Mitsubishi Electric Q172CPUN 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 (b) When using the Dividing cable CN1Q173CPU(N)Motion CPUmoduleSSCNET LINE1Servo amplifierMITSUBISHICN1A CN1BMI

2 - 82 2 SYSTEM CONFIGURATION List of SSCNET cable model name No. Part name Model name (Note-2) Cable length Description 1) Motion CPU Divid

2 - 83 2 SYSTEM CONFIGURATION (2) Connection between Q172CPU(N) and servo amplifiers (a) When using the external battery Battery unit (Note

2 - 84 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 - 85 2 SYSTEM CONFIGURATION (3) Cable specifications (a) Q172J2BCBL!M (-B) Model name Item Q172J2BCBL05M(-B) Q172J2BCBL1M(-B) Q172J2BCBL5

2 - 86 2 SYSTEM CONFIGURATION (h) FR-V5NSCBL! Model name Item FR-V5NSCBL005 FR-V5NSCBL01 FR-V5NSCBL05 FR-V5NSCBL10 FR-V5NSCBL20 Cable length

2 - 87 2 SYSTEM CONFIGURATION (a) MR-H-BN configuration MotionCPU moduleBatteryMR-BAT,A6BATTerminalconnectorQ173CPU(N)/Q172CPU(N)BatteryMR-BA

2 - 88 2 SYSTEM CONFIGURATION (d) FR-V5!0-! + FR-V5!0-! configuration Motion CPUmoduleQ172CPU(N)Terminal connectorsetting is set byconnector

2 - 89 2 SYSTEM CONFIGURATION (h) MR-H-BN + FR-V5!0--! configuration Q172CPU(N) configuration : Q172HBCBL MQ173CPU(N) configuration : Q173H

2 - 90 2 SYSTEM CONFIGURATION • FR-V5!0-! + MR-J2!-B configuration Motion CPUmoduleQ173CPU(N)BatteryQ173DVMR-BAT,A6BATQ173DVCBL MTerminal con

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

2 - 92 2 SYSTEM CONFIGURATION (5) Setting of the servo amplifier axis numbers (dno.) and axis No. The axis No.s are used to set the axis numbe

2 - 93 2 SYSTEM CONFIGURATION 2.4.10 External battery This section describes the battery specifications which used Motion CPU, handling precauti

2 - 94 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 - 95 2 SYSTEM CONFIGURATION (a) Connection with Q173CPU(N) Connection procedure of Q173CPU(N) and A6BAT/MR-BAT 1) Set the A6BAT/MR-BAT to th

2 - 96 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 - 97 2 SYSTEM CONFIGURATION 2.4.11 Cooling fan unit (Q170FAN) (Q173CPU/Q172CPU only) This section explains the specifications of the Cooling f

2 - 98 2 SYSTEM CONFIGURATION (3) In point of the layout design within the control panel Leave 50mm (1.97inch) or more clearance between the t

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

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 - 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-DNK!) 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-D3K!) DC24VDCP1RST+24V24GFLS1COMCOMNFB200VAC200VACFG

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

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

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

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 - 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

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

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

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 Installation and removal of the SSCNET cable (1) Instructions for

4 - 8 4 INSTALLATION AND WIRING 4.2.2 Installation and removal of the battery cable (1) Instructions for handling the battery cable • Hold the

4 - 9 4 INSTALLATION AND WIRING 4.2.3 Installation and removal of the cable for teaching unit (1) Instructions for handling the cable for teac

4 - 10 4 INSTALLATION AND WIRING ! CAUTION When a teaching unit is removed, the emergency stop and servomotor become coasting state. In systems

4 - 11 4 INSTALLATION AND WIRING 4.3 Installation of the Serial Absolute Synchronous Encoder This section described instructions for handling th

4 - 12 4 INSTALLATION AND WIRING ! CAUTION The MR-HENC contains a glass disk and precision mechanism. Take care when handlin

A - 14 APPENDICES App- 1 to App-35 APPENDIX 1 Cables...

4 - 13 4 INSTALLATION AND WIRING 4.4 Replacement of the Cooling fan unit (Q170FAN) (Q173CPU/Q172CPU only) (1) Removal and installation of the

4 - 14 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 - 15 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 - 16 4 INSTALLATION AND WIRING (g) Wiring of 200m (686.67ft.) or more distance will give rise to leakage currents due to the wiring capacity

4 - 17 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 - 18 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 - 19 4 INSTALLATION AND WIRING At the worksite, copy the following table for use as a check sheet. (Continued) Item Sub Item Installation/w

4 - 20 4 INSTALLATION AND WIRING MEMO

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

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 - 3 5 TRIAL OPERATION AND ADJUSTMENT 2)Motion CPUCAUTION[Servo data setting mode]CAUTIONCheck external inputs to Q172LX Check the wiring fo

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

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

5 - 6 5 TRIAL OPERATION AND ADJUSTMENT [Programming mode]CompletionPLC CPUMotion CPUAutomatic operation checkRun PLC programs using external inp

5 - 7 5 TRIAL OPERATION AND ADJUSTMENT 5.3 Operating System Software Installation Procedure In the Motion CPU module, the operating system softw

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

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

A - 16 Manual Name Manual Number (Model Code) High Performance Model QCPU (Q Mode) User's Manual (Function Explanation, Program Fundamentals

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

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

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 - 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

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

1 - 2 1 OVERVIEW REMARK For information about the QCPU, peripheral devices for PLC program creation, I/O modules and intelligent function module

6 - 25 6 INSPECTION AND MAINTENANCE (j) Flowchart for when the peripheral device cannot communicate to the teaching unit. The following shows

6 - 26 6 INSPECTION AND MAINTENANCE 6.6.3 I/O modules troubleshooting This section describes troubleshooting with I/O circuits and their correct

6 - 27 6 INSPECTION AND MAINTENANCE Input Circuit Troubleshooting and Corrective Action (Continued) Condition Cause Corrective action Example

6 - 28 6 INSPECTION AND MAINTENANCE (2) Output circuit troubleshooting and corrective action This section describes troubleshooting with outpu

6 - 29 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

6 - 30 6 INSPECTION AND MAINTENANCE MEMO

App - 1 APPENDICES APPENDICES APPENDIX 1 Cables In this cable connection diagram, maker names of connectors are omitted. Refer to “Appendix 2.7 Co

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

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

App - 4 APPENDICES (b) Q172HBCBL!M(-B) 1) Model explanation None Connect Battry unitBNo05Cable length [m(ft.)]1Symbol50.5(1.64)1(3.28)5(16.4)Ty

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 system configuration of the Q173CPU(N)/Q172CPU(N), cautions on u

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 noneSymbolNumber of SSCNET LINESSCNET LINE1SSCNET LINE223405Cable length [m(ft.)] 1 S

App - 7 APPENDICES (e) Q173HB CBL!M 1) Model explanation noneSymbolNumber of SSCNET LINESSCNET LINE1SSCNET LINE223405Cable length [m(ft.)] 1 Sy

App - 8 APPENDICES (f) MR-J2HBUS!M 1) Model explanation 05Cable length [m(ft.)] 1 Symbol 50.5(1.64)1(3.28)5(16.4)Type: MR-J2HBUS M 2) Conne

App - 9 APPENDICES (g) MR-J2HBUS!M-A 1) Model explanation 05 1 50.5(1.64)1(3.28)5(16.4)SymbolType: MR-J2HBUS M-ACable length [m(ft.)] 2) C

App - 10 APPENDICES (h) MR-HBUS!M 1) Model explanation 05 1 Symbol 5 0.5(1.64) 1(3.28) 5(16.4) Type: MR-HBUS MCable length [m(ft.)] 2) Con

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

App - 14 APPENDICES Table 6 Wire specifications Characteristics of one core Wire model Core size [mm2] Number of cores Structure [Number of wires/

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 (2) Q170TUD3CBL3M (a) Connection diagram When fabricating a cable, use the recommended wire and connector given on Appendi

App - 16 APPENDICES (3) Q170TUDNCBL3M (a) Connection diagram When fabricating a cable, use the recommended wire and connector given on Appendi

App - 17 APPENDICES (4) Q170TUDNCBL03M-A (a) Connection diagram When fabricating a cable, use the recommended wire and connector given on Appe

App - 18 APPENDICES (5) A31TU-D!K13 extended cable (a) Connection diagram When fabricating a cable, use the recommended wire and connector giv

App - 19 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 - 20 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 - 21 APPENDICES (5) Q172CPU Module [Unit: mm (inch)] 48.5(1.91)17.589.3(3.52)SSCNETM.RUNQ172CPUMODERUNERR.BAT.BOOTFRONTCN2CN1PULLUSBRS-23227

App - 22 APPENDICES (7) Q173CPUN(-T)/Q172CPUN(-T) Module (with SSCNET cable) [Unit: mm (inch)] 98(3.86)100(3.94)Q173CPUNSSCNETM.RUNMODERUNERR.B

App - 23 APPENDICES APPENDIX 2.2 Servo external signals interface module (Q172LX) [Unit: mm (inch)] Q172LXCTRLQ172LX98(3.86)27.4(1.08)90(3.54)45(

App - 24 APPENDICES APPENDIX 2.4 Manual pulse generator interface module (Q173PX/Q173PX-S1) (1) Q173PX [Unit: mm (inch)] Q173PXPULSERQ173PXPLS.

2 - 3 2 SYSTEM CONFIGURATION (b) When using the Dividing cable MITSUBISHIPower supply module/QCPU/ I/O module/ Intelligentfunction module of

App - 25 APPENDICES APPENDIX 2.5 Power supply module (Q61P-A1, Q61P-A2, Q63P, Q64P) [Unit: mm (inch)] (1) Q61P-A1, Q61P-A2, Q63P Q61P-A1POWERPU

App - 26 APPENDICES APPENDIX 2.6 Dividing unit (Q173DV), Battery unit (Q170BAT) (1) Dividing unit (Q173DV) [Unit: mm (inch)] BATQ173CPUSSCNET C

App - 27 APPENDICES APPENDIX 2.7 Connector (1) Honda connectors make(HDR model) Type Number of pins Connector Connector case 14 HDR-E14MG1 HDR

App - 28 APPENDICES (2) Sumitomo 3M make(MDR type) Type Number of pins Type Connector Connector case Solder connection type (Quick release met

App - 29 APPENDICES (c) Insulation displacement type(Quick release metal latch type) Type Connector : 10120-6000EL/10126-6000EL Connecto

App - 30 APPENDICES (4) Q170TUD3CBL(A31TU-D3 side connector) Type Connector : DB-25SF-N (Maker : Japan Aviation Electronics Indus

App - 31 APPENDICES (6) A31TUD3TM Type Connector : 17JE-23250-02(D8A) (Maker : DDK) [Unit: mm (inch)] 35.0(1.38)15.0A31TUD3TM19.019.06.

App - 32 APPENDICES APPENDIX 2.8 Manual pulse generator (MR-HDP01) (0.63)Packing27.0208.890.272(2.83)3.6(0.14)t=2.03 Studs(M4 10)PCD72, M3

App - 33 APPENDICES APPENDIX 2.9 Serial absolute synchronous encoder (MR-HENC) 0-0.11-0.006-0.017 0-0.11-0.009-0.025+0.14-0.012-0.042+0.1 05(0.2

App - 34 APPENDICES APPENDIX 2.10 Teaching unit (A31TU-D3K!/A31TU-DNK!) [Unit: mm (inch)] <Side face> <Back face> <Front face&

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

App - 35 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)

FOR MAXIMUM SAFETY (1) This product is not designed or manufactured to be used in equipment or systems in situations that can affect or endanger hum

IB(NA)-0300040-C(0309)MEEMOTION CONTROLLER Qseries(Q173CPU(N)/Q172CPU(N))User's ManualUQMOTION CONTROLLERSQ173CPU (N)Q172CPU (N)User's Manua

2 - 5 2 SYSTEM CONFIGURATION (a) When using the external battery MITSUBISHILITHIUM BATTERYBattery unit(Q170BAT)(Note-1)MITSUBISHILITHI UM B A

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) Configuration of peripheral devices for the Q173CPU(N)/ Q172CPU(N) The following (a) (b) (c) can be used. (a

2 - 8 2 SYSTEM CONFIGURATION 2.1.1 Q173CPU(N) System overall configuration Manual pulse generator interface moduleSynchronousencoder interface m

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 d1 d2 d3d8Battery unit(Q170BAT)MITSUBISHILITHIUM BATTERYManual pulse

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) It is possible to download servo

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 (11) 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 module Part name Model name (Note-1) Description Curren

2 - 16 2 SYSTEM CONFIGURATION Table of motion module(continued) Part name Model name (Note-1) Description Current consumption 5VDC[A] Remar

2 - 17 2 SYSTEM CONFIGURATION Table of motion module(continued) Part name Model name (Note-1) Description Current consumption 5VDC[A] Remar

2 - 18 2 SYSTEM CONFIGURATION Table of motion module(continued) Part name Model name Description Current consumption 5VDC[A] Remark A6TBXY

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 10

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 t

2 - 23 2 SYSTEM CONFIGURATION (5) Operating environment of the personal computer Operating environment is as follows. IBM PC/AT with which Win

2 - 24 2 SYSTEM CONFIGURATION POINTS (1) When the operation of Windows is not unclear in the operation of this software, refer to the manual

2 - 25 2 SYSTEM CONFIGURATION 2.3 General Specifications General specifications of Q173CPU(N)/Q172CPU(N) module is as follows. Item Specificati

2 - 26 2 SYSTEM CONFIGURATION ! CAUTION The Motion controller must be stored and used under the conditions listed in the table of specificati

2 - 27 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 - 28 2 SYSTEM CONFIGURATION (2) Q173CPU/Q172CPU Front face Q17 CPURS-232USBMODERUNERR.M.RUNBAT.BOOT2)8)3)4)5)6)7)PULLWhen opening the cov

2 - 29 2 SYSTEM CONFIGURATION No. Name Application 1) Module fixing hook Hook used to fix the module to the base unit.(Quick release installa

2 - 30 2 SYSTEM CONFIGURATION (3) Applications of switches, connectors on Q173CPU(N)/ Q172CPU(N) No. Name Application Dip switch 1 Must not

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

2 - 31 2 SYSTEM CONFIGURATION (4) Basic specifications of Q173CPU(N)/Q172CPU(N) (a) Module specifications Item Q173CPUN Q173CPUN-T Q173CPU

2 - 32 2 SYSTEM CONFIGURATION • Motion control specifications (continued) Item Q173CPUN(-T) Q173CPU Q172CPUN(-T) Q172CPU M-code function M-cod

2 - 33 2 SYSTEM CONFIGURATION 2) SV43 • Motion control specifications Item Q173CPUN Q173CPU Q172CPUN Q172CPU Number of control axes32 axes8axe

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

2 - 35 2 SYSTEM CONFIGURATION (5) 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, 24VDC circuit and

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 POINTS (1) The Q61P-A1 is dedicated for inputting a voltage of 100VAC. Do not input a voltage of 200VAC into i

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 Part name Model name Description Current consumption 5VDC [A] Q173PX Manual pulse generator MR-HDP01/ Synchronou

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 specification Item Specifications Number of I/O occupying points 32

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(-S1) Serial absolute synchronous encoder interface module Q172EX receive external signals required fo

2 - 52 2 SYSTEM CONFIGURATION (2) Performance specifications (a) Module specifications Specifications Item Q172EX Q172EX-S1 Memory for data

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) When not using tracking enable signal MR-JHSCBL10M-H to MR-JHSC

2 - 58 2 SYSTEM CONFIGURATION (7) Connection of the battery This section describes the battery specifications, handling precautions and instal

2 - 59 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 - 60 2 SYSTEM CONFIGURATION 2.4.6 Q173PX(-S1) Manual pulse generator interface module Q173PX receive external signals required for Manual puls

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 No. Name Application Detection setting of TREN1 signal SW1 SW2 Dip switch 1 OFF OFF ON ON ON OFF TREN is detected

2 - 62 2 SYSTEM CONFIGURATION (2) Performance specifications (a) Unit specification Specifications Item Q173PX Q173PX-S1 Memory for data ex

2 - 63 2 SYSTEM CONFIGURATION (c) Manual pulse generator/Incremental synchronous encoder input Item Specifications Number of modules 3/modul

2 - 64 2 SYSTEM CONFIGURATION (3) Connection of manual pulse generator Manual pulse generators are available in voltage output/open collector

2 - 65 2 SYSTEM CONFIGURATION (5) Connection of manual pulse generator interface module (a) The pin layout of the PULSER connector Use the P

2 - 66 2 SYSTEM CONFIGURATION (b) Interface between PULSER connector and manual pulse generator (Differential output type)/Incremental synchro

2 - 67 2 SYSTEM CONFIGURATION (c) Interface between PULSER connector and manual pulse generator (Voltage output/Open collector type)/ Incremen

2 - 68 2 SYSTEM CONFIGURATION (6) Connection examples of manual pulse generator Connection of manual pulse generator

2 - 69 2 SYSTEM CONFIGURATION 2.4.7 Manual pulse generator/Serial absolute synchronous encoder (1) Table of the Manual pulse generator specifi

2 - 70 2 SYSTEM CONFIGURATION 2.4.8 A31TU-D3K!/A31TU-DNK! Teaching unit (Japanese version only) Teaching unit A31TU-D3K!/A31TU-DNK! can be easil

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

2 - 72 2 SYSTEM CONFIGURATION (2) A31TU-D3K!/A31TU-DNK! Name of parts DISABLEEMG.STOP ENABLE5)1)2)3)4)6)7)A31TU DATAMONITORTESTSTOPO

2 - 73 2 SYSTEM CONFIGURATION (3) Teaching unit specifications Specifications Items A31TU-D3K! A31TU-DNK! Language Japanese Tact switch 28 k

2 - 74 2 SYSTEM CONFIGURATION 4) When the teaching unit (A31TU-D3K!) is not used, connect the short-circuit connector for teaching unit (A31TUD3

2 - 75 2 SYSTEM CONFIGURATION (b) Connection between the teaching unit (A31TU-DNK!) and Motion CPU (Q173CPUN-T/Q172CPUN-T) There are following

2 - 76 2 SYSTEM CONFIGURATION Connection example between the cable for teaching unit (Q170TUDNCBL3M) is shown below. MITSUBISHIQ173C PUN-TSSCNE

2 - 77 2 SYSTEM CONFIGURATION 2) When the connector is connected directly in the control panel. a) Connect the cable for teaching unit (Q170TUDN

2 - 78 2 SYSTEM CONFIGURATION ! CAUTION Do not connect the A31TU-D3K! to the cable for teaching unit (Q170TUDNCBL03M-A). The protective functio

2 - 79 2 SYSTEM CONFIGURATION (c) When not using a teaching unit (A31TU-D3K!/A31TU-DNK!) Connect a short-circuit connector for teaching unit (

2 - 80 2 SYSTEM CONFIGURATION 2.4.9 Connection method with SSCNET cables and terminal connector This section explains how to connect between Mot