Transition from A17nSHCPUN/A173UHCPU Series to Q Series Handbook Safety Warning To e nsure proper use of the p roducts list ed in thi s catalog, please be sure to read the in struction manual prior to use. Tel/Fax USA MITSUBISHI ELECTRIC AUTOMATION, INC. 500 Corporate Woods Parkway, Vernon Hills, IL 60061, U.S.A. Tel : +1-847-478-2100 Fax : +1-847-478-2253 Mexico MITSUBISHI ELECTRIC AUTOMATION, INC. Mexico Branch Mariano Escobedo #69, Col. Zona Industrial, Tlalnepantla Edo, C.P.
SAFETY PRECAUTIONS (Please read these instructions before using this equipment.) Before using this product, please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly. These precautions apply only to this product. Refer to the Users manual of the QCPU module to use for a description of the PLC system safety precautions. In this manual, the safety instructions are ranked as "DANGER" and "CAUTION".
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 is running, as this may lead to electric shocks. Never run the unit with the front case or terminal cover removed. The high voltage terminal and charged sections will be exposed and may lead to electric shocks. Never open the front case or terminal cover at times other than wiring work or periodic inspections even if the power is OFF.
3. For injury prevention CAUTION Do not apply a voltage other than that specified in the instruction manual on any terminal. Doing so may lead to destruction or damage. Do not mistake the terminal connections, as this may lead to destruction or damage. Do not mistake the polarity ( + / - ), as this may lead to destruction or damage. Do not touch the heat radiating fins of controller or servo amplifier, regenerative resistor and servomotor, etc.
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 used for normal braking. The brakes (electromagnetic brakes) assembled into the servomotor are for holding applications, and must not be used for normal braking. The system must have a mechanical allowance so that the machine itself can stop even if the stroke limits switch is passed through at the max. speed.
CAUTION Set the sequence function program capacity setting, device capacity, latch validity range, I/O assignment setting, and validity of continuous operation during error detection to values that are compatible with the system application. The protective functions may not function if the settings are incorrect. Some devices used in the program have fixed applications, so use these with the conditions specified in the instruction manual.
CAUTION Always install the servomotor with reduction gears in the designated direction. Failing to do so may lead to oil leaks. Store and use the unit in the following environmental conditions. Environment Ambient temperature Ambient humidity Storage temperature Atmosphere Conditions Motion controller/Servo amplifier According to each instruction manual. According to each instruction manual. According to each instruction manual.
(4) Wiring CAUTION Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal screws for tightness after wiring. Failing to do so may lead to run away of the servomotor. After wiring, install the protective covers such as the terminal covers to the original positions. Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF) on the output side of the servo amplifier. Correctly connect the output side (terminal U, V, W) and ground.
(6) Usage methods CAUTION Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the Motion controller, servo amplifier or servomotor. Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection. Do not attempt to disassemble and repair the units excluding a qualified technician whom our company recognized. Do not make any modifications to the unit.
(8) Maintenance, inspection and part replacement CAUTION Perform the daily and periodic inspections according to the instruction manual. Perform maintenance and inspection after backing up the program and parameters for the Motion controller and servo amplifier. Do not place fingers or hands in the clearance when opening or closing any opening. Periodically replace consumable parts such as batteries according to the instruction manual. Do not touch the lead sections such as ICs or the connector contacts.
(9) About processing of waste When you discard Motion controller, servo amplifier, a battery (primary battery) and other option articles, please follow the law of each country (area). CAUTION This product is not designed or manufactured to be used in equipment or systems in situations that can affect or endanger human life.
REVISIONS Print Date Oct.,2014 * Manual Number L(NA)03104ENG-C * The manual number is given on the bottom left of the back cover. Revision First edition Based on L(NA)03079-C(Japanese) This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
< GUIDEBOOK CONFIGURATION > The guidebook is consist of the documents as follows. Contents Safety Precautions Guidebook Configuration (Contents) 1. OVERVIEW OF A-MOTION REPLACEMENT This overview is beginning with the case study about the system replacement used A-Motion. And it will discuss the most suitable method according to the user’s system and conditions.
CONTENTS Safety Precautions ····················································································································· A-1 Revisions································································································································ A-11 Guidebook Configuration ··········································································································· A-12 Contents··········································································
2. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION .............................................................. 1 1. OVERVIEW ................................................................................................................................................... 3 2. EQUIPMENT CONFIGURATION, AVAILABLE SOFTWARE ..................................................................... 3 2.1 Equipment Correspondence......................................................................................
3. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION ...................................................... 1 1. OVERVIEW ....................................................................................................................................................... 3 2. EQUIPMENT CONFIGURATION, AVAILABLE SOFTWARE......................................................................... 3 2.1 Equipment Correspondence...............................................................................
4. REPLACEMENT FROM A-MOTION TO QN-MOTION .................................................................................................... 1 1. OVERVIEW ....................................................................................................................................................... 3 2. EQUIPMENT CONFIGURATION, AVAILABLE SOFTWARE......................................................................... 3 2.1 Equipment Correspondence...................................................
5. APPENDIX ······························································································································· 1 1. OUTLINE DIMENSIONS................................................................................................................................... 2 1.1 Outline Dimensions of A Series (small type) ··········································································· 2 1.1.1 A17nSHCPUN ........................................................................
Memo A- 18
1 . OVERVIEW OF A-MOTION REPLACEMENT 1. OVERVIEW OF A-MOTION REPLACEMENT 1. OVERVIEW OF A-MOTION REPLACEMENT .................................................................................................... 1 1. OVERVIEW OF A-MOTION REPLACEMENT HANDBOOK ...................................................................... 2 2. MAIN REPLACEMENT TARGET MODEL ................................................................................................... 2 3. MERITS OF REPLACEMENT ....................
1 . OVERVIEW OF A-MOTION REPLACEMENT 1. OVERVIEW OF A-MOTION REPLACEMENT HANDBOOK The following shows the essential replacement overview to renew or lengthen the working life for the system which used A-Motion. After replacement policy have been decided, it is recommended to replace refer to the corresponding part of continuous replacement handbook, technical sheet and the manual for each model. Mitsubishi Motion Controller A series (small type) ("A-Motion") 2.
1 . OVERVIEW OF A-MOTION REPLACEMENT 3. MERITS OF REPLACEMENT It is recommended to replace A-Motion to the latest iQ Platform Motion CPU Q173DSCPU/Q172DSCPU (the following QDS-Motion) or Stand-alone Motion CPU Q170MSCPU-S1. As the merits shown below, it is strongly recommended to use the latest module, QDS-Motion and MR-J4 amplifier. When a servo network cannot be replaced and A-Motion is replaced with Q173CPUN/Q172CPUN (hereafter called QN-Motion), refer to "4. REPLACEMENT FROM A-MOTION TO QN-MOTION".
1 . OVERVIEW OF A-MOTION REPLACEMENT 3.6 Decrease of Maintenance Cost Once the product has been used for more than 5 years, it is necessary to maintain the machine such as partly replacement according to the lifespan, and the maintenance cost for power supply module replacing, electrolytic capacitor and the whole board replacing will be charged.
1 . OVERVIEW OF A-MOTION REPLACEMENT 4. CASE AND STUDY OF A-MOTION REPLACEMENT The following shows the replacement case study of the system which used standard A-Motion. Although it will need some major maintenance, it is recommended to carry out the system batch update of 1) to use a system for a long time with no system modification after the maintenance.
1 . OVERVIEW OF A-MOTION REPLACEMENT 4.1 1): Update at once to QDS-Motion/Stand-alone Motion + MR-J4-B The following shows the systems for the system batch update. [QDS-Motion + MR-J4-B + HG motor] [Stand-alone Motion + MR-J4-B + HG motor] QnUD PLC + QDS-Motion + Q3□DB base Q170MSCPU(-S1) MR-J4-B MR-J4-B HG motor HG motor "QDS-Motion" is point to the following modules. Q172DSCPU, Q173DSCPU "Stand-alone Motion" is point to the following modules.
1 . OVERVIEW OF A-MOTION REPLACEMENT 4.2 2): When only Controllers and Servo Amplifiers are Changed The following shows the procedure for updating a system when only controllers and servo amplifiers are changed. [QDS-Motion + MR-J4-B + HC/HA motor] [Stand-alone Motion + MR-J4-B + HC/HA motor] QnUD PLC + QDS-Motion + Q3□DB base Q170MSCPU(-S1) MR-J4-B MR-J4-B HC/HA motor "QDS-Motion" indicates the following modules. Q172DSCPU, Q173DSCPU "Stand-alone Motion" indicates the following modules.
1 . OVERVIEW OF A-MOTION REPLACEMENT 4.3 3): Partial Update from MR-J2S-B to MR-J4-B The following shows the procedure for updating a system partially. MR-J2S-B * Production will be stopped in August, 2015. HC/HA motor * Production will be stopped in August, 2015. HG motor * MR-J2S-B cannot drive HG motors.
1 . OVERVIEW OF A-MOTION REPLACEMENT 4.4 4): Individual Replacement Support The following shows the system update procedure for the individual replacement. When a servo amplifier (MR-J2S-B) failed When a servo motor failed Change to MR-J4-B-RJ020 + MR-J4-T20. Change to MR-J4-B-RJ020 + MR-J4-T20. Change to an HG motor. HC/HA motor * Production will be stopped in August, 2015. Drive the HC/HA motor using MR-J4-B-RJ020 + MR-J4-T20. 1- 9 Drive the HG motor using MR-J4-B-RJ020 + MR-J4-T20.
1 . OVERVIEW OF A-MOTION REPLACEMENT 4.5 Others 4.5.1 Combination before/after controller replacement The following table shows combination before/after controller replacement. Please refer to the table when transiting.
1 . OVERVIEW OF A-MOTION REPLACEMENT 4.5.2 Combination of controller and servo amplifier The following table shows combination of controller and servo amplifier. Please refer to the table when transiting. Controller QN-Motion (Q17nCPUN) QH-Motion (Q17nHCPU) QD-Motion (Q17nDCPU) QDS-Motion (Q17nDSCPU) Stand-alone Motion (Q170MSCPU) (Controller: J3 mode) (Controller: J3 mode) Servo amplifier MR-H-BN Production stopped in December, 2005. MR-J2-B Production stopped in December, 2005.
1 . OVERVIEW OF A-MOTION REPLACEMENT 5. 5.1 SYSTEM TRANSITION Configuration of the System Using A-Motion (before transition) The following shows the general system chart used A-Motion.
1 . OVERVIEW OF A-MOTION REPLACEMENT 5.2 Configuration of the System Using QDS-Motion (after transition) The following shows the system chart used QDS-Motion after transiting.
1 . OVERVIEW OF A-MOTION REPLACEMENT 5.3 Replace to Stand-alone Motion The following shows the system chart used Stand-alone Motion after transiting.
1 . OVERVIEW OF A-MOTION REPLACEMENT 5.4 Transition of Other Configurations 5.4.1 Combination of servo amplifier and servo motor The following table shows the combination of servo amplifier and servo motor. Please refer to the table when transiting.
1 . OVERVIEW OF A-MOTION REPLACEMENT 5.4.3 Support of operating system software The following table shows the support of operating system software. Please refer to the table when transiting.
1 . OVERVIEW OF A-MOTION REPLACEMENT 5.4.5 Outline of the motion data replacement flow The following flowchart describes the motion data replacement procedure when the data can be diverted.
1 . OVERVIEW OF A-MOTION REPLACEMENT 6. TRANSITION OF THE PROGRAM The section shows the content which converts A-Motion to Q17nDS (virtual mode switching type). Motion part (SFC/not SFC) Use the project diversion function in MT Works2. It can also be used without SFC. PLC part (Ladder) Use the PLC type change function in GX Works2. "A/QnA->Q conversion support tool" can be used to confirm the modified content of ladder program.
1 . OVERVIEW OF A-MOTION REPLACEMENT 6.1 Motion Project Diversion Function in MT Works2 6.1.1 Data list available for diversion or not The following table shows the overview whether the data can be diverted or not for the diversion function of motion project in MT Works2. The data may not be diverted for the case, but more than half can be diverted. For details, please refer to “2. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION”.
1 . OVERVIEW OF A-MOTION REPLACEMENT 6.1.2 Motion program diversion procedure in MT Works2 The following describes the procedure for diverting an A173UHCPU/A17nSHCPUN project using MT Works2. For details, refer to "2. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION". For details, please refer to “2. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION” 1) Start MT Developer2, and select "Divert File" --> "Diversion of Other Format Project" from the "Project" tab.
1 . OVERVIEW OF A-MOTION REPLACEMENT 10) Input "Workspace Name", "Project Name", and "Title", and select "Save". 11) Select "Yes". Please refer to "4.1 Data list available for diversion or not (SV13/SV22)", and set the data that cannot be diverted if necessary. And for the multiple-CPU parameter setting, please refer to “2. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION” and the user's manual for the using module.
1 . OVERVIEW OF A-MOTION REPLACEMENT 6.2 Ladder Program Diversion Function in GX Works2 6.2.1 Ladder program diversion procedure in GX Works2 This section explains the conversion overview of a ladder program for A-Motion controller (SCPU). For details of ladder program created by GX Developer, please refer to “2. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION”. 1) After starting GX Works2, select "Start GX Developer" from the "Project" tab.
1 . OVERVIEW OF A-MOTION REPLACEMENT 9) Select "Change PLC type" from the "Project" tab in GX Developer. 10) Specify the PLC series (QCPU(Qmode)) and PLC type (QnUD(E)(H)CPU) after the replacement in the "Change PLC type" dialog box, and select "OK". • Omitted below • 14) When "Save as" is selected from the "Project" tab, the following dialog box appears. Input "Project name" and "Title", and select "Save". 15) The new project creation dialog box appears. Select "Yes".
1 . OVERVIEW OF A-MOTION REPLACEMENT 6.2.2 The process after diverting the ladder program in GX Works2 Although the ladder program has been diverted by GX Works2, the dedicated instructions and dedicated devices for A-Motion may not be converted automatically, please correct it manually as follows. And, there is also a tool called" A/QnA->Q conversion support tool" to support the process. For details, please refer to “2. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION”.
1 . OVERVIEW OF A-MOTION REPLACEMENT 6.3 Precautions of Program Transition 6.3.1 CPU) Precautions of shared device memory transition between SCPU (PLC) and PCPU (Motion PLC CPU and Motion CPU are integrated in A-Motion, while these are not integrated in QDS-Motion. And the shared device memory can be used by the Multiple CPU high speed transmission (+ automatic refresh).
1 . OVERVIEW OF A-MOTION REPLACEMENT 7. 7.1 RELEVANT DOCUMENTS Please refer to the following documents. And it can be downloaded from Mitsubishi Electric FA Site whenever you want.
1 . OVERVIEW OF A-MOTION REPLACEMENT 7.
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2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION 2. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION 2. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION .............................................................. 1 1. OVERVIEW.................................................................................................................................................... 3 2. EQUIPMENT CONFIGURATION, AVAILABLE SOFTWARE ..................................................................... 3 2.
2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION 6.2.3 6.2.4 6.2.5 6.2.6 Block number of refresh setting and total points number restriction .............................................. 46 Timer devices and counter devices ................................................................................................. 50 Indirect designation of servo program ............................................................................................. 50 Parameter block ............................
2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION 1. OVERVIEW This article explains the change content when replace the system using A173UHCPU/A172SHCPUN/A171SHCPUN with the system using Q173DSCPU/Q172DSCPU. Please read A173UHCPU as A173UHCPU-S1. 2. EQUIPMENT CONFIGURATION, AVAILABLE SOFTWARE Please prepare module, servo amplifier, operating system software and engineering environment according to the table in this article. 2.
2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION 2.2 Servo Amplifier Correspondence The servo system network is changed from SSCNET to SSCNET III or SSCNET III/H. Use a servo amplifier compatible with SSCNET III or SSCNET III/H. Select a servo motor that can be connected with an SSCNET III or SSCNET III/H-compatible servo amplifier.
2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION 2.3 Operating System Software Correspondence Use operating system for Q173DSCPU/Q172DSCPU. The latest version of SV22 has been installed in Q173DSCPU/Q172DSCPU with shipment. Download the latest version of operating system besides SV22 from Mitsubishi Electric FA Site for use.
2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION 3. DIFFERENCES BETWEEN Q173DSCPU/Q172DSCPU AND A173UHCPU/ A172SHCPUN/A171SHCPUN 3.1 Differences between Q173DSCPU/Q172DSCPU and A173UHCPU/A172SHCPUN/A171SHCPUN 3.1.1 Differences list Item A17nSHCPUN/A173UHCPU Q17nDSCPU A171SH A172SH Points of replacement A173UH Peripheral I/F • USB/RS-232/Ethernet (Via PLC CPU) • PERIPHERAL I/F (Motion CPU manager) RS422/SSCNET Communicate with peripheral by corresponding I/F. Battery Q6BAT is built in (3.
2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION (Continued) Item System setting Q17nDSCPU A17nSHCPUN/A173UHCPU A171SH • Multiple CPU is unsupported • Use multiple CPU high-speed • Use normal main base units (A172B, A175B, A178B, A178B-S1, available unit. Q38DB, Q312DB). A178B-S2, A178B-S3).
2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION (Continued) Item Q17nDSCPU Installation mode Mechanical system program (SV22) A17nSHCPUN/A173UHCPU A171SH A172SH Points of replacement A173UH Select by rotary switch Select by dip switch - Ball screw and electronic gear Ball screw and electronic gear - setting of rotary table can be setting of rotary table are set automatically calculated from the respectively in mechanical system setting value of "Number of program. Pulses/Rev.
2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION 3.1.
2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION 3.1.3 Item that is necessary to change/revise with the change of servo system network Difference Item System setting/SSCNET configuration Q17nDSCPU Q172DSCPU: 1 system Q173DSCPU: 2 systems (up to 16 axes/system) Electronic gear Change/Revise content A17nSHCPUN/ A173UHCPU A171SHCPUN: 1 system Configure the rotary switch setting of the A172SHCPUN: 1 system servo amplifier according to the SSCNET A173UHCPU: 4 systems configuration.
2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION 3.2 Device Comparison 3.2.1 I/O device Q17nDSCPU A173UHCPU X/Y0 X/Y7FF User device X/Y800 (8192 points) A172SHCPUN A171SHCPUN User device User device (8192 points) (2048 points) X/Y1FFF 3.2.
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2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION 3.2.
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2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION 3.2.
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2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION 3.2.
2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION (Continued) Item Q17nDSCPU A173UHCPU A17nSHCPUN X0 to X1FFF X0 to X1FFF X0 to X7FF Y0 to Y1FFF Y0 to Y1FFF Y0 to Y7FF M0 to M8191 M0 to M8191 M0 to M2047 - L0 to L8191 L0 to L2047 B0 to B1FFF B0 to B1FFF B0 to B3FF - - Output device U□\G10000.0 to U□\G(10000 + p - 1).
2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION 4. DIVERSION OF PROJECT CREATED BY A173CPUN/A172CPUN 4.
2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION (Note-2) Basic setting data It is necessary to set Multiple CPU in QDS-Motion. Set according to system. (Note-3) Fixed parameter, servo parameter (servo amplifier besides MR-J2S) Fixed parameter (Number of Pulses/Rev. and Travel Value/Rev.) is not converted. Servo parameter is initialized. Revise parameter with servo amplifier after changing.
2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION 4.2 Program Diversion Procedure in Motion CPU Side 4.2.1 Diversion procedure using MT Developer2 The following shows an example of procedures for replacing an A-Motion CPU side project with a QDS-Motion CPU project using MT Developer2. Always backup the project before the program replacement. 1) Start MT Developer2, and select "Divert File" --> "Diversion of Other Format Project" from the "Project" tab.
2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION 3) Select "Browse" in Save Folder Path and the source project from "Folder List", and click "Open". 4) Select data to be converted in "File Selection". 5) Select "Divert".
2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION 6) Convert the series of the servo amplifier. Select the servo amplifier series and servo system network specification after the replacement, and select "OK". 7) The servo parameter initialization dialog box appears. To initialize the servo parameters, select "Yes". 8) The conversion of the project is completed. Select "OK". After the project conversion, make the cross comparison or check the data on each screen.
2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION 10) Input "Workspace Name", "Project Name", and "Title", and select "Save". 11) The new project creation dialog box appears. Select "Yes". 4.2.2 Without using SFC When no SFC program is used in the A-Motion CPU side program (Diversion source) and servo parameters other than SFC programs are diverted, perform the following procedure after the operation of 11). 1) Select "Motion SFC Program Manager".
2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION 2) Select "Unused" for "Motion SFC Program", and select "OK". About the file converted by MT Woks2, refer to "2.4.1 Data list available for diversion or not (SV13/SV22)", and then set the data which can not be diverted if necessary. About the setting of Multiple CPU parameter, refer to "2.
2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION 4.3 Program Diversion Procedure in PLC CPU Side 4.3.1 Conversion procedure of a sequence project for QnUD(E)(H)CPU using GX Works2/ GX Developer The following describes an example of the procedure for replacing a sequence project using GX Developer. Always backup the project before the replacement. (1) Conversion of sequence program created by SW3RNC-GSVE/SW2□-GSVE 1) After starting GX Works2, select "Start GX Developer" from the "Project" tab.
2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION 3) Select "Browse". 4) Select the conversion target file and select "OK". 5) Check the conversion targets (Program/Device comment/Parameter), and select "Execute". Note) Either "Comment 1" or "Comment 2" will be selected for device comment.
2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION 6) The conversion completion dialog box appears. Select "OK". 7) Select "Close". 8) Select "Change PLC type" from the "Project" tab in GX Developer. 9) Specify the PLC series (QCPU(Qmode)) and PLC type (QnUD(E)(H)CPU) after the replacement in the "Change PLC type" dialog box, and select "OK".
2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION 10) The "Change PLC type" dialog box appears. Select "Yes". Note) In this replacement handbook, "Yes" is selected because the changes will be checked later by using a support tool. When the supporting tool is not used, select "Confirm change". 11) The following dialog box appears. Select "OK". Some devices cannot be replaced properly and are forcibly converted to "SM1255" or "SD1255".
2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION 13) The new project creation dialog box appears. Select "Yes". Although the sequence program has been converted following this procedure, it may not be operated correctly. Be sure to refer to the manual after Section 5 for program correction. (2) Conversion of sequence program for A-Motion created by GX Developer The following describes an example of the procedure for replacing a sequence project using GX Developer.
2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION 5. USING A/QnA->Q CONVERSION SUPPORT TOOL IN SEQUENCE PROGRAM To confirm the converted content of the sequence program, use "A/QnA->Q conversion support tool". Please download and install the A/QnA->Q conversion support tool from Mitsubishi Electric FA Site. For details, refer to A/QnA->Q conversion support tool guidebook in the same page. To download the tool, access the Mitsubishi Electric FA Site (http://www.mitsubishielectric.co.jp/fa/index.
2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION 5.2 Using Procedure of Support Tool 1) Click "Start" --> "MELSOFT Application" --> "AQCnvSupport" to start the support tool. Then select "A/QnA->Q program conversion support tool execute". 2) The "A/QnA->Q program conversion support tool" dialog box appears. Specify a source file in the GPPA format, A2SH file, or A3U file for "Project for A/QnA series before PLC type changing".
2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION 3) Created file Once the operation is completed by following the description in A/QnA->Q Conversion Support Tool Operation Guide, an analysis result Index file (HTML document) and a GX Developer file in which statements of the modifications are embedded are created in the specified folder. 4) Display • Index file of analysis result The following shows an example of the execution results of the analysis result index file.
2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION 5.3 Sequence Program Correction in Created Embedding File 5.3.1 Correction of special relay/special register The special relay that cannot be converted from A-Motion is converted to "SM1255", and the special register that cannot be converted from A-Motion is converted to "SD1255". Modify the devices according to a between-the-lines statement. 5.3.
2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION 6. POINTS AND PRECAUTIONS OF REPLACEMENT 6.1 Difference of Motion CPU Configuration 6.1.1 System configuration The differences between basic system of A-Motion and basic system of QDS-Motion are shown in the following chart. • The PLC function and the motion function are integrated in one A-motion CPU. However, in QDS-motion, they are in different CPUs.
2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION 6.1.2 Shared device In A-motion, the PLC and Motion functions are integrated in an A-motion CPU. Thus, the both function shares the memory. In QDS-Motion, a PLC CPU and a Motion CPU are divided as different modules. Thus, configuring some settings (assignment to the multiple CPU shared devices/automatic refresh setting) is required to share the memory.
2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION 6.2 Precautions about Replacement 6.2.1 Slot position (system setting) When the motion module (A172SENC) used in A-Motion is replaced with a QDS-Motion controller, the slot position for installing the motion module will change as follows. (For the QDS-Motion, motion modules (Q172DLX, Q172DEX, Q173DPX) cannot be installed on the CPU slot and the I/O slot 0 to 2.) Example) Place A172SENC in slot 0 in A-Motion A172SENC is arranged in Slot 0.
2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION 6.2.2 Communication data device between PLC CPU and Motion CPU (1) Shared devices between PLC CPU (SCPU) and Motion CPU (PCPU) • A-Motion Example) Since both SCPU and PCPU share the same devices, PCPU (SCPU) can use the data that SCPU (PCPU) stored in the devices for some processing. A-Motion system SCPU Shared device PCPU SCPU and PCPU share the same devices and data in the devices.
2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION (2) Obtain synchrony between SCPU and PCPU Since QDS-Motion has a PLC CPU and a Motion CPU as different modules, the task processing time differs. To synchronize the start timing of task processing, configure some settings (assignment to multiple CPU shared device/automatic refresh setting) for the task start trigger (device).
2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION 6.2.3 Block number of refresh setting and total points number restriction In QDS-Motion, the automatic refresh function is added as a new function that A-motion does not have. Automatic refresh settings of 32 ranges (total 14K points) can be configured for each CPU. Device memory (D, M etc.) * 32 ranges can be set for each CPU. PCPU • • • Shared memory No.1 No.2 The following explains the replacement method of devices.
2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION Device number batch replacement procedure The following shows the procedure for replacing devices in a PLC side project using GX Works2. Always backup the project before the replacement of devices. 1) Start GX Works2, and select "Device Batch Replace" from the "Find/Replace" tab. 2) Select the "Device" tab, and input "Find Device", "Replace Device", and "Device Point". Select "All Replace".
2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION 3) Replace "M3840 to M4159" with device numbers of "M768 to M1087" by the same method as 2).
2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION The following shows the procedure for replacing devices in a motion side project using MT Developer2. Always backup the project before the replacement of devices. 1) Start MT Developer2, and select "Replace Device Number Batch" from the "Find/Replace" tab. 2) Select "Replacing with specified K/F/G program range" and input "Replace From:/To:" and "Replace With:" in "Device No.". Select "Check >> Execute".
2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION 6.2.4 Timer devices and counter devices In A-Motion, a PLC CPU and a motion PU share T (Timer device) and C (Counter device). However, after the transition to QDS-Motion, T/C cannot be referred to from the Motion CPU. Instead, when the same function is used with the QDS-Motion CPU, the TIME instruction can be used.
2 . REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION 6.2.6 Parameter block Since QDS-Motion's error check function is improved, errors and warnings may be displayed to the parameter to which A-Motion does not display errors and warnings. Correct the errors according to the content of the errors and warnings.
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3 . REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION 3. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION 3. REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION ...................................................... 1 1. OVERVIEW ....................................................................................................................................................... 3 2. EQUIPMENT CONFIGURATION, AVAILABLE SOFTWARE ........................................................
3 . REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION 7.1 Difference between Q170MSCPU and Q170MSCPU-S1 ...................................................................... 42 7.1.1 (1) Motion control specification ........................................................................................................ 42 7.1.2 (2) Motion SFC performance specification ...................................................................................... 42 7.1.
3 . REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION 1. OVERVIEW This article explains the change content when replace the system using A173UHCPU/A172SHCPUN/A171SHCPUN with the system using Q170MSCPU(-S1). Besides, about A173UHCPU-S1, it can be read as A173UHCPU in another way. Q170MSCPU-S1 is the capacity expansion version of Q170MSCPU. Refer to the 7th section about the main differences with Q170MSCPU. 2.
3 . REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION Servo Amplifier Correspondence The applicable servo system network is changed from SSCNET to SSCNET III or SSCNET III/H. Use servo amplifiers compatible with SSCNET III or SSCNET III/H. Select a servo motor that can be connected with an SSCNET III or SSCNET III/H-compatible servo amplifier. 2.
3 . REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION 2.3 Operating System Software Correspondence Use operating system for Q170MSCPU(-S1). The latest version of SV22 has been installed in Q170MSCPU(-S1) with shipment. Download the latest version of operating system besides SV22 from Mitsubishi Electric FA Site for use.
3 . REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION 3. DIFFERENCES BETWEEN Q170MSCPU(-S1) AND A173UHCPU/A172SHCPUN/A171SHCPUN 3.1 Differences between Q170MSCPU(-S1) and A173UHCPU/A172SHCPUN/A171SHCPUN Differences list Item A17nSHCPUN/A173UHCPU Q170MSCPU(-S1) A171SH A172SH Points of replacement A173UH • USB/RS-232 Peripheral I/F (Via PLC CPU) • PERIPHERAL I/F Communicate with peripheral by RS422/SSCNET corresponding I/F. (Motion CPU manager) Battery Q6BAT is built in (3.
3 . REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION (Continued) Item Q170MSCPU(-S1) SV13 Q172DLX, Q173DPX A17nSHCPUN/A173UHCPU A171SH A172SH A173UH A171SENC, A172SENC Points of replacement Please use Q172DLX or Q173DPX for motion module in SV22 Motion Q172DLX, Q173DPX A171SENC, A172SENC the system which used Q170MSCPU(-S1). (Note-3) module Loading position Used in extension base Only in motion I/O slot can motion module be installed Used in extension base. Refer to Section 3.2.
3 . REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION (Continued) Item Q170MSCPU(-S1) • PLC section is Q03UD (when A17nSHCPUN/A173UHCPU A171SH System setting Points of replacement A173UH • Not corresponding to Multiple Q170MSCPU is used) or Q06UDH (when A172SH CPU • Main base unit is A17□B Q170MSCPU-S1 is used) (A172B, A175B, A178B, • Use Q5□B, Q6□B when it is Use the system combining with available unit. A178B-S1, A178B-S2, extension base unit.
3 . REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION (Continued) Item Q170MSCPU(-S1) A17nSHCPUN A171SH A172SH Points of replacement A173UH Ball screw and electronic gear setting of rotary table can be Ball screw and electronic gear Mechanical system program automatically calculated from the setting of rotary table are set (SV22) setting value of "Number of respectively in mechanical system Pulses/Rev." and "Travel program. - Value/Rev." of fixed parameter. 0.22ms/1 to 4 axes 0.
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3 . REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION Item that is necessary to change/revise with the change of servo system network Difference Item System setting/SSCNET configuration Electronic gear Q170MSCPU(-S1) Q170MSCPU(-S1): 1 system (up to 16 axes/system) A173UHCPU A171SHCPUN: 1 system A172SHCPUN: 1 system A173UHCPU: 4 system (up to 8 axes/system) servo amplifier power supply is OFF and the connection of amplifier combining with SSCNET configuration.
3 . REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION 3.2 Device Comparison 3.2.1 I/O device Q170MSCPU(-S1) A173UHCPU A172SHCPUN X/Y0 A171SHCPUN User device X/Y7FF User device User device X/Y800 (8192 points) (8192 points) (2048 points) X/Y1FFF 3.2.
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3 . REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION Other devices 3.2.
3 . REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION (Continued) Item Q170MSCPU(-S1) A173UHCPU A17nSHCPUN X0 to X1FFF X0 to X1FFF X0 to X7FF Y0 to Y1FFF Y0 to Y1FFF Y0 to Y7FF M0 to M8191 M0 to M8191 M0 to M2047 Output device Limit switch output data Watch data ON section setting Output enable/disable bit - L0 to L8191 L0 to L2047 B0 to B1FFF B0 to B1FFF B0 to B3FF U□\G10000.0 to U□\G(10000 + p - 1).
3 . REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION 4. DIVERSION OF PROJECT CREATED BY A173UHCPU/A172SHCPUN/A171SHCPUN Data List Available for Diversion or Not (SV13/SV22) 4.
3 . REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION (Note-2) Basic setting data Stand-alone Motion requires the multiple CPU setting. Set according to system. (Note-3) Fixed parameter, servo parameter (servo amplifier besides MR-J2S) Fixed parameter (Number of Pulses/Rev. and Travel Value/Rev.) is not converted. Servo parameter is initialized. Revise parameter with servo amplifier after changing.
3 . REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION 4.2 Program Diversion Procedure in Motion CPU Side 4.2.1 Diversion procedure using MT Developer2 The following shows an example of procedures for replacing an A-Motion CPU side project with a Stand-alone Motion CPU project using MT Developer2. Always backup the project before the program replacement. 1) Start MT Developer2, and select "Divert File" --> "Diversion of Other Format Project" from the "Project" tab.
3 . REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION 3) Select "Browse" in Save Folder Path and the source project from "Folder List", and click "Open". 4) Select the CPU type and OS type in "CPU/OS Selection". 5) Click the "Divert" button.
3 . REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION 6) Select "Divert". 7) Execute the series conversion of the servo amplifier. Select the servo amplifier series and servo system network specification after the replacement, and select "OK". 8) The conversion of the project is completed. Select "OK". After the project conversion, make the cross comparison or check the data on each screen. 9) Select "Save As" from the "Project" tab to save the project after the conversion.
3 . REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION 10) Input "Workspace Name", "Project Name", and "Title", and select "Save". 11) The new project creation dialog box appears. Select "Yes". 4.2.2 Without using SFC When no SFC program is used in the A-Motion CPU side program (Diversion source) and servo parameters other than SFC programs are diverted, perform the following procedure after the operation of 11). 1) Select "Motion SFC Program Manager".
3 . REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION 2) Select "Unused" for "Motion SFC Program", and select "OK". About the file converted by MT Woks2, refer to "Section 3.4.1 Data list available for diversion or not (SV13/SV22)", and then set the data which can not be diverted if necessary. Besides, about the setting of Multiple CPU parameter, refer to " Section 3.3.
3 . REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION 4.3 Program Diversion Procedure in PLC CPU Side 4.3.1 Conversion procedure of ladder program for QnUD(H)CPU using GX Works2/GX Developer The following describes an example of the procedure for replacing a sequence project using GX Developer. Always backup the project before the replacement. (1) Conversion of ladder program created by SW3RNC-GSVE/SW2□-GSVE 1) After starting GX Works2, select "Start GX Developer" from the "Project" tab.
3 . REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION 3) Select "Browse". 4) Select the conversion target file and select "OK". 5) Check the conversion targets (Program/Device comment/Parameter), and select "Execute". Note) Only one of "Comment1" and "Comment2" can be selected for Device comment.
3 . REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION 6) The conversion completion dialog box appears. Select "OK". 7) Select "Close". 8) Select "Change PLC type" from the "Project" tab in GX Developer. 9) Specify the PLC series (QCPU(Qmode)) and PLC type (Q03UD) after the replacement in the "Change PLC type" dialog box, and select "OK". (For Q170MSCPU-S1, specify "Q06UDH" for the PLC type.
3 . REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION 10) The "Change PLC type" dialog box appears. Select "Yes". Note) In this replacement handbook, "Yes" is selected because the changes will be checked later by using a support tool. When the supporting tool is not used, select "Confirm change". 11) The following confirmation dialog box appears. Select "OK". 12) Select "Save as" from the "Project" tab. Input "Project name" and "Title", and select "Save".
3 . REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION 13) The new project creation dialog box appears. Select "Yes". Although the sequence program has been converted by following this procedure, it may not be operated correctly. For the program modifications, refer to Section 5 and later. To open the file in which CPU has been changed with GX Developer2 again, select "Open Other Data" --> "Open Other Project" from the "Project" tab.
3 . REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION 5. USING A/QnA->Q CONVERSION SUPPORT TOOL IN LADDER PROGRAM To confirm the modified content of ladder program, use "A/QnA->Q conversion support tool". About the explanation, refer to "2. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION". 6. POINTS AND PRECAUTIONS OF REPLACEMENT 6.1 Difference of Motion CPU Configuration 6.1.
3 . REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION 6.2 Precautions about Replacement 6.2.1 Slot position (system configuration) When the motion module (A172SENC) used in A-motion is replaced with Q170MSCPU(-S1), the system configuration of the motion module is initialized as follows. Configure the setting again.. Example) When A172SENC is arranged in Slot 0 of A-Motion A172SENC is arranged in Slot 0.
3 . REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION Next, execute the setting of motion module. The chart of arranging the motion module is as follows. About other precautions, refer to "2. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION".
3 . REPLACEMENT PROPOSAL FROM A-MOTION TO STAND-ALONE MOTION 7. DIFFERENCE BETWEEN Q170MSCPU AND Q170MSCPU-S1 About the specification of Q170MSCPU-S1, the difference with Q170MSCPU is showed as center. About the content not described in this section, it has the same specification as Q170MSCPU. Operating system software and peripheral software package use the same thing as Q170MSCPU. 7.1 Difference between Q170MSCPU and Q170MSCPU-S1 7.1.
4 . REPLACEMENT FROM A-MOTION TO QN-MOTION 4. REPLACEMENT FROM A-MOTION TO QN-MOTION 4. REPLACEMENT FROM A-MOTION TO QN-MOTION .................................................................................................... 1 1. OVERVIEW ....................................................................................................................................................... 2 2. EQUIPMENT CONFIGURATION, AVAILABLE SOFTWARE ...................................................................
4 . REPLACEMENT FROM A-MOTION TO QN-MOTION 1. OVERVIEW This article explains the changes when a system using A173UHCPU/A172SHCPUN/A171SHCPUN (A-Motion) is replaced with a system using Q173CPUN/Q172CPUN (QN-Motion). For A173UHCPU-S1, A173UHCPU should be read as A173UHCPU-S1. 2. EQUIPMENT CONFIGURATION, AVAILABLE SOFTWARE Please prepare modules, operating system software, and engineering environment according to the table in this article. 2.
4 . REPLACEMENT FROM A-MOTION TO QN-MOTION • In addition to USB and RS-232C, SSCNET can also be used for the communication between Q173CPUN/Q172CPUN and a personal computer by using an SSCNET I/F board (A10BD-PCF/A30BD-PCF) or SSCNET I/F card (A30CD-PCF). • iQ Platform modules cannot be used in the combination of the multiple CPU modules. • Q173CPUN-T and Q172CPUN-T are compatible with teaching units (A31TU-D3□/A31TU-DN□).
4 . REPLACEMENT FROM A-MOTION TO QN-MOTION 2.
4 . REPLACEMENT FROM A-MOTION TO QN-MOTION Connection with personal computers Q170BDCBL□M A30BD-PCF/A10BDPCF • Desktop computer ISA-compatible: A30BD-PCF PCI-compatible: A10BD-PCF Q173CPUN/Q172CPU Q170CD CBL□M A30CD-PCF 1) USB • Laptop computer PCMCIA-compatible: A30CD-PCF 2) RS-232C 3) SSCNET When 1) USB or 2) RS-232C is used Although RS422 is used for A-Motion, RS-232C or USB is used for Q173CPUN/Q172CPUN. Use an appropriate cable for the desktop or laptop computer that is being used.
4 . REPLACEMENT FROM A-MOTION TO QN-MOTION 2.3 Operating System Software Correspondence Use an operating system for Q173CPUN/Q172CPUN.
4 . REPLACEMENT FROM A-MOTION TO QN-MOTION 3. DIFFERENCES BETWEEN Q173CPUN/Q172CPUN AND A173UHCPU/A172SHCPUN/A171SHCPUN 3.1 Differences between Q173CPUN/Q172CPUN and A173UHCPU/A172SHCPUN/A171SHCPUN 3.1.1 Differences list Item Peripheral I/F A17nSHCPUN/A173UHCPU Q17nCPUN • USB/RS-232/SSCNET A171SH A172SH Points of replacement A173UH Communicate with peripheral RS422/SSCNET equipment using appropriate I/Fs.
4 . REPLACEMENT FROM A-MOTION TO QN-MOTION (Continued) Item Q17nCPUN A17nSHCPUN/A173UHCPU A171SH A172SH Points of replacement A173UH • Multiple CPU system is not System setting • Qn(H)CPU will be CPU No.1. supported. • Use main base units Q33B, • Main base unit is A17□B. Q35B, Q38B, and Q312B. Use appropriate units in combination. (A172B, A175B, A178B, A178B-S1, A178B-S2, and A178B-S3) Servo system network SSCNET SSCNET Refer to Section 3.1.3.
4 . REPLACEMENT FROM A-MOTION TO QN-MOTION (Continued) Q17nCPUN Item Q172CPUN Q173CPUN A17nSHCPUN/A173UHCPU A171SH A172SH A173UH Points of replacement 0.88ms/ 1 to 8 axes SV13 3.55ms/ 0.88ms/ 1.77ms/ 3.55ms/ 3.55ms/ 1 to 20 axes 1 to 8 axes 9 to 16 axes 1 to 4 axes 1 to 8 axes 7.11ms/ 3.55ms/ When the operation cycle is set 21 to 32 axes as default (automatic), the 17 to 32 axes operation cycle will change. The Operation cycle 0.88ms/ (Default value) 1 to 4 axes 3.
4 . REPLACEMENT FROM A-MOTION TO QN-MOTION 3.1.2 Differences between self diagnosis error and Motion (SFC) error history Self diagnosis error code Q17nCPUN A17nSHCPUN/ A173UHCPU (D9008) - Error flag state Description (D9008) 10 INSTRCT CODE ERR. 11 PARAMETER ERROR - 12 MISSING END INS. - 13 CAN'T EXECUTE (P). - 14 CHK FORMAT ERR. 3001 to 3013 - 15 CAN'T EXECUTE (I) 1105 20 RAM ERROR - 21 OPE. CIRCUIT ERR.
4 . REPLACEMENT FROM A-MOTION TO QN-MOTION 3.1.3 Items required to be changed/revised with the servo system network change Differences Item System setting/ SSCNET configuration Q17nCPUN Q172CPUN: 1 system Q173CPUN: 4 systems (up to 8 axes/system) A17nSHCPUN/ Change/Revise content A173UHCPU A171SHCPUN: 1 system A172SHCPUN: 1 system A173UHCPU: 4 system (up to 8 axes/system) Configure the rotary switch setting of servo amplifiers and connect the servo amplifiers considering the SSCNET configuration.
4 . REPLACEMENT FROM A-MOTION TO QN-MOTION 3.2 Device Comparison 3.2.1 I/O device Q17nCPUN A173UHCPU A172SHCPUN X/Y0 A171SHCPUN User device X/Y7FF User device User device X/Y800 (8192 points) (8192 points) (2048 points) X/Y1FFF 3.2.
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4 . REPLACEMENT FROM A-MOTION TO QN-MOTION 4. DIVERSION OF PROJECT CREATED WITH A173CPUN/A172CPUN 4.
4 . REPLACEMENT FROM A-MOTION TO QN-MOTION (Note-1) System setting data • Pulse generator/synchronous encoder I/F module, A172SENCA172SENC module is converted to Q172LX. Manual pulse generator/synchronous encoder setting is deleted. Set Q172EX-S2 or Q173PX modules if necessary. • Limit output module A1SY42 (when a motion SFC non-compatible OS is used) The limit output module A1SY42 is not diverted.
4 . REPLACEMENT FROM A-MOTION TO QN-MOTION 4.2 Program Diversion Procedure in Motion CPU Side 4.2.1 Diversion procedure using MT Developer2 The following shows an example of procedures for replacing an A-Motion CPU side project with a QDS-Motion CPU project using MT Developer2. Always backup the project before the program replacement. 1) Start MT Developer2, and select "Divert File" from the "Project" tab.
4 . REPLACEMENT FROM A-MOTION TO QN-MOTION 3) Select "Browse" in Save Folder Path and the source project from "Folder List", and click "Open". 4) Select data to be converted in "File Selection". 5) Select "Divert".
4 . REPLACEMENT FROM A-MOTION TO QN-MOTION 6) The conversion of the project is completed. Select "OK". After the project conversion, make the cross comparison or check the data on each screen. 7) Select "Save As" from the "Project" tab to save the project after the conversion. 8) Input "Workspace Name", "Project Name", and "Title", and select "Save". 9) The new project creation dialog box appears. Select "Yes".
4 . REPLACEMENT FROM A-MOTION TO QN-MOTION 4.2.2 When SFC is not used When no SFC program is used in the A-Motion CPU side program (Diversion source) and servo parameters and others are diverted, perform the following procedure after the operation of 9). 1) Select "Motion SFC Program Manager". 2) Select "Unused" for "Motion SFC Program", and select "OK". For the file converted using MT Works2, refer to "4.
4 . REPLACEMENT FROM A-MOTION TO QN-MOTION 4.3 Program Diversion Procedure in PLC CPU Side 4.3.1 Conversion procedure of sequence program for Qn(H)CPU using GX Works2/ GX Developer The following describes an example of the procedure for replacing a sequence project using GX Developer. Always backup the project before the replacement. (1) Conversion of a sequence program created by SW3RNC-GSV/SW2□-GSV 1) After starting GX Works2, select "Start GX Developer" from the "Project" tab.
4 . REPLACEMENT FROM A-MOTION TO QN-MOTION 3) Select "Browse". 4) Select the conversion target file and select "OK". 5) Check the conversion targets (Program/Device comment/Parameter), and select "Execute". Note) Only one of "Comment1" and "Comment2" can be selected for Device comment.
4 . REPLACEMENT FROM A-MOTION TO QN-MOTION 6) The conversion completion dialog box appears. Select "OK". 7) Select "Close". 8) Select "Change PLC type" from the "Project" tab in GX Developer. 9) Specify the PLC series (QCPU(Qmode)) and PLC type (QnUD(E)(H)CPU) after the replacement in the "Change PLC type" dialog box, and select "OK".
4 . REPLACEMENT FROM A-MOTION TO QN-MOTION 10) The "Change PLC type" dialog box appears. Select "Yes". Note) In this replacement handbook, "Yes" is selected because the changes will be checked later by using a support tool. When the supporting tool is not used, select "Confirm change". 11) The following dialog box appears. Select "OK". Some devices cannot be replaced properly and are forcibly converted to "SM1255" or "SD1255".
4 . REPLACEMENT FROM A-MOTION TO QN-MOTION 13) The new project creation dialog box appears. Select "Yes". Although the sequence program has been converted by following this procedure, it may not be performed correctly. For the program modifications, refer to Section 5 and later. (2) Conversion of a sequence program for A-Motion created by GX Developer The following describes an example of the procedure for replacing a sequence project using GX Developer. Always backup the project before the replacement.
4 . REPLACEMENT FROM A-MOTION TO QN-MOTION 5. USING A/QnA->Q CONVERSION SUPPORT TOOL FOR SEQUENCE PROGRAMS To confirm the converted content of the sequence program, use "A/QnA->Q conversion support tool". Please download and install the A/QnA->Q conversion support tool from Mitsubishi Electric FA Site. For details, refer to A/QnA->Q Conversion Support Tool Operation Guide on the same page. To download the tool, access the Mitsubishi Electric FA Site (http://www.mitsubishielectric.co.jp/fa/index.
4 . REPLACEMENT FROM A-MOTION TO QN-MOTION 5.2 Using Procedure of Support Tool 1) Click "Start" --> "MELSOFT Application" --> "AQCnvSupport" to start the support tool. Then select "A/QnA->Q program conversion support tool execute". 2) The "A/QnA->Q program conversion support tool" dialog box appears. Specify a source file in the GPPA format, A2SH file, or A3U file for "Project for A/QnA series before PLC type changing".
4 . REPLACEMENT FROM A-MOTION TO QN-MOTION 3) Created file Once the operation is completed by following the description in A/QnA->Q Conversion Support Tool Operation Guide, an analysis result Index file (HTML document) and a GX Developer file in which statements of the modifications are embedded are created in the specified folder. 4) Display • Analysis result index file The following shows an example of the execution results of the analysis result index file.
4 . REPLACEMENT FROM A-MOTION TO QN-MOTION 5.3 Correction of the Sequence Program in Created Embedded File 5.3.1 Correction of special relay/special register The special relay that cannot be converted from A-Motion is converted to "SM1255", and the special register that cannot be converted from A-Motion is converted to "SD1255". Modify the devices according to a between-the-lines statement. 5.3.
4 . REPLACEMENT FROM A-MOTION TO QN-MOTION 6. POINTS AND PRECAUTIONS OF REPLACEMENT 6.1 Difference of Motion CPU Configuration 6.1.1 System configuration The following figure shows the differences between the basic system of A-Motion and basic system of QDS-Motion. • The PLC function and the motion function are integrated in one A-motion CPU. However, in QDS-motion, they are in different CPUs.
4 . REPLACEMENT FROM A-MOTION TO QN-MOTION 6.1.2 Shared device In A-motion, the PLC and Motion functions are integrated in an A-motion CPU. Thus, the both function shares the memory. In QDS-Motion, a PLC CPU and a Motion CPU are divided as different modules. Thus, configuring various settings (Assignment to the multiple CPU shared devices/automatic refresh setting) is required to share the memory.
4 . REPLACEMENT FROM A-MOTION TO QN-MOTION 6.2 Precautions on Replacement 6.2.1 Slot position (system setting) When a motion module used in A-Motion is replaced with a Q-Motion module, the slot position will change. Example) When A172SENC is arranged in Slot 0 in A-Motion A172SENC is arranged in Slot 0. ↓ A172SHCPU is converted to Q172CPUN. The conversion is executed as follows. A172SHCPU → Q172CPUN (Slot 0) A172SENC → Q172LX (Slot 1) Q172LX is arranged in Slot 1.
4 . REPLACEMENT FROM A-MOTION TO QN-MOTION 6.2.2 Restrictions on the number of blocks and total points in the refresh setting In Q-Motion, an automatic refresh function is one of the specifications added from A-Motion. The number of blocks for the automatic refresh is limited to 4 blocks in Q173CPUN/Q172CPUN. PCPU Device memory (D, M) Shared memory * The number of blocks for automatic refresh is 32. No.1 No.2 6.2.
5. APPENDIX 5. APPENDIX 5. APPENDIX ............................................................................................................................................................ 1 1. OUTLINE DIMENSIONS ................................................................................................................................... 2 1.1 Outline Dimensions of A Series (small type) ............................................................................................ 2 1.1.
5. APPENDIX 1. OUTLINE DIMENSIONS 1.1 Outline Dimensions of A Series (small type) 1.1.1 A17nSHCPUN 1.1.
5. APPENDIX 1.1.3 A172SENC 1.1.
5. APPENDIX 1.1.5 A175B 4 mounting screws 1.1.6 A178B(-S□) 4 mounting screws 1.1.
5. APPENDIX 1.1.8 A1S65B 4 mounting screws 1.1.
5. APPENDIX 1.2 Outline Dimensions of QD(S) Series 1.2.1 Q17nDSCPU [Unit: mm] 1.2.
5. APPENDIX 1.2.3 Q17nDCPU-S1 [Unit: mm] 1.2.4 Q170DBATC 2-φ5.
5. APPENDIX 1.2.5 Q172DLX [Unit: mm] 1.2.
5. APPENDIX 1.2.7 Q173DPX [Unit: mm] 1.2.
5. APPENDIX 1.2.9 QnHCPU 1.2.
5. APPENDIX 1.2.11 Q38DB 5 mounting screws 1.2.12 Q312DB 5 mounting screws 1.2.
5. APPENDIX 1.2.14 Q63B 4 mounting screws (M4×14) 1.2.15 Q65B 4 mounting screws (M4×14) 1.2.
5. APPENDIX 1.2.17 Q68B [Base unit mounting hole: 4 holes] 4 mounting screws (M4×14) 1.2.18 Q612B [Base unit mounting hole: 5 holes] 5 mounting screws 1.2.
5. APPENDIX 1.3 Outline Dimensions of Stand-alone Motion 1.3.1 Q170MSCPU(-S1) With the battery holder removed 1.3.
WARRANTY Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider.
6. Precautions for Choosing the Products (1) For the use of our Motion controller, its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in Motion controller, and a backup or fail-safe function should operate on an external system to Motion controller when any failure or malfunction occurs. (2) Our Motion controller is designed and manufactured as a general purpose product for use at general industries.
Transition from A17nSHCPUN/A173UHCPU Series to Q Series Handbook Safety Warning To e nsure proper use of the p roducts list ed in thi s catalog, please be sure to read the in struction manual prior to use. Tel/Fax USA MITSUBISHI ELECTRIC AUTOMATION, INC. 500 Corporate Woods Parkway, Vernon Hills, IL 60061, U.S.A. Tel : +1-847-478-2100 Fax : +1-847-478-2253 Mexico MITSUBISHI ELECTRIC AUTOMATION, INC. Mexico Branch Mariano Escobedo #69, Col. Zona Industrial, Tlalnepantla Edo, C.P.