Table Of Contents - Mitsubishi Electric Q Series Programming Manual

Thank you for choosing the Mitsubishi Motion controller Q173D(S)CPU/Q172D(S)CPU.
Before using the equipment, please read this manual carefully to develop full familiarity with the functions
and performance of the Motion controller you have purchased, so as to ensure correct use.
Safety Precautions ......................................................................................................................................... A- 1
Revisions ........................................................................................................................................................ A-11
Contents ......................................................................................................................................................... A-13
About Manuals ............................................................................................................................................... A-16
Manual Page Organization ............................................................................................................................ A-18
1. OVERVIEW
1.1 Overview ................................................................................................................................................... 1- 1
1.2 Features ................................................................................................................................................... 1- 3
1.2.1 Features of Motion CPU ................................................................................................................... 1- 3
1.2.2 Basic specifications of Q173D(S)CPU/Q172D(S)CPU .................................................................... 1- 5
1.3 Hardware Configuration ........................................................................................................................... 1-11
1.3.1 Motion system configuration ............................................................................................................. 1-11
1.3.2 Q173DSCPU/Q172DSCPU System overall configuration .............................................................. 1-14
1.3.3 Q173DCPU(-S1)/Q172DCPU(-S1) System overall configuration ................................................... 1-16
1.3.4 Software packages ............................................................................................................................ 1-17
1.3.5 Restrictions on motion systems ........................................................................................................ 1-19
1.4 Checking Serial Number and Operating System Software Version ....................................................... 1-23
1.4.1 Checking serial number .................................................................................................................... 1-23
1.4.2 Checking operating system software version................................................................................... 1-26
1.5 Restrictions by the Software's Version .................................................................................................... 1-28
1.6 Programming Software Version............................................................................................................... 1-32
2. MULTIPLE CPU SYSTEM
2.1 Multiple CPU System ............................................................................................................................... 2- 1
2.1.1 Overview ............................................................................................................................................ 2- 1
2.1.2 Installation position of CPU module .................................................................................................. 2- 2
2.1.3 Precautions for using I/O modules and intelligent function modules ............................................... 2- 3
2.1.4 Modules subject to installation restrictions ....................................................................................... 2- 4
2.1.5 How to reset the Multiple CPU system ............................................................................................. 2- 6
2.1.6 Operation for CPU module stop error ............................................................................................... 2- 7
2.2 Starting Up the Multiple CPU System ..................................................................................................... 2-10
2.2.1 Startup Flow of the Multiple CPU system ......................................................................................... 2-10
2.3 Communication Between the PLC CPU and the Motion CPU in the Multiple CPU System ................. 2-12
2.3.1 CPU shared memory......................................................................................................................... 2-12
2.3.2 Multiple CPU high speed transmission ............................................................................................. 2-15
2.3.3 Multiple CPU high speed refresh function ........................................................................................ 2-30
2.3.4 Clock synchronization between Multiple CPU ................................................................................. 2-34
2.3.5 Multiple CPU synchronous startup ................................................................................................... 2-35
2.3.6 Control instruction from PLC CPU to Motion CPU ........................................................................... 2-36
INTRODUCTION
CONTENTS
A - 13
1- 1 to 1-32
2- 1 to 2-36