Mitsubishi Electric Q172CPU User Manual

IB(NA)-0300040-B(0205)MEEMOTION CONTROLLER Qseries (Q173CPU(N)/Q172CPU(N)) User's ManualUQMOTION CONTROLLERSQ173CPU (N)Q172CPU (N)User's Man

A - 9 ! CAUTION If an error occurs, remove the cause, secure the safety and then resume operation after alarm release. The unit may suddenly res

2 - 81 2 SYSTEM CONFIGURATION (c) When not using a teaching unit (A31TU-D3 /A31TU-DN ) Connect a short-circuit connector for teaching unit (Q1

2 - 82 2 SYSTEM CONFIGURATION 2.4.9 SSCNET cables, terminal connector and connection method This section describes how to connect between the Mo

2 - 83 2 SYSTEM CONFIGURATION (b) When using the Dividing cable CN1Q173CPU(N)Motion CPUmoduleServo amplifierMITSUBISHICN1A CN1BMITSUBISHICN1A

2 - 84 2 SYSTEM CONFIGURATION List of SSCNET cable model name No. Part name Model name (Note-2) Cable length Description 1) Motion CPU Divid

2 - 85 2 SYSTEM CONFIGURATION (2) Connection between the Q172CPU(N) and servo amplifiers (a) When using the external battery Battery unit (

2 - 86 2 SYSTEM CONFIGURATION List of SSCNET cable model name No. Part name Model name (Note-1) Cable length Description Q172J2BCBL M-B 0.5m(

2 - 87 2 SYSTEM CONFIGURATION (3) Cable specifications (a) Q172J2BCBL M (-B) Model name Item Q172J2BCBL05M(-B) Q172J2BCBL1M(-B) Q172J2BCBL5

2 - 88 2 SYSTEM CONFIGURATION (h) FR-V5NSCBL Model name Item FR-V5NSCBL005 FR-V5NSCBL01 FR-V5NSCBL05 FR-V5NSCBL10 FR-V5NSCBL20Cable length [

2 - 89 2 SYSTEM CONFIGURATION (a) MR-H-BN configuration MotionCPU moduleBatteryMR-BAT,A6BATTerminalconnectorQ173CPU(N)/Q172CPU(N)BatteryMR-BA

2 - 90 2 SYSTEM CONFIGURATION (d) FR-V5 0- + FR-V5 0- configuration Motion CPUmoduleQ172CPU(N)Terminal connectorsetting is set byconnector

A - 10 (9) About processing of waste When you discard Motion controller, servo amplifier, a battery (primary battery) and other option articles, p

2 - 91 2 SYSTEM CONFIGURATION (h) MR-H-BN + FR-V5 0- configuration Q172CPU(N) configuration : Q172HBCBL MQ173CPU(N) configuration : Q173HB

2 - 92 2 SYSTEM CONFIGURATION • FR-V50- + MR-J2 -B configuration Motion CPUmoduleQ173CPU(N)BatteryQ173DVMR-BAT,A6BATQ173DVCBL MTerminal conn

2 - 93 2 SYSTEM CONFIGURATION 2) Example of Q172CPU(N) • MR-H-BN + MR-J2 -B + MR-H-BN configuration BatteryQ170BATMotionCPU moduleMR-BAT,A6BATT

2 - 94 2 SYSTEM CONFIGURATION (5) Setting of the axis No. and axis select switch of servo amplifier Axis No. is used to set the axis numbers

2 - 95 2 SYSTEM CONFIGURATION Correspondences between dno.s and axis select switches of servo amplifier dno. (Note) SSCNET SYSTEM Servo amplifie

2 - 96 2 SYSTEM CONFIGURATION 2.4.10 External battery This section describes the battery specifications used in the Motion CPU, handling precaut

2 - 97 2 SYSTEM CONFIGURATION CAUTION Do not short a battery. Do not charge a battery. Do not disassemble a battery. Do not burn a battery.

2 - 98 2 SYSTEM CONFIGURATION (b) Connection with Q172CPU(N) Connection procedure of Q172CPU(N) and A6BAT/MR-BAT 1) Set the A6BAT/MR-BAT to th

2 - 99 2 SYSTEM CONFIGURATION 2.4.11 Cooling fan unit (Q170FAN) (Q173CPU/Q172CPU only) This section explains the specifications of the Cooling f

2 - 100 2 SYSTEM CONFIGURATION (3) In point of the layout design within the control panel Leave 50mm (1.97inch) or more clearance between the

A - 11 REVISIONS The manual number is given on the bottom left of the back cover. Print Date Manual Number Revision Nov., 2001 IB(NA)-0300040

3 - 1 3 DESIGN 3. DESIGN 3.1 System Designing Procedure Design the system which uses the Multiple CPU system in the following procedure. Refer

3 - 2 3 DESIGN Refer to section 3.2Refer to section 3.2.1Refer to section 3.2.2Refer to section 3.3Design the power supply circuit which supplie

3 - 3 3 DESIGN ! CAUTION Do not touch the servo amplifier's heat radiating fins, regenerative resistor and servomotor, etc. while the powe

3 - 4 3 DESIGN 3.2 External Circuit Design As to the ways to design the external circuits of the Motion system, this section explains the method

3 - 5 3 DESIGN POINT1) (Note-1) : The following is the Motion SFC program example. < Example> For control axis 1 and axis 2 [F 1] SET P

3 - 6 3 DESIGN (2) Sample system circuit design for motion control 2 (For A31TU-DN ) CP1RST+24V24GCOMCOMNFBFGLGQ61P-A2XnCP2Q173CPUN-

3 - 7 3 DESIGN POINT1) (Note-1) : The following is the Motion SFC program example. < Example> For control axis 1 and axis 2 [F 1] SET P

3 - 8 3 DESIGN (3) Sample system circuit design for motion control 3 (For A31TU-D3 ) DC24VDCP1RST+24V24GFLS1COMCOMNFB200VAC200VACFGL

3 - 9 3 DESIGN POINT1) (Note-1) : The following is the Motion SFC program example. < Example> For control axis 1 and axis 2 [F 1] SET P

3 - 10 3 DESIGN (4) System design circuit example of the PLC I/O (a) System design circuit example(when not using ERR contact of power suppl

A - 12 INTRODUCTION Thank you for choosing the Q173CPU(N)/Q172CPU(N) Motion Controller. Please read this manual carefully so that equipment is use

3 - 11 3 DESIGN (b) System design circuit example(when using ERR contact of power supply module) Interlock circuits asnecessary. Provide exte

3 - 12 3 DESIGN 3.2.1 Power supply circuit design This section describes the protective coordination and noise suppression techniques of the pow

3 - 13 3 DESIGN 3.2.2 Safety circuit design (1) Concept of safety circuits When the Motion controller is powered on-off, proper outputs may no

3 - 14 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 ser

3 - 15 3 DESIGN 3.3 Layout Design within The Control Panel 3.3.1 Installation environment Install the Motion controller system in the following

3 - 16 3 DESIGN 3.3.2 Layout design of the base units This section describes the precautions related to install a Motion controller in an enclo

3 - 17 3 DESIGN 3.3.3 Calculating heat generation by Motion controller The ambient temperature inside the control panel storing the Motion contr

3 - 18 3 DESIGN (6) Power consumption of the power supply section of the intelligent function module WS = I5V 5 + I24V 24 + I100V 100 [

3 - 19 3 DESIGN (e) A total of 24 VDC average power consumption of the output module W24V = 192 [W] (8A/common) (f) Average power cons

3 - 20 3 DESIGN 3.4 Design Checklist At the worksite, copy the following table for use as a check sheet. Item Sub Item Design confirmation C

A - 13 4. INSTALLATION AND WIRING 4- 1 to 4-20 4.1 Module Installation ...

4 - 1 4 INSTALLATION AND WIRING 4. INSTALLATION AND WIRING 4.1 Module Installation 4.1.1 Instructions for handling ! CAUTION Use the Motion co

4 - 2 4 INSTALLATION AND WIRING (5) When an extension cable is used, do not bind the cable together with the main circuit (high voltage, heavy

4 - 3 4 INSTALLATION AND WIRING 4.1.2 Instructions for installation of the base unit Install the Motion controller module to a panel, etc. , con

4 - 4 4 INSTALLATION AND WIRING (3) Motion controller installation orientation (a) Since the Motion controller generates heat, it should be

4 - 5 4 INSTALLATION AND WIRING 4.1.3 Installation and removal of module This section explains how to install and remove a power supply module,

4 - 6 4 INSTALLATION AND WIRING (b) Removal from Q3B and Q6 B Module fixing holeModuleBase unitModuleconnectorCompletionHold the module with

4 - 7 4 INSTALLATION AND WIRING 4.2 Installation and Removal of Cable 4.2.1 SSCNET cable (1) Precautions for handling the SSCNET cable • Do n

4 - 8 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

4 - 9 4 INSTALLATION AND WIRING 4.2.3 Battery cable (1) Precautions for handling the battery cable • For installation or removal of the batter

4 - 10 4 INSTALLATION AND WIRING 4.2.4 Cable for teaching unit (1) Precautions for handling the cable for teaching unit • Do not stamp the cab

A - 14 APPENDICES App- 1 to App-37 APPENDIX 1 Cables...

4 - 11 4 INSTALLATION AND WIRING ! CAUTION When a teaching unit is removed, the emergency stop and servomotor become coasting state. In systems

4 - 12 4 INSTALLATION AND WIRING 4.3 Installation of the Serial Absolute Synchronous Encoder This section described instructions for handling th

4 - 13 4 INSTALLATION AND WIRING ! CAUTION The MR-HENC/Q170ENC contains a glass disk and precision mechanism. Take care when

4 - 14 4 INSTALLATION AND WIRING 4.4 Replacement of the Cooling fan unit (Q170FAN) (Q173CPU/Q172CPU only) (1) Removal and installation of the

4 - 15 4 INSTALLATION AND WIRING 4.5 Wiring 4.5.1 Instructions for wiring ! DANGER Completely turn off the all lines of the power supply exter

4 - 16 4 INSTALLATION AND WIRING (b) Do not bunch or lay them closely the main circuit (high voltage, large current) cables of the 100VAC and

4 - 17 4 INSTALLATION AND WIRING (g) Wiring of 200m (656.17ft.) or more distance will give rise to leakage currents due to the wiring capacity

4 - 18 4 INSTALLATION AND WIRING 4.5.2 Wiring to the power supply module The following diagram shows the wiring example of power lines, groundin

4 - 19 4 INSTALLATION AND WIRING 4.6 Installation/Wiring Checklist At the worksite, copy the following table for use as a check sheet. Item Su

4 - 20 4 INSTALLATION AND WIRING At the worksite, copy the following table for use as a check sheet. (Continued) Item Sub Item Installation/w

A - 15 About Manuals This manual is only to explain hardware of the Motion controller. The following manuals are related to this product. Referri

5 - 1 5 TRIAL OPERATION AND ADJUSTMENT 5. TRIAL OPERATION AND ADJUSTMENT 5.1 Checklist before Trial Operation Table 5.1 Checklists before Trial

5 - 2 5 TRIAL OPERATION AND ADJUSTMENT 5.2 Trial Operation and Adjustment Procedure Be sure to ground the Motion controllers, servo amplifiers a

5 - 3 5 TRIAL OPERATION AND ADJUSTMENT 2)Motion CPUCAUTION[Servo data setting mode]CAUTIONCheck external inputs to Q172LXCheck the wiring of fol

5 - 4 5 TRIAL OPERATION AND ADJUSTMENT Turn ON again the power supply or reset of Multiple CPU system.Create Motion programsWrite PLC programsMo

5 - 5 5 TRIAL OPERATION AND ADJUSTMENT Check servo amplifierCheck that the installed servo amplifiers operate correctly.CAUTIONMotion CPU3)4)[Te

5 - 6 5 TRIAL OPERATION AND ADJUSTMENT [Programming mode]EndPLC CPUMotion CPUCheck by automatic operation Check the sequence operation by execut

5 - 7 5 TRIAL OPERATION AND ADJUSTMENT 5.3 Operating System Software Installation Procedure The operating system software must be installed to t

5 - 8 5 TRIAL OPERATION AND ADJUSTMENT 5.4 Trial Operation and Adjustment Checklist At the worksite, copy the following table for use as a check

6 - 1 6 INSPECTION AND MAINTENANCE 6. INSPECTION AND MAINTENANCE ! DANGER Do not touch the terminals while power is on. Doing so could cause el

6 - 2 6 INSPECTION AND MAINTENANCE 6.1 Maintenance Works 6.1.1 Instruction of inspection works In order that can use the Motion controller in sa

A - 16 (2) PLC Manual Name Manual Number (Model Code) QCPU User's Manual (Hardware Design, Maintenance and Inspection) This manual explains

6 - 3 6 INSPECTION AND MAINTENANCE ! CAUTION Do not short circuit, charge, overheat, incinerate or disassemble the batteries. The electrolytic

6 - 4 6 INSPECTION AND MAINTENANCE 6.2 Daily Inspection The items that must be inspected daily are listed below. Table 6.1 Daily Inspection Ite

6 - 5 6 INSPECTION AND MAINTENANCE Daily Inspection(continued) Item Inspection item Inspection Criterion Action Input LED Check that the LED

6 - 6 6 INSPECTION AND MAINTENANCE 6.3 Periodic Inspection The items that must be inspected one or two times every 6 months to 1 year are listed

6 - 7 6 INSPECTION AND MAINTENANCE 6.4 External Battery The special relays (M9006, M9007) turn ON due to the Motion CPU program or the decrease

6 - 8 6 INSPECTION AND MAINTENANCE 6.4.1 Battery service life time (1) Q173CPU(N)/Q172CPU(N), Q172EX module battery service life time The batt

6 - 9 6 INSPECTION AND MAINTENANCE 6.4.2 Battery replacement procedure (1) Q172EX module battery replacement procedure When the Q172EX module

6 - 10 6 INSPECTION AND MAINTENANCE (2) Battery replacement procedure of the Dividing unit, Battery unit When the battery has been exhausted,

6 - 11 6 INSPECTION AND MAINTENANCE 6.5 Discard of internal rechargeable battery (1) Discard procedure of internal rechargeable battery The r

6 - 12 6 INSPECTION AND MAINTENANCE ! CAUTION Do not disassemble the modules except the time of discard. Do not short circuit, charge, overhea

1 - 1 1 OVERVIEW 1. OVERVIEW 1.1 Overview This User's Manual describes the hardware specifications and handling methods of the Motion Contr

6 - 13 6 INSPECTION AND MAINTENANCE 6.6 Troubleshooting This section describes the various types of trouble that occur when the system is operat

6 - 14 6 INSPECTION AND MAINTENANCE 6.6.2 Troubleshooting of Motion CPU module and I/O modules This section describes the contents of troubles f

6 - 15 6 INSPECTION AND MAINTENANCE (a) Flowchart for when "POWER" LED is turned off. The following shows the flowchart when the &q

6 - 16 6 INSPECTION AND MAINTENANCE (b) Flowchart for when "MODE" LED is turned off. The following shows the flowchart when the &quo

6 - 17 6 INSPECTION AND MAINTENANCE (c) Flowchart for when "RUN" LED is turned off. The following shows the flowchart when the "

6 - 18 6 INSPECTION AND MAINTENANCE (d) Flowchart for when "ERR." LED is turned on/flickered. The following shows the flowchart to b

6 - 19 6 INSPECTION AND MAINTENANCE (e) Flowchart for when "M.RUN" LED is turned off. The following shows the flowchart when the &qu

6 - 20 6 INSPECTION AND MAINTENANCE (f) Flowchart for when "BAT." LED is turned on. In the Motion CPU, when the external battery cap

6 - 21 6 INSPECTION AND MAINTENANCE (g) Flowchart for when output load of output module is not turned on. The following shows the flowchart wh

6 - 22 6 INSPECTION AND MAINTENANCE (h) Flowchart for when the peripheral device cannot communicate to the Motion controller. The following sh

1 - 2 1 OVERVIEW Generic term/Abbreviation Description Dividing unit Dividing unit (Q173DV) Battery unit Battery unit (Q170BAT) A0BD-PCF A1

6 - 23 6 INSPECTION AND MAINTENANCE Is the communicationsetting correct?1)NOYESYESNOCompletionNOExplain the error symptom and getadvice from our

6 - 24 6 INSPECTION AND MAINTENANCE (i) Flowchart for when the power supply of teaching unit is not turned on. The following shows the flowcha

6 - 25 6 INSPECTION AND MAINTENANCE 6.6.3 I/O modules troubleshooting This section describes troubleshooting with I/O circuits and their correct

6 - 26 6 INSPECTION AND MAINTENANCE Input Circuit Troubleshooting and Corrective Action (Continued) Condition Cause Corrective action Example

6 - 27 6 INSPECTION AND MAINTENANCE (2) Output circuit troubleshooting and corrective action This section describes troubleshooting with outpu

6 - 28 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 p

App - 1 APPENDICES APPENDICES APPENDIX 1 Cables In this cable connection diagram, maker names of connectors are omitted. Refer to "APPENDIX 2

App - 2 APPENDICES Use the following or equivalent twisted pair cables as the SSCNET cables. Table 2 Wire models Type Length [m(ft.)] Wire model

App - 3 APPENDICES (a) Q172J2BCBL M(-B) 1) Model explanation Type: Q172J2BCBL M-None Connect Battery unitBNo05Cable length [m(ft.)]1Symbol50

App - 4 APPENDICES (b) Q172HBCBL M(-B) 1) Model explanation None Connect Battery unitBNo05Cable length [m(ft.)]1Symbol50.5(1.64)1(3.28)5(16.40)

A - 1 SAFETY PRECAUTIONS (Read these precautions before using.) When using this equipment, thoroughly read this manual and the associated manu

2 - 1 2 SYSTEM CONFIGURATION 2. SYSTEM CONFIGURATION This section describes the Q173CPU(N)/Q172CPU(N) system configuration, precautions on use o

App - 5 APPENDICES (c) Q173DVCBL M 1) Model explanation Type: Q173DVCBL M05Cable length [m(ft.)] 1 Symbol0.5(1.64)1(3.28) 2) Connection diag

App - 6 APPENDICES (d) Q173J2B CBL M 1) Model explanation noneSymbol Number of SSCNET SYSTEMSSCNET SYSTEM1SSCNET SYSTEM223405Cable length [m(ft

App - 7 APPENDICES (e) Q173HB CBL M 1) Model explanation noneSymbol Number of SSCNET SYSTEMSSCNET SYSTEM1SSCNET SYSTEM223405Cable length [m(ft.

App - 8 APPENDICES (f) MR-J2HBUS M 1) Model explanation 05Cable length [m(ft.)] 1 Symbol 50.5(1.64)1(3.28)5(16.40)Type: MR-J2HBUS M 2) Conn

App - 9 APPENDICES (g) MR-J2HBUS M-A 1) Model explanation 05 1 50.5(1.64)1(3.28)5(16.40)SymbolType: MR-J2HBUS M-ACable length [m(ft.)] 2)

App - 10 APPENDICES (h) MR-HBUS M 1) Model explanation 05 1 Symbol 5 0.5(1.64) 1(3.28) 5(16.40) Type: MR-HBUS MCable length [m(ft.)] 2) Co

App - 11 APPENDICES APPENDIX 1.2 Serial absolute synchronous encoder cable Generally use the serial absolute synchronous encoder cables available

App - 12 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 servo

App - 13 APPENDICES (3) Q170ENCCBL M (a) Model explanation Type: Q170ENCCBL M2Cable length [m(ft.)]5Symbol1020302(6.56)5(16.40)10(32.81)20(65

App - 14 APPENDICES APPENDIX 1.3 Cable for the teaching unit Generally use the cables for the teaching unit available as our options. If the requi

2 - 2 2 SYSTEM CONFIGURATION (a) When using the Dividing unit/external battery It is possible to select the best according to the system.Powe

App - 15 APPENDICES Table 9 Wire specifications Characteristics of one core Wire model Core size [mm2] Number of cores Structure [Number of wires/

App - 16 APPENDICES (2) Q170TUD3CBL3M (a) Connection diagram When fabricating a cable, use the recommended wire and connector given on APPENDI

App - 17 APPENDICES (3) Q170TUDNCBL3M (a) Connection diagram When fabricating a cable, use the recommended wire and connector given on APPENDI

App - 18 APPENDICES (4) Q170TUDNCBL03M-A (a) Connection diagram When fabricating a cable, use the recommended wire and connector given on APPE

App - 19 APPENDICES (5) A31TU-D extended cable (a) Connection diagram When fabricating a cable, use the recommended wire and connector given

App - 20 APPENDICES APPENDIX 2 Exterior Dimensions APPENDIX 2.1 CPU module (1) Q172CPUN Module [Unit: mm (inch)] 114.3(4.50)17.579.5(3.13)(0.69)

App - 21 APPENDICES (3) Q172CPUN-T Module [Unit: mm (inch)] 114.3(4.50)17.5(0.69)79.5(3.13)46(1.81)SSCNETM.RUNQ172CPUN-TMODERUNERR.BAT.BOOTFRONT

App - 22 APPENDICES (5) Q172CPU Module [Unit: mm (inch)] 48.5(1.91)17.589.3(3.52)SSCNETM.RUNQ172CPUMODERUNERR.BAT.BOOTFRONTCN2CN1PULLUSBRS-23227

App - 23 APPENDICES (7) Q173CPUN(-T)/Q172CPUN(-T) Module (with SSCNET cable) [Unit: mm (inch)] 98(3.86)100(3.94)Q173CPUNSSCNETM.RUNMODERUNERR.B

App - 24 APPENDICES APPENDIX 2.2 Servo external signals interface module (Q172LX) [Unit: mm (inch)] Q172LXCTRLQ172LX98(3.86)27.4(1.08)90(3.54)45(

2 - 3 2 SYSTEM CONFIGURATION (b) When using the Dividing cable MIT SUBIS HIPower supply module/QCPU/ I/O module/ Intelligentfunction module o

App - 25 APPENDICES APPENDIX 2.4 Manual pulse generator interface module (Q173PX/Q173PX-S1) (1) Q173PX [Unit: mm (inch)] Q173PXPULSERQ173PXPLS.

App - 26 APPENDICES APPENDIX 2.5 Power supply module (Q61P-A1, Q61P-A2, Q62P, Q63P, Q64P) [Unit: mm (inch)] (1) Q61P-A1, Q61P-A2, Q62P, Q63P Q6

App - 27 APPENDICES APPENDIX 2.6 Dividing unit (Q173DV), Battery unit (Q170BAT) (1) Dividing unit (Q173DV) [Unit: mm (inch)] BATQ173CPUSSCNET C

App - 28 APPENDICES APPENDIX 2.7 Connector (1) Honda connectors make(HDR model) (Cable connector for the teaching unit) Type Number of pins Con

App - 29 APPENDICES (2) Sumitomo 3M make(MDR type) (Cable connector for the serial absolute synchronous encoder) Type Number of pins Type Conn

App - 30 APPENDICES (b) Solder connection type(Threaded type) Type Connector : 10120-3000VE/10126-3000VE Connector case: 10320-52A0-008/

App - 31 APPENDICES (4) Q170TUD3CBL(A31TU-D3 side connector) Type Connector : DB-25SF-N (Maker : Japan Aviation Electronics Indu

App - 32 APPENDICES (6) A31TUD3TM Type Connector : 17JE-23250-02(D8A) (Maker : DDK) [Unit: mm (inch)] 35.0(1.38)15.0A31TUD3TM19.019.06.

App - 33 APPENDICES APPENDIX 2.8 Manual pulse generator (MR-HDP01) [Unit: mm (inch)] (0.63)Packing27.0208.890.272(2.83)3.6(0.14)t=2.03 Studs(M4

App - 34 APPENDICES APPENDIX 2.9 Serial absolute synchronous encoder (MR-HENC/Q170ENC) (1) MR-HENC [Unit: mm (inch)] 0-0.11-0.006-0.017 0-0.11

2 - 4 2 SYSTEM CONFIGURATION (2) Equipment configuration in Q172CPU(N) system Q172CPU(N) System configurationIs this systemcontinuously power

App - 35 APPENDICES APPENDIX 2.10 Teaching unit (A31TU-D3 /A31TU-DN ) [Unit: mm (inch)] <Side face> <Back face> <Front face>

App - 36 APPENDICES APPENDIX 2.11 Cooling fan unit (Q170FAN) (Q173CPU/Q172CPU only) [Unit: mm (inch)] 2525 0.510 0.58236118(0.98)(0.98 0.02)

App - 37 APPENDICES MEMO

WARRANTY Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range If any f

IB(NA)-0300040-D(0603)MEEMOTION CONTROLLER Qseries(Q173CPU(N)/Q172CPU(N)) User's ManualUQMOTION CONTROLLERSQ173CPU (N)Q172CPU (N)User's Manu

2 - 5 2 SYSTEM CONFIGURATION (a) When using the external battery MITSUBISHILITHIUM BATTERYBattery unit(Q170BAT)(Note-1)MITSUBISHILITHIUM BATT

2 - 6 2 SYSTEM CONFIGURATION (b) When not using the external battery MITSUBISHICPU base unit(Q33B, Q35B, Q38B, Q312B)It is possible to select

2 - 7 2 SYSTEM CONFIGURATION (3) Peripheral device configuration for the Q173CPU(N)/ Q172CPU(N) The following (a) (b) (c) can be used. (a) RS

2 - 8 2 SYSTEM CONFIGURATION 2.1.1 Q173CPU(N) System overall configuration Manual pulse generatorinterface moduleSynchronousencoderinterface mod

2 - 9 2 SYSTEM CONFIGURATION CAUTION Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operatio

2 - 10 2 SYSTEM CONFIGURATION 2.1.2 Q172CPU(N) System overall configuration Manual pulse generatorinterface moduleSynchronousencoderinterface mo

A - 2 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

2 - 11 2 SYSTEM CONFIGURATION CAUTION Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operati

2 - 12 2 SYSTEM CONFIGURATION 2.1.3 Function explanation of the Q173CPU(N)/Q172CPU(N) Motion CPU modules (1) Up to 32 axes servo amplifiers pe

2 - 13 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

2 - 14 2 SYSTEM CONFIGURATION (12) Number of Motion CPU modules and temperature conditions (Q173CPU/Q172CPU only) (a) It is possible to remove

2 - 15 2 SYSTEM CONFIGURATION 2.2 System Configuration Equipment (1) Table of Motion controller related module Part name Model name (Note-1)

2 - 16 2 SYSTEM CONFIGURATION Table of Motion controller related module (continued) Part name Model name (Note-1) Description Current consu

2 - 17 2 SYSTEM CONFIGURATION Table of Motion controller related module (continued) Part name Model name (Note-1) Description Current consu

2 - 18 2 SYSTEM CONFIGURATION Table of Motion controller related module (continued) Part name Model name (Note-1) Description Current consu

2 - 19 2 SYSTEM CONFIGURATION (2) Q series PLC module which can be control by Motion CPU Part name Model name Description Remark AC QX10 1

2 - 20 2 SYSTEM CONFIGURATION (3) Table of servo amplifier The following servo amplifier series can be used. (a) MR-H BN Part name Model

A - 3 3. For injury prevention ! CAUTION Do not apply a voltage other than that specified in the instruction manual on any terminal. Doing so may

2 - 21 2 SYSTEM CONFIGURATION (b) MR-J2S- B/MR-J2M-B/MR-J2- B/MR-J2-03B5 Part name Model name Description MR-J2S- B MR-J2-Super series ser

2 - 22 2 SYSTEM CONFIGURATION (c) FR-V5 0- Part name Model name Description FR-V520- K FR-V500 series vector inverter FR-V540-K Refer to c

2 - 23 2 SYSTEM CONFIGURATION (5) Operating environment of personal computer Operating environment is shown below. IBM PC/AT with which Window

2 - 24 2 SYSTEM CONFIGURATION 2.3 General Specifications General specifications of Q173CPU(N)/Q172CPU(N) module are shown below. Item Specifica

2 - 25 2 SYSTEM CONFIGURATION !CAUTION The Motion controller must be stored and used under the conditions listed in the table of specification

2 - 26 2 SYSTEM CONFIGURATION 2.4 Specifications of Equipment and Settings 2.4.1 Name of parts for CPU module This section explains the names an

2 - 27 2 SYSTEM CONFIGURATION (2) Q173CPU/Q172CPU Front face Q17 CPURS-232USBMODERUNERR.M.RUNBAT.BOOT2)8)3)4)5)6)7)PULLPut your finger her

2 - 28 2 SYSTEM CONFIGURATION No. Name Application 1) Module fixing hook • Hook used to fix the module to the base unit.(Quick release instal

2 - 29 2 SYSTEM CONFIGURATION (3) Applications of switches, connectors on Q173CPU(N)/ Q172CPU(N) No. Name Application Dip switch 1 Must not

2 - 30 2 SYSTEM CONFIGURATION (4) Basic specifications of Q173CPU(N)/Q172CPU(N) (a) Module specifications Item Q173CPUN Q173CPUN-T Q173CPU

A - 4 ! CAUTION In systems where perpendicular shaft dropping may be a problem during the forced stop, emergency stop, servo OFF or power supply

2 - 31 2 SYSTEM CONFIGURATION Motion control specifications (continued) Item Q173CPUN(-T) Q173CPU Q172CPUN(-T) Q172CPU Synchronous encoder op

2 - 32 2 SYSTEM CONFIGURATION (b) Motion SFC performance specifications Item Q173CPU(N)/Q172CPU(N) Code total (Motion SFC chart+ Operation cont

2 - 33 2 SYSTEM CONFIGURATION (6) SV43 Motion control specifications/performance specifications (a) Motion control specifications Item Q173CP

2 - 34 2 SYSTEM CONFIGURATION (b) Motion program performance specifications Item Q173CPU(N)/Q172CPU(N) Total of program files 248k bytes Progr

2 - 35 2 SYSTEM CONFIGURATION (7) Selection of Q172EX, Q173PX Synchronous encoder Item Serial absolute Incremental Manual pulse generator Q1

2 - 36 2 SYSTEM CONFIGURATION 2.4.2 Power supply module (1) Table of the power supply module specifications This section describes the power s

2 - 37 2 SYSTEM CONFIGURATION The power supply module specifications (continued) Performance specifications Item Q63P Q64P Base loading positio

2 - 38 2 SYSTEM CONFIGURATION POINTS (Note-1) : Overcurrent protection The overcurrent protection device shuts off the 5VDC or 24VDC circuit an

2 - 39 2 SYSTEM CONFIGURATION (2) Names of Parts and Setting This section describes the names of the parts of each power module. (a) Q61P-A

2 - 40 2 SYSTEM CONFIGURATION No. Name Application 1) POWER LED 5VDC power indicator LED 2) ERR terminals Turned OFF (opened) when a stop err

A - 5 ! CAUTION Set the servomotor encoder type (increment, absolute position type, etc.) parameter to a value that is compatible with the system

2 - 41 2 SYSTEM CONFIGURATION (3) Selection of the power supply module The power supply module is selected according to the total of current c

2 - 42 2 SYSTEM CONFIGURATION (4) Example of the power supply selection calculation (When using the Q173CPUN-T.) (a) System configuration Q

2 - 43 2 SYSTEM CONFIGURATION 2.4.3. Base unit and extension cable This section describes the specifications of the extension cables for the bas

2 - 44 2 SYSTEM CONFIGURATION (2) Table of the extension cable specifications The list below describes the specifications of the extension cab

2 - 45 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/

2 - 46 2 SYSTEM CONFIGURATION 2.4.4 Q172LX Servo external signals interface module Q172LX receives external signals (servo external signals) req

2 - 47 2 SYSTEM CONFIGURATION (2) Performance specifications (a) Module specifications Item Specifications Number of I/O occupying points 3

2 - 48 2 SYSTEM CONFIGURATION (3) Connection of servo external signals interface module (a) Servo external signals There are the following s

2 - 49 2 SYSTEM CONFIGURATION (b) The pin layout of the CTRL connector Use the CTRL connector at the Q172LX module front to connect the servo

2 - 50 2 SYSTEM CONFIGURATION (4) Interface between CTRL connector and servo external signal RLSInput orOutputSignal name Internal circuitFLS

A - 6 ! CAUTION Do not get on or place heavy objects on the product. Always observe the installation direction. Keep the designated clearance b

2 - 51 2 SYSTEM CONFIGURATION 2.4.5 Q172EX Serial absolute synchronous encoder interface module Q172EX receive external signals required for ser

2 - 52 2 SYSTEM CONFIGURATION (2) Performance specifications (a) Module specifications Specifications Item Q172EX Q172EX-S1 Q172EX-S2 Q172E

2 - 53 2 SYSTEM CONFIGURATION (c) Serial absolute synchronous encoder input Item Specifications Applicable signal types Differential-output

2 - 54 2 SYSTEM CONFIGURATION (3) Select to number of the synchronous encoder modules Synchronous encoders are available in voltage output typ

2 - 55 2 SYSTEM CONFIGURATION (4) Connection of synchronous encoder interface module. (a) Connection with serial absolute synchronous encode

2 - 56 2 SYSTEM CONFIGURATION (5) Interface between SY.ENC connector and external equipment Pin No.SY.ENC connectorSerialabsolutesynchronouse

2 - 57 2 SYSTEM CONFIGURATION (6) Details of encoder cable connections (a) Q172EX(-S1) 1) When not using tracking enable signal MR-JHSCBL1

2 - 58 2 SYSTEM CONFIGURATION (b) Q172EX-S2/Q172EX-S3 1) When not using tracking enable signal (Note-1) SDplate201218 2SHJNRKLSY.ENC side c

2 - 59 2 SYSTEM CONFIGURATION (7) Connection of the battery This section describes the battery specifications, handling precautions and instal

2 - 60 2 SYSTEM CONFIGURATION (c) Battery service life time Battery service life time Guaranteed time(MIN) [ h ] Actual time(TYP)

A - 7 (4) Wiring ! CAUTION Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal screws for tightness af

2 - 61 2 SYSTEM CONFIGURATION 2.4.6 Q173PX Manual pulse generator interface module Q173PX receive external signals required for Manual pulse gen

2 - 62 2 SYSTEM CONFIGURATION No. Name Application Detection setting of TREN1 signal SW1 SW2 Dip switch 1 OFF OFF ON ON ON OFF TREN is detected

2 - 63 2 SYSTEM CONFIGURATION (2) Performance specifications (a) Module specifications Specifications Item Q173PX Q173PX-S1 Memory for data

2 - 64 2 SYSTEM CONFIGURATION (c) Manual pulse generator/Incremental synchronous encoder input Item Specifications Number of modules 3/modul

2 - 65 2 SYSTEM CONFIGURATION (3) Connection of manual pulse generator Manual pulse generators are available in voltage output/open collector

2 - 66 2 SYSTEM CONFIGURATION (5) Connection of manual pulse generator interface module (a) The pin layout of the PULSER connector Use the P

2 - 67 2 SYSTEM CONFIGURATION (b) Interface between PULSER connector and manual pulse generator (Differential output type)/Incremental synchro

2 - 68 2 SYSTEM CONFIGURATION (c) Interface between PULSER connector and manual pulse generator (Voltage output/Open collector type)/ Incremen

2 - 69 2 SYSTEM CONFIGURATION (6) Connection examples of manual pulse generator Connection o

2 - 70 2 SYSTEM CONFIGURATION 2.4.7 Manual pulse generator/Serial absolute synchronous encoder (1) Table of the Manual pulse generator specifi

A - 8 (6) Usage methods ! CAUTION Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the Motion controller, servo

2 - 71 2 SYSTEM CONFIGURATION (2) Table of the Serial absolute synchronous encoder specifications Specifications Item MR-HENC Q170ENC(Note-1

2 - 72 2 SYSTEM CONFIGURATION 2.4.8 A31TU-D3 /A31TU-DN Teaching unit (Japanese version only) Teaching unit A31TU-D3 /A31TU-DN can be easily se

2 - 73 2 SYSTEM CONFIGURATION REMARK External safety circuit Construct the circuit (power supply OFF of servomotor, etc.) of parts which may occ

2 - 74 2 SYSTEM CONFIGURATION (2) A31TU-D3 /A31TU-DN Name of parts DISABLEEMG.STOP ENABLE5)1)2)3)4)6)7)A31TU DATAMONITORTESTSTOPOVE

2 - 75 2 SYSTEM CONFIGURATION (3) Teaching unit specifications Specifications Items A31TU-D3 A31TU-DN Language Japanese Tact switch 28 keys

2 - 76 2 SYSTEM CONFIGURATION 4) When the teaching unit (A31TU-D3) is not used, connect the short-circuit connector for teaching unit (A31TUD3TM

2 - 77 2 SYSTEM CONFIGURATION (b) Connection between the teaching unit (A31TU-DN ) and Motion CPU (Q173CPUN-T/Q172CPUN-T) There are following

2 - 78 2 SYSTEM CONFIGURATION Connection example between the cable for teaching unit (Q170TUDNCBL3M) is shown below. MITSUBISHIQ173C PUN-TSSCNE

2 - 79 2 SYSTEM CONFIGURATION 2) When the connector is connected directly in the control panel. a) Connect the cable for teaching unit (Q170TUDN

2 - 80 2 SYSTEM CONFIGURATION ! CAUTION Do not connect the A31TU-D3 to the cable for teaching unit (Q170TUDNCBL03M-A). The protective function