Mitsubishi MOTION CONTROLLERS Q172DCPU Bedienungsanleitung

Motion ControllersUser's ManualQ173DCPUQ172DCPUMITSUBISHI ELECTRICMITSUBISHI ELECTRIC01 01 2008B(NA)-0300133Version AINDUSTRIAL AUTOMATION

A - 9 (7) Corrective actions for errors CAUTION If an error occurs in the self diagnosis of the Motion controller or servo amplifier, confirm the

3 - 7 3 DESIGN (b) System design circuit example(when using ERR terminal of power supply module) Interlock circuits asnecessary. Provide exte

3 - 8 3 DESIGN 3.2.1 Power supply circuit design This section describes the protective coordination and noise suppression techniques of the powe

3 - 9 3 DESIGN 3.2.2 Safety circuit design (1) Concept of safety circuits When the Multiple CPU system is powered on and off, normal control o

3 - 10 3 DESIGN (b) The forced stop of all servo amplifiers is possible in a lump by using the forced stop input of input modules. After forc

3 - 11 3 DESIGN 3.3 Layout Design within The Control Panel 3.3.1 Mounting environment Mount the Motion controller system in the following enviro

3 - 12 3 DESIGN 3.3.2 Layout design of the base units This section describes the precautions related to mount a Motion controller in an enclosu

3 - 13 3 DESIGN 3.3.3 Calculating heat generation by Motion controller The ambient temperature inside the panel storing the Motion controller mu

3 - 14 3 DESIGN (5) Average power consumption of the input section of the input module (Power consumption for simultaneous ON points) WIN = I

3 - 15 3 DESIGN (7) Example of average power consumption calculation (Q173DCPU use) (a) System configuration Q61P Q03UDCPUQ173DCPUQX40 QX40

3 - 16 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 - 10 CAUTION When replacing the Motion controller or servo amplifier, always set the new module settings correctly. When the Motion controller

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

4 - 2 4 INSTALLATION AND WIRING (4) Be sure to install a power supply module on the main base unit and extension base unit. Even if the power

4 - 3 4 INSTALLATION AND WIRING 4.1.2 Instructions for mounting the base unit When mounting the Motion controller to an enclosure or similar, fu

4 - 4 4 INSTALLATION AND WIRING (2) Module mounting position Keep the clearances shown below between the top/bottom faces of the module and ot

4 - 5 4 INSTALLATION AND WIRING (5) Mounting of unit in an area where the other devices are mounted Avoid mounting base unit in proximity to v

4 - 6 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 - 7 4 INSTALLATION AND WIRING POINTS (1) When installing the module, always insert the module fixing projection into the module fixing hole

4 - 8 4 INSTALLATION AND WIRING (b) Removal from Q3DB and Q6 B PushModule fixing hookCompletionSupport the module with bothhands and securely

4 - 9 4 INSTALLATION AND WIRING 4.1.4 Instructions for mounting of the battery holder unit When mounting the battery holder unit (Q170DBATC) to

4 - 10 4 INSTALLATION AND WIRING 4.2 Connection and disconnection of Cable 4.2.1 SSCNET cable (1) Precautions for handling the SSCNET cable

A - 11 REVISIONS The manual number is given on the bottom left of the back cover. Print Date Manual Number Revision Jan., 2008 IB(NA)-0300

4 - 11 4 INSTALLATION AND WIRING POINTS (1) Forcibly removal the SSCNET cable from the Motion CPU module will damage the Motion CPU modules

4 - 12 4 INSTALLATION AND WIRING POINTS (8) Put the SSCNET cable in the duct or fix the cable at the closest part to the Motion CPU module w

4 - 13 4 INSTALLATION AND WIRING 4.2.2 Battery cable (1) Handling the battery cable (a) Precautions for handling the battery cable • For con

4 - 14 4 INSTALLATION AND WIRING (c) Removal of the battery cable • For removal of the battery cable, pull out it while holding a connector.

4 - 15 4 INSTALLATION AND WIRING 4.2.3 Forced stop input cable (1) Precautions for handling the forced stop input cable • For connection or re

4 - 16 4 INSTALLATION AND WIRING 4.3 Mounting of Serial Absolute Synchronous Encoder This section describes precautions for handling the serial

4 - 17 4 INSTALLATION AND WIRING CAUTION The Q170ENC contains a glass disk and precision mechanism. Take care when handling it. The encoder per

4 - 18 4 INSTALLATION AND WIRING 4.4 Wiring 4.4.1 Instructions for wiring DANGER Completely turn off the externally supplied power used in the

4 - 19 4 INSTALLATION AND WIRING (b) Do not bundle the 100VAC and 24VDC wires with, or run them close to, the main circuit (high voltage, larg

4 - 20 4 INSTALLATION AND WIRING (g) Wiring of 200m (656.17ft.) or longer distance will give rise to leakage currents due to the line capacity

A - 12 INTRODUCTION Thank you for choosing the Mitsubishi Motion controller Q173DCPU/Q172DCPU. Before using the equipment, please read this manual

4 - 21 4 INSTALLATION AND WIRING 4.4.2 Connecting to the power supply module The following diagram shows the wiring example of power lines, grou

4 - 22 4 INSTALLATION AND WIRING POINT (1) Use the thickest possible (up to 2mm2) wires for the 100/200 VAC and 24 VDC power cables. Be sure

4 - 23 4 INSTALLATION AND WIRING 4.4.3 Precautions of SSCNET cable wiring SSCNET cable is made from optical fiber. If optical fiber is added a

4 - 24 4 INSTALLATION AND WIRING (4) Twisting If the SSCNET cable is twisted, it will become the same stress added condition as when local la

4 - 25 4 INSTALLATION AND WIRING • Bundle fixing Optical cord should be given loose slack to avoid from becoming smaller than the minimum bend

4 - 26 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 Model name Confirmation Items Check Reference (1) Check that the Q172DEX is installed to I/O slot 3 to

5 - 3 5 TRIAL OPERATION AND ADJUSTMENT 5.2 Trial Operation and Adjustment Procedure Be sure to ground the Motion controllers, servo amplifiers a

5 - 4 5 TRIAL OPERATION AND ADJUSTMENT 2)Motion CPU[Servo data setting]Check external inputs to Q172DLXCheck the wiring of following external in

A - 13 4. INSTALLATION AND WIRING 4- 1 to 4-26 4.1 Module Installation ...

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

5 - 6 5 TRIAL OPERATION AND ADJUSTMENT 3)[Test modeJOG operation ]Check machine operationCheck the followings by making the machine operate with

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 elec

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 c

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

6 - 5 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 - 6 6 INSPECTION AND MAINTENANCE 6.4 Life The following parts must be changed periodically as listed below. However, if any part is found faul

A - 14 APPENDIX 2 Exterior Dimensions ...A

6 - 7 6 INSPECTION AND MAINTENANCE 6.5 External Battery The battery installed in the Motion CPU module is used for data retention during the pow

6 - 8 6 INSPECTION AND MAINTENANCE 6.5.1 Battery life (1) Q173DCPU/Q172DCPU, Q172DEX module battery life The battery life is shown below. Bat

6 - 9 6 INSPECTION AND MAINTENANCE POINT (1) Do not use the battery exceeding its guaranteed life. (2) When the battery hours (total power

6 - 10 6 INSPECTION AND MAINTENANCE 6.5.2 Battery replacement procedure (1) Battery replacement procedure of the Battery holder unit When the

6 - 11 6 INSPECTION AND MAINTENANCE (2) Q172DEX module battery replacement procedure When the battery has been exhausted, replace the battery

6 - 12 6 INSPECTION AND MAINTENANCE 6.5.3 Resuming operation after storing the Motion controller When the operation is to be resumed after being

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 This section describes the contents of troubles for the error co

6 - 15 6 INSPECTION AND MAINTENANCE (a) Flowchart for when "POWER" LED turns off The following shows the flowchart when "POWE

6 - 16 6 INSPECTION AND MAINTENANCE NOH/W faultCheck operation in the order starting with the minimum system.If the module will not work, explai

A - 15 About Manuals The following manuals are also related to this product. In necessary, order them by quoting the details in the tables below.

6 - 17 6 INSPECTION AND MAINTENANCE (b) Flowchart for when " ." does not flash in the first digit of 7-segment LED ENDYESYESNONO

6 - 18 6 INSPECTION AND MAINTENANCE (c) Flowchart for when "A00" displays on 7-segment LED "A00" displays when the operat

6 - 19 6 INSPECTION AND MAINTENANCE (d) Flowchart for when "AL" "L01" displays on 7-segment LED ""AL" (f

6 - 20 6 INSPECTION AND MAINTENANCE (e) Flowchart for when "AL" "A1" " " displays on 7-segment LED. "&

6 - 21 6 INSPECTION AND MAINTENANCE (f) Flowchart for when "BT " displays on 7-segment LED "BT1" or "BT1" displ

6 - 22 6 INSPECTION AND MAINTENANCE (g) Flowchart for when " . . ." displays on 7-segment LED " . . ." displays at the WD

6 - 23 6 INSPECTION AND MAINTENANCE (h) Flowchart for when servo amplifier does not start The following shows the flowchart when servo amplif

6 - 24 6 INSPECTION AND MAINTENANCE (i) Flowchart for when "AL" "S01" displays on 7-segment LED ""AL" (f

6 - 25 6 INSPECTION AND MAINTENANCE 6.6.3 Confirming error code The error code and error message can be read using MT Developer. The procedure f

6 - 26 6 INSPECTION AND MAINTENANCE 6.6.4 I/O module troubleshooting This section describes possible problems with I/O circuits and their correc

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

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

6 - 28 6 INSPECTION AND MAINTENANCE (c) The power capacity of the resistor selected is 3 to 5 times greater than the actual current consumptio

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 POINTS (1) If the end face of code tip for the SSCNET cable is dirty, optical transmission is interrupted and it may cause

App - 3 APPENDICES • MR-J3BUS03M to MR-J3BUS3M [Unit: mm(inch)] Refer to the table of this section (1) for cable length (L). L(Note)100(3.94)100

App - 4 APPENDICES APPENDIX 1.2 Serial absolute synchronous encoder cable Generally use the serial absolute synchronous encoder cables available a

App - 5 APPENDICES (2) Q170ENCCBL M (a) Model explanation Type: Q170ENCCBL M2Cable length [m(ft.)]5Symbol1020302(6.56)5(16.40)10(32.81)20(65.

App - 6 APPENDICES APPENDIX 1.3 Battery cable Generally use the battery cable available as our products. If the required length is not found in ou

App - 7 APPENDICES APPENDIX 1.4 Forced stop input cable Generally use the forced stop input cable available as our products. If the required lengt

App - 8 APPENDICES APPENDIX 2 Exterior Dimensions APPENDIX 2.1 CPU module (1) Q172DCPU Module [Unit: mm (inch)] STOP RUN08C41235679ABDEF08C41235

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

App - 9 APPENDICES APPENDIX 2.2 Servo external signals interface module (Q172DLX) [Unit: mm (inch)] Q172DLXCTRLQ172DLX98(3.86)27.4(1.08)90(3.54)4

App - 10 APPENDICES APPENDIX 2.4 Manual pulse generator interface module (Q173DPX) [Unit: mm (inch)] Q173DPXPULSERQ173DPXPLS.A321PLS.B321TREN3219

App - 11 APPENDICES APPENDIX 2.5 Power supply module (Q61P-A1, Q61P-A2, Q61P, Q62P, Q63P, Q64P) [Unit: mm (inch)] (1) Q61P-A1, Q61P-A2, Q61P, Q6

App - 12 APPENDICES APPENDIX 2.6 Battery holder unit (Q170DBATC) (1) Battery holder unit (Q170DBATC) [Unit: mm (inch)] 11.6(0.46)CPUBATTERY2-

App - 13 APPENDICES APPENDIX 2.7 Connector (1) Cable connector for serial absolute synchronous encoder (Sumitomo 3M make (MDR type)) Type Numbe

App - 14 APPENDICES (c) Insulation displacement type(Quick release metal latch type) Type Connector : 10120-6000EL Connector case: 10320

App - 15 APPENDICES (3) Battery cable connector (a) Battery holder side (Tyco Electronics AMP K.K make) Type Connector : 1376477-3 Terminal :

App - 16 APPENDICES APPENDIX 2.8 Manual pulse generator (MR-HDP01) [Unit: mm (inch)] NP(0.63)Packing27.0208.890.272(2.83)3.6(0.14)t=2.03 Studs(

App - 17 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

1 - 2 1 OVERVIEW REMARK For information about the each module, design method for program and parameter, refer to the following manuals relevant

IB(NA)-0300133-A(0801)MEEMOTION CONTROLLER QseriesUser's Manual (Q173DCPU/Q172DCPU)MODELMODELCODEQ173D-U-E1XB927IB(NA)-0300133-A(0801)MEEWhen exp

HEADQUARTERSEUROPEMITSUBISHI ELECTRIC EUROPE B.V.German BranchGothaer Straße 8D-40880 RatingenPhone: +49 (0)2102 / 486-0Fax: +49 (0)2102 / 486-1120CZE

A - 1 SAFETY PRECAUTIONS (Please read these instructions before using this equipment.) Before using this product, please read this manual and

1 - 3 1 OVERVIEW 1.2 Differences between Q173DCPU/Q172DCPU and Q173HCPU/Q172HCPU Items Q173DCPU Q172DCPU Q173HCPU Q173HCPU SV13 0.44ms/ 1 to

1 - 4 1 OVERVIEW MEMO

2 - 1 2 SYSTEM CONFIGURATION 2. SYSTEM CONFIGURATION This section describes the Q173DCPU/Q172DCPU system configuration, precautions on use of sy

2 - 2 2 SYSTEM CONFIGURATION (2) Peripheral device configuration for the Q173DCPU/Q172DCPU The following (a)(b) can be used. (a) USB configu

2 - 3 2 SYSTEM CONFIGURATION 2.1.1 Q173DCPU System overall configuration Manual pulse generator 3/module PLC CPU/ Motion CPU100/200VACQ173DCP

2 - 4 2 SYSTEM CONFIGURATION CAUTION Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operatio

2 - 5 2 SYSTEM CONFIGURATION 2.1.2 Q172DCPU System overall configuration d2d1MR-J3- B model Servo amplifier, Up to 8 axes d3EME

2 - 6 2 SYSTEM CONFIGURATION CAUTION Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operatio

2 - 7 2 SYSTEM CONFIGURATION 2.1.3 Function explanation of the Q173DCPU/Q172DCPU Motion CPU modules (1) Up to 32 axes servo amplifiers per 2 s

2 - 8 2 SYSTEM CONFIGURATION 2.1.4 Restrictions on Motion systems (1) Combination of Multiple CPU system (a) Motion CPU module cannot be use

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 i

2 - 9 2 SYSTEM CONFIGURATION (2) Motion modules (a) Installation position of Q172DEX(Note-1) is only the main base unit. It cannot be used

2 - 10 2 SYSTEM CONFIGURATION (3) Other restrictions (a) Motion CPU module cannot be set as the control CPU of intelligent function module (

2 - 11 2 SYSTEM CONFIGURATION 2.2 System Configuration Equipment (1) Table of Motion controller related module Part name Model name (Note-1)

2 - 12 2 SYSTEM CONFIGURATION Table of Motion controller related module(continued) Part name Model name (Note-1) Description Current consumpti

2 - 13 2 SYSTEM CONFIGURATION Table of Motion controller related module(continued) Part name Model name (Note-1) Description Current consumpti

2 - 14 2 SYSTEM CONFIGURATION (2) PLC module which can be control by Motion CPU Part name Model name Description Current consumption 5VDC[A

2 - 15 2 SYSTEM CONFIGURATION Part name Model name Description Current consumption 5VDC[A] (Note-1) RemarkQ62AD-DGH 2ch, A/D conversion, Curr

2 - 16 2 SYSTEM CONFIGURATION (3) Table of servo amplifier Part name Model name Description MR-J3- B MR-J3 series servo amplifier MR-J3-B-R

2 - 17 2 SYSTEM CONFIGURATION (6) Related software packages (a) PLC software package Model name Software package GX Developer SW8D5C-GPPW

2 - 18 2 SYSTEM CONFIGURATION 2.3 General Specifications General specifications of Q173DCPU/Q172DCPU module are shown below. Item Specification

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 l

2 - 19 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 - 20 2 SYSTEM CONFIGURATION No. Name Application 1) 7-segment LED • Indicates the operating status and error information. 2) Rotary functio

2 - 21 2 SYSTEM CONFIGURATION (2) 7-segment LED display The LED displays/flashes in the combination with errors. Item 7-segment LED Remark

2 - 22 2 SYSTEM CONFIGURATION Item 7-segment LED Remark Self diagnostic error " AL" flashes 3 times Steady " A1" display

2 - 23 2 SYSTEM CONFIGURATION (4) Operation mode (a) Rotary switch setting and operation mode Rotary switch setting (Note) SW1 SW2 Operatio

2 - 24 2 SYSTEM CONFIGURATION (5) Basic specifications of Q173DCPU/Q172DCPU (a) Module specifications Item Q173DCPU Q172DCPU Internal curr

2 - 25 2 SYSTEM CONFIGURATION Motion control specifications (continued) Item Q173DCPU Q172DCPU Absolute position system Made compatible by set

2 - 26 2 SYSTEM CONFIGURATION (b) Motion SFC performance specifications Item Q173DCPU/Q172DCPU Code total (Motion SFC chart + Operation contr

2 - 27 2 SYSTEM CONFIGURATION 2.4.2 Power supply module (1) Table of the power supply module specifications This section describes the power s

2 - 28 2 SYSTEM CONFIGURATION The power supply module specifications (continued) Item Q63P Q64P Base loading position Q series power supply m

A - 4 CAUTION The dynamic brakes must be used only on errors that cause the forced stop, emergency stop, or servo OFF. These brakes must not be u

2 - 29 2 SYSTEM CONFIGURATION POINTS (Note-1) : Overcurrent protection The overcurrent protection device shuts off the 5V, 24VDC circuit and st

2 - 30 2 SYSTEM CONFIGURATION POINTS (Note-3) : Allowable momentary power failure period (1) For AC input power supply (a) An instantaneous p

2 - 31 2 SYSTEM CONFIGURATION (2) Names of Parts and Setting This section describes the names of the parts of each power module. • Q61P-A1 (

2 - 32 2 SYSTEM CONFIGURATION No. Name Application AC input power supplyON (green): Normal (5VDC output, momentary power failure within 20ms) O

2 - 33 2 SYSTEM CONFIGURATION POINTS (1) The Q61P-A1 is dedicated for inputting a voltage of 100VAC. Do not input a voltage of 200VAC into

2 - 34 2 SYSTEM CONFIGURATION (3) Selection of the power supply module The power supply module is selected according to the total of current c

2 - 35 2 SYSTEM CONFIGURATION 2.4.3. Base unit and extension cable This section describes the specifications of the extension cables for the bas

2 - 36 2 SYSTEM CONFIGURATION (2) Table of the extension cable specifications The list below describes the specifications of the extension cab

2 - 37 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 - 38 2 SYSTEM CONFIGURATION 2.4.4 Q172DLX Servo external signals interface module Q172DLX receives external signals (servo external signals) r

A - 5 CAUTION Use the program commands for the program with the conditions specified in the instruction manual. Set the sequence function progra

2 - 39 2 SYSTEM CONFIGURATION (2) Performance specifications (a) Module specifications Item Specifications Number of I/O occupying points 3

2 - 40 2 SYSTEM CONFIGURATION (3) Connection of servo external signals interface module (a) Servo external signals There are the following s

2 - 41 2 SYSTEM CONFIGURATION (b) The pin layout of the CTRL connector Use the CTRL connector at the Q172DLX module front to connect the serv

2 - 42 2 SYSTEM CONFIGURATION (4) Interface between CTRL connector and servo external signal RLSInput orOutputSignal name Internal circuitFLS

2 - 43 2 SYSTEM CONFIGURATION 2.4.5 Q172DEX Synchronous encoder interface module Q172DEX receive external signals required for serial absolute s

2 - 44 2 SYSTEM CONFIGURATION POINT (1) Mode judging LED of the serial absolute synchronous encoder signal turns ON at the normal connection

2 - 45 2 SYSTEM CONFIGURATION (c) Serial absolute synchronous encoder input Item Specifications Applicable signal types Differential-output

2 - 46 2 SYSTEM CONFIGURATION (3) Select to number of the synchronous encoder modules Synchronous encoders are available in voltage output typ

2 - 47 2 SYSTEM CONFIGURATION (4) Connection of synchronous encoder interface module. (a) Connection with serial absolute synchronous encode

2 - 48 2 SYSTEM CONFIGURATION (5) Interface between SY.ENC connector and external equipment Pin No.SY.ENC connectorSerialabsolutesynchronouse

A - 6 CAUTION The Motion controller, servo amplifier and servomotor are precision machines, so do not drop or apply strong impacts on them. Secu

2 - 49 2 SYSTEM CONFIGURATION (6) Details of encoder cable connections (a) When not using tracking enable signal (Note-1) SDplate201218 2S

2 - 50 2 SYSTEM CONFIGURATION (7) Connection of the battery This section describes the battery specifications, handling precautions and instal

2 - 51 2 SYSTEM CONFIGURATION (c) Battery life Battery life (Total power failure time) [h] (Note-1) Module type Battery type Power-on time r

2 - 52 2 SYSTEM CONFIGURATION 2.4.6 Q173DPX Manual pulse generator interface module Q173DPX receive external signals required for Manual pulse g

2 - 53 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 - 54 2 SYSTEM CONFIGURATION (2) Performance specifications (a) Module specifications Item Specifications Number of I/O occupying points

2 - 55 2 SYSTEM CONFIGURATION (c) Manual pulse generator/Incremental synchronous encoder input Item Specifications Number of modules 3/modul

2 - 56 2 SYSTEM CONFIGURATION (4) Connection of incremental synchronous encoder Incremental synchronous encoders are available in voltage outp

2 - 57 2 SYSTEM CONFIGURATION (5) Connection of manual pulse generator interface module (a) The pin layout of the PULSER connector Use the P

2 - 58 2 SYSTEM CONFIGURATION (b) Interface between PULSER connector and manual pulse generator (Differential output type)/Incremental synchro

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

2 - 59 2 SYSTEM CONFIGURATION (c) Interface between PULSER connector and manual pulse generator (Voltage output/Open collector type)/ Incremen

2 - 60 2 SYSTEM CONFIGURATION (6) Connection examples of manual pulse generator Connection of manual pulse generator

2 - 61 2 SYSTEM CONFIGURATION 2.4.7 Manual pulse generator/Serial absolute synchronous encoder (1) Table of the Manual pulse generator specifi

2 - 62 2 SYSTEM CONFIGURATION (2) Table of the Serial absolute synchronous encoder specifications Item Specifications Model name Q170ENC (N

2 - 63 2 SYSTEM CONFIGURATION 2.4.8 SSCNET cables and connection method This section describes how to connect between the Motion CPU module and

2 - 64 2 SYSTEM CONFIGURATION (2) Connection between the Q172DCPU and servo amplifiers Q172DCPU Motion CPU module1)Servo amplifier Servo ampl

2 - 65 2 SYSTEM CONFIGURATION POINTS (1) Be sure to connect SSCNET cable with the above connector. If the connection is mistaken, between th

2 - 66 2 SYSTEM CONFIGURATION (4) Setting of the axis No. and axis select switch of servo amplifier Axis No. is used to set the axis numbers

2 - 67 2 SYSTEM CONFIGURATION Correspondence between dno.s and axis select switches of servo amplifier dno. (Note) SSCNETsystem Axis select swit

2 - 68 2 SYSTEM CONFIGURATION 2.4.9 External battery This section describes the battery specifications used in the Motion CPU, handling precauti

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

2 - 69 2 SYSTEM CONFIGURATION (2) Data back-up of Motion CPU by the external battery Be sure to use the external battery. Set the battery (Q6B

2 - 70 2 SYSTEM CONFIGURATION (3) Connection procedure with Motion CPU module (a) Set Q6BAT to Battery holder unit(Q170DBATC). (b) Connect

2 - 71 2 SYSTEM CONFIGURATION 2.4.10 Forced stop input terminal (1) Table of the forced stop input terminal specifications Item Specification

2 - 72 2 SYSTEM CONFIGURATION MEMO

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 heat radiating fins of controller or servo amplifier, regenerative resistor and servomotor, etc. whil

3 - 4 3 DESIGN Servo normal output(Servo normal:ONAlarm:OFF)QnUD(H)CPU Q173DCPU/Q172DCPURa1MCSK3-phase200/220VACCP1NFB1RST200VAC200VACFGLGCP2CP3+

3 - 5 3 DESIGN NFB4(Note-5)MCCP4NFB2NFB3SSCNET(Note-5)(Note-5)Circuit example when using MR-J3-BCircuit example when using MR-J3-BCircuit example

3 - 6 3 DESIGN (2) System design circuit example of the PLC I/O (a) System design circuit example(when not using ERR terminal of power suppl