Safety Precautions .........................................................................................................................................A- 1

Revisions ........................................................................................................................................................A-11

Contents .........................................................................................................................................................A-12

About Manuals ...............................................................................................................................................A-19

1. OVERVIEW

1.1 Overview................................................................................................................................................... 1- 1

1.2 Features ................................................................................................................................................... 1- 3

1.2.1 Features of Motion CPU ................................................................................................................... 1- 3

1.2.2 Positioning control by the Motion CPU............................................................................................. 1- 5

1.2.3 Basic specifications of Q173CPU(N)/Q172CPU(N) ........................................................................ 1-13

1.2.4 Differences between Q173CPU(N)/Q172CPU(N) and A173UHCPU/A172SHCPUN................... 1-16

1.2.5 Precautions at the program appropriation (Motion CPU A series

....................................................................................................................................................... 1-18

1.3 Hardware Configuration........................................................................................................................... 1-20

1.3.1 Motion system configuration ............................................................................................................. 1-20

1.3.2 Q173CPU(N) System overall configuration...................................................................................... 1-23

1.3.3 Q172CPU(N) System overall configuration...................................................................................... 1-25

1.3.4 Software packages............................................................................................................................ 1-27

1.3.5 Restrictions on motion systems ........................................................................................................ 1-30

1.4 Multiple CPU System ............................................................................................................................... 1-31

1.4.1 Overview............................................................................................................................................ 1-31

1.4.2 Installation of PLC CPU and Motion CPU ........................................................................................ 1-32

1.4.3 Precautions for using Q series I/O modules and intelligent function modules................................ 1-33

1.4.4 Modules subject to installation restrictions ....................................................................................... 1-34

1.4.5 Processing time of the Multiple CPU system ................................................................................... 1-35

1.4.6 How to reset the Multiple CPU system............................................................................................. 1-36

1.4.7 Processing at a CPU DOWN error occurrence by a PLC CPU or Q173CPU(N)/Q172CPU(N).... 1-37

1.5 System Settings ....................................................................................................................................... 1-40

1.5.1 System data settings......................................................................................................................... 1-40

1.5.2 Common system parameters ........................................................................................................... 1-41

1.5.3 Individual parameters........................................................................................................................ 1-47

1.6 Assignment of I/O No............................................................................................................................... 1-51

1.6.1 I/O No. for I/O modules and intelligent function modules ................................................................ 1-51

1.6.2 I/O No. of PLC CPU and Q173CPU(N)/Q172CPU(N)..................................................................... 1-53

1.6.3 Setting I/O No.................................................................................................................................... 1-54

2. STARTING UP THE MULTIPLE CPU SYSTEM

2.1 Startup Flow of the Multiple CPU System............................................................................................... 2- 1

INTRODUCTION

CONTENTS

A - 12

1- 1 to 1-54

Q173CPU(N)/Q172CPU(N))

2- 1 to 2- 2