Specifications

Introduction What is motion control?
1 - 2
1.1.1 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.
All of Mitsubishi motion controllers exploit the potentiality of the proprietary high-speed motion
network SSCNET III.
A Multiple CPU system is a system in which between the PLC CPU area and Motion CPU area are con-
nected with the Multiple CPU high speed bus in order to control the I/O modules and intelligent func-
tion modules. PLC CPU area is fixed as CPU No. 1, and Motion CPU area is fixed as CPU No. 2. The Motion
CPU area controls the servo amplifiers connected by SSCNET III cable.
The Multiple CPU high speed transmission memory between the PLC CPU area and Motion CPU area
can communicate at a rate of 0.88 ms.
1.1.2 Difference between Q170MCPU and QD Motion controllers
With the motion controller Q170MCPU, the functionality of the PLC CPU and the Motion CPU is inte-
grated in one compact housing. That means, compared to the modules Q172DCPU and Q173DCPU,
there is no need of an additional PLC and base unit for the configuration of a motion system.
Synchronous encoder interface is included as standard, enabling multiple axes synchronization with
an external encoder.
Applications as labelling, packaging and material handling do not require any other optional module.
Fig. 1-1: Block diagram of a motion control system
PLC CPU area (CPU No.1 fixed)
PLC control
processor
Motion control
processor
Motion controller
Device
memory
Multiple CPU
high speed
transmission
memory
Q series PLC system bus
SSCNET III
Personal computer
GX (IEC) Developer
MT Developer2
Motion CPU area (CPU No.2 fixed)
Device
memory
Multiple CPU
high speed
transmission
memory
Servo
amplifier
Servomotor
MM
Servo external
input signals
(FLS, RLS, DOG)
Forced stop input (24 V DC)
Input signal/Mark detection input signal (4 points)
Output signal (2 points)
PERIPHERAL I/F)
Personal computer
MT Developer2
24 V DC
P
Manual pulse generator/Incremental
synchronous encoder 1 module
PLC I/O module
(DI/O)
PLC intelligent
function module
(A/D, D/A, Network etc.)
Motion module
(Proximity dog signal, manual
pulse generator input)
Multiple
CPU high
speed bus
Power supply