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MITSUBISHI ELECTRIC Q172CPU/Q173CPU USER MANUAL

Contents

1. a 1 r 80 SM O POWER eo 05 lt PULL MITSUBISHI 55 2 2 17 2 Q64P Unit mm inch nn 3 ERE zr O POWER INIA A KUN NING ALI ADA Va A AS e m CC x lt PULL IL 115 4 53 55 2 2 17 App 18 APPENDICES kapuwawskaapua s n nvnoMhi APPENDIX 2 6 Dividing unit Q173DV Battery unit Q170BAT 1 Dividing unit Q173DV Unit mm inch 4 Fixing screw M5 x14 o to id 5 SSCNET C e ej Q173DV 125 4 92 7 5 140 5 51 0 29 p 10 0 39 2 Battery unit Q170BAT Unit mm inch 2 Fixing screw M5x14 45 1 77 60 2 36 a 170 DATE 7 5 0 29 0 65 0 39 App 19 APPENDICES APPENDIX 2 7 Connector 1 Honda connectors make HDR model Number of pins 26 Specified tool FHAT 0029 FHPT 0004G Maker Honda connectors These connectors are not sold in Mitsubishi They are r
2. CPU base unit Q33B Q35B Q38B Q312B Motion module Q172LX Q172EX Q173PX Q60B extension base unit Q63B Q65B Q68B Q612B 4 Extension cable QCOB jd gt I i Power supply module VO module Intelligent function module of the Q series Motion CPU module Q172CPU N SSCNET cable SSCNET cable Battery unit for MR H BN for MR J20 B Q170BAT Q172HBCBLOIM B Q172J2BCBLOM B a i i d It is possible to select the best according to the system Note When using the external battery be sure to use the SSCNET cable Q172J2BCBLUM B Q172HBCBLOM B and to set the battery A6BAT MR BAT Also install the battery A6BAT MR BAT in the Battery unit Q170BAT Battery A6BAT MR BAT is optional Battery Servo amplifier Servo amplifier A6BAT MR BAT MR H BN MR J20 B 2 SYSTEM CONFIGURATION b When not using the external battery 000 5
3. Motion module Q173CPU N SSCNET cable SSCNET cable for MR H BN for MR J20 B Q173HBACBLOM Q173J2BACBLOM t It is possible to select the best according to the system Note When using the external battery be sure to use the Dividing unit Q173DV Servo amplifier Servo amplifier MR H BN MR J20 B 2 SYSTEM CONFIGURATION 2 Equipment configuration in Q172CPU N system Q172CPU N System configuration Note Is this system continuously power off for 1000 hours or more running YES Refer to equipment configuration of a When using the external battery Refer to equipment configuration of b When not using the external battery Note Continuous power off time which can be backed up on the internal battery is different depending on the charge time It is possible to continuously power off for 1100 hours because of charge of 40 hours Refer to the section 2 3 5 for details 2 SYSTEM CONFIGURATION a When using the external battery Extension of the Q series module Motion module Q172LX Q172EX Q173PX cunnan Power supply module Q CPU I O module Intelligent function module of the Q series
4. is 30m 98 4ft Q172HBCBLLIM Q172HBCBLOM HDR E14MG1 connector PCR S20FS connector HDR E14 LPA5 connector case PCR LS20LA1 connector case Maker Honda connectors Maker Honda connectors TD1 1 RD TD1 8 RD LG 2 LG LG 9 LG RD1 3 TD RD1 10 TD LG 6 LG BT 13 BT EMG 4 EMG EMG 1 EMG SD SD Q172HBCBLLIM B Q172HBCBLOM B HDR E14MG1 connector PCR S20FS connector HDR E14 LPA5 connector case PCR LS20LA1 connector case Maker Honda connectors Maker Honda connectors T 1 RD TD1 8 RD LG 2 LG LG 9 LG RD1 3 TD RD1 10 14 TD LG 6 5 LG BT 13 9 BT EMG EMG EMG EMG SD shell L 9 sD LG 2 HCN2 2 5S 2 socket HNC2 2 5S D B terminal block Maker HIROSE ELECTRIC App 4 APPENDICES c Q173DVCBLLIM 1 Model explanation Type Q173DVCBLOM 7 Symbol Cable length m ft 05 0 5 1 64 1 1 3 28 2 Connection diagram When fabricating a cable use the recommended wire given on Appendix 1 1 and make the cable as show in the following connection diagram The overall distance of the SSCNET cables on the same bus is 30m 98 4ft Q173DVCBLOM HDR E26MG1 connector 10120 6000EL connector HDR E26 LPAS5 connector case 10326 3210 000 connector case Maker Honda connectors Maker 3M TD1 1 1 TD1 TD1 14 14 TD1 LG 3 3 LG LG 16 16 LG RD1 2 2 RD1 RD1 15 15 RD1 LG 13 13 LG BT 26 26
5. 14 0 0 55 4 Number of pins 20 pin c Insulation displacement type Quick release metal latch type Type Connector 10120 6000EL 10126 6000EL Connector case 10320 3210 000 10326 3210 000 m T Or Unit mm inch 5 0 45 Position where e g logo is indicated 2 0 5 0 02 26 pin 33 5 1 32 24 8 0 97 33 APPENDICES APPENDIX 2 8 Manual pulse generator MR HDP01 3xStuds M4x10 PCD72 equi spqced Ll W 27 005 1 06 Unit mm inch The figure of processing a disc APPENDIX 2 9 Serial absolute synchronous encoder MR HENC 00 01 14 3 0 56 9 15 0 59 0 006 68 2 68 E 50 1 97 0025 1 15 0 05 2 0 08 sm 445005 20 0 79 2 0 08 28 1 1 5 0 2 3 0 12 102 4 02 J 3301 3 135 5 31 Shaft cross section Cross section B B Keyway Dimensional Diagram Unit mm inch App 22 APPENDICES APPENDIX 2 10 Cooling fan unit Q170FAN Q173CPU Q172CPU only 1 Cooling fan unit Q170FAN Unit mm inch 25 0 98 25 0 5 0 98 0 02 18 Td as are 0 71 8 100 5 lt pid p 0 12 0 08 032 0 39 0 12 App 23 FOR MAXIMUM SAFETY 1 This product is not designed or manufactur
6. Encoder cable Turn on the power supply of the power supply module Completion 6 INSPECTION AND MAINTENANCE 2 Battery replacement procedure of the Dividing unit Battery unit When the battery has been exhausted replace the battery with a new one in accordance with the procedure shown below Replace the battery taking care of the following a Start the replacement operation after backing up the data to the personal computer which is installed the GSV LIP b Firstly back up the data stored in the Motion CPU to the personal computer which is installed the GSV LIP then replace the battery with a new one After installation the battery in the Dividing unit or Battery unit verify the backing up the data to the personal computer which is installed the GSV LIP and the data in the Motion CPU module confirm the data is not changing Replacing Battery Turn off the power supply of the power supply module Remove the old battery from its holder Install a new battery into the holder in the correct direction Connect the lead to the connector lt Dividing unit Q173DV gt Dividing unit Battery connecter Q173DV for AGBAT MR BAT A MITSUBISHI LITHIUM BATTERY Q173CPU Turn on the power supply of the power supply module Completion lt Battery unit Q170BAT gt Battery connecter 2 for AGBAT MR BAT
7. Panel 4 Fit the fixing screws into the fixing screw holes in the CPU base unit bottom and re tighten the four fixing screws Note Install the CPU base unit to a panel with no module installed in the rightmost slot Remove the CPU base unit after unloading the module from the rightmost slot 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 x14 oss Qos 245 9 65 328 12 92 439 17 30 245 9 65 328 12 92 439 17 30 Ws 224 5 8 85 308 12 14 419 16 51 222 5 8 77 306 12 06 417 16 43 98 3 86 80 3 15 Unit mm inch 2 Motion controller installation position For enhanced ventilation and ease of module replacement leave the following clearances between the module top bottom and structure parts Top of control panel wiring duct or other components P Base unit M M n M The wind blows lies 30mm tna 2
8. Power supply module Q CPU I O module Intelligent function module of the Q series Motion module Q172LX Q172EX Q173PX CPU base unit Q33B Q35B Q38B Q312B Motion CPU module Q172CPU N SSCNET cable SSCNET cable for MR H BN for MR J20 B Q172HBCBLOM Q172J2BCBLOM M0 0 Servo amplifier MR H BN Servo amplifier MR J2 1 B Extension cable QCOB a U s Extension of the Q series module Motion module Q172LX Q172EX Q173PX Q60B extension base unit Q63B Q65B Q68B Q612B t Power supply module l O module Intelligent function module of the Q series It is possible to select the best according to the system 2 SYSTEM CONFIGURATION Ew f R g Configuration of peripheral devices for the Q173CPU N Q172CPU N The following a b c can be used a RS232 configration b USB configration c SSCNET configration Motion CPU module Motion CPU module Motion CPU module Q173CPU N Q172CPU N Q173CPU N Q172CPU N Q173CPU N Q172CPU N f mee do 2 SSCNET cable RS 23
9. Q172J2BCBLOM B 7 Q172HBCBLLIM B 6 INSPECTION AND MAINTENANCE 6 5 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 5 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 To start up the system speedily the cause of the trouble must be located and eliminated correctly The basic three points that must be followed in the troubleshooting are as follows 1 2 Visual inspection Visually check the following 1 Movement of machine stopped condition operating condition 2 Power supply on off 3 State of I O devices 4 Installation condition of the Power supply module Q173CPU N Q172CPU N module QCPU module I O module Q172LX Q172EX Q173PX Motion module SSCNET cable and Synchronous encoder cable 5 State of wiring I O cables cables 6 Display states of various types of indicators MODE LED RUN LED M RUN LED ERR LED I O LED etc 7 States of setting of various types of set switches Number of extension bases setting memory back up etc After confirming items 1 to 7 Motion CPU module connect the SWGRN GSV OP PLC CPU module connect the GX Developer and check the operating conditions of the servomotors and
10. 2 Do not remove modules printed circuit boards from the case in order to avoid changes in operation 3 The module fixing screws and terminal block screws within the tightening torque range specified below Tightening torque range Module fixing screw M3 x 12 screw 36 to 48 102 Nem module terminal block screw screw 42 to 58 10 Nem module terminal block fixing screw screw 66 to 89 x 10 2 Nem Power supply module terminal screw M3 5 screw 59 to 78 x 102 Nem 4 Make sure to install the power supply module on the CPU base unit and extension base unit When the power supply module is not installed and if the I O modules and intelligent function module installed on the base units are of light load type the modules may be operated In this case because a voltage becomes unstable we cannot guarantee the operation 4 INSTALLATION AND WIRING De r s s 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 1 Fit the two fixing screws for top of the CPU base unit to the panel Panel 2 Place the right hand side notch of the CPU base unit onto the right hand side screw 3 Place the left hand side pear shaped hole of the CPU base unit onto the left hand side screw
11. Run sequence programs using external inputs and check that all movements are correct PLC CPU Monitor mode axis monitor Peak torque check Check that the torque during acceleration and deceleration does not Motion CPU exceed the maximum torque Monitor mode axis monitor Effective torque check Check that the continuous operation load torque is equal to the rated torque Completion POINTS 1 Make note of motor module names before the motor is installed on a machine The motor name plate may not be visible after the motor is installed v 2 When the servo amplifier servomotor is first turned on check the operation of each individual motor to prevent accidents 5 TRIAL RUN AND ADJUSTMENT 5 3 Operating System Installation Procedure In the Motion CPU module the operating system hereafter abbreviated to the OS can be changed by using peripheral device and software package This OS change is called installation Start installation J Open the cover at the front of the Motion CPU and turn ON the install Refer to section 2 4 1 3 for switch the information of the install switch Turn ON the Motion CPU power supply The RUN STOP key switch is ignored Install according to software package Refer to operating manual for the software instructions package used at the peripheral device After installation turn
12. co lI 98 3 86 CN1 C UE SSCNET cable 1000 94 27 4 1 08 89 3 3 52 App 15 APPENDICES APPENDIX 2 2 Servo external signals interface module Q172LX An aa 45 1 77 90 3 54 Unit mm inch Q172LX CTRL Q172LX 98 3 86 27 4 1 08 APPENDIX 2 3 Serial absolute synchronous encoder interface module Q172EX ae rz HI ed e F 27 H 4 2 0 17 90 3 55 39 0 1 53 16 Unit mm inch Q172EX SY ENC TREN 1 1 98 3 86 27 4 1 08 APPENDICES APPENDIX 2 4 Manual pulse generator interface module Q173PX _ 90 3 14 45 1 77 Unit mm inch Q173PX PLS A PLS B TREN 1 1 1 2 2 2 3 3 3 PULSER 98 3 86 O Q173PX y 27 4 1 08 App 17 APPENDICES APPENDIX 2 5 Power supply module Q61P A1 Q61P A2 Q63P Q64P Unit mm inch 1 Q61P A1 Q61P A2 Q63P
13. t each other positioned at proper intervals looseness or Check visually Connectors must not be loose runner tighten connector connectors fixing screws Even if the lowering of a battery capacity is not shown replace the battery with a new one if a service life time of the battery is exceeded No vibration howl and noise Cooling fan unit The service lite lime Or the If a service life time of the Cooling fan unit when the 4 Connection Battery Preventive maintenance Q173CPU Q172CPU Check visually Cooling fan unit is exceeded number of the revolution aie only lower than the 20 of replace it with a new one the fast time 6 INSPECTION AND MAINTENANCE 6 4 External Battery The special relays M9006 and M9007 are ON due to the Motion CPU program or the decrease in voltage of memory back up battery Even if these special relays are ON the program and the contents of memory back up are not erased immediately If the energization of these relays is recognized these contents may be deleted unintentionally While a total of the memory back up time after the M9006 M9007 are ON is within a specified time replace the battery with a new one M9007 is ON due to the decrease in voltage of memory back up battery Even if M9007 is ON it holds the data within a specified time However for safety replace the battery with a new one as soon as possible When the battery voltage of the Motion CPU module i
14. LG 2 R pog d d 1 ad MR 7 pu 6 is is MRR S7 ne BT 9 11 E F BT 9 aan Ez F LG 1 git aan G LG 1 EEEE G SD Sadly Se N SD MR JHSCBL5M H MR JHSCBL10M H to MR JHSCBL30M H Less than 10m 32 79ft e 10to 30m Note Note 4 32 79 to 98 36ft b When using tracking enable signal Note 5 Synchronous Synchronous SY ENC side encoder side SY ENC side encoder side connector connector connector connector 10120 3000VE MS3106B20 29S 10120 3000VE MS3106B20 29S s s e P5 19 f t s P5 19 1 i s LG 1L pd LG MEE n P a LG 12 R LG 12 MR 7 i i C P5 18 Li 411 17 i i iD LG 3 Li bd m P5 10 i ro F 1 1 1 1 1 1 bal LG 2 1 mm R 1 E MR 7 HH c 1 1 1 MAR E E BT m F LG 1 noes 1 G LG 1 G SD Plate vi Nel N SD Plate J Sul TREN 4 TREN 4 9 TREN COM 14 TREN COM 14 mund 24VDV 24VDV Note 3 Note 4 Cable length 10 to 30m 32 79 to 98 36ft Model name for encoder connector set MR J2CNS Note 2 Cable length 10m 32 79ft Encoder cables are the same as HC SFS HC RFS HC UFS 2000r min series motor cable Encoder connector sets are the same as HC SFS HC RF
15. MITSUBISHI ELECTRIC MELSEC System Q Motion Controller User s Manual Q172CPU Q173CPU Art no 143715 MITSUBISHI ELECTRIC NDUSTRIAL AUTOMATION 5 2002 IB NA 0300040 B SAFETY PRECAUTIONS Read these precautions before using When using this equipment thoroughly read this manual and the associated manuals introduced in this manual Also pay careful attention to safety and handle the module properly These precautions apply only to this equipment Refer to the Users manual of the CPU module to use for a description of the PLC system safety precautions These SAFETY PRECAUTIONS classify the safety precautions into two categories DANGER and CAUTION im N D DANGER Indicates that incorrect handling may cause hazardous conditions resulting in death or severe injury 1 Indicates that incorrect handling may cause hazardous conditions A CAUTION resulting in medium or slight personal injury or physical damage I Depending on circumstances procedures indicated by CAUTION may also be linked to serious results In any case it is important to follow the directions for usage Store this manual in a safe place so that you can take it out and read it whenever necessary Always forward it to the end user For Safe Operations 1 Prevention of electric shocks 4 DANGER Never open the front case or terminal covers while the power is ON or the unit is
16. Never try to disassemble or modify module It may cause product failure malfunction fire or cause injury When using cellular phone keep them away from the Motion controller 25 cm 9 84 inch or more It may cause a malfunction Turn off the all lines of the power supply externally when installing or removing the modules Not doing so could damage the module or result in erroneous operation In order that you can use the Motion controller in normal and optimal condition at all times this section describes those items that must be maintained or inspected daily or at regular intervals 6 INSPECTION AND MAINTENANCE 6 1 Maintenance Works 6 1 1 Inspection and maintenance In order that can use the Motion controller in safety and normal those items that must be inspected list below N 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 Never open the front case or terminal cover at times other than wiring work or periodic inspections even if the power is OFF The insides of the Motion controller and servo amplifier are charged and may lead to electric shocks When performing wiring work or inspections turn the power OFF wait at least ten minutes and then check the voltage wi
17. Qx80 24VDC 4mA Negative common 16 points Terminal block 81 24VDC 4mA Negative common 32 points Connector Contact output OP layio 240VAC 24VDC 2A point 8A common 16 points common Terminal block QY40P 12V 24VDC 0 1A point 1 6A common 16 points common Terminal block le QY41P 12V 24VDC 0 1A point 2A common 32 points common Connector lt Sink Type QY42P 12V 24VDC 0 1A point 2A common 64 points 32 points common Connector QY50 12V 24VDC 0 5A point 4A common 16 points 16 points common Terminal block QY80 12V 24VDC 0 5A point 4A common 64 points 32 points common Terminal block Source Type B QYB1P 12V 24VDC 0 1A point 2A common 32 points 32 points common ER Connector 2 E o C g lt vo 5 12VDC 16mA point 16 points 16 points common Terminal block TTL CMOS Sink ov 5 12VDC 16mA point 32 points 32 points common Connector 24VDC Positive common 32 points QH42P DC12 24V 0 1A Output Sink type 32 points Connector Input Output Provided Thermal protectors protector against short circuit Transistor output 24VDC Positive common 8 points QX48Y57 DC12 24V 0 5A Output Sink type 7 points Terminal block Provided When face is broken LED lights and signal is output to CPU Marked connectors are not provided lt 2 SYSTEM CONFIGURATION 3 Table of servo amplifier The
18. h Flowchart for when the peripheral device could not communicate to the Motion CPU The following shows the flowchart when the Motion CPU could not communicate with the GSVOP during the power supply on The peripheral device could not comminucate to the Motion CPU Are all the connecter cable of the connected correct YES Can the CPU communicate with the GSVOP NO Can the CPU comminunicate with the YES Connect the connecter cable correctly YES GSVOP by replacing the connection cable NO Is the connection type SSCNET Is the communication setting correct YES NO The communication setting is SSCNET NO Can the CPU communicate with the GSVOP Is the connection type USB or RS 232 Explain the error symptom and get advice from our sales representaitive RS 232 NO The communication setting is RS 232 Is the communication setting correct YES Can the CPU communicate with the GSVOP NO YES YES Explain the error symptom and get Completion advice from our sales representaitive Is the communication USB driver installed in the personal computer with INSPECTION AND MAINTENANCE san rn sssi m s iac mQ W n E 1 NO The communication setting is setting correct YES USB Can the CPU commun
19. 1 WDT error 2 System setting error 3 Servo error 4 Motion SFC error 5 Detection of self diagnostic error which will not stop the operation except for battery error Flashing Detection of self diagnostic error which will stop the operation Normal When motion control is executed When latch cl MOTION RUN LED en latch clear started When motion control is not executed or when the self diagnostic error which will stop the operation was detected BAT LED Lit When the battery error occurred When using the external battery Lit ROM ting mode BOOT LED Not lit ROM operating mode Installation ROM writing mode Used to install the module to the base unit Used to eject the memory card from the Motion CPU 1 Connector used to connect the memory card to the Motion CPU The Motion CPU make use of Memory card loading connector the memory card by software package 11 USB connector Note Connector for connection with USB compatible peripheral device Connector type B Can be connected by USB dedicated cable 12 RS 232 connector Note Connector for connection with a peripheral device Can be connected by RS 232 connection cable QC30R2 Note When normally connecting a cable to the USB or RS232 connector clamp the cable to prevent it from coming off due to the dangling moving or careless pulling of the cable Q6HLD R2 type RS 232C connector disconnection prevention holder is
20. 2 4 4 Q172LX Servo external signals interface module sse 2 37 2 4 5 Q172EX Serial absolute synchronous encoder interface 2 42 2 4 6 Q173PX Manual pulse generator interface module sees 2 49 2 4 7 Manual pulse generator Serial absolute synchronous 2 56 2 4 8 Connection method with SSCNET cables and termination 2 57 249 External battety t erred dee ei ea edd ae td ha a P de Ee ee 2 67 2 4 10 Cooling fan unit Q170FAN Q173CPU Q172CPU only seen 2 69 3 1 System Designing Procedure U a 3 1 23 2 External Circuit Design ages Dua ene HT Lee Fa ep ees Ea pt a 3 4 32 1 Power s pply circuit desighi s n epe petere epe ep tute epi utei 3 8 3 2 2 Safety Circuit designa soit to te atate t feb n Ree tratta edt 3 9 3 3 Layout Design within The Control Panel L na 3 11 3 3 t Installation environmerit 2 l L L m Ce terere eret c edle da es 3 11 3 3 2 Layout design of the base units I nennen rennen rennen nnns 3 12 3 3 3 Calculating heat generation by Motion controller 3 13 3 4 Design Checklist u u uu 3 16 4 INSTALLATION AND WIRING 4 1104 16 4 1 Module Inst
21. 2 SYSTEM CONFIGURATION u s H FVIe F D LWiS I 2 4 Specifications of Equipment and Settings 2 4 1 Q173CPU N Q172CPU N 1 Q173CPU N Q172CPU N Name of parts This section explains the names and setting of the module Front face With Front cover open Uj Er Q17 CPU 1 SEE 150 8 ERR 3 ERR M RUN BOOT 4 ecor 5 6 3 13 ASFRONT 10 4 SSCNET 7 5 Do CO 14 Puu Do CD 15 When opening the cover put your finger here Side face Bottom Q172CPU Q173CPU C IL ED D CS OD CE oD DI CIL CI THU 18 CI 18 lt 2 UUUUUURJUUOUU UJR8JU CO UJ 2 SYSTEM CONFIGURATION Module fixing hook Hook used to fix the module to the base unit Quick release installation 2 MODE LED Mode judging Lit green Normal mode egg Lit orange Installation ROM writing mode Lit Motion CPU normal start 3 RUN LED Motion CPU fault RUN LED turn off when the trouble occurred at starting or WDT error occurred When error occurs LED turn on as follows
22. 25 Boulevard des Bouvets F 92741 Nanterre Cedex Phone 33 1 55 68 55 68 Fax 33 1 49 01 07 25 e mail factoryautomation framee com MITSUBISHI ELECTRIC ITALY EUROPE B V Italian Branch Via Paracelso 12 1 20041 Agrate Brianza MI Phone 39 039 6053 1 Fax 39 039 6053 312 e mail factory automation itmee com MITSUBISHI ELECTRIC SPAIN EUROPE B V Spanish Branch Carretera de Rub 76 80 E 08190 Sant Cugat del Vall s Phone 34 9 3 565 3131 Fax 34 9 3 589 2948 email industrial sp mee com MITSUBISHI ELECTRIC UK EUROPE B V UK Branch Travellers Lane GB Hatfield Herts AL10 8 XB Phone 44 0 1707 27 61 00 Fax 44 0 1707 27 86 95 MITSUBISHI ELECTRIC CORPORATION Office Tower Z 14 F 8 12 1 chome Harumi Chuo Ku Tokyo 104 6212 Phone 81 3 622 160 60 Fax 81 3 622 160 75 JAPAN MITSUBISHI ELECTRIC AUTOMATION 500 Corporate Woods Parkway Vernon Hills IL 60061 Phone 1 847 478 21 00 Fax 1 847 478 22 83 USA Pontbeeklaan 43 B 1731 Asse Zellik Phone 32 0 2 467 17 51 Fax 32 0 2 467 17 45 e mail infoautomation getronics com TELECON CO BULGARIA 4 A Ljapchev Blvd BG 1756 Sofia Phone 359 0 2 97 44 05 8 Fax 359 0 2 97 44 06 1 e mail INEA CR d o o Drvinje 63 HR 10000 Zagreb Phone 385 0 1 3667140 Fax 385 0 1 3667140 e mail inea cr zg tel hr AutoCont Control Systems s r o Nemocnicni 12 CZ 7020
23. A6CON1 type soldering type connector FCN 361J040 AU connector FUJITSU TAKAMISAWA Attachment COMPONENT LIMITED FCN 360C040 B connector cover A6CON2 type Crimp contact type connector A6CONS type Pressure displacement type connector Optional DOG CHANGE STOP RLS FLS functions of each axis 1 to 8 For information about DOG CHANGE Proximity dog Speed position signal detalls reier n the programing manual switching signal STOP Stop signal RES cst Lower stroke limit ELS Upper stroke limit 2 SYSTEM CONFIGURATION 4 Interface between CTRL connector and servo external signal FLS1 B20 0 Supply voltage FLS2 B16 4 12 to 24 VDC s s E ron m limit input 5 6Kq supply FLS FLS6 A16 14 H A FLS7 A12 18 FLS8 A8 1C RLS1 B19 UU S RLS2 B15 5 RLS3 B11 9 RLS4 B7 D RLS5 A19 11 Lower stroke RLS RLS6 15 15 limit input i D 4 RLS7 A11 19 Input RLS8 A7 1D F don DE STOP1 B18 2 2 0mA or more STOP2 B14 6 STOP3 B10 A STOPA Stop signal STOP STOP5 A18 12 input STOP6 A14 16 5 6Ko STOP7 A10 1A Sue STOP8 A6 1E level airmen FRAT a aia ds 1 8 VDC or less 7 7 7 7 7 poaicHance BI7 3 lem aries DOG CHANGE2 B13 7 fea DOG CHANGE3 B9 B Proximity dog DOG CHANGE4 B5 gz SBSediposilion
24. DOGIGHRNGEE 17 13 switching signal DOG CHANGE DOG CHANGE6 A13 17 5 6KQ DOG CHANGE7 AQ 1B DOG CHANGEB A5 _ 1 Im mL rc Common terminals for motion control Power supply B1 B2 signals external 12VDC to 24VDC signal NCAUTION Always use a shield cable for connection of the CTRL connector and external equipment and avoid running it close to or bundling it with the power and main circuit cables to minimize the influence of electromagnetic interface Separate them more than 200mm 0 66ft away Connect the shield wire of the connection cable to the FG terminal of the external equipment e Make parameter setting correctly Incorrect setting may disable the protective functions such as stroke limit protection or may not provide the brake output damaging the module Always wire the cables when power is off Not doing so can damage the output circuit if any of the output signal cables makes contact with the power supply or the output signal cables make contact with each other Use extreme care when wiring the cables Wrong wiring can damage the internal circuitry 2 SYSTEM CONFIGURATION 2 4 5 Q172EX Serial absolute synchronous encoder interface module Q172EX receive external signals required for serial absolute synchronous encoder 1 Q172EX Q172EX SY ENC TREN 1 1 2 2 Ja Application w Hook used to fix the module to the ba
25. For the case with a limit switch with LED indicator connected to Q172LX causing 4 mA leak current Q172LX Leakage current 4mA Motion CPU module a The 0 18 mA OFF current of the Q172LX is not satisfied Hence connect a resistor as shown below Q172LX 12 0 18 s 4mA 1 izi Input impedance T 5 6KQ b Calculate the resistor value R as indicated below To satisfy the 0 18 mA OFF current of the Q172LX the resistor R to be connected may be the one where 3 82 mA or more will flow IR Iz Z Input impedance R dz _0 18 3 R lt IR x Z Input 2222 5 6 x10 264 9 R 264 9 Assuming that resistor R is 220 the power capacity W of resistor R is W Input voltage R 26 4 220 3 168 W c The power capacity of the resistor selected is 3 to 5 times greater than the actual current consumption 220 10 to 15 W resistor may therefore be connected to the terminal in question 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 Caue Corrective action If load is internally half wave rectified Connect a resistor between several tens k Q some solenoids are like this and several hundreds k across the load This method causes no problems with Output m
26. INTRODUCTION Thank you for choosing the Q173CPU N Q172CPU N Motion Controller Please read this manual carefully so that equipment is used to its optimum CONTENTS Safely Preca ti NnS u u u tree oc er sea cit oe visas eigen de adr e Hu dg e eoa A 1 hon fotos brotes bero bnt cf eec A 11 GONTeNIS me ry mut s tee y Sa nupus uum pusupa up usupa eat ae a apaun umutu A 12 Manuals su ntn enn en E D SS PR pente entes A 15 1 OVERVIEW 1 1to1 2 OVENI Wannee aee re a ali ee 1 1 2 1 Motion System Configuration L u 2 1 2 1 1 Q173CPU N System overall configuration U nennen 2 8 2 1 2 Q172CPU N System overall configuration eese enne 2 9 2 1 3 Function explanation of the Q173CPU N Q172CPU N Motion CPU modules 2 10 2 1 4 Restrictions on motion systems 2 11 2 2 System Configuration Equipment 2 13 2 3 General 5 5 bot bt s ae die ea A a 2 20 2 4 Specifications of Equipment and Settings n 2 22 2 4 1 Q173CPU N Q172CPU N L L n nanas 2 22 2 4 2 Power supply modle I u 2 28 2 4 3 Base unit and extension cable sse uu u 2 34
27. Reset by the RESET L CLR switch Set the RUN STOP switch to RUN Can the ERR LED be turned off Explain the error symptom and get advice from our sales representaitive Completion b 6 INSPECTION AND MAINTENANCE e Flowchart for when M RUN LED is not lit The following shows the flowchart when the M RUN LED is not lit during the operation M RUN LED is not lit Is ERR LED d lit flashing Flowchart for when ERR LED is lit flashing RESET position Move the RESET L CLR switch to the neutral position When started the latch clear M RUN LED is flashing Note Neutral position Is the RESET L CLR switch of the CPU module in the neutral position Is M RUN LED YES be turned on Is M2000 be turned on M2000 is turn on l NO Is M RUN LED be turned on H W error Explain the error symptom and get advice from our sales representaitive Y Completion Note When the RUN STOP switch is stop position and the RESET L CLR several times for latch clear operation the M RUN LED flashes to indicate that the latch clear processing is under operation When the RESET L CLR switch is further tilted to L CLR while the M RUN LED flashes M RUN LED turned off and terminates the latch clear processing 6 INSPECTION AND MAINTENANCE f Flowchart for when
28. or gears the machine rotating shaft should be supported by a separate bearing and connected to MR HENC through a coupling Ensure that excessive force greater than the permitted shaft load is not applied to the encoder Table 4 1 Permitted Shaft Loads pe Radial direction Thrust direction MR HENC Permitted shaft load Max 98N Max 49N Fig 4 1 Example of Encoder Linked to a Gear 2 Large errors in eccentricity and angle of deviation during installation can apply an excessive force to the MR HENC shaft which can cause deterioration in performance drastically reduce encoder service time Minimize loads applied to the shaft such that they lie within the permitted shaft load range The permitted shaft loads are shown in table 4 2 for the recommended coupling type Table 4 2 Permitted Values for Coupling Mounting Errors 0 2mm Eccentricity or less _ Angle of deviation Axial displacement or less Recommended coupling type specifications Specification 0 5N m 10000r min 4 INSTALLATION AND WIRING N CAUTION The MR HENC 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 encoder directly to the rotating machine shaft Always connect the encoder through a flexible coupling Machine side ro
29. protection and overvoltage protection working Can POWER LED be turned on Explain the error symptom and get advice from our sales representaitive Completion 6 INSPECTION AND MAINTENANCE b Flowchart for when MODE LED is not lit The following shows the flowchart when the MODE LED is not lit when the power supply is turned on MODE LED is not lit s the powe supply for all the power supply modules turned on Is the wiring of the power suppl module correct NO Check the wiring and turn on the all power supply Can MODE LED be turned on Is the LED for the power supply module lit Replace the power supply module and confirm if LED is turned on Can MODE LED be turned on Is the extension cable connected correctly Isn t IN IN or OUT OUT connection NO Connect the extension cable correctly YES NO Can MODE LED YES be turned on s the CPU module of the No 1 and corresponding CP RESET L CLR switch in the eutral position RESET position Set the RESET L CLR switch in the neutral position Neutral position NO Can MODE LED YES be turned on H W error Confirm the operation in the order starting from the minimum system ve Completion Contact our sales representaitive for the modules with failure Note Lit green normal Lit orange Insta
30. 0 07 A Q173PX 0 11 QX40 0 05 A QY10 0 43 A Q38B 0 114 A c Power consumption of power module WPW 3 7 X 0 64 1 75 0 05 0 07 0 11 0 05 0 05 0 43 0 43 0 114 x5 7 92 W d Power consumption of a total of 5 VDC logic section of each module W5v 0 64 1 75 0 05 0 07 0 11 0 05 0 05 0 43 0 43 0 114 x5 18 47 W 3 DESIGN tawa e A total of 24 VDC average power consumption of the output module W24v 192 W 8A common f Average power consumption due to voltage drop in the output section of the output module WOUT 0 W g Average power consumption of the input section of the input module WIN 0 004 x 24 x 32 x 1 3 07 W h Power consumption of the power supply section of the intelligent function module Ws 0 W i Power consumption of overall system W 7 92 18 47 192 0 3 07 0 221 46 W 3 DESIGN 3 4 Design Checklist At the worksite copy the following table for use as a check sheet Sub Item Design confirmation Numberotaes oas Number of points points O CPU module selection Motion CPU module selection t a cv So QCPU module selection Number of Manual pulse generators Number of Synchronous encoders Number of upper limit points Number of lower limit points cq Q ell l u points Number of STOP input points pons O Motion module m Number of proximity dog input points selectio
31. 10 18 19 20 123 1112 1 12VDC to 24VDC NCAUTION Always use a shield cable for connection of the SY ENC connector and external equipment and avoid running it close to or bundling it with the power and main circuit cables to minimize the influence of electromagnetic interface Separate them 200mm 0 66 ft or more away Connect the shield wire of the connection cable to the FG terminal of the external equipment e When increasing the cable length use the cable 30m 98 36ft or less Note that the cable should be run in the shortest possible distance to avoid induced noise Always wire the cables when power is off Not doing so can damage the output circuit if any of the contact with each other Use extreme care when wiring the cables Wrong wiring can damage the internal circuit 2 SYSTEM CONFIGURATION 6 Details of encoder cable connections a When not using tracking enable signal Synchronous Synchronous SY ENC side encoder side SY ENC side encoder side connector connector connector connector 10120 3000VE MS3106B20 29S 10120 3000VE MS3106B20 29S y Ee d P5 19 e E EE P5 19 rx i fants LG 1 H ii LG P5 20 EN P5 20 1 1 LG 12 R LG 12 7 i 1 P5 18 EN MRR 17 I 1 D LG 3 Ua Ld m P5 10 H Me
32. 5 24V X 24 li00V x 100 W The total of the power consumption values calculated for each block becomes the power consumption of the overall motion system W WPW W5V W24V WOUT WIN WS W From this overall power consumption W calculate the heating value and a rise in ambient temperature inside the control panel The outline of the calculation formula for a rise in ambient temperature inside the control panel is shown below W W Power consumption of overall Motion system value obtained above A Surface area inside the control panel U When the ambient temperature inside the board is uniformed by a fan 6 When air inside the board is not circulated 4 When arise in ambient temperature inside the control panel exceeds the specified limit it is recommended that you install a heat exchanger in the control panel to lower the ambient temperature inside the control panel If a normal ventilating fan is used dust will be sucked into the Motion controller together with the external air and it may affect the performance of the Motion controller 7 Example of average power consumption calculation When using the Q173CPU a System configuration Q38B Q61P A1 Q02HCPU Q173CPU Q172LX Q172EX Q173PX QX40 QX40 QY10 QY10 b 5 VDC current consumption of each module QO2HCPU 0 64 A Q173CPU 1 75 A Q172LX 0 05 A Q172EX
33. BAT LED is lit In the Motion CPU when the external battery capacity of the Dividing unit or Battery 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 is not used the LED is also turned on BAT LED is lit Is the used the external battery in the system settings Reset by the RESET L CLR switch Can the BAT LED be turned off Set Not used the external battery in the system settings Is the external battery used Reset by the RESET L CLR switch Can the BAT LED be turned off Is the voltage of the external battery correct Replace the external battery Reset by the RESET L CLR switch Can the BAT LED be turned off H W error Explain the error symptom and get advice from our sales representaitive Completion 6 INSPECTION AND MAINTENANCE g Flowchart for when output load of output module is not turned on The following shows the flowchart that must be followed when the output load of the output module is not turned on during the operation Output load of output module is not turned on Is the operation indicator of output module lit Check output conditions with the monitor mode of th
34. BT EMG12 6 6 EMG12 EMG12 19 19 EMG12 TD2 4 4 TD2 TD2 17 17 TD2 RD2 5 5 RD2 RD2 18 18 RD2 TD3 7 7 TD3 TD3 20 20 TD3 LG 9 9 LG LG 22 1 La 22 LG RD3 8 8 RD3 RD3 21 m S 21 RD3 EMG34 12 A m 12 EMG34 EMG347 25 mm 1 25 EMG34 TD4 10 10 TD4 TD4 23 23 TD4 RD4 11 m m 11 RD4 RD4 24 E 24 RD SD shell MEL Pe Ad e hee cy QS gt shell SD App 5 APPENDICES d Q173J2BACBLOM 1 Model explanation Type Q173J2BACBLOM Symbol Number of SSCNET LINE Symbol Cable length m ft none SSCNET LINE1 0 5 1 64 SSCNET LINE2 SSCNET LINE3 SSCNET LINE4 2 Connection diagram When fabricating a cable use the recommended wire given on Appendix 1 1 and make the cable as show in the following connection diagram The overall distance of the SSCNET cables on the same bus is 30m 98 4ft Q173J2BACBLOM HDR E26MG1_ connector HDR E26 LPA5 connector case Maker Honda connectors 1 3 28 Example A 4 10120 6000EL 5 16 4 connector 10320 3210 000 connector case Maker 3M SSCNET LINE1 SSCNET LINE2 Pip tae ra ied TD A none TD RD A 3 EMG EMG APPENDICES e Q173HBACBLLIM 1 Model explanation Type Q173HBACBLUM Symbol Number of SSCNET LINE none SSCNET LINE1
35. Do not transport the servomotor with machine installed on it Do not stack products past the limit When transporting the Motion controller or servo amplifier never hold the connected wires or cables When transporting the servomotor never hold the cables shaft or detector When transporting the Motion controller or servo amplifier never hold the front case as it may fall off When transporting installing or removing the Motion controller or servo amplifier never hold the edges Install the unit according to the instruction manual in a place where the weight can be withstood N CAUTION Do not get on or place heavy objects on the product Always observe the installation direction Keep the designated clearance between the Motion controller or servo amplifier and control panel inner surface or the Motion controller and servo amplifier Motion controller or servo amplifier and other devices Do not install or operate Motion controller servo amplifiers or servomotors that are damaged or that have missing parts Do not block the intake outtake ports of the servomotor with cooling fan Do not allow conductive matter such as screw or cutting chips or combustible matter such as oil enter the Motion controller servo amplifier or servomotor The Motion controller servo amplifier and servomotor are precision machines so do not drop or apply strong impacts on them Securely fix the Motion controller
36. MR A TM Connected to the last MR J2LI B by SSCNET Note 1 O cable length 2 SYSTEM CONFIGURATION 3 Wie specifications a Q172J2BCBLLIM Er Model Q172J2BCBL05M B Q172J2BCBL1M B Q172J2BCBL5M B osassa 1828 5 16 4 Cable length m ft b Q172HBCBLLIM B Model odelname q HBCBL05M B Q172HBCBL1M B Q172HBCBL5M B Cable length m ft 0 5 1 64 1 3 28 5 16 4 c Q173J2BACBLOM Model Cable length 0 5 1 64 A SSCNET LINE No none LINE 1 2 LINE 2 3 LINE 3 4 LINE 4 d Q173HBACBLLIM Model Q173HBACBLO5M Q173HBACBL1M Q173HBACBL5M A SSCNET LINE No none LINE 1 2 LINE 2 3 LINE 3 4 LINE 4 e Q173DVCBLLIM Loc Q173DVCBL05M Q173DVCBL1M Cable length m ft 0 5 1 64 1 28 MR HBUSLIM Model MR HBUS1M MR HBUS5M 05164 18289 5164 Cable Cable length mft m ft MR J2HBUSLM a MR J2HBUSOSM A MR J2HBUS1M A MR J2HBUS5M A Cable length 2 SYSTEM CONFIGURATION 4 Connection example with servo amplifiers As the SSCNET cables or termination connector is different depending on the servo amplifiers refer to the following connection example The SSCNET cables and termination connector used in the connection example are any of the models shown in the following table When absolute position detection control is executed installed battery MR BAT A6BAT to
37. MR J20 B or Servo amplifier Servo amplifier model MR J2S LIB MR J2M B MR J2 LIB MR J2 03B5 Q172LX Servo external signals interface module Q172LX Q172bEX Q173PX or Q172EX Serial absolute synchronous encoder interface module Motion module Q173PX Manual pulse generator interface module QCPU PLC CPU or Qn H CPU PLC CPU module Multiple CPU system or Ma nn name for Multiple PLC system of the Q series Motion system Programming S W package SW6RN GSVLIP and GX Developer software package Manual pulse generator or MR HDP01 Serial absolute synchronous encoder or General name for Serial absolute synchronous encoder MR HENC MR HENC SSCNET Note High speed synchronous communication network between Motion controller and servo amplifier General name for Manual pulse generator MR HDP01 Cooling fan unit Q170FAN General name for MELSECNET H module Ethernet module CC Link module Serial communication module Note SSCNET Servo System Controller NETwork For information about the QCPU peripheral devices for PLC program creation I O modules and intelligent function module refer to the manual relevant to each module Also refer to the programming manual of the operating system for information about creating motion programs and refer to the help of each software for information about operation of each programming software package 1 1 1 OVERVIEW MEMO 2 SYSTEM CONFIGURATION 2 SYSTEM CONFIGURATION Thi
38. Max 1 module Serial absolute synchronous encoder cable MR JHSCBLLIM H Serial absolute synchronous encoder x 2 module MR HENC Max 6 modules at n External input signals Number of Inputs Personal Computer IBM PC AT Q170CDCBLOM FLS Upper stroke limit Q170BDCBLDM RLS Lower stroke limit 8 axes module STOP Stop signal Max 4 module DOG CHANGE Proximity dog Speed position switching SSCNET cable SSCNET LINE4 SSCNET LINE3 SSC Card Board A30CD PCF AQOBD PCF SSCNET LINE2 Termination Termination Termination Termination connector connector connector connector Panel Personal Computer WinNT Win98 Win2000 SSCNET LINE1 di d8 di d8 di d8 Computer link SSC gt lt P lt gm 9 9 amp a Extension 3 MR HOBN MR J2S 0B MR J2M B MR J2 0B MR J2 03B5 model cable PE Servo amplifier Max 32 axes UP to 7 Extension base units NCAUTION 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 Set
39. OFF the Motion CPU power supply Turn OFF the install switch and close the cover at the front of the CPU Completion 5 TRIAL RUN AND ADJUSTMENT 5 4 Trial Run and Adjustment Checklist At the worksite copy the following table for use as a check sheet Work Step Item Trial Run and Adjustment Confirmation Check that each module is installed correctly n Check that each connector is connected correctly 58 Check each terminal screw for looseness u Installation of Check that earth wires of power supply module servo amplifiers etc are Before power 6 unit module correct basic wiring Check that motor wiring is correct o nr option Check that the emergency stopa and forced stop circuit are correct Gum as Check that the Motion OS installation is compatible oO Check the system setting is correct Check that upper and lower stroke limit inputs correct 1 O Check that STOP signal input is correct Check that proximity dog and speed position switching signal inputs are correct Lt stored in CPU module correctly Check that communications with the servo amplifiers can be made 0 Check that rotation direction for JOG operaioniscorec 1 o Check that upper and lower limit switches operate correctly n Check that rotation at maximum command speed is not more than motor EX rating Check
40. RUN 2 Set CPU to RUN 3 Turn ON the start switch 3 When DC power is established RA2 goes ON 4 When the magnetic contactor MC comes on the output 4 Timer TM times out after the DC power reaches 100 equipment is powered and may be driven by the program The TM set value should be the period of time from when RA2 goes ON to the establishment of 100 DC voltage Set this value to approximately 0 5 seconds 5 Turn ON the start switch 6 When the magnetic contactor MC comes on the output equipment is powered and may be driven by the program If a voltage relay is used at RA2 no timer TM is required in the program 3 6 3 DESIGN tww b System design circuit example when using ERR contact of power supply module Power supply Using AC and DG Transformer Transformer DC power supply established signal input Fuse Fuse T DC power START STOP circuit supply Starting possible gp C when the PLC RUN Fuse output RA1 is ON n Set TM to time to establish DC input signal Mci No Start Stop switch switch reas A voltage relay is recommended input module RA2 XM 1 1 L output module L Fara asa sas N Ym Alarm output L h I 1 lamp buzzer 1 i Yn 1 Secr Reese bd esas z ss RA3 switched Power supply mod
41. SW3RN DOCPRNP SW20RN DOCPRNP Note 1 Pentium 9 are trademarks or registered trademarks of Intel Corporation or its subsidiaries in the United States and other countries Note 2 WindowsNT Windows are either registered trademarks or trademarks of Microsoft Corporation in the United States and or other countries SW6RN SNETP 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 The screen might not be correctly displayed depending on the system font size of WindowsNT 4 0 Windows 98 Windows 2000 Be sure to use the small size fonts 2 SYSTEM CONFIGURATION 2 3 General Specifications General specifications of Q173CPU N Q172CPU N module is as follows Specification Operating ambient 0 to 55 C temperature 32 to 131 F Storage ambient 25 to 75 C Note 3 temperature 13 to 167 F Operating ambient E 5 to 9596 RH non condensing humidity Storage ambient E 5 to 9596 RH non condensing humidity Freaueney Acceleration Amplitude sweep count intermittent 0 003inch 10 times each Vibration resistance Conforming vibration 150 in X Y Z s s ZZ continuous 0 001inch For 80 min Shock resistance Conforming to JIS B 3501 IEC 61131 2 147m s 3 times in each of 3 directions X Y Z Operating altitude 2000m 6562ft or less Installation lo
42. SYSTEM CONFIGURATION 3 Basic specifications of Q173CPU N Q172CPU N Motion control specifications Q173CPUN Q173CPU QI72CPUN QI72CPU 0 88ms 1to 8 axes SV13 1 77ms 9 to 16 axes 0 88ms 1 to 8 axes 3 55ms 17 to 32 axes Operation cycle 0 88ms 1 to 4 axes default SV22 1 77ms 5 to 12 axes 0 88ms 1 to 4 axes 3 55ms 13 to 24 axes 1 77ms 5 to 8 axes 7 11ms 25 to 32 axes Interpolation functions Linear interpolation Max 4 axes circular interpolation 2 axes Helical interpolation 3 axes PTP Point to Point Speed control Speed position control Fixed pitch feed Constant speed Control modes control Position follow up control Speed switching control High speed oscillation control Synchronous control SV22 Automatic trapezoidal acceleration deceleration deceleration control S curve acceleration deceleration Programming language Motion SFC dedicated instruction Mechanical support language SV22 Program capacity 14k steps Number of positioning 3200 points points Positioning data can be designated indirectly Programming tool IBM PC AT Peripheral I F USB 12Mbps RS 232 115 2kbps SSCNET 5 6Mbps Home position return Proximity dog type Count type Data set type 2 types unction JOG operation function Manual pulse generator 1 Possible to connect 3 modules operation function Synchronous encoder y Possible to connect 12 modules Possible to connect 8 modules operation function M code output
43. TYPE Il 1 ch card For dividing th NET li f Q173CPU N into 4 Dividing unit Q173DV or dividing the SSC ines of Q173CPU N into Attachment Battery holder for memory backup Q170BAT For IC RAM memory backup of Q172CPU N pay Jesar For IC RAM memory backup of Q173CPU N Q172CPU N module Connector HDR E14MG1 HDR E14LPA5 Q173CPU N side connector set Note 1 Connector HDR E26MG1 HDR E26LPA5 2 SYSTEM CONFIGURATION Table of motion module continued Current Part name Model name Description i Q173CPU N side connector set Note 1 Connector HDR E26MG1 Case HDR E26LPA5 Q173DV connector set Q173DVCON Q173DV side connector set Connector 10126 3000VE Case 10326 52F0 008 A Number of lines none 1 Line 2 2 Lines 3 3 Lines 4 4 Lines L1 Cable length 0 5 0 5m 1 64ft 1 1m 3 28ft 2 2m 6 56ft 3 3m 9 84ft 4 4m 13 12ft 5 5m 16 4ft Note 1 Crimping terminal is not sold in Mitsubishi The following terminal is requested to be procured by customers Specified tool Honda Connectors make FHAT 0029 FHPT 0004C 2 Q series PLC module which can be control by Motion CPU Model Part name Description Remark name AC axo 100 120VAC 7 8mA 16 points Terminal block PAVDC 4mA Positive common 16 points Terminal block UE Input Terminal block Terminal block QX72 12VDC 5V Positive common Negative common shared 64 points Terminal block
44. Table 3 Table of wire specifications Characteristics of one core Wire model UL20276 AWG 28 4P BLAC 8 4 pairs 03 12 6 pairs 02 UL20276 AWG 22 6P BLAC A14B2343 6P A14B2339 4P 8 4 pairs Number of cores 12 6 pairs Note 1 d is as shown below d Structure Number of wires mm 4 0 127 12 0 127 40 0 08 40 0 08 sheath Conductor Conductor resistance km Max 222 Max 62 Max 105 Max 105 Note 2 Standard OD Max OD is about 10 larger N CAUT ION Insulating sheath OD d mm Note 1 Finish OD mm Note 2 When fabricating the encoder cable do not make incorrect connection Wrong connection will cause runaway or explosion App 11 APPENDICES 2 MR JHSCBLLIM L H Synchronous encoder cable is the same encoder cables of the HC SF HC RFS HC UFS 2000 r min series servomotors 1 Model explanation Type MR JHSCBLLIM LI Symbol Specifications L Standard flexing life Cable length m ft H Long flexing life 2 Connection diagram When fabricating a cable use the recommended wire given on Appendix 1 1 and make the cable as show in the following connection diagram The overall distance of the SSCNET cables on the same bus is 30m Servo amplifier connector ana 1 1 Q172EX Encoder connector 12 2 G Synchronous MR H
45. 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 Therefore the circuit must be made up to enable the Motion controller to be powered on first Also abnormal operations may be performed when the external power supply becomes faulty or the Motion controller fails Constructed circuit of the parts emergency stop protective and interlock circuits etc which may lead to machine breakdown and accidents due to abnormal operations at externally of the Motion controller in a fail safe viewpoint to prevent these abnormal operations from leading to the abnormal operation of the whole system 2 Emergency stop circuit The circuit should be constructed outside the Motion controller or servo amplifier Shut off the power supply to the external servo amplifier by this circuit make the magnetic brakes of the servomotor operated 3 Forced stop circuit a It is possible to effect the forced stop all axes of the external servo amplifier MR HOBN MR J2D B at once via the forced stop input of the input modules After the forced stop remove the forced stop factor and cancel the forced stop The servo error detection signal does not turn on with the forced stop It is possible to set the forced stop input No by the parameter setting of the system setting The forced stop wiring exampl
46. a ee ve eee App 13 APPENDIX 2 2 Servo external signals interface module Q172LX App 16 APPENDIX 2 3 Serial absolute synchronous encoder interface module Q172EX App 16 APPENDIX 2 4 Manual pulse generator interface module Q173PX App 17 APPENDIX 2 5 Power supply module Q61P A1 Q61P A2 Q63P Q64P App 18 APPENDIX 2 6 Dividing unit Q173DV Battery unit Q170BAT een App 19 APPENDIX 2 7 GORRheCtOr irridet cape darse tec ri das een es dod eee Sea cd ed none apa App 20 APPENDIX 2 8 Manual pulse generator MR HDP01 seen App 22 APPENDIX 2 9 Serial absolute synchronous encoder App 22 APPENDIX 2 10 Cooling fan unit Q170FAN Q173CPU Q172CPU onlby App 23 About Manuals This manual is only to explain hardware of the Motion controller The following manuals are related to this product Referring to this list please request the necessary manuals This User s Manual do not describes hardware specification and handling methods of the PLC CPU modules power supply modules base unit and I O module in details The above contents refer to the QCPU Mode User s Manual and Building Block I O Module User s Manual Rel
47. amplifier Servo amplifier MR H BN MR H BN MR J20 B MR J20 B b When using the external battery Q172CPU N Motion CPU module SSCNET cable over all length per 1 line 2 total of 3 s80m 98 36ft LJ CN1 2 3 Battery unit Q170BAT CN B CN1B Servo amplifier Servo amplifier MR H BN MR H BN MR J20 B MR J20 B 2 SYSTEM CONFIGURATION Motion CPU to servo amplifier SSCNET cable Motion CPU to servo amplifier SSCNET cable For connection of the Battery module Servo amplifier to servo amplifier SSCNET cable Q172J2BCBLLIM Note 1 Q172HBCBLLIM Note 1 Q172HBCBLEIM B Note Q172J2BCBLEIM B Note 1 MR J2HBUSLIM Note 1 MR J2HBUSHLIM A Note 1 MR HBUSOM Note 1 MR TM Connected to the last MR H BN by SSCNET Connection between Q172CPU N MR J20 B 0 5m 1 64ft 1m 3 28ft 5m 16 4ft Connection between Q172CPU N and MR H BN 0 5m 1 64ft 1m 3 28ft 5m 16 4ft Connection between Q172CPU N and MR J2LI B Q170BA 0 5m 1 64ft 1m 3 28ft 5m 16 4ft Connection between Q172CPU N and MR H BN Q170BAT 0 5m 1 64ft 1m 3 28ft 5m 16 4ft Connection between MR J2LI B and MR J2LI B 0 5m 1 64ft 1m 3 28ft 5m 16 4ft Connection between MR H BN and MR J2LI B 0 5m 1 64ft 1m 3 28ft 5m 16 4ft Connection between MR H BN and MR H BN 0 5m 1 64ft 1m 3 28ft 5m 16 4ft 4 Termination connector
48. available as a clamp for RS232 connector CPU module 2 SYSTEM CONFIGURATION 2 Applications of switches connectors on Q173CPU N Q172CPU N Application Dip switch 1 Must not be used Normally OFF Shipped from the factory in OFF position ROM operating setting Shipped from the factory in OFF position Dip switches i i SW2 SW3 ON SW OFF OFF RAM operating mode ON OFF Must not be set Dip switch 3 ud A Must not be set ROM mode Dip switch 5 ON lnstallation ROM am mode Installation OFF Normal mode RAM operating mode ROM operating mode ROM writing Turn ON dip switch 5 when installed the operating system OS into the Motion switch CPU module from the peripheral device After completing the installation move to switch and re start Move to RUN STOP RUN Executes Motion program STOP Stops Motion program RESET Set the switch to the RESET position once and reset the hardware Applies a reset after an operation error and initialized the operation RUN STOP switch Momentary switch L CLR Clear the latch area all data which set with the parameters LATCH CLEAR also clears data outside the latch area at this time RESET L CLR switch Note 1 Latch clear operating method Momentary switch 1 Set the RUN STOP switch to STOP 2 Move the RESET L CLR switch to L CLR several times until the MOTION RUN
49. battery Do not solder the battery terminals 2 SYSTEM CONFIGURATION n s TT n F rE s 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 PLS A PLS B TREN 1 1 1 No ee Name Application n Hook used to fix the module to the base unit 1 Module fixing hook j Quick release installation Display the input status from the external equipment Input signal status of the Manual pulse Mode judging LED PLSA 1103 PLS B 1 to 3 encoder phases A and B TREN 1 to 3 Tracking enable signal Input connector of the Manual pulse generator Incremental 3 PULSER connector synchronous encoder Module loading lever Used to load the module to the base unit 5 Module fixing screw Hole for the screw used to fix to the base unit hole M3x12 screw Purchase from the other supplier Module fixing hook Hook used to fix to the base unit generator Incremental synchronous 2 SYSTEM CONFIGURATION 2 Performance specifications a Tracking enable signal input Specifications Number of inputs Tracking enable signal 3 points Input method Sink Source type Photocoupler 12 24VDC 10 2 to 26 4VDC 12 2A4VDC 10 15 ripple ratio 5 or less ON voltage current 10V
50. connector di d d3 SSCNET LINE1 jl Panel Personal Computer lt gt lt gt lt WinNT Win98 Win2000 Computer link SSC d E Q6DB P N Ss MR HOBN MR J2S 0B MR J2M B a E MR J2 DB MR J2 03B5 model Extension 5 3 Servo amplifier Max 8 axes cable 5 Up to 7 Extension base units NCAUTION 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 Set the parameter values to those that are compatible with the Motion controller servo amplifier servomotor and regenerative resistor model and the system application The protective functions may not function if the settings are incorrect 2 SYSTEM CONFIGURATION 2 1 3 Function explanation of the Q173CPU N Q172CPU N Motion CPU modules 1 It is possible to download servo parameters to servo amplifier turn the servo ON OFF and send the position commands by connecting the Motion CPU Q173CPU N Q172CPU N and the servo amplifier with the SSCNET cable 2 Itis possible to select the servo control functions programming languages by installing the corresp
51. correct for increased addresses and stop and forced stop can be applied forward JOG operation Test mode servo start up Upper Lower limit switch check Check Upper Lower stroke limits Check that upper and lower stroke limits operate correctly Test mode servo start up Motor speed switch check Check number of the revolution Check motor does not exceed rated speed at maximum commanded Test mode JOG operation Check machine operation N CAUTION Check the follwing machine operations The system must have a mechanical using JOG operation from a peripheral allowance so that the machine itself can stop deice or manual pulse generator even if the stroke limits switch is passed operation through at the max speed a Machine moves normally no vibration hunting etc b Stroke Limits operate correctly c Emergency stop or forced stop stops machine operations 4 5 TRIAL RUN AND ADJUSTMENT Test mode home position return Check home position return Conduct home position return and check the following a Direction of home position return b Home position return data c Proximity dog position Motion CPU Programing mode Motion program check Set the CPU module RUN STOP key is set to RUN and check that all positioning control by motion programs is correct Automatic operation check
52. following servo amplifier series can be used a MR HOBN MR H series MR HLIBN servo amplifier MR HOOKBN Battery MR BAT Back up for the absolute position detection MR TM Connected to the last servo amplifier MR HEIBN by SSCNET Refer to catalogue of the servo amplifier about the output capacity of the servomotor MR RBLI Regenerative resistor MR HLI Refer to catalogue of the servo amplifier about the regenerative resistance MR RBLI 4 SSCNET cable MR HBUSOM Connection between MR HOBN and MR HOBN 0 5m 1 64ft 1m 3 28ft 5 16 4 MR HSCBLLIM Connection between HA LHLIK HC SF RF UF 2000r min series motor and MR HLIBN MR EN1CBLLIM H 2m 6 56ft 5m 16 4ft 10m 32 8ft 20m 65 6ft 30m 98 4ft Encoder cable MR JCCBLLIM L Connection between HA FF HC MF UF 3000r min and MR HLIBN MR JCCBLLIM H MR JSCNS Servo amplifier side connector for HA LHLIK HC SF RF UF 2000r min series motor Encoder connector set MR EN1CNS Encoder side connector set 2 SYSTEM CONFIGURATION b MR J2S LIB MR J2M B MR J2 LIB MR J2 03B5 Part name Model name Description MR J2 Super series MR J2S LIB 23 p Refer to catalogue of the servo amplifier about the output capacity of the servomotor servo amplifier MR J2S LIB1 MR J2M seri MRJAM DDU Dieu fer to catal fth lifier about the output ity of series efer to catalogue of the servo amplifier about the output caj T MR J2M P8B Interface unit 9 P serv
53. for the I O No it is possible not to continue 2 SYSTEM CONFIGURATION 2 4 4 Q172LX Servo external signals interface module Q172LX receives external signals servo external signal required for positioning control 1 Q172LX f 5 Q172LX CTRL Q172LX 6 b Sy Application Hook used to fix the module to the base unit 1 Module fixing hook Quick release installation Display the servo external input status from the external equipment Mode judging LED input status of each axis The servo external signal input connector of each axis 5 Module fixing screw Hole for the screw used to fix to the base unit hole M3x12 screw Purchase from the other supplier Module fixing hook Hook used to fix to the base unit 2 SYSTEM CONFIGURATION 2 Performance specifications Specifications Servo external signals 32 points Upper stroke limit Lower stroke limit Stop input Number of inputs icu v TCR Proximity dog Speed position switching signal 4 points x 8 axes Input method Sink Source type Isolation method Photocoupler Rated input voltage 12 24VDC Rated input current 12VDC 2mA 24VDC 4mA 10 2 to 26 4VDC Operating voltage range 12 24VDC 10 15 ripple ratio 5 or less ON voltage current Min 10VDC or more 2 0mA or more OFF voltage current Max 1 8VDC or le
54. function provided M code function 3 M code completion wait function provided Limit switch output Number of output points 32 point axis function Watch data Motion control data Word device Made compatible by setting battery to servo amplifier Absolute position system u Possible to select the absolute data method or incremental method for each axis Number of SSCNET I F 5CH Manual pulse generator Q172LX 4 modules usable Q172LX 1 module usable Synchronous encoder Q172EX 6 modules usable Q172EX 4 modules usable Servo external signals Note Note Q173PX 4 modules usable Q173PX 3 modules usable interface module 2 SYSTEM CONFIGURATION Motion control specifications continued Q173CPUN Q173CPU QI72CPUN QI72CPU Internal current consumption 5VDC A Exterior dimensions 8 3 86 118 4 65 H x 8 3 86 H 118 4 65 H x PNE s 27 4 1 08 W x es n Mw 27 4 1 08 W x 114 3 4 50 0 89 3 3 52 0 114 3 4 50 0 89 3 3 52 D Weight kg Note When using the incremental synchronous encoder by using SV22 you can use 4 modules When connecting the manual pulse generator you can use only one module When not installed the Cooling fan unit 4 Selection of Q172EX Q173PX Synchronous encoder Item Manual pulse generator Serial absolute Incremental Q173CPU N 12 modules 3 modules s Module selection Q172EX Q173PX 5 Q173CPU N Q172CPU N internal rechargeable batt
55. manual for the servo amplifier etc always install the magnetic contactor Install an emergency stop circuit externally so that the operation can be stopped immediately and the power shat off Use the Motion controller servo amplifier servomotor and regenerative resistor with the combinations listed in the instruction manual Other combinations may lead to fires or faults If safety standards ex robot safety rules etc apply to the system using the Motion controller servo amplifier and servomotor make sure that the safety standards are satisfied 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 In systems where coasting of the servomotor will be a problem during the emergency stop the forced stop servo OFF or when the power is shut OFF use dynamic brakes Make sure that the system considers the coasting amount even when using dynamic brakes In systems where perpendicular shaft dropping may be a problem during the emergency stop the forced stop servo OFF or when the power is shut OFF use both dynamic brakes and magnetic brakes The dynamic brakes must be used only during the emergency stop the forced stop and errors where servo OFF occurs These brakes must not be used for normal braking The brakes magnetic brakes assembled into the servomotor are for
56. nput or XT deae EET ee ut Signal Voltage Output Wiring example Internal circuit Specification Description p type 1 2 3 Manual 9 Rated input voltage For connection pulse 5 5VDC or less manual pulse generator 9 5 Bil level generator evel Phases A B phase A Lo 3to525VDC pulse width HAD Manual pulse 2mA or less 20us or more generato 4 Manual synchronous LOW level Sus bug pulse encoder 1VDC or less or more or more generator 5mA or more Duty ratio 50 25 Rise fall time phase B lus or less HBO Phase difference Phase I LT L _ Select type Phase B signal No connect C 2578 or HPSELO 1 Positioning address increses if Phase A leads Phase B 2 Positioning address Bene SUBE decreses if Phase B Bude y leads Phase A Power supply T Note The 5V P5 DC power supply from the Q173PX must not be connected if a separated power supply is used as the Manual pulse generator Incremental synchronous encoder power supply Use a 5V stabilized power supply as a separated power supply Any other power supply may cause a failure d Interface between PULSER connector and tracking enable signal Interface between tracking enable signal __ PinNo P Signal name PULSER connector Wiring example Internal circuit Specification Description Tracking enable A4 A2 Input Trac
57. off the 5V 24VDC circuit and stops the system if the current flowing in the circuit exceeds the specified value When this device is activated the power supply module LED is switched OFF or dimly lit If this happens eliminate the cause of the overcurrent and start up the system again Note 2 Overvoltage protection The overvoltage protection device shuts off the 5VDC circuit and stops the system if a voltage of 5 5 to 6 5V is applied to the circuit When this device is activated the power supply module LED is switched OFF If this happens switch the input power OFF then ON to restart the system The power supply module must be changed if the system is not booted and the LED remains OFF Note 3 Permissible instantaneous power off time Permissible instantaneous power off is selected to use the power supply module 2 SYSTEM CONFIGURATION 2 Names of Parts and Setting This section describes the names of the parts of each power module a Q61P A1 Q61P A2 Q63P Q64P Q61P A1 Q61P A2 100 120VAC 50 60Hz 105VA 200 240VAC OUTPUT SVDC 6A 50 60Hz 105VA OUTPUT 5VDC 6A ERR L 24VDC 0 5A IE m ra Q4 to 24VDC 0 5A H E 9 Q INPUT INPUT N A 200 240 06 24VDC 50 60Hz 160VA MA
58. personal computer installation of the SW6RN GSVLIP The procedure for reading error codes to the personal computer IBM PC AT which is installed the SW6RN GSVLPP is as follows 1 Start the SW6RN GSVLIP 2 Connect the Motion CPU to the personal computer IBM PC AT 3 Select Create a new project Motion CPU Read Menu by the SW6RN GSVLIP and also read the project from the Motion CPU 4 Select the Monitor PV Enlarged Monitor Menu 5 Display the error code and error message 6 Select the Monitor Error List E Error List and confirm the content of the applicable error code For details of the SW6RN GSVLIP operating method refer to help of each programming soft ware package 6 INSPECTION AND MAINTENANCE MEMO 26 APPENDICES APPENDICES APPENDIX 1 Cables APPENDIX 1 1 SSCNET cables Generally use the SSCNET 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 SSCNET cables used with each motion controller and the servo amplifiers Make selection according to your operating conditions Table 1 Table of SSCNET cable Q Q173HBACBLOM B Q173CPU N MR H BN MR J20 B MR J20 B Q173DV MR J2LI B MR H BN e MR J20 B MR J2HBUSEIM A Q173DV gt MR H BN MR HBUSLIM MR H BN gt MR H BN Use the following or equivalent twisted pair cables as
59. power OFF at the servo amplifier s power source If a large current continues to flow fires may occur When using a regenerative resistor shut the power OFF with an error signal The regenerative resistor may abnormally overheat due to a fault in the regenerative transistor etc and may lead to fires Always take heat measures such as flame proofing for the inside of the control panel where the servo amplifier or regenerative resistor is installed and for the wires used Failing to do so may lead to fires 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 polarity as this may lead to destruction or damage 3 DESIGN N 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 head 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 Always install a leakage breaker on the Motion controller and servo amplifier power source If installation of a magnetic contactor for power shut off during an error etc is specified in the instruction
60. supply 7 Transformer Transformer Transformer DC power supply Fuse Fuse u established signal input mE A RA NIIT m DC power START STOP circuit supply Starting possible when the PLC RUN output RA1 is ON yFusey Set TM to time to establish Stat Stop 2 4 T DC input signal switch switch Start switch Stop switch 4 tn A voltage relay is recommended Alarm output lamp or buzzer RA1 switched ON by SM403 Alarm output z lamp or buzzer Ym 2 output equipment RA1 switched power off when STOP AEN ON by SM403 occurs il Ex 4 on stop at upper lower limit switch on emergency stop Pare a MC MC l gt N ore output i equipment 1 power off when MC2 STOP occurs Ni all L Interlock circuits as necessry Provide external interlock circuits for conficting operations such as forward rotation and reverse rotarion and for parts that could damage the machine or e stop on stop at cause accidents if no ss i lower limit interlock were used 5 M 4 switch The power ON procedure is as follows For AC For AC DC 1 Switch power ON 1 Switch power ON 2 Set CPU to
61. that JOG operation moves machine correctly o Check that a stop is effected at stroke limi o Check that the emergency stop or forced stopismade o Check that home position return is made correctly o Check that each positioning control of motion program is exercised correctly Cl Check each operation in manual operation mode of system with motion program running Check that machine operation is stopped immediately by the emergency stop or forced stop Check operation of each actuator and operation confirmation limit switch Check that the emergency stop forced stop and equipment alarm signals are given correctly Make other checks in compliance with control specifications specific to system ES and equipment Check each operation in automatic operation mode of system with motion program running Check the automatic operation motions n Check that machine operation is stopped immediately by the emergency stop s or forced stop Check that module or equipment alarm causes an immediate stop or cycle stop Check that restoring operation can be performed after an alarm stop Make other checks in compliance with control specifications specific to system and equipment Check the acceleration deceleration torque is not more than maximum torque Torque check 7 7 Check that continuous load torque is rated torque OS installation System setting Power
62. 0 9 550 800 CH 8309 N rensdorf Fax 358 0 9 550 8880 Phone 41 0 1 838 48 11 email Fax 41 0 1 838 48 12 tehoelektroniikkaGurhotuominen fi e mail info econotec ch GTS TURKEY Dar laceze Cad No 43A KAT 2 TR 80270 Okmeydani Istanbul Phone 90 0 212 320 1640 Fax 90 0 212 320 1649 e mail gts turk net EURASIAN REPRESENTATIVES Avtomatika Sever RUSSIA Krapivnij Per 5 Of 402 RUS 194044 St Petersburg Phone 7 812 5418418 Fax 7 8121183239 e mail CONSYS Promyshlennaya St 42 RUS 198099 St Petersburg Phone 7 812 325 36 53 Fax 7 812 325 36 53 e mail consys consys spb ru NPP Uralelektra Sverdlova 11A RUS 620027 Ekaterinburg Phone 7 34 32 53 27 45 Fax 4 7 34 32 53 24 61 e mail elektra etel ru STC Drive Technique Poslannikov per 9 str 1 RUS 107005 Moscow Phone 7 095 786 21 00 Fax 7 095 786 21 01 email infoGprivod ru JV CSC Automation UKRAINE 15 M Raskovoyi St Floor 10 Office 1010 U 02002 Kiev Phone 380 44 238 83 16 Fax 380 44 238 83 17 e mail mklGcsc a kiev ua TEHNIKON Oktjabrskaya 16 5 Ap 704 BY 220030 Minsk Phone 375 0 17 2275704 Fax 375 0 17 2276669 e mail tehnikon belsonet net RUSSIA RUSSIA RUSSIA BELARUS AFRICAN REPRESENTATIVE CBI Ltd SOUTH AFRICA Private Bag 2016 ZA 1600 Isando Phone 27 0 11 928 2000 Fax 27 0 11 392 2354 e mail cbi cbi co za SRV 05 02
63. 0 Ostrava 2 Phone 420 0 69 615 21 11 Fax 420 0 69 615 25 62 e mail consys autocont cz louis poulsen industri amp automation Geminivej 32 DK 2670 Greve Phone 45 0 43 95 95 95 Fax 45 0 43 95 9591 email IpiaGlpmail com CROATIA CZECHIA DENMARK EUROPE B V Irish Branch Westgate Business Park Ballymount IRL Dublin 24 Phone 353 0 1 419 88 00 Fax 353 0 1 419 88 90 email sales info meir mee com Getronics NETHERLANDS Industrial Automation B V Donauweg 2 B 1043 AJ Amsterdam Phone 31 0 20 587 6700 Fax 31 0 20 587 6839 email info gia getronics com MPL Technology Sp z POLAND ul Sliczna 36 PL 31 444 Krak w Phone 48 0 12 632 28 85 Fax 48 0 12 632 47 82 e mail krakow mopl pl Sirius Trading amp Services srl ROMANIA Bd Lacul Tei nr 1 B RO 72301 Bucuresti 2 Phone 40 0 1 201 7147 Fax 40 0 1 201 7148 e mail sirius_t_s fx ro INEA d o o Ljubljanska 80 51 1230 Dom ale Phone 386 0 17 21 80 00 Fax 386 0 17 24 16 72 e mail inea inea si SLOVENIA UTU Elektrotehnika AS ESTONIA Parnu mnt 160i ARATRON AB SWEDEN EE 11317 Tallinn Box 20087 Phone 372 0 6 51 72 80 S 16102 Bromma Fax 372 0 6 51 72 88 Phone 46 0 8 40 41 600 e mail utu utu ee Fax 46 0 8 98 42 81 UTO POWEL OY FINLAND email Box 236 ECONOTEC AG SWITZERLAND FIN 28101 Pori Postfach 282 Phone 358
64. 0mm _ 1 18inch SL Nd 0 79inch 2 AR or more f controller Control y Door panel TEA M PT 100mm Motion CPU module 100mm ee 3 94inch 98mm Nete3 M or more 3 86inch T MIMI T tt 5mm Note 1 5mm 0 19inch 0 19inch or more or more Note 1 20mm 0 79 inch or more when the adjacent module is removed and the extension cable is connected Note 2 Q173CPU Q172CPU 50mm 1 97 inch or more Q173CPUN Q172CPUN Height of a wiring duct is 50mm 1 97 inch or more 40mm 1 58 inch Note 3 Q173CPUN Q172CPUN 123mm 4 84 inch 4 3 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 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 5 Installation of Motion controller in an area where the other devices are installed Avoid fitting base unit in proximity to vibration sources such as large magnetic contractors and no fuse circuit breakers fit them on a separate panel or ata distance 6 Distances from the other devices In order to avoid the effects of radiated noise and heat provide the clearances indicated below between the Motion controller and the other devices that generate noise or heat
65. 0r min Normal rotation Resolution 16384PLS rev Permitted axial loads Radial load Max 98N Thrust load Max 49N Permitted speed 4300r min 2 SYSTEM CONFIGURATION Table of motion module continued Current consumption 5VDC A Connection between Serial absolute synchronous encoder and Q172EX MR JHSCBLLIM H 2m 6 56ft 5m 16 4ft 10m 32 8ft 20m 65 6ft 30m 98 4ft Same as encoder cables for HC SFS RFS UFS 2000r min series motors Connection between Q173CPU N Q172CPU N and SSC I F board 3m 9 84ft 5m 16 4ft 10m 32 8ft Connection between Q173CPU N Q172CPU N and SSC I F card 3m 9 84ft 5m 16 4ft 10m 32 8ft Connection between Q172CPU N and Battery unit Q170BAT Q172CPU N and servo amplifier MR J2S O1B MR J2M B Q172J2BCBLOM B MR J2 O1B MR J2 03B5 0 5m 1 64ft 1m 3 28ft 5m 16 4ft SSCNET cable N and servo amplifier MR HLIBN Q172HBCBLEIM B o 5m 1 64ft 1m 3 28ft 5m 16 4ft Connection between Q173CPU N and servo amplifier MR J2S LIB MR J2M B MR J2 LIB MR J2 03B5 0 5m 1 64ft 1m 3 28ft 5m 16 4ft Battery unit needs to Connection between Q173CPU N and servo amplifier MR HEIBN 0 5m 1 64ft 1m 3 28ft 5m 16 4ft Connection between Q173CPU N and Q173DV 0 5m 1 64ft 1m 3 28ft A10BD PCF PCI bus loading type 2 ch board SSC I F board A30BD PCF ISA bus loading type 2 ch board SSC I F card A30CD PCF PCMCIA
66. 1 consumption A M4 screw hole or 4 5 hole for M4 screw 189 W x 98 H 245 W x98 H 328 W x 98 H x 439 W x 98 H Exterior dimensions 44 1 D 44 1 D 44 1 D 44 1 D mm inch 7 43 W x3 86 H x 9 65 W X3 86 H x 12 92 W x3 86 H 17 80 W x3 86 H x 1 74 D 1 74 D x 1 74 D 1 74 D Fixing screw M4 X 14 4 pieces DIN rail fixing adapter is optional DIN rail fixing adapter type Q6DIN3 Q6DIN2 Q6DIN1 b Extension base unit specifications b o o 8 Number of O modules Possibility of extension Extendable Applicable module Q series modules 5VDC current 0 105 0 110 0 114 0 121 consumption A Fixing hole size M4 screw hole or 4 5 hole for M4 screw 189 W x 98 H x 245 W x 98 H x 328 W x 98 H 439 W x 98 H x Exterior dimensions 44 1 D 44 1 D 44 1 D 44 1 D mm inch 7 43 W x3 86 H x 9 65 W x3 86 H 12 92 W x3 86 H 17 30 W X3 86 H 1 74 D 1 74 D x1 74 D 1 74 D Fixing screw M414 4 pieces DIN rail fixing adapter is optional rail fixing adapter Q6DIN3 Q6DIN2 Q6DIN1 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 Q CPU system Cable lengih m ft Connection between the CPU base unit and extension base unit or connection between the extension base units Weight vo o
67. 2 SSCNET LINE2 SSCNET LINES SSCNET LINE4 2 Connection diagram When fabricating a cable use the recommended wire given on Appendix 1 1 and make the cable as show in the following connection diagram The overall distance of the SSCNET cables on the same bus Cable length m ft 05 0 5 1 64 1 3 28 5 16 4 is 30m 98 4ft Q173HBACBLOM Example A 4 HDR E26MG1 connector PCR S20FS connector HDR E26 LPA5 connector case PCR LS20LA1 connector case Maker Honda connectors Maker Honda connectors TD1 RD TD1 RD LG LG LG LG RX1 TD A none RX1 TD LG EG BT BT EMG12 EMG EMG12 EMG SD 2 TX2 RD A TX2 RD LG LG LG RX2 TD RX2 TD LG BT EMG EMG SD _ RD TD3 RD A 3 LG LG LG LG RD3 TD RD3 TD LG BT EMG34 EMG EMG34 EMG SD SSCNET LINE4 TD4 Tr H 2 RD TD4 RD LG LG LG RD4 TD RD4 TD LG BT EMG EMG SD SD _ APPENDICES f MR J2HBUSOM 1 Model explanation MR J2HBUSDM Cable length m ft 0 5 1 64 1 3 28 5 16 4 2 Connection diagram When fabricating a cable use the recommended wire given on Appendix 1 1 and make the cable as show in the following connection diagram The overall distance of the SSCNET cables on the same bus is 30m 98 4ft MR J2HBUSL
68. 2 cable QC30R2 USB cable Q170CDCBLOM Q170BDCBLOM MITSUBISHI SSCNET CARD A30CD PCF A AEE lt 2 lt gt gt se EI lt s Rae ayy P e lt EREES Sars Ro SC 0527 0 lt Z EE A ZEEE SES 25 SSC I F Card Board Personal computer A30CD PCF ALIOBD PCF Personal computer Windows 98 2000 only Personal computer Note For information about GPP functions of QCPU refer to the operating manual of PLC Also refer to the programming manual of the operating system for information about creating motion programs and refer to the help of each software for information about operation of each programming software package 2 SYSTEM CONFIGURATION 2 1 1 Q173CPU N System overall configuration Motion CPU contol module o 2 Lo L 2 S Bo Big 8 3 ES E x o CPU base oo SEa Slee 8 unit PLCCPU 25 S529 Q30B Motion CPU BE g s I 7 module of the Q Series or Special function module Q61P AD Qn H Q173 CPU LX EX PX 2 N N N N o ES Q 100 200VAC Input output Max 256 Interrupt signals 16 points pulse generator 3 module MR HDP01
69. 240VAC 45 85 to 132VAC 170 to 264VAC 15 6 to 31 2VDC 85 to 132VAC 170 to 264VAC Input frequency 50 60Hz 5 Tolerable momentary power failure 20ms or less 7 Corrective actions for errors N CAUTION if an error occurs in the self diagnosis of the Motion controller or servo amplifier confirm the check details according to the instruction manual and restore the operation a dangerous state is predicted in case of a power failure or product failure use a servomotor with magnetic brakes or install a brake mechanism externally Use a double circuit construction so that the magnetic brake operation circuit can be operated by emergency stop signals set externally Shut off with the Shot off with servo ON signal OFF emergency stop alarm magnetic brake signal signal EMG Servo motor Magnetic brakes CAUTION If an error occurs remove the cause secure the safety and then resume operation after alarm seleasl The unit may suddenly resume operation after a power failure is restored so do not go near the machine Design the machine so that personal safety can be ensured even if the machine restarts suddenly 8 Maintenance inspection and part replacement N 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 se
70. 2ft Across inputs and outputs LG and FG separated across inputs and LG FG across outputs and FG LG 10 or more by insulation resistance tester 500VDC By noise simulator of 1 500Vp p noise voltage 1us noise width and 25 to 60Hz noise frequency Noise voltage IEC61000 4 4 2kV Operation indication LED indication Lit at 5VDC output Internal Unchangeable by user M ERR contact contact switched off opened normally closed contact at an error stop of CPU Application for CPU module operating status output Rated switching 24VDC 0 5A Gode voltage current Le id Minimum switching load 5VDC 1mA ud OFF to ON 10ms or less ON to OFF 12ms or less Life time Mechanical 2 million times or more Electrical 100 thousand times at rated switching voltage current or more Surge suppressor Fuse None Terminal screw size M3 5 x 7 Applicable wire size 0 75 to 2mm Applicable crimping terminal RAV1 25 to 3 5 RAV2 to 3 5 Applicable tightening torque 59 to 78 x 102 Nem 98 H x 55 2 W x 90 D 98 H x 55 2 W x 115 D 3 86 H x 2 17 W x 3 55 D 3 86 H x 2 17 W x 4 53 D Weight kg Insulation resistance 10M or more by insulation resistance tester By noise simulator of 500Vp p noise voltage Noise immunity Tus noise width and 25 to 60Hz noise frequency Exterior dimensions mm inch 2 SYSTEM CONFIGURATION POINTS Note 1 Overcurrent protection The overcurrent protection device shuts
71. 5 3 13 114 3 4 50 2 Q173CPUN Module n L 46 1 81 79 5 3 13 p 114 3 4 50 App 13 Unit mm inch 98 3 86 27 4 1 08 Unit mm inch 4 FRONT SSCNET Dre De 27 4 1 08 98 3 86 APPENDICES 3 Q172CPU Module Unit mm inch Cooling fan unit Q170FAN 20 0 79 MODE J RUN 3 ERR M RUNL J J 4 FRONT SSCNET Do Do 98 3 86 is 05 27 4 1 08 0 69 48 5 1 91 89 3 3 52 4 Q173CPU Module Unit mm inch Cooling fan unit Q170FAN MODE J RUN J ERR M RUN J BAT L J J 4 FRONT SSCNET 0 D 98 3 86 27 4 1 08 9 48 5 1 91 89 3 3 52 App 14 APPENDICES 5 Q173CPUN Q172CPUN Module with SSCNET cable Unit mm inch Q173CPUN Q173CPUN Q172CPUN Motion modde 4 FRONT SSCNET m EL 98 3 86 SSCNET cable SS 114 3 4 50 6 Q173CPU Q172CPU Module with SSCNET cable 27 4 1 08 Unit mm inch Cooling fan unit Q170FAN 0 79 Q173CPUN Q172CPUN Motion module lt FRONT SSCNET CN2
72. A6BAT c MR J2LI B MR H BN configuration MR J2n B MR H BN Battery MR BAT A6BAT lt Termination connector Termination connector Termination connector MR J2n B Battery MR BAT A6BAT Q172CPU N configuration Q172J2BCBLUIM Q173CPU N configuration Q173J2BACBLLIM Battery Battery MR BAT MR BAT A6BAT A6BAT d Termination connector 2 SYSTEM CONFIGURATION iwaw Motion CPU module Q173CPU N Motion CPU module Q173CPU N b Q173DVCBL d When using the external battery As the SSCNET cable used depend on the servo amplifiers when using the external battery refer to the following connection example 1 Example of Q173CPU N MR H BN MR J2LI B MR H BN configuration Q173DVCBL Q173DV Q173DV Battery MR BAT A6BAT Battery MR BAT A6BAT 2 Example of Q172CPU N MR J20 B Termination connector Battery MR BAT A6BAT MR H BN MR J2LI B MR H BN configuration Q172HBCBL Motion CPU module Q172CPU N M
73. ANCE 6 1 to 6 26 6 11 Maintenance WOKS enera oe pei ede eene eee eee a ete dp e rea eia 6 2 6 1 1 Inspection and maintenance L 6 2 6 2 Daily nepochi ae tope pp Ibi n SSS kasa ias 6 4 6 3 Periodic InSpection e ys EU HER ES EHE UE ee a AR ERR la ed A Pg 6 6 6 4 External Battery S Sua ED E REDE PD SD riu peii idis Ir cabins 6 7 6 4 1 Battery service life IMG a ro ea ee ra e rtr E ete e gue 6 8 6 4 2 Battery replacement procedure I 6 9 6 5 Troubleshooting cai c p T DR TE ee 6 11 6 5 1 Basics of troubleshooting nasais eeann iaaa ranana rA ANE AEN Prpa AAA EAN nenne nnne nnn nennen nnns 6 11 6 5 2 Troubleshooting of Motion CPU module and I O modules sss 6 12 6 5 3 modules troubleshooting sasi u u 6 22 6 6 Err Or COU ste uiaiia nti ditte taq best ade cfs hack eb Tet diii dl tede tis tos beatae te taut tees 6 25 6 6 1 Procedure for reading error codes uuu 6 25 APPENDICES App 1 to App 23 APPENDIX I Cables tiie ice ee pr Hie ve avons ies PA en Na Qa ee en aes eet App 1 APPENDIX 1 1 SSCNET cables L n App 1 APPENDIX 1 2 Serial absolute synchronous encoder cable sse App 11 APPENDIX 2 Exterior Dimensions Diagram uuu u App 13 APPENDIX 2 1 CPU module a a etit Dm aes el
74. DC or more 2 0mA or more OFF voltage current 1 8VDC or less 0 18mA or less Input resistance Approx 5 6K OFF to ON R t 0 4ms 0 6ms 1ms esponse time ON to OFF CPU parameter setting Default 0 4ms Common terminal arrangement 1 point common Common contact TREN COM Indicates to display ON indication LED Operating voltage range b Manual pulse generator Incremental synchronous encoder input Voltage output Open collector type 0 to 1 0VDC Differential output type 26LS31 or equivalent 0 to 0 8VDC Input frequency 200kpps After magnification by 4 Voltage output type Open collector type BVDC Recommended product MR HDPO1 Differential output type 26LS31 or equivalent Selectable by connector wiring External connector type 40 pin connector Applicable wire size 0 3mm Applicable connector for the external A6CON1 Attachment connection A6CON2 A6CON3 Optional Applicable connector A6TBXY36 A6TBXY54 A6TBXY70 Optional Terminal block converter module Voltage output 30m 98 36ft Cable length Open collector type Open collector type 10m 32 79ft Differential output type Op yp Number of I O occupying points 32 points I O allocation Intelligent 32 points 0 11 98 H x 27 4 W x 89 3 D 3 86 H x 1 08 W X3 52 D Weight kg 0 15 Exterior dimensions mm inch 2 SYSTEM CONFIGURATION 3 Connection of manual pulse generator Manual pulse generators are available in volt
75. EMG Servo motor Magnetic brakes EMG if an error occurs remove the cause secure the safety and then resume operation after alarm release The unit may suddenly resume operation after a power failure is restored so do not go near the machine Design the machine so that personal safety can be ensured even if the machine restarts suddenly Confirm and adjust the program and each parameter before operation Unpredictable movements may occur depending on the machine Extreme adjustments and changes may lead to unstable operation so never make them 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 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 Do not bunch the control wires or communication cables with the main circuit or p
76. ENC LG 73 encoder cable 14 4 MRR Optional of fabricated BAT 15 MR 5 16 ia 6 SY ENC P5 17 7 10r2 18 ig 8 P5 19 P5 9 20 10 ES Max 30m 98ft J MR JHSCBL2M L MR JHSCBL5M L MR JHSCBL10M L to MR JHSCBL30M L MR JHSCBL10M H to MR JHSCBL30M H MR JHSCBL2M H MR JHSCBL5M H Servo amplifier side Encoder side Servo amplifier side Encoder side Servo amplifier side Encoder side PCR S20FS connector MS3106B20 29S plug PCR S20FS connector MS3106B20 29S plug PCR S20FS connector MS3106B20 29S plug PCR LS20LA1 shell kit MS 3057 12A cable clump PCR LS20LA1 shell kit MS 3057 12A cable clump PCR LS20LA1 shell kit MS 3057 12A cable clump Maker Honda Maker Japan Aviation Maker Honda Maker Japan Aviation Maker Honda Maker Japan Aviation connectors Electronics Industry connectors Electronics Industry connectors Electronics Industry JAE JAE JAE P5 19 P5 19 S LG 11 LG 11 P5 20 P5 20 LG 12 LG 12 P5 18 P5 18 LG 2 LG 2 R MRR H7 MRR 17 D BAT 9 BAT 9 F AWG24 used 1 LG 1 fo r6 for less than 10 m 32 8 ft df A AT sne Wy uu Note 1 AWG28 can be used for 5m or less SD fi SD Shell s N App 12 APPENDICES APPENDIX 2 Exterior Dimensions Diagram APPENDIX 2 1 CPU module 1 Q172CPUN Module yu Ig 17 5 0 69 79
77. IM 10120 6000EL connector 10120 6000EL connector 10320 3210 000 shell kit 10320 3210 000 shell kit Maker 3M Maker 3M LG LG LG LG RD RD RD RD TD TD TD TD LG LG LG LG EMG EMG EMG EMG BT BT SD SD App 8 APPENDICES g MR J2HBUSLIM A 1 Model explanation Type MR J2HBUS O M A Symbol Cable length m ft 05 0 5 1 64 1 1 3 28 5 5 16 4 2 Connection diagram When fabricating a cable use the recommended wire given on Appendix 1 1 and make the cable as show in the following connection diagram The overall distance of the SSCNET cables on the same bus is 30m 98 4ft MR J2HBUSLIM A PCR S20FS connector 10120 6000EL connector PCR LS20LA1 connector case 10320 3210 000 shell kit Maker Honda connectors Maker 3M 5 LG 1 1 LG LG 11H 11 LG RD 2h 2 RD RD 127 12 RD TD 4n 4 TD TD 14H 14 TD EMG 6p 7 EMG 16 17 EMG SD 20 m e shell SD ia 5 5 LG LG 15 15 LG App 9 APPENDICES h MR HBUSLIM 1 Model explanation Type MR HBUS O M Cable length m ft 0 5 1 64 1 3 28 5164 2 Connection diagram When fabricating a cable use the recommended wire given on Appendix 1 1 and make the cable as show in the following connection diagram The overall distance of the SSCNET cables on the same bus is 30m 98 4ft MR HBU
78. LED flashing MOTION RUN LED flashing Latch clear completed 3 Move the RESET L CLR switch to L CLR once more MOTION RUN LED turn off 16 Module fixing screw hole Hole for the screw used to fix to the base unit screw Purchase from the other 17 Module fixing hook Hook usedtofixtothebaseunit used to fix to the base unit CN2 connector Connector for connection a personal computer and SSCNET CN1 connector Note 2 Connector for connection of the Motion CPU module and servo amplifier Cooling fan connector Note 3 Connector for connection of the Motion CPU module and the Cooling fan unit Q170 FAN 21 Cooling fan unit Note 3 The Cooling fan unit Q170 FAN designed exclusively for Motion CPU module Note 1 It is not possible to reset the Multiple CPU system by each of the QCPU the Motion CPU No 2 to 4 If it is reset other CPU occurred to stop of the overall Multiple CPU system where MULTI CPU DOWN Error code 7000 The overall Multiple CPU system reset is resetting the CPU No 1 of the QCPU Note 2 For example of the Q173CPU N the connector CN1 divide signals allocated each of SSCNET LINE 1 to 4 The Dividing unit Q173DV or the Dividing cable Q173J2B ACBLLIM Q173HB ACBLLIM between the Motion CPU and servo amplifiers divide signals allocated in CN1 of the Q173CPU N into each of the four lines Note 3 When using the Q173CPU Q172CPU only 2
79. NET cable When using the external battery Check that the Q172CPU N and Q170BAT are connected to the SSCNET cable Check that SSCNET cable modules are correct Connection between Q173CPU N Q172CPU N and servo amplifier when using the Dividing cable Q173DV and servo amplifier when using Q173DV and servo amplifier and servo amplifier Check for loose or distorted connector and connective 4 16 5 TRIAL RUN AND ADJUSTMENT 5 TRIAL RUN AND ADJUSTMENT 5 1 Checklist before Trial Operation Table 5 1 Checklists before Trial Operation Q 1 Check that th i i he BAT 173CPU N Q172CPU N 1 Chec a e battery ead connector is connected into the connector Ban Motion CPU modul of the Dividing unit correctly oton module 2 Check that the battery voltage is normal Normal value 3 6V 2 49 1 Q172LX Servo external signals 1 Check that the installation position of the module corresponds to the system 2 4 4 5 interface module setting 2 4 5 7 Q172EX Serial absolute synchronous 2 Check that the external equipment are connected to the Q172LX Q172EX encoder interface module Q173PX correctly Q 73PX Manual pulse generator 3 Check that the battery is connected to the battery connector interface module CPU base unit 2 Check that the installation orders are correct 3 Check that the modules are installed correctly 1 Check that the power supply module model is correct 2 4 2 1 2 Check that FG and LG ar
80. Output module signals interface A ES Q61P A2 Qn H CPU Q173CPU N module QX40 QY10 o Of O R S T CP1 Q172CPUIN Q172LX TA Tx 200VAC ak OFLS1 6 o 200VAC Forced stop 6 1 0 Xn O PYm OD0G8 CHANGES FG HO gt LG COM O G24 FLS1 O_o Number of inputs A 8 axes module Ls CHANGES CP2 EMG 5 To 24VDC 24V O e MOO supply 2400 T 7 1 i Output of Motion CPU Emergency Stop i EMG 1 x i TORIA Servo amplifier output situation Sukta cured On servo normal output OFF alarm abnormal Operation Ready CP3 OFF ON Rat S QLo O10 O Oo of MC NS 5 3 DESIGN lt Example gt For control axis 1 and axis 2 Note 1 The following is the Motion SFC program example Servo error detection Note 2 It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake F 1 gt TA SET PY PYm ON with initial Note 3 It is also possible to use forced stop signal of the servo amplifier normal It recommends using leakage breaker for servo amplifier When electric power is supplied to multiple servo amplifiers for one leakage breaker select the Ia 1 wire connected to the servo amplifier according to the capacity of the leakage M2408 M2428 ee d of is 1 axis 2 break
81. Printed in Germany MITSUBISHI ELECTRIC NDUSTRIAL AUTOMATION 4 49 2102 486 717 www mitsubishi automation de Gothaer Strasse 8 D 40880 Ratingen Phone 49 2102 486 0 Fax Hotline 49 2102 1805 000 765 megfa mail meg mee com www mitsubishi automation com
82. S HC UFS 2000r min series motor encoder connector set Note 3 Be sure to use a wire model name AWG 24 Be sure to use a wire model name AWG 22 When using tracking enable signal fabricate the encoder cable by customer side 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 Classification Manganese dioxide lithium primary battery dioxide lithium primary battery Normal voltage V 3 6 Battery discharge capacity mAh 1600 Battery warranty period 5 years etd For backup absolute positioning data of the serial absolute Applications synchronous encoder MR HENC Exterior dimensions mm inch 16 0 63 x 30 1 18 b Battery replacement For Battery replacement procedure refer to section 6 4 2 J m Battery is supplied to the serial absolute synchronous encorder by the encoder E cable Battery connector A6BAT MR BAT c Battery service life time Battery service life time Guaranteed time MIN h Actual time TYP h MR HENC 1 pcs 10000 30000 MR HENC 2 pcs 5000 15000 NCAUTION Do not short a battery Do not disassemble a battery Do not burn a battery Do not overheat a
83. SLIM PCR S20FS connector PCR S20FS connector PCR LS20LA1 connector case PCR LS20LA1 connector case Maker Honda connectors Maker Honda connectors LG 1L 1 LG LG 11 E 11 LG RD 2 L 2 RD TD 4 TD TD 14 1 7 14 TD M 5 LG LG 5L LG 15 15 LG EMG 6 n4 6 EMG EMG 16 14 16 EMG BT 9 9 BT SD 20 e 20 SD App 10 APPENDICES kapapuiqapappaua u a n O AUKQ n 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 servomotors Make selection according to your operating conditions Connector sets MR J2CNS are also available for your fabrication Table 1 Table of wire model 2 6 56 5 16 4 UL20276 AWG 28 4 pair BLAC 10 32 8 20 65 6 30 98 4 UL20276 AWG 22 6 pair BLAC 2 6 56 5 16 4 A14B2339 4 pair MR JHSCBLEIM H 10 32 8 20 65 6 30 98 4 A14B2343 6 pair Use the following or equivalent twisted pair cables as the Serial ABS synchronous encoder cables Table 2 Table of connector set Encoder cable type Connector sets type MR JHSCBLLIM L Connector shell kits MR J2CNS MR JHSCBLLIM H Plug cable clump
84. T cable connect the SSCNET cable to the connector CN1 or CN2 of the Motion CPU module Connect the connector securely until it clicks Removal of the SSCNET cable When removing the SSCNET cable hold and pull the connector part of the SSCNET cable after making sure that the fixing hook have been removed completely Forcibly removal the SSCNET cable from the CPU module will damage the modules 4 INSTALLATION AND WIRING 4 2 2 Installation and removal of the battery cable 1 Instructions for handling the battery cable Hold the connector part of the battery cable for connection or disconnection 2 Installation of the battery cable When connecting the battery cable to the Dividing unit Battery unit holding the connector part of the battery cable connect the battery cable to the connector BAT of the Dividing unit Battery unit Connect the connector securely until it clicks 3 Removal of the battery cable When removing the battery cable hold and pull the connector part of the battery cable after making sure that the fixing hook have been removed completely Forcibly removal the SSCNET cable from the CPU module will damage the modules 4 INSTALLATION AND WIRING 4 3 Installation of the Serial Absolute Synchronous Encoder This section described instructions for handling the Serial absolute synchronous encoder MR HENC 1 If the serial absolute synchronous encoder is linked to a chain timing belt
85. U Create PLC programs from the peripheral device to run the motion programs by the GX Developer Write PLC programs Write the created PLC programs to PLC CPU module with the peripheral device Write motion programs Write the created positioning data motion Motion CPU programs to Q173CPU N Q172CPU N module with the peripheral device Turn servo power on Ensure the emergency stop or the forced stop is ON and turn on power to the servo amplifiers and the servo motors N CAUTION Never open the front case or terminal cover at times other than wiring work or periodic inspections even if the power is OFF The insides of the Motion controller and servo amplifier are charged and may lead to electric shocks When performing wiring work or inspections turn the power OFF wait at least ten minutes and then check the voltage with a tester etc e Wire the units after installing the Motion controller servo amplifier and servomotor Failing to do so may lead to electric shocks or damage N CAUTION Always install a leakage breaker on the Motion controller and servo amplifier power source Install emergency stop circuit externally so that operation can be stopped immediately and the power shut off Use the program commands for the program with the conditions specified in the instruction manual Some devices used in the program have fi
86. UN LED not lit f Flowchart for when BAT LED is lit BAT LED lit g module not operating correctly Flowchart for when output load of output module is not turned on The peripheral device could not B har niea th ld communicate to the Motion CPU owen or Waen me perip GOU not communicate to the Motion CPU 6 INSPECTION AND MAINTENANCE a Flowchart for when POWER LED is not lit The following shows the flowchart when the POWER LED is not lit when the power supply is turned on and the during the operation POWER LED is not lit Is there a power supply NO Supply power YES Can POWER LED be turned on Is the wiring the terminal block screws connection correct NO Connect the wiring the terminal block screws correctly YES YES NO Can POWER LED be turned on 5 the supply voltage reaching 85 to 132VAC 170 to 264VAC or 15 6 to 31 2VDC NO The supply voltage should be within the rated range Can POWER LED YES be turned on Is the power supply NO module installed Correctly installed the power supply module Can POWER LED be turned on 1 Check the electric current capacity and reduce the amout of overcurrent 2 Turn the input power supply off and then immediately turn it on
87. X 45W OUTPUT 5VDC 6A OUTPUT 5VDC 8 5A ERR ERR 24vpc E 24vpc NN FG FG 19 we 2v INPUT N 24VDC 100 120 200 240VAC F zid N L ae 9 U 6 9 6 Application POWER LED 5VDC power indicator LED EIS Turned OFF opened when a stop error occurs in the CPU module 2 ERR terminals Normally off when loaded in an extension base unit FG terminal Ground terminal connected to the shield pattern of the printed circuit board LG terminal Grounding for the power supply filter Used to connect a 100VAC or 200VAC power supply Q61P A1 Q61P A2 Q64P 5 Power input terminals Used to connect a 24VDC power supply Q63P M3 5x7 Protective cover of the terminal block Used to fix the module to the base unit 8 Module fixing screw M3 X 12 screw tightening torque 36 to 48 x 102 Nem Module loading lever Used to install the module into the base unit 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 Supply power voltage module type 100VAC 200VAC Q61P A1 Operates normally Power module causes trouble Power module does not Q61P A2 cause trouble Operates normally CPU cannot be operated 2 The Q63P is dedicated for inputting
88. a voltage of 24VDC Do not input a voltage of except 24VDC into it or trouble may occur on the Q63P 3 Be sure to ground the earth terminal FG and LG Ground resistance 1009 or less 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 also consideration of the current consumption of the peripheral device connected to the MR HENC or MR HDP071 etc For information about the current consumption of 5VDC of the I O modules special function module and peripheral device refer to the QCPU Q mode User s Manual Hardware Design Maintenance and Inspection The current consumption of Motion controller is as follows Current Part name Model name Description consumption 5VDC A Motion CPU module Servo external signal interface module Serial absolute synchronous encoder interface module Note Manual pulse generator interface module Note Pulse resolution 25PLS rev 100 PLS rev after magnification by 4 Manual pulse generator Permitted axial loads Radial load Max 19 6N Thrust load Max 9 8N Permitted speed 200r min Normal rotation Serial absolute synchronous Resolution 16384PLS rev MR HENC 2 0 15 Permitted speed 4300 Cooling fan unit Q170FAN Cooling fan of the Motion CPU module Note Selec
89. ach axis control system and whether servo external signals are required or not When there is mechanical home position and dog type home position return is made Proximity dog required For speed control Speed position switching control required When overrun prevention is necessary Stroke limit required When each axis stop is necessary STOP signal required Select Q173PX Q172EX and design accoding to whether manual pulse generators and synchronous encoders are required or not Select interrupt module QI60 accoding to whether Interrupt input are required or not Select I O modules according to the specifications of the external equipment to be controlled Select the CPU base unit extension base units extension power supply module and extension cables and make I O assignment according to necessary number of Q172LX s Q172EX s Q173PX s QYOP s and the number of I O modules Select the servo amplifier and servo motor according to the motor capacity and number of revolution from the machine mechanism to be controlled each axis Set the servo amplifier connection by SSCNET and axis numbers and axis No dno Refer to section 2 4 5 Refer to section 2 4 6 Refer to a MELSEC Q series manual Refer to section 2 4 4 Refer to section 2 4 5 Refer to section 2 4 6 Refer to the servo amplifier manual Refer to section 2 4 8 3 DESIGN tw nE Y TM p Refe
90. ad 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 4 Various precautions Strictly observe the following precautions Mistaken handling of the unit may lead to faults injuries or electric shocks 1 System structure N CAUTION Always install a leakage breaker on the Motion controller and servo amplifier power source If installation of a magnetic contactor for power shut off during an error etc is specified in the instruction manual for the servo amplifier etc always install the magnetic contactor Install the emergency stop circuit externally so that the operation can be stopped immediately and the power shut off Use the Motion controller servo amplifier servomotor and regenerative resistor with the combi nations listed in the instruction manual Other combinations may lead to fires or faults If safety standards ex robot safety rules etc apply to the system using the Motion controller servo amplifier and servomotor make sure that the safety standards are satisfied 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 In systems where c
91. age 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 In addition the usable numbers of manual pulse generator which can be used with each CPU modules are max 3 modules Motion CPU module Manual pulse generator Q173CPU N Max 3 modules Q172CPU N Q173PX Max 1 module 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 MR HENC not connected to Q173PX Then connect to Q172EX In addition the usable numbers of synchronous encoders differ depending on the modules The following number of serial absolute synchronous encoders and incremental synchronous encoders combined can be used Motion CPU module Synchronous encoder Q173CPU N Max 12 modules Q173PX Max 4 modules Q172CPU N Max 8 modules Q173PX Max 3 modules Tracking enable signal Tracking enable signal of Q173PX is used to start the input from incremental synchronous encoders The external input signal of the incremental synchronous encoder is indicated below This signal is used as the input start signal or high speed reading function from incremental synchronous encoder Ex
92. allation l L L tee disc SSD Qa a 4 1 4 11 Instructions for 4 1 4 1 2 Instructions for installation of the base unit sese 4 3 4 1 3 Installation and removal of module sse rennen 4 5 4 2 Installation and Removal of Cable U enne na 4 7 4 2 1 Installation and removal of the SSCNET cable 4 7 4 2 2 2 Installation and removal of the battery cable seen 4 8 4 3 Installation of the Serial Absolute Synchronous Encoder sse 4 9 4 4 Replacement of the Cooling fan unit Q170FAN Q173CPU Q172CPU only 4 11 4 5 Wiring eet ee ete kaw G o ee pee ao eee ee 4 12 4 5 instruccions for Wining 2 tee Ie ree Rege Rt ays etg ox 4 12 4 5 2 Wiring to the power supply module sese 4 15 4 6 Installation Wiring Checklist aee Eee en 4 16 5 1 Checklist before Trial Operation nennen enne 5 1 5 2 Trial Run and Adjustment Procedure sse nnne 5 2 5 3 Operating System Installation Procedure U innert 5 7 5 4 Trial Run and Adjustment Checklist essent etnies 5 8 le INSPECTION AND MAINTEN
93. always be used in combination with a PLC CPU of a version that supports Multiple CPU systems Moreover it must be installed on the right side of the PLC CPU module A PLC CPU cannot be installed in a position to the right of a Motion CPU 4 Use the PLC CPU in the Q mode 5 The Motion CPU cannot be set as the control CPU of the intelligent function module or the Graphic Operation Terminal GOT 6 The SSCNET cable that connects the Motion CPU and the servo amplifiers can be pulled out from the lower part Make sure to secure sufficient space for pulling out the cable when designing the board 7 The Motion CPU is one module element of the Q series multiple PLC system It is necessary to set the parameters of the Q series multiple PLC system for each PLC CPU The Motion CPU module must also be set to support the multiple system by system settings 8 Make sure to use the Motion CPU as the control CPU of motion modules dedicated for the Motion CPU Q172LX Q172EX Q173PX etc They will not operate correctly if a PLC CPU is set and installed as the control CPU by mistake The Motion CPU is treated as a 32 point intelligent module by PLC CPUs of other machines It cannot be accessed from other machines 9 When a Multiple CPU system is configured make sure to configure the modules so that the total current consumption of the individual modules on the CPU base does not exceed the 5VDC output capacity of the power supply modul
94. and Q170BAT by the SSCNET cable Q172CPU N Motion CPU module Battery unit Q170BAT Connection between MR J2L1 B Q172J2BCBLUIM B Connection between MR H BN e Q172HBCBLI IM B Note Connection cable length of Q170BAT can use to 0 5m 1 64ft A6BAT MR BAT CN1A CN1B Servo amplifier MR H BN MR J20 B 2 SYSTEM CONFIGURATION 2 4 10 Cooling fan unit Q170FAN Q173CPU Q172CPU only This section explains the specifications of the Cooling fan unit Q170FAN used for the Motion CPU module 1 Removable conditions of the Cooling fan unit It is possible to remove the Cooling fan unit Q170FAN in order to disperse heat from inside the Motion CPU module according to the number of Motion CPU module and ambient temperature conditions Removable Not removable of the Cooling fan unit Q170FAN by number of Motion CPU module and ambient temperature is as follows a When using only one Motion CPU module It is possible to remove the Cooling fan unit if the ambient temperature in which the Motion CPU module will be operating is 0 to 40 C 32 to 104 F b When using two or more Motion CPU module Do not remove the Cooling fan unit Q170FAN Ambient temperature of the Motion CPU 0 to 40 G Over 40 to 55 C 32 to 104 F Over 104 to 131 F Number of the Motion CPU 1 module Removable Not removable 2 modules or more Not removable 2 Cooling fan unit specifica
95. and servo amplifier to the machine according to the instruction manual If the fixing is insufficient these may come off during operation 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 Conditions Motion controller Servo amplifier Servomotor Ambient 0 C to 40 With freezing According to each instruction manual temperature 32 F to 104 F wr 80 RH less Ambient humidity According to each instruction manual J With no dew condensation ore According to each instruction manual 50169056 temperature 4 F to 149 F Indoors where not subject to direct sunlight No corrosive gases flammable gases oil mist or dust must exist 1000m 3278 69ft or less above sea level According to each instruction manual Environment When coupling with the synchronization encoder or servomotor shaft end do not apply impact such as by hitting with a hammer Doing so may lead to detector damage Do not apply a load larger than the tolerable load onto the servomotor shaft Doing so may lead to shaft breakage 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 l
96. apacitor and fan will deteriorate Periodically replace these to prevent secondary damage from faults Replacements can be made by our sales representative 9 Disposal N CAUTION Dispose of the product as general industrial waste Do not disassemble the parts of the Motion controller servo amplifier or servomotor Dispose of the battery according to local laws and regulations 10 General cautions CAUTION All drawings provided in the instruction manual show the state with the covers and safety partitions removed to explain detailed sections When operating the product always return the covers and partitions to the designated positions and operate according to the instruction manual REVISIONS The manual number is given on the bottom left of the back cover May 2002 IB NA 0300040 B Addition model Q173CPUN Q172CPUN MR J2M B A10BD PCF Addition function For Windows 2000 ROM operation MODE LED Installation mode ROM writing mode BOOT LED Installation mode ROM writing mode Partial correction Japanese Manual Number IB NA 0300021 This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property ights which may occur as a result of using the contents noted in this manual 2001 MITSUBISHI ELECTRIC CORPORATION A 11
97. ases B HAON Manual pulse Pulse width 20us or more generator fe SS SS Se B synchronous LOW level Manual Input PUE A16 A11 A6 encoder joa 0 8VDC or less Gs e EA RE ERI DEUM o sua Ss Beto ak Duty ratio 50 25 generator 26LS31 Rise fall time phase B TRE B16 B11 B6 um iua or less ues Phase difference Phase A Select type Phase B signal A18 A13 A8 Note 2 s P R Ras HPSELO 1 Positioning address increses if Phase A leads Phase B Note 1 Power supply 2 Positioning address B18 B13 B8 5VDC decreses if Phase B SV leads Phase A Power E supply SG 19 14 A9 56 B19 B14 B9 Note 1 The 5V P5 DC power supply from the Q173PX must not be connected if a separated power supply is used as the Manual pulse generator Incremental synchronous encoder power supply Use a 5V stabilized power supply as a separated power supply Any other power supply may cause a failure Note 2 When used to the Manual pulse generator differential output type Incremental synchronous encoder connection of HPSEL and SG 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 Pin No aan PULSER connector
98. ated Manuals Manual Number Q173CPU Q172CPU Motion controller SV13 SV22 Programming Manual Real AR NE 1 IB 0300043 This manual explains the servo parameter positioning instructions device list and error list 1CT782 Optional Q173CPU Q172CPU Motion controller SV22 Programming Manual Virtual This manual describes the dedicated instructions use to the synchronous control by virtual main shaft IB 0300044 mechanical system program create mechanical module 1CT783 This manual explains the servo parameter positioning instructions device list and error list Optional Q173CPU Q172CPU Motion controller SV13 SV22 Programming Manual Motion SFC This manual explains the Multiple CPU system configuration performance specifications functions IB 0300042 Software of Motion CPU programming debugging and error codes 1CT781 Optional QCPU Q Mode User s Manual Function Explanation Program Fundamentals SH 080038 This manual explains the functions programming methods and devices and so on necessary to create 13JL98 programs with the QCPU Q mode Optional QCPU Q Mode QnA Programming Manual Common Instructions SH 080039 This manual describes how to use the sequence instructions basic instructions application instructions 13JF58 and micro computer program Optional QCPU Q Mode QnA Programming Manual PID Control SH 080040 This manual describes the dedicated instructions used
99. cation Inside control panel Overvoltage category ll or less Note 1 Pollution level Note 2 2 or less Note 1 This indicates the section of the power supply to which the equipment is assumed to be connected between the public electrical power distribution network and the machinery within premises Category II applies to equipment for which electrical power is supplied from fixed facilities The surge voltage withstand level for up to the rated voltage of 300V is 2500V Note 2 This index indicates the degree to which conductive material is generated in terms of the environment in which the equipment is used Pollution level 2 is when only non conductive pollution occurs A temporary conductivity caused by condensing must be expected occasionally Note 3 Do not use or store the Motion CPU module under pressure higher than the atmospheric pressure of altitude Om Doing so can cause a malfunction When using the PLC under pressure please contact your sales representative 2 SYSTEM CONFIGURATION N 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
100. contactors and relays In front of Motion controller 100 mm 3 94 inch or more On the right and left of Motion controller 50 mm 1 97 inch or more Omm 1 97inch r more 100mm 3 94inch or more Contactor relay etc 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 Q30B Q60B The installation and removal of the module from Q30B Q6LB base unit are described below a Installation of the module on and Base unit Base unit Module Insert the module fixing hook into the module fixing hole of the base unit Module connector Module loading lever 257 Push the module in the direction of arrow to install it into the base unit Module fixing hole i Make sure that the module is installed in the base unit correctly C Completion D 1 Always insert the module fixing hook of the module into the module fixing hole Forcing the hook into the hole will damage the module connector and module 2 When using the modules in a place where there is large vibration or impact screw the CPU module to the base unit Module fixing screw M3 x 12 purchas
101. dure Trun CPU module power off Check that the power supply of CPU modules are OFF Check wiring and module installation 1 Check the installation position and condition of each modules 2 Check the installation condition of connectors 3 Check that all terminal screws are tight 4 Check the ground wires of the servo amplifier etc 5 Check the motor wiring U V W 6 Check the circuit and operation of the regenerative resistor option wiring 7 Check the circuit and operation of the emergency stop or forced stop Check the system settings Set the operation axis number dno Turn on power Ensure that the CPU module RUN STOP key is set to STOP Turn on the CPU module power Install mode The mode indicated in the brackets at top left of each step is the mode for checking or setting by the peripheral device e Refer to section 2 1 4 for information about the installation method and the installation position e Refer to section 3 3 for information about installation of modules lt gt WARNING Be sure to ground the motion controllers servo amplifiers and servo motors Ground resistance 1009 or less Refer to section 2 4 8 5 Note An error may occur if the power is turned on before system setting are made If this happens make the system setting then reset the CPU N CAUTION When using a regenerative resist
102. e Refer to section 2 4 2 3 4 Power supply module 2 SYSTEM CONFIGURATION kiwa F 10 Number of Motion CPU modules and temperature conditions Q173CPU Q172CPU only a It is possible to remove the Cooling fan unit Q170FAN in order to disperse heat from inside the Motion CPU module according to the number of the Motion CPU module and ambient temperature conditions Removable Not removable of the Cooling fan unit Q170FAN by number of Motion CPU modules and ambient temperature is as follows 1 When using only one Motion CPU module It is possible to remove the Cooling fan unit if the ambient temperature in which the Motion CPU module will be operating is 0 to 40 C 32 to 104 F 2 When using two or more Motion CPU modules Do not remove the Cooling fan unit Q170FAN Ambient temperature of the Motion CPU 0 to 40 C Over 40 to 55 C 32 to 104 F Over 104 to 131 F Number of the Motion CPU 1 module Removable Not removable 2 modules or more Not removable 11 When the internal battery of the Motion CPU is charged for 40 hours of normal operation it will be able to provide backup power for the IC RAM memory for 1100 hours Guaranteed time 4300 hours Actual time Battery backup by the external battery will be necessary if there is a possibility that a continuous power off that lasts longer than the continuous power off hours for the internal battery Refer to section 2 4 9 External battery Continuous power of
103. e 1st to 3rd the Dividing cable SSCNET Line Note Use a Q173J2B3CBLOM Q173HB3CBLOM Refer to equipment configuration of b When using the Dividing cable Note Use a Q173J2B4CBLOM Q173HB4CBLOM Note Continuous power failure time which can be backed up on the internal battery is different depending on the charge time It is possible to continuously power off for 1100 hours because of charge of 40 hours Refer to the section 2 3 5 for details 2 1 2 SYSTEM CONFIGURATION a When using the Dividing unit external battery ecg Power supply module Q CPU I O module Intelligent function module of the Q series Q172LX Q172EX Q173PX Q33B Q35B Q38B Q312B Motion module CPU base unit Motion CPU module Q173CPU N SSCNET cable Q173DVCBLOM caches Dati 1 SSCNET CN3 O sumen Battery A6BAT MR BAT Dividing unit Q173DV SSCNET cable SSCNET cable for MR H BN for MR J20 B MR J2HBUSOM A MR J2HBUSDM Servo amplifier Servo amplifier MR H BN 2 Extension of the series module Q172LX Q172EX Q173PX Mot
104. e GSV JP The output conditions checking the monitor then execute to the output circuit programs s the outpu conditions checking the monitor or executing to the output circuit programs Is voltage for the power supply load added Voltage measurement among the modules input and COM terminals hat is the voltage among the various output COM terminals of the output module Is the operation OFF indicator of input module lit Supply voltage Is it reaching the supply voltage value OK y Check the external wiring and external input devices Confirm rush current when the load is at the maximum simultaneous on Confirm input signal off by setting the peripheral device to the monitor mode of the GSV P Input signal turned on Change the output relay number and let the load maximum simultaneous Check the power supply load wire on current to within the specification and recover the power supply Monitor signal off Check the load wire and load and recover the power supply Explain the error symptom and get advice from our sales representaitive Output module failure Replace the output module For information about input signal to the input module is not turned off refer to section 6 5 3 Examples of troubles with I O modules 6 INSPECTION AND MAINTENANCE
105. e following core size for wiring Application 100VAC 200VAC 24VDC wires Thickest possible wires of 2 0mm equipment 0 75mm 0 75 to 1 5mm usable Ground wire 2 0mm or more 4 INSTALLATION AND WIRING b Do not bind the cable together with the main circuit high voltage large current line of the 100VAC and 24VDC or lay them close to each other If possible leave 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 o bd Multiple CPU AG Z system El Dad Surge absorber for thunder 1 Separate the ground of the surge absorber for thunder E1 from that of the PLC E2 2 Select a surge absorber for thunder whose power supply voltage does no exceed the maximum allowable circuit voltage even at the time of maximum power supply voltage elevation 2 Wiring of I O equipment a Insulation sleeved crimping terminals cannot be used with the terminal block It is recommended to cover the wire connections of the crimping terminals with mark or insulation tubes b The wires used for connection to the terminal block should be 0 3 to 0 75mm in core and 2 8mm 0 11inch or less in outside diameter c Run the input and output lines away from each other d When the wiring cannot be run away from the main circuit and power lines use a batch shielded cable and ground i
106. e from the other supplier 4 INSTALLATION AND WIRING b Removal from Q3LIB and Q60B Baseb unit Hold the module with both hands and push the hook on the top of the module with a finger until it stops P Module connector While pushing he hook and using the bottom of the module as a supprt pull the module toward you Module fixing hook Lift the module upwards and remove the module fixing projections from the module fixing hole Completion p When the module fixing screw is used always remove the module by removing the module fixing screw and then taking the module fixing hook off the module fixing hole of the base unit Forcibly removal the module will damage the module 4 INSTALLATION AND WIRING aaa r m On I 4 2 Installation and Removal of Cable 4 2 1 Installation and removal of the SSCNET cable 1 Instructions for handling the SSCNET cable Do not stamp the SSCNET cable When laying the SSCNET cable the minimum bending radius of the cable should be 30 mm 1 18 inch or more If itis less than 30 mm 1 18 inch a malfunction may occur due to characteristic deterioration open cable etc Hold the connector part of the SSCNET cable for connection or disconnection Motion module CN1 CN2 t Installation of the SSCNET cable When connecting the SSCNET cable to the Motion CPU module holding the connector part of the SSCNE
107. e is shown below Input module Example QX10 Forced stop TB1 LE Internal circuit 100VAC Note It is possible to set the forced stop Xn of the system settings at the user side 3 DESIGN b lt 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 Operation of Item Remark the signal ON The servomotor is stopped according to the stop instruction from Forced Fes Emergency sto Shut off the power supply to the external servo amplifier by Servo OFF external circuit make the servomotor stopped Motion controller to the servo amplifier 3 DESIGN k s lt 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 a range the following conditions Q173CPU Q172CPU Number of Q173CPUN With Coolina t i ith Cooling fan uni the Motion CPU Q172CPUN g Without Cooling fan unit Shipped from the factory 1 0 to 40 C 32 to 104 F 0 to 55 C 32 to 131 F 2ormore i Moer Note 1 It is need to install the Cooling fan unit Q170FAN 2 Ambient humidity is in a range from 5 to 95 RH 3 No condensing from sudden temperature changes 4 No co
108. e total of power interrupt time does not exceed the guaranteed value specified If a total of power interrupt time exceeds the guaranteed value specified above the M9006 M9007 is turned on replace the battery with a new one immediately 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 However if the replacement time exceeds the guaranteed value specified in the table below the contents stored in the memories may be erased To prevent this trouble replace the battery speedily Backup time by capacitor Backup time by capacitor min Replacing Battery Turn on the power supply of the power supply module for 10 minutes or longer Turn off the power supply of the power supply module Side of the Q172EX Remove the encoder cable from Q172EX Remove the Q172EX from the base unit Remove the old battery from its holder of the Q172EX Install a new battery into the holder in the correct direction Connect the lead to the connector Install the Q172EX into the base unit Battery Connector Connect the encoder cable to the Q172EX gt i 2
109. e wired correctly PPS Module Type Building Block User s Manual 3 Check that the cable sizes are correct 4 Check that the external power supply are connected correctly 24 VDC 5 VDC 1 Check that the installation module models are correct 2 4 8 2 Check that the total I O points of the output module and special function Extension base unit 2 4 1 module does not exceed the number I O points of the CPU module 1 b 5 3 Check that the installation modules connected correctly 4 1 3 1 2 1 4 8 2 1 Check that the cables connected to each terminal of the terminal block Refer to Q correspond to the signal names ies I O s series 2 Check that the terminal screws are tightened correctly module 1 Check that the installation SSCNET cable models are correct SSCNET cable 2 Check that the installation position of the SSCNET cables are correct 1 Check that the installation SSCNET cable models are correct 2 Check that the installation position of the SSCNET cables are correct 2 3 Check that the SSCNET cables are connected correctly Battery unit Q170BAT 1 Check that the SSCNET cables are connected correctly 2 Check that the battery is connected to the battery connector 6 4 2 2 Dividing unit Q173DV 5 TRIAL RUN AND ADJUSTMENT 5 2 Trial Run and Adjustment Procedure PLC CPU Motion CPU Motion CPU PLC CPU Motion CPU A Motion CPU Servo start up proce
110. ecking the product s rated voltage and the terminal layout Connecting a power supply that is different from the rating or incorrectly wiring the product could result in fire or damage External connections shall be crimped or pressure welded with the specified tools or correctly soldered Imperfect connections could result in short circuit fires or erroneous operation Tighten the terminal screws with the specified torque If the terminal screws are loose it could result in short circuits fire or erroneous operation Tightening the terminal screws too far may cause damages to the screws and or the module resulting in fallout short circuits or malfunction Be sure there are no foreign substances such as sawdust or wiring debris inside the module Such debris could cause fires damage or erroneous operation Q The module has an ingress prevention label on its top to prevent foreign matter such as wire offcuts from entering the module during wiring Do not remove this label during wiring Before starting system operation be sure to remove this label because of heat dissipation This section described instructions for the instructions for the wiring of the power supply 1 Power supply wiring a 100VAC 200VAC and 24VDC wires should be twisted as dense as possible Connect the modules with the shortest distance Also to reduce the voltage drop to the minimum use the thickest wires possible max 2mm Use the wires of th
111. ed to be used in equipment or systems in situations that can affect or endanger human life 2 When considering this product for operation in special applications such as machinery or systems used in passenger transportation medical aerospace atomic power electric power or submarine repeating applications please contact your nearest Mitsubishi sales representative 3 Although this product was manufactured under conditions of strict quality control you are strongly advised to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the product is likely to cause a serious accident MITSUBISHI ELECTRIC HEADQUARTERS EUROPEAN REPRESENTATIVES EUROPEAN REPRESENTATIVES MIDDLE EAST REPRESENTATIVE MITSUBISHI ELECTRIC EUROPE Wiener Stra e 89 UTECO A B E E GREECE SHERF Motion Techn LTD ISRAEL EUROPE B V A 2500 Baden 5 Mavrogenous Str Rehov Hamerkava 19 German Branch Phone 43 0 2252 85 55 20 GR 18542 Piraeus IL 58851 Holon Gothaer Stra e 8 Fax 43 0 2252 488 60 Phone 30 10 42 10 050 Phone 972 0 3 559 54 62 D 40880 Ratingen e mail office geva at Fax 30 10 42 12 033 Fax 972 0 3 556 01 82 Phone 49 0 21 02 486 0 Getronics b v BELGIUM uteco uteco gr e mail Fax 49 0 21 02 4 86 1 12 Control Systems MITSUBISHI ELECTRIC IRELAND e mail megfamail meg mee com MITSUBISHI ELECTRIC FRANCE EUROPE B V French Branch
112. equested to be procured by customers Type Connector HDR E14MG1 Type Connector HDR E26MG1 Connector case HDR E14LPA5 Connector case HDR E26LPA5 Unit mm inch 17 0 67 21 8 0 86 933 2 Sumitomo 3M make MDR type Type Number of pins Connector Connector case Solder connection type Quick release metal latch type 10120 3000VE 10320 52F0 008 Solder connection type Threaded type 10120 3000VE 10320 52A0 008 Insulation displacement type Quick release metal latch type 10120 6000EL Ne 9 10320 3210 000 Nete 10126 3000VE 10326 52F0 008 Quick release metal latch type Solder connection type Threaded type Insulation displacement type Quick release metal latch type 10126 3000VE Net9 10326 52A0 008 Note 10126 6000EL Ne 9 10326 3210 000 Nete Solder connection type 26 Note These connectors are not options and should be prepared by the customer App 20 APPENDICES a Solder connection type Quick release metal latch type Type Connector 10120 3000VE 10126 3000VE Connector case 10320 52F0 008 10326 52F0 008 Unit mm inch 120 47 b Solder connection type Threaded type Type Connector 10120 3000VE 10126 3000VE Connector case 10320 52A0 008 10326 52A0 008 Unit mm inch
113. er Note 4 Only the point has described the servo amplifier MR J2M B 2 RST OFF abnormal error Refer to MR J2M B Servo amplifier Instruction Manual for details Note 5 For information about connection of the SSCNET cable and termination connector refer to section 2 4 8 4 Circuit example when using MR H BN Note 4 U R MR H BN U i dou Wo Ra2 CP4 IErecto ep O O Note 4 DC24V Ground magnetic brake 99 m Note 2 Note 3 Circuit example when using MR J2 B MR J2S B T L1 MR J2 B U L2 MR J2S B v dev Ww Ra3 es Erecto o Ground magnetic Note 2 Me Note 3 DC24V Circuit example when using MR J2M B Note 4 U L1 MR J2M B U VT L2 V Ze L3 w Wo Ra4 c Erecto amp Note L11 m Ground magnetic 6 Oo L12 brake VIN Note 2 EM1 gt so ae Note 3 DC24V Circuit example when using MR J2 03B5 U P24 MR J2 03B5U P24G v o P24L w w E EMI Ground B1 MC Erecto B2 magnetic t brake Note 2 i i supply 3 DESIGN 2 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
114. er to values that are compatible with the system application The protective functions may not function if the settings are incorrect Set the servo amplifier capacity and type parameters to values that are compatible with the system application The protective functions may not function if the settings are incorrect Use the program commands for the program with the conditions specified in the instruction manual 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 The input devices and data registers assigned to the link will hold the data previous to when communication is terminated by an error etc Thus an error correspondence interlock program specified in the instruction manual must be used Use the interlock program specified in the special function module s instruction manual for the program corresponding to the special function module 3 Transportation and installation N CAUTION Transport the product with the correct method according to the weight Use the servomotor suspension bolts only for the transportation of the servomotor
115. ery Initial charging of the Q173CPU N Q172CPU N Turn on the power supply and charge the internal rechargeable battery for eight hours or more before starting to use the Q173CPU N Q172CPU N It is possible to provide backup power for the IC RAM memory for at least 200 hours by charging the internal rechargeable battery for eight hours or more even if it is empty If the battery is charged for five days while applying power eight hours a day i e 40 hours of normal operation it will be able to provide backup power for the IC RAM memory for 1100 hours Battery backup by the AGBAT MR BAT will be necessary if there is a possibility that a continuous power off that lasts longer than the continuous power off hours for the internal rechargeable battery specified in the table below may occur for example when transporting the system on a ship item Continuous power off time Guaranteed time MIN h Actual time TYP h Charging time of Internal rechargeable 8 hours or more battery onl Charging time of dip 708 1100 4300 40 2 SYSTEM CONFIGURATION 6 Motion SFC Performance Specifications Motion SFC Performance Specifications Code total Motion SFC chart Operation control 287k bytes Program capacity Transition Text total 224k bytes Operation control Transition Number of Motion SEC programs 256 No 0 to 255 Motion SFC chart size program Max 64k bytes Included Motion SFC chart comments N
116. f time Guaranteed time MIN h Actual time TYP h Charging time of Internal rechargeable 8 hours or more 200 500 battery onl Charging time of aris 1100 4300 40 hours or more External battery 60000 240000 2 SYSTEM CONFIGURATION 2 2 System Configuration Equipment 1 Table of motion module Current Part name Model name Description consumption Remark 5VDC A Servo external signal 8 axes FLS RLS STOP 8 Serial absolute synchronous encoder Serial absolute synchronous MR HENC interfacex2 Tracking input 2 points Q25HCPU Progrmcapadly252k 100 to 120VAC input 5VDC 6A output 200 to 240VAC input 5VDC 6A output 24VDC Input 5VDC 6A output Q64P 100 to 120VAC 200 to 240VAC Input 5VDC 8 5A output Q33B Number of I O modules installed 3 slots 0 105 i 0 110 CPU base unit Q35B Number of I O modules installed 5 slots 040 Q38B Number of I O modules installed 8 slots 0 114 Q312B Number of I O modules installed 12 slots 0 121 Q63B Number of I O modules installed 3 slots Q65B Number of I O modules installed 5 slots Extension base unit Q68B Number of I O modules installed 8 slots Q612B Number of I O modules installed 12 slots QC05B Length 0 45m 1 48ft Power supply module Length 10m 32 8ft Pulse resolution 25PLS rev 100PLS rev after magnification by 4 Permitted axial loads Radial load Max 19 6N Thrust load Max 9 8N Permitted speed 20
117. he Motion CPU and servo amplifiers divide signals allocated in CN1 of the Q173CPU N into each of the four lines The following table shows correspondence between the connector No after the division and the SSCNET line No Correspondences between SSCNET LINE No and connector No SSCNET LINE No Connector No of the Dividing unit Connector No of the SSCNET cable plu SSCNET ENT PENNE SSCNET CN2 S 3 0 uj SSCNET CN3 SSCNET o Note SSCNET LINE No Q173CPU N 4 lines Q172CPU N 1 line 2 66 2 SYSTEM CONFIGURATION 2 4 9 External battery This section describes the battery specifications which used Motion CPU handling a and equipments External battery specifications For Motion CPU module Model Manganese dioxide lithium primary battery Normal voltage V ___ Battery discharge capacity mAh 1600 Battery warranty period 5 years Continuous power off For IC RAM back up of the Q173CPU N Q172CPU N Exterior dimensions mm inch 16x30 Applications 2 Q173CPU N Q172CPU N back up by the external battery When using the external battery set the external battery A6BAT MR BAT in the System settings h h Continuous power off time External battery use 60000 240000 3 External battery and SSCNET cable When using the external battery install AGBAT MR BAT to the Dividing unit or Battery unit Also be sure the following cables l llation i f nstallatio
118. hem on a separate panel or at a safe distance To limit the effects of reflected noise and heat leave 100mm 3 94inch or more clearance to instruments fitted in front of the Motion controller on the rear of the door Similarly leave 50mm 1 97inch or more clearance between instruments and the left and right sides of the base units 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 It is possible to remove the Cooling fan unit Q170FAN depending on the number of CPU modules or operating ambient temperature conditions Refer to section 2 4 10 Cooling fan unit Q170FAN 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 Here the method of obtaining the average power consumption of Q173CPU N Q172CPU N system is described From the power consumption calculate a rise in ambient temperature inside the control panel Calculating average power consumption The power consuming parts of the Motion controller are roughly classified into six blocks as shown below 1 Power consumption of the power supply module The power conversion efficiency of the power module is approx 70 i e 30 of the output power is consumed by heati
119. 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 Use wires and cables that have a wire diameter heat resistance and bending resistance compatible with the system Use wires and cables within the length of the range described in the instruction manual The ratings and characteristics of the parts other than Motion controller servo amplifier servomotor used in a system must be compatible with the Motion controller servo amplifier and servomotor Install a cover on the shaft so that the rotary parts of the servomotor are not touched during operation There may be some cases where holding by the magnetic brakes is not possible due to the service life time or mechanical structure when the ball screw and servomotor are connected with a timing belt etc Install a stopping device to ensure safety on the machine side 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 1 Sample system circuit design for motion control 3 phase 200 220VAC YNY Power Supply PLC CPU Motion CPU Servo external Input module
120. icate with the GSVOP YES Explain the error symptom and get advice from our sales representaitive Win 98 2000 personal computer Can the CPU communicate with the GSVOP Install the USB driver into the YES Explain the error symptom and get advice from our sales representaitive Completion 6 INSPECTION AND MAINTENANCE 6 5 3 I O modules troubleshooting Example 1 Q E x Lu e 5 x Lu a E x Lu Input signal does not turn OFF Input signal does not turn OFF Input signal does not turn OFF Input signal does not turn OFF This section describes possible problems 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 Corrective action Leakage current of input switch e g drive by non contact switch AC input Leakage B current Power supply Input module Drive by a limit switch with neon lamp AC input Leakage Power supply Leakage current due to line capacity of wiring cable Line capacity C of twisted pair wire is approx 100 PF m AC input Leakage current Input module Power supply Drive by switch with LED indicator DC i
121. ife time of the Cooling fan unit Cooling fan unit is only noise when the number of the revolution lower than exceeded the 2096 of the fast time replace it with a new one 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 Ambient 0 to 55 C 32 to 131 F temperature If the Multiple CPU system is Measure with a thermometer used in the control panel Ambient humidity and a hygrometer 5 to 95 RH temperature within the Measure corrosive gas control panel is equivalent to ambient temperature Measure a voltage across the 85 to 132VAC Power voltage terminals of 100 200VAC and 170 to 264VAC Change the power supply 24VDC 15 6 to 31 2VDC Further tighten screws Move the module to check for The module must be installed If the CPU I O or power Looseness rattling 2 looseness and rattling fixedly supply module is loose fix it 3 Ambient environment with screws Installation Adhesion of dirt and Dirt and foreign matter must Check visually Remove and clean foreign matter not be present id M is piu ud eee Screws must not be loose Further tighten Proximity OF Solderless terminals must be solderless terminals Check visually itioned at int Correct
122. ion base units CPU base unit 110VA 100 110VAC Q38B AC i S ooo Q61P A1 CPU X Fuse t x r Q ERR is E 1 6 124VDC FG em oJ LG 4 INPUT 100 120VAC vy Connect to 24VDC terminals of I O module that requires 6 24VDC internally Extension base unit t Q68B Extension cable Q61P A1 1 0 i 0 Q Q t 2 EG 100VAC LG 5 a Sooo 1 00 1 20VAG Ground wire gt E Grounding POINTS 1 Use the thickest possible max 2 mm wires for the 100 200 VAC and 24 VDC power cables Be sure to twist these wires starting at the connection terminals To prevent a short circuit should any screws loosen use solderless terminals with insulation sleeves 2 When the LG terminals and FG terminals are connected be sure to ground the wires If LG terminals and FG terminals are connected without grounding the wires the Motion controller may be susceptible to noise In addition since the LG terminals have potential of 1 2 input voltage the operator may receive an electric shock when touching metal parts 4 INSTALLATION AND WIRING 4 6 Installation Wiring Checklist Installation of module At the worksite copy the following table for use as a check sheet Sub Item Installation wiring confirmation Installation of the base unit Installation of modules to the base unit Installation of
123. ion module Extension cable 960 QCOB Q63B Q65B Q68B Q612B B extension base unit modul pRRE Itis possible to select the best Note When using the external battery Power supply module module Intelligent function le of the Q series rding to the system be sure to set the Battery A6BAT MR BAT to the Dividing unit Q173DV Battery A6BAT MR BAT is optio nal 2 SYSTEM CONFIGURATION b When using the Dividing cable Extension of the Q series module sre Motion module Q172LX Q172EX Q173PX Q CPU I O module Intelligent unction module of the Q series Power supply module Q60B extension base unit Q63B Q65B Q68B Q612B 4 Power supply module VO module Intelligent function module of the Q series Motion module CPU base unit Extension cable Q172LX Q172EX Q173PX Q33B Q35B Q38B Q312B QCDB NIRE ws sant ton t GEM 255
124. king o 6 signal input enable TRENO B4 B2 12V to 24VDC 2 54 2 SYSTEM CONFIGURATION 6 Connection examples of manual pulse generator Connection of manual pulse generator Connection of manual pulse generator Voltage output Open collector type Differential output type Q173PX Manual pulse Q173PX Manual pulse generator side generator side Note 1 The 5VDC P5 power supply from the Q173PX must not be connected if a separate power supply is used as the Manual pulse generator Incremental synchronous encoder power supply If a separate power supply is used as the manual pulse generator power supply use a 5V stabilized power supply Any other power supply may cause a failure Note 2 Connect HPSEL O to the SG terminal if a separate power supply is used as the manual pulse generator Incremental synchronous encoder power supply NCAUTION f a separate power supply is used as the manual pulse generator incremental synchronous encoder power supply use a 5V stabilized power supply Any other power supply may cause a failure 2 SYSTEM CONFIGURATION 2 4 7 Manual pulse generator Serial absolute synchronous encoder 1 Table ofthe Manual pulse generator specifications Specifications Model name MR HDP01 Pulse resolution 25PLS rev 100 PLS rev after magnification by 4 Voltage output power supply voltage 1V or more Output meth
125. l TREN COM Indicates to display ON indication LED Operating voltage range b Serial absolute synchronous encoder input Specifications Applicable signal types Differential output type SN75C11168 or equivalent Transmission method Serial communications Counter clock wise viewed from end of shaft 2 5Mbps MR HENC Position detection method Absolute ABS method 16384PLS rev 14bil Number of modules 2 module External connector type 20 pin connector Applicable connector for PE MR J2CNS Optional the external connection Applicable wire UL20276 AWG 22 6Pair MR JHSCBLLIM H Recommended cables O cable length 2m 6 56ft 5m 16 4ft 10m 32 8ft 20m 65 6ft 30m 98 4ft Note Max 30m 98 4ft Depends on AGBAT MR BAT 15000 h Example of encoders x 2 Ambient temperature 40 C 104 F Number of I O occupying points 98 H x 27 4 W x 89 3 D 3 86 H x 1 08 W X 3 52 D Weight kg 0 15 Note You can use these cables when the tracking enable signal is not used Exterior dimensions mm inch When the tracking enable signal is used fabricate the cable on the customer side 2 43 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 MR HENC Q172EX can be connected to only serial absolute output type MR HENC When using
126. l specifications could result in electric shock fire erroneous operation and damage to or deterioration of the product Hold down the module loading lever at the module bottom and securely install the module fixing hook into the fixing hole in the base unit Incorrect loading of the module can cause a malfunction failure or drop When using the Motion controller in the environment of much vibration tighten the module with a screw Tighten the screw in the specified torque range Under tightening can cause a drop short circuit or malfunction Over tightening can cause a drop short circuit or malfunction due to damage to the screw or 4 module Be sure to install the extension cable to connectors of the base unit correctly After installation check them for looseness Poor connections could cause an input or output failure Completely turn off all lines of power supply externally before loading or unloading the module Not doing so could result in electric shock or damage to the product Do not directly touch the module s conductive parts Touching the conductive parts could cause an operation failure or give damage to the module This section describes instructions for handling the CPU modules I O modules intelligent function modules power supply modules and base units etc 1 Do not drop or apply strong impact on the CPU modules I O modules intelligent function modules power supply modules base units and memory card etc
127. llatione ROM writing mode 6 INSPECTION AND MAINTENANCE c Flowchart for when RUN LED is not lit The following shows the flowchart when the RUN LED is not lit during the operation RUN LED is not lit d Flowchat for when ERR LED is lit flashing Is ERR LED lit flashing RUN LED is turned on 1 Motion CPU parts connection fault 2 By excessive noise Reset the PLC CPU module of the CPU No 1 with RESET L CLR switch RUN LED is turned off For the case of 2 For the case of 1 Set the RUN STOP switch to STOP and the servo setting data write to the Motion CPU module with the GSV IP Explain the error symptom and get advice from our sales representaitive Y Connect a surge protector circuit such as CR to the noise source Can RUN LED be turned on Completion 6 INSPECTION AND MAINTENANCE d Flowchart for when ERR LED is lit flashing The following shows the flowchart to be followed when the ERR LED is lit flashing when the power supply is not lit during the operation or the operation s started ERR LED is lit flashing H W error Confirm details of error by PLC diagnostics of the GX Developer Refer to the help of the GX Developer and modify error details H W error Confirm details of error by GSV Y Refer to the help of the GSV P and modify error details T
128. ly one SSCNET line for connection to servo amplifier Connect to CN1 The Q173CPU N can be used up to four SSCNET lines for servo amplifier connection Connect to CN1 One SSCNET line allows connection of up to eight servo amplifies Also SSCNET cables or termination connector are different depending on the servo amplifiers 1 Connection between Q173CPU N and servo amplifiers a When using the Dividing unit external battery Q173CPU N Motion CPU module SSCNET cable over all length per 1 line 1 total of 3 s30m 98 36ft Q173DV i s 3 SSCNET LINE1 i i 3 CN B Servo amplifier 3 MR H BN MR J20 B CN1B Servo amplifier MR H BN MR J20 B 3 CNIA CN1B Servo amplifier Servo amplifier MR H BN MR H BN MR J20 B MR J20 B Note 1 When using the external battery set the Battery A6BAT MR BAT into the Dividing unit Q173DV 2 SYSTEM CONFIGURATION b When using the Dividing cable Q173CPU N Motion CPU module CN1B Servo amplifier MR H BN MR J20 B CN1A Servo amplifier MR H BN MR J20 B 3 CN1A Servo amplifier MR H BN MR J20 B CN1A Servo amplifier MR H BN MR J20 B SSCNET cable over all length per 1 line 2 total of 3 30 98 36 2 SYSTEM CONFIGURATION Motion CPU to Dividing unit Q173DVCBLLIM Note 2 SSCNET cable Co
129. m those of the I O equipment and servo amplifier as shown below When there is much noise connect an insulation transformer 4 Insulation Main power PLC power transformer supply supply Hu 7 V 7 Multiple CPU 100 200VAC O I system E S O NFB CP power supply gt s gt I O devices CP Main circuit power supply gt Main circuit device CP Servo amplifier power supply 200VAG gt Servo amplifier NFB 2 Grounding The motion system may malfunction as it is affected by various noises such as electric path noises from the power supply lines radiated and induced noises from other equipment servo amplifiers and their cables and electromagnetic noises from conductors To avoid such troubles connect the earthing ground of each equipment and the shield grounds of the shielded cables to the earth Also use ferrite cores to prevent the sneak noises from the SSCNET For grounding use the exclusive ground terminal wire of each equipment or a single point earth method to avoid grounding by common wiring where possible since noises may sneak from other equipment due to common impedances Panel personal computer 100 200 Line noise filter CPU Ferrite cores SSCNET Servo amplifier 3 DESIGN 3 2 2 Safety circuit design 1 Concept of safety circuits
130. meter before operation Unpredictable movements may occur depending on the machine Extreme adjustments and changes may lead to unstable operation so never make them When using the absolute position system function on starting up and when the Motion controller or absolute value motor has been replaced always perform a home position return 6 Usage methods N 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 The units must be disassembled and repaired by a qualified technician Do not make any modifications to the unit Keep the effect or magnetic obstacles to a minimum by installing a noise filter or by using wire shields etc Magnetic obstacles may affect the electronic devices used near the Motion controller or servo amplifier When using the CE Mark compliant equipment refer to the EMC Installation Guidelines data number IB NA 67339 for the Motion controllers and refer to the corresponding EMC guideline information for the servo amplifiers inverters and other equipment Use the units with the following conditions Item Q61P A1 Q61P A2 Q63P Q64P 100 to 120VAC 19 200 10 240VAC 5 5 24VDC 10010 120VAC 10 Input power 200 to
131. mplifier as this may lead to electric shocks 2 For fire prevention N CAUTION Install the Motion controller servo amplifier servomotor and regenerative resistor on inflammable material Direct installation on flammable material or near flammable material may lead to fires if a fault occurs in the Motion controller or servo amplifier shut the power OFF at the servo amplifier s power source If a large current continues to flow fires may occur When using a regenerative resistor shut the power OFF with an error signal The regenerative resistor may abnormally overheat due to a fault in the regenerative transistor etc and may lead to fires Always take heat measures such as flame proofing for the inside of the control panel where the servo amplifier or regenerative resistor is installed and for the wires used Failing to do so may lead to fires 3 For injury prevention N 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 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 le
132. n AT lods Number of speed switching input points ell pons O selection Number of tracking enable signal points Q172LX 172 modules O Q173PX modues O Number of Motion CPU modules modles O CPU base unit Number of I O modules installed to CPU base modues O selection CPU base unit selection vo lola So Number of I O modules installed to extension o moes D modules Extension base unit base and extension cable Distance between CPU base and extension base m u gt selection Extension base unit selection v So Extension cable selection vy Ilo S o External se te Avoidance of malfunction at power on E Fail safe circuit design circuit design Avoidance of hazard at Motion controller failure Conformance with general specifications such as ambient temperature humidity dust dirt etc Power consumption of overall base unit Module layout design Calculate the heating value Layout in consideration of clearances between enclosure s inside walls other structures and modules and heats generated by modules within the control panel 4 INSTALLATION AND WIRING 4 INSTALLATION AND WIRING 4 1 Module Installation 4 1 1 Instructions for handling N 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 genera
133. n location o SSCNET cable the external battery Q173CPU N Q173DV Q173DVCBLLIM Q172CPUIN Q170BAT Q172J2BCBLLIM B For MR J20 B N Q172HBCBLLIM B For MR H BN Do not shot 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 2 SYSTEM CONFIGURATION a Connection with Q173CPU N Connection procedure of Q173CPU N and AGBAT MR BAT 1 Set the AGBAT MR BAT to the Dividing unit Q173DV 2 Connect the AGBAT MR BAT connector to the BAT connector of the Q173DV 3 Connect between Q173CPU N and Q173DV by the SSCNET cable Q173DVCBLLIM Q173CPU N Motion CPU mdule L_ CN1 Connection between Q173CPU N and Dividing unit Q173DV Q173DVCBLLIM Dividing unit A6BAT MR BAT Q173DV CNT SSCNETON3 E SSCNET CN4 SSCNET LINE1 CN1A Servo amplifier MR H BN MR J20 B b Connection with Q172CPU N Connection procedure of Q172CPU N and AGBAT MR BAT 1 Set the AGBAT MR BAT to the Battery unit Q170BAT 2 Connect the AGBAT MR BAT connector to the BAT connector of the Q170BAT 3 Connect between Q172CPU N
134. ng As a result 3 7 of the output power becomes the power consumption Therefore the calculation formula is as follows Wpw 3 x lv x 5 W 15 Current consumption of logic 5 VDC circuit of each module 2 Power consumption of a total of 5 VDC logic section of each module The power consumption of the 5 VDC output circuit section of the power module is the power consumption of each module including the current consumption of the base unit Wsv Isv x 5 W 3 Atotal of 24 VDC average power consumption of the output module power consumption for simultaneous ON points The average power of the external 24 VDC power is the total power consumption of each module Waav l24V x 24 W 124V Current consumption of the output module 4 Average power consumption due to voltage drop in the output section of the output module Power consumption for simultaneous ON points WOUT IOUT x Number of outputs x Simultaneous ON rate W loUT Output current Current in actual use A Vdrop Voltage drop in each output module V 5 Average power consumption of the input section of the input module Power consumption for simultaneous ON points WIN IIN x E x Number of input points x Simultaneous ON rate W Input current Effective value for E Input voltage Voltage in actual use V 3 13 3 DESIGN 6 Power consumption of the power supply section of the intelligent function module WS 15 X
135. ng mode BOOT LED Check lit not lit Not lit RAM operating mode Installation ROM writing mode CPU Check not lit Not lit Normal LED Abnormal if the LED turning ON CPU Lit green Normal MODE LED Check lit Lit orange Installation ROM writing mode Abnormal if the LED turned OFF 2 9 E gt a a 2 2 o z A PLC CPU module Module indication lamp CPU Check lit Lit Normal RUN LED Abnormal if the LED turned OFF CPU eres Not lit Normal Refer to section ERR LED Abnormal if the LED turning ON or flashing 2 4 1 CPU P Lit Operation in motion control M RUN LED RUN state abnormal if the LED turned OFF CPU Not lit Normal Check not lit Abnormal if the LED turning ON Motion CPU module 6 INSPECTION AND MAINTENANCE Daily Inspection continued Inspection item Criterion Action Input signal ON I Input signal OFF Check lit not lit Abnormal if the LED does not turning ON or turn OFF as indicated above Refer to section 2 4 1 Lit Output signal ON Not lit Output signal OFF Abnormal if the LED does not turning ON or turn OFF as indicated above Output LED Check lit not lit 5 c S3 6 2 o o 2 gt If a service life Cooling fan unit No vibration howl and noise time of the Q173CPU Q172CPU Check vibration howl and The service l
136. nnection between Q173CPU N and Q173DV 0 5m 1 64ft 1m 3 28ft Connection between Q173CPU N and the first MR J20 B 0 5m 1 64ft 1m 3 28ft 5m 16 4ft Connection between Q173CPU N and the first Q173HB ACBLOM ote 2 Note 3 MR H BN 0 5m 1 64ft 1m 3 28ft 5m 16 4ft Q173J2B ACBLEIMQNete2 Note 3 Motion CPU to servo amplifier SSCNET cable Note 1 Connection between MR J2LI B and MR J20 B MR J2HBUSLIM Note 2 Connection between Q173DV and MR J2LI B 0 5m 1 64ft 1m 3 28ft 5m 16 4ft Servo amplifier Dividing unit to servo amplifier SSCNET cable Connection between Q173DV and MR H BN MR J2HBUSEIM A Nete 2 Connection between MR H BN and 20 0 5m 1 64ft 1m 3 28ft 5m 16 4ft MR HBUSEIM Note 2 Connection between MR H BN and MR H BN 0 5m 1 64ft 1m 3 28ft 5m 16 4ft MR TM Connected to the last MR H BN by SSCNET Termination connector MR A TM Connected to the last MR J2LI B by SSCNET Note 1 Branch from a connector on the Q173CPU N side according to the number of lines Note 2 O cable length Note 3 A SSCNET LINE No none LINE1 2 LINE1 2 3 LINE1 2 3 4 LINE1 2 3 4 2 SYSTEM CONFIGURATION 2 Connection between Q172CPU N and servo amplifiers a When not using the external battery Q172CPU N Motion CPU module SSCNET cable over all length per 1 line 1 total of 3 s30m 98 36ft CNIB CN1B Servo
137. nput plus common Leakage current Input module Connect an appropriate resistor which will make the voltage across the terminals of the input module lower than the OFF voltage AC input Input module It is recommended to use 0 1 to 0 47yF 47 to 120 1 2W for the CR constant Same as Example 1 Or make up another independent display circuit Same as Example 1 However leakage current is not generated when the power supply is located in the input equipment side as shown below AC input Input module Power supply Connect a register which will make the voltage between the input module terminal and common higher than the OFF voltage as shown below DC input plus common Resistor Input module Note 1 A calculation example of a value for a connected resistor is given on the following page 6 INSPECTION AND MAINTENANCE Input Circuit Troubleshooting and Corrective Action Continued Condition Cause Corectveacion Sneak path due to the use of two power Use only one power supply supplies Connect a sneak path prevention diode Input signal Figure below does not l t dul turn OFF Example 5 Input module Depending on response time setting noise is Change response time setting False input imported as input Example 10ms 20ms due to noise E x Lu lt Calculation example of Example 4 gt
138. o oz os oso 1n Application When the extension cables are used in combination limit the overall length of the combined cable to 13 2m 43 28ft 3 Names of parts of the base unit Names of parts of the base unit are described below a CPU base unit Q33B Q35B Q38B Q312B 103 d e Application connector extension cables are connected Protective cover of extension cable connector Before an extension cable is connected 2 Base cover the area of the base cover surrounded by the groove under the word OUT on the base cover must be removed with a tool such as nippers Connector for installing the power supply module CPU module I O modules and intelligent function module To the connectors located in the spare space where these modules are not installed attach the supplied connector cover or the blank cover module QG60 to prevent entry of dirt Module fixing screw hole Screw hole for fixing the module to the base Screw size M3 x 12 Base fixing hole Hole for fixing this base unit onto the panel of the control panel for M4 screw DIN rail adapter fixing Module connector Hole for fixing DIN rail adapter hole 2 SYSTEM CONFIGURATION iwaw cu E E m JT 4 IO allocations It is possible to allocate unique I O No s for each Moti
139. o amplifier the servomotor MR J2M BULI MR J2 series x MR J2 LIB servo amplifier Refer to catalogue of the servo amplifier about the output capacity of the servomotor MR J2 Jr series MR J2 03B5 servo amplifier Battery MR BAT Back up for the absolute position detection mr the last servo amplifier MR J2S O1B MR J2M B MR J2 D1B MR J2 03B5 Connection between Q173DV and MR HOBN MR J2HBUSOM A Connection between MR HLIBN and MR J2S LIB MR J2M B MR J2 LIB MR J2 03B5 5m 1 64ft 1m 3 28ft 16 4ft SSCNET cable 0 5m t 1m 3 28ft 5m 16 4ft Connection between Q173DV and MR J2S LIB MR J2M B MR J2 LIB MR J2 03B5 MR J2HBUSOM Connection between MR J2S LIB MR J2M B MR J2 LIB MR J2 03B5 and MR J2S LIB MR J2M B MR J2 LIB MR J2 03B5 0 5m 1 64ft 1m 3 28ft 5m 16 4ft MR JHSCBLLIM L Standard cable Connection between HC SFS RFS UFS 2000r min series motor and MR JHSCBLOM H MR J2S LIB MR J2M B Long fixing life Connection between HC SF RF UF 2000r min series motor and MR ENCBLLIM H encoder cable MR J2 LIB 2m 6 56ft 5m 16 4ft 10m 32 8ft 20m 65 6ft 30m 98 4ft MR JCCBLLIM L Standard cable Connection between HC MFS KFS UFS 3000r min series motor and MR J2S LIB MR J2M B Encoder cable i HC MF i i MR JCCBLOM H Connection between HC MF UF 3000r min and HA FF series motor and MR J2 LIB why ris 2m 6 56ft 5m 16 4ft 10m 32 8ft 20m 65 6ft 30m 98 4 ft Long fixing life Connec
140. oasting of the servomotor will be a problem during the emergency stop the forced stop servo OFF or when the power is shut OFF use dynamic brakes Make sure that the system considers the coasting amount even when using dynamic brakes CAUTION In systems where perpendicular shaft dropping may be a problem during the emergency stop the forced stop and servo OFF or when the power is shut OFF use both dynamic brakes and magnetic brakes The dynamic brakes must be used only during the emergency stop the forced stop and errors where servo OFF occurs These brakes must not be used for normal braking The brakes magnetic 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 Use wires and cables that have a wire diameter heat resistance and bending resistance compatible with the system Use wires and cables within the length of the range described in the instruction manual 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 Install a cover on the shaft so that the rotary parts of the servomotor are not touched during operation There may be some cases where h
141. od Output current Max 20mA Power supply voltage 4 5 to 13 2VDC Current consumption Life time 100 revolutions at 200r min Radial load Max 19 6N Permitted axial loads Thrust load Max 9 8N Operation temperature 10 to 60 C 14 to 140 F Weight kg Ib 0 4 0 88 Number of max revolution Instantaneous Max 600r min normal 200r min Pulse signal status 2 signals A phase B phase 90 phase difference Friction torque 0 1N m at 20 C 68 F 2 Table of the Serial absolute synchronous encoder specifications Specifications 16384PLS rev Transmission method Serial communications connected to Q172EX Direction of increasing CCW viewed from end of shaft addresses Protective construction Dust proof Oil proof IP52 Permitted speed 4300r min Radial load Max 98N Permitted axial loads Thrust load Max 49N 0 02mm 0 00079 inch or less 15mm 0 59 inch from tip MR JHSCBLLIM H Connecting cable O Cable length 2m 6 56ft 5m 16 4ft 10m 32 8ft 20m 65 6ft 30m 98 4ft Communications method Differential driver receiver conforming to RS422A Transmission distance Max 30m 98 4ft 2 SYSTEM CONFIGURATION 2 4 8 Connection method with SSCNET cables and termination connector This section explains how to connect between Motion CPU module and servo amplifiers Connected between the Motion CPU module and servo amplifiers by the SSCNET When using the Q172CPU N can be used on
142. odule output terminals but lead to deterioration or burnout of load internal diodes Overvoltage applied to a load when eal output turns 2 OFF With polarity 1 C is charged With polarity 2 the C charge voltage plus the power supply voltage is applied across D1 Max voltage is approx 2 2E Example 1 Leak current due to internal surge suppressor Connect a resistor across the load AC input If long wring exists between the output card and the load leak currents also arise due to wiring capacity Load does not turn OFF Triac output Power supply Drive a relay and use the relay contacts to drive the CR timer Input module Resistor Output module CR timer See note attached to Example 1 as Time period some timers are half wave rectified fluctuates internally when load is Leak current A Resister a CR timer Triac output Fed Calculate resister timer constant from load Q E x Lu e E x Lu 6 INSPECTION AND MAINTENANCE 6 6 Error Code When the Multiple CPU system power supply is turned on and M RUN is running or trouble occurs during the running the Motion CPU displays an error by LED using the self diagnosis function and stores the error information in the special relay M9010 and special register D9008 6 6 1 Procedure for reading error codes When an error occurs the error code and error message can be read by the
143. oftware SW6RN SNETP Document print software SW3RN DOCPRNP SW20RN DOCPRNP SWERNC GSVHELPE Operationmanual 1CD ROM Installation manual i x SW6RNC GSVPROE C CC SW6RNC GSVSETE AG0CD PCF SSCIFcardPCMCIA TYPE W 1CH card D 170 cable 3m 9 84ft doo Note Operating environment of the programming software is WindowsNT 4 0 Windows 98 Windows 2000 English version only c PLC software packages GX Developer SWLID5C GPPW E il Note 6 or later 2 SYSTEM CONFIGURATION 5 Operating environment of the personal computer Operating environment is as follows IBM PC AT with which WindowsNT4 0 98 2000 English version operates normally WindowsNT 4 0 Service Pack 2 or later Note or a Item Windows 2000 Windows 98 Pentium133MHz or more Pentium 233MHz or more Memory capacity Recommended 32MB or more Recommended 64MB or more Hard disk free space Hard disk free space is as following list 3 5inch 1 44MB floppy disk drive CD ROM disk drive Display 800x600 pixels 256 colors or more Note Impossible to use USB connection It is necessary the following capacity depending on the installed software SW6RNC GSVE Se 1MB Custom When all selection 2MB SW3RN DOCPRNP SW20RN DOCPRNP 7MB SW6RNC GSVHELPE SW6RN GSV13P 23MB SW6RN GSV22P 30MB SW3RN CAMP 2MB SWERN DOSCP SWGRN SNETP
144. oints 8 axes Speed position switching input type home position return of for switching from speed to DOG CHANGE position switching control For detection of upper and lower stroke limits Signal No 1 to 8 can be assigned to the specified axis To make assignment make the system settings of the positioning software package 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 O Signal Pin Signal Name Pin Signal Signal No B20 FLS1 A20 FLS5 7 mI 1 1 B19 RLS1 A19 RLS5 B18 STOP1 A18 STOP5 nu Bi7 DOG1 CHANGE1 A17 DOG5 CHANGES J nu B16 FLS2 A16 FLS6 i 2 1 B15 RLS2 A15 RLS6 L6 nmn B14 STOP2 A14 STOP6 B13 DOG2CHANGE2 A13 DOG6 CHANGE6 J oo B12 FLS3 A12 FLS7 P i 3 1 B11 RLS3 A11 RLS7 7 oo B10 STOP3 A10 STOP7 nu L BQ DOG3 CHANGE3 A9 DOG7 CHANGE7 j I FLS4 A8 FLS8 j n 4 1 B7 RLS4 A7 RLS8 8 nu B6 STOP4 A6 STOP8 2 L Bs DOG4CHANGE4 A5 DOGBS CHANGES oo B4 No connect A4 No connect B3 No connect A3 No connect B2 COM A2 No connect B1 COM A1 No connect Applicable connector model name
145. olding by the magnetic brakes is not possible due to the life or mechanical structure when the ball screw and servomotor are connected with a timing belt etc Install a stopping device to ensure safety on the machine side 2 Parameter settings and programming CAUTION Set the parameter values to those that are compatible with the Motion controller servo amplifier servomotor and regenerative resistor model and the system application The protective functions may not function if the settings are incorrect The regenerative resistor model and capacity parameters must be set to values that conform to the operation mode servo amplifier and servo power supply module The protective functions may not function if the settings are incorrect Set the mechanical brake output and dynamic brake output validity parameters to values that are compatible with the system application The protective functions may not function if the settings are incorrect Set the stroke limit input validity parameter to a value that is compatible with the system application The protective functions may not function if the setting is incorrect N CAUTION Set the servomotor encoder type increment absolute position type etc parameter to a value that is compatible with the system application The protective functions may not function if the setting is incorrect Set the servomotor capacity and type standard low inertia flat etc paramet
146. on Motion CPU module in STOP status PLC CPU Program positioning module in data STOP status Q172LX external signals Motion CPU module in RUN status PLC CPU module in STOP status Basic axis operations Check each axis Manual operation Motion CPU module in RUN status PLC CPU module in RUN status Automatic operation 6 INSPECTION AND MAINTENANCE 6 INSPECTION AND MAINTENANCE lt DANGER Do not touch the terminals while power is on Doing so could cause shock Correctly connect the battery Also do not charge disassemble heat place in fire short circuit or solder the battery Mishandling of a battery can cause overheating or cracks which could result in injury and fires Turn off the all lines of the power supply externally when cleaning the module tightening the terminal screws or module fixing screws Not doing so could result in electric shocks Loose terminal screws may cause short circuits or malfunctions Failure to install the module correctly will result in short circuit malfunction or in the module falling N CAUTION In order to ensure safe operation read the manual carefully to acquaint yourself with procedures for program change forced outputs RUN STOP and PAUSE operations etc while operation is in progress Operation mistakes could cause damage to the equipment and other problems
147. on 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 PXLILI while ON OFF data output from the Motion CPU is handled via output devices PYOD It is not mandatory to match the I O device PX PY used in the motion program with the PLC I O No s but it is recommended to make them match as much as possible The following figure shows an example of I O allocation I O Allocations to X1F Y20 to Y3F Y40 to Y5F PXO PY20 to PX1F to PY3F X60 to Y7F Y80 to Y9F a 2 S z a CPU No 1 CPU No 2 CPU No 3 The Module The Module The Module The Module The Module The Module of the of the of the of the of the of the control control control control control control CPU No 1 CPUNo 1 CPUNo 2 CPUNo3 CPUNo 1 Note 1 When the number of the modules to be installed is 32 points Note 2 When the PX PY No does not match the PLC I O No Refer to the Q173CPU Q172CPU Programming Manual Motion SFC about the I O allocation setting method Refer to the QCPU Q Mode User s Manual Hardware Design Maintenance and Inspection about the allocation setting method of the Qn H CPU I O device of the Motion CPU can be set in the range PX PY000 to PX PYFFF The real I O points must be 256 points or less As
148. on metal that may cause a power leakage or wood plastic or vinyl that may cause static electricity buildup Do not perform a megger test insulation resistance measurement during inspection When replacing the Motion controller or servo amplifier always set the new unit settings correctly After maintenance and inspections are completed confirm that the position detection of the absolute position detector function is correct 6 INSPECTION AND MAINTENANCE N 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 If an error occurs in the self diagnosis of the Motion controller or servo amplifier confirm the check details according to the instruction manual and restore the operation If a dangerous state is predicted in case of a power failure or product failure use a servomotor with magnetic brakes or install a brake mechanism externally Use a double circuit construction so that the magnetic brake operation circuit can be operated by emergency stop signals set externally Shut off with the Shot off with servo ON signal OFF emergency stop alarm magnetic brake signal signal
149. onding operating system software on the Q173CPU N Q172CPU N 3 ltis possible to use stroke limit signals connected to Q172L X and signals of serial encoders connected to Q172EX etc for the purpose of motion control by setting the Q173CPU N Q172CPU N as the control CPU of various motion modules Q172LX Q172EX etc 4 Itis possible to perform not only servo control but also DI O input output control according to programs implemented in the Motion SFC program by setting the Q173CPU N Q172CPU N as the control CPU of the Q series PLC I O module When using the Motion SFC as the operating system software For information about the Q series PLC I O modules that can be controlled by the Motion CPUs refer to section 2 2 2 5 Itis possible to exchange data such as automatic refresh among CPU as the series PLC multiple CPU system 6 There is no restriction on the positions at which the modules controlled by the Motion CPU Q172LX Q172EX etc may be installed Specify the installation position in the system settings 2 SYSTEM CONFIGURATION 2 1 4 Restrictions on motion systems 1 Itis not allowed to use the Motion CPU as the control CPU of a module installed on the QA1S6LIB extension base unit A PLC CPU must be used as the control CPU 2 The connector for installation of memory card on the Motion CPU module is for future function expansion 3 The Motion CPU module cannot be used as standalone module It must
150. ong time please contact with our sales representative N 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 terminals U V W Incorrect connections will lead the servomotor to operate abnormally Do not connect a commercial power supply to the servomotor as this may lead to trouble Do not mistake the direction of the surge absorbing diode installed on the DC relay for the control signal output of Servo amplifier brake signals etc Incorrect installation may lead to signals not being output when trouble occurs or the protective functions not functioning Controll output signal Do not connect or disconnect the connection cables between each unit the encoder cable or PLC expansion cable while the power is ON Securely tighten the cable connector fixing screws and fixing mechanisms Insufficient fixing may lead to the cables combing off during operation Do not bundle the power line or cables 5 Trial operation and adjustment CAUTION Confirm and adjust the program and each para
151. or A6CON3 type Pressure displacement type connector Optional 1 Input type from manual pulse generator incremental synchronous encoder switched by HPSELU Not connection Voltage output type open collector type HPSELL I SG connection Diffrential output type Switching is possible for each input 1 to 3 2 Voltage output open collector type Connect the A phase signal to HA1P HA2P HASP and the B phase signal to HB1P HB2P HB3P 3 Differential output type Connect the A phase signal to HA1P HA2P HASP and the A phase inverse signal to HA1N HA2N HASN Connect the B phase signal to HB1P HB2P HB3P and the B phase inverse signal to HB1N HB2N HB3N 4 Connect the shield cable between manual pulse generator incremental synchronos encoder and Q173PX at the FG signal 2 52 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 Pin No PULSER connector nput or 4 ee Heer EA n p Signal name Voltage Output Wiring example Internal circuit Specification Description Output t ype 1 2 3 Rated input voltage For connection Manual A17 A12 A7 A E 5 5VDC orless manual pulse pulse t r L I kes Sw eres A HIGH level generator phase A A B17 12 B7 2 0 to5 25vpc Ph
152. or shut the power OFF with an error signal The regenerative resistor may abnormally overheat due to a fault in the regenerative transistor etc and may lead to fires Always take heat measure such as flame proofing for the inside of the control panel where the servo amplifier or regenerative resistor is installed and for the wires used Failing to do so may lead to fires Install operating system Install the positioning OS into the CPU module from the peripheral devise System setting mode Multiple CPU parameters setting Set the following positioning parameters from the peripheral devise a Multiple CPU parameters b Automatic refresh parameter setting c System setting Refer to section 5 3 5 TRIAL RUN AND ADJUSTMENT Check external inputs toQ172LX Refer to section 2 4 4 Check the wiring for the following external inputs by monitoring at a peripheral device a FLS Upper limit switch input b RLS x Lower imit switch input c STOP x Stop command Check external inputs to Q172EX Check the wiring for the following external inputs by monitoring at a peripheral device or using the Refer to section 2 4 5 LED indicators a Serial absolute synchronous encorder setting Check external inputs to Q173PX Check the wiring for the following external inputs by monitoring ata Refer to section 2 4 6 peripheral device or using
153. otion CPU module Q172CPU N MR J20 B Battery MR BAT A6BAT Battery MR BAT A6BAT MR H BN Battery MR BAT A6BAT MR J20 B JP Battery MR BAT A6BAT Termination connector d Termination connector Termination connector 2 SYSTEM CONFIGURATION 5 Setting of the servo amplifier axis numbers dno and axis No The axis No s are used to set the axis numbers of the SSCNET connected servo amplifiers in the program Axis No s 1 to 32 can be set for the Q173CPU N 1 to 8 for the Q172CPU N To set the axis No s assign the axis No s to the axis numbers dno set with the axis selection switches rotary switch of the servo amplifiers Positions 0 to 7 of the rotary switch correspond to d1 to d8 on the system settings screen to each SSCNET line in the system settings of the positioning software package You cannot set the same axis number dno and axis No dno more than once Correspondences between dno s and rotary switches of servo amplifier SSCNET Servo amplifier s SSCNET Servo amplifier s dno Note dno Note LINE rotary switch LINE rotary switch Note dno is the servo amplifier axis numbers displayed in the system settings of the positioning software package Set the axis No relative to the dno in system settings The Dividing unit Q173DV and the SSCNET cables Q173J2BACBLOIM Q173HBACBLOM between t
154. oved the Cooling fan unit Completion D b Installation of Cooling fan unit on Q173CPU Q172CPU The installation of the Cooling fan unit are described below Cooling fan unit Q170FAN The Cooling fan connector contents to the Motion CPU connector Connector Make sure that the connector correctly connected in the connector of the Motion CPU Insert the front side fixing hook into the first slit While rear side hook of the Cooling fan unit pushing from the top and insert another hook into the slit of the Motion CPU Completion N CAUTION Forcibly installation or removal the Cooling fan unit will damage the cover or printed circuit board of modules 4 INSTALLATION AND WIRING 4 5 Wiring 4 5 1 Instructions for wiring lt 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 N CAUTION Be sure to ground of the earth terminal FG and LG Not doing so could result in electric shock or erroneous operation Ground resistance 1009 or less When wiring in the Motion controller be sure that it is done correctly by ch
155. ower wires or install them close to each other They should be installed 100 mm 3 94 inch or more from each other Trying to bunch or install could result in noise that would cause erroneous operation 6 INSPECTION AND MAINTENANCE 6 2 Daily Inspection The items that must be inspected daily are listed below Table 6 1 Daily Inspection Installation condition of Check that fixing Screws The screws and cover must be installed Further tighten are not loose and the the base uri cover is not dislocated correctly Installation condition of check that te module Is The hook must be engaged and installed the I O module not dislocated correctly hook is engaged correctly Check that terminal Further tighten Terminal screws must not be loose screws are not loose terminal screws m Proximity of solderless Solderless terminals must be positioned at Connection condition terminals to each other proper intervals Further tighten The connector must not be loose connector fixing Screws Connectors of extension cable Power supply Check lit Lit green Normal POWER LED Abnormal if the LED turned OFF CPU T Lit PLC CPU started Check lit in RUN state RUN LED Abnormal if the LED turned OFF CPU Check not lit Not lit Normal ERR LED Abnormal if the LED turning ON or flashing mentals CPU Check lit Lit When occurs CHK state or USER LED annunciators ON F CPU Lit ROM operati
156. points 8192 points 2048 points 256 points Included the positioning 8192 points dedicated device Number of link registers W 8192 points Number of special registers D 256 points Motion devices 8192 points Number of coasting timers FT 1 point 888 5 Number of devices Device In the Motion CPU only 2 SYSTEM CONFIGURATION 2 4 2 Power supply module 1 Table ofthe power supply module specifications This section describes the power supply modules specifications iim Q61P A1 Q61P A2 REI 100 to 120VAC 10 15 200 to 240VAC 10 15 put power supply 85 to 132VAC 170 to 264VAC Max input apparent power 6A 5VDC Rated output current 24VDC Overcurrent 6 6A or more protection Note 1 Overvoltage 5 5 to 6 5V protection Note 2 Efficiency 70 or more Permissible instantaneous power off 20ms or less time Note 3 Across inputs LG and outputs FG 2 830VAC rms 3 cycles Altitude 2000m 6562ft Across inputs and outputs LG and FG separated across inputs and LG FG across outputs Insulation resistance and FG LG 10M or more by insulation resistance tester 500VDC e By noise simulator of 1 500Vp p noise voltage 11s noise width and 25 to 60Hz noise Noise immunity frequency Noise voltage IEC61000 4 4 2kV Operation indication LED indication Lit at 5VDC output Built in Unchangeable by user s ERR contact contact switched off opened normally closed contact at an er
157. r to section 3 2 Extenal 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 Safty circuit design Design the operation ready circuit which stops the system at Refer to section 3 2 2 occurrence of any alarm such as a Motion controller or servo amplifier alarm or the emergency stop the circuit which avoids a malfunction while power is instable at power on and the electromagnetic brake circuit for servo motors Y Layout design within control panel Temperatures and vibrations in consideration of heat generated from Refer to section 3 3 modules and handling of the modules installed Carry out layout design from such aspects as installation environment etc CAUTION Provide appropriate circuits external to the Motion CPU to prevent cases where danger may result from abnormal operation of the overall system in the event of a power supply fault or Motion CPU failure Install the Motion controller servo amplifier servomotor and regenerative resistor on inflammable material Direct installation on flammable material or near flammable material may lead to fires if a fault occurs in the Motion controller or servo amplifier shut the
158. racking enable signal is not used use the MR JHSCBLLIM H encoder cable between the serial absolute synchronous encoder MR HENC and SY ENC connector The following pin layout of the Q172EX SY ENC connector viewed from the front The pin layout and connection description of the SY ENC connector are described below SY ENC connector Applicable connector model names 10120 3000VE connector 10320 52F0 008 connector cover 3M make No connect No connect wo 46 mR wn 7 Mm Noconnect 18 Ps Bar 9 Ps P Ps Note Do not connect a wire to MD 6Pin MDR 16Pin Interface with external equipment The interface between the SY ENC connector and external equipment is described below 1 Wiring precautions Ensure the connector lock after connecting the connector Q173CPU N Q172EX Q172CPU N Q172EX Serial absolute synchronous Q173CPU N Q172CPU N Motion CPU module encoder interface module T SY ENC connector Serial absolute synchronous encoder cable MR JHSCBLOM H 4 Serial absolute synchronous encoder MR HENC 2 SYSTEM CONFIGURATION 5 Interface between SY ENC connector and external equipment Signal n TU T rims SY ENG connector Wiring example Internal circuit Specification Description Transmission method serial communications Position detection method absolute Serial absolute
159. ror stop of CPU Application for module operating status output Rated switching 24VDC 0 5A C voltage current s Minimum switching load 5VDC 1mA m OFF to ON 10ms or less ON to OFF 12ms or less Mechanical 2 million times or more Electrical 100 thousand times at rated switching voltage current or more Surge suppressor Fuse None Terminal screw size M3 5 x 7 Applicable wire size 0 75 to 2mm Applicable crimping terminal RAV1 25 to 3 5 RAV2 to 3 5 Applicable tightening torque 59 to 78 x 102 Nem 98 H x 55 2 W x 90 D 3 86 H x 2 17 W x 3 55 D Weight kg Dielectric withstand voltage Life time Exterior dimensions mm inch 2 SYSTEM CONFIGURATION The power supply module specifications continued m Q63P Q64P Power supply module loading slot Q33B Q35B Q38B Q312B Q65B Q68B Q612B 24VDC 30 35 100 to 120VAC 200 to 240VAC 10 15 15 6 to 31 2 VDO 85 to 132VAC 170 to 264VAC 50 60Hz 5 Input voltage distortion factor 596 or less Max input apparent power 160VA Inrush current 100A 1ms or less 20A 8ms or less 8 5A z o gt Overcurrent 6 6A or more 9 9 to 14 4A protection Note 1 Overvoltage 5 5 to 6 5V protection Note 2 24VDC Efficiency 70 or more power ot 10ms or less at 24VDC input 20ms or less Across inputs LG and outputs FG Dielectric withstand voltage 500VAC across primary and 5VDC 2 830VAC rms 3 cycles Altitude 2000m 656
160. rrosive or inflammable gas 5b There must not be a lot of conductible dust iron filings oil mist or salt organic solvents 6 No direct sunlight 7 No strong electrical or magnetic fields 8 No direct vibrations or shocks on the Motion controller 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 Duct height to 40mm 1 57inch over 50mm 1 96inch or more Q173CPUN Q172CPUN Q173CPU Q172CPU Without Cooling fan unit Duct height to 30mm 1 18inch 100mm 3 94inch 5mm 0 19inch 50mm 1 96inch or less or more or more or more Q173CPU Q172CPU With Cooling fan unit Shipped from the factory 50mm 1 97inch or more 2 Provide a wiring duct if required N CAUTION Due to ventilation problems do not install the base units vertically or horizontally Install the base units on a flat surface Unevenness or warping of the surface can apply undue force to printed circuit boards and lead to malfunctions Avoid installing the base units close to a vibration source such as a large electromagnetic contactor or no fuse breaker Install t
161. 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 The insides of the Motion controller and servo amplifier are charged and may lead to electric shocks 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 Be sure to ground the Motion controller servo amplifier and servomotor Ground resistance 100 or less Do not ground commonly with other devices The wiring work and inspections must be done by a qualified technician Wire the units after installing the Motion controller servo amplifier and servomotor Failing to do so may lead to electric shocks or damage Never operate the switches with wet hands as this may lead to electric shocks Do not damage apply excessive stress place heavy things on or sandwich the cables as this may lead to electric shocks Do not touch the Motion controller servo amplifier or servomotor terminal blocks while the power is ON as this may lead to electric shocks Do not touch the internal power supply internal grounding or signal wires of the Motion controller and servo a
162. rvo 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 Do not place the Motion controller or servo amplifier on metal that may cause a power leakage or wood plastic or vinyl that may cause static electricity buildup Do not perform a megger test insulation resistance measurement during inspection When replacing the Motion controller or servo amplifier always set the new module settings correctly When the Motion controller or absolute value motor has been replaced carry out a home position return operation using one of the following methods otherwise position displacement could occur 1 After writing the servo data to the Motion controller using programming software switch on the power again then perform a home position return operation 2 Using the backup function of the programming software load the data backed up before replacement After maintenance and inspections are completed confirm that the position detection of the absolute position detector function is correct 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 c
163. s lowered the M9006 and M9007 are ON M9006 is turned on when battery voltage reduces to less than specified at all the time but turned off when battery voltage becomes normal M9007 is turned on when battery voltage reduces to less than specified it is not keeping alarm when Multiple CPU system is restart the power or reset Set the system settings the external battery is using or not 6 INSPECTION AND MAINTENANCE a ss s s lt ru r m src r mI 6 4 1 Battery service life time 1 Q173CPU N Q172CPU N Q172EX module battery service life time The battery service life time corresponding to the type is shown below EM Battery service life time Total power interrupt time h Note 1 Classification Guaranteed time Actual time Atter te enor MIN TYP ry Charging time of Internal 500 8 hours or more i Saas No error detection rechargeable arging ume 1100 4300 40 hours or more 120 External A6BAT MR BAT Note 2 60000 240000 After M9006 M9007 on MR HENC 1 10000 30000 40 MR HENC X2 15000 After Error code 1152 Note 1 The actual time in use means the averaged time and the guaranteed time means the minimum time Note 2 The external battery for Q173CPU N is installed to the Dividing unit Q173DV The external battery for Q172CPU N is installed to the Battery unit Q170BAT The service life time of the AGBAT MR BAT is 4 to 5 years when it is connected to the Q173CPU N Q172CPU N Q172EX and th
164. s section describes the system configuration of the Q173CPU N Q172CPU N cautions on use of the system and configured equipment 2 1 Motion System Configuration The outline of the equipment configuration configuration with peripheral devices and 2 system configuration in the Q173CPU N Q172CPU N system is described below 1 Equipment configuration in Q173CPU N system Q173CPU N System configuration Note Is this system Continuously power off for 1000 hours or more running Refer to equipment configuration of a When using the Dividing unit external battery Note Set the battery A6BAT MR BAT to the Dividing unit Q173DV Should the Refer to equipment configuration of a When using Dividing unit be used to divide the Dividing unit external battery SSCNET Lines Is the type Of the amplifier used at 1st axi of each SSCNET line Refer to equipment configuration of a When using the Dividing unit external battery Refer to equipment configuration of b when using the Dividing cable Note Use a Q173J2BCBLOM Q173HBCBLUOM Is it possible to use only 1st SSCNET Line Refer to equipment configuration of b When using the Dividing cable Note Use a Q173J2B2CBLOM Q173HB2CBL DM Is it possible to use 1st and 2nd SSCNET Line Is it possible Refer to equipment configuration of b When using to us
165. same bus is 30m 98 4ft Q172J2BCBLLIM Q172J2BCBLOM HDR E14MG1 connector 10120 6000EL connector HDR E14 LPA5 connector case Maker Honda connectors 10320 3210 000 shell kit Maker 3M TD1 1 LZ 2 RD TDi gL 1142 RD LG sp 4116 LG 11 LG RD 3 L 4 TD RD 10 h 14 TO LG 6 51 LG BT 13L _ 9 BT EMG 4 Lif 7 EMG EMG 11 L 1117 EMG SD shell e shel SD Q172J2BCBLLIM B Q172J2BCBLLIM B HDR E14MG1 connector 10120 6000EL connector HDR E14 LPA5 connector case 10320 3210 000 shell kit Maker Honda connectors Maker 3M da iut POS AE TUS 2 1 1 1 l 12 l l l 1 1 1 1 x mus 4 l l l 14 l l l 5 l 1 9 are l 1 1 17 l l l a e shell HCN2 2 5S 2 socket HNC2 2 5S D B terminal block Maker HIROSE ELECTRIC App 3 RD RD LG LG TD TD LG BT EMG EMG SD APPENDICES b Q172HBCBLLIM B 1 Model explanation Type Q1 Symbol Cable length m ft 05 0 5 1 64 1 1 3 28 5 16 4 2 Connection diagram When fabricating a cable use the recommended wire given on Appendix 1 1 and make the cable as show in the following connection diagram The overall distance of the SSCNET cables on the same bus
166. se unit 1 Module fixing hook Quick release installation Display the input status from the external equipment LED Indicates to display the signal input status of Mode judging LED SY ENC each serial absolute synchronous encoder 1 2 When the serial absolute synchronous encoder cable connected property LED is turned on TREN Indicates to display the signal status of tracking 1 2 enable SY ENC connector Input connector of the serial absolute synchronous encoder Module loading lever Used to install the module to the base unit Module fixing screw Hole for the screw used to fix to the base unit 5 hole M3x12 screw Purchase from the other supplier Module fixing hook Hook used to fix to the base unit Battery connector For connection of battery lead wire Battery holder Used to the Install the Battery AGBAT MR BAT to the holder Batter y For Serial absolute synchronous encoder battery backup A6BAT MR BAT 2 SYSTEM CONFIGURATION 2 Performance specifications a Tracking enable signal input Specifications Number of inputs Tracking enable signal 2 points Input method Sink Source type Isolation method Photocoupler 12 24VDC 10 2 to 26 4VDC 12 24VDC_ 10 15 ripple ratio 5 or less 10VDC or more 2 0mA or more OFF voltage current 1 8VDC or less 0 18mA or less Reenansedine 0 4ms 0 6ms 1ms CPU parameter setting Default 0 4ms Common terminal arrangement 1 point common Common termina
167. servo amplifier Part name Model name Depiction in connection example Servo amplifier to servo amplifier MR J2HBUSLIM Ed SSCNET cable Q173HB ACBLLIM Q172HBCBLLIM B Motion CPU to servo amplifier SSCNET cable Q173J2B ACBLLIM Q172J2BCBLLIM B Motion CPU to Dividing unit 173DVCBLLIM Termination connector E dd q a MR H BN configuration Motion CPU module MR H BN MR H BN MR H BN Q173CPU N Q172CPU N J lt _Termination connector Battery MR BAT A6BAT Q172CPU N configuration Q172HBCBLOM Q173CPU N configuration Q173HBACBLLIM Battery Battery MR BAT MR BAT A6BAT A6BAT 2 SYSTEM CONFIGURATION Motion CPU module Q173CPU N Q172CPU N Motion CPU module Q173CPU N Q172CPU N Motion CPU module Q173CPU N Q172CPU N Motion CPU module Q173CPU N Q172CPU N MR J2D B Battery MR BAT A6BAT Q172CPU N configuration Q172J2BCBLLIM Q173CPU N configuration Q173J2BACBLLIM MR J2n B Battery MR BAT A6BAT Q172CPU N configuration Q172J2BCBLLUIM Q173CPU N configuration Q173J2BACBLLIM Battery MR BAT A6BAT Q172CPU N configuration Q172HBCBLL IM Q173CPU N configuration Q173HBACBLLIM MR J20 B b MR J20 B configuration MR J20 B MR J20 B Battery MR BAT
168. ss 0 18mA or less Input resistance Approx 5 6K Response time of the Upper Lower stroke limit and 1ms STOP signal Response time of the proximity dog Speed position switching signal Common terminal arrangement 32 points common common terminal B1 B2 Indicates to display ON indication LED External connector type 40 pin connector Applicable wire size 0 3mm 0 4ms 0 6ms 1ms CPU parameter setting Default 0 4ms Applicable connector for the external A6CON1 Attachment connection A6CON2 AeCONG Optional Applicable connector pp j A6TBXY36 A6TBXY54 A6TBXY70 Optional Terminal block converter module 32 points I O allocation Intelligent 32 points 0 05 98 H X 27 4 W gt X89 3 D 3 86 H x 1 08 W x 3 52 D Weight kg 0 15 Exterior dimensions mm inch 2 SYSTEM CONFIGURATION 3 Connection of servo external signals interface module a Servo external signals There are the following servo external signals 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 Number of points Servo external signal Application on one Q172LX Upper stroke limit input FLS stroke limit input FLS Lower stroke limit input RLS Stop signal input STOP For stopping under speed or positioning control 32 points Proximity dog For detection of proximity dog at proximity dog or count 4 p
169. t on the Motion controller side In some cases ground it in the opposite side Multiple CPU system Shielded cable Fe A OO Input l f Output e Where wiring runs through piping ground the piping without fail f Run the 24VDC input line away from the 100VAC and 200VAC lines 4 INSTALLATION AND WIRING g Wiring of 200m 686 67ft or more 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 3 Grounding To ground the cable follow the steps a to c shown below a Use the dedicated grounding as independent as possible Ground resistance 100 or less b When the Multiple CPU system and the another equipment cannot be departed to ground the cable each other use 2 Common Grounding shown below Multiple CPU Another system equipment O O grounding Multiple CPU Another system equipment 1 Independent grounding Best 2 Common grounding Good 3 Joint grounding Not allowed c Use the grounding cable of 2 mm or more Position the ground contact point as nearly to the Multiple CPU system as possible and use the total length of the grounding cable as short as possible 4 INSTALLATION AND WIRING 4 5 2 Wiring to the power supply module The following diagram shows the wiring example of power lines grounding lines etc to the CPU and extens
170. t the power supply module also consideration of the current consumption of the connecting peripheral device MR HENC or MR HDP01 2 32 2 SYSTEM CONFIGURATION 4 Example of the power supply selection calculation When using the Q173CPU a System configuration Q38B MR HDP01 MR HDP01 MR HENG b 5VDC current consumption of each module QO2HCPU 0 64 A Q173PX 0 11 A Q173CPU 1 75 A MR HDP01 0 06 Q172LX 0 05 A QX40 0 05 A Q172EX 0 07 A QY10 0 43 A MR HENC 0 451 A Q38B 0 114 A c Power consumption of overall modules I5V 0 64 1 75 0 05 0 07 0 15 0 11 0 06 x 2 0 05 x 2 0 43 x 2 0 114 3 964 A Select of the power supply module Q61P A1 100VAC 6A according to this internal current consumption 3 964 A Note Configure the system in such a way that the total current consumption at 5VDC of all the modules is less than the allowable value 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 1 Table ofthe base unit specification a CPU base unit specifications om _ Number of modules Possibility of extension Extendable Applicable module Q series modules 5VDG internal current 0 105 0 110 0 114 0 12
171. tary shaft MR HENC Coupling Fig 4 2 Connecting the encoder to a machine side rotary shaft Never hit the end of the MR HENC coupling shaft with a hammer when connecting the coupling to it The large loads applied to MR HENC will damage it The MR HENC uses optical parts Install it in an atmosphere where there are extremely few water drops and little oil and dust In any place where the MR HENC is exposed to water and or oil provide protection from oil and water e g install a cover In addition run the cable downward to prevent oil and or water from running on the cable into the MR HENC When it is inevitable to install the MR HENC vertically or obliquely trap the cable Use the MR HENC within the specified temperature range 0 to 55 C 32 to 131 F 4 INSTALLATION AND WIRING 4 4 Replacement of the Cooling fan unit Q170FAN Q173CPU Q172CPU only 1 Removal and installation of the Cooling fan unit Q170FAN a Removal of Cooling fan unit from Q173CPU Q172CPU The removal of the Cooling fan unit are described below Remove the Cooling fan con nector from the Motion CPU connector Cooling fan unit Q170FAN Q173CPU Q172CPU module When the screwdriver be tween the Cooling fan unit and the Motion CPU module lift the Cooling fan unit upwards and remove the hook The screwdriver of the Cooling fan unit insert this point from the slit of the Motion lift upwords and CPU rem
172. ternal input signal of the t Number of points on em incremental synchronous encoder one Q173PX Tracki ble signal input High d readi functi Pi racking enable signal inpu igh speed readings function i p ee d Total 3 points 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 Signal Name Pin Signal Name O HB1 A20 HA1 2 SG A19 SG 5 5V A18 HPSEL1 1 io HAIN A17 HA1P HB1N A16 HB1P nu HB2 A15 HA2 711 2 SG A14 SG nu 5V A13 HPSEL2 1 2 12 2 3 n HB2N A11 HB2P nu nmn HB3 A10 HA3 2 nu SG A9 SG nu 5V A8 HPSEL3 1 HA3N A7 HA3P n HB3N A6 HB3P 5 TRENI A4 TREN1 TREN2 A3 TREN2 TREN3 A2 TREN3 FG A1 FG 4 Applicable connector model name A6CON1 type soldering type connector FCN 361J040 AU connector FUJITSU TAKAMISAWA attachment COMPONENT LIMITED FCN 360C040 B connector cover A6CON type Crimp contact type connect
173. th a tester etc Failing to do so may lead to electric shocks Be sure to ground the Motion controller servo amplifier and servomotor Do not ground commonly with other devices Ground resistance 100 or less The wiring work and inspections must be done by a qualified technician Wire the units after installing the Motion controller servo amplifier and servomotor Failing to do so may lead to electric shocks or damage Never operate the switches with wet hands as this may lead to electric shocks Do not damage apply excessive stress place heavy things on or sandwich the cables as this may lead to electric shocks Do not touch the Motion controller servo amplifier or servomotor terminal blocks while the power is ON as this may lead to electric shocks Q Do not touch the internal power supply internal grounding or signal wires of the Motion controller and servo amplifier as this may lead to electric shocks 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 Do not place the Motion controller or servo amplifier
174. the LED indicators a Mnual pulse generator Motion CPU incremental synchronous encorder setting N CAUTION Do not install a phase advancing capacitor surge the VO type absorber or radio noise filter option FR BIF on wiring which the Motion CPU the output side of the servo amplifier module controls module setting Correctly connect the output side terminal U V servomotor to operate abnormally Servo data setting mode W Incorrect connections will lead the Positioning parameters setting Set the following positioning param eters from the peripheral device a Fixed parameters N CAUTION Set parameter values to those that are compatible with the motion controller servo b Servo parameters amplifier servomotor and regerative resistor model and the system application The protective functions may not function if the settings are incorrect Home position return data Limit switch 2 c q 5 TRIAL RUN AND ADJUSTMENT 2 Programing mode Create motion programs Create motion programs by GSVLIP Motion CPU Parameter setting mode PLC parameter setting Set the parameter setting multiple system setting from the peripheral device by the GX Developer Programming mode Create PLC programs PLC CP
175. the Dividing unit Installation of the Battery unit Installation of the Synchronous encoder Wiring of the power supply modules and modules wires Wiring of the SSCNET cable Check for loose or distorted installation Check that the fixing screw tightening torque is as specified REGNI Check the unit for damage pps Check that the installation module models are correct Check that the Q173CPU N Q172CPU N and Q CPU are installed to the Motion CPU slots PLC CPU slots Check that the Q172LX Q172EX and Q173PX are installed to the Motion CPU control slots Check that the combination Q173CPU N and the Dividing unit are correct Check for loose or distorted installation Check that the combination Q172CPU N and the Battery unit are correct Check for loose or distorted installation Check that the amplitude eccentricity and axial displacement relative to the machine side rotary shaft are within the permissible values Check that a flexible coupling is used for coupling with the machine side rotary shaft Check the module for damage Check that excessive impact was not given during installation closely as possible and run in the shortest distance cable together with and run close to the power and I O wires Check that the terminal block screw tightening torque is as specified Check that grounding the dedicated grounding When using Q173DV check that the Q173CPU N and Q173DV are connected to the SSC
176. the SSCNET cables A Table 2 Table of wire model Length m ft Wire model Q172J2BCBLLIM C 0 5 1 64 1 3 28 5 16 4 UL20276 AWG 28 7 pair CREAM Q172HBCBLOM B Q173DVCBLEIM 0 5 1 64 1 3 28 UL20276 AWG 28 13 pair CREAM Q173J2BACBLLIM MR J2HBUSLIM B UL20276 AWG 28 7 pair CREAM Q173HBACBLOM B MR J2HBUSLIM 0 5 1 64 1 3 28 5 16 4 120276 AWG 28 10 pair CREAM MR J2HBUSOIM A MR HBUSLIM A14B2343 6 Pair App 1 APPENDICES Table 3 Table of wire specifications Characteristics of one core Insulatin Finish OD Wire model i Number of Structure Conductor sheath On mm 2 cores Number of resistance dimm Note 2 wires mm 9 km mm Note 1 14 7 pairs 7 0 127 Max 222 20 10 pairs 7 0 127 Max 222 26 13 pairs 7 0 127 Max 222 eae 12 6 pairs 40 0 08 Max 105 Note 1 d is as shown below d Insulation sheath Conductor Note 2 Standard OD Max OD is about 10 larger CAUTION When fabricating the bus cable do not make incorrect connection Wrong connection will cause runaway or explosion App 2 APPENDICES a Q172J2BCBLLIM B 1 Model explanation Type Q172J2BCBL O M x 0 5 1 64 1 3 28 5 16 4 2 Connection diagram When fabricating a cable use the recommended wire given on Appendix 1 1 and make the cable as show in the following connection diagram The overall distance of the SSCNET cables on the
177. the error code Check of trouble Check to see how the operating condition varies while the Motion controller is operated is operated as follows 1 Set the RUN STOP switch to STOP 2 Reset the trouble with the RESET L CLR switch 3 Turn ON and OFF the power supply Reduction in area Estimate the troubled part in accordance with items 1 and 2 above 1 Multiple CPU system or external devices 2 Motion CPU or PLC CPU 3 module or others 4 Servo program or Motion SFC program 5 PLC program www iw 6 INSPECTION AND MAINTENANCE 6 5 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 Q mode User s Manual Function Explanation Program fundamentals of their respective modules 1 Troubleshooting flowchart The followings show the contents of the troubles classified into a variety of groups according to the types of events Error occurrence description a Flowchart for when POWER LED is not lit POWER LED not lit b Flowchart for when MODE LED is not lit MODE LED not lit c Flowchart for when RUN LED is not lit RUN LED not lit d Flowchart for when ERR LED is lit flashing ERR LED lit flashing e Flowchart for when M RUN LED is not lit M R
178. 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 In addition the usable numbers of synchronous encoders differ depending on the modules The following number of serial absolute synchronous encoders and incremental synchronous encoders combined can be used Motion CPU module Synchronous encoder Max 12 modules Q173CPU N Q172bX Max 6 modules Max 8 modules Q172CPU N Q172bX Max 4 modules Tracking enable signal Tracking enable signal of Q172EX is used as a high speed reading function It can not be used as the input start signal which start the input form synchronous encoders When using the inputs start signal which start the input from synchronous encoder must be used Q173PX Type of synchronous encoder is voltage output incremental or differential output incremental The external input signal of the synchronous encoder is indicated below External input signal of the Number of points synchronous encoder on one EET 72EX Tracking enable signal input High speed reading function 2 2points 2 SYSTEM CONFIGURATION iwa 4 Connection of synchronous encoder interface module a Connection with serial absolute synchronous encoder b MR HENC Use the SY ENC connector at the Q172EX module front to connect the serial absolute synchronous encoder MR HENC When t
179. the parameter values to those that are compatible with the Motion controller servo amplifier servomotor and regenerative resistor model and the system application The protective functions may not function if the settings are incorrect 2 SYSTEM CONFIGURATION 2 1 2 Q172CPU N System overall configuration Motion CPU contol module lt lt o o 2 2 Il Blo 8 5 95 929299 CPU base s 8538 SES unit PLC CPU ecalegsa S52 Q3DB Motion CPU 255 55297 Q61P AD Qn H Q172 0172 Q172 Q173 aieo CPU LX Px module of the Q Series or ayoo Special function module 100 200VAC TIT lt Input output Max 256 Battery unit n Q170BAT aS Interrupt signals 16 points b ___ p Manual pulse generator x 3 module Personal Gomputer MR HDP01 Max 1 module IBM PC A USB Serial absolute synchronous encoder cable RS232 MR JHSCBLOM H Serial absolute synchronous encoder x 2 module MR HENC Max 4 modules Communication cable L__ External input signals Number of Inputs Q170CDCBLOM E Q170BDCBLOM FLS Upper stroke limit RLS Lower stroke limit 8 axes module SSCNET STOP Stop signal Max 1 module DOG CHANGE Proximity dog SSC I F card board k iti itchi A30CD PCF Speed position switching ADOBD PCF Termination SSCNET cable
180. tion between HC AQ series motor and MR J2 03B5 MR JCCBLLIM H encoder cable 2m 6 56ft 5m 16 4ft 10m 32 8ft 20m 65 6ft 30m 98 4ft Connection between HC AQ series motor and MR J2 03B5 MR JRBRCBLOIM H 2m 6 56ft 5m 16 4ft 10m 32 8ft 20m 65 6ft 30m 98 4ft Motor cable for servomotor with electro magnetic brake Servo amplifier and junction side connector set for HC SFS RFS UFS 2000r min series motor HC SF RF UF 2000r min series motor Servo amplifier and Junction connector set for HC AQ series motor Servo amplifier side Motor cable for servomotor with electro magnetic brake and HC AQ series motor Need MR JRBRON for electromagnetic brake contact Servo amplifier and junction side connector set for HC MFS KFS UFS 3000r min series and HA FF HC MF UF 3000r min series motor Encoder connector set MR JRBRCNM 2 SYSTEM CONFIGURATION 4 Software packages a OS software packages Application OS software package Remark Q173CPU N Q172CPU N F ly SV1 or conveyor assembly SW6RN SV13QB SW6RN SV13QD Motion SFC For automatic machinery SV22 SW6RN SV22QA SWE6RN SV22QC Motion SFC b Integrated start up support software packages Conveyor assembly software SW6RN GSV13P Automatic machinery software SW6RN GSV22P SW6RNC GSVE Cam data creation software SW3RN CAMP Integrated start up support software Digital oscilloscope software SW6RN DOSCP SW6RN GSVPROE 1 CD ROM Communication system s
181. tions Model name Q170FAN Tye sis fs oolingfan fan Operating ambient 0 to 70 Temperature C F 32 to 158 4 3 t0 5 8 Service life time 30000 hours rated voltage continuous operation at 40 C 104 F For cooling Motion CPU module 0 01 As a guideline for preventive maintenance the module should be inspected every six months and replaced approximately every two to three years even if the accumulated number of operating hours is less than the service life time shown above Refer to section 6 3 Periodic Inspections 2 SYSTEM CONFIGURATION iwaw 3 In point of the layout design within the control panel Leave 50mm 1 97inch or more clearance between the top of the modules and structures or parts Top of control panel wiring duct or other components 2 Cooling fan unit Q170FAN The wind blows lies 50mm 1 97inch min PLC CPU Power supply Motion CPU 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 CPU module according to number of control axes Select the motion functions to be installed accdording to the machinery and equipment to be controlled selection of the programing software packages according to the OS software packages Select the number of Q172LX s and design according to the e
182. to exercise PID control Optional 13JF59 Software of PLC QCPU Q Mode QnA Programming Manual SFC This manual explains the system configuration performance specifications functions programming debugging error codes and others of MELSAP3 Optional SH 080041 13JF60 QCPU Q Mode User s Manual Hard ware Design Maintenance and inspection SH 080037 This manual provides the specifications of the CPU modules power supply modules base modules 13JI97 extension cables memory cards and others Optional Building Block I O Module User s Manual SH 080042 This manual provides the specifications of the I O modules connector connector terminal block 13JL99 Hardware of PLC conversion modules and others Optional MEMO 16 1 OVERVIEW 1 OVERVIEW 1 1 Overview This User s Manual describes the hardware specifications and handling methods of the Motion Controller s Model Q173CPU N Q172CPU N 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 cable In this manual the following abbreviations are used Generic term Abbreviation 173CPU N Q172CPU N Motion CPU la h Maton 9 Q173CPUN Q172CPUN Q173CPU Q172CPU Motion module Motion CPU module MR H BN or Servo amplifier Servo amplifier model MR HLIBN
183. ule ERR OFF by ERR pply Ao output module MC MC yr EAT a 1 Interlock circuits as 5 J _ i tiiis output equipment 1 1 necessry Provide external interlock 1 power off when aa switch OFF 1 1 forward rotation and reverse rotarion and for parts that could e E damage the machine or ere eee 1 cause accident if no interlock were used circuits for conficting i on emergency stop limit switch operations such as Hi gt stop at upper lower The power ON procedure is as follows For AC DC 1 Switch power ON 2 Set CPU to RUN 3 When DC power is established RA2 goes ON 4 Timer TM times out after the DC power reaches 100 The TM set value should be the period of time from when RA2 goes ON to the establishment of 100 DC voltage Set this value to approximately 0 5s 5 Turn ON the start switch 6 When the magnetic contactor MC comes on the output equipment is powered and may be driven by the program If a voltage relay is used at RA2 no timer TM is required in the program 3 7 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 When wiring separate the lines of Multiple CPU system power supplies fro
184. umber of Motion SFC steps program Max 4094 steps Moti n SFC pr gram Number of selective branches branch 255 Number of parallel branches branch 255 Parallel branch nesting Up to 4 levels Control 4096 with F Once execution type and FS Scan execution type P prog combined F FSO to F FS4095 Operation control program F FS Max 8192 blocks in the case of 4 steps min blocks Transition program Max 64 operand constants word device bit devices G nesting block Max 32 Operation control program Calculation expression bit conditional expression Descriptive T B Calculation expression bit conditional expression comparison Expression Transition program ui conditional expression Number of multi executed programs Max 256 Number of multi active programs Max 256 steps all programs Normal task Executed in motion main cycle Fixed cycle Executed in fixed cycle Event task y 0 88ms 1 77ms 3 55ms 7 11ms 14 2ms Execute specification Executed Execution External Executed when input ON is set among interrupt module QI60 ack can be interrupt 16 points masked PLC interrupt Executed with interrupt from PLC CPU When PLC CPU dedicated command S P GINT is executed Executed when input ON is set among interrupt module QI60 NMI task 16 points Number of I O points X Y 8192 points N f real i umber of real I O points Total 256 points PX PY Total M L 8192
185. xed applications so use these with the conditions specified in the instruction manual N CAUTION f safety standards ex robot safety rules etc apply to the system using the Motion controller servo amplifier and servomotor make sure that the safety standards are satisfied Construct a safty circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safty directive operation in the system 5 TRIAL RUN AND ADJUSTMENT 3 Test mode servo start up Initial check 4 Check servo amplifier Detected error description and servo amplifier axis number dno displayed on initial check screen Check that installed servo amplifiers operate correctly Test mode servo start up Model name check Read and displays the servomotor and servo amplifier model names from the servo amplifier after they have been transferred to the servo amplifier during initial communications with it Sugeest Compare the set servomotor and servo amplifier model names with the displayed model names Test mode servo start up Motion CPU Motor rotation direction check Check motor rotation directions Release brake on motor with brake If an error occurs reset the emergency stop and forced stop in a status where the emergency Check motor rotation directions are

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