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 The manual number is given on the bottom left of the back cover. Print Date Jan., 2008 Feb., 2009 Sep., 2010 Sep., 2011 Dec., 2011 Mar.
INTRODUCTION Thank you for choosing the Mitsubishi Motion controller Q173D(S)CPU/Q172D(S)CPU. Before using the equipment, please read this manual carefully to develop full familiarity with the functions and performance of the Motion controller you have purchased, so as to ensure correct use. CONTENTS Safety Precautions .........................................................................................................................................A- 1 Revisions .......................................
3.2.1 Power supply circuit design .............................................................................................................. 3- 8 3.2.2 Safety circuit design .......................................................................................................................... 3- 9 3.3 Layout Design within the Control Panel .................................................................................................. 3-11 3.3.1 Mounting environment.................................
7. EMC DIRECTIVES 7- 1 to 7-10 7.1 Requirements for Compliance with the EMC Directive........................................................................... 77.1.1 Standards relevant to the EMC directive.......................................................................................... 77.1.2 Installation instructions for EMC directive ........................................................................................ 77.1.3 Parts of measure against noise ..................................
About Manuals The following manuals are also related to this product. In necessary, order them by quoting the details in the tables below.
(2) PLC Manual Number (Model Code) Manual Name QCPU User's Manual (Hardware Design, Maintenance and Inspection) This manual explains the specifications of the QCPU modules, power supply modules, base units, extension cables, memory card battery, and the maintenance/inspection for the system, trouble shooting, SH-080483ENG (13JR73) error codes and others.
(3) Servo amplifier Manual Number (Model Code) Manual Name SSCNET /H interface MR-J4- B Servo amplifier Instruction Manual This manual explains the I/O signals, parts names, parameters, start-up procedure and others for SH-030106 (1CW805) MR-J4- B Servo amplifier.
MEMO A - 18
1 OVERVIEW 1. OVERVIEW 1 1.1 Overview This User's Manual describes the hardware specifications and handling methods of the Motion Controller for the Q series PLC Multiple CPU system. The Manual also describes those items related to the specifications of the option module for the Motion controller, Manual pulse generator, Synchronous encoder and cables. In this manual, the following abbreviations are used.
1 OVERVIEW Generic term/Abbreviation Description (Note-3) SSCNET /H SSCNET High speed synchronous network between Motion controller and servo amplifier (Note-3) (Note-3) General name for SSCNET /H, SSCNET General name for "system using the servomotor and servo amplifier for absolute position" SSCNET (/H) Absolute position system Battery holder unit Battery holder unit (Q170DBATC) Abbreviation for "CC-Link IE module/CC-Link module/ MELSECNET/10(H) module/Ethernet module/Serial communication module"
1 OVERVIEW MEMO 1-3
1 OVERVIEW 1.2 Differences between Q173D(S)CPU/Q172D(S)CPU and Q173HCPU/Q172HCPU Item Q173DSCPU Q172DSCPU Q173DCPU(-S1) Q172DCPU(-S1) SV13 0.22ms/ 1 to 4 axes 0.44ms/ 5 to 10 axes 0.88ms/11 to 24 axes 1.77ms/25 to 32 axes 0.22ms/ 1 to 4 axes 0.44ms/ 5 to 10 axes 0.88ms/11 to 16 axes 0.44ms/ 1 to 6 axes 0.88ms/ 7 to 18 axes 1.77ms/19 to 32 axes 0.44ms/ 1 to 6 axes 0.88ms/ 7 to 8 axes SV22 0.44ms/ 1 to 6 axes 0.88ms/ 7 to 16 axes 1.77ms/17 to 32 axes 0.44ms/ 1 to 6 axes 0.88ms/ 7 to 16 axes 0.
1 OVERVIEW Q173HCPU Q173HCPU 0.44ms/ 1 to 3 axes 0.88ms/ 4 to 10 axes 1.77ms/11 to 20 axes 3.55ms/21 to 32 axes 0.44ms/ 1 to 3 axes 0.88ms/ 4 to 8 axes 0.88ms/ 1 to 5 axes 1.77ms/ 6 to 14 axes 3.55ms/15 to 28 axes 7.11ms/29 to 32 axes 0.88ms/ 1 to 5 axes 1.77ms/ 6 to 8 axes SW RN-SV Q USB/SSCNET Main base unit (Q33B/Q35B/Q38B/Q312B) Clear Mount the unit by unit fixing screws when using system in a place where the vibration or impact is large.
1 OVERVIEW 1.3 Restrictions by the Software's Version There are restrictions in the function that can be used by the version of the operating system software and programming software. The combination of each version and a function is shown in Table1.1. Table 1.
1 OVERVIEW Programming software version MELSOFT MT Works2 (MT Developer2) Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1) Section of reference MR Configurator2 MR Configurator — — Section 2.2 — — (Note-5) SV13/SV22 SV13/SV22 SV43 — — — 1.39R 1.06G 1.39R 1.06G 1.06G 1.01B C2 — — — (Note-5), (Note-6) — — (Note-4) — — (Note-3) — — (Note-6) — — (Note-3) — — 1.39R 1.06G — — — — 1.39R 1.06G — — — — (Note-3) 1.39R 1.09K — — (Note-6) 1.39R 1.
1 OVERVIEW Table 1.
1 OVERVIEW Programming software version MELSOFT MT Works2 (MT Developer2) Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1) MR Configurator2 MR Configurator Section of reference SV13/SV22 SV13/SV22 SV43 — — — — (Note-5) 1.39R 1.39R — — (Note-4) 1.39R 1.39R — — (Note-4) — — — — (Note-4) — — — — (Note-5), (Note-6) 1.39R 1.39R — — (Note-7) —: There is no restriction by the version. (Note-1): SV13/SV22 is the completely same version.
1 OVERVIEW 1.4 Programming Software Version The programming software versions supported to Motion CPU are shown below. Motion CPU MELSOFT MT Works2 (MT Developer2) SV13/SV22 SV43 MR Configurator2 MR Configurator Q173DSCPU 1.39R 1.10L Not support Q172DSCPU 1.39R 1.10L Not support Q173DCPU-S1 1.00A Q172DCPU-S1 1.00A (Note-1) (Note-1) 1.03D 1.03D (Note-2) (Note-2) 1.00A C0 1.00A C0 Q173DCPU 1.00A 1.03D 1.00A C0 Q172DCPU 1.00A 1.03D 1.
2 SYSTEM CONFIGURATION 2. SYSTEM CONFIGURATION This section describes the Motion controller system configuration, precautions on use of system and configured equipments. 2.
2 SYSTEM CONFIGURATION (b) Q173DCPU(-S1)/Q172DCPU(-S1) Extension of the Q series module (Note-2) Power supply module/ QnUD(E)(H)CPU/ I/O module/ Intelligent function module of the Q series Motion module (Q172DLX, Q172DEX, Q173DPX) Motion module (Q172DLX, Q173DPX) Main base unit (Q35DB, Q38DB, Q312DB) Extension cable (QC B) Q6 B extension base unit (Q63B, Q65B, Q68B, Q612B) Motion CPU module (Q173DCPU(-S1)/ Q172DCPU(-S1)) Forced stop input cable (Q170DEMICBL M) Power supply module/ I/O module/Intel
2 SYSTEM CONFIGURATION (2) Peripheral device configuration for the Q173D(S)CPU/ Q172D(S)CPU The following (a)(b)(c) can be used.
2 SYSTEM CONFIGURATION 2.1.
2 SYSTEM CONFIGURATION 2.1.
2 SYSTEM CONFIGURATION 2.1.3 Function explanation of the Motion CPU modules (1) The following servo amplifiers can be controlled in Motion CPU module. Q173DSCPU/Q173DCPU(-S1) : Up to 32 axes per 2 systems (up to 16 axes per 1 system) Q172DSCPU : Up to 16 axes per 1 system Q172DCPU(-S1) : Up to 8 axes per 1 system (2) It is possible to set the program which synchronized with the motion operation cycle and executed at fixed cycle (Min. 0.22ms: Q173DSCPU/Q172DSCPU use).
2 SYSTEM CONFIGURATION 2.1.4 Restrictions on Motion systems (1) Combination of Multiple CPU system (a) Motion CPU module cannot be used as standalone module. Be sure to install the universal model PLC CPU module to CPU No.1. For Universal model PLC CPU module, "Multiple CPU high speed transmission function" must be set in the Multiple CPU settings. (b) Only Multiple CPU high speed main base unit (Q35DB/Q38DB/Q312DB) can be used.
2 SYSTEM CONFIGURATION (2) Motion modules (Note-1) (a) Installation position of Q172DEX and Q173DSXY is only the main base unit. It cannot be used on the extension base unit. (b) Q172DLX/Q173DPX can be installed on any of the main base unit/ extension base unit. (Note-1) /Q173DPX cannot be installed in CPU slot and I/O (c) Q172DLX/Q172DEX slot 0 to 2 of the main base unit. Wrong installation might damage the main base unit. (d) Q173DSXY cannot be used in Q173DCPU/Q172DCPU.
2 SYSTEM CONFIGURATION (3) Other restrictions (a) Motion CPU module cannot be set as the control CPU of intelligent function module (except some modules) or Graphic Operation Terminal(GOT). (b) Be sure to use the battery. (c) There are following methods to execute the forced stop input. • Use a EMI connector of Motion CPU module • Use a device set in the forced stop input setting of system setting (d) Forced stop input for EMI connector of Motion CPU module cannot be invalidated by the parameter.
2 SYSTEM CONFIGURATION (j) MR-J4W3- B and MR-J3W- B does not correspond to operation cycle 0.2 [ms]. Set 0.4[ms] or more as operation cycle to use MR-J4W3- B and MR-J3W- B. QDS (k) If there is an axis which is not set at least 1 axis by system setting in applicable servo amplifier at MR-J4W- B use, all axes connected to applicable servo amplifier and subsequent servo amplifiers cannot be connected. Set "Not used" to the applicable axis with a dip switch for the axis which is not used by MR-J4W- B.
2 SYSTEM CONFIGURATION 2.2 Checking Serial Number and Operating System Software Version Checking for the serial number of Motion CPU module and Motion module, and the operating system software version are shown below. 2.2.1 Checking serial number (1) Motion CPU module (Q173DSCPU/Q172DSCPU) (a) Rating plate The rating plate is situated on the side face of the Motion CPU module.
2 SYSTEM CONFIGURATION (2) Motion CPU module (Q173DCPU(-S1)/Q172DCPU(-S1)) (a) Rating plate The rating plate is situated on the side face of the Motion CPU module. (b) Front of Motion CPU module The serial number is printed in the projection parts forward of the lower side of Motion CPU module.
2 SYSTEM CONFIGURATION (3) Motion module (Q172DLX/Q172DEX/Q173DPX/Q173DSXY) (a) Rating plate The rating plate is situated on the side face of the Motion module. (b) Front of Motion module The serial No. is printed in the projection parts forward of the lower side of Motion module. Q172DLX MITSUBISHI PASSED MOTION I/F UNIT MODEL Q172DLX 24VDC 0.16A 5VDC 0.06A SERIAL C16054999 DATE 2011-06 80M1 IND. CONT. EQ.
2 SYSTEM CONFIGURATION 2.2.2 Checking operating system software version Ver.! The operating system software version can be checked on the system monitor screen in GX Works2/GX Developer. Select [Product Inf. List] button on the system monitor screen displayed on [Diagnostics] – [System monitor] of GX Works2/GX Developer.
2 SYSTEM CONFIGURATION REMARK (1) "Serial number of Motion CPU module" and "Operating system software version" on the system monitor (Product Information List) screen of GX Works2/GX Developer was corresponded from the Motion CPU modules manufactured in early October 2007. (2) The operating system software version can also be checked on the system monitor screen in CD-ROM of operating system software or MT Developer2. Refer to Section 1.3.
2 SYSTEM CONFIGURATION 2.3 System Configuration Equipment (1) Motion controller related module Part name Model name (Note-1) Description Current consumption Remark 5VDC[A] Q173DSCPU Up to 32 axes control, Operation cycle 0.22[ms] or more, Built-in Ethernet, Built-in interface in Motion CPU (Incremental synchronous (Note-2) 1.75 encoder interface 1ch, Input signal/Mark detection input signal 4 points) (Attachment battery (Q6BAT)) Q172DSCPU Up to 16 axes control, Operation cycle 0.
2 SYSTEM CONFIGURATION Motion controller related module (continued) Part name PLC CPU (Note-3) module C Controller (Note-3) module Power supply (Note-4) module Main base unit (Note-3) Extension base (Note-3) unit Extension cable Model name (Note-1) Q20UDEHCPU Program capacity 200k steps, LD instruction processing speed 0.0095μs, Built-in Ethernet port 0.49 Q26UDEHCPU Program capacity 260k steps, LD instruction processing speed 0.0095μs, Built-in Ethernet port 0.
2 SYSTEM CONFIGURATION Motion controller related module (continued) Part name Model name (Note-1) Description Current consumption Remark 5VDC[A] Q170DSIOCON Incremental synchronous encoder/Mark detection signal interface connector With ferrite core —— Manual pulse generator MR-HDP01 Pulse resolution: 25PLS/rev(100PLS/rev after magnification by 4) Permitted axial loads Radial load: Up to 19.6N Thrust load: Up to 9.8N Permitted speed: 200r/min(Normal rotation), Voltage-output 0.
2 SYSTEM CONFIGURATION Motion controller related module (continued) Part name RIO cable Model name (Note-1) Description Current consumption Remark 5VDC[A] Q173DSXYCBL01M Length 0.1m (0.33ft.) —— Q173DSXYCBL05M Length 0.5m (1.64ft.) —— (Note-1): =Cable length (015: 0.15m(0.49ft.), 03: 0.3m(0.98ft.), 05: 0.5m(1.64ft.), 1: 1m(3.28ft.), 2: 2m(6.56ft.), 3: 3m(9.84ft.), 5: 5m(16.40ft.), 10: 10m(32.81ft.), 20: 20m(65.62ft.), 25: 25m(82.02ft.), 30: 30m(98.43ft.), 40: 40m(131.23ft.), 50:50m(164.04ft.
2 SYSTEM CONFIGURATION (2) PLC module which can be controlled by Motion CPU Part name Model name AC DC (Positive common) Input module DC/AC DC sensor DC (Negative common) Relay Triac Sink Type Output module Transistor Independent Source Type TTL•CMOS (Sink) Input/Output composite module DC Input/ Transistor output Interrupt module Current consumption 5VDC[A] (Note-1) QX10 0.05 (TYP, All points ON) QX10-TS 0.05 (TYP, All points ON) QX28 0.05 (TYP, All points ON) QX40 0.
2 SYSTEM CONFIGURATION PLC module which can be controlled by Motion CPU (continued) Part name Model name Voltage input Analogue input module Current input Q68ADV 0.64 Q62AD-DGH 0.33 Q66AD-DG 0.42 Q68ADI 0.64 0.63 Q64AD-GH 0.89 Q68AD-G 0.46 Voltage output Q68DAVN 0.38 Current output Q68DAIN 0.38 Q62DAN 0.33 Q62DA-FG 0.37 Q64DAN 0.34 Q66DA-G 0.
2 SYSTEM CONFIGURATION (6) Related software packages (a) PLC software package Model name Software package GX Works2 SW1DNC-GXW2-E GX Developer SW8D5C-GPPW-E (b) Servo set up software package Model name Software package MR Configurator2 SW1DNC-MRC2-E MR Configurator MRZJW3-SETUP221E (Note-1) (Note-1): Q173DSCPU/Q172DSCPU is not supported.
2 SYSTEM CONFIGURATION 2.4 General Specifications General specifications of the Motion controller are shown below.
2 SYSTEM CONFIGURATION 2.5 Specifications of Equipment and Settings 2.5.1 Name of parts for CPU module This section explains the names and setting of the module. (1) Name of parts (a) Q173DSCPU/Q172DSCPU Front face of Q172DSCPU With battery cover open Q173DSCPU Front face of Q173DSCPU Q172DSCPU Q173DSCPU 1) CD AB E SW 2 3) STOP RUN 16) 6) 7) 16) CN2 PULL 17) PULL FRONT RIO FRONT RIO 20) 8) 10) 14) EXT.I/F 5) EXT.
2 SYSTEM CONFIGURATION (b) Q173DCPU(-S1)/Q172DCPU(-S1) Front face of Q172DCPU(-S1) Front face of Q173DCPU(-S1) Q172DCPU-S1 Q173DCPU-S1 1) PERIPHERAL I/F 14) CD AB E CD AB E 6) CN1 5) 7) 789 FRONT BAT RIO 3) CAUTION EMI CN1 PERIPHERAL I/F SW 2 STOP RUN CN2 CD AB E CDE AB 789 5) 789 4) CAUTION 1 789 2) F01 45 23 6 3) F01 45 23 6 SW 2 1) STOP RUN EMI 6) F01 45 23 6 4) 1 45 23 6 2) F01 14) FRONT BAT RIO 8) 8) Bottom Side face 10) 11) (Note) 13) 15) 12)
2 SYSTEM CONFIGURATION No. Name Application 1) 7-segment LED 2) Indicates the operating status and error information. Rotary function select 1 switch • Set the operation mode. (Normal operation mode, Installation mode, Mode operated by ROM, etc) (SW1) • Each switch setting is 0 to F.
2 SYSTEM CONFIGURATION No. Name Application 18) Battery holder Holder to support the battery (Q6BAT) 19) Battery cover Cover for battery (Q6BAT) 20) Battery Battery for backup of program, parameters, motion devices (#), devices of latch (Note-5) data and absolute position data (Note-1): Be sure to use the cable for forced stop input (sold separately). The forced stop cannot be released without using it. If the cable for forced stop input is fabricated on the customer side, make it within 30m(98.
2 SYSTEM CONFIGURATION Item Battery error 7-segment LED Remark Early stage warning (2.7V or less) Steady "BT1" display Displayed at battery voltage 2.7V or less. Refer to Section "6.5 Battery". Final stage warning (2.5V or less) Steady "BT2" display Displayed at battery voltage 2.5V or less. Refer to Section "6.5 Battery". "A00" remains flashing It becomes the status of installation mode when the operating system software is not installed.
2 SYSTEM CONFIGURATION (3) Rotary switch assignment (a) Rotary function select 1 switch (SW1) Rotary switch 4 56 CD AB E (Note) Mode 0 Normal mode A Installation mode Description Normal operation mode 23 F0 1 Setting Installed the operating system software using MT Developer2 789 (Note): Not to be set except above setting.
2 SYSTEM CONFIGURATION (4) Operation mode (a) Rotary switch setting and operation mode Rotary switch setting (Note-1) Operation mode SW1 SW2 A Any setting (Except C) 0 0 Mode operated by RAM 0 6 Mode operated by ROM 0 8 Ethernet IP address display mode Any setting C SRAM clear Installation mode (Note-2) (Note-1): Do not set except the above setting.
2 SYSTEM CONFIGURATION POINTS (1) Be sure to turn OFF the Multiple CPU system's power supply before the rotary switch setting change. (2) It is recommended to shift to the mode operated by ROM after the programs and parameters are fixed. The appearance of the programs and parameters can be evaded even if the battery decrease. (The ROM writing cannot be executed for the current position of the servo motor in the absolute position system, home position and latch device.
2 SYSTEM CONFIGURATION (5) Basic specifications of Q173D(S)CPU/Q172D(S)CPU (a) Module specifications Item Q173DSCPU Internal current consumption (5VDC) [A] 1.75 Mass [kg] Q172DSCPU (Note-1) 1.44 Q173DCPU Q173DCPU-S1 Q172DCPU Q172DCPU-S1 1.25 1.30 1.25 1.30 (Note-1) 0.38 Exterior dimensions [mm(inch)] 0.33 120.5 (4.74)(H) 27.4 (1.08)(W) 120.3 (4.74)(D) 98 (3.85)(H) 27.4 (1.08)(W) 119.3 (4.70)(D) (Note-1): The current consumption (0.
2 SYSTEM CONFIGURATION Motion control specifications (continued) Item Q173DSCPU Q172DSCPU Limit switch output function ROM operation function External input signal High-speed reading function Provided Q172DLX or External input signals (FLS/RLS/DOG) of servo amplifier Provided (Via built-in interface in Motion CPU, Via input module, Via tracking of Q172DEX/Q173DPX) Provided (Via input module, Via tracking of Q172DEX/Q173DPX) Motion controller forced stop (EMI connector, System setting), Forced stop
2 SYSTEM CONFIGURATION (b) Motion SFC performance specifications Item Motion SFC program capacity Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1) Code total (Motion SFC chart + Operation control + Transition) 652k bytes 543k bytes Text total (Operation control + Transition) 668k bytes 484k bytes Number of Motion SFC programs 256 (No.
2 SYSTEM CONFIGURATION (7) SV43 Motion control specifications/performance specifications (a) Motion control specifications Item Number of control axes Operation cycle (default) Interpolation functions Control modes Acceleration/deceleration control Q173DCPU(-S1) Q172DCPU(-S1) Up to 32 axes Up to 8 axes 0.44ms/ 1 to 4 axes 0.88ms/ 5 to 12 axes 1.77ms/13 to 28 axes 3.55ms/29 to 32 axes 0.44ms/ 1 to 4 axes 0.
2 SYSTEM CONFIGURATION (b) Motion program performance specifications Item Program capacity Operation controls Q173DCPU(-S1)/Q172DCPU(-S1) Total of program files 504k bytes Number of programs Up to 1024 (No.
2 SYSTEM CONFIGURATION (9) Internal I/F connector (a) The pin layout of the internal I/F connector Use the internal I/F connector on the front of the Motion CPU to connect to manual pulse signals and incremental synchronous encoder signals. The following is the pin layout of the internal I/F connector as viewed from the front. Internal I/F connector Pin No. Signal Name Pin No.
2 SYSTEM CONFIGURATION (b) Input signal/Mark detection 1) Specifications of input signal/mark detection input signal Item Specifications Number of input points 4 points Input method Positive common/Negative common shared Common terminal arrangement 4 points/common (Common contact: COM1) Isolation method Photocoupler Rated input voltage 24VDC Rated input current (IIN) Approx. 5mA 21.6 to 26.4VDC Operating voltage range (24VDC 10%, ripple ratio 5% or less) ON voltage/current 17.
2 SYSTEM CONFIGURATION (c) Manual pulse generator/Incremental synchronous encoder input 1) Specifications of manual pulse generator/incremental synchronous encoder Item Specifications Signal input form Phase A/Phase B Maximum input pulse frequency 1Mpps (After magnification by 4, up to 4Mpps) Pulse width 1µs or more Leading edge/trailing edge 0.25µs or less time Phase difference 0.25µs or more High-voltage 2.0 to 5.
2 SYSTEM CONFIGURATION 2) Interface between manual pulse generator (differential-output type)/ incremental synchronous encoder Input or Output Signal name A+ Manual HAH pulse generator, Aphase A HAL Pin No. 18 Internal circuit A 22 Manual pulse generator/ Incremental synchronous encoder Description Rated input voltage 5.5VDC or less For connection manual pulse generator/ incremental synchronous encoder Phases A, B Pulse width 1 s or more LOW level 0.8VDC or less B 0.5 s or more 0.
2 SYSTEM CONFIGURATION 4) Connection examples of manual pulse generator/incremental synchronous encoder Motion CPU Signal name Differential-output type Manual pulse generator/ Incremental synchronous encoder side Voltage-output/Open-collector type Manual pulse generator/ Incremental synchronous Motion CPU encoder side Signal name HAH A HA HAL A HB B HBH B SG 0V 5V HBL B SG SG 0V SG 5V 5V A 5V SG SG 5V 5V Shell Shell Shield (Note-1) Shield (Note-1) : Twist pair cable : Twi
2 SYSTEM CONFIGURATION (e) Axis No. of manual pulse generator/synchronous encoder The axis No. of synchronous encoder built-in interface in Motion CPU is set depending on the axis No. assigned to Q172DEX and Q173DPX. 1) Any built-in interface in Motion CPU will automatically be assigned an axis No. one integer greater than the number of encoders connected to any Q172DEX and Q173DPX. 2) Motion module installed to the smallest slot number of the Main base unit is the 1st. 3) Axis No.
2 SYSTEM CONFIGURATION 2.5.2 Power supply module (1) Table of the power supply module specifications This section describes the power supply modules specifications. Item Q61P-A1 Q61P-A2 Base loading position Q61P Applicable base unit Q35DB, Q38DB, Q312DB, Q63B, Q65B, Q68B, Q612B 200 to 240VAC (+10%/-15%) (170 to 264VAC) 100 to 120VAC (+10%/-15%) (85 to 132VAC) Input power supply Input frequency Max. input apparent power 5% or less 105VA 130VA 5VDC 6A 3A 24VDC —— 0.
2 SYSTEM CONFIGURATION The power supply module specifications (continued) Item Q63P Q64P Q64PN Base loading position Q series power supply module loading slot Applicable base unit Q35DB, Q38DB, Q312DB, Q63B, Q65B, Q68B, Q612B 24VDC (+30%/-35%) (15.6 to 31.2VDC) Input power supply 100 to 120VAC/200 to 240VAC (+10%/-15%) (85 to 132VAC/170 to 264VAC) 100 to 240VAC (+10%/-15%) (85 to 264VAC) Input frequency —— 50/60Hz ±5% Input voltage distortion factor —— 5% or less Max.
2 SYSTEM CONFIGURATION POINTS (Note-1) : Overcurrent protection The overcurrent protection device shuts off the 5V, 24VDC circuit and stops the system if the current flowing in the circuit exceeds the specified value. The LED of the power supply module is turned off or lights up in dim green when voltage is lowered. If this device is activated, switch the input power supply off and eliminate the cause such as insufficient current capacity or short.
2 SYSTEM CONFIGURATION POINTS (Note-3) : Allowable momentary power failure period (1) For AC input power supply (a) An instantaneous power failure lasting less than 20ms will cause AC down to be detected, but operation will continue. (b) An instantaneous power failure lasting in excess of 20ms may cause the operation to continue or initial start to take place depending on the power supply load.
2 SYSTEM CONFIGURATION (2) Names of Parts and Setting This section describes the names of the parts of each power module. • Q61P-A1 (100 to 120VAC input, 5VDC 6A output) • Q61P-A2 (200 to 240VAC input, 5VDC 6A output) • Q61P (100 to 240VAC input, 5VDC 6A output) • Q62P (100 to 240VAC input, 5VDC 3A/24VDC 0.6A output) • Q63P (24VDC input, 5VDC 6A output) • Q64P (100 to 120VAC/200 to 240VAC input, 5VDC 8.5A output) • Q64PN (100 to 240VAC input, 5VDC 8.
2 SYSTEM CONFIGURATION No. Name Application ON (green): Normal (5VDC output, momentary power failure within 20ms) AC input OFF (5VDC error, overload, internal circuit failure, blown fuse) power supply 1) : • AC power supply is ON, however, the power supply module is out of order.
2 SYSTEM CONFIGURATION POINTS (1) The Q61P-A1 is dedicated for inputting a voltage of 100VAC. Do not input a voltage of 200VAC into it or trouble may occur on the Q61P-A1. Power module type Supply power voltage 100VAC 200VAC Q61P-A1 Operates normally. Power supply module causes trouble. Q61P-A2 Power supply module does not cause trouble. CPU module cannot be operated. Operates normally. (2) The Q63P is dedicated for inputting a voltage of 24VDC.
2 SYSTEM CONFIGURATION (3) Selection of the power supply module The power supply module is selected according to the total of current consumption of the modules, and peripheral devices supplied by its power module. 5VDC internal current consumption of shared equipments with PLC might be changed. Be sure to refer to the MELSEC-Q series PLC Manuals.
2 SYSTEM CONFIGURATION 2.5.3. Base unit and extension cable This section describes the specifications of the extension cables for the base units (Main base unit or extension base unit), and the specification standards of the extension base unit. 5VDC internal current consumption of base unit might be changed. Be sure to refer to the MELSEC-Q series PLC Manuals. (1) Base unit specifications (a) Main base unit specifications Type Item Q35DB Q38DB Q312DB 5 8 Extendable Q series modules 12 0.23 0.
2 SYSTEM CONFIGURATION (2) Extension cable specifications The list below describes the specifications of the extension cables which can be used. Type Item Cable length[m(ft.)] QC05B QC06B QC12B QC30B QC50B QC100B 0.45(1.48) 0.6(1.97) 1.2(3.94) 3.0(9.84) 5.0(16.40) 10.0(32.81) Connection between the main base unit and extension base unit, Application or connection between the extension base units. Mass [kg] 0.15 0.16 0.22 0.40 0.60 1.
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/O No.s. (I/O No.s are unique between the Q series PLC CPU within a given system, but the I/O No.s of the Motion CPU are unique for each Motion CPU.) ON/OFF data input to the Motion CPU is handled via input devices PX , while . ON/OFF data output from the Motion CPU is handled via output devices PY It is not mandatory to match the I/O device PX/PY No.
2 SYSTEM CONFIGURATION 2.5.4 Q172DLX Servo external signals interface module Q172DLX receives external signals (servo external signals) required for positioning control. (1) Q172DLX name of parts 1) Q172DLX 5) 2) CTRL 6) 3) Q172DLX 7) 4) No. 1) Name Module fixing hook Application Hook used to fix the module to the base unit. (Single-motion installation) Display the servo external input status from the external equipment.
2 SYSTEM CONFIGURATION (2) Performance specifications (a) Module specifications Item Specifications Number of I/O occupying points 32 points(I/O allocation: Intelligent, 32 points) Internal current consumption(5VDC) [A] 0.06 98(H) Exterior dimensions [mm(inch)] 27.4(W) 90(D) (3.86(H) 1.08(W) 3.54(D) ) Mass [kg] 0.
2 SYSTEM CONFIGURATION (3) Connection of servo external signals interface module (a) Servo external signals There are the following servo external signals. (Upper stroke limit is limit value of address increase direction/lower stroke limit is limit value of an address decrease direction.) The Q172DLX is assigned a set of input No.s per axis. Make the system setting of MT Developer2 to determine the I/O No.s corresponding to the axis No.s.
2 SYSTEM CONFIGURATION (b) The pin layout of the CTRL connector Use the CTRL connector on the front of the Q172DLX module to connect to servo external signals. The following is the pin layout of the Q172DLX CTRL connector as viewed from the front. CTRL connector Signal No. A20 B20 1 2 3 4 A1 B1 Pin No. Signal Name Pin No.
2 SYSTEM CONFIGURATION (4) Interface between CTRL connector and servo external signal Input or Output Input Signal name Pin No.
2 SYSTEM CONFIGURATION 2.5.5 Q172DEX Synchronous encoder interface module Q172DEX receive external signals required for serial absolute synchronous encoder. The installation position of Q172DEX is only main base. (1) Q172DEX name of parts 1) Q172DEX 5) SY.ENC TREN 1 1 2 2 SY.ENC1 LITHIUM BATTERY MITSUBISHI 8) 3) SY.ENC2 6) Q172DEX 10) 4) No. 1) 2) 9) 7) Name Module fixing hook Application Hook used to fix the module to the base unit.
2 SYSTEM CONFIGURATION POINT (1) Input indicator LED of the serial absolute synchronous encoder signal turns ON at the normal connection (first switching to virtual mode). (2) Input indicator LED of the tracking enable signal turns ON at the following conditions. • Q172DEX is set in the system setting of MT Developer2. • The tracking enable signal is input.
2 SYSTEM CONFIGURATION (c) Serial absolute synchronous encoder input Item Specifications Applicable types Q171ENC-W8 Q170ENC Applicable signal types Differential-output type : (SN75C1168 or equivalent) Transmission method Serial communications Synchronous method Counter-clock-wise (viewed from end of shaft) Communication speed 2.
2 SYSTEM CONFIGURATION (3) Select to number of the synchronous encoder modules Synchronous encoders are available in voltage-output type (incremental), differential-output type (incremental) and serial absolute output type. Q172DEX can be connected to only serial absolute output type. When using the incremental synchronous encoder of voltage-output type or differential-output type, must be used Q173DPX or built-in interface in Motion CPU of Q173DSCPU/Q172DSCPU.
2 SYSTEM CONFIGURATION (4) Connection of synchronous encoder interface module. (a) Connection with serial absolute synchronous encoder Use the SY.ENC connector on the front of the Q172DEX module to connect to serial absolute synchronous encoder. When tracking enable signal is not used, use the Q170ENCCBL M encoder cable between the serial absolute synchronous encoder and SY.ENC connector. The following is the pin layout of the Q172DEX SY.ENC connector as viewed from the front. SY.
2 SYSTEM CONFIGURATION (5) Interface between SY.ENC connector and external equipment Input or Output Signal name Pin No. MD 6 Wiring example Internal circuit Specification Description Transmission method: serial communications Position detection method: absolute MDR 16 MR 7 MRR 17 P5 10 18 19 20 Serial absolute synchronous encoder 5VDC Input LG 1 2 3 11 12 Battery BAT TREN (Note) TREN. COM 9 14 (Note) SD 5.
2 SYSTEM CONFIGURATION (6) Details of encoder cable connections (a) When not using tracking enable signal (Note-1) Synchronous encoder side connector SY.ENC side connector 10120-3000PE (connector) 10320-52F0-008(connector case) MS3106B22-14S (plug) MS3057-12A (cable clump) P5 LG 19 11 P5 LG 20 12 P5 LG 18 2 BAT LG MR MRR MD MDR 9 1 7 17 6 16 E SDplate N S R K L H J :Twisted pair cable Q170ENCCBL2M to Q170ENCCBL50M(50m (164.04ft.) or less) (b) When using tracking enable signal SY.
2 SYSTEM CONFIGURATION (7) Connection of the battery This section describes the battery specifications, handling precautions and installation of the Q172DEX. (a) Specifications The specifications of the battery for memory back-up are shown in the table below. Battery Specifications Model name A6BAT/MR-BAT Item Manganese dioxide lithium primary battery Classification 3.6 Normal voltage [V] 1600 Nominal current [mAh] 5 years Storage life 0.
2 SYSTEM CONFIGURATION (b) Battery replacement For Battery replacement procedure, refer to section 6.5.2. Battery is supplied to the serial absolute synchronous encoder by the encoder cable.
2 SYSTEM CONFIGURATION CAUTION Do not short a battery. Do not charge a battery. Do not disassemble a battery. Do not burn a battery. Do not overheat a battery. Do not solder the battery terminals. Before touching the battery, always touch grounded metal, etc. to discharge static electricity from human body. Failure to do so may cause the module to fail or malfunction. Do not directly touch the module's conductive parts and electronic components.
2 SYSTEM CONFIGURATION 2.5.6 Q173DPX Manual pulse generator interface module Q173DPX receives signals required for Manual pulse and Incremental synchronous encoder (Voltage-output/Open-collector type/Differential-output type) input. (1) Q173DPX name of parts 1) Q173DPX 5) PLS.A 1 2 3 PLS.B 1 2 3 TREN 1 2 3 PULSER 3) 1 2 3 4 5 6 ON 6) 2) 7) Q173DPX 8) 4) No. 1) Name Module fixing hook Application Hook used to fix the module to the base unit.
2 SYSTEM CONFIGURATION No. Name Application Detection setting of TREN1 signal Dip switch 1 Dip switch 2 Dip switches OFF OFF ON ON ON OFF OFF ON TREN is detected at leading edge of TREN signal. TREN is detected at trailing edge of TREN signal. Detection setting of TREN2 signal ON 1 2 3 4 5 6 6) (Note-1) SW1 SW2 Dip switch 3 Dip switch 4 (Factory default in OFF position) SW3 SW4 OFF OFF ON ON ON OFF OFF ON TREN is detected at leading edge of TREN signal.
2 SYSTEM CONFIGURATION (2) Performance specifications (a) Module specifications Item Specifications Number of I/O occupying points 32 points (I/O allocation: Intelligent, 32 points) Internal current consumption(5VDC)[A] 0.38 98(H) 27.4(W) 90(D) Exterior dimensions [mm(inch)] (3.86(H) 1.08(W) 3.54(D)) Mass [kg] 0.
2 SYSTEM CONFIGURATION (3) Connection of manual pulse generator Manual pulse generators of the voltage-output/open-collector type and differential-output type can be connected. Both connection methods are different. (Refer to this section (5).) When the manual pulse generator is connected to the Q173DPX, it cannot be connected to the built-in interface in Motion CPU.
2 SYSTEM CONFIGURATION (5) Connection of manual pulse generator interface module (a) The pin layout of the PULSER connector Use the PULSER connector on the front of the Q173DPX module to connect to manual pulse signals and incremental synchronous encoder signals. The following is the pin layout of the Q173DPX PULSER connector as viewed from the front. PULSER connector 2) B20 A20 3) 2) 3) 2) 3) B1 A1 4) Pin No. Signal Name Pin No.
2 SYSTEM CONFIGURATION (b) Interface between PULSER connector and manual pulse generator (Differential-output type)/Incremental synchronous encoder Input or Signal name Output Pin No. 1 A Manual A17 HA P pulse generator, A B17 phase A HA N B Input Manual A16 HB P pulse generator, B phase B B16 HB N 2 3 A12 A7 B12 B7 Wiring example Internal circuit Rated input voltage 5.5VDC or less A HIGH level 2.0 to 5.
2 SYSTEM CONFIGURATION (c) Interface between PULSER connector and manual pulse generator (Voltage-output/Open-collector type)/ Incremental synchronous encoder. Pin No. Input or Signal name Wiring example Internal circuit Output 1 2 3 Manual pulse A generator, A20 A15 A10 phase A HA Input Manual pulse generator, phase B Manual pulse generator/ Incremental synchronous encoder B20 B15 Specification Rated input voltage 5.5VDC or less HIGH level 3 to 5.
2 SYSTEM CONFIGURATION (6) Connection examples of manual pulse generator Manual pulse generator (Voltage-output/Open-collector type) Q173DPX Manual pulse generator (Differential-output type) Q173DPX Manual pulse generator side Signal name Manual pulse generator side HA A HB B HA P HA N SG SG 0V 5V HB P HB N B SG (Note-1) SG 0V P5 FG 5V P5 Shield FG : 1 to 3 :Twisted pair cable Signal name A A B Shield SG HPSEL : 1 to 3 (Note-1) (Note-2) :Twisted pair cable (Note-1) : The 5V(P5)
2 SYSTEM CONFIGURATION 2.5.7 Q173DSXY Safety signal module Q173DSXY is used to input/output the safety signal. (1) Q173DSXY name of parts 1) Q173DSXY 6) 2) Motion IO Q173DSXY PLC IO 3) RIO2 RIO1 SW FRONT 4) 7) 11) 23 78 9 CD AB E 4 56 5) F 01 9) No. 1) 8) 10) Name Module fixing hook Application Hook used to fix the module to the base unit. (Single-motion installation) Display the input status from the external equipment.
2 SYSTEM CONFIGURATION No. 9) Name RIO2 connector Rotary switch for station number setting (For connection to Q173DSXY installed on the right) Set station number of safety signal module. Setting 78 9 23 4 56 RIO communication for Motion CPU CD AB E 10) Application F0 1 11) Serial number display (Note) Station number 0 Station number 1 (Module 1) 1 Station number 2 (Module 2) 2 Station number 3 (Module 3) (Note): Not to be set except the above setting.
2 SYSTEM CONFIGURATION (b) Input/output Item Specifications 32 points Number of input points 2 systems (PLC CPU control 32 points + Motion CPU control 32 points, Safety input 20 points 2 systems, 2 systems) Feedback input for output 12 points Input isolation method Photocoupler Rated input voltage 24VDC (+10/-10%), Negative common type Maximum input current Approx. 4mA Input resistance Approx. 8.2k Input ON voltage/current 20VDC or more/3.
2 SYSTEM CONFIGURATION (c) The pin layout of the Motion IO connector/PLC IO connector Use the Motion IO connector and PLC IO connector on the front of the Q173DSXY module to connect to I/O signals. The following is the pin layout of the Q173DSXY Motion IO connector and PLC IO connector as viewed from the front. Motion IO 1B20 1A20 Motion IO connector PLC IO 2B20 2A20 Signal Name Pin No. Signal Name Pin No. Signal Name Pin No.
2 SYSTEM CONFIGURATION (3) Interface between Motion IO connector/PLC IO connector and servo external signal Input or Output Input Output Signal name Pin No.
2 SYSTEM CONFIGURATION POINTS (1) Wire the I/O power supply input (24VDC, 0V common) supplied to Q173DSXY to two pins of each conversion modules. (2) Separate all external wirings into 2 systems to configure the safety circuit. Do not wire between the two terminal block conversion modules for I/O power supply supplied to Q173DSXY (DC24V, 0V common). Be sure to separately wire the modules. If one break affects both wiring of Motion CPU side and PLC CPU side, the safety system may not execute properly.
2 SYSTEM CONFIGURATION (4) Wiring example for the safety signal module (a) Wiring example for door signal to safety signal module and AC contactor. Wiring example to shut off contactor by the followings is shown diagram below.
2 SYSTEM CONFIGURATION (b) Wiring example for door signal to safety signal module and STO terminal. Wiring example to wire the followings is shown diagram below. • Shut-off signal from the Motion CPU side of safety signal module • Shut-off signal from the PLC CPU side of safety signal module • STO terminal of servo amplifier Door sensor used as a safety signal should have two outputs and is wired to both Motion CPU side and PLC CPU side.
2 SYSTEM CONFIGURATION 2) MR-J3- BS use External power supply Servo amplifier with STO (MR-J3- BS) Safety signal module (Q173DSXY) 24VDC CN8 1B01 4 1B09 Motion IO Motion CPU side Drive power shut-off signal STO1+ 3 Shut-off signal STO11A19 8 Shut-off confirmation signal Shut-off confirmation signal 1A18 TOF1 7 Door1 signal 1A17 TOF2 1A01 5 Shut-off signal STO2+ 2B01 6 2B09 Door2 signal PLC IO PLC CPU side Drive power shut-off signal STO2Control Main circuit power supply power su
2 SYSTEM CONFIGURATION (c) Wiring example for external pulse input to safety signal module. The wiring diagram for external pulse input signal and safety signal module shows below. Safety module performs the safety diagnostics of external pulse generator, therefore you need to wire them so that external pulse generator is supplied power by the safety signal module, and the generated pulse becomes input signal of safety signal module.
2 SYSTEM CONFIGURATION 2.5.8 Manual pulse generator/Serial absolute synchronous encoder (1) Manual pulse generator specifications Item Specifications Model name MR-HDP01 Ambient temperature (Note-1) -10 to 60°C(14 to 140°F) Pulse resolution 25PLS/rev(100 PLS/rev after magnification by 4) Output method Voltage-output/Output current : Up to 20mA Power supply voltage 4.5 to 13.2VDC Current consumption [mA] Output level 60 "H" level : Power supply voltage -1V or more (in no load) "L" level : 0.
2 SYSTEM CONFIGURATION (2) Serial absolute synchronous encoder specifications Item Specifications Q171ENC-W8 Model name Ambient temperature (Note-1), (Note-2) Q170ENC (Note-1), (Note-2) -5 to 55°C (23 to 131°F) Resolution 4194304PLS/rev Transmission method 262144PLS/rev Serial communications (Connected to Q172DEX) Direction of increasing addresses CCW (viewed from end of shaft) Dustproof/Waterproof Protective construction Dustproof/Waterproof (IP67: Except for the (IP65: Except for the sh
2 SYSTEM CONFIGURATION 2.5.9 SSCNET cables Between the Motion CPU module and servo amplifiers, or servo amplifier and servo amplifier connected by SSCNET cable. When using the Q172D(S)CPU, only 1 SSCNET cable for connection to servo amplifier can be used. (Connect to CN1.) When using the Q173D(S)CPU, up to 2 SSCNET cables for connection to servo amplifier can be used. (Connect to CN1 and CN2.) Up to 16 servo amplifies can be connected to SSCNET (/H) per 1 system.
2 SYSTEM CONFIGURATION (2) Connection between the Q173D(S)CPU and servo amplifiers Connect the SSCNET cables to the following connectors. Refer to Section 4.2.1 for the connection and disconnection of SSCNET cable. Motion CPU module SSCNET cable length MR-J3BUS M use 1) 3m(9.84ft.) MR-J3BUS M-A use 1) 20m(65.62ft.) MR-J3BUS M-B use 1) 50m(164.04ft.) CN1 CN2 SSCNET (/H) SYSTEM1 Attach a cap to connectors of system not being used.
2 SYSTEM CONFIGURATION (3) Connection between the Q172D(S)CPU and servo amplifiers Connect the SSCNET cables to the following connectors. Refer to Section 4.2.1 for the connection and disconnection of SSCNET cable. Motion CPU module SSCNET cable length MR-J3BUS M use 1) 3m(9.84ft.) MR-J3BUS M-A use 1) 20m(65.62ft.) MR-J3BUS M-B use 1) 50m(164.04ft.) CN1 1) CN1A CN1A 1) CN1B Servo amplifier Cap CN1B Servo amplifier (Note): It cannot communicate with that the connection of CN1A and CN1B is mistaken.
2 SYSTEM CONFIGURATION (4) Setting of the axis No. and axis select rotary switch of servo amplifier Axis No. is used to set the axis numbers of servo amplifiers connected to SSCNET connector(CN ) in the program. The following range can be set in the Motion CPU module. Axis No. is set for each SSCNET (/H) system in the system setting of MT Developer2. Axis No. is allocated and set for the setting axis number (d01 to d16) of servo amplifier. Axis No.
2 SYSTEM CONFIGURATION Correspondence between dno.s and axis select rotary switches of servo amplifier dno. (Note) SSCNET (/H) Axis select rotary switch dno.
2 SYSTEM CONFIGURATION 2.5.10 Battery This section describes the battery specifications and handling precautions used in the Motion CPU. (1) Battery specifications Model name Q6BAT Item Classification Manganese dioxide lithium primary battery Initial voltage [V] 3.0 Nominal current [mAh] 1800 Storage life Actually 5 years (Room temperature) Lithium content [g] 0.49 Applications For memory data backup of SRAM built-in Motion CPU 16(0.63)×32(1.
2 SYSTEM CONFIGURATION (2) Data back-up of Motion CPU module by the battery Be sure to use the battery. • For Q173DSCPU/Q172DSCPU Set the battery (Q6BAT) to battery holder. • For Q173DCPU(-S1)/Q172DCPU(-S1) Set the battery (Q6BAT) to battery holder unit (Q170DBATC). The programs, parameters, motion devices(#), latch range devices and absolute position data of SRAM built-in Motion CPU module are backed up without using the battery. In the following status, the backup time after power OFF is 3 minutes.
2 SYSTEM CONFIGURATION CAUTION Do not short a battery. Do not charge a battery. Do not disassemble a battery. Do not burn a battery. Do not overheat a battery. Do not solder the battery terminal. The programs, parameters, motion devices(#), latch range devices and absolute position data of SRAM built-in Motion CPU module are backed up without using the battery. (3) Connection procedure with Motion CPU module (a) Q173DSCPU/Q172DSCPU 1) Open the battery cover. 2) Set Q6BAT to battery holder.
2 SYSTEM CONFIGURATION (b) Q173DCPU(-S1)/Q172DCPU(-S1) 1) Set Q6BAT to Battery holder unit(Q170DBATC). 2) Connect the lead connector of Q6BAT to the connector (BATTERY) of Q170DBATC. 3) Connect between the connector (BAT) of Motion CPU module and connector (CPU) of Q170DBATC. Motion CPU module BAT Battery cable (Q170DBATCBL ) Battery holder unit (Q170DBATC) LITHIU M B A TTE RY M ITS U B IS HI 0.5[m] (1.64[ft.
2 SYSTEM CONFIGURATION 2.5.11 Forced stop input terminal (1) Table of the forced stop input terminal specifications Item Specifications Number of input points Forced stop signal : 1 point Input method Sink/Source type Rated input current 2.4mA Isolation method Photocoupler 20.4 to 26.4VDC Operating voltage range (+10/ -15%, ripple ratio 5% or less) ON voltage/current 17.5VDC or more/2.0mA or more OFF voltage/current 1.8VDC or less/0.18mA or less Input resistance Response time Approx.
3 DESIGN 3. DESIGN 3.1 System Designing Procedure System designing procedure is shown below. Motion control system design Select the Motion CPU module according to number of control axes. 3 Select the motion functions to be installed according to the machinery and equipment to be controlled (selection of the programming software packages according to the operating system software).
3 DESIGN Refer to section 3.2 External circuit design Power supply circuit design Design the power supply circuit which supplies power to such system components as the Motion controller, I/O equipment and servo amplifiers, etc., taking into consideration the protective coordination and noise suppression techniques. Refer to section 3.2.
3 DESIGN CAUTION Do not touch the heat radiating fins of controller or servo amplifier, regenerative resistor and servomotor, etc. while the power is ON and for a short time after the power is turned OFF. In this timing, these parts become very hot and may lead to burns. Always turn the power OFF before touching the servomotor shaft or coupled machines, as these parts may lead to injuries. Do not go near the machine during test operations or during operations such as teaching.
3 DESIGN 3.2 External Circuit Design As to the ways to design the external circuits of the Motion system, this section describes the method and instructions for designing the power supply circuits and safety circuits, etc. (Example: Q173DSCPU/Q172DSCPU and MR-J4- B use) (1) Sample system circuit design for motion control 3-phase 200 to 230VAC Power Supply Q61P R S T PLC CPU QnUD CPU MCCB1 CP1 Motion CPU Q173DSCPU/ Q172DSCPU Input module QX40 Forced stop (Note-1) EMI.
3 DESIGN POINT (1) (Note-1): Make the forced stop input cable within 30m(98.43ft.). The forced stop by the forced stop terminal of input module is also possible. (2) (Note-2): Motion SFC program example is shown in the right record. (3) (Note-3): It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake. (4) (Note-4): It is also possible to use forced stop signal of the servo amplifier.
3 DESIGN (2) System design circuit example of the PLC I/O (a) System design circuit example(when not using ERR terminal of power supply module) Power supply FOR AC FOR AC/DC Power supply Transformer Transformer Transformer Input switched when power supply established Fuse CPU module CPU module SM52 Ym SM403 Yn Fuse Fuse SM52 DC power Ym RUN/STOP circuit (-) (+) SM403 interlocked with RA1 (run monitor relay) Yn Fuse XM Set time for DC power supply to be established TM Program START SW
3 DESIGN (b) System design circuit example(when using ERR terminal of power supply module) Power supply FOR AC/DC Transformer Transformer Input switched when power supply established. Fuse Fuse CPU module RUN/STOP circuit SM52 interlocked with RA1 (run monitor relay) SM403 DC power Ym (-) (+) Fuse Yn XM Set time for DC power supply to be established.
3 DESIGN 3.2.1 Power supply circuit design This section describes the protective coordination and noise suppression techniques of the power supply circuit. (1) Separation and protective coordination (leakage current protection, over current protection) of power supply lines Separate the lines for Multiple CPU system power supplies from the lines for I/O devices and servo amplifiers as shown below. When there is much noise, connect an insulation transformer.
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 output may not be done momentarily due to a delay or a startup time difference between the Multiple CPU system power supply and the external power supply (DC in particular) for the control target. Also, an abnormal operation may be performed if an external power supply fault or Motion controller failure takes place.
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 forced stop, the forced stop factor is removed and the forced stop canceled. (The servo error detection signal does not turn on with the forced stop.) The forced stop input can be set by allocation of the device number in the parameter setting of system setting. When the device is used, apply 24VDC voltage on EMI connector and invalidate the forced stop input of EMI connector.
3 DESIGN 3.3 Layout Design within the Control Panel 3.3.1 Mounting environment Mount the Motion controller system in the following environment conditions. (1) Ambient temperature is within the range of 0 to 55[°C] (32 to 131[°F]) . (2) Ambient humidity is within the range of 5 to 95[%]RH. (3) No condensing from sudden temperature changes (4) No corrosive or inflammable gas (5) There must not be a lot of conductible dust, iron filings, oil mist, or salt, organic solvents.
3 DESIGN 3.3.2 Calculating heat generation by Motion controller The ambient temperature inside the panel storing the Motion controller must be suppressed to an ambient temperature of 55°C(131°F) or less, which is specified for the Motion controller. For the design of a heat releasing panel, it is necessary to know the average power consumption (heating value) of the devices and instruments stored inside. Here the method of obtaining the average power consumption of system is described.
3 DESIGN (5) Average power consumption of the input section of the input module (Power consumption for simultaneous ON points) W IN = IIN E Number of input points Simultaneous ON rate [W] : Input current (Effective value for AC) [A] : Input voltage (Voltage in actual use) [V] IIN E (6) Power consumption of the external power supply section of the intelligent function module W S = I5V 5 + I24V 24 + I100V 100 [W] The total of the power consumption values calculated for each block is the power consu
3 DESIGN (7) Example of average power consumption calculation (Q173DCPU use) (a) System configuration Q61P Q03UD CPU Q173D CPU QX40 QX40 Q172D LX Q172D EX Q173D PX QY10 QY10 Q38DB (b) 5VDC current consumption of each module Q03UDCPU Q173DCPU (Note) QX40 Q172DLX Q172DEX Q173DPX (Note) QY10 (Note) Q38DB (Note) : 0.33 [A] : 1.25 [A] : 0.05 [A] : 0.06 [A] : 0.19 [A] : 0.38 [A] : 0.43 [A] : 0.23 [A] (Note) : 5VDC internal current consumption of shared equipments with PLC might be changed.
3 DESIGN 3.4 Design Checklist At the worksite, copy the following table for use as a check sheet. Item Sub Item Design confirmation Check Number of axes Motion CPU module selection Manual pulse generator pcs. Incremental synchronous encoder pcs. Number of I/O points points PLC CPU module Number of I/O points points selection PLC CPU module selection Motion module Module axes Motion CPU module selection selection selection Manual pulse generator pcs. Synchronous encoder pcs.
3 DESIGN MEMO 3 - 16
4 INSTALLATION AND WIRING 4. INSTALLATION AND WIRING 4.1 Module Installation 4.1.1 Instructions for handling CAUTION Use the Motion controller in an environment that meets the general specifications contained in this manual. Using this Motion controller in an environment outside the range of the general specifications could result in electric shock, fire, operation failure, and damage to or deterioration of the product.
4 INSTALLATION AND WIRING (3) Tighten the module fixing screws and terminal block screws within the tightening torque range specified below. Location of screw Motion CPU module fixing screw (M3 Module fixing screw (M3 Tightening torque range [N•m] 13 screw) 12 screw) 0.36 to 0.48 0.36 to 0.48 I/O module terminal block screw (M3 screw) 0.42 to 0.58 I/O module terminal block fixing screw (M3.5 screw) 0.68 to 0.92 Power supply module terminal screw (M3.5 screw) 0.68 to 0.
4 INSTALLATION AND WIRING (c) Place the left-hand side pear-shaped hole of the base unit onto the left-hand side screw. Panel (d) Fit the mounting screws into the holes at the bottom of the base unit, and then retighten the all mounting screws. (Note): Mount a main base unit to a panel, with no module installed in the rightend slot. Remove the base unit after removing the module from the right-end slot.
4 INSTALLATION AND WIRING 4.1.2 Instructions for mounting the base unit When mounting the Motion controller to an enclosure or similar, fully consider its operability, maintainability and environmental resistance.
4 INSTALLATION AND WIRING (2) Module mounting position Keep the clearances shown below between the top/bottom faces of the module and other structures or parts to ensure good ventilation and facilitate module replacement. (Note): It is impossible to mount the main base unit by DIN rail. Top of panel or wiring duct Base unit Motion CPU module Door 40mm (1.57inch) or more Motion CPU module Panel 100mm (3.94inch) or more MITSUBISHI (Note-2) 5mm(0.20inch) or more (Note-1) 5mm(0.
4 INSTALLATION AND WIRING (4) Mounting surface Mount the base unit on a flat surface. If the mounting surface is not even, this may strain the printed circuit boards and cause malfunctions. (5) Mounting of unit in an area where the other devices are mounted Avoid mounting base unit in proximity to vibration sources such as large magnetic contractors and no-fuse circuit breakers; mount those on a separate panel or at a distance).
4 INSTALLATION AND WIRING 4.1.3 Installation and removal of module This section describes how to install and remove a power supply module, PLC CPU module, Motion CPU module, Motion module, I/O module, intelligent function module or another module to and from the base unit. (1) Installation and removal of the module from base unit (a) Installation Securely insert the module fixing projection into the module fixing hole so that the latch is not misaligned.
4 INSTALLATION AND WIRING POINTS (1) When installing the module, always insert the module fixing projection into the module fixing hole of the base unit. At that time, securely insert the module fixing projection so that it does not come off from the module fixing hole. If the module is forcibly installed without the latch being inserted, the module connector and module will be damaged. (2) When using the modules in a place where there is large vibration or impact, screw the module to the base unit.
4 INSTALLATION AND WIRING (b) Removal Push When using the module fixing screws, remove them. Module fixing hook Support the module with both hands and securely press the module fixing hook with your finger. Base unit Pull the module based on the supporting point of module bottom while pressing the module fixing hook. Module Module connector Module fixing hole While lifting a module, take off the module fixing projection from the module fixing hole.
4 INSTALLATION AND WIRING 4.1.4 Instructions for mounting of the battery holder unit QD When mounting the battery holder unit (Q170DBATC) to an enclosure or similar, fully consider its mounting position and orientation. (1) Module mounting position Mount the battery holder unit within 50cm(1.64ft.) or less (Battery cable length: 50cm(1.64ft.)) from the Motion controller. (2) Mounting surface Mount the battery holder unit on a flat surface.
4 INSTALLATION AND WIRING 4.2 Connection and Disconnection of Cable 4.2.1 SSCNET cable (1) Precautions for handling the SSCNET cable • Do not stamp the SSCNET cable. • When laying the SSCNET cable, be sure to secure the minimum cable bend radius or more. If the bend radius is less than the minimum cable bend radius, it may cause malfunctions due to characteristic deterioration, wire breakage, etc. • For connection and disconnection of SSCNET cable connector.
4 INSTALLATION AND WIRING (4) Precautions of SSCNET cable wiring SSCNET cable is made from optical fiber. If optical fiber is added a power such as a major shock, lateral pressure, haul, sudden bending or twist, its inside distorts or breaks, and optical transmission will not be available. Especially, as optical fiber for MR-J3BUS M and MR-J3BUS M-A is made of synthetic resin, it melts down if being left near the fire or high temperature.
4 INSTALLATION AND WIRING (d) Twisting If SSCNET cable is twisted, it will become the same stress added condition as when local lateral pressure or bend is added. Consequently, transmission loss increases, and the breakage of SSCNET cable may occur at worst. (e) Disposal When incinerating optical cable (cord) used for SSCNET cable, hydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may be generated.
4 INSTALLATION AND WIRING • Bundle fixing Optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius, and it should not be twisted. When bundling the cable, fix and hold it in position by using cushioning such as sponge or rubber which does not contain migratable plasticizing. If using adhesive tape for bundling the cable, fire resistant acetate cloth adhesive tape 570F (Teraoka Seisakusho Co., Ltd) is recommended.
4 INSTALLATION AND WIRING POINTS (1) Be sure to connect SSCNET cable with the above connector. If the connection is mistaken, between the Motion CPU module and servo amplifier cannot be communicated. (2) Forcibly removal the SSCNET cable from the Motion CPU module will damage the Motion CPU modules and SSCNET cables. (3) After removal of the SSCNET cable, be sure to put a cap on the SSCNET connector. Otherwise, adhesion of dirt deteriorates in characteristic and it may cause malfunctions.
4 INSTALLATION AND WIRING POINTS (9) Migrating plasticizer is used for vinyl tape. Keep the MR-J3BUS M, and MR-J3BUS M-A cables away from vinyl tape because the optical characteristic may be affected. Optical cord SSCNET cable Cord Cable Cable MR-J3BUS M MR-J3BUS M-A MR-J3BUS M-B : Normally, cable is not affected by plasticizer. : Phthalate ester plasticizer such as DBP and DOP may affect optical characteristic of cable.
4 INSTALLATION AND WIRING 4.2.2 Battery cable QD (1) Handling the battery cable (a) Precautions for handling the battery cable • For connection or removal of the battery cable, do it surely while holding a connector.
4 INSTALLATION AND WIRING POINT (1) Forcibly removal the battery cable from the battery holder unit will damage the battery holder unit, battery cable. (2) As for the battery cable, the shape of connector is different on Motion CPU side and battery holder side. Be sure to connect after confirming shape. (3) The programs, parameters, motion devices (#), latch range devices and absolute position data of SRAM built-in Motion CPU module are backed up if the battery connector is not connect correctly.
4 INSTALLATION AND WIRING 4.2.3 Forced stop input cable (1) Precautions for handling the forced stop input cable • For connection or removal of the forced stop input cable, do it surely while holding a connector of forced stop input cable. Motion CPU module Tab (2) Connection of the forced stop input cable • For connection of a forced stop input cable to the Motion CPU module, connect it surely to a EMI connector of Motion CPU module while holding a connector. Be sure to insert it until it clicks.
4 INSTALLATION AND WIRING 4.2.4 Internal I/F connector cable QDS (1) Precautions on use of Internal I/F connector cable When using the modules in a place where there is large vibration or impact, fix the internal I/F connector cable to the control panel.
4 INSTALLATION AND WIRING 4.3 Mounting of Battery (1) Handling the battery lead wire (a) Q173DSCPU/Q172DSCPU 1) Precautions for mounting the battery • Set the battery to the battery holder correctly after confirming "+" side and "-" side for the battery. 2) Precautions for handling the battery lead wire • For connection or removal of the battery lead wire, do it surely while holding a battery lead connector.
4 INSTALLATION AND WIRING (b) Q173DCPU(-S1)/Q172DCPU(-S1) 1) Precautions for handling the battery lead wire • For connection or removal of the battery lead wire, do it surely while holding a battery lead connector.
4 INSTALLATION AND WIRING 4.4 Mounting of Serial Absolute Synchronous Encoder This section describes precautions for handling the serial absolute synchronous encoder. (1) If the serial absolute synchronous encoder is linked to a chain, timing belt, or gears, the machine rotating shaft should be supported by a separate bearing and connected to serial absolute synchronous encoder through a coupling.
4 INSTALLATION AND WIRING 4.5 Wiring 4.5.1 Instructions for wiring DANGER Completely turn off the externally supplied power used in the system before installation or placing wiring. Not doing so could result in electric shock or damage to the product. When turning on the power supply or operating the module after wiring, be sure that the module's terminal covers are correctly attached. Not attaching the terminal cover could result in electric shock.
4 INSTALLATION AND WIRING (b) Do not bundle the 100VAC and 24VDC wires with, or run them close to, the main circuit (high voltage, large current) and I/O signal lines (including common line). Reserve a distance of at least 100mm (3.94inch) from adjacent wires. (c) Momentary power failure may be detected or the Multiple CPU system may be reset due to surge caused by lightening. As measures against surge caused by lightening, connect a surge absorber for lightening as shown below.
4 INSTALLATION AND WIRING (e) Where wiring runs through piping, ground the piping without fail. (f) Run the 24VDC input line away from the 100VAC and 200VAC lines. (g) Wiring of 200m (656.17ft.) or longer distance will give rise to leakage currents due to the line capacity, resulting in a fault. Refer to the troubleshooting chapter of the I/O Module User's Manual.
4 INSTALLATION AND WIRING 4.5.2 Connecting to the power supply module The following diagram shows the wiring example of power lines, grounding lines, etc. to the main and extension base units. Main base unit (Q38DB) 100/200VAC AC Q61P CPU module ERR Fuse AC DC FG LG INPUT 100-240VAC 24VDC Connect to 24VDC terminals of I/O module that requires 24VDC internally.
4 INSTALLATION AND WIRING POINT 2 (1) Use the thickest possible (up to 2mm ) wires for the 100/200VAC and 24VDC power cables. Be sure to twist these wires starting at the connection terminals. For wiring a terminal block, be sure to use a solderless terminal. To prevent a short circuit should any screws loosen, use solderless terminals with insulation sleeves of 0.8mm (0.03inch) or less. Also, only two solderless terminals can be connected per terminal block.
5 START-UP PROCEDURES 5. START-UP PROCEDURES 5.1 Check Items Before Start-up Table 5.1 Check items before start-up Part name Confirmation Items Check Reference 2.5.3 (1) Check that the main base unit is Q35DB, Q38DB or Q312DB. 2.3 (2) Check that the model name of module is correct. 2.1.4 (3) Check that the installation order is correct. (4) Check that the damage for installed modules. 4.1.3 (5) Check that the modules are installed correctly.
5 START-UP PROCEDURES Part name Confirmation Items Check (1) Check that the Q172DEX is installed to I/O slot 3 to 11 of the main base unit. Q172DLX Servo external signals interface module/ Q172DEX synchronous encoder interface module/ (2) Check that the Q172DLX/Q173DPX is installed to I/O slot 3 to 11 when installation to the main base unit. (3) Check that the installation position of modules correspond to the system setting.
5 START-UP PROCEDURES 5.2 Start-up Adjustment Procedure The mode indicated in the brackets [ ] at top left of each step is the mode for checking or setting using MT Developer2/GX Works2/GX Developer. START PLC CPU Motion CPU Turn OFF power supply Check that the power supply of Multiple CPU system is OFF. Check wiring and module installation (1) Check the installation position and condition of each modules. (2) Check the connecting condition of connectors. (3) Check that all terminal screws are tight.
5 START-UP PROCEDURES 1) [Parameter setting] Parameter setting PLC CPU Set the PLC parameter using GX Works2/ GX Developer. (Note): An error may occur if the power is turned on before system setting. In the case, reset the Multiple CPU system after system setting. Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (COMMON)" at the system setting error occurrence. Turn ON power supply again Turn ON again the power supply or reset of Multiple CPU system.
5 START-UP PROCEDURES 2) [Programming] DANGER Create Motion programs Motion CPU Create the Motion programs using MT Developer2. When performing wiring work or inspections, turn the power OFF, wait at least ten minutes, and then check the voltage with a tester, etc. Failing to do so may lead to electric shocks. Wire the units after mounting the Motion controller, servo amplifier and servo motor. Failing to do so may lead to electric shocks or damage.
5 START-UP PROCEDURES 3) [Test mode JOG operation ] CAUTION Check machine operation Check the followings by making the machine operate with the JOG operation of MT Developer2. (1) Machine operates correctly (no vibration, hunting, etc. ) (2) Stroke limits operate correctly (3) Machine stops by the emergency stop or forced stop. 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.
5 START-UP PROCEDURES 5.3 Operating System Software Installation Procedure The operating system software must be installed to the Motion CPU module by using the MT Developer2. The installation procedure is shown below. START Set a rotary switch1 (SW1) of Motion CPU module to "A". (Rotary switch 2 (SW2) is optional.) Set to installation mode. Refer to Section 2.5.1(3) for rotary switch. Turn ON the Multiple CPU system power supply. Steady "INS" display. RUN/STOP is ignored.
5 START-UP PROCEDURES POINTS (1) State of the Motion CPU module at the time of product purchase is shown below. • Q173DSCPU/Q172DSCPU The operating system software (SV22) is installed at the time of product purchases. The newest operating system software can be downloaded on MELFANSweb. • Q173DCPU(-S1)/Q172DCPU(-S1) The operating system software is not installed at the time of product purchases. Be sure to install the operating system software to be used before a system start.
5 START-UP PROCEDURES 5.4 Trial Operation and Adjustment Checklist At the worksite, copy the following table for use as a check sheet. Work Step Item Check Items Check Check that each module is installed correctly. Check that each connector is connected correctly. Check ach terminal screw for looseness. Before power supply ON Installation of unit/module and basic wiring Check that the earth wires of power supply module or servo amplifiers, etc. are correct.
5 START-UP PROCEDURES MEMO 5 - 10
6 INSPECTION AND MAINTENANCE 6. INSPECTION AND MAINTENANCE DANGER Do not touch the terminals while power is on. Doing so could cause electric shock. Correctly connect the battery. Also, do not charge, disassemble, heat, place in fire, short circuit, or solder the battery. Mishandling of a battery may cause overheating, cracks or ignition which could result in injury and fire.
6 INSPECTION AND MAINTENANCE 6.1 Maintenance Works 6.1.1 Instruction of inspection works In order that can use the Motion controller in safety and normal, those items that must be inspected list below. 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.
6 INSPECTION AND MAINTENANCE CAUTION Do not short circuit, charge, overheat, incinerate or disassemble the batteries. The electrolytic capacitor will generate gas during a fault, so do not place your face near the Motion controller or servo amplifier. The electrolytic capacitor and fan will deteriorate. Periodically change these to prevent secondary damage from faults. Replacements can be made by our sales representative.
6 INSPECTION AND MAINTENANCE 6.2 Daily Inspection The items that must be inspected daily are shown below. Table 6.1 Daily Inspection Item Inspection item 1 Mounting of base unit 2 Installation of Motion modules and I/O modules Connecting conditions [RUN] LED [ERR.] LED [BAT.] LED The screws and cover must be mounted securely. Retighten the screws. The module fixing hook must be engaged and installed correctly. Securely engaged the module fixing hook. Screws should not be loose.
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 below. When the equipment is moved or modified, or layout of the wiring is changed, also implement this inspection. Table 6.2 Periodic Inspection 3 4 5 Inspection Criterion Ambient temperature Ambient humidity 0 to 55 °C (32 to 131 °F) Measure with a thermometer and a 5 to 95 % RH hygrometer. Measure corrosive gas.
6 INSPECTION AND MAINTENANCE 6.4 Life The following parts must be changed periodically as listed below. However, if any part is found faulty, it must be changed immediately even when it has not yet reached the end of its life, which depends on the operating method and environmental conditions. For parts replacement, please contact your sales representative. Table 6.
6 INSPECTION AND MAINTENANCE 6.5 Battery The battery installed in the Motion CPU module is used for data retention during the power failure of the program memory and latch device. Special relays (SM51, SM52, SM58 or SM59) turn on due to the decrease of battery voltage. Even if the special relays turn on, the program and retained data are not erased immediately. However, if these relays are overlooked, the contents may be erased.
6 INSPECTION AND MAINTENANCE 6.5.1 Battery life The battery life is shown below.
6 INSPECTION AND MAINTENANCE POINT (1) Do not use the battery exceeding its guaranteed life. (2) When the battery hours (total power failure time) may exceed its guaranteed value, take the following measure. • Perform ROM operation to protect a program even if the battery dies at the Multiple CPU system power-OFF. • If SM51 turns on, the contents for programs, parameters, motion device(#), latch range device and absolute position data cannot be guaranteed.
6 INSPECTION AND MAINTENANCE 6.5.2 Battery replacement procedure (1) Battery replacement procedure of the Motion CPU module When the battery has been exhausted, replace the battery with a new one in accordance with the procedure shown below. POINTS When replacing the battery, pay attention to the following. (1) The Multiple CPU power supply must be on for 10 minutes or longer before dismounting the battery. (2) Back up the data using MT Developer2 before starting replacement.
6 INSPECTION AND MAINTENANCE (a) Q173DSCPU/Q172DSCPU battery replacement procedure Replacing Battery Turn on the Multiple CPU system power supply for 10 minutes or longer. Turn off the Multiple CPU system power supply. Remove the internal I/F connector cable from Motion CPU. Internal I/F connector cable Open the battery cover. Disconnect the lead connector from the battery connector. Remove the old battery from its holder.
6 INSPECTION AND MAINTENANCE (b) Q173DCPU(-S1)/Q172DCPU(-S1) battery replacement procedure Replacing Battery Turn on the Multiple CPU system power supply for 10 minutes or longer. Lead wire Q170DBATC Turn off the Multiple CPU system power supply. Disconnect the lead connector from the battery connector. Remove the old battery from its holder. M ITSU BISH I Install a new battery into the holder in the correct direction.
6 INSPECTION AND MAINTENANCE (2) Q172DEX module battery replacement procedure When the battery has been exhausted, replace the battery with a new one in accordance with the procedure shown below. POINT When replacing the battery, pay attention to the following. (1) The Multiple CPU power supply must be on for 10 minutes or longer before dismounting the battery. (2) Encoder data in the memory are backed up for a while by a capacitor even after the battery is removed.
6 INSPECTION AND MAINTENANCE 6.5.3 Resuming operation after storing the Motion controller When the operation is to be resumed after being stored with the battery removed or the battery has gone flat during storage, the contents of programs, parameters, motion device(#), latch range device and absolute position data cannot be guaranteed.
6 INSPECTION AND MAINTENANCE 6.6 Troubleshooting This section describes the various types of trouble that occur when the system is operated, and causes and corrective actions of these troubles. 6.6.1 Troubleshooting basics The basic three points that must be followed in the troubleshooting are as follows. (1) Visual inspection Visually check the following.
6 INSPECTION AND MAINTENANCE 6.6.2 Troubleshooting of Motion CPU module This section describes the contents of troubles for the error codes and corrective actions of the troubles. As for troubleshooting of PLC CPU, refer to the QCPU User's Manual (Hardware Design, Maintenance and Inspection) of their respective modules. As for troubleshooting of I/O modules, refer to the "I/O Module Type Building Block User's Manual" of their respective modules.
6 INSPECTION AND MAINTENANCE (a) Flowchart for when "POWER" LED turns off The following shows the flowchart for when "POWER" LED of the power supply module turns off at the power supply ON or during operation. "POWER" LED turns off Is there a power supply? NO Supply power. YES NO Is the wiring/ terminal connection correct? NO YES Does "POWER" LED turn on? Connect wiring and fix terminal connection correctly.
6 INSPECTION AND MAINTENANCE 1) Remove all modules other than the power supply module from the base unit. NO Does "POWER" LED turn on? The base unit that includes the corresponding power module is faulty. (Replace it with a normal base unit.) YES YES Does "POWER" LED turn on? NO Install all modules that removed from the base unit to the base unit. A hardware fault Explain the error symptom and get advice from our sales representative.
6 INSPECTION AND MAINTENANCE (b) Flowchart for when " ." does not flash in the first digit of 7-segment LED " ." does not flash in the first digit of 7-segment LED. NO Does "POWER" LED turn on? (a) "Flowchart for when "POWER" LED turns off" YES Is the connecting direction of extension cable correctly? (Isn't IN-IN or OUT-OUT connection?) NO Connect the extension cable correctly. YES NO "RESET" Is the RUN/STOP/RESETand RUN/STOP switch of CPU No.1 and target CPU Module set to STOP? Does " .
6 INSPECTION AND MAINTENANCE (c) Flowchart for when "A00" displays on 7-segment LED "A00" displays when the operating system software is not installed. The following shows the flowchart for when "A00" displays on 7-segment LED at the power supply ON or operation start. "A00" displays on 7-segment LED Is the operating system software installed to Motion CPU module? NO Install the operating system software. YES Reset the Multiple CPU system.
6 INSPECTION AND MAINTENANCE (d) Flowchart for when "AL" "L01" displays on 7-segment LED ""AL" (flashes 3 times) Steady "L01" display" displays at the system setting error occurrence. The following shows the flowchart for when ""AL" (flashes 3 times) Steady "L01" display" displays during operation. "AL" LED. "L01" displays on 7-segment Confirm details of error by Motion CPU error batch monitor of MT Developer2.
6 INSPECTION AND MAINTENANCE (e) Flowchart for when "AL" LED. "A1" " " displays on 7-segment ""AL" (flashes 3 times) Steady "A1" display " "" displays at the selfdiagnosis error occurrence. The following shows the flowchart for when ""AL" (flashes 3 times) Steady "A1" display " "" displays during operation. : 4-digits error code is displayed in two sequential flashes of 2-digits each. "AL" "A1" " " displays on 7-segment LED. Confirm details of error by Motion CPU error batch monitor of MT Developer2.
6 INSPECTION AND MAINTENANCE (f) Flowchart for when "BT " displays on 7-segment LED "BT1" or "BT2" displays when the battery voltage is lowered. "BT1" or "BT2" displays at the following cases. • BT1: Battery voltage 2.7V or less • BT2: Battery voltage 2.5V or less The following shows the flowchart for when "BT1" or "BT2" displays on 7-segment LED. "BT " displays on 7-segment LED Turn off the Multiple CPU system power supply. Replace the battery. Turn on the Multiple CPU system power supply.
6 INSPECTION AND MAINTENANCE (g) Flowchart for when " . . ." displays on 7-segment LED " . . ." displays at the WDT error occurrence. The following shows the flowchart for when " . . ." displays on 7-segment LED during operation. " . . ." displays on 7-segment LED Confirm details of error by Motion CPU error batch monitor of MT Developer2. Is the error code of Motion CPU WDT cause "1"? NO YES Is the error code of Motion CPU WDT cause "2"? Correct the main cycle not to exceed 1.
6 INSPECTION AND MAINTENANCE (h) Flowchart for when servo amplifier does not start The following shows the flowchart for when servo amplifier does not start. Servo amplifier does not start. Is there error display on 7-segment LED of Motion CPU module? NO YES Remove the error cause. YES NO Does servo amplifier start? Has the target axis set in the system setting? NO YES Set the target axis in the system setting.
6 INSPECTION AND MAINTENANCE (i) Flowchart for when "AL" "S01" displays on 7-segment LED ""AL" (flashes 3 times) Steady "S01" display" displays at the servo error occurrence. The following shows the flowchart for when ""AL" (flashes 3 times) Steady "S01" display" displays on 7-segment LED during operation. "AL" LED. "S01" displays on 7-segment Confirm details of error by Motion CPU error batch monitor of MT Developer2.
6 INSPECTION AND MAINTENANCE 6.6.4 Internal input circuit troubleshooting This section describes possible problems with internal input circuits and their corrective actions. (1) Internal input circuit troubleshooting The following describes possible problems with internal input circuits and their corrective actions. Table 6.
6 INSPECTION AND MAINTENANCE (b) Calculate the connecting resistor value R as indicated below. To satisfy the 0.9 [mA] OFF current of the Motion CPU, the resistor R to be connected may be the one where 3.1 [mA] or more will flow. IR: Iz = Z(Input impedance): R Iz 0.9 3 R ≤ IR × Z(Input impedance) = 3.1 × 5.6 × 10 = 1625[ ] R < 1625 [ ] Assuming that resistor R is 1500 [ ], the power capacity W of resistor R is: 2 2 W = (Input voltage) ÷ R = 26.4 ÷ 1500 = 0.
7 EMC DIRECTIVES 7. EMC DIRECTIVES Compliance to the EMC Directive, which is one of the EU Directives, has been a legal obligation for the products sold in European countries since 1996 as well as the Low Voltage Directive since 1997. Manufacturers who recognize their products are compliant to the EMC and Low Voltage Directives are required to declare that print a "CE mark" on their products.
7 EMC DIRECTIVES 7.1.1 Standards relevant to the EMC directive The standards relevant to the EMC Directive are listed in table below. Certification Test item Test details Standard value (Note-2) 30M-230MHz QP EN55011:2007/A2:2007 (Note-1) Radiated emission EN61000-6-4:2007 EN61131-2:2007 Radio waves from the product are measured. AC power line 0.15M-0.
7 EMC DIRECTIVES 7.1.2 Installation instructions for EMC directive (1) Installation Motion controller is an open type device and must be installed inside a control panel for use. This not only ensures safety but also ensures effective shielding of Motion controller-generated electromagnetic noise. (a) Control panel 1) Use a conductive control panel.
7 EMC DIRECTIVES (3) Cables The cables extracted from the control panel contain a high frequency noise component. On the outside of the control panel, therefore, they serve as antennas to emit noise. To prevent noise emission, use shielded cables for the cables which are connected to the I/O modules and intelligent function modules and may be extracted to the outside of the control panel. The use of a shielded cable also increases noise resistance.
7 EMC DIRECTIVES (4) Precautions relevant to the electrostatic discharge Here is a weak part to electrostatic discharge in the surface of the module. Before touching the module, always touch grounded metal, etc. to discharge static electricity from human body. Failure to do so may cause the module to fail or malfunction. Do not directly touch the module's conductive parts and electronic components. Touching them could cause an operation failure or give damage to the module.
7 EMC DIRECTIVES 7.1.3 Parts of measure against noise (1) Ferrite core A ferrite core has the effect of reducing noise in the 30MHz to 100MHz band. It is not required to fit ferrite cores to cables, but it is recommended to fit ferrite cores if shield cables pulled out of the enclosure do not provide sufficient shielding effects. Note that the ferrite cores must be fitted to the cables in the position immediately before they are pulled out of the enclosure.
7 EMC DIRECTIVES (3) Cable clamp It is also possible to ground the exposed shielded part of the cable to the panel with the cable clamp. • Ground the shield at a position 20 to 30cm (7.87 to 11.81 inch) away from the module. • When the cables pulled out from the control panel, ground the cables at a position 5 to 10cm (1.97 to 3.94inch) near the input/output hole of the control panel with the cable clamp (AD75CK), etc. Motion controller Inside control panel AD75CK 20 to 30cm (7.87 to 11.
7 EMC DIRECTIVES 7.1.
7 EMC DIRECTIVES (2) In wiring inside the panel, the power line connected to the power or servo amplifier and the communication cable such as bus connection cable or network cable must not be mixed. If the cables are installed closely with each other for wiring reasons, using a separator (made of metal) can make the cables less influenced by noise. Mixing the power line and communication cable may cause malfunction due to noise.
7 EMC DIRECTIVES MEMO 7 - 10
APPENDICES APPENDICES APPENDIX 1 Cables In this cable connection diagram, maker names of connectors are omitted. Refer to "APPENDIX 2.8 Connector" for maker names of connectors. APPENDIX 1.1 SSCNET cables Generally use the SSCNET cables available as our products. Refer to APPENDIX 1.7 for long distance cable up to 100(328.08)[m(ft.)] and ultra-long bending life cable. (1) Model explanation Numeral in the column of cable length on the table is a symbol put in the " " part of cable model.
APPENDICES POINTS (1) If the end face of cord tip for the SSCNET cable is dirty, optical transmission is interrupted and it may cause malfunctions. If it becomes dirty, wipe with a bonded textile, etc. Do not use solvent such as alcohol. (2) Do not add impossible power to the connector of the SSCNET cable. (3) When incinerating the SSCNET cable (optical fiber), hydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may be generated.
APPENDICES • MR-J3BUS03M to MR-J3BUS3M Refer to the table of this section (1) for cable length (L). [Unit: mm(inch)] Protective tube (Note) 100 (3.94) 100 (3.94) L (Note) : Dimension of connector part is the same as that of MR-J3BUS015M. • MR-J3BUS5M-A to MR-J3BUS20M-A,MR-J3BUS30M-B to MR-J3BUS50M-B Refer to the table of this section (1) for cable length (L). SSCNET Variation [mm(inch)] cable A B MR-J3BUS5M-A to MR-J3BUS20M-A 100(3.94) 30(1.18) MR-J3BUS30M-B to MR-J3BUS50M-B 150(5.91) 50(1.
APPENDICES APPENDIX 1.2 Serial absolute synchronous encoder cable Generally use the serial absolute synchronous encoder cables available as our products. If the required length is not found in our products, fabricate the cable on the customer side. (1) Selection The following table indicates the serial absolute synchronous encoder cables used with the serial absolute synchronous encoder. Connector sets (Q170ENCCNS) are also available for your fabrication. Table 1 Wire models Type Length [m(ft.
APPENDICES (2) Q170ENCCBL M (a) Model explanation Type: Q170ENCCBL M Symbol 2 5 10 20 30 50 Cable length [m(ft.)] 2(6.56) 5(16.40) 10(32.81) 20(65.62) 30(98.43) 50(164.04) (b) Connection diagram When fabricating a cable, use the recommended wire and connector set Q170ENCCNS for encoder cable given on APPENDIX 1.2, and make the cable as show in the following connection diagram. Maximum cable length is 50m(164.04ft.). SY.ENC connector 1 2 LG 12 3 LG 13 LG 15 TREN.
APPENDICES APPENDIX 1.3 Battery cable Generally use the battery cable available as our products. If the required length is not found in our products, fabricate the cable on the customer side. Make the battery cable within 0.5m(1.64ft.). (1) Q170DBATCBL M (a) Model explanation Type : Q170DBATCBL M Symbol 05 Cable length [m(ft.)] 0.5(1.
APPENDICES APPENDIX 1.4 Forced stop input cable Generally use the forced stop input cable available as our products. If the required length is not found in our products, fabricate the cable on the customer side. Make the forced stop input cable within 30m(98.43ft.). (1) Q170DEMICBL M (a) Model explanation Type : Q170DEMICBL M Symbol 05 1 3 5 10 15 20 25 30 Cable length [m(ft.)] 0.5(1.64) 1(3.28) 3(9.84) 5(16.40) 10(32.81) 15(49.21) 20(65.62) 25(82.02) 30(98.
APPENDICES APPENDIX 1.5 Internal I/F connector cable Fabricate the internal I/F connector cable on the customer side. (1) Differential-output type (a) Connection diagram Make the cable within 30m(98.43ft.). Attach a ferrite core included with the internal I/F connector set within 1 to 5(0.39 to 1.97)[cm(inch)] from the Motion CPU module.
APPENDICES (2) Voltage-output/Open-collector type (a) Connection diagram Make the cable within 10m(32.81ft.). Attach a ferrite core included with the internal I/F connector set within 1 to 5(0.39 to 1.97)[cm(inch)] from the Motion CPU module.
APPENDICES CAUTION When fabricating the internal I/F connector cable, do not make incorrect connection. Doing so may cause an operation failure or give damage to the module. When fabricating the internal I/F connector cable, be sure to attach a ferrite core (ZCAT2030-0930). Not doing so may cause an operation failure or give damage in noise to the module.
APPENDICES APPENDIX 1.6 RIO cable Generally use the RIO cable available as our products. If the required length is not found in our products, fabricate the cable on the customer side. Make the RIO cable within 0.5m(1.64ft.). (1) Q173DSXYCBL M (a) Model explanation Type: Q173DSXYCBL M Symbol 01 05 Cable length [m(ft.)] 0.1(0.33) 0.5(1.
APPENDICES APPENDIX 1.7 SSCNET cables (SC-J3BUS M-C) manufactured by Mitsubishi Electric System & Service POINTS • For the details of the SSCNET cables, contact your local sales office. • Do not look directly at the light generated from CN1A/CN1B connector of servo amplifier or the end of SSCNET cable. The light can be a discomfort when it enters the eye. The cable is available per 1[m] up to 100[m]. The number of the length (1 to 100) will be in the part in the cable model.
APPENDICES APPENDIX 2 Exterior Dimensions APPENDIX 2.1 Motion CPU module (1) Q172DSCPU [Unit: mm (inch)] Q172DSCPU CD AB E 789 CD AB E F01 45 23 6 45 23 6 F01 789 1 SW 2 STOP RUN 98(3.86) EXT.I/F CN1 PERIPHERAL I/F EMI 22.5(0.89) PULL FRONT RIO 41.1(1.62) 26(1.02) 6(0.24) 27.4(1.08) 120.3(4.74) (2) Q173DSCPU [Unit: mm (inch)] Q173DSCPU CD AB E 789 CD AB E F01 45 23 6 45 23 6 F01 789 1 SW 2 STOP RUN 98(3.86) CN2 EXT.I/F CN1 PERIPHERAL I/F EMI FRONT RIO 41.1(1.
APPENDICES (3) Q172DCPU [Unit: mm (inch)] Q172DCPU CDE AB 789 CD AB E F01 45 23 6 45 23 6 F01 789 1 SW 2 STOP RUN CAUTION CN1 98(3.86) EMI 23(0.91) 27.4(1.08) 119.3(4.70) 4(0.16) FRONT BAT (4) Q173DCPU [Unit: mm (inch)] Q173DCPU CDE AB 789 CD AB E F01 45 23 6 45 23 6 F01 789 1 SW 2 STOP RUN CAUTION CN2 CN1 98(3.86) EMI 23(0.91) 27.4(1.08) 119.3(4.70) App - 14 4(0.
APPENDICES (5) Q172DCPU-S1 [Unit: mm (inch)] Q172DCPU-S1 CDE AB 789 CD AB E F01 45 23 6 45 23 6 F01 789 1 SW 2 STOP RUN PERIPHERAL I/F CN1 98(3.86) CAUTION EMI 23(0.91) 27.4(1.08) 119.3(4.70) 4(0.16) FRONT BAT RIO (6) Q173DCPU-S1 [Unit: mm (inch)] Q173DCPU-S1 CDE AB 789 CD AB E F01 45 23 6 45 23 6 F01 789 1 SW 2 STOP RUN PERIPHERAL I/F CN2 CN1 98(3.86) CAUTION EMI 23(0.91) 27.4(1.08) 119.3(4.70) App - 15 4(0.
APPENDICES APPENDIX 2.2 Servo external signals interface module (Q172DLX) [Unit: mm (inch)] 98(3.86) Q172DLX CTRL 23(0.91) 90(3.54) 27.4(1.08) 45(1.77) 4(0.16) Q172DLX APPENDIX 2.3 Synchronous encoder interface module (Q172DEX) [Unit: mm (inch)] Q172DEX SY.ENC1 98(3.86) SY.ENC TREN 1 1 2 2 Q172DEX 4.2(0.17) 90(3.54) 39(1.54) App - 16 23(0.91) 27.4(1.08) 4(0.16) LITHIUM BATTERY MITSUBISHI SY.
APPENDICES APPENDIX 2.4 Manual pulse generator interface module (Q173DPX) [Unit: mm (inch)] Q173DPX PLS.B 1 2 3 TREN 1 2 3 98(3.86) PLS.A 1 2 3 PULSER 1 2 3 4 5 6 ON Q173DPX 90(3.54) 45(1.77) 4(0.16) 23(0.91) 27.4(1.08) APPENDIX 2.5 Safety signal module (Q173DSXY) [Unit: mm (inch)] Q173DSXY Q173DSXY PLC IO 23(0.91) 90(3.54) 45(1.77) App - 17 27.4(1.08) 4(0.16) RIO2 RIO1 SW FRONT 98(3.
APPENDICES APPENDIX 2.6 Power supply module [Unit: mm (inch)] (1) Q61P-A1, Q61P-A2, Q61P, Q62P, Q63P POWER 98(3.86) Q61P PULL MITSUBISHI 90(3.54) 55.2(2.17) (2) Q64P [Unit: mm (inch)] POWER 98(3.86) Q64P PULL MITSUBISHI 115(4.53) 55.2(2.
APPENDICES (3) Q64PN [Unit: mm (inch)] POWER 98(3.86) Q64PN PULL MITSUBISHI 115(4.53) 55.2(2.
APPENDICES APPENDIX 2.7 Battery holder unit (Q170DBATC) [Unit: mm (inch)] 2- 5.3(0.21) (Fixing screw M5 14) 11.6 (0.46) App - 20 30(1.18) 18.4(0.72) 7.5 (0.30) CPU 80(3.15) 60(2.36) 45(1.77) Q170DBATC BATTERY 40(1.
APPENDICES APPENDIX 2.8 Connector (1) Cable connector for serial absolute synchronous encoder (Sumitomo 3M make (MDR type)) Number of pins Solder connection type (Quick release metal latch type) Solder connection type (Threaded type) Insulation displacement type (Quick release metal latch type) Connector Connector case 10120-3000PE 10320-52F0-008 10120-3000PE 10320-52A0-008 (Note) 10120-6000EL (Note) 10320-3210-000 (Note): These connectors are not options. Please purchase them by customer.
APPENDICES (c) Insulation displacement type (Quick release metal latch type) Type Connector : 10120-6000EL Connector case : 10320-3210-000 11.5(0.45) [Unit: mm (inch)] 6.7 42.0(1.65) 33.0(1.30) Position where e.g. logo is indicated 20.9 2- 0.5(0.02) 29.7(1.17) (2) SSCNET cable connector [Unit: mm (inch)] 13.4 (0.53) 4.8(0.19) 2.3 (0.09) 9.3(0.37) 6.7 (0.26) 15 (0.59) 1.7 (0.07) 17.6 0.2 (0.69 0.01) 8 (0.31) 20.9 0.2 (0.82 0.
APPENDICES (3) Battery cable connector (a) Battery holder side (Tyco Electronics AMP K.K make) Type Connector : 1376477-3 Terminal : 1376476-1 5.4 (0.21) 6.5 (0.26) [Unit: mm (inch)] 8.3 (0.33) 8.2 (0.32) 10.0 (0.39) (b) CPU module side (Molex Incorporated make) Type Connector : 51103-0400 Terminal : 50351-8100 [Unit: mm (inch)] 7.5 (0.30) 5.8 (0.23) 9.5 (0.37) 12.2 (0.48) 10.5 (0.
APPENDICES (5) Internal I/F connector (HONDA TSUSHIN KOGYO CO., LTD.) Type Connector : HDR-E50MSG1+ (Soldering type) HDR-E50MAG1+ (AWG30) (Pressure-displacement type) HDR-E50MG1+ (AWG28) (Pressure-displacement type) Connector case : HDR-E50LPH [Unit: mm (inch)] 22.8(0.90) 33.8(1.33) 34.59(1.36) 38.14(1.50) 3(0.12) 25.34(1.00) 9(0.35) 8 (0.31) 10 (0.39) (6) RIO connector (Molex Incorporated make) Type Connector : 55103-300 Terminal : 50351-8100 [Unit: mm (inch)] 7.5(0.30) 5.8 (0.23) 9.5(0.37) 9.
APPENDICES APPENDIX 2.9 Manual pulse generator (MR-HDP01) [Unit: mm (inch)] 0.5 3.6(0.14) 3 Studs (M4 10) PCD72, equi-spaced 1 80(3.15) 60(2.36) 70 50(1.97) 20 80 30 0.5 90 70(2.76) 0 10 27.0 (1.06) +5to 12V 0V A B 60 40 50 M3 6 72 0.2 (2.8 3) 62 + (2. -0 2 44 ) 3- 4.8(0.19) equi-spaced 16 20 (0.63) (0.79) Packing t=2.0 Space The figure of processing a disc App - 25 8.89 (0.35) 7.6 (0.
APPENDICES APPENDIX 2.10 Serial absolute synchronous encoder (1) Q171ENC-W8 [Unit: mm (inch)] 85(3.35) 58.5(2.30) 29(1.14) 7(0.28) 45 8.72 (0.34) 8.72 (0.34) (0.37) 0 A' 9.52 -0.008 0 75(2.95) -0.020 40(1.57) A Cross-section diagram AA' (0.88) 123.25(4.85) 22.25 4- 5.5(0.22) 2(0.08) 14(0.55) 58.5(2.30) 4) .9 (3 0 10 30(1.18) 42(1.65) 37.5(1.48) (2) Q170ENC [Unit: mm (inch)] 85(3.35) 58.5(2.30) 29(1.14) 7(0.28) 45 37.5(1.48) App - 26 8.72 (0.34) 8.72 (0.34) 0 (0.37) 0 42(1.
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.
