MITSUBISHI ELECTRIC MELSEC System Q Programmable Controllers Quick-Start Guide Motion Controller Q170MCPU Q172DCPU Q173DCPU Art. No.
Quick-Start Guide Motion controller Q170MCPU/Q172DCPU/Q173DCPU Art. no.
About This Manual The texts, illustration, diagrams and examples in this manual are provided for information purposes only. They are intended as aids to help explain the installation, operation, programming and use of the Mitsubishi motion controllers. If you have any questions about the installation and operation of any of the products described in this manual please contact your local sales office or distributor (see back cover).
Related Manuals The following manuals are also related to this Quick-Start Guide. These can be obtained free of charge from our website at www.mitsubishi-automation.com. Servo amplifier PLC Motion controller Device Manual Name Manual Number/ Art. No.
Safety Guidelines General safety information and precautions For use by qualified staff only This manual is only intended for use by properly trained and qualified electrical technicians who are fully acquainted with the relevant automation technology safety standards.
● Fire safety regulations ● Accident prevention regulations – VBG Nr.4 Electrical systems and equipment Safety warnings in this manual In this manual warnings that are relevant for safety are identified as follows: II m DANGER: b WARNING: Failure to observe the safety warnings identified with this symbol can result in health and injury hazards for the user. Failure to observe the safety warnings identified with this symbol can result in damage to the equipment or other property.
Specific safety information and precautions The following safety precautions are intended as a general guideline for using PLC systems together with other equipment. These precautions must always be observed in the design, installation and operation of all control systems. m DANGER: ● Observe all safety and accident prevention regulations applicable to your specific application.
Precautions to prevent damages by electrostatic discharge Electronic devices and modules can be damaged by electrostatic charge, which is conducted from the human body to components of the PLC. Always take the following precautions, when handling the PLC: b WARNING: ● Before touching a module of the PLC, always touch grounded metal, etc. to discharge static electricity from human body. ● Wear isolating gloves when touching the powered PLC, e. g. at maintenance during visual check.
Screenshots and Software version All screenshots in this manual were captured with versions of the programming software listed in section 4.2.1 running under Windows XP. Slight modifications could occur in case of newer software versions.
Typographic Conventions Use of notes Notes containing important information are clearly identified as follows: NOTE Note text Use of examples Examples containing important information are clearly identified as follows: Example 왓 Example text 쑶 Numbering in figures and illustrations Reference numbers in figures and illustrations are shown with white numbers in a black circle and the corresponding explanations shown beneath the illustrations are identified with the same numbers, like this: Proced
Table of Contents Table of Contents 1 Introduction 1.1 What is motion control? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1 1.1.1 1.1.2 1.2 Block diagram of a motion control system. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2 Difference between Q170MCPU and QD Motion controllers . . . . . . . . . . . . . . . . . . . . 1-2 Specification . . . . . . . . . . . . . . . . . . . . . . .
Table of Contents 5 Project creation 5.1 Sample project creation with MT Developer2 and GX Developer . . . . . . . . . . . . . . . . . . . . . . . . . 5-1 5.2 Additional procedures. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11 5.2.1 5.2.2 5.2.3 5.2.4 5.2.5 5.2.6 6 Sample programs 6.1 Sample program with OS SV22: 2_axes_motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
What is motion control? 1 Introduction Introduction This english document is the original instruction. This start-up guidance is intended for those who use the Q170MCPU standalone motion controller and QD-Motion controller for the first time. How to use programming tool MT Works2 for motion CPU and programming tool GX (IEC) Developer for sequencer CPU will be explained. Refer to our QD-Motion controller/Q170MCPU manuals for further information. (For manual numbers see preamble of this quick start guide.
Introduction 1.1.1 What is motion control? Block diagram of a motion control system The following diagram shows the components of a motion control system with CPUs, modules, servo amplifiers and motors. Motion controller PLC CPU area (CPU No.1 fixed) Power supply PLC control processor Motion CPU area (CPU No.
Specification Introduction 1.2 Specification 1.2.1 Q170MCPU Item Specification Power Supply 24 V DC +/-10 %, ripple ratio 5 % or less Mass [kg] 0.
Introduction 1.2.2 Specification Q172DCPU, Q173DCPU Item Q172DCPU Q173DCPU Internal current consumption (5 V DC) [A] 1.14 1.25 Mass [kg] 0.33 Dimensions [mm] 98 (H) x 27.4 (W) x 119.3 (D) Compatible motion modules Q172DLX/Q172DEX/Q173DPX Connectible Servo amplifiers MR-J3-B쏔 Servo amplifiers over SSCNET III (Rotational, Linear and fully closed loop compatible) Tab.
Terminology 1.3 Introduction Terminology The terms and abbreviations below are important for motion controllers and are used frequently in this guide. Direction of rotation of electric motors The direction (or sense) of rotation of electric motors is defined looking at the end of the motor shaft. Direction of rotation is described as: ● Clockwise/Reverse or ● Counterclockwise/Forward Motor Fig.
Introduction 1-6 Terminology
Q170MCPU Details of the modules 2 Details of the modules 2.1 Q170MCPU 2.1.1 Frontview and partnames With front cover open and battery holder removed Front view 쐃 쐅 쐃 쐅 씋 쐇 쐋 쐈 쐏 쐉 씍 쐄 씈 쐂 씉 쐆 쐊 씊 씌 쐎 Bottom view 씎 쐎 Fig. 2-1: Q170MCPU No. Name Application 쐃 7-segment LED Displays operation status and error information. 쐇 POWER LED ON (Red): OFF: The internal power (5 V DC) is ON. The internal power (5 V DC) is OFF.
Details of the modules Q170MCPU No. Name Application 쐆 24VDC connector Connector for 24 V DC power supply 쐊 Serial number Shows the serial number, printed on the rating plate 쐎 Battery holder Battery holder to set the Q6BAT/Q7BAT 쐅 2-2 Displays the mode of the PLC CPU ON (green): Q mode RUN Diplays the operating status of the PLC CPU ON: The operating status is ”RUN” OFF: The operating status was set to ”STOP” or operation has been halted due to an error.
Q170MCPU 2.1.
Details of the modules 2.1.3 Q170MCPU Minimum equipment Product Details Controller Standalone motion controller, 16 axes, SSCNETIII Q170MCPU Software MT Developer2-E Programming software for Q-/QH-/QD-/Q170MCPU motion controller (Windows 2000/XP/Vista) MT Developer OS Systems Operating systems for Q-/QH-/QD-/Q170MCPU motion controller MR Configurator (Setup221) Servo setup software MR Configurator GX (IEC) Developer PLC programming software GX Developer Tab.
Q172DCPU/Q173DCPU Details of the modules 2.2 Q172DCPU/Q173DCPU 2.2.1 Frontview and partnames Q172DCPU Front view Q173DCPU Front view Q172DCPU Q173DCPU 쐃 STOP RUN 789 쐏 쐄 쐄 CN1 쐂 CN2 CN1 SW 2 CAUTION EMI 쐏 FRONT BAT 쐆 F0 1 D ABC E D ABC E 789 D ABC E D ABC E 쐋 789 CAUTION EMI F 01 1 789 STOP RUN 쐇 23456 SW 2 23456 F0 1 23456 쐋 F0 1 1 23456 쐇 쐃 FRONT BAT 쐆 Q172DCPU-/Q173DCPU Bottom view 쐊 Fig. 2-3: No.
Details of the modules 2.2.
Q172DCPU/Q173DCPU 2.2.
Details of the modules 2-8 Q172DCPU/Q173DCPU
Module mounting into cabinet Mounting and wiring 3 Mounting and wiring 3.1 Module mounting into cabinet 3.1.1 Mounting of Q170MCPU Keep the clearances shown below between the top/bottom faces of the module and other structures or parts to ensure good ventilation and facilitate module replacement. Top of panel or wiring duct 욷40 mm 욷100 mm Motion controller Door Servo amplifier Panel 135 mm 욷90 mm 욷30 mm 욷30 mm 욷10 mm Fig.
Mounting and wiring Module mounting into cabinet Mounting method for the motion controller b WARNING: Completely turn off the externally supplied power used in the system before installation or removing the module. Not doing so could result in electric shock or damage to the product. Fit the holes for the bottom mounting screws of the Motion controller into the panel. Place the bottom side notch of the Motion controller onto the bottom side screw.
Module mounting into cabinet 3.1.2 Mounting and wiring Mounting of Q172DCPU/Q173DCPU Keep the clearances shown below between the top/bottom faces of the module and other structures or parts to ensure good ventilation and facilitate module replacement. Top of panel or wiring duct Base unit Motion CPU module Q03DCPU MODE RUN ERR. USER BAT. BOOT QX40 01 2 3 4 5 6 7 89 AB CDE F QX40 0 1 2 3 45 6 7 8 9 A B CDE F Q172DEX SY. ENC TREN 1 1 2 2 욷40 mm Motion CPU module Q173DPX PLS.A PLS.
Mounting and wiring Module mounting into cabinet Installation of the module on Q3첸B and Q6첸B b WARNING: ● Completely turn off the externally supplied power used in the system before installing the module. Not doing so could result in electric shock or damage to the product. ● When installing the module, always insert the module fixing projection into the module fixing hole of the base unit.
Module mounting into cabinet Mounting and wiring Removal of the module from Q3첸B and Q6첸B b WARNING: ● Completely turn off the externally supplied power used in the system before removing the module. Not doing so could result in electric shock or damage to the product. ● When the module fixing screw is used, always remove the module by removing the module fixing screw and then taking the module fixing latch off the module fixing hole of the base unit.
Mounting and wiring Wiring 3.2 Wiring 3.2.1 Wiring for Q170MCPU Power supply and EMI Connector layout 1A 1B 2A 2B Tab. 3-1: Pin No. Signal name Pin No. Signal name 1A 24V(+) 1B 24V(+) 2A 24G 2B 24G Power supply 24 V Q170MCPU side 2A 2B Solderless terminal 1A 1B 1827587-2 (Terminal) 1-1827864-2 (Connector) 24V(+) 24G 24V(+) 24G Fig. 3-5: 1B 2B 1A 2A Solderless terminal size: R1.25-3.
Wiring Mounting and wiring Q170MCPU side Solderless terminal 2 1 5556TL (Terminal) 5557-02R (Connector) Solderless terminal size: R1.25-3.5 EMI.COM EMI EMI.COM EMI : Twisted pair cable햲 Q170MCPU 햳 Fig. 3-7: Forced stop input cable for EMI 햲 Use a cable of wire size AWG22.
Mounting and wiring Wiring Digital I/O Cable Q170MCPU side 25 50 1 26 Solderless terminal Connection diagram HDR-E50MSG1+ (Connector) HDR-E50LPH (Connector case) HBL HBH HAL HAH HB 25 24 23 22 21 HA 20 SG 5V SG 5V SEL SG 48 46 47 45 49 50 DO1 COM2 DO2 COM2 6 7 31 32 DO1 DI1 COM1 DI3 3 5 4 DI1 DI2 COM1 DI4 DICOM FG 28 30 29 DI2 HBL HBH HAL HAH 5VGND 5V DO2 DOCOM DI4 DICOM Shell Shell FG 3-8 Output signal side DI3 : Twisted pair cable Tab.
Wiring Mounting and wiring Cable Q170MCPU side 25 50 1 26 Solderless terminal Connection diagram HDR-E50MSG1+ (Connector) HDR-E50LPH (Connector case) HBL HBH HAL HAH HB 25 24 23 22 21 HB HA 20 HA SG 5V SG 5V SEL SG 48 46 47 45 49 50 5VGND 5V DO1 COM2 DO2 COM2 6 7 31 32 DI1 COM1 DI3 3 5 4 DI1 DI2 COM1 DI4 DICOM FG 28 30 29 DI2 Voltage-output/opencollector type Manual pulse generator/ incremental synchronous encoder side DO1 DO2 DOCOM Output signal side DI3 Input signal/mark de
Mounting and wiring 3.2.2 Wiring Wiring for QD Motion controller Power supply and EMI Power supply module ERR FG LG INPUT 100–240 V AC AC Ground wire Grounding Fig. 3-8: Power supply module for QD motion controller (example with Q62P) Terminal(s) Function FG Ground terminal connected to the shield pattern of the printed circuit board. LG Grounding for the power supply filter. The potential of Q61P-A1, Q61P-A2, Q61P, Q62P, Q64P and Q61SP is half of the input voltage.
SSCNET III connection Mounting and wiring 3.3 SSCNET III connection 3.3.1 SSCNET III cable The cables in the following table are applicable for the connection between the Q170MCPU/QD-Motion controllers and the servo amplifier MR-J3-첸B and between the servo amplifiers MR-J3-첸B.
Mounting and wiring 3.3.3 SSCNET III connection Connection between the Q172DCPU and servo amplifiers Q172DCPU Motion CPU module CN1 햲 CN1A CN1A 햲 CN1B Servo amplifier Cap햳 CN1B Servo amplifier Fig. 3-11: SSCNET III connection method with Q172DCPU 햲 햳 NOTE 3 - 12 Chose the right SSCNET III cable type in tab. 3-5 depending on the cable length for your system configuration. Attach a cap to the SSCNET III connectors of the system not being used.
SSCNET III connection 3.3.4 Mounting and wiring Connection between the Q173DCPU and servo amplifiers Q173DCPU Motion CPU module CN1 CN2 Cap햳 SSCNET III Channel 1 햲 CN1A CN1A 햲 Cap햳 CN1B CN1B Servo amplifier Servo amplifier SSCNET III Channel 2 햲 CN1A CN1A 햲 CN1B Servo amplifier Cap햳 CN1B Servo amplifier Fig. 3-12: SSCNET III connection method with Q173DCPU 햲 햳 NOTE Chose the right SSCNET III cable type in tab. 3-5 depending on the cable length for your system configuration.
Mounting and wiring 3.3.5 SSCNET III connection Setting the axis No. and axis select switch of servo amplifier Axis No. is used to set the axis number of servo amplifiers connected to SSCNET III motion bus in the program. Axis No. of 1 to 16 can be set. Axis No. is set in the system setting of MT Developer2. Axis No. (1 to 16) is allocated and set for the setting axis number (d01 to d16) of servo amplifier.
Start-up and trial operation 4 m Start-up and trial operation DANGER: ● Be sure to ground the Motion controllers, servo amplifiers and servomotors (Ground resistance: 100 Ω or less). Do not ground commonly with other devices. ● 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.
Start-up and trial operation 4.1 Start-up procedure Start-up procedure START [Parameter setting] Turn OFF Motion controller's power supply Check that the power supply of Motion controller is OFF. PLC CPU area Parameter setting Set the PLC parameter using GX (IEC) Developer. Turn ON power supply again Check wiring and module installation 앫 Check the installation position and condition of each module. 앫 Check the connecting condition of connectors. 앫 Check that all terminal screws are tight.
Start-up procedure Start-up and trial operation [Test mode • JOG operation] [Programming] Create Motion programs Motion CPU area Check machine operation Create the Motion programs using MT Developer2. Check the followings by making the machine operate with the JOG operation of MT Developer2. [Programming] 앫 Machine operates correctly (no vibration, hunting, etc.
Start-up and trial operation Software installation 4.2 Software installation 4.2.1 Programming software Install all of the software listed in the table below. Product Detail MELSOFT MT Works2 (MT Developer2) Ver. 1.05F or later GX Developer2) Ver. 8.48A or later MR Configurator (optional) Ver. C2 or later Tab. 4-1: 4.2.2 Software Operating system (OS) As the OS software is not pre-installed, the first step before using the system is installing it into Motion CPU.
Software installation Start-up and trial operation Operating system installation 햲 Power off the motion controller. CD AB E 햳 Set the rotary switch 1 (on the motion controller) to "A" to set the installation mode. 78 9 CD AB E F01 5 23 4 6 5 23 4 6 F01 78 9 Rotary switch 1 햴 Power on the motion CPU. After the power is turned on, the 7-segment LED displays "INS", and the motion CPU gets into the installation mode.
Start-up and trial operation Software installation # Once the installation is finished, power off the motion CPU. Set the rotary switch 1 (SW1) to "0" and the rotary switch 2 (SW2) to "0" to set the motion CPU to the RAM operation mode. $ Power on the motion CPU. When the power is turned on, "." in the first digit on the 7-segment LED flashes.
Sample project creation with MT Developer2 and GX Developer 5 Project creation Project creation NOTE 5.1 The sample programs, described in this manual can be downloaded free of charge through the website www.mitsubishi-automation.com/mymitsubishi/mymitsubishi_content.html. Sample project creation with MT Developer2 and GX Developer New project creation Start MT Developer2 and create a new project with CPU and OS Type selected as shown below.
Project creation Sample project creation with MT Developer2 and GX Developer System Structure Settings Double-click the amplifier icon (SSCNET Structure) to confirm the set amplifier type is correct. If any I/O are wired to the amp, such as home or limit sensors, select the Detail Setting tab and set the External Signal Input Setting to Amplifier Input Valid. Servo Data Settings and Parameter Block In the "MT Developer2 Project Window Menu", double-click Servo Data to bring up the "Servo Data" tab.
Sample project creation with MT Developer2 and GX Developer Example 왓 Project creation The ball screw lead is 5 mm and the mechanical gear ratio is 1/5. Servomotor: Unit setting: Number of Pulses/Rev.: Travel Value/Rev.: HF-KP43 mm 262 144 [PULSES] 1/5 x 5 000.0 = 1 000.0 [μm] Fig. 5-1: Mechanical configuration of the example Gear ratio 1 : 5 5 mm 쑶 – "Upper stroke limit" and "Lower stroke limit" enable software stroke limits. Fig.
Project creation Sample project creation with MT Developer2 and GX Developer – The Parameter Blocks, accessible by the "Servo Data" menu, serve to make setting changes easy by allowing data such as the acceleration/deceleration control to be set for each positioning processing. A maximum of 64 blocks can be set as parameter blocks.
Sample project creation with MT Developer2 and GX Developer Project creation Servo Parameter Settings In the "Project Window Menu", double-click Servo Parameter. This will launch the servo setup software called MR Configurator. Please change the following parameter in the "Basic setting": ● PA04: 0100 (Disabling the EMG input on servo amplifier. This will allow the amplifier to operate regardless of forced stop input status.
Project creation Sample project creation with MT Developer2 and GX Developer Motion SFC Program Creation In the "Project Window Menu" under "Motion SFC Program", double-click Motion SFC Program Manager. This open the "Motion SFC Program Manager" pop-up window. Click the icon New which opens up the "New Motion SFC Program" window. Set the Motion SFC Program No. to "1", enter "1 Axis JOG" as the program name and then click OK.
Sample project creation with MT Developer2 and GX Developer Project creation Prepare an SFC program. The sample program below allows a simple forward and backward movement of Axis 1. Step Description 5a Add an F-block, 2 x G-block, 2 x K-block, a Jump, and a Pointer to the program by left-clicking the respective button on the menu bar and left-clicking in the program workspace. Press the Esc key (or right click) after adding each block to the workspace.
Project creation Sample project creation with MT Developer2 and GX Developer File Conversion, Download and Program Run Click the Batch Conversion button from the menu bar. If all steps were followed correctly, you should receive a "Complete successfully" message in the output bar at the bottom of the screen. Batch conversion Output screen Transfer programs and parameters to the Motion controller using the setting in the screenshot below.
Sample project creation with MT Developer2 and GX Developer Project creation Please refer to the "Writing project to the Motion/PLC CPU" section of this quick-start guide for further details on writing/reading programs (section 5.2.3). PLC program creation and download to PLC CPU Start GX Developer and create a new project with the correct PLC series and PLC type as shown below. Select Q03UD as PLC type in case Q170MCPU is used.
Project creation Sample project creation with MT Developer2 and GX Developer The pop-up warning windows shown below will appear: Click Yes. Then close the "Q parameter setting" windows by clicking End confirming the chosen setting. Transfer programs and parameters to the PLC controller using the setting in the screenshot below. Please refer to "Transfer setup" (section 5.2.1) for further information on transfer setup setting and to "Writing project to the Motion/PLC CPU" (section 5.2.
Additional procedures 5.2 Additional procedures 5.2.1 Transfer setup Project creation This section explains how to set the communication between PC and Q170MCPU/Q172DCPU by the Transfer Setup screen. For the sake of simplicity, it will be explained how to configure the communication by using a direct connection with an USB cable. Operating Procedure (Motion CPU access) Double-click on Serial/USB button in the "PC side I/F" selection. Select USB and close the pop-up window.
Project creation 5.2.2 Additional procedures Project opening This section explains the method for reading a project saved in the hard disk or other memory media of the personal computer. Operating Procedure (MT Developer2 project) Select "Project" - "Open Project". The "Open Project" window appears. Enter the folder (drive/path), where the workspace is saved, in the Folder field. Double click Workspace in the "Workspace/ Project List". Select the project data.
Additional procedures 5.2.3 Project creation Writing project to the Motion/PLC CPU This section explains the method for writing a project saved in the hard disk or other memory media of the personal computer to the Motion/PLC controller internal memory. Operating Procedure (MT Developer2) Select "Online" - "Write to CPU". The "Write to CPU" screen appears. Select Program memory as target memory to write to. Click on Parameter+ Program to select the data to be written. Click the Execute button.
Project creation Additional procedures Operating Procedure (GX Developer) Select "Online" - "Write to PLC". The "Write to PLC" screen appears. Select Program memory/Device memory as target memory to write to. Click on Parameter+ Program to select the data to be written. Click the Execute button. When program write is to be executed, a message appears if there are programs that have not been converted. The screen on the left appears if the motion controller is in RUN mode. Click the Yes button.
Additional procedures 5.2.4 Project creation Monitoring function Operating Procedure Click the monitor icon of the application jump toolbar on the main frame. Monitor is started. Clicking on the buttons in the shown toolbar is possible to select the devices to be monitored: – Current value monitor – Motion error – Axis monitor – Servo Monitor – Positioning monitor – … NOTE Refer to MT Developer2 Help for further information. Tip: Press function key "F1" for immediate help on displayed function.
Project creation 5.2.5 Additional procedures Device monitoring and testing Operating Procedure (MT Developer2) Select "Online" - "Monitor" - "Commons" - "Entry Device Monitor". The "Device Entry Monitor" screen appears. Click Add. The "Device"/"Label" windows appears. Select the device to be monitored and then push Register button. The chosen devices will be displayed in the "Device Entry Monitor". Click Close. Click Start Monitoring button.
Additional procedures 5.2.6 Project creation Motion CPU change This section explains the method for changing the CPU and OS types of the open project. Operating Procedure Open a project to change its CPU and OS types. Opening existing projects. Select "Project" - "Change CPU/OS Type". The "CPU/OS Change" screen appears. Select a CPU type and OS type. Click the OK button. When the CPU type is changed from Q17nCPU to Q17nDCPU/Q170MCPU/Q17nHCPU, the following screen appears.
Project creation Additional procedures A dialog box appears notifying the CPU and OS types have been changed. Click the OK button.
Sample program with OS SV22: 2_axes_motion Sample programs 6 Sample programs 6.1 Sample program with OS SV22: 2_axes_motion 6.1.
Sample programs 6.1.2 Sample program with OS SV22: 2_axes_motion Functions Input Function Details PX0 Forced stop When PX0 turns off, servomotors are forced to stop and motion control is suspended (E7 warning). PX1 and PX2 and PX7 Tab. 6-1: PX7 Motion mode OFF OFF OFF JOG mode OFF ON OFF Man. pulse generator mode ON OFF OFF Home position return mode ON ON OFF Operation mode (Real) ON ON ON Operation mode (Virtual) Functions of the inputs JOG mode Man.
Sample program with OS SV22: 2_axes_motion 6.1.3 Sample programs System setting data of the motion CPU SSCNET Line 1 Extension Base - Stage 1 : 5 Slots Fig. 6-3: Structure of the system (left) and of SSCNET III (right) with Q170MCPU Main Base : 8 Slots SSCNET Line 1 Fig.
Sample programs Sample program with OS SV22: 2_axes_motion CPU specific send range PLC User setting area Auto refresh point (K) I/O No. point Start End point Start End CPU No. 1 7 U3E0 7168 G10000 G17167 0 — — CPU No. 2 7 U3E1 6468 G10000 G16467 700 G16468 G17167 PLC No. 1 CPU specific send range Auto refresh No. point Start End Start End 1 — — — — — 2 — — — — — 3 — — — — — PLC No. 2 CPU specific send range Auto refresh No.
Sample program with OS SV22: 2_axes_motion 6.1.5 No. Sample programs Motion SFC Program Program Name Task Auto. END Cont. Trans.
Sample programs Fig.
Sample program with OS SV22: 2_axes_motion Fig.
Sample programs Sample program with OS SV22: 2_axes_motion Fig. 6-9: Motion SFC Program "Virtual mode" 6.1.6 Mechanical system program V.1 Clutch: Clutch ON/OFF Command Dev.: M12 Clutch Status Device: M13 Clutch: Clutch ON/OFF Command Dev.: M10 Clutch Status Device: M11 Axis 1 CAM: Cam No. Dev.: D2004 Stroke Setting Dev.: D2006 Number of Pulses/Rev.: 20 000 [PLS] Fig. 6-10: 6-8 Mechanical system Axis 2 CAM: Cam No. Dev.: D2000 Stroke Setting Dev.: D2002 Number of Pulses/Rev.
Sample program with OS SV22: 2_axes_motion 6.1.7 Sample programs CAMs Stroke Ratio Stroke Ratio Graph Absolute Angle [deg] Speed Speed Graph Absolute Angle [deg] Fig. 6-11: CAM 1 (Axis 1) Stroke Ratio Stroke Ratio Graph Absolute Angle [deg] Speed Speed Graph Absolute Angle [deg] Fig.
Sample programs 6.2 Sample program with OS SV22: 2_axes_motion_no_inputs Sample program with OS SV22: 2_axes_motion_no_inputs This second sample program is mainly similar to the first one in section 6.1. The only difference is, that the hard wired inputs have been replaced by internal bit devices. System configuration Personal computer IBM PC/AT Motion controller Q170MCPU Rotary switches 78 9 5 23 4 6 CD AB E 78 9 CD AB E USB 5 23 4 6 6.2.
Sample program with OS SV22: 2_axes_motion_no_inputs 6.2.2 Functions Bit Devices Function Details M100 Forced stop When M100 turns off, servomotors are forced to stop and motion control is suspended (E7 warning). M101 and M102 and M107 Tab. 6-5: Motion selection input JOG mode Home position return mode Operation mode (Real) Operation mode (Virtual) Tab.
Sample programs 6 - 12 Sample program with OS SV22: 2_axes_motion_no_inputs
Exterior Dimensions Appendix A Appendix A.1 Exterior Dimensions A.1.1 Motion controller Q170MCPU Unit: [mm] 38 MITSUBISHI MODE RUN ERR. USER BAT. PULL BOOT MITSUBISHI MODE RUN ERR. USER BAT. PULL BOOT Q170MCPU Q170MCPU POWER POWER USB PERIPHERAL I/F RESET STOP RUN RS-232 RESET STOP RUN PERIPHERAL I/F USB RS-232 EMI EMI CN1 EJECT 178 EJECT 154 161 CN1 168 8 7 EXT.IO CARD CARD EXT.IO FRONT FRONT OUT OUT 24VDC 24VDC PUSH 7 6 135 4.
Appendix A.1.2 Exterior Dimensions Motion controller Q172DCPU and Q173DCPU Unit: [mm] Q172DCPU D ABC E 789 D ABC E F 01 23456 23456 F 01 789 1 STOP RUN 2 SW CAUTION CN1 98 EMI FRONT BAT 119.3 Fig. A-2: 27.4 Dimensions of Q172DCPU Unit: [mm] Q173DCPU D ABC E 789 D ABC E F 01 23456 23456 F 01 789 1 STOP RUN 2 SW CAUTION CN2 CN1 98 EMI FRONT BAT 119.3 Fig. A-3: A-2 Dimensions of Q173DCPU 27.
Troubleshooting A.2 Appendix Troubleshooting The following flowcharts show the contents of the troubles with the motion controllers classified into a variety of groups according to the types of events. A.2.1 Q170MCPU Error-occurrence description "POWER" LED turns off "." does not flash in the first digit of 7-segment LED (b) "Flowchart for when ".
Appendix A.2.2 Troubleshooting QD-Motion controller Error-occurrence description "POWER" LED turns off "." does not flash in the first digit of 7-segment LED (b) "Flowchart for when ".
Index Index B Base unit M Module mounting Module installation . . . . . . . . . . . . . . . . . . . . . . . . . . .3-4 Q170MCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2 Module removal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-5 Q172DCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4 Q173DCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4 C Motion-Control-System CCW . . . . . . . . . . . . . . .
Index ii
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