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 Jun., 2005 May., 2006 Sep., 2006 Dec., 2011 Manual Number Revision IB(NA)-0300110-A First edition IB(NA)-0300110-B [Additional model] Software for SV43 [Additional correction/partial correction] About Manuals, Troubleshooting IB(NA)-0300110-C [Additional model] Q61P, MR-J3- B-RJ006 [Additional correction/partial correction] About Manuals IB(NA)-0300110-D [Partial correction] Safety Precautions, Section 4.2.
INTRODUCTION Thank you for choosing the Q173HCPU/Q172HCPU Motion Controller. Please read this manual carefully so that equipment is used to its optimum. CONTENTS Safety Precautions .........................................................................................................................................A- 1 Revisions ........................................................................................................................................................A-11 Contents .............
4. INSTALLATION AND WIRING 4- 1 to 4-22 4.1 Module Installation ................................................................................................................................... 4- 1 4.1.1 Instructions for handling .................................................................................................................... 4- 1 4.1.2 Instructions for installation of the base unit ...................................................................................... 4- 3 4.1.
APPENDICES App- 1 to App-28 APPENDIX 1 Cables..................................................................................................................................App- 1 APPENDIX 1.1 SSCNET cables.........................................................................................................App- 1 APPENDIX 1.2 Serial absolute synchronous encoder cable................................................................App- 5 APPENDIX 1.3 Cable for the teaching unit ........................
About Manuals The following manuals are related to this product. Referring to this list, please request the necessary manuals. Related Manuals (1) Motion controller Manual Number (Model Code) Manual Name Q173HCPU/Q172HCPU Motion controller Programming Manual (COMMON) This manual explains the Multiple CPU system configuration, performance specifications, common parameters, auxiliary/applied functions and others.
(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 modules, extension cables, memory card battery and others. SH-080483ENG (13JR73) (Optional) QCPU User's Manual (Function Explanation, Program Fundamentals) This manual explains the functions, programming methods and devices and others to create programs with the QCPU.
1 OVERVIEW 1. OVERVIEW 1 1.1 Overview This User's Manual describes the hardware specifications and handling methods of the Motion Controller's Model Q173HCPU/Q172HCPU 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, Teaching unit and cables. In this manual, the following abbreviations are used.
1 OVERVIEW Generic term/Abbreviation Description A 0BD-PCF A10BD-PCF/A30BD-PCF SSC I/F board SSC I/F communication cable Abbreviation for "Cable for SSC I/F board/card" Teaching unit A31TU-D3 /A31TU-DN or A31TU-D3 /A31TU-DN (Note-4) Teaching unit Abbreviation for "MELSECNET/H module/Ethernet module/CC-Link module/ Intelligent function module Serial communication module" (Note-1) : Q172EX can be used in SV22. (Note-2) : Refer to Section "2.
2 SYSTEM CONFIGURATION 2. SYSTEM CONFIGURATION This section describes the Q173HCPU/Q172HCPU system configuration, precautions on use of system and configured equipments. 2.
2 SYSTEM CONFIGURATION (2) Peripheral device configuration for the Q173HCPU/Q172HCPU The following (a)(b) can be used.
2 SYSTEM CONFIGURATION 2.1.
2 SYSTEM CONFIGURATION CAUTION Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system. The ratings and characteristics of the parts (other than Motion controller, servo amplifier and servomotor) used in a system must be compatible with the Motion controller, servo amplifier and servomotor.
2 SYSTEM CONFIGURATION 2.1.
2 SYSTEM CONFIGURATION CAUTION Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system. The ratings and characteristics of the parts (other than Motion controller, servo amplifier and servomotor) used in a system must be compatible with the Motion controller, servo amplifier and servomotor.
2 SYSTEM CONFIGURATION 2.1.3 Function explanation of the Q173HCPU/Q172HCPU Motion CPU modules (1) Up to 32 axes servo amplifiers per 2 systems (up to 16 axes per 1 system) can be used in Q173HCPU. Up to 8 axes servo amplifiers per 1 system can be used in Q172HCPU. (2) It is possible to set the program which synchronized with the motion operation cycle and executed at fixed cycle (0.88[ms], 1.77[ms], 3.55[ms], 7.11[ms], 14.2[ms]).
2 SYSTEM CONFIGURATION (11) The maximum distance between the Motion CPU and servo amplifier, servo amplifier and servo amplifier of the SSCNET cable on the same bus was set to 50(164.04)[m(ft.)], and the flexibility improved at the Motion system design. (12) Motion CPU becomes difficult to be influenced of an electromagnetic noise from servo amplifier, etc. by using the SSCNET cable (optical communication).
2 SYSTEM CONFIGURATION 2.1.4 Restrictions on Motion systems (1) It is not allowed to use the Motion CPU as the control CPU of a module installed on the QA1S6 B extension base unit. PLC CPU must be used as the control CPU. (2) Motion CPU module cannot be used as standalone module. It must always be used in combination with the PLC CPU module (version that supports Multiple CPU systems). Moreover, it must be installed on the right side of PLC CPU module.
2 SYSTEM CONFIGURATION (11) When combining the Q173HCPU(-T)/Q172HCPU(-T) with Q173CPU(N)/ Q172CPU(N)/Q173CPUN-T/Q172CPUN-T, set as following combination. If it is used in combination except for the following, the Q173HCPU(-T)/ Q172HCPU(-T) does not operate normally, such as Q173HCPU(-T)/ Q172HCPU(-T) does not start or communication error with servo amplifier will occur. However, all the operating system software are SV43, there is no restriction for the combination of Motion CPU.
2 SYSTEM CONFIGURATION 2.2 System Configuration Equipment (1) Table of Motion controller related module Part name Motion CPU module Servo external signals interface module Serial absolute synchronous encoder interface module Manual pulse generator interface module PLC CPU module Power supply module (Note-3) CPU base unit Extension base unit Extension cable Model name (Note-1) Description Current consumption Remark 5VDC[A] Q173HCPU Up to 32 axes control, Operation cycle 0.4[ms] or more 1.
2 SYSTEM CONFIGURATION Table of Motion controller related module(continued) Part name Model name (Note-1) Description Current consumption Remark 5VDC[A] Q170ENC Resolution: 262144PLS/rev Permitted axial loads Radial load: Up to 19.6N Thrust load: Up to 9.8N Permitted speed: 3600r/min 0.20 Q170ENCCBL M Q172EX-S2/-S3 Serial absolute synchronous encoder Q170ENC 2m(6.56ft.), 5m(16.40ft.), 10m(32.81ft.), 20m(65.62ft.), 30m(98.43ft.), 50m(164.04ft.
2 SYSTEM CONFIGURATION Table of Motion controller related module(continued) Part name Connector/terminal block conversion module Cable for connector/terminal block conversion module SSCNET cable Model name (Note-1) Description Current consumption Remark 5VDC[A] A6TBXY36 For positive common sink type input module, sink type output module (standard type) —— A6TBXY54 For positive common sink type input module, sink type output module (2-wire type) —— A6TBX70 For positive common sink type input
2 SYSTEM CONFIGURATION (2) Q series PLC module which can be control by Motion CPU Part name AC Input module DC Contact output module Output module Transistor Sink Type Model name Input/Output DC Input/ composite Transistor output module Interrupt module Analogue module Remark QX10 100-120VAC, 7-8mA, 16 points, Terminal block QX40 24VDC/4mA, Positive common, 16 points, Terminal block QX41 24VDC/4mA, Positive common, 32 points, Connector QX42 24VDC/4mA, Positive common, 64 points, Connecto
2 SYSTEM CONFIGURATION (3) Table of servo amplifier Part name Model name Description MR-J3 series servo amplifier MR-J3- B-RJ006 MR-J3- B Battery MR-J3BAT Refer to catalogue of the servo amplifier.
2 SYSTEM CONFIGURATION (5) Operating environment of personal computer Operating environment is shown below. R R R R IBM PC/AT with which WindowsNT 4.0/ Windows 98/ Windows 2000/Windows XP English version operates normally. R WindowsNT 4.
2 SYSTEM CONFIGURATION (6) Related software packages (a) PLC software package Model name Software package GX Developer SW D5C-GPPW-E (Note) : =used "6" or later. (b) Servo set up software package Model name Software package MR Configurator MRZJW3-SETUP221E POINTS (1) When the operation of Windows is not unclear in the operation of this software, refer to the manual of Windows or guide-book from the other supplier.
2 SYSTEM CONFIGURATION 2.3 General Specifications General specifications of Q173HCPU/Q172HCPU module are shown below.
2 SYSTEM CONFIGURATION ! CAUTION The Motion controller must be stored and used under the conditions listed in the table of specifications above. When not using the module for a long time, disconnect the power line from the Motion controller or servo amplifier. Place the Motion controller and servo amplifier in static electricity preventing vinyl bags and store. When storing for a long time, please contact with our sales representative.
2 SYSTEM CONFIGURATION 2.4 Specifications of Equipment and Settings 2.4.1 Name of parts for CPU module This section explains the names and setting of the module. (1) Q173HCPU(-T)/Q172HCPU(-T) With front cover open Front face Q17 HCPU-T 2) MODE RUN ERR. M.RUN BAT. BOOT 3) 4) 5) BAT 1 2 3 4 5 7) PC CN2 ON SW 6) FRONT SSCNET CN1 MODE RUN ERR. M.RUN BAT. BOOT STOP TU 10) RUN 11) RESET L CLR 12) PULL USB 9) 19) 8) Put your finger here to open the cover.
2 SYSTEM CONFIGURATION No. Name Application 1) Module fixing hook • Hook used to fix the module to the base unit.(Quick release installation) 2) MODE LED (Mode judging) • Lit(green) • Lit(orange) : Normal mode : Installation mode • mode written in ROM • Lit : Motion CPU normal start • Not lit : Motion CPU fault LED turns off when the trouble occurred at Motion CPU start or WDT error occurrence. • Lit : LED turns on at following error occurrence.
2 SYSTEM CONFIGURATION (2) Applications of switches, connectors on Q173HCPU/Q172HCPU No. Name Application Dip switch 1 Must not be used. (Shipped from the factory in OFF position) • ROM operating setting (Shipped from the factory in OFF position) Dip switches Dip switch 2 ON SW 1 2 10) 3 4 5 11) RUN/STOP switch 12) RESET/L.
2 SYSTEM CONFIGURATION (3) Basic specifications of Q173HCPU/Q172HCPU (a) Module specifications Item Teaching unit Q173HCPU Q173HCPU-T Q172HCPU Q172HCPU-T —— Usable —— Usable 1.14 1.45 (Note) 0.22 0.23 Internal current consumption (5VDC) [A] 1.25 Mass [kg] 0.23 1.56 (Note) 0.24 Exterior dimensions [mm(inch)] 104.6 (4.11)(H) 27.4 (1.08)(W) 114.3 (4.50)(D) (Note) : Current consumption 0.26[A] of the teaching unit is included.
2 SYSTEM CONFIGURATION Motion control specifications (continued) Item Q173HCPU Q173HCPU-T Manual pulse generator operation function Possible to connect 12 modules M-code completion wait function provided Limit switch output Number of output points 32 points function Watch data: Motion control data/Word device Absolute position system Number of SSCNET (Note-1) Made compatible by setting battery to servo amplifier.
2 SYSTEM CONFIGURATION (b) Motion SFC performance specifications Item Q173HCPU/Q172HCPU Code total (Motion SFC chart + Operation control Motion SFC program capacity + Transition) 543k bytes Text total (Operation control + Transition) 484k bytes Number of Motion SFC programs 256 (No.
2 SYSTEM CONFIGURATION (5) SV43 Motion control specifications/performance specifications (a) Motion control specifications Item Number of control axes Q173HCPU Q172HCPU Up to 32 axes Up to 8 axes 0.88ms/ 1 to 5 axes Operation cycle 1.77ms/ 6 to 14 axes 0.88ms/ 1 to 5 axes (default) 3.55ms/15 to 28 axes 1.77ms/ 6 to 8 axes 7.
2 SYSTEM CONFIGURATION (b) Motion program performance specifications Item Program capacity Total of program files Number of programs Arithmetic operation Q173HCPU/Q172HCPU 248k bytes Up to 1024 (No.
2 SYSTEM CONFIGURATION (6) Selection of Q172EX, Q173PX Synchronous encoder Item Serial absolute Q173HCPU 12 modules Q172HCPU 8 modules Module selection Manual pulse generator Incremental 3 modules Q172EX Q173PX (7) Q173HCPU/Q172HCPU internal rechargeable battery • Initial charging of the Q173HCPU/Q172HCPU Turn on the power supply and charge the internal rechargeable battery for eight hours or more, before starting to use the Q173HCPU/Q172HCPU.
2 SYSTEM CONFIGURATION 2.4.2 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 Q33B, Q35B, Q38B, Q312B, Q65B, Q68B, Q612B 200 to 240VAC (+10%/-15%) (170 to 264VAC) 100 to 120VAC (+10%/-15%) (85 to 132VAC) Input power supply Input frequency 5% or less Max. input apparent power 105VA 130VA 5VDC 6A 3A 24VDC —— 0.6A —— 24VDC±10% 5VDC 6.
2 SYSTEM CONFIGURATION The power supply module specifications (continued) Item Q63P Q64P Base loading position Power supply module loading slot Applicable base unit Q33B, Q35B, Q38B, Q312B, Q65B, Q68B, Q612B 24VDC (+30%/-35%) (15.6 to 31.2VDC) 100 to 120VAC/200 to 240VAC (+10%/-15%) (85 to 132VAC/170 to 264VAC) Input frequency —— 50/60Hz ±5% Input voltage distortion factor —— 5% or less Max. input apparent power 45W 160VA 100A 1ms or less (at 24VDC input) 20A 8ms or less (Note-4) 8.
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 (QX10, etc.) • An instantaneous power failure lasting less than 20ms will cause AC down to be detected, but operation will continue. • 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) 9) 1) Q62P POWER 8) INPUT 100-240VAC 50/60Hz 105VA OUTPUT 5VDC 3A 24VDC 0.
2 SYSTEM CONFIGURATION No. Name Application ON (green): Normal (5VDC output, momentary power failure within 20ms) OFF : • AC power supply is ON, however, the power supply module is out of order. (5VDC error, internal circuit failure, blown fuse) • Over current protection or over voltage protection operated.
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 I/O modules, special function module, and peripheral devices supplied by its power module. (Select the power supply module in consideration of the current consumption of the peripheral device connected to the Q170ENC, MR-HDP01 or A31TU-D3 /A31TU-DN , etc.
2 SYSTEM CONFIGURATION (4) Example of the power supply selection calculation (When using the Q173HCPU-T.) (a) System configuration Q61P Q02H CPU Q173H CPU-T Q172LX Q172EX -S2 Q173PX QX40 QX40 QY10 QY10 Q38B MR-HDP01 A31TU-D3K13 Q170ENC (b) 5VDC current consumption of each module Q02HCPU : 0.64 [A] Q173PX (Note) Q173HCPU-T : 1.56 [A] MR-HDP01 Q172LX : 0.05 [A] QX40 Q172EX-S2 : 0.07 [A] QY10 Q170ENC : 0.20 [A] Q38B MR-HDP01 : 0.11 [A] : 0.06 [A] : 0.05 [A] : 0.43 [A] : 0.
2 SYSTEM CONFIGURATION 2.4.3. Base unit and extension cable This section describes the specifications of the extension cables for the base units (CPU base unit or extension base unit) used in the system, and the specification standards of the extension base unit.
2 SYSTEM CONFIGURATION (2) Table of the extension cable specifications The list below describes the specifications of the extension cables which can be used for the PLC CPU system. 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 CPU base unit and extension base unit, or connection between the Application 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 2.4.4 Q172LX Servo external signals interface module Q172LX receives external signals (servo external signals) required for positioning control. (1) Q172LX name of parts 5) 1) Q172LX 2) 3) CTRL 6) Q172LX 4) No. 1) Name Module fixing hook Application Hook used to fix the module to the base unit. (Quick release 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] 0.05 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 Q172LX is assigned a set of input No.s per axis. Make the system setting of the positioning software package 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 at the Q172LX module front to connect the servo external signals. The following pin layout of the Q172LX CTRL connector viewed from the front. The pin layout and connection description of the CTRL connector are described below. CTRL connector Signal No. 1 2 3 4 Pin No. Signal Name Pin No.
2 SYSTEM CONFIGURATION (4) Interface between CTRL connector and servo external signal Input or Output Input Signal name CTRL connector LED FLS1 FLS2 FLS3 FLS4 FLS5 FLS6 FLS7 FLS8 B20 B16 B12 B8 A20 A16 A12 A8 0 4 8 C 10 14 18 1C RLS1 RLS2 RLS3 RLS4 RLS5 RLS6 RLS7 RLS8 B19 B15 B11 B7 A19 A15 A11 A7 1 5 9 D 11 15 19 1D STOP1 STOP2 STOP3 STOP4 STOP5 STOP6 STOP7 STOP8 B18 B14 B10 B6 A18 A14 A10 A6 B17 B13 B9 B5 A17 A13 A9 A5 2 6 A E 12 16 1A 1E 3 7 B F 13 17 1B 1F DOG/CHANGE1 DOG/CHANGE2 DOG/CHAN
2 SYSTEM CONFIGURATION 2.4.5 Q172EX Serial absolute synchronous encoder interface module Q172EX receive external signals required for serial absolute synchronous encoder. The installation position of Q172EX is only CPU base. (1) Q172EX-S2/Q172EX-S3 name of parts 5) 1) Q172EX-S2 SY.ENC TREN 1 1 2 2 2) 3) SY.ENC1 MITSUBISHI LITHIUM BATTERY 8) SY.ENC2 6) Q172EX 9) No. 1) 7) 4) Name Module fixing hook Application Hook used to fix the module to the base unit.
2 SYSTEM CONFIGURATION (2) Performance specifications (a) Module specifications Specifications Item Memory for data exchange Number of I/O occupying points Q172EX-S2 Q172EX-S3 None Provided 32 points(I/O allocation: Intelligent, 32 points) Internal current consumption(5VDC)[A] 0.07 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 (c) Serial absolute synchronous encoder input Item Specifications 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(Q170ENC). Q172EX can be connected to only serial absolute output type(Q170ENC). When using the incremental synchronous encoder of voltage output type or differential output type, must be used Q173PX. (The synchronous encoders are used only in the SV22 virtual mode.
2 SYSTEM CONFIGURATION (4) Connection of synchronous encoder interface module. (a) Connection with serial absolute synchronous encoder (Q170ENC) Use the SY.ENC connector at the Q172EX module front to connect the serial absolute synchronous encoder (Q170ENC). When tracking enable signal is not used, use the Q170ENCCBL M encoder cable between the serial absolute synchronous encoder (Q170ENC) and SY.ENC connector. The following pin layout of the Q172EX SY.ENC connector viewed from the front.
2 SYSTEM CONFIGURATION (5) Interface between SY.ENC connector and external equipment Input or Output Signal name MR Pin No. Wiring example SY.ENC connector Internal circuit Serial absolute synchronous encoder 7 MRR 17 P5 10 18 19 20 Specification Description Transmission method: serial communications Position detection method: absolute 5VDC LG 1 2 3 11 12 Battery Input BAT 9 TREN 4 5.6k (Note) TREN.
2 SYSTEM CONFIGURATION (6) Details of encoder cable connections (a) When not using tracking enable signal (Note-1) SY.ENC side connector 10120-3000VE (connector) 10320-52F0-008(connector case) P5 LG 19 11 P5 LG 20 12 P5 LG 18 2 BAT LG MR MRR MD MDR 9 1 7 17 6 16 Synchronous encoder side connector(plug) MS3106B22-14S(cable clump) S R E K L H J SDplate N :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 Q172EX. (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 Battery discharge capacity [mAh] 5 years Battery warranty period 0.
2 SYSTEM CONFIGURATION (c) Battery service life time Battery service life time Guaranteed time(MIN) [h] Actual time(TYP) Q170ENC 1 pcs. 8000 24000 Q170ENC 2 pcs. 4000 12000 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.
2 SYSTEM CONFIGURATION 2.4.6 Q173PX Manual pulse generator interface module Q173PX receive external signals required for Manual pulse generator and Incremental synchronous encoder (Voltage-output/Open collector type/Differential-output type). (1) Q173PX/Q173PX-S1 name of parts 5) 1) Q173PX-S1 PLS.A 1 2 3 PLS.B 1 2 3 TREN 1 2 3 2) PULSER 3) KSD06S 1 2 3 4 5 6 ON 6) 7) Q173PX 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 (Note-1)(Note-2) ON 1 2 3 4 5 6 6) SW1 SW2 OFF OFF ON ON ON OFF OFF ON Dip switch 3 Dip switch 4 Dip switch 5 Dip switch 6 Module fixing hook TREN is detected when TREN signal turns on to off. SW3 SW4 OFF OFF ON ON ON OFF OFF ON TREN is detected when TREN signal turns off to on. TREN is detected when TREN signal turns on to off.
2 SYSTEM CONFIGURATION (2) Performance specifications (a) Module specifications Specifications Item Memory for data exchange Number of I/O occupying points Q173PX Q173PX-S1 None Provided 32 points(I/O allocation: Intelligent, 32 points) Internal current consumption(5VDC)[A] 0.11 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 (c) Manual pulse generator/Incremental synchronous encoder input Item Specifications Number of modules Voltage-output/ 3/module High-voltage 3.0 to 5.25VDC Open collector type Low-voltage 0 to 1.0VDC Differential-output type High-voltage 2.0 to 5.25VDC (26LS31 or equivalent) Low-voltage 0 to 0.
2 SYSTEM CONFIGURATION (4) Connection of incremental synchronous encoder Incremental synchronous encoders are available in voltage output/Open collector type and differential output type. Since these types differ in connection method, design according to the connection method of section 2.4.6 (5). Serial type absolute synchronous encoder (Q170ENC) not connected to Q173PX. Then connect to Q172EX. In addition, the usable numbers of synchronous encoders differ depending on the modules.
2 SYSTEM CONFIGURATION (5) Connection of manual pulse generator interface module (a) The pin layout of the PULSER connector Use the PULSER connector at the Q173PX module front to connect the manual pulse signals, incremental synchronous encoder signals. The following pin layout of the Q173PX PULSER connector viewed from the front. The pin layout and connection description of the PULSER connector are described below. PULSER connector Pin No. 2) 3) 2) 3) 2) Pin No.
2 SYSTEM CONFIGURATION (b) Interface between PULSER connector and manual pulse generator (Differential output type)/Incremental synchronous encoder Interface between Manual pulse generator (Differential output type)/ Incremental synchronous encoder Input or Signal name Output Pin No.
2 SYSTEM CONFIGURATION (c) Interface between PULSER connector and manual pulse generator (Voltage output/Open collector type)/ Incremental synchronous encoder. Interface between Manual pulse generator (Voltage-output/Open collector type)/Incremental synchronous encoder Input or Signal name Output Manual pulse generator, phase A Pin No. PULSER connector Voltage-Output type 1 2 Manual pulse generator, phase B Rated input voltage 5.
2 SYSTEM CONFIGURATION (6) Connection examples of manual pulse generator Connection of manual pulse generator (Voltage-output/Open collector type) Connection of manual pulse generator (Differential-output type) Q173PX Manual pulse generator side Signal name A HA P Q173PX Signal name HA Manual pulse generator side A HB B HA N A SG SG 0V 5V HB P HB N B SG 0V (Note-2) SG (Note-1) P5 P5 FG shield FG : 1 to 3 :Twisted pair cable B (Note-2) 5V (Note-1) SG HPSEL : 1 to 3 :Twisted pair c
2 SYSTEM CONFIGURATION 2.4.7 Manual pulse generator/Serial absolute synchronous encoder (1) Table of the Manual pulse generator specifications Item Specifications Model name MR-HDP01 Ambient temperature -10 to 60°C(14 to 140°F) Pulse resolution 25PLS/rev(100 PLS/rev after magnification by 4) Voltage-output(power supply voltage -1V or more), Output method Output current = Up to 20mA Power supply voltage 4.5 to 13.
2 SYSTEM CONFIGURATION (2) Table of the Serial absolute synchronous encoder specifications Item Specifications Model name Q170ENC Ambient temperature (Note-1) -5 to 55°C(23 to 131°F) Resolution 262144PLS/rev Transmission method Serial communications (Connected to Q172EX-S2/-S3) Direction of increasing CCW(viewed from end of shaft) addresses Dustproof/Waterproof Protective construction (IP65: Except for the shaft-through portion.
2 SYSTEM CONFIGURATION 2.4.8 A31TU-D3 /A31TU-DN Teaching unit (Japanese version only) Teaching unit A31TU-D3 /A31TU-DN can be easily set the teaching of positioning point, each parameter settings, creation of servo program, servo monitor, servo test, and so on without the peripheral devices. (Motion CPU module Q173HCPU-T/ Q172HCPU-T is usable only. Refer to the A31TU-D Teaching Unit Operating Manual for the usable operating system software and version.
2 SYSTEM CONFIGURATION REMARK External safety circuit Construct the circuit (power supply OFF of servomotor, etc.) of parts which may occur machine breakdown and accidents due to abnormal operations outside of the Motion CPU in a fail-safe viewpoint, to avoid abnormal operations of whole system. ! CAUTION If the teaching unit A31TU-D3 is released during operation, the emergency stop state of Motion CPU occurs, and the servomotor becomes coasting state.
2 SYSTEM CONFIGURATION (2) A31TU-D3 /A31TU-DN Name of parts 1) 5) DISABLE ENABLE A31TU 2) DATA MONITOR PROGRAM STOP INSTRUCTION ITEM ; EMG.STOP CLEAR SP # 7 8 7) 3) TEST 9 OVERRIDE WRITE DELETE D INDIRECT E 4 5 F 6 STEP - STORE A B 1 2 C 3 FUNCTION 4) 6) STEP + MDI - . 0 RETURN No. SHIFT ERROR RESET CAN AXIS NO. JOG - JOG + GO Name 1) Display 2) DISABLE/ENABLE key select switch 3) Emergency stop switch EMG.
2 SYSTEM CONFIGURATION (3) Teaching unit specifications Specifications Items A31TU-DN A31TU-D3 Language Japanese Tact switch 28 keys for SV ENABLE/DISABLE switch Operation Emergency stop switch Deadman switch Operation enable/disable Push lock return reset type 3-position switch Contrast adjusting switch Display method None Shade/light 4 lines × 16 characters LCD display Interface Conforming RS-422 Protective construction IP54 equivalent Ambient temperature 0 to 40°C (32 to 104°F) 5VDC
2 SYSTEM CONFIGURATION 4) When the teaching unit (A31TU-D3 ) is not used, connect the shortcircuit connector for teaching unit (A31TUD3TM) to the control panel side connector of the cable for teaching unit (Q170TUD3CBL3M). Connection example between the cable for teaching unit (Q170TUD3CBL3M) and external safety circuit is shown below. A31TU-D3 Q173HCPU-T/Q172HCPU-T Control panel DISABLE ENABLE A31TU MELSEC Q61P- A1 Q02HCPU POWER MODE RUN ERR. U SER BAT.
2 SYSTEM CONFIGURATION (b) Connection between the teaching unit (A31TU-DN ) and Motion CPU (Q173HCPU-T/Q172HCPU-T) There are following two connecting method. • When the connector is connected to the control panel. • When the connector is connected directly in the control panel. 1) When the connector is connected to the control panel. a) Connect the cable for teaching unit (Q170TUDNCBL3M) between the TU connector of Motion CPU (Q173HCPU-T/Q172HCPU-T) and control panel.
2 SYSTEM CONFIGURATION 2) When the connector is connected directly in the control panel. a) Connect the cable for teaching unit (Q170TUDNCBL03M-A) to the TU connector of Motion CPU (Q173HCPU-T/Q172HCPU-T) after connecting to the teaching unit (A31TU-DN ). b) When the teaching unit (A31TU-DN ) is not used, connect the short-circuit connector for teaching unit (Q170TUTM) after removing a TU connector of cable for teaching unit (Q170TUDNCBL03M-A) from a TU connector of Motion CPU (Q173HCPU-T/Q172HCPU-T).
2 SYSTEM CONFIGURATION (c) When not using a teaching unit (A31TU-D3 /A31TU-DN ) Connect a short-circuit connector for teaching unit (Q170TUTM) to a TU connector of Motion CPU (Q173HCPU-T/Q172HCPU-T). Connection example without teaching unit (A31TU-D3 /A31TU-DN ) is shown below. Q173HCPU-T/Q172HCPU-T Control panel MELSEC Q61P- A1 Q02HCPU POWER MOD E R UN ERR. USER BAT. BOOT Q172EX QX40 Q173H CPU-T 0 12 3 45 6 7 MODE RUN ERR. M.RUN BAT. BOOT 8 9A B C D E F SY.ENC TREN 1 1 2 2 Q173PX-S1 PLS.
2 SYSTEM CONFIGURATION 2.4.9 SSCNET cables and connection method This section describes how to connect between the Motion CPU module and servo amplifiers. Between the Motion CPU module and servo amplifiers is connected by SSCNET cable. When using the Q172HCPU, only 1 SSCNET cable for connection to servo amplifier can be used. (Connect to CN1.) When using the Q173HCPU, up to 2 SSCNET cables for connection to servo amplifier can be used. (Connect to CN1 and CN2.
2 SYSTEM CONFIGURATION (2) Connection between the Q172HCPU and servo amplifiers Q172HCPU 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) Cap CN1B CN1B Servo amplifier Servo amplifier (Note): It cannot communicate with that the connection of CN1A and CN1B is mistaken. List of SSCNET Model name (Note) cable model name Description Cable length MR-J3BUS M 0.15m(0.49ft.), 0.3m(0.98ft.), 0.
2 SYSTEM CONFIGURATION POINTS (1) Be sure to connect SSCNET cable with the above connector. If the connection is mistaken, between the Motion controller and servo amplifier cannot be communicated. (2) SSCNET connector is put a cap to protect light device inside connector from dust. For this reason, do not remove a cap until just before mounting SSCNET cable. Then, when removing SSCNET cable, make sure to put a cap.
2 SYSTEM CONFIGURATION (4) Setting of the axis No. and axis select switch of servo amplifier Axis No. is used to set the axis numbers of servo amplifiers connected to SSCNET connector(CN ) in the program. Axis No. of 1 to 32 can be set for Q173HCPU, and axis No. of 1 to 8 can be set for Q172HCPU. Axis No. is set for each system of SSCNET in the system setting of programming software. Axis No.
2 SYSTEM CONFIGURATION Correspondence between dno.s and axis select switches of servo amplifier SSCNET Axis select switch system of servo amplifier SSCNET Axis select switch system of servo amplifier d01 1 "0" d01 2 "0" d02 1 "1" d02 2 "1" d03 d04 1 "2" d03 2 "2" 1 "3" d04 2 "3" d05 1 "4" d05 2 "4" d06 1 "5" d06 2 "5" d07 1 "6" d07 2 "6" d08 1 "7" d08 2 "7" d09 1 "8" d09 2 "8" dno. (Note) dno.
2 SYSTEM CONFIGURATION 2.4.10 External battery This section describes the battery specifications used in the Motion CPU, handling precautions and equipments. (1) External battery specifications(For Motion CPU module) Model name Q6BAT Item Classification Manganese dioxide lithium primary battery Initial voltage [V] 3.0 Nominal capacity [mAh] 1800 Storage life Actually 5 years (Room temperature) Lithium content [g] 0.
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. When using the external battery, be sure to select "the external battery use" in the system settings. If not setting the external battery, the back-up data of Motion CPU may not back up, since the battery voltage detection error is not detected.
3 DESIGN 3. DESIGN 3.1 System Designing Procedure Design the system which uses the Multiple CPU system in the following procedure. Motion control system design Select the Motion CPU module according to number of control axes and whether teaching unit is required or not. 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 Refer to section 3.2.1 components as the Motion controller, I/O equipment and servo amplifiers, etc., taking into consideration the protective coordination and noise suppression techniques. Safety circuit design Design the operation-ready circuit which stops the system at Refer to section 3.2.
3 DESIGN ! CAUTION Do not touch the servo amplifier's heat radiating fins, 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. Doing so may lead to injuries.
3 DESIGN 3.2 External Circuit Design As to the ways to design the external circuits of the Motion system, this section explains the method and instructions for designing the power supply circuits and safety circuits, etc.
3 DESIGN POINT < Example> For control axis 1 and axis 2 1) (Note-1) : The following is the Motion SFC program example. 2) (Note-2) : It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake. 3) (Note-3) : It is also possible to use forced stop signal of the servo amplifier. 4) (Note-4) : It recommends using one leakage breaker for one servo amplifier.
3 DESIGN (2) Sample system circuit design for motion control 2 (For A31TU-DN ) 3-phase 200/220VAC Power Supply R S T NFB1 CP1 Q61P-A2 PLC CPU Qn(H)CPU Servo external signals interface Motion CPU Q173HCPU-T/ module Q172HCPU-T Q172LX 200VAC Input module Output module QX40 QY10 FLS1 200VAC Forced stop PYm Xn DOG8/ CHANGE8 (Internal connection) FG EMG LG SG Ra1 Servo normal output (Servo normal:ON Alarm:OFF) COM COM G24 Q170TUDNCBL3M Number of inputs: 8 axes/module FLS1 DOG8/ CH
3 DESIGN POINT < Example> For control axis 1 and axis 2 1) (Note-1) : The following is the Motion SFC program example. 2) (Note-2) : It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake. 3) (Note-3) : It is also possible to use forced stop signal of the servo amplifier. 4) (Note-4) : It recommends using one leakage breaker for one servo amplifier.
3 DESIGN (3) Sample system circuit design for motion control 3 (For A31TU-D3 ) 3-phase 200/220VAC Power Supply PLC CPU Q61P-A2 Qn(H)CPU NFB1 R S T Servo external signals interface Q173HCPU-T/ module Motion CPU Q172HCPU-T CP1 Q172LX 200VAC Input module QX40 FLS1 200VAC Output module QY10 Forced stop Xn PYm Ra4 DOG8/ CHANGE8 (Internal connection) FG EMG LG SG Servo normal output (Servo normal:ON Alarm:OFF) COM G24 COM Q170TUD3CBL3M EMG1 DC24VE Number of inputs: 8 axes/module
3 DESIGN POINT < Example> For control axis 1 and axis 2 1) (Note-1) : The following is the Motion SFC program example. 2) (Note-2) : It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake. 3) (Note-3) : It is also possible to use forced stop signal of the servo amplifier. 4) (Note-4) : It recommends using one leakage breaker for one servo amplifier.
3 DESIGN (4) System design circuit example of the PLC I/O (a) System design circuit example(when not using ERR contact of power supply module) Power supply Using AC Using AC and DC Power supply DC power supply Fuse established signal input Fuse Ym Starting possible Yn (-) (+) SM403 when the PLC RUN SM403 DC power supply SM52 START/STOP circuit Ym Fuse CPU CPU SM52 Transformer Transformer Transformer Yn output RA1 is ON Fuse XM Set TM to time TM Start switch Stop switch Program
3 DESIGN (b) System design circuit example(when using ERR contact of power supply module) Power supply Using AC and DC Transformer Transformer DC power supply Fuse established signal input Fuse CPU DC power supply SM52 START/STOP circuit Ym Starting possible (-) (+) SM403 when the PLC RUN Fuse Yn output RA1 is ON XM Set TM to time TM N0 to establish TM DC input signal MC1 N0 M10 Start Stop switch switch M10 Program RA1 RA3 MC MC RA2 RA2 Input module XM A voltage relay is recomm
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 systems When wiring, separate the lines of Multiple CPU system power supplies from those of the I/O equipment and servo amplifier 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 Motion controller is powered on-off, proper outputs may not be provided temporarily due to the delays and rise times of the Motion controller power supply and external I/O control power supplies (especially DC). Also, abnormal operations may be performed when the external power supply becomes faulty or the Motion controller fails. Construct the circuit (emergency stop, protective and interlock circuits, etc.
3 DESIGN (b) It is also possible to use the forced stop signal of the servo amplifier. Refer to manual of the servo amplifier about servomotor capacity. Operation status of the emergency stop and the forced stop are as follows. Item Operation of the signal ON Remark Shut off the power supply to the external servo amplifier Emergency stop Servo OFF Forced stop by external circuit, make the servomotor stopped.
3 DESIGN 3.3 Layout Design within The Control Panel 3.3.1 Installation environment Install 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 Layout design of the base units This section describes the precautions related to install a Motion controller in an enclosure. (1) To improve ventilation and permit easy replacement of the module, leave a space of the following table between the top, bottom, side of the module and any other object. (For details on layout design refer to section 4.1.2 "Instructions for installation of the base unit".) Top Duct height: Bottom Side 100mm(3.94inch) 5mm(0.20inch) or more or more 40mm(1.
3 DESIGN 3.3.3 Calculating heat generation by Motion controller The ambient temperature inside the control panel storing the Motion controller must be suppressed to a Motion controller operating ambient temperature of 55°C(131°F). For the design of radiation from the storing panel, it is necessary to know the average power consumption (heating value) of the devices and instruments stored in the control panel.
3 DESIGN (5) Average power consumption of the input section of the input module(Power consumption for simultaneous ON points) WIN = 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 power supply section of the intelligent function module WS = I5V 5 + I24V 24 + I100V 100 [W] The total of the power consumption values calculated for each block becomes the power consumption
3 DESIGN (7) Example of average power consumption calculation (Q173HCPU use) QY10 QY10 QX40 QX40 Q38B Q173PX Q172EX-S2 Q172LX Q173HCPU Q02HCPU Q61P-A1 (a) System configuration (b) 5 VDC current consumption of each module Q02HCPU : 0.64 [A] Q173HCPU : 1.25 [A] Q172LX : 0.05 [A] Q172EX-S2 : 0.07 [A] Q173PX : 0.11 [A] QX40 : 0.05 [A] QY10 : 0.43 [A] Q38B : 0.114 [A] (c) Power consumption of power module WPW = 3/7 (0.64 + 1.25 + 0.05 + 0.07 + 0.11 + 0.05 + 0.05 + 0.43 + 0.43 + 0.114) 5 = 6.
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 CPU module selection axes Number of I/O points points Motion CPU module selection PLC CPU module selection Manual pulse generator pcs. Synchronous encoder pcs.
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 (5) When an extension cable is used, do not bind the cable together with the main circuit (high voltage, heavy current) line or lay them close to each other. (6) Install the CPU base unit (by screwing) in the following procedure. (a) Fit the two fixing screws for top of the CPU base unit to the panel. Panel (b) Place the right-hand side notch of the CPU base unit onto the right-hand side screw.
4 INSTALLATION AND WIRING 4.1.2 Instructions for installation of the base unit Install the Motion controller module to a panel, etc. , considering enough about operability, maintainability and environmental resistance. (1) Fitting dimensions Fitting dimensions of each base unit are as follows: 4-fixing screw (M4 14) Hs CPU I / O0 I /O1 I / O2 I / O3 I / O4 I /O5 I /O6 I / O7 I /O8 I /O9 I / O10 I / O11 H OUT POWER Ws W Q35B Q38B Q312B Q65B Q68B Q612B W 245 (9.65) 328 (12.
4 INSTALLATION AND WIRING (3) Motion controller installation orientation (a) Since the Motion controller generates heat, it should be fitted on a well ventilated location in the orientation shown below for heat release. (b) Do not use it in either of the orientations shown below. Vertical Flat (4) Installation surface Fit the base unit on a flat surface. If the installation surface is not even, this may strain the printed circuit boards and cause malfunctions.
4 INSTALLATION AND WIRING 4.1.3 Installation and removal of module This section explains 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 Q3 B,Q6 B The installation and removal procedure of the module from Q3 B/Q6 B base unit are described below.
4 INSTALLATION AND WIRING (b) Removal from Q3 B and Q6 B Hold the module with both hands, and push the hook on the top of the module with a finger until it stops. While pushing the hook, and using the bottom of the module as a support, pull the module toward you. Base unit Module connector Module Module fixing hole Lift the module upwards and remove the module fixing hook from the module fixing hole.
4 INSTALLATION AND WIRING 4.2 Installation and Removal 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. Model name of SSCNET cable Minimum bend radius[mm(inch)] MR-J3BUS M 25(0.98) Enforced covering cord: 50 (1.
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 SSC I/F communication cable (1) Precautions for handling the SSC I/F communication cable • Do not stamp the SSC I/F communication cable. • When laying the SSC I/F communication cable, be sure to secure the minimum cable bend radius of 30 mm(1.18 inch) or more. If the bend radius is less than 30 mm(1.18 inch), it may cause malfunctions due to characteristic deterioration, wire breakage, etc.
4 INSTALLATION AND WIRING 4.2.3 Battery cable (1) Precautions for handling the battery cable • For installation or removal of the battery cable, hold surely a battery cable connector. Battery cable CPU/BAT connector Battery holder unit (Q170HBATC) (2) Installation of the battery cable • For installation of the battery cable to the Battery holder unit, connect it to the BAT connector of battery holder unit while holding the battery cable connector. Be sure to insert it until it clicks.
4 INSTALLATION AND WIRING 4.2.4 Cable for teaching unit (1) Precautions for handling the cable for teaching unit • Do not stamp the cable for teaching unit. • When laying the cable for teaching unit, be sure to secure the minimum cable bend radius of 30 mm(1.18 inch) or more. If the bend radius is less than 30 mm(1.18 inch), it may cause malfunctions due to characteristic deterioration, wire breakage, etc. • For installation or removal of the cable for teaching unit, hold surely a tab of cable connector.
4 INSTALLATION AND WIRING ! CAUTION When a teaching unit is removed, the emergency stop and servomotor become coasting state. In systems where coasting of the servomotor will be a problem, use dynamic brakes.
4 INSTALLATION AND WIRING 4.3 Installation of the Serial Absolute Synchronous Encoder This section described instructions for handling the Serial absolute synchronous encoder (Q170ENC). (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 Q170ENC through a coupling. Ensure that excessive force (greater than the permitted shaft load) is not applied to the shaft of Q170ENC. Table 4.
4 INSTALLATION AND WIRING ! CAUTION The Q170ENC contains a glass disk and precision mechanism. Take care when handling it. The encoder performance may deteriorate if it is dropped or subjected to shocks or vibration exceeding the prescribed limits. Do not connect the shaft of Q170ENC directly to machine side rotary shaft. Always after connecting the shaft of Q170ENC to another bearing once, connect the shaft through a flexible coupling. Gear B e a rin g Q 170EN C Coupling Fig 4.
4 INSTALLATION AND WIRING 4.4 Wiring 4.4.1 Instructions for wiring ! DANGER Completely turn off the all lines of the power supply externally before wiring. Not completely turning off all power 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 bunch or lay them closely the main circuit (high voltage, large current) cables of the 100VAC and 24VDC with the I/O signal cables. If possible, separate them 100mm (3.94inch) or more away. (c) As a countermeasure to power surge due to thunder, connect a surge absorber for thunder as shown below. Multiple CPU system AC E2 E1 Surge absorber for thunder POINTS (1) Separate the ground of the surge absorber for thunder (E1) from that of the PLC (E2).
4 INSTALLATION AND WIRING (g) Wiring of 200m (656.17ft.) or more distance will give rise to leakage currents due to the wiring capacity, resulting in a fault. Refer to the troubleshooting chapter of the I/O Module User's Manual. (3) Grounding To ground the cable, follow the steps (a) to (c) shown below. (a) Use the dedicated grounding as independent as possible.
4 INSTALLATION AND WIRING 4.4.2 Wiring to the power supply module The following diagram shows the wiring example of power lines, grounding lines, etc. to the CPU and extension base units. 100/110VAC AC CPU base unit (Q38B) Q61P CPU module Fuse AC DC ERR (Note) FG LG INPUT 100-240VAC 24VDC Connect to 24VDC terminals of I/O module that requires 24VDC internally.
4 INSTALLATION AND WIRING 4.4.3 Precautions of SSCNET cable wiring SSCNET cable is made from optical fiber. If optical fiber is added a 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. Be sure to use optical fiber within the range of operating temperature described in this manual. Optical fiber melts down if being left near the fire or high temperature.
4 INSTALLATION AND WIRING (5) Wiring process of SSCNET cable Put the SSCNET cable in the duct or fix the cable at the closest part to the Motion CPU module with bundle material in order to prevent SSCNET cable from putting its own weight on SSCNET connector. Leave the following space for wiring. • Putting in the duct Base unit Top of panel or wiring duct Motion controller 30mm (Note-2) (1.18inch) or more Control panel Motion CPU module 5mm(0.20inch) or more(Note-1) 100mm (3.
4 INSTALLATION AND WIRING 4.5 Installation/Wiring Checklist At the worksite, copy the following table for use as a check sheet. Item Sub Item Installation of base unit Installation/wiring confirmation Check for looseness, rattling or distorted installation. Check that the fixing screw tightening torque is as specified. Check the unit for damage. Check that the installation module model names are correct.
5 TRIAL OPERATION AND ADJUSTMENT 5. TRIAL OPERATION AND ADJUSTMENT 5.1 Checklist before Trial Operation Table 5.
5 TRIAL OPERATION AND ADJUSTMENT 5.2 Trial Operation and Adjustment Procedure The mode indicated in the brackets [ ] at top left of each step is the mode for checking or setting by the peripheral device. Servo start-up procedure PLC CPU Motion CPU Turn OFF Multiple CPU system 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 installation condition of connectors.
5 TRIAL OPERATION AND ADJUSTMENT 1) Refer to Section 2.4.4 Check external inputs to Q172LX Check the wiring of following external inputs by monitoring of the peripheral device. (1) FLS (Upper stroke limit input) (2) RLS (Lower stroke limit input) (3) STOP (Stop signal) Refer to Section 2.4.5 Check external inputs to Q172EX Check the wiring of following external inputs by monitoring of the peripheral device or LED indicators. (1) Serial absolute synchronous encoder setting Refer to Section 2.4.
5 TRIAL OPERATION AND ADJUSTMENT 2) DANGER [Programming mode] Motion CPU Create Motion programs Create the Motion programs by SW6RN-GSV P. [Parameter setting mode] PLC parameter setting Set the parameter setting and system setting by the peripheral device with the GX Developer. 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.
5 TRIAL OPERATION AND ADJUSTMENT 3) [Test mode JOG operation ] Check machine operation CAUTION Check the followings by making the machine operate with the JOG operation of peripheral device. (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 TRIAL OPERATION AND ADJUSTMENT 5.3 Operating System Software Installation Procedure The operating system software must be installed to the Motion CPU module by using the peripheral device and programming software package. The installation procedure is shown below. Start installation Open the cover at the front of the Motion CPU and turn ON the install switch. Turn ON the Motion CPU power supply. Refer to Section 2.4.1(2) for install switch. RUN/STOP key switch is ignored.
5 TRIAL OPERATION AND ADJUSTMENT 5.4 Trial Operation and Adjustment Checklist At the worksite, copy the following table for use as a check sheet. Work Step Item Trial Operation and Adjustment Confirmation Check Check that the each module is installed correctly. Check that the each connector is connected correctly. Check the each 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.
5 TRIAL OPERATION AND ADJUSTMENT MEMO 5-8
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. ! CAUTION 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 listed below. Table 6.1 Daily Inspection Item Inspection item 1 Installation of the base unit 2 Installation of the I/O module, etc. 3 Connecting condition Inspection Check that the fixing screws are not loose and the cover is not dislocated. Check that the module is not dislocated and the unit fixing hook is engaged correctly. Criterion The screws and cover must be installed correctly.
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 method Ambient temperature Ambient humidity Criterion Action 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 External Battery The special relays (M9006, M9007) turn ON due to the Motion CPU program or the decrease in voltage of memory back-up battery. Even if these special relays turn ON, the program and the contents of memory back-up are not erased immediately. However, if these relays are overlooked, the contents may be erased. While a total of the memory back-up time after the M9006, M9007 turn ON is within a specified time, replace the battery with a new one.
6 INSPECTION AND MAINTENANCE 6.4.1 Battery service life time (1) Q173HCPU/Q172HCPU, Q172EX module battery service life time The battery service life time corresponding to the type is shown below.
6 INSPECTION AND MAINTENANCE 6.4.2 Battery replacement procedure (1) Q172EX module battery replacement procedure When the Q172EX module battery has been exhausted, replace the battery with a new one in accordance with the procedure shown below. Before removing the battery, turn ON the power supply for 10 minutes or longer. Even when the battery is removed, the memories are backed up by the capacitor for a while.
6 INSPECTION AND MAINTENANCE (2) Battery replacement procedure of the Battery holder unit When the battery has been exhausted, replace the battery with a new one in accordance with the procedure shown below. POINTS Replace the battery taking care of the following. (1) Start the replacement operation after backing up the data to the personal computer which is installed the SW6RN-GSV P.
6 INSPECTION AND MAINTENANCE 6.5 Discard of internal rechargeable battery (1) Discard procedure of internal rechargeable battery The rechargeable lithium battery is built-in in the Motion CPU module. When you discard the Motion CPU module, discard an internal rechargeable battery according to the following procedure. Discard procedure 1) 3) 2) 1) 1) 2) Push in 4 hooks of the Motion CPU module side and remove a front cover. 3) Take out a printed circuit board from a case.
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 Basics of troubleshooting In order to increase the reliability of the system, not only highly reliable devices are used but also the speedy startup of the system after the occurrence of trouble becomes an important factor.
6 INSPECTION AND MAINTENANCE 6.6.2 Troubleshooting of Motion CPU module and I/O modules 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 (Function Explanation, Program Fundamentals) of their respective modules. POINT Check that the operating system software is installed at the time of Motion CPU module start.
6 INSPECTION AND MAINTENANCE (a) Flowchart for when "POWER" LED is turned off. The following shows the flowchart when the "POWER" LED is turned off at the power supply ON or during operation. "POWER" LED is turned off NO Is there a power supply? YES Supply power supply. NO Is the wiring/ terminal block screws connection correct? NO YES Is "POWER"LED turned on? Connect the wiring/terminal block screws correctly.
6 INSPECTION AND MAINTENANCE (b) Flowchart for when "MODE" LED is turned off. The following shows the flowchart when the "MODE" LED is turned off at the power supply ON. "MODE" LED is turned off Is the power supply for all the power supplies modules turned on? Is the wiring of the power supply module correct? Check the wiring and turn on the all power supplies. NO NO YES Is the LED of power supply module turned on? Replace the power supply module, and check that the LED is ON.
6 INSPECTION AND MAINTENANCE (c) Flowchart for when "RUN" LED is turned off. The following shows the flowchart when the "RUN" LED is turned off during operation. "RUN" LED is turned off. (d) "Flowchart for when "ERR." LED is turned on/flickered." YES Is "ERR." LED turned on/flickered? NO Reset the PLC CPU module of the CPU No.1 with RESET/ L.CLR switch.
6 INSPECTION AND MAINTENANCE (d) Flowchart for when "ERR." LED is turned on/flickered. The following shows the flowchart to be followed when the "ERR." LED is turned on/flickered at the power supply ON or operation start or during operation. "ERR." LED is turned on/flickered. H/W error Confirm error contents for self CPU by PC diagnostics of the GX Developer. Refer to the help of the GX Developer and correct error contents. H/W error Confirm error contents by SW6RNGSV P error history.
6 INSPECTION AND MAINTENANCE (e) Flowchart for when "M.RUN" LED is turned off. The following shows the flowchart when the "M.RUN" LED is turned off during operation. "M.RUN" LED is turned off. Is "ERR." LED turned on/flickered? YES (d) "Flowchart for when "ERR." LED is turned on/flickered." NO Is the RESET/L.CLR switch of the CPU module in the neutral position? RESET position Set the RESET/L.CLR switch to the neutral position. When started the latch clear, "M.RUN" LED is flickered.
6 INSPECTION AND MAINTENANCE (f) Flowchart for when "BAT." LED is turned on. In the Motion CPU, when the external battery capacity of the Battery holder unit is lowered, the LED is turned on. After replacing the battery with a new one, "BAT." LED is turned off with the executing reset by the RESET/L.CLR switch. When it is selected "used the external battery", though the external battery in the system settings is not used, the LED is also turned on. "BAT." LED is turned on.
6 INSPECTION AND MAINTENANCE (g) Flowchart for when output load of output module is not turned on. The following shows the flowchart when the output load of the output module is not turned on during operation. Output load of output module is not turned on. Is the operation indicator of output module lit? NO Check the output conditions with the monitor mode of the SW6RN-GSV P. Check the output condition, then execute to the output programs.
6 INSPECTION AND MAINTENANCE (h) Flowchart for when the peripheral device cannot communicate to the Motion controller. The following shows the flowchart when the Motion CPU cannot communicate with the SW6RN-GSV P during the power supply ON. The peripheral device cannot communicate to the Motion controller. Is the operating system software installed to the Motion CPU module? NO YES Are all the connecting cable connected to the connecting connector correctly? Install the operating system software.
6 INSPECTION AND MAINTENANCE 1) Is the communication setting correct? NO The communication setting is USB. YES Can the CPU communicate with the SW6RN-GSV P? NO Explain the error symptom and get advice from our sales representative. Is the USB driver installed in the personal computer with Win 98/2000/XP? NO Install the USB driver into the personal computer. YES Can the CPU communicate with the SW6RN-GSV P? YES NO Explain the error symptom and get advice from our sales representative.
6 INSPECTION AND MAINTENANCE (i) Flowchart for when the power supply of teaching unit is not turned on. The following shows the flowchart when the power supply of teaching unit is not turned on during the power supply of Motion CPU ON. The power supply of teaching unit is not turned on. Does the current consumption of the system added teaching unit exceed the rated output current of power supply module? YES Review the system.
6 INSPECTION AND MAINTENANCE 6.6.3 I/O modules troubleshooting This section describes troubleshooting with I/O circuits and their corrective actions. (1) Input circuit troubleshooting and corrective action This section describes troubleshooting with input circuits and their corrective actions. Input Circuit Troubleshooting and Corrective Action Condition Cause • Leakage current of input switch (e.g. drive by non-contact switch). Example 1 AC input Input signal is not turned OFF.
6 INSPECTION AND MAINTENANCE Input Circuit Troubleshooting and Corrective Action (Continued) Example 5 Condition Input signal does not turn OFF. Cause • Sneak path due to the use of two power supplies. E1 Corrective action • Use only one power supply. • Connect a sneak path prevention diode. (Figure below) Input module E2 E1 E2 Input module Example 6 E1 >E2 False input due to noise Depending on short response time setting, noise is imported as input. Change response time setting.
6 INSPECTION AND MAINTENANCE (2) Output circuit troubleshooting and corrective action This section describes troubleshooting with output circuits and their corrective actions. Output Circuit Troubleshooting and Corrective Action Condition Cause • If load is internally half-wave rectified (some solenoids are like this). Example 1 Overvoltage applied to load when output turns OFF 1) D1 Output module Corrective action • Connect a resistor between several tens k and several hundreds k across the load.
6 INSPECTION AND MAINTENANCE 6.7 Confirm method of Error Code When an error occurs, the error code and error message can be read by the personal computer(IBM PC/AT) installation of the SW6RN-GSV P. The procedure for reading error codes by the SW6RN-GSV P is as follows. (1) Start the SW6RN-GSV P. (2) Connect the Motion CPU to the personal computer(IBM PC/AT) . (3) Select [ Create a new project ] - [ Motion CPU Read ] Menu by the SW6RNGSV P, and also read the project data from the Motion CPU.
APPENDICES APPENDICES APPENDIX 1 Cables In this cable connection diagram, maker names of connectors are omitted. Refer to "APPENDIX 2.7 Connector" for maker names of connectors. APPENDIX 1.1 SSCNET cables Generally use the SSCNET cables available as our options. (1) Model explanation Numeral in the column of cable length on the table is a symbol put in the " " part of cable model. Cables of which symbol exists are available. Cable model MR-J3BUSM Cable length [m(ft.)] 0.15 (0.49) 0.3 (0.98) 0.
APPENDICES POINTS (1) If the end face of code 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) If the end face of code tip for 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.
APPENDICES (a) MR-J3BUS M 1) Model explanation Type: MR-J3BUS MCable type Symbol None Standard code for inside panel Standard cable for outside panel A Long distance cable B Symbol 015 03 05 1 3 5 10 20 30 40 50 Cable length [m(ft.)] 0.15(0.49) 0.3(0.98) 0.5(1.64) 1(3.28) 3(9.84) 5(16.40) 10(32.81) 20(65.62) 30(98.43) 40(131.23) 50(164.04) 2) Exterior dimensions • MR-J3BUS015M [Unit: mm(inch)] 20.9(0.82) 6.7(0.26) 15 (0.59) 13.4 (0.53) 37.65 (1.48) TD RD RD TD +50 -0 2.3(0.09) 1.7(0.07) 8+0 (0.
APPENDICES • 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(1.97) [Unit: mm(inch)] (Note) RD TD TD RD (A) (B) (B) (A) L (Note) : Dimension of connector part is the same as that of MR-J3BUS015M.
APPENDICES APPENDIX 1.2 Serial absolute synchronous encoder cable Generally use the serial absolute synchronous encoder cables available as our options. If the required length is not found in our options, 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.
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 Q172EX 1 LG 2 LG 12 3 LG 13 LG 15 6 14 TREN.
APPENDICES APPENDIX 1.3 Cable for the teaching unit Generally use the cables for the teaching unit available as our options. If the required length is not found in our options, fabricate the cable on the customer side. (1) Selection The following table indicates the cables used with the cable for the teaching unit. Make selection according to your operating conditions. Table 4 Wire models Type Length [m(ft.)] Q170TUD3CBL3M 3(9.84) Q170TUDNCBL3M Q170TUDNCBL03M-A 0.3(0.
APPENDICES Table 6 Wire specifications Characteristics of one core Core size 2 [mm ] Wire model Number of cores Structure [Number of wires/mm] Conductor resistance [ /km] Insulating sheath OD d[mm] (Note-1) Finished OD [mm] (Note-2) UL20276 AWG#28 13pair(CREAM) 0.08 26(13 pairs) 7/0.127 222 or less 0.38 6.5 UL20276 AWG#24 18pair(CREAM) 0.08 36(18 pairs) 7/0.203 92.3 or less 0.85 15.5 (Note-1): "d" is as shown below.
APPENDICES (2) Q170TUD3CBL3M (a) Connection diagram When fabricating a cable, use the recommended wire and connector given on APPENDIX 1.3, and make the cable as show in the following connection diagram. Make the cable within 3m(9.84ft.).
APPENDICES (3) Q170TUDNCBL3M (a) Connection diagram When fabricating a cable, use the recommended wire and connector given on APPENDIX 1.3, and make the cable as show in the following connection diagram. Make the cable within 3m(9.84ft.).
APPENDICES (4) Q170TUDNCBL03M-A (a) Connection diagram When fabricating a cable, use the recommended wire and connector given on APPENDIX 1.3, and make the cable as show in the following connection diagram. Make the cable within 3m(9.84ft.).
APPENDICES (5) A31TU-D extended cable (a) Connection diagram When fabricating a cable, use the recommended wire and connector given on APPENDIX 1.3, and make the cable as show in the following connection diagram. The cable overall distance between the Motion CPU and teaching unit is within 30m (98.43ft.) include the A31TU-D cable (5m(16.40ft.)). (Make the cable within 22m(72.18ft.) when using Q170TUD CBL3M.
APPENDICES APPENDIX 1.4 Battery cable Generally use the battery cable available as our options. If the required length is not found in our options, fabricate the cable on the customer side. Make the battery cable within 0.5m(1.64ft.).
APPENDICES APPENDIX 2 Exterior Dimensions APPENDIX 2.1 CPU module (1) Q172HCPU Module [Unit: mm (inch)] Q172HCPU FRONT SSCNET CN1 BAT PC 104.6(4.12) MODE RUN ERR. M.RUN BAT. BOOT PULL USB 27.4(1.08) 114.3(4.50) (2) Q173HCPU Module [Unit: mm (inch)] Q173HCPU FRONT SSCNET CN1 BAT PC CN2 PULL USB 27.4(1.08) 114.3(4.50) App - 14 104.6(4.12) MODE RUN ERR. M.RUN BAT.
APPENDICES (3) Q172HCPU-T Module [Unit: mm (inch)] Q172HCPU-T FRONT SSCNET BAT CN1 PC 104.6(4.12) MODE RUN ERR. M.RUN BAT. BOOT TU PULL USB 27.4(1.08) 114.3(4.50) (4) Q173HCPU-T Module [Unit: mm (inch)] Q173HCPU-T FRONT SSCNET CN1 BAT PC CN2 PULL USB 27.4(1.08) 114.3(4.50) App - 15 TU 104.6(4.12) MODE RUN ERR. M.RUN BAT.
APPENDICES (5) Q173HCPU(-T)/Q172HCPU(-T) Module (with cable) [Unit: mm (inch)] Q173HCPU MODE RUN ERR. M.RUN BAT. BOOT 104.6(4.12) Q173HCPU(-T)/ Q172HCPU(-T) module FRONT SSCNET CN1 BAT PC CN2 PULL SSC I/F communication cable 100(3.94) USB 27.4(1.
APPENDICES APPENDIX 2.2 Servo external signals interface module (Q172LX) [Unit: mm (inch)] CTRL 98(3.86) Q172LX Q172LX 90(3.54) 45(1.77) 27.4(1.08) APPENDIX 2.3 Serial absolute synchronous encoder interface module (Q172EX-S2/Q172EX-S3) [Unit: mm (inch)] Q172EX-S2 SY.ENC1 MITSUBISHI LITHIUM BATTERY SY.ENC2 Q172EX 4.2(0.17) 90(3.54) 39(1.54) App - 17 27.4(1.08) 98(3.86) SY.
APPENDICES APPENDIX 2.4 Manual pulse generator interface module (Q173PX/Q173PX-S1) (1) Q173PX [Unit: mm (inch)] Q173PX PULSER 98(3.86) PLS.A PLS.B TREN 1 1 1 2 2 2 3 3 3 Q173PX 90(3.54) 45(1.77) 27.4(1.08) (2) Q173PX-S1 [Unit: mm (inch)] Q173PX-S1 PLS.B TREN 1 1 2 2 3 3 98(3.86) PLS.A 1 2 3 PULSER KSD06S 1 2 3 4 5 6 ON Q173PX 90(3.54) 45(1.77) App - 18 27.4(1.
APPENDICES APPENDIX 2.5 Power supply module (Q61P-A1, Q61P-A2, Q61P, Q62P, Q63P, Q64P) [Unit: mm (inch)] (1) Q61P-A1, Q61P-A2, Q61P, Q62P, Q63P Q61P-A1 98(3.86) POWER PULL 90(3.54) 55.2(2.17) (2) Q64P [Unit: mm (inch)] Q64P 98(3.86) POWER PULL 115(4.53) 55.2(2.
APPENDICES APPENDIX 2.6 Battery holder unit (Q170HBATC) (1) Battery holder unit (Q170HBATC) [Unit: mm (inch)] 45(1.77) 60(2.36) 2- 5.3(0.21) (Fixing screw M5 14) BAT CPU Q170HBATC PASSED 40(1.57) 10 16.5 (0.39) (0.65) 80(3.15) 7.5 (0.
APPENDICES APPENDIX 2.7 Connector (1) Honda connectors make (HDR model) (Cable connector for the SSC I/F communication cable/ teaching unit) Type Number of pins Connector Connector case 14 HDR-E14MG1 HDR-E14LPA5 26 HDR-E26FG1 HDR-E26LPA5 Specified tool: FHAT-0029/FHPT-0004C Maker: Honda connectors These tools are not sold in Mitsubishi. Please purchase them by customers.
APPENDICES (2) Sumitomo 3M make (MDR type) (Cable connector for the serial absolute synchronous encoder) 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 10120-3000VE 10320-52F0-008 10120-3000VE 10320-52A0-008 10120-6000EL(Note) 10320-3210-000(Note) (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)] D Position where e.g. logo is indicated B C 42.0 (1.65) 2- 0.5(0.02) Number of pins A B C 20 pin 29.7(1.17) 20.9(0.82) 33.0(1.30) A (3) SSCNET cable connector 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 0.01) App - 23 D 6.
APPENDICES (4) Hirose Electric make (DF3 model) (Battery cable connector) Type Connector Terminal : DF3-2S-2C : DF3-2428SCC 6.8(0.27) 5.9(0.23) [Unit: mm (inch)] 6(0.24) (5) Q170TUD3CBL(A31TU-D3 Type Connector Screw lock Installation plate Circular clamp side connector) : DB-25SF-N (Maker : Japan Aviation Electronics Industry) : D20418-J3 (Maker : Japan Aviation Electronics Industry) : Not for sale : DB20962 (Maker : Japan Aviation Electronics Industry) (a) Connector [Unit: mm (inch)] 5.5 (0.
APPENDICES (6) Japan Aviation Electronics Industry make (Cable connector for the teaching unit) Type Connector : DB-25SF-N [Unit: mm (inch)] 53.0(2.09) 47.04(1.85) 38.3(1.51) 2- 3.05 0.13(0.12 0.01) 12.6 (0.50) 1.2(0.05) 6.1(0.24) 8.0(0.31) or less 10.8 (0.43) (Note) : Give the processing of the control panel referring to the above chart at cable producing. (7) A31TUD3TM Type Connector : 17JE-23250-02(D8A) (Maker : DDK) 15.0 (0.59) [Unit: mm (inch)] Cable outside diameter 9(0.35) or less 54.
APPENDICES APPENDIX 2.8 Manual pulse generator (MR-HDP01) [Unit: mm (inch)] Packing t =2.0 3.6(0.14) NP 90 60(2.36) 0.5 80(3.15) 1 70 30 80 20 10 PCD72, equi-spaced 70(2.76) 50(1.97) 0 3 Studs (M4 10) 5 to 12V 0V A B 60 M3 6 40 50 7.6 (0.30) Space 72(2.8 3) 0.2 62 (2. 44 -0 ) 2 8.89 (0.35) 16 20 27.0 0.5 (0.63)(0.79) (1.06) 3- 4.8(0.19) equi-spaced The figure of processing a disc APPENDIX 2.9 Serial absolute synchronous encoder (Q170ENC) [Unit: mm (inch)] 84(3.31) 58.5(2.
APPENDICES APPENDIX 2.10 Teaching unit (A31TU-D3 /A31TU-DN ) [Unit: mm (inch)] 153(6.02) DISABLE ENABLE DATA MONITOR PROGRAM TEST STOP INSTRUCTION ; EMG.STOP CLEAR ITEM # 7 8 WRITE DELETE SP 9 OVERRIDE D 4 INDIRECT E 5 F 6 STEP - STORE A 1 203(7.99) A31TU B 2 C 3 STEP + MDI FUNCTION - . 0 RETURN SHIFT ERROR RESET CAN AXIS NO. JOG - JOG + GO 136(5.35) 34 22 (1.34) (0.87) 68(2.68) (19(0.
APPENDICES MEMO App - 28
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.
