(N) system is described. From the power consumption, calculate a rise in ambient temperature inside the control panel.
Page 137 3 DESIGN (6) Power consumption of the power supply section of the intelligent function module 5 + I 24 + I 100 [W] 100V The total of the power consumption values calculated for each block becomes the power consumption of the overall Motion system. W = W From this overall power consumption (W), calculate the heating value and a rise in ambient temperature inside the control panel.
Page 138 3 DESIGN (e) A total of 24 VDC average power consumption of the output module = 192 [W] (8A/common) (f) Average power consumption due to voltage drop in the output section of the output module = 0 [W] (g) Average power consumption of the input section of the input module = 0.004 1 = 3.07 [W] (h) Power consumption of the power supply section of the intelligent function...
Page 139: Design Checklist
3 DESIGN 3.4 Design Checklist At the worksite, copy the following table for use as a check sheet. Item Sub Item Design confirmation Check Number of axes axes Number of I/O points points CPU module selection Motion CPU module selection PLC CPU module selection Manual pulse generator pcs.
Page 140: Installation And Wiring
4 INSTALLATION AND WIRING 4. INSTALLATION AND WIRING 4.1 Module Installation 4.1.1 Instructions for handling 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.
Page 141 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. 1) Fit the two fixing screws for top of the CPU base unit to the panel.
Page 142: Instructions For Installation Of The Base Unit
(Note-1) : When the extension cable is connected without removing the adjacent module: 20mm (0.79 inch) or more. (Note-2) : Q173CPU/Q172CPU : 50mm (1.97 inch) or more Q173CPUN(-T)/Q172CPUN(-T)(Height of a wiring duct is 50mm (1.97 inch) or more) : 40mm (1.57 inch) or more...
Page 143 4 INSTALLATION AND WIRING (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. (b) Do not use it in either of the orientations shown below. Vertical Flat (4) Installation surface...
Page 144: Installation And Removal Of Module
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 Q3 B,Q6 B The installation and removal procedure of the module from Q3 B/Q6 B base unit are described below.
Page 145 4 INSTALLATION AND WIRING (b) Removal from Q3 B and Q6 B Base unit Hold the module with both hands, and push the hook on the top of the module with a finger until it stops. Module connector Module While pushing the hook, and using the bottom of the module as a support, pull the module toward you.
Page 146: Installation And Removal Of Cable
4 INSTALLATION AND WIRING 4.2 Installation and Removal of Cable 4.2.1 SSCNET cable (1) Precautions for handling the SSCNET cable • Do not stamp the SSCNET cable. • When laying the SSCNET cable, be sure to secure the minimum cable bend radius of 30 mm(1.18 inch) or more.
Page 147: Ssc I/F Communication Cable
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.
Page 148: Battery Cable
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 cable connector. Battery cable CPU/BAT connector Battery unit (Q170BAT) (2) Installation of the battery cable •...
Page 149: Cable For Teaching Unit
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.
Page 150 4 INSTALLATION AND WIRING CAUTION When a teaching 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. Do not connect the Motion CPU module side connector of the cable for teaching unit (Q170TUD CBL(-A)) and the connecting cable for SSCNET dividing unit (Q173DVCBL) each other.
Page 151: Installation Of The Serial Absolute Synchronous Encoder
4 INSTALLATION AND WIRING 4.3 Installation of the Serial Absolute Synchronous Encoder This section described instructions for handling the Serial absolute synchronous encoder (MR-HENC/Q170ENC). (1) If the 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 MR-HENC/Q170ENC through a coupling.
Page 152 4 INSTALLATION AND WIRING CAUTION The MR-HENC/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 prescribed limits. Do not connect the shaft of MR-HENC/Q170ENC directly to machine side rotary shaft. Always after connecting the shaft of MR-HENC/Q170ENC to another bearing once, connect the shaft of MR- HENC/Q170ENC through a flexible coupling.
Page 153: Replacement Of The Cooling Fan Unit (Q170Fan) (Q173Cpu/Q172Cpu Only)
4 INSTALLATION AND WIRING 4.4 Replacement of the Cooling fan unit (Q170FAN) (Q173CPU/Q172CPU only) (1) Removal and installation of the cooling fan unit (Q170FAN) (a) Removal of cooling fan unit from Q173CPU/Q172CPU The removal of the cooling fan unit are described below.
Page 154: Wiring
4 INSTALLATION AND WIRING 4.5 Wiring 4.5.1 Instructions for wiring 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.
Page 155 4 INSTALLATION AND WIRING (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.
Page 156 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.
Page 157: Wiring To The Power Supply Module
4 INSTALLATION AND WIRING 4.5.2 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 100/110VAC (Q38B) Q61P-A1 Fuse 24VDC INPUT 100-120VAC Connect to 24VDC terminals of I/O module that requires...
Page 158: Installation/Wiring Checklist
Motion CPU control slots. Check for looseness, rattling or distorted installation. Check that the module fixing screw tightening torque is as specified. Check that the combination Q173CPU(N) and Dividing unit are correct. Installation of dividing unit Check for looseness, rattling or distorted installation.
Page 159 Item Sub Item Installation/wiring confirmation Check When using Q173DV, check that the Q173CPU(N) and Q173DV are connected to the SSCNET cable. When using the external battery, check that the Q172CPU(N) and Q170BAT are connected to the SSCNET cable. Check that SSCNET cable model names for connection between...
Page 160: Trial Operation And Adjustment
Model name Confirmation Items Reference (1) Check that the battery lead connector is connected into the BAT connector of the 2.4.10 Q173CPU(N)/Q172CPU(N) Dividing unit correctly. Motion CPU module (2) Check that the battery voltage is normal. (Normal value: 3.6V) 2.4.10 (1) (1) Check that the installation position of module corresponds to the system setting.
Page 161: Trial Operation And Adjustment Procedure
5 TRIAL OPERATION AND ADJUSTMENT 5.2 Trial Operation and Adjustment Procedure The mode indicated in the brackets [ ] at top left of Servo start-up procedure each step is the mode for checking or setting by the peripheral device. Turn OFF Multiple CPU system power supply PLC CPU Check that the power supply of Multiple Motion CPU...
Page 162 5 TRIAL OPERATION AND ADJUSTMENT Refer to Section 2.4.4 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) Refer to Section 2.4.5 Check external inputs to Q172EX...
Page 163 5 TRIAL OPERATION AND ADJUSTMENT DANGER [Programming mode] Never open the front case or terminal cover at Create Motion programs times other than wiring work or periodic Motion CPU inspections even if the power is OFF. The Create the Motion programs by GSV P. insides of the Motion controller and servo amplifier are charged and may lead to electric [Parameter setting...
Page 164 5 TRIAL OPERATION AND ADJUSTMENT [Test mode servo start-up (Initial check) ] Axis No. and error description of servo amplifier which Check servo amplifier detected errors are displayed on initial check screen. Check that the installed servo amplifiers operate correctly. [Test mode servo start-up (Model name check) ]...
Page 165 5 TRIAL OPERATION AND ADJUSTMENT [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 Motion CPU [Programming mode] Check Motion program Set the RUN/STOP key of PLC/Motion CPU...
Page 166: Operating System Software Installation Procedure
5 TRIAL OPERATION AND ADJUSTMENT 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. Start installation Open the cover at the front of the Refer to Section 2.4.1(3) for install switch.
Page 167: Trial Operation And Adjustment Checklist
5 TRIAL OPERATION AND ADJUSTMENT 5.4 Trial Operation and Adjustment Checklist At the worksite, copy the following table for use as a check sheet. Check Work Step Item Trial Operation and Adjustment Confirmation Check that the each module is installed correctly. Check that the each connector is connected correctly.
Page 168: Inspection And Maintenance
6 INSPECTION AND MAINTENANCE 6. INSPECTION AND MAINTENANCE 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.
Page 169: Maintenance Works
6 INSPECTION AND MAINTENANCE 6.1 Maintenance Works 6.1.1 Instruction of inspection works In order that can use the Motion controller in safety and normal, those items that must be inspected list below. 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.
Page 170 6 INSPECTION AND MAINTENANCE 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.
Page 171: Daily Inspection
6 INSPECTION AND MAINTENANCE 6.2 Daily Inspection The items that must be inspected daily are listed below. Table 6.1 Daily Inspection Item Inspection item Inspection Criterion Action Check that the fixing Installation of the base The screws and cover must be installed Retighten the screws are not loose and unit...
Page 172 20% of the initial time.) Cooling fan unit unit is exceeded, (Q173CPU/Q172CPU Check that the connectors only) for cooling fan unit is not The connectors for cooling fan unit and hooks...
Page 173: Periodic Inspection
No vibration, howl and noise. (The service life time of the Cooling fan unit Replace it with a new one. If cooling fan unit: when the (Q173CPU/Q172CPU Check visually. a service life time of the number of the revolution only)
Page 174: External Battery
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.
Page 175: Battery Service Life Time
(Note-1) : The actual time in use means the averaged time, and the guaranteed time means the minimum time. (Note-2) : The external battery for Q173CPU(N) is installed to the Dividing unit(Q173DV). The external battery for Q172CPU(N) is installed to the Battery unit(Q170BAT).
Page 176: Battery Replacement Procedure
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.
Page 177 Install a new battery into the holder in the LITHIUM BATTERY correct direction. SSCNET CN2 Connect the lead connector to the BAT connector. Q173CPU Turn on the power supply of the power supply module. Battery unit (Q170BAT) Battery connector for A6BAT/MR-BAT...
Page 178: Discard Of Internal Rechargeable Battery
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 1) 2) Push in 4 hooks of the Motion CPU module 3) Take out a printed circuit board from a case.
Page 179 6 INSPECTION AND MAINTENANCE CAUTION Do not disassemble the modules except the time of discard. Do not short circuit, charge, overheat, incinerate or disassemble the batteries. 6 - 12...
Page 180: Troubleshooting
(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, Q173CPU(N)/Q172CPU(N) module, PLC CPU module, I/O module, Q172LX/Q172EX/Q173PX Motion module, SSCNET cable, SSC I/F communication cable, Synchronous encoder cable and cable for the teaching unit.
Page 181: Troubleshooting Of Motion Cpu Module And I/O Modules
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.
Page 182 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.
Page 183 6 INSPECTION AND MAINTENANCE (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 Is the power supply for all the power Check the wiring and turn on the supplies modules turned on? all power supplies.
Page 184 6 INSPECTION AND MAINTENANCE (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. Is "ERR." LED "Flowchart for when "ERR." LED turned on/flickered? is turned on/flickered."...
Page 185 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. "ERR." LED is turned on/flickered. H/W error Confirm error contents for self CPU by PC diagnostics of the GX Developer.
Page 186 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." LED turned on/flickered? "Flowchart for when "ERR." LED is turned on/flickered."...
Page 187 6 INSPECTION AND MAINTENANCE (f) Flowchart for when "BAT." LED is turned on. In the Motion CPU, when the external battery capacity of the Dividing unit or Battery 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.
Page 188 6 INSPECTION AND MAINTENANCE (g) Flowchart for when output load of output module is not turned 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.
Page 189 6 INSPECTION AND MAINTENANCE (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 GSV P during the power supply ON. The peripheral device cannot communicate to the Motion controller.
Page 190 6 INSPECTION AND MAINTENANCE Is the communication The communication setting is setting correct? USB. Can the CPU communicate with the GSV P? Explain the error symptom and get advice from our sales representative. Is the USB driver installed Install the USB driver into the in the personal computer with personal computer.
Page 191 6 INSPECTION AND MAINTENANCE (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.
Page 192: I/O Modules Troubleshooting
6 INSPECTION AND MAINTENANCE 6.6.3 I/O modules troubleshooting 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...
Page 193 6 INSPECTION AND MAINTENANCE Input Circuit Troubleshooting and Corrective Action (Continued) Condition Cause Corrective action • Sneak path due to the use of two power • Use only one power supply. supplies. • Connect a sneak path prevention diode. (Figure below) Input signal does not Input module...
Page 194 6 INSPECTION AND MAINTENANCE (2) Output circuit troubleshooting and corrective action This section describes troubleshooting with output circuits and their corrective actions. Output Circuit Troubleshooting and Corrective Action Condition Cause Corrective action • If load is internally half-wave rectified • Connect a resistor between several tens k (some solenoids are like this).
Page 195: Confirm Method Of Error Code
6 INSPECTION AND MAINTENANCE 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-GSV P. The procedure for reading error codes by the SW6RN-GSV P is as follows. (1) Start the SW6RN-GSV P.
Page 196: Appendices
MR-H-BN Q172HBCBL M (Note-2) • MR-H-BN FR-V5NS Q172HBCBL M-B • Q172CPU(N) MR-H-BN + Q170BAT Q173DVCBL M 0.5(1.64), 1(3.28) • Q173CPU(N) Q173DV App. Q173J2B CBL M • Q173CPU(N) MR-J2 -B Q173HB CBL M • Q173CPU(N) MR-H-BN • MR-J2 -B MR-J2 -B MR-J2HBUS M 0.5(1.64), 1(3.28), 5(16.40)
Page 197 APPENDICES Use the following or equivalent twisted pair cables as the SSCNET cables. Table 2 Wire models Type Length [m(ft.)] Wire model Q172J2BCBL M(-B) 0.5(1.64), 1(3.28), 5(16.40) UL20276 AWG#28 7pair(CREAM) Q172HBCBL M(-B) Q173DVCBL M 0.5(1.64), 1(3.28) UL20276 AWG#28 13pair(CREAM) Q173J2B CBL M UL20276 AWG#28 7pair(CREAM) Q173HB CBL M...
Page 198 APPENDICES (a) Q172J2BCBL M(-B) 1) Model explanation Type: Q172J2BCBL Symbol Connect Battery unit None Symbol Cable length [m(ft.)] 0.5(1.64) 1(3.28) 5(16.40) 2) Connection diagram When fabricating a cable, use the recommended wire given on APPENDIX 1.1, and make the cable as show in the following connection diagram.
Page 199 APPENDICES (b) Q172HBCBL M(-B) 1) Model explanation Type: Q172HBCBL Symbol Connect Battery unit None Symbol Cable length [m(ft.)] 0.5(1.64) 1(3.28) 5(16.40) 2) Connection diagram When fabricating a cable, use the recommended wire given on APPENDIX 1.1, and make the cable as show in the following connection diagram.
Page 200 APPENDICES (c) Q173DVCBL M 1) Model explanation Type: Q173DVCBL M Symbol Cable length [m(ft.)] 0.5(1.64) 1(3.28) 2) Connection diagram When fabricating a cable, use the recommended wire given on APPENDIX 1.1, and make the cable as show in the following connection diagram.
Page 201 APPENDICES (d) Q173J2B CBL M 1) Model explanation Type: Q173J2B CBL M Symbol Number of SSCNET SYSTEM Symbol Cable length [m(ft.)] SSCNET SYSTEM1 0.5(1.64) none SSCNET SYSTEM2 1(3.28) 5(16.40) SSCNET SYSTEM3 SSCNET SYSTEM4 2) Connection diagram When fabricating a cable, use the recommended wire given on APPENDIX 1.1, and make the cable as show in the following connection diagram.
Page 202 APPENDICES (e) Q173HB CBL M 1) Model explanation Type: Q173HB CBL M Symbol Number of SSCNET SYSTEM Symbol Cable length [m(ft.)] SSCNET SYSTEM1 0.5(1.64) none SSCNET SYSTEM2 1(3.28) 5(16.40) SSCNET SYSTEM3 SSCNET SYSTEM4 2) Connection diagram When fabricating a cable, use the recommended wire given on APPENDIX 1.1, and make the cable as show in the following connection diagram.
Page 203 APPENDICES MR-J2HBUS M 1) Model explanation Type: MR-J2HBUS M Symbol Cable length [m(ft.)] 0.5(1.64) 1(3.28) 5(16.40) 2) Connection diagram When fabricating a cable, use the recommended wire given on APPENDIX 1.1, and make the cable as show in the following connection diagram.
Page 204 APPENDICES (g) MR-J2HBUS M-A 1) Model explanation Type: MR-J2HBUS Symbol Cable length [m(ft.)] 0.5(1.64) 1(3.28) 5(16.40) 2) Connection diagram When fabricating a cable, use the recommended wire given on APPENDIX 1.1, and make the cable as show in the following connection diagram.
Page 205 APPENDICES (h) MR-HBUS M 1) Model explanation Type: MR-HBUS Symbol Cable length [m(ft.)] 0.5(1.64) 1(3.28) 5(16.40) 2) Connection diagram When fabricating a cable, use the recommended wire given on APPENDIX 1.1, and make the cable as show in the following connection diagram.
Page 206: Appendix 1.2 Serial Absolute Synchronous Encoder Cable
APPENDICES APPENDIX 1.2 Serial absolute synchronous encoder cable 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.
Page 207 APPENDICES (2) MR-JHSCBL M-L/H Synchronous encoder cable is the same encoder cables of the HC-SFS/HC- RFS/HC-UFS 2000 r/min series servomotors. (a) Model explanation Type: MR-JHSCBL M- Specifications Symbol Standard flexing life Symbol Cable length [m(ft.)] Long flexing life 2(6.56) 5(16.40) 10(32.81) 20(65.62) 30(98.43)
Page 208 APPENDICES (3) Q170ENCCBL M (a) Model explanation Type: Q170ENCCBL M Cable length [m(ft.)] Symbol 2(6.56) 5(16.40) 10(32.81) 20(65.62) 30(98.43) 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.
Page 209: Appendix 1.3 Cable For The Teaching Unit
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.
Page 210 APPENDICES Table 9 Wire specifications Characteristics of one core Finished Core Insulating Number of Structure Conductor Wire model size sheath OD cores [mm] [Number of resistance d[mm] (Note-2) wires/mm] [ /km] (Note-1) UL20276 AWG#28 13pair(CREAM) 0.08 26(13 pairs) 7/0.127 222 or less 0.38 UL20276 AWG#24 18pair(CREAM) 0.08...
Page 211 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) (connector) DB-25SF-N (connector case) DB-20962...
Page 212 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) (connector) DB-25SF-N HDR-E26-LPA5 (connector case)
Page 213 APPENDICES (4) Q170TUDNCBL03M-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.). Q170TUDNCBL03M-A HDR-E26FG1 (connector) (connector) 17JE-13250-02(D8A) (connector case) HDR-E26-LPA5...
Page 214 APPENDICES (5) A31TU-D 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-D cable (5m(16.40ft.)).
Page 215: Appendix 2 Exterior Dimensions
APPENDICES APPENDIX 2 Exterior Dimensions APPENDIX 2.1 CPU module (1) Q172CPUN Module [Unit: mm (inch)] Q172CPUN MODE ERR. M.RUN BAT. BOOT FRONT SSCNET PULL RS-232 17.5 27.4(1.08) 79.5(3.13) (0.69) 114.3(4.50) (2) Q173CPUN Module [Unit: mm (inch)] Q173CPUN MODE ERR. M.RUN BAT.
Page 216 APPENDICES (3) Q172CPUN-T Module [Unit: mm (inch)] Q172CPUN-T MODE ERR. M.RUN BAT. BOOT FRONT SSCNET PULL RS-232 17.5(0.69) 27.4(1.08) 46(1.81) 79.5(3.13) 114.3(4.50) (4) Q173CPUN-T Module [Unit: mm (inch)] Q173CPUN-T MODE ERR. M.RUN BAT. BOOT FRONT SSCNET PULL RS-232 46(1.81) 27.4(1.08) 79.5(3.13) 114.3(4.50) App - 21...
Page 217 Cooling fan unit 26(1.02) Q172CPU MODE ERR. M.RUN BAT. BOOT FRONT SSCNET PULL RS-232 17.5 27.4(1.08) (0.69) 48.5(1.91) 89.3(3.52) (6) Q173CPU Module [Unit: mm (inch)] Cooling fan unit 26(1.02) Q173CPU MODE ERR. M.RUN BAT. BOOT FRONT SSCNET PULL RS-232 17.5 27.4(1.08) (0.69) 48.5(1.91)
Page 218 Q173CPUN(-T)/ ERR. Q172CPUN(-T) M.RUN BAT. Motion module BOOT FRONT SSCNET PULL RS-232 SSCNET cable 27.4(1.08) 114.3(4.50) (8) Q173CPU/Q172CPU Module (with SSCNET cable) [Unit: mm (inch)] Cooling fan unit 26(1.02) Q173CPU MODE Q173CPU/ ERR. Q172CPU M.RUN BAT. Motion module BOOT FRONT...
Page 219: Appendix 2.2 Servo External Signals Interface Module (Q172Lx)
APPENDICES APPENDIX 2.2 Servo external signals interface module (Q172LX) [Unit: mm (inch)] Q172LX CTRL Q172LX 27.4(1.08) 45(1.77) 90(3.54) APPENDIX 2.3 Serial absolute synchronous encoder interface module (Q172EX/Q172EX-S1/Q172EX-S2/Q172EX-S3) [Unit: mm (inch)] Q172EX SY.ENC TREN SY.ENC1 SY.ENC2 Q172EX 4.2(0.17) 39.0(1.54) 90(3.54) 27.4(1.08) App - 24...
Page 220: Appendix 2.4 Manual Pulse Generator Interface Module (Q173Px/Q173Px-S1)
APPENDICES APPENDIX 2.4 Manual pulse generator interface module (Q173PX/Q173PX-S1) (1) Q173PX [Unit: mm (inch)] Q173PX PLS.A PLS.B TREN PULSER Q173PX 27.4(1.08) 45(1.77) 90(3.54) (2) Q173PX-S1 [Unit: mm (inch)] Q173PX-S1 PLS.A PLS.B TREN PULSER Q173PX 27.4(1.08) 45(1.77) 90(3.54) App - 25...
Page 221: Appendix 2.5 Power Supply Module (Q61P-A1, Q61P-A2, Q62P, Q63P, Q64P)
APPENDICES APPENDIX 2.5 Power supply module (Q61P-A1, Q61P-A2, Q62P, Q63P, Q64P) [Unit: mm (inch)] (1) Q61P-A1, Q61P-A2, Q62P, Q63P Q61P-A1 POWER PULL 90(3.54) 55.2(2.17) (2) Q64P [Unit: mm (inch)] Q64P POWER PULL 115(4.53) 55.2(2.17) App - 26...
Page 222: Appendix 2.6 Dividing Unit (Q173Dv), Battery Unit (Q170Bat)
APPENDIX 2.6 Dividing unit (Q173DV), Battery unit (Q170BAT) (1) Dividing unit (Q173DV) [Unit: mm (inch)] 4- 5.3(0.21) (Fixing screw M5 14) SSCNET CN3 SSCNET CN1 SSCNET CN2 SSCNET CN4 Q173CPU Q173DV PASSED DATE 125(4.92) (0.30) 140(5.51) (2) Battery unit (Q170BAT) [Unit: mm (inch)] 2- 5.3(0.21)
Page 223: Appendix 2.7 Connector
APPENDICES APPENDIX 2.7 Connector (1) Honda connectors make(HDR model) (Cable connector for the teaching unit) Type Number of pins Connector Connector case HDR-E14MG1 HDR-E14LPA5 HDR-E26MG1 HDR-E26LPA5 HDR-E26FG1 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...
Page 224 APPENDICES (2) Sumitomo 3M make(MDR type) (Cable connector for the serial absolute synchronous encoder) Type Number of pins Type Connector Connector case Solder connection type 10120-3000VE 10320-52F0-008 (Quick release metal latch type) Solder connection type 10120-3000VE 10320-52A0-008 (Threaded type) Insulation displacement type (Note) (Note) 10120-6000EL...
Page 225 APPENDICES (b) Solder connection type(Threaded type) Type Connector : 10120-3000VE/10126-3000VE Connector case: 10320-52A0-008/10326-52A0-008 [Unit: mm (inch)] 12.0(0.47) 14.0(0.55) Number of pins 22.0(0.87) 20 pin 33.3(1.31) 27.4(1.08) 26 pin 25.8(1.02) 37.2(1.46) 31.3(1.23) 12.7 (0.50) (c) Insulation displacement type(Quick release metal latch type) Type Connector : 10120-6000EL/10126-6000EL Connector case: 10320-3210-000/10326-3210-000...
Page 226 APPENDICES (4) Q170TUD3CBL(A31TU-D3 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)]...
Page 227 APPENDICES (6) A31TUD3TM Type Connector : 17JE-23250-02(D8A) (Maker : DDK) [Unit: mm (inch)] Cable outside diameter 9(0.35) or less 35.0(1.38) A31TUD3TM 54.0(2.13) App - 32...
Page 228: Appendix 2.8 Manual Pulse Generator (Mr-Hdp01)
APPENDICES APPENDIX 2.8 Manual pulse generator (MR-HDP01) [Unit: mm (inch)] 3.6(0.14) Packing t =2.0 3 Studs (M4 10) equi-spaced PCD72, 5 to 12V 0V A B M3 6 8.89 27.0 3- 4.8(0.19) (0.30) (0.35) (0.63) (0.79) (1.06) equi-spaced Space The figure of processing a disc App - 33...
Page 229: Appendix 2.9 Serial Absolute Synchronous Encoder (Mr-Henc/Q170Enc)
APPENDICES APPENDIX 2.9 Serial absolute synchronous encoder (MR-HENC/Q170ENC) (1) MR-HENC [Unit: mm (inch)] 68(2.68) 56(2.20) +0.14 1.15(0.05) 91(3.58) 4- 5.4(0.21) (0.79) 2(0.08) 19.5 Effective dimension +0.14 1.15(0.05) 20(0.79) -0.012 5(0.20) (0.77) 21(0.83) -0.042 28(1.10) 2(0.08) 5(0.20) 3(0.12) 102(4.02) 33(1.30) 135(5.31) Shaft cross-section Cross-section B-B Keyway Dimensional Diagram...
Page 230: Appendix 2.10 Teaching Unit (A31Tu-D3 /A31Tu-Dn )
APPENDICES APPENDIX 2.10 Teaching unit (A31TU-D3 /A31TU-DN ) [Unit: mm (inch)] 153(6.02) DISABLE ENABLE A31TU DATA TEST PROGRAM MONITOR STOP EMG.STOP INSTRUCTION ITEM CLEAR OVERRIDE WRITE DELETE INDIRECT STEP - STORE STEP + FUNCTION RETURN ERROR SHIFT RESET AXIS JOG - JOG + 136(5.35) <Front face>...
Page 231: Appendix 2.11 Cooling Fan Unit (Q170Fan) (Q173Cpu/Q172Cpu Only)
APPENDICES APPENDIX 2.11 Cooling fan unit (Q170FAN) (Q173CPU/Q172CPU only) [Unit: mm (inch)] (0.98) (0.71) (0.04) (0.24) App - 36...
Page 232 APPENDICES MEMO App - 37...
Page 233 WARRANTY Please confirm the following product warranty details before using this product. 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.
Page 234 MOTION CONTROLLER Qseries (Q173CPU ( N ) /Q172CPU ( N )) User's Manual HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN Q173-U-E MODEL MODEL 1XB780 CODE When exported from Japan, this manual does not require application to the IB(NA)-0300040-D(0603)MEE Ministry of Economy, Trade and Industry for service transaction permission.

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Q173cpun Q172cpu Q172cpun

Mitsubishi Electric Q173CPU User Manual

1 Overview

2 System Configuration

3 Design

4 Installation and Wiring

5 Trial Operation and Adjustment

6 Inspection and Maintenance

APPENDIX 1 Cables

APPENDIX 1.1 SSCNET Cables

APPENDIX 1.2 Serial Absolute Synchronous Encoder Cable

APPENDIX 1.3 Cable for the Teaching Unit

APPENDIX 2 Exterior Dimensions

APPENDIX 2.1 CPU Module

APPENDIX 2.2 Servo External Signals Interface Module (Q172LX)

APPENDIX 2.3 Serial Absolute Synchronous Encoder Interface Module (Q172EX/Q172EX-S1/Q172EX-S2/Q172EX-S3)

APPENDIX 2.4 Manual Pulse Generator Interface Module (Q173PX/Q173PX-S1)

APPENDIX 2.5 Power Supply Module (Q61P-A1, Q61P-A2, Q62P, Q63P, Q64P)

APPENDIX 2.6 Dividing Unit (Q173DV), Battery Unit (Q170BAT)

APPENDIX 2.7 Connector

APPENDIX 2.8 Manual Pulse Generator (MR-HDP01)

APPENDIX 2.9 Serial Absolute Synchronous Encoder (MR-HENC/Q170ENC)

APPENDIX 2.10 Teaching Unit (A31TU-D3 /A31TU-DN )

APPENDIX 2.11 Cooling Fan Unit (Q170FAN) (Q173CPU/Q172CPU Only)

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Summary of Contents for Mitsubishi Electric Q173CPU

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