MITSUBISHI ELECTRIC Motion Controllers User's Manual Q173DCPU Q172DCPU 01 01 2008 B(NA)-0300133 Version A MITSUBISHI ELECTRIC INDUSTRIAL AUTOMATION
SAFETY PRECAUTIONS (Please read these instructions before using this equipment.) Before using this product, please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly. These precautions apply only to this product. Refer to the Users manual of the QCPU module to use for a description of the PLC system safety precautions. In this manual, the safety instructions are ranked as "DANGER" and "CAUTION".
For Safe Operations 1. Prevention of electric shocks DANGER Never open the front case or terminal covers while the power is ON or the unit is running, as this may lead to electric shocks. Never run the unit with the front case or terminal cover removed. The high voltage terminal and charged sections will be exposed and may lead to electric shocks. Never open the front case or terminal cover at times other than wiring work or periodic inspections even if the power is OFF.
3. For injury prevention CAUTION Do not apply a voltage other than that specified in the instruction manual on any terminal. Doing so may lead to destruction or damage. Do not mistake the terminal connections, as this may lead to destruction or damage. Do not mistake the polarity ( + / - ), as this may lead to destruction or damage. Do not touch the heat radiating fins of controller or servo amplifier, regenerative resistor and servomotor, etc.
CAUTION The dynamic brakes must be used only on errors that cause the forced stop, emergency stop, or servo OFF. These brakes must not be used for normal braking. The brakes (electromagnetic brakes) assembled into the servomotor are for holding applications, and must not be used for normal braking. The system must have a mechanical allowance so that the machine itself can stop even if the stroke limits switch is passed through at the max. speed.
CAUTION 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.
CAUTION 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, servo amplifier and servomotor 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.
(4) Wiring CAUTION Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal screws for tightness after wiring. Failing to do so may lead to run away of the servomotor. After wiring, install the protective covers such as the terminal covers to the original positions. Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF) on the output side of the servo amplifier. Correctly connect the output side (terminal U, V, W).
(6) Usage methods CAUTION Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the Motion controller, servo amplifier or servomotor. Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection. Do not attempt to disassemble and repair the units excluding a qualified technician whom our company recognized. Do not make any modifications to the unit.
(7) Corrective actions for errors 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. If a dangerous state is predicted in case of a power failure or product failure, use a servomotor with electromagnetic brakes or install a brake mechanism externally.
CAUTION 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.
REVISIONS The manual number is given on the bottom left of the back cover. Print Date Jan., 2008 Manual Number IB(NA)-0300133-A First edition Revision Japanese Manual Number IB(NA)-0300125 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 rights which may occur as a result of using the contents noted in this manual.
INTRODUCTION Thank you for choosing the Mitsubishi Motion controller Q173DCPU/Q172DCPU. Before using the equipment, please read this manual carefully to develop full familiarity with the functions and performance of the Motion controller you have purchased, so as to ensure correct use. CONTENTS Safety Precautions .........................................................................................................................................A- 1 Revisions .............................................
4. INSTALLATION AND WIRING 4- 1 to 4-26 4.1 Module Installation ................................................................................................................................... 4- 1 4.1.1 Instructions for handling .................................................................................................................... 4- 1 4.1.2 Instructions for mounting the base unit ............................................................................................ 4- 3 4.1.
APPENDIX 2 Exterior Dimensions ............................................................................................................App- 8 APPENDIX 2.1 CPU module .................................................................................................................App- 8 APPENDIX 2.2 Servo external signals interface module (Q172DLX)..................................................App- 9 APPENDIX 2.3 Synchronous encoder interface module (Q172DEX)............................................
About Manuals The following manuals are also related to this product. In necessary, order them by quoting the details in the tables below. Related Manuals (1) Motion controller Manual Number (Model Code) Manual Name Q173DCPU/Q172DCPU Motion controller Programming Manual (COMMON) This manual explains the Multiple CPU system configuration, performance specifications, common parameters, auxiliary/applied functions, error lists and others.
(2) PLC Manual Number (Model Code) Manual Name QCPU User's Manual (Hardware Design, Maintenance and Inspection) This manual explains the specifications of the QCPU modules, power supply modules, base modules, extension cables, memory card battery and others. SH-080483ENG (13JR73) (Optional) QCPU User's Manual (Function Explanation, Program Fundamentals) This manual explains the functions, programming methods and devices and others to create programs with the QCPU.
1 OVERVIEW 1. OVERVIEW 1 1.1 Overview This User's Manual describes the hardware specifications and handling methods of the Motion Controller's Model Q173DCPU/Q172DCPU for the Q series PLC Multiple CPU system. The Manual also describes those items related to the specifications of the option module for the Motion controller, Manual pulse generator, Synchronous encoder and cables. In this manual, the following abbreviations are used.
1 OVERVIEW REMARK For information about the each module, design method for program and parameter, refer to the following manuals relevant to each module.
1 OVERVIEW 1.2 Differences between Q173DCPU/Q172DCPU and Q173HCPU/Q172HCPU Items Q173DCPU Q172DCPU Q173HCPU Q173HCPU SV13 0.44ms/ 1 to 6 axes 0.88ms/ 7 to 18 axes 1.77ms/19 to 32 axes 0.44ms/ 1 to 6 axes 0.88ms/ 7 to 8 axes 0.44ms/ 1 to 3 axes 0.88ms/ 4 to 10 axes 1.77ms/11 to 20 axes 3.55ms/21 to 32 axes 0.44ms/ 1 to 3 axes 0.88ms/ 4 to 8 axes SV22 0.44ms/ 1 to 4 axes 0.88ms/ 5 to 12 axes 1.77ms/13 to 28 axes 3.55ms/29 to 32 axes 0.44ms/ 1 to 4 axes 0.88ms/ 5 to 8 axes 0.88ms/ 1 to 5 axes 1.
1 OVERVIEW MEMO 1-4
2 SYSTEM CONFIGURATION 2. SYSTEM CONFIGURATION This section describes the Q173DCPU/Q172DCPU system configuration, precautions on use of system and configured equipments. 2.
2 SYSTEM CONFIGURATION (2) Peripheral device configuration for the Q173DCPU/Q172DCPU The following (a)(b) can be used.
2 SYSTEM CONFIGURATION 2.1.
2 SYSTEM CONFIGURATION CAUTION Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system. The ratings and characteristics of the parts (other than Motion controller, servo amplifier and servomotor) used in a system must be compatible with the Motion controller, servo amplifier and servomotor.
2 SYSTEM CONFIGURATION 2.1.
2 SYSTEM CONFIGURATION CAUTION Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system. The ratings and characteristics of the parts (other than Motion controller, servo amplifier and servomotor) used in a system must be compatible with the Motion controller, servo amplifier and servomotor.
2 SYSTEM CONFIGURATION 2.1.3 Function explanation of the Q173DCPU/Q172DCPU Motion CPU modules (1) Up to 32 axes servo amplifiers per 2 systems (up to 16 axes per 1 system) can be used in Q173DCPU. Up to 8 axes servo amplifiers per 1 system can be used in Q172DCPU. (2) It is possible to set the program which synchronized with the motion operation cycle and executed at fixed cycle (0.88[ms], 1.77[ms], 3.55[ms], 7.11[ms], 14.2[ms]).
2 SYSTEM CONFIGURATION 2.1.4 Restrictions on Motion systems (1) Combination of Multiple CPU system (a) Motion CPU module cannot be used as standalone module. Be sure to install the universal model PLC CPU module (Q03UDCPU/ Q04UDHCPU/Q06UDHCPU) to CPU No.1. For Universal model PLC CPU module, "Multiple CPU high speed transmission function" must be set in the Multiple CPU settings. (b) Only Multiple CPU high speed main base unit (Q38DB/Q312DB) can be used.
2 SYSTEM CONFIGURATION (2) Motion modules (Note-1) is only the main base unit. (a) Installation position of Q172DEX It cannot be used on the extension base unit. (b) Q172DLX/Q173DPX can be installed on any of the main base unit/ extension base unit. (Note-1) (c) Q172DLX/Q172DEX /Q173DPX cannot be installed in CPU slot and I/O slot 0 to 2 of the main base unit. Wrong installation might damage the main base unit.
2 SYSTEM CONFIGURATION (3) Other restrictions (a) Motion CPU module cannot be set as the control CPU of intelligent function module (except some modules) or Graphic Operation Terminal(GOT). (b) Be sure to use the external battery. (c) There are following methods to execute the forced stop input. • Use a EMI terminal of Motion CPU module • Use a device set in the forced stop input setting of system setting (d) Forced stop input for EMI terminal of Motion CPU module cannot be invalidated by the parameter.
2 SYSTEM CONFIGURATION 2.2 System Configuration Equipment (1) Table of Motion controller related module Part name Model name (Note-1) Description Current consumption Remark 5VDC[A] Q173DCPU Up to 32 axes control, Operation cycle 0.44[ms] or more (Attachment battery holder unit and battery (Q6BAT)) 1.25 Q172DCPU Up to 8 axes control, Operation cycle 0.44[ms] or more (Attachment battery holder unit and battery (Q6BAT)) 1.
2 SYSTEM CONFIGURATION Table of Motion controller related module(continued) Part name Model name (Note-1) Description Current consumption Remark 5VDC[A] Q170ENCCNS Q172DEX side connector Connector :10120-3000PE Connector case : 10320-52F0-008 Q170ENC side connector Plug : MS3106B22-14S Cable clump : MS3057-12A —— Manual pulse generator MR-HDP01 Pulse resolution: 25PLS/rev(100PLS/rev after magnification by 4) Permitted axial loads Radial load: Up to 19.6N Thrust load: Up to 9.
2 SYSTEM CONFIGURATION Table of Motion controller related module(continued) Part name SSCNET cable Model name (Note-1) Description Current consumption Remark 5VDC[A] MR-J3BUS M • Q173DCPU/Q172DCPU MR-J3- B • MR-J3- B MR-J3- B • Standard code for inside panel • 0.15m(0.49ft.), 0.3m(0.98ft.), 0.5m(1.64ft.), 1m(3,28ft.), 3m(9.84ft.) —— MR-J3BUS M-A • Q173DCPU/Q172DCPU MR-J3- B • MR-J3- B MR-J3- B • Standard cable for outside panel • 5m(16.40ft.), 10m(32.81ft.), 20m(65.62ft.
2 SYSTEM CONFIGURATION (2) PLC module which can be control by Motion CPU Part name AC Input module DC Model name QX10 100-120VAC, 7-8mA, 16 points, Terminal block QX40 24VDC/4mA, Positive common, 16 points, Terminal block Transistor Output module Source Type TTL•CMOS (Sink) 0.05 0.05 QX41 24VDC/4mA, Positive common, 32 points, Connector QX42 24VDC/4mA, Positive common, 64 points, Connector 0.
2 SYSTEM CONFIGURATION Part name Analogue module Model name Description Current consumption Remark 5VDC[A] (Note-1) Q62AD-DGH 2ch, A/D conversion, Current input (Channel-isolated • High resolution) 0.33 Q64AD 4ch, A/D conversion, Voltage • Current input 0.63 Q64AD-GH 4ch, A/D conversion, Voltage • Current input (Channel-isolated • High resolution) 0.89 Q68ADV 8ch, A/D conversion, Voltage input 0.64 Q68ADI 8ch, A/D conversion, Current input 0.
2 SYSTEM CONFIGURATION (3) Table of servo amplifier Part name Model name Description MR-J3 series MR-J3- B servo amplifier MR-J3- B-RJ006 Battery MR-J3BAT Refer to catalogue of the servo amplifier.
2 SYSTEM CONFIGURATION (6) Related software packages (a) PLC software package Model name Software package GX Developer SW8D5C-GPPW-E (b) Servo set up software package Model name Software package MR Configurator MRZJW3-SETUP221E POINTS (1) When the operation of Windows is not unclear in the operation of this software, refer to the manual of Windows or guide-book from the other supplier.
2 SYSTEM CONFIGURATION 2.3 General Specifications General specifications of Q173DCPU/Q172DCPU module are shown below.
2 SYSTEM CONFIGURATION 2.4 Specifications of Equipment and Settings 2.4.1 Name of parts for CPU module This section explains the names and setting of the module.
2 SYSTEM CONFIGURATION No. Name 1) 7-segment LED 2) 3) Rotary function select 1 switch Application • Indicates the operating status and error information. • Set the operation mode. (Normal operation mode, Installation mode, Mode operated by ROM, etc) (SW1) Rotary function select 2 switch • Each switch setting is 0 to F. (Shipped from the factory in SW1 "A", SW2 "0" position) (SW2) Move to RUN/STOP (Shipped from the factory in STOP position) 4) RUN/STOP switch RUN : Motion SFC program is started.
2 SYSTEM CONFIGURATION (2) 7-segment LED display The LED displays/flashes in the combination with errors. Item 7-segment LED Remark Start Initializing It takes about 10 seconds to initialize (RUN/STOP display). Normal " Normal operation Installation mode Steady "INS" display, " " remains flashing Mode to install the operating system software via personal computer. Mode operated by RAM " Mode to operate based on the user programs and parameters stored in the SRAM built-in Motion CPU module.
2 SYSTEM CONFIGURATION Item 7-segment LED Remark " AL" flashes 3 times Steady " A1" display Self diagnostic error 4-digits error code is displayed in two sequential flashes of 2-digits each. Setting error of the Multiple CPU system Refer to the "Q173DCPU/Q172DCPU Motion controller Programming Manual (COMMON)" for details. POINTS (1) An error is displayed at the 7-segment LED, confirm the error number etc. using MT Developer.
2 SYSTEM CONFIGURATION (4) Operation mode (a) Rotary switch setting and operation mode Rotary switch setting (Note) SW1 A Operation mode SW2 Any setting (Except C) Installation mode 0 0 Mode operated by RAM 0 6 Mode operated by ROM Any setting C SRAM clear (Note) (Note) : The programs, parameters, absolute position data, and latch data built-in Motion CPU module are cleared.
2 SYSTEM CONFIGURATION (5) Basic specifications of Q173DCPU/Q172DCPU (a) Module specifications Item Q173DCPU Q172DCPU Internal current consumption (5VDC) [A] 1.25 1.14 Mass [kg] 0.33 0.33 Exterior dimensions [mm(inch)] 98 (3.85)(H) 27.4 (1.08)(W) 119.3 (4.69)(D) (6) SV13/SV22 Motion control specifications/performance specifications (a) Motion control specifications Item Number of control axes Q173DCPU Q172DCPU Up to 32 axes Up to 8 axes 0.44ms/ 1 to 6 axes SV13 0.44ms/ 1 to 6 axes 0.
2 SYSTEM CONFIGURATION Motion control specifications (continued) Item Q173DCPU Absolute position system Number of SSCNET systems (Note-1) Q172DCPU Made compatible by setting battery to servo amplifier.
2 SYSTEM CONFIGURATION (b) Motion SFC performance specifications Item Q173DCPU/Q172DCPU Code total (Motion SFC chart + Operation control Motion SFC program capacity + Transition) 543k bytes Text total (Operation control + Transition) 484k bytes Number of Motion SFC programs 256 (No.
2 SYSTEM CONFIGURATION 2.4.2 Power supply module (1) Table of the power supply module specifications This section describes the power supply modules specifications. Item Q61P-A1 Q61P-A2 Base loading position Q61P Applicable base unit Q38DB, Q312DB, Q63B, Q65B, Q68B, Q612B 100 to 120VAC (+10%/-15%) (85 to 132VAC) Input power supply 200 to 240VAC (+10%/-15%) (170 to 264VAC) Input frequency 5% or less Max. input apparent power 105VA 130VA 5VDC 6A 3A 24VDC —— 0.6A —— 24VDC±10% 5VDC 6.
2 SYSTEM CONFIGURATION The power supply module specifications (continued) Item Q63P Q64P Base loading position Q series power supply module loading slot Applicable base unit Q38DB, Q312DB, Q63B, Q65B, Q68B, Q612B 24VDC (+30%/-35%) (15.6 to 31.2VDC) 100 to 120VAC/200 to 240VAC (+10%/-15%) (85 to 132VAC/170 to 264VAC) Input frequency —— 50/60Hz ±5% Input voltage distortion factor —— 5% or less Max.
2 SYSTEM CONFIGURATION POINTS (Note-1) : Overcurrent protection The overcurrent protection device shuts off the 5V, 24VDC circuit and stops the system if the current flowing in the circuit exceeds the specified value. The LED of the power supply module is turned off or lights up in dim green when voltage is lowered. If this device is activated, switch the input power supply off and eliminate the cause such as insufficient current capacity or short.
2 SYSTEM CONFIGURATION POINTS (Note-3) : Allowable momentary power failure period (1) For AC input power supply (a) An instantaneous power failure lasting less than 20ms will cause AC down to be detected, but operation will continue. (b) An instantaneous power failure lasting in excess of 20ms may cause the operation to continue or initial start to take place depending on the power supply load.
2 SYSTEM CONFIGURATION (2) Names of Parts and Setting This section describes the names of the parts of each power module. • Q61P-A1 (100 to 120VAC input, 5VDC 6A output) • Q61P-A2 (200 to 240VAC input, 5VDC 6A output) • Q61P (100 to 240VAC input, 5VDC 6A output) • Q62P (100 to 240VAC input, 5VDC 3A/24VDC 0.6A output) • Q63P (24VDC input, 5VDC 6A output) • Q64P (100 to 120VAC/200 to 240VAC input, 5VDC 8.5A output) 9) 1) Q62P POWER 8) INPUT 100-240VAC 50/60Hz 105VA OUTPUT 5VDC 3A 24VDC 0.
2 SYSTEM CONFIGURATION No. Name Application ON (green): Normal (5VDC output, momentary power failure within 20ms) OFF AC input : • AC power supply is ON, however, the power supply module is out of order. (5VDC error, internal circuit failure, blown fuse) power supply • Over current protection or over voltage protection operated.
2 SYSTEM CONFIGURATION POINTS (1) The Q61P-A1 is dedicated for inputting a voltage of 100VAC. Do not input a voltage of 200VAC into it or trouble may occur on the Q61P-A1. Power module type Supply power voltage 100VAC 200VAC Q61P-A1 Operates normally. Power supply module causes trouble. Q61P-A2 Power supply module does not cause trouble. CPU module cannot be operated. Operates normally. (2) The Q63P is dedicated for inputting a voltage of 24VDC.
2 SYSTEM CONFIGURATION (3) Selection of the power supply module The power supply module is selected according to the total of current consumption of the I/O modules, intelligent function module, and peripheral devices supplied by its power module. (Select the power supply module in consideration of the current consumption of the peripheral device connected to the Q170ENC, MR-HDP01 etc.) 5VDC internal current consumption of shared equipments with PLC might be changed. Be sure to refer to the PLC Manuals. .
2 SYSTEM CONFIGURATION 2.4.3. Base unit and extension cable This section describes the specifications of the extension cables for the base units (Main base unit or extension base unit) used in the system, and the specification standards of the extension base unit. 5VDC internal current consumption of base unit might be changed. Be sure to refer to the PLC Manuals.
2 SYSTEM CONFIGURATION (2) Table of the extension cable specifications The list below describes the specifications of the extension cables which can be used for the PLC CPU system. Type Item Cable length[m(ft.)] QC05B QC06B QC12B QC30B QC50B QC100B 0.45(1.48) 0.6(1.97) 1.2(3.94) 3.0(9.84) 5.0(16.40) 10.0(32.81) Connection between the main base unit and extension base unit, Application or connection between the extension base units. Mass [kg] 0.15 0.16 0.22 0.40 0.60 1.
2 SYSTEM CONFIGURATION (4) I/O allocations It is possible to allocate unique I/O No.s for each Motion CPU independently of the PLC’s I/O No.s. (I/O No.s are unique between the Q series PLC CPU within a given system, but the I/O No.s of the Motion CPU are unique for each Motion CPU.) , while ON/OFF data input to the Motion CPU is handled via input devices PX . ON/OFF data output from the Motion CPU is handled via output devices PY It is not mandatory to match the I/O device PX/PY No.
2 SYSTEM CONFIGURATION 2.4.4 Q172DLX Servo external signals interface module Q172DLX receives external signals (servo external signals) required for positioning control. (1) Q172DLX name of parts 5) Q172DLX 1) 2) 3) CTRL 6) Q172DLX 4) No. 1) Name Module fixing hook Application Hook used to fix the module to the base unit. (Single-motion installation) Display the servo external input status from the external equipment.
2 SYSTEM CONFIGURATION (2) Performance specifications (a) Module specifications Item Specifications Number of I/O occupying points 32 points(I/O allocation: Intelligent, 32 points) Internal current consumption(5VDC) [A] 0.06 98(H) Exterior dimensions [mm(inch)] 27.4(W) 90(D) (3.86(H) 1.08(W) 3.54(D) ) Mass [kg] 0.
2 SYSTEM CONFIGURATION (3) Connection of servo external signals interface module (a) Servo external signals There are the following servo external signals. (Upper stroke limit is limit value of address increase direction/lower stroke limit is limit value of an address decrease direction.) The Q172DLX is assigned a set of input No.s per axis. Make the system setting of MT Developer to determine the I/O No.s corresponding to the axis No.s.
2 SYSTEM CONFIGURATION (b) The pin layout of the CTRL connector Use the CTRL connector at the Q172DLX module front to connect the servo external signals. The following pin layout of the Q172DLX CTRL connector viewed from the front. The pin layout and connection description of the CTRL connector are described below. CTRL connector Signal No. 1 2 3 4 Pin No. Signal Name Pin No.
2 SYSTEM CONFIGURATION (4) Interface between CTRL connector and servo external signal Input or Output Input Signal name CTRL connector LED FLS1 FLS2 FLS3 FLS4 FLS5 FLS6 FLS7 FLS8 B20 B16 B12 B8 A20 A16 A12 A8 0 4 8 C 10 14 18 1C RLS1 RLS2 RLS3 RLS4 RLS5 RLS6 RLS7 RLS8 B19 B15 B11 B7 A19 A15 A11 A7 1 5 9 D 11 15 19 1D STOP1 STOP2 STOP3 STOP4 STOP5 STOP6 STOP7 STOP8 B18 B14 B10 B6 A18 A14 A10 A6 B17 B13 B9 B5 A17 A13 A9 A5 2 6 A E 12 16 1A 1E 3 7 B F 13 17 1B 1F DOG/CHANGE1 DOG/CHANGE2 DOG/CHAN
2 SYSTEM CONFIGURATION 2.4.5 Q172DEX Synchronous encoder interface module Q172DEX receive external signals required for serial absolute synchronous encoder. The installation position of Q172DEX is only main base. (1) Q172DEX name of parts 1) 5) Q172DEX SY.ENC TREN 1 1 2 2 SY.ENC1 MITSUBISHI LITHIUM BATTERY 8) Q172DEX 9) No. 7) 4) Name Module fixing hook Application Hook used to fix the module to the base unit. (Single-motion installation) Display the input status from the external equipment.
2 SYSTEM CONFIGURATION POINT (1) Mode judging LED of the serial absolute synchronous encoder signal turns ON at the normal connection (first switching to virtual mode). (2) Mode judging LED of the tracking enable signal turns ON at the following conditions. • Q172DEX is set on the system structure screen of MT Developer. • The tracking enable signal is input.
2 SYSTEM CONFIGURATION (c) Serial absolute synchronous encoder input Item Specifications Applicable signal types Differential-output type : (SN75C1168 or equivalent) Transmission method Serial communications Synchronous method Counter-clock-wise (viewed from end of shaft) Communication speed 2.
2 SYSTEM CONFIGURATION (3) Select to number of the synchronous encoder modules Synchronous encoders are available in voltage output type(incremental), differential output type(incremental) and serial absolute output type(Q170ENC). Q172DEX can be connected to only serial absolute output type(Q170ENC). When using the incremental synchronous encoder of voltage output type or differential output type, must be used Q173DPX. (The synchronous encoders are used only in the SV22 virtual mode.
2 SYSTEM CONFIGURATION (4) Connection of synchronous encoder interface module. (a) Connection with serial absolute synchronous encoder (Q170ENC) Use the SY.ENC connector at the Q172DEX module front to connect the serial absolute synchronous encoder (Q170ENC). When tracking enable signal is not used, use the Q170ENCCBL M encoder cable between the serial absolute synchronous encoder (Q170ENC) and SY.ENC connector. The following pin layout of the Q172DEX SY.ENC connector viewed from the front.
2 SYSTEM CONFIGURATION (5) Interface between SY.ENC connector and external equipment Input or Output Signal name MR Pin No. Wiring example SY.ENC connector Internal circuit Serial absolute synchronous encoder 7 MRR 17 P5 10 18 19 20 Specification Description Transmission method: serial communications Position detection method: absolute 5VDC LG 1 2 3 11 12 Battery Input BAT 9 TREN 4 5.6k (Note) TREN.
2 SYSTEM CONFIGURATION (6) Details of encoder cable connections (a) When not using tracking enable signal (Note-1) SY.ENC side connector 10120-3000PE (connector) 10320-52F0-008(connector case) P5 LG 19 11 P5 LG 20 12 P5 LG 18 2 BAT LG MR MRR MD MDR 9 1 7 17 6 16 Synchronous encoder side connector(plug) MS3106B22-14S(cable clump) S R E K L H J SDplate N :Twisted pair cable Q170ENCCBL2M to Q170ENCCBL50M(50m (164.04ft.) or less) (b) When using tracking enable signal SY.
2 SYSTEM CONFIGURATION (7) Connection of the battery This section describes the battery specifications, handling precautions and installation of the Q172DEX. (a) Specifications The specifications of the battery for memory back-up are shown in the table below. Battery Specifications Model name A6BAT/MR-BAT Item Manganese dioxide lithium primary battery Classification 3.6 Normal voltage [V] 1600 Nominal current [mAh] 5 years Storage life 0.
2 SYSTEM CONFIGURATION (c) Battery life Battery life (Total power failure time) [h] (Note-1) Module type Battery type Power-on time ratio (Note-2) Q170ENC×1 Q172DEX Internal battery (A6BAT/ MR-BAT) Q170ENC×2 Guaranteed value Guaranteed value (Note-3) (Note-4) Actual service value (Note-5) (Reference value) (MIN) (75°C (167°F)) (TYP) (40°C (104°F)) (TYP) (25°C (77°F)) 0% 3000 8000 24000 30% 4000 11000 34000 50% 6000 16000 43800 70% 10000 26000 43800 100% 43800 43800 43800 0%
2 SYSTEM CONFIGURATION 2.4.6 Q173DPX Manual pulse generator interface module Q173DPX receive external signals required for Manual pulse generator and Incremental synchronous encoder (Voltage-output/Open collector type/Differentialoutput type). (1) Q173DPX name of parts 1) 5) Q173DPX PLS.A 1 2 3 PLS.B 1 2 3 TREN 1 2 3 2) PULSER 3) KSD06S 1 2 3 4 5 6 ON 6) 7) Q173DPX 4) No. 1) Name Module fixing hook Application Hook used to fix the module to the base unit.
2 SYSTEM CONFIGURATION No. Name Application Detection setting of TREN1 signal Dip switch 1 Dip switches Dip switch 2 ON 1 2 3 4 5 6 6) (Note-1) Dip switch 3 Dip switch 4 factory in OFF Module fixing hook OFF OFF ON ON ON OFF OFF ON TREN is detected at leading edge of TREN signal. TREN is detected at trailing edge of TREN signal. SW3 SW4 OFF OFF ON ON ON OFF OFF ON TREN is detected at leading edge of TREN signal. TREN is detected at trailing edge of TREN signal.
2 SYSTEM CONFIGURATION (2) Performance specifications (a) Module specifications Item Specifications Number of I/O occupying points 32 points(I/O allocation: Intelligent, 32 points) Internal current consumption(5VDC)[A] 0.38 98(H) 27.4(W) 90(D) Exterior dimensions [mm(inch)] (3.86(H) 1.08(W) 3.54(D) ) Mass [kg] 0.
2 SYSTEM CONFIGURATION (c) Manual pulse generator/Incremental synchronous encoder input Item Specifications Number of modules Voltage-output/ 3/module High-voltage 3.0 to 5.25VDC Open collector type Low-voltage 0 to 1.0VDC Differential-output type High-voltage 2.0 to 5.25VDC (26LS31 or equivalent) Low-voltage 0 to 0.
2 SYSTEM CONFIGURATION (4) Connection of incremental synchronous encoder Incremental synchronous encoders are available in voltage output/Open collector type and differential output type. Since these types differ in connection method, design according to the connection method of section 2.4.6 (5). Serial absolute synchronous encoder (Q170ENC) not connected to Q173DPX. Then connect to Q172DEX. In addition, the usable numbers of synchronous encoders differ depending on the modules.
2 SYSTEM CONFIGURATION (5) Connection of manual pulse generator interface module (a) The pin layout of the PULSER connector Use the PULSER connector at the Q173DPX module front to connect the manual pulse signals, incremental synchronous encoder signals. The following pin layout of the Q173DPX PULSER connector viewed from the front. The pin layout and connection description of the PULSER connector are described below. PULSER connector Pin No. 2) 3) 2) 3) 2) Pin No.
2 SYSTEM CONFIGURATION (b) Interface between PULSER connector and manual pulse generator (Differential output type)/Incremental synchronous encoder Interface between Manual pulse generator (Differential output type)/ Incremental synchronous encoder Input or Signal name Output Pin No.
2 SYSTEM CONFIGURATION (c) Interface between PULSER connector and manual pulse generator (Voltage output/Open collector type)/ Incremental synchronous encoder. Interface between Manual pulse generator (Voltage-output/Open collector type)/Incremental synchronous encoder Input or Signal name Output Manual pulse generator, phase A Pin No. PULSER connector Voltage-Output type 1 2 Manual pulse generator, phase B Rated input voltage 5.
2 SYSTEM CONFIGURATION (6) Connection examples of manual pulse generator Connection of manual pulse generator (Voltage-output/Open collector type) Q173DPX Connection of manual pulse generator (Differential-output type) Signal name Manual pulse generator side HA A HB B SG SG 0V 5V (Note-2) SG (Note-1) P5 : 1 to 3 :Twisted pair cable Manual pulse generator side Signal name A HA P HA N A HB P B HB N B SG 0V P5 FG shield FG Q173DPX (Note-2) 5V (Note-1) SG HPSEL : 1 to 3 :Twiste
2 SYSTEM CONFIGURATION 2.4.7 Manual pulse generator/Serial absolute synchronous encoder (1) Table of the Manual pulse generator specifications Item Specifications Model name MR-HDP01 Ambient temperature (Note-1) -10 to 60°C(14 to 140°F) Pulse resolution 25PLS/rev(100 PLS/rev after magnification by 4) Voltage-output(power supply voltage -1V or more)/ Output method Output current = Up to 20mA Power supply voltage 4.5 to 13.
2 SYSTEM CONFIGURATION (2) Table of the Serial absolute synchronous encoder specifications Item Specifications (Note-1), (Note-2) Model name Q170ENC Ambient temperature -5 to 55°C (23 to 131°F) Resolution 262144PLS/rev Transmission method Serial communications (Connected to Q172DEX) Direction of increasing CCW (viewed from end of shaft) addresses Dustproof/Waterproof Protective construction (IP65: Except for the shaft-through portion.
2 SYSTEM CONFIGURATION 2.4.8 SSCNET cables and connection method This section describes how to connect between the Motion CPU module and servo amplifiers. Between the Motion CPU module and servo amplifiers is connected by SSCNET cable. When using the Q172DCPU, only 1 SSCNET cable for connection to servo amplifier can be used. (Connect to CN1.) When using the Q173DCPU, up to 2 SSCNET cables for connection to servo amplifier can be used. (Connect to CN1 and CN2.
2 SYSTEM CONFIGURATION (2) Connection between the Q172DCPU and servo amplifiers Q172DCPU Motion CPU module SSCNET cable length MR-J3BUS M use 1) 3m(9.84ft.) MR-J3BUS M-A use 1) 20m(65.62ft.) MR-J3BUS M-B use 1) 50m(164.04ft.) CN1 1) CN1A CN1A 1) Cap CN1B CN1B Servo amplifier Servo amplifier (Note): It cannot communicate with that the connection of CN1A and CN1B is mistaken. List of SSCNET Model name (Note) cable model name Description Cable length MR-J3BUS M 0.15m(0.49ft.), 0.3m(0.98ft.), 0.
2 SYSTEM CONFIGURATION POINTS (1) Be sure to connect SSCNET cable with the above connector. If the connection is mistaken, between the Motion CPU module and servo amplifier cannot be communicated. (2) SSCNET connector is put a cap to protect light device inside connector from dust. For this reason, do not remove a cap until just before connecting SSCNET cable. Then, when removing SSCNET cable, make sure to put a cap.
2 SYSTEM CONFIGURATION (4) Setting of the axis No. and axis select switch of servo amplifier Axis No. is used to set the axis numbers of servo amplifiers connected to SSCNET connector(CN ) in the program. Axis No. of 1 to 32 can be set for Q173DCPU, and axis No. of 1 to 8 can be set for Q172DCPU. Axis No. is set for each system with SSCNET structure screen of system setting of MT Developer. Axis No.
2 SYSTEM CONFIGURATION Correspondence between dno.s and axis select switches of servo amplifier dno. (Note) SSCNET Axis select switch dno.
2 SYSTEM CONFIGURATION 2.4.9 External battery This section describes the battery specifications used in the Motion CPU, handling precautions and equipments. (1) External battery specifications(For Motion CPU module) Model name Q6BAT Item Classification Manganese dioxide lithium primary battery Initial voltage [V] 3.0 Nominal current [mAh] Storage life 1800 Actually 5 years (Room temperature) Lithium content [g] Applications 0.49 For memory data backup of SRAM built-in Motion CPU 16(0.63)×32(1.
2 SYSTEM CONFIGURATION (2) Data back-up of Motion CPU by the external battery Be sure to use the external battery. Set the battery (Q6BAT) to battery holder unit (Q170DBATC). The programs, parameters, absolute position data, and latch data of SRAM builtin Motion CPU module are backed up without using the external battery. In the following status, the backup time after power OFF is 3 minutes. • The battery connector/Q6BAT lead connector is disconnected. • The battery cable/lead wire of Q6BAT is broken.
2 SYSTEM CONFIGURATION (3) Connection procedure with Motion CPU module (a) Set Q6BAT to Battery holder unit(Q170DBATC). (b) Connect the lead connector of Q6BAT to the connector (BATTERY) of Q170DBATC. (c) Connect between the connector (BAT) of Motion CPU module and connector (CPU) of Q170DBATC. Motion CPU module BAT Battery cable (Q170DBATCBL ) Battery holder unit (Q170DBATC) 0.5[m] (1.64[ft.
2 SYSTEM CONFIGURATION 2.4.10 Forced stop input terminal (1) Table of the forced stop input terminal specifications Item Specifications Number of input points Forced stop signal : 1 point Input method Sink/Source type Isolation method Photocoupler 20.4 to 26.4VDC Operating voltage range (+10/ -15%, ripple ratio 5% or less) ON voltage/current 17.5VDC or more/3.0mA or more OFF voltage/current 1.8VDC or less/0.18mA or less Input resistance Response time Approx.
2 SYSTEM CONFIGURATION MEMO 2 - 72
3 DESIGN 3. DESIGN 3.1 System Designing Procedure Design the system which uses the Multiple CPU system in the following procedure. Motion control system design Select the Motion CPU module according to number of control axes. 3 Select the motion functions to be installed according to the machinery and equipment to be controlled (selection of the programming software packages according to the operating system software). Select the number of Q172DLX's and design according to the each Refer to section 2.
3 DESIGN Refer to section 3.2 External circuit design Power supply circuit design Design the power supply circuit which supplies power to such system Refer to section 3.2.1 components as the Motion controller, I/O equipment and servo amplifiers, etc., taking into consideration the protective coordination and noise suppression techniques. Safety circuit design Design the operation-ready circuit which stops the system at Refer to section 3.2.
3 DESIGN ! CAUTION Do not touch the heat radiating fins of controller or servo amplifier, regenerative resistor and servomotor, etc. while the power is ON and for a short time after the power is turned OFF. In this timing, these parts become very hot and may lead to burns. Always turn the power OFF before touching the servomotor shaft or coupled machines, as these parts may lead to injuries. Do not go near the machine during test operations or during operations such as teaching.
3 DESIGN 3.2 External Circuit Design As to the ways to design the external circuits of the Motion system, this section explains the method and instructions for designing the power supply circuits and safety circuits, etc. (1) Sample system circuit design for motion control 1 3-phase 200/220VAC NFB1 R S T Power Supply PLC CPU Motion CPU Input module Q61P-A2 QnUD(H)CPU Q173DCPU/ Q172DCPU QX40 CP1 200VAC 200VAC Forced stop (Note-1) EMI.
3 DESIGN POINT (1) (Note-1) : Make the forced stop input cable within 30m(98.43ft.). The forced stop by the forced stop terminal of input module is also possible. (2) (Note-2) : Motion SFC program example is shown in the right record. (3) (Note-3) : It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake. (4) (Note-4) : It is also possible to use forced stop signal of the servo amplifier.
3 DESIGN (2) System design circuit example of the PLC I/O (a) System design circuit example(when not using ERR terminal of power supply module) Power supply FOR AC FOR AC/DC Power supply Transformer Transformer Transformer Input switched when power supply established Fuse Fuse CPU module CPU module SM52 Ym SM403 Yn Fuse SM52 DC power Ym RUN/STOP circuit (-) (+) SM403 interlocked with RA1 (run monitor relay) Yn Fuse XM Set time for DC power supply to be established TM Program START SW
3 DESIGN (b) System design circuit example(when using ERR terminal of power supply module) Power supply FOR AC/DC Transformer Transformer Input switched when power supply established. Fuse Fuse CPU module RUN/STOP circuit SM52 interlocked with RA1 (run monitor relay) SM403 DC power Ym (-) (+) Fuse Yn XM Set time for DC power supply to be established.
3 DESIGN 3.2.1 Power supply circuit design This section describes the protective coordination and noise suppression techniques of the power supply circuit. (1) Separation and protective coordination (leakage current protection, over current protection) of power supply lines Separate the lines for Multiple CPU system power supplies from the lines for I/O devices and servo amplifiers as shown below. When there is much noise, connect an insulation transformer.
3 DESIGN 3.2.2 Safety circuit design (1) Concept of safety circuits When the Multiple CPU system is powered on and off, normal control output may not be done momentarily due to a delay or a startup time difference between the Multiple CPU system power supply and the external power supply (DC in particular) for the control target. Also, an abnormal operation may be performed if an external power supply fault or Motion controller failure takes place.
3 DESIGN (b) The forced stop of all servo amplifiers is possible in a lump by using the forced stop input of input modules. After forced stop, the forced stop factor is removed and the forced stop canceled. (The servo error detection signal does not turn on with the forced stop.) The forced stop input can be set by allocation of the device number in the parameter setting of system setting. When the device is used, apply 24VDC voltage on EMI terminal and invalidate the forced stop input of EMI terminal.
3 DESIGN 3.3 Layout Design within The Control Panel 3.3.1 Mounting environment Mount the Motion controller system in the following environment conditions. (1) Ambient temperature is within the range of 0 to 55°C (32 to 131°F) . (2) Ambient humidity is within the range of 5 to 95[%]RH. (3) No condensing from sudden temperature changes (4) No corrosive or inflammable gas (5) There must not be a lot of conductible dust, iron filings, oil mist, or salt, organic solvents.
3 DESIGN 3.3.2 Layout design of the base units This section describes the precautions related to mount 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 mounting of the base unit".) • Top • Bottom • Front • Side 40mm (1.57inch) or more 100mm (3.94inch) or more 100mm (3.
3 DESIGN 3.3.3 Calculating heat generation by Motion controller The ambient temperature inside the panel storing the Motion controller must be suppressed to an ambient temperature of 55°C(131°F) or less, which is specified for the Motion controller. For the design of a heat releasing panel, it is necessary to know the average power consumption (heating value) of the devices and instruments stored inside. Here the method of obtaining the average power consumption of Q173DCPU/ Q172DCPU system is described.
3 DESIGN (5) Average power consumption of the input section of the input module (Power consumption for simultaneous ON points) WIN = IIN IIN E E Number of input points Simultaneous ON rate [W] : Input current (Effective value for AC) [A] : Input voltage (Voltage in actual use) [V] (6) Power consumption of the external power supply section of the intelligent function module WS = I5V 5 + I24V 24 + I100V 100 [W] The total of the power consumption values calculated for each block is the power consumpt
3 DESIGN (7) Example of average power consumption calculation (Q173DCPU use) (a) System configuration Q61P Q03UD CPU Q173D CPU QX40 QX40 Q172D LX Q172D EX Q173D PX QY10 QY10 Q38DB (b) 5 VDC current consumption of each module Q03UDCPU Q173DCPU (Note) QX40 Q172DLX Q172DEX Q173DPX (Note) QY10 (Note) Q38DB (Note) : 0.33 [A] : 1.25 [A] : 0.05 [A] : 0.06 [A] : 0.19 [A] : 0.38 [A] : 0.43 [A] : 0.228 [A] (Note) : 5VDC internal current consumption of shared equipments with PLC might be changed.
3 DESIGN 3.4 Design Checklist At the worksite, copy the following table for use as a check sheet. Item Sub Item Design confirmation Motion CPU module Number of axes selection Motion CPU module selection PLC CPU module Number of I/O points selection PLC CPU module selection Motion module Check axes points Manual pulse generator pcs. Synchronous encoder pcs.
4 INSTALLATION AND WIRING 4. INSTALLATION AND WIRING 4.1 Module Installation 4.1.1 Instructions for handling CAUTION Use the Motion controller in an environment that meets the general specifications contained in this manual. Using this Motion controller in an environment outside the range of the general specifications could result in electric shock, fire, operation failure, and damage to or deterioration of the product.
4 INSTALLATION AND WIRING (4) Be sure to install a power supply module on the main base unit and extension base unit. Even if the power supply module is not installed, when the I/O modules and intelligent function module installed on the base units are light load type, the modules may be operated. In this case, because a voltage becomes unstable, we cannot guarantee the operation. (5) When using an extension cable, keep it away from the main circuit cable (high voltage and large current).
4 INSTALLATION AND WIRING 4.1.2 Instructions for mounting the base unit When mounting the Motion controller to an enclosure or similar, fully consider its operability, maintainability and environmental resistance.
4 INSTALLATION AND WIRING (2) Module mounting position Keep the clearances shown below between the top/bottom faces of the module and other structures or parts to ensure good ventilation and facilitate module replacement. (Note): It is impossible to mount the main base unit by DIN rail. Top of panel or wiring duct Base unit 40mm (1.58inch) or more Motion CPU module MELSEC Q61P POWER Q03DCPU MODE RUN ERR. USER BAT.
4 INSTALLATION AND WIRING (5) Mounting of unit in an area where the other devices are mounted Avoid mounting base unit in proximity to vibration sources such as large magnetic contractors and no-fuse circuit breakers; mount those on a separate panel or at a distance). (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 devices that generate noise or heat (contactors and relays).
4 INSTALLATION AND WIRING 4.1.3 Installation and removal of module This section explains how to install and remove a power supply module, PLC CPU module, Motion CPU module, Motion module, I/O module, intelligent function module or another module to and from the base unit. (1) Installation and removal of the module from Q3 DB,Q6 B (a) Installation of the module on Q3 B and Q6 B Securely insert the module fixing protection into the module fixing hole so that the latch is not misaligned.
4 INSTALLATION AND WIRING POINTS (1) When installing the module, always insert the module fixing projection into the module fixing hole of the base unit. At that time, securely insert the module fixing projection so that it does not come off from the module fixing hole. If the module is forcibly installed without the latch being inserted, the module connector and module will be damaged. (2) When using the modules in a place where there is large vibration or impact, screw the module to the base unit.
4 INSTALLATION AND WIRING (b) Removal from Q3 DB and Q6 B Push When using the module fixing screws, remove them. Module fixing hook Support the module with both hands and securely press the module fixing hook with your finger. Base unit Pull the module based on the supporting point of module bottom while pressing the module fixing hook. Module Module connector Module fixing hole While lifting a module, take off the module fixing projection from the module fixing hole.
4 INSTALLATION AND WIRING 4.1.4 Instructions for mounting of the battery holder unit When mounting the battery holder unit (Q170DBATC) to an enclosure or similar, fully consider its mounting position and orientation. (1) Module mounting position Mount the battery holder unit within 50cm(1.64ft.) or less (Battery cable length: 50cm(1.64ft.)) from the Motion controller. (2) Mounting surface Mount the battery holder unit on a flat surface.
4 INSTALLATION AND WIRING 4.2 Connection and disconnection of Cable 4.2.1 SSCNET cable (1) Precautions for handling the SSCNET cable • Do not stamp the SSCNET cable. • When laying the SSCNET cable, be sure to secure the minimum cable bend radius or more. If the bend radius is less than the minimum cable bend radius, it may cause malfunctions due to characteristic deterioration, wire breakage, etc. Model name of SSCNET cable Minimum bend radius[mm(inch)] MR-J3BUS M 25(0.
4 INSTALLATION AND WIRING POINTS (1) Forcibly removal the SSCNET cable from the Motion CPU module will damage the Motion CPU modules and SSCNET cables. (2) After removal of the SSCNET cable, be sure to put a cap on the SSCNET connector. Otherwise, adhesion of dirt deteriorates in characteristic and it may cause malfunctions. (3) Do not remove the SSCNET cable while turning on the power supply of Multiple CPU system and servo amplifier.
4 INSTALLATION AND WIRING POINTS (8) Put the SSCNET cable in the duct or fix the cable at the closest part to the Motion CPU module with bundle material in order to prevent SSCNET cable from putting its own weight on SSCNET connector. When laying cable, the optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius, and it should not be twisted.
4 INSTALLATION AND WIRING 4.2.2 Battery cable (1) Handling the battery cable (a) Precautions for handling the battery cable • For connection or removal of the battery cable, do it surely while holding a connector.
4 INSTALLATION AND WIRING (c) Removal of the battery cable • For removal of the battery cable, pull out it while holding a connector. (2) Handling the battery lead wire (a) Precautions for handling the battery lead wire • For connection or removal of the battery lead wire, do it surely while holding a battery lead connector.
4 INSTALLATION AND WIRING 4.2.3 Forced stop input cable (1) Precautions for handling the forced stop input cable • For connection or removal of the forced stop input cable, do it surely while holding a connector of forced stop input cable. Motion CPU module Removal 2) 1) (2) Connection of the forced stop input cable • For connection of a forced stop input cable to the Motion CPU module, connect it surely to a EMI connector of Motion CPU module while holding a connector.
4 INSTALLATION AND WIRING 4.3 Mounting of Serial Absolute Synchronous Encoder This section describes precautions for handling the serial absolute synchronous encoder (Q170ENC). (1) If the serial absolute synchronous encoder is linked to a chain, timing belt, or gears, the machine rotating shaft should be supported by a separate bearing and connected to Q170ENC through a coupling. Ensure that excessive force (greater than the permitted shaft load) is not applied to the shaft of Q170ENC. Gear Table 4.
4 INSTALLATION AND WIRING CAUTION The Q170ENC contains a glass disk and precision mechanism. Take care when handling it. The encoder performance may deteriorate if it is dropped or subjected to shocks or vibration exceeding the prescribed limits. Do not connect the shaft of Q170ENC directly to machine side rotary shaft. Always after connecting the shaft of Q170ENC to another bearing once, connect the shaft through a flexible coupling. Gear Bearing Q170ENC Coupling Fig 4.
4 INSTALLATION AND WIRING 4.4 Wiring 4.4.1 Instructions for wiring DANGER 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. When turning on the power supply or operating the module after wiring, be sure that the module's terminal covers are correctly attached. Not attaching the terminal cover could result in electric shock.
4 INSTALLATION AND WIRING (b) Do not bundle the 100VAC and 24VDC wires with, or run them close to, the main circuit (high voltage, large current) and I/O signal lines (including common line). Reserve a distance of at least 100mm (3.94inch) from adjacent wires. (c) As measures against serge caused by lightening, connect a surge absorber for lightening as shown below.
4 INSTALLATION AND WIRING (g) Wiring of 200m (656.17ft.) or longer distance will give rise to leakage currents due to the line capacity, resulting in a fault. Refer to the troubleshooting chapter of the I/O Module User's Manual. (h) As a countermeasure against the power surge due to lightning, separate the AC wiring and DC wiring and connect a surge absorber for lightning (Refer to Section 4.4.1(1)). Failure to do so increases the risk of I/O device failure due to lightning.
4 INSTALLATION AND WIRING 4.4.2 Connecting to the power supply module The following diagram shows the wiring example of power lines, grounding lines, etc. to the main and extension base units. Main base unit (Q38DB) 100/110VAC AC Q61P CPU module Fuse AC DC ERR FG LG INPUT 100-240VAC 24VDC Connect to 24VDC terminals of I/O module that requires 24VDC internally.
4 INSTALLATION AND WIRING POINT 2 (1) Use the thickest possible (up to 2mm ) wires for the 100/200 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 of 0.8 mm (0.03 inch) or less. Also, only two solderless terminals can be connected per terminal block.
4 INSTALLATION AND WIRING 4.4.3 Precautions of SSCNET cable wiring SSCNET cable is made from optical fiber. If optical fiber is added a power such as a major shock, lateral pressure, haul, sudden bending or twist, its inside distorts or breaks, and optical transmission will not be available. Especially, as optical fiber for MR-J3BUS M, MR-J3BUS M-A is made of synthetic resin, it melts down if being left near the fire or high temperature.
4 INSTALLATION AND WIRING (4) Twisting If the SSCNET cable is twisted, it will become the same stress added condition as when local lateral pressure or bend is added. Consequently, transmission loss increases, and the breakage of optical fiber may occur at worst. (5) Disposal When incinerating optical cable (cord) used for SSCNET , hydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may be generated.
4 INSTALLATION AND WIRING • Bundle fixing Optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius, and it should not be twisted. When laying cable, fix and hold it in position with using cushioning such as sponge or rubber which does not contain plasticizing material. Base unit Motion controller Control panel Code Loose slack Bundle material Recommended product NK clamp SP type (NIX,INC.
4 INSTALLATION AND WIRING MEMO 4 - 26
5 TRIAL OPERATION AND ADJUSTMENT 5. TRIAL OPERATION AND ADJUSTMENT 5.1 Checklist before Trial Operation Table 5.1 Checklists before Trial Operation Model name Confirmation Items (1) Check that the main base unit is Q38DB or Q312DB. (2) Check that the model name of module is correct. (3) Check that the installation order is correct. Check Reference 2.4.3 2.2 2.1.4 (4) Check that the damage for installed modules. Main base unit/ Extension base unit (5) Check that the modules are installed correctly. 4.
5 TRIAL OPERATION AND ADJUSTMENT Model name Q172DLX Servo external signals interface module/ Q172DEX synchronous encoder interface module/ Q173DPX Manual pulse generator interface module Confirmation Items cable Battery holder unit (Q170DBATC) Serial absolute synchronous encoder unit (Q170ENC) Reference 2.1.4 (2) Check that the Q172DLX/Q173DPX is installed to I/O slot 3 to 11 when installation to the main base unit. 2.1.4 (3).
5 TRIAL OPERATION AND ADJUSTMENT 5.2 Trial Operation and Adjustment Procedure The mode indicated in the brackets [ ] at top left of each step is the mode for checking or setting using MT Developer. Servo start-up procedure PLC CPU Motion CPU Turn OFF Multiple CPU system power supply Check that the power supply of Multiple CPU system is OFF. Check wiring and module installation (1) Check the installation position and condition of each modules. (2) Check the connecting condition of connectors.
5 TRIAL OPERATION AND ADJUSTMENT 1) Turn ON power supply again Turn ON again the power supply or reset of Multiple CPU system. (Note) : An error may occur if the power is turned on before system setting. In the case, reset the Multiple CPU system after system setting. Refer to the "Q173DCPU/Q172DCPU Motion controller Programming Manual (COMMON)" at the system setting error occurrence. Refer to Section 2.4.
5 TRIAL OPERATION AND ADJUSTMENT DANGER 2) 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. [Programming] Create Motion programs Motion CPU Create the Motion programs using MT Developer. When performing wiring work or inspections, turn the power OFF, wait at least ten minutes, and then check the voltage with a tester, etc..
5 TRIAL OPERATION AND ADJUSTMENT 3) [Test mode JOG operation ] Check machine operation Check the followings by making the machine operate with the JOG operation of MT Developer. (1) Machine operates correctly (no vibration, hunting, etc. ) (2) Stroke limits operate correctly (3) Machine stops by the emergency stop or forced stop. CAUTION The system must have a mechanical allowance so that the machine itself can stop even if the stroke limits switch is passed through at the max. speed.
5 TRIAL OPERATION AND ADJUSTMENT 5.3 Operating System Software Installation Procedure The operating system software must be installed to the Motion CPU module by using the peripheral device and MT Developer. The installation procedure is shown below. START Set a rotary switch1 (SW1) of Motion CPU module to "A". (Rotary switch 2 (SW2) is optional.) Set to installation mode. Refer to Section 2.4.1(3) for rotary switch. Shipped from the factory in SW1 "A, SW2 "0" position.
5 TRIAL OPERATION AND ADJUSTMENT 5.4 Trial Operation and Adjustment Checklist At the worksite, copy the following table for use as a check sheet. Work Step Item Trial Operation and Adjustment Confirmation Check that the each module is installed correctly. Check that the each connector is connected correctly. Check the each terminal screw for looseness. Before power supply ON Installation of unit/module and basic wiring Check that the earth wires of power supply module or servo amplifiers, etc.
6 INSPECTION AND MAINTENANCE 6. INSPECTION AND MAINTENANCE DANGER Do not touch the terminals while power is on. Doing so could cause electric shock. Correctly connect the battery. Also, do not charge, disassemble, heat, place in fire, short circuit, or solder the battery. Mishandling of a battery may cause overheating, cracks or ignition which could result in injury and fire.
6 INSPECTION AND MAINTENANCE 6.1 Maintenance Works 6.1.1 Instruction of inspection works In order that can use the Motion controller in safety and normal, those items that must be inspected list below. DANGER Never open the front case or terminal covers while the power is ON or the unit is running, as this may lead to electric shocks. Never run the unit with the front case or terminal cover removed. The high voltage terminal and charged sections will be exposed and may lead to electric shocks.
6 INSPECTION AND MAINTENANCE CAUTION Do not short circuit, charge, overheat, incinerate or disassemble the batteries. The electrolytic capacitor will generate gas during a fault, so do not place your face near the Motion controller or servo amplifier. The electrolytic capacitor and fan will deteriorate. Periodically change these to prevent secondary damage from faults. Replacements can be made by our sales representative.
6 INSPECTION AND MAINTENANCE 6.2 Daily Inspection The items that must be inspected daily are shown below. Table 6.1 Daily Inspection Item Inspection item 1 Mounting of base unit 2 Installation of I/O module Connecting conditions PLC CPU module [RUN] LED [ERR.] LED [BAT.] LED The screws and cover must be mounted securely. Retighten the screws. The module fixing hook must be engaged and installed correctly. Securely engaged the module fixing hook. Screws should not be loose.
6 INSPECTION AND MAINTENANCE 6.3 Periodic Inspection The items that must be inspected one or two times every 6 months to 1 year are listed below. When the equipment is moved or modified, or layout of the wiring is changed, also implement this inspection. Table 6.2 Periodic Inspection 3 4 5 Inspection Judgment criteria Ambient temperature Ambient humidity 0 to 55 °C (32 to 131 °F) Measure with a thermometer and a 5 to 95 % RH hygrometer. Measure corrosive gas.
6 INSPECTION AND MAINTENANCE 6.4 Life The following parts must be changed periodically as listed below. However, if any part is found faulty, it must be changed immediately even when it has not yet reached the end of its life, which depends on the operating method and environmental conditions. For parts replacement, please contact your sales representative. Table 6.
6 INSPECTION AND MAINTENANCE 6.5 External Battery The battery installed in the Motion CPU module is used for data retention during the power failure of the program memory and latch device. Special relays SM51 or SM58 turn on due to the decrease of battery voltage. Even if the special relays turn on, the program and retained data are not erased immediately. However, if these relays are overlooked, the contents may be erased.
6 INSPECTION AND MAINTENANCE 6.5.1 Battery life (1) Q173DCPU/Q172DCPU, Q172DEX module battery life The battery life is shown below.
6 INSPECTION AND MAINTENANCE POINT (1) Do not use the battery exceeding its guaranteed life. (2) When the battery hours (total power failure time) may exceed its guaranteed value, take the following measure. • Perform ROM operation to protect a program even if the battery dies at the Multiple CPU system power-OFF. • If SM51 or SM52 turns on, the contents of programs, parameters and absolute position data cannot be guaranteed. It is recommended to back-up the battery periodically.
6 INSPECTION AND MAINTENANCE 6.5.2 Battery replacement procedure (1) Battery replacement procedure of the Battery holder unit When the battery has been exhausted, replace the battery with a new one in accordance with the procedure shown below. POINTS When replacing the battery, pay attention to the following. (1) Back up the data using MT Developer before starting replacement.
6 INSPECTION AND MAINTENANCE (2) Q172DEX module battery replacement procedure When the battery has been exhausted, replace the battery with a new one in accordance with the procedure shown below. POINT When replacing the battery, pay attention to the following. (1) The Multiple CPU power supply must be on for 10 minutes or longer before dismounting the battery. (2) Encoder data in the memory are backed up for a while by a capacitor even after the battery is removed.
6 INSPECTION AND MAINTENANCE 6.5.3 Resuming operation after storing the Motion controller When the operation is to be resumed after being stored with the battery removed or the battery has gone flat during storage, the contents of programs, parameters, absolute position data and latch data cannot be guaranteed. Before resuming operation, write the contents of programs, parameters, absolute position data and latch data backed up prior to storage to SRAM built-in Motion CPU module.
6 INSPECTION AND MAINTENANCE 6.6 Troubleshooting This section describes the various types of trouble that occur when the system is operated, and causes and corrective actions of these troubles. 6.6.1 Troubleshooting basics The basic three points that must be followed in the troubleshooting are as follows. (1) Visual inspection Visually check the following.
6 INSPECTION AND MAINTENANCE 6.6.2 Troubleshooting of Motion CPU module This section describes the contents of troubles for the error codes and corrective actions of the troubles. As for troubleshooting of PLC CPU, refer to the QCPU User's Manual (Hardware Design, Maintenance and Inspection) of their respective modules. POINT Check that the operating system software is installed before starting the Motion CPU module.
6 INSPECTION AND MAINTENANCE (a) Flowchart for when "POWER" LED turns off The following shows the flowchart when "POWER" LED of the power supply module turns off at the power supply ON or during operation. "POWER" LED turns off Is there a power supply? NO Supply power. YES NO Is the wiring/ terminal connection correct? NO YES Does "POWER" LED turn on? Connect wiring and fix terminal connection correctly.
6 INSPECTION AND MAINTENANCE 1) Remove all modules other than the power supply module from the base unit. Does "POWER" LED turn on? The base unit that includes the corresponding power module is faulty. (Replace it with a normal base unit.) NO YES YES Does "POWER" LED turn on? NO Install all modules that removed from the base unit to the base unit. H/W fault Explain the error symptom and get advice from out sales representative.
6 INSPECTION AND MAINTENANCE (b) Flowchart for when " ." does not flash in the first digit of 7-segment LED " ." does not flash in the first digit of 7-segment LED. NO Does "POWER" LED turn on? (a) "Flowchart for when "POWER" LED turns off" YES Is the connecting direction of extension cable correctly? (Isn't IN-IN or OUT-OUT connection?) NO Connect the extension cable correctly. YES NO "RESET" Is the RUN/STOP/RESETand RUN/STOP switch of CPU No.1 and target CPU Module set to STOP? Does " .
6 INSPECTION AND MAINTENANCE (c) Flowchart for when "A00" displays on 7-segment LED "A00" displays when the operating system software is not installed. The following shows the flowchart when the "A00" displays at the power supply ON or operation start. "A00" displays on 7-segment LED Is the operating system software installed to Motion CPU module? NO Install the operating system software. YES Reset the Multiple CPU system.
6 INSPECTION AND MAINTENANCE (d) Flowchart for when "AL" "L01" displays on 7-segment LED Steady "L01" display" displays at the system ""AL" (flashes 3 times) setting error occurrence. The following shows the flowchart when the ""AL" (flashes 3 times) Steady "L01" display" displays during operation. "AL" LED. "L01" displays on 7-segment Confirm details of error by Motion CPU error batch monitor of MT Developer.
6 INSPECTION AND MAINTENANCE (e) Flowchart for when "AL" LED. "A1" " " displays on 7-segment ""AL" (flashes 3 times) Steady "A1" display " "" displays at the selfdiagnosis error occurrence. The following shows the flowchart when the ""AL" (flashes 3 times) " "" display" displays during operation. Steady "L01" display : 4-digits error code is displayed in two sequential flashes of 2-digits each. "AL" "L01" " " displays on 7-segment LED.
6 INSPECTION AND MAINTENANCE (f) Flowchart for when "BT " displays on 7-segment LED "BT1" or "BT1" displays when the external battery voltage of battery holder unit is lowered. "BT1" or "BT1" displays at the following cases. • BT1: Battery voltage 2.7V or less • BT2: Battery voltage 2.5V or less The following shows the flowchart when the "BT " displays. "BT " displays on 7-segment LED Turn off the Multiple CPU system power supply. Replace the external battery.
6 INSPECTION AND MAINTENANCE (g) Flowchart for when " . . ." displays on 7-segment LED " . . ." displays at the WDT error occurrence. The following shows the flowchart when the " . . ." displays during operation. " . . ." displays on 7-segment LED Confirm details of error by Motion CPU error batch monitor of MT Developer. Is the error code of Motion CPU WDT cause "1"? NO YES Is the error code of Motion CPU WDT cause "2"? Correct the main cycle not to exceed 1.
6 INSPECTION AND MAINTENANCE (h) Flowchart for when servo amplifier does not start The following shows the flowchart when servo amplifier does not start. Servo amplifier does not start. Is there error display on 7-segment LED of Motion CPU module? NO YES Remove the error cause. YES NO Does servo amplifier start? Has the target axis set in the system setting? NO YES Set the target axis in the system setting.
6 INSPECTION AND MAINTENANCE (i) Flowchart for when "AL" "S01" displays on 7-segment LED Steady "S01" display" displays at the servo error ""AL" (flashes 3 times) occurrence. The following shows the flowchart when the ""AL" (flashes 3 times) Steady "S01" display" displays during operation. "AL" LED. "S01" displays on 7-segment Confirm details of error by Motion CPU error batch monitor of MT Developer.
6 INSPECTION AND MAINTENANCE 6.6.3 Confirming error code The error code and error message can be read using MT Developer. The procedure for reading error is as follows. (1) Connect the PLC CPU module to personal computer (IBM PC/AT). (2) Start MT Developer. (3) Select [Online] - [Read from CPU] Menu of MT Developer, and read the project data from Motion CPU. (4) Start the monitor screen of MT Developer and select [Motion CPU error batch monitor] menu.
6 INSPECTION AND MAINTENANCE 6.6.4 I/O module troubleshooting This section describes possible problems with I/O circuits and their corrective actions. (1) Input circuit troubleshooting The following describes possible problems with input circuits and their corrective actions. Input Circuit Troubleshooting and Corrective Action Condition Cause • Leakage current of input switch (e.g. drive by non-contact switch). Example 1 AC input Input signal is not turned OFF.
6 INSPECTION AND MAINTENANCE Input Circuit Troubleshooting and Corrective Action (Continued) Example 5 Condition Input signal is not turned OFF. Cause • Sneak path due to the use of two power supplies. E1 Corrective action • Use only one power supply. • Connect a sneak path prevention diode. (Figure below) Input module E2 E1 Input module E2 E1 >E2 Example 6 Depending on response time setting, noise is imported as input. Change the response time setting.
6 INSPECTION AND MAINTENANCE (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. (2) Output circuit troubleshooting The following describes possible problems with output circuits and their corrective actions. Output Circuit Troubleshooting and Corrective Action Condition Cause • When load is half-wave rectified (This is typical some solenoids).
APPENDICES APPENDICES APPENDIX 1 Cables In this cable connection diagram, maker names of connectors are omitted. Refer to "APPENDIX 2.7 Connector" for maker names of connectors. APPENDIX 1.1 SSCNET cables Generally use the SSCNET cables available as our products. (1) Model explanation Numeral in the column of cable length on the table is a symbol put in the " " part of cable model. Cables of which symbol exists are available. Cable model MR-J3BUSM Cable length [m(ft.)] 0.15 (0.49) 0.3 (0.98) 0.
APPENDICES POINTS (1) If the end face of code tip for the SSCNET cable is dirty, optical transmission is interrupted and it may cause malfunctions. If it becomes dirty, wipe with a bonded textile, etc. Do not use solvent such as alcohol. (2) If the end face of code tip for SSCNET cable is dirty, optical transmission is interrupted and it may cause malfunctions. If it becomes dirty, wipe with a bonded textile, etc. Do not use solvent such as alcohol.
APPENDICES • MR-J3BUS03M to MR-J3BUS3M [Unit: mm(inch)] Refer to the table of this section (1) for cable length (L). Protective tube (Note) 100 (3.94) 100 (3.94) L (Note) : Dimension of connector part is the same as that of MR-J3BUS015M. • MR-J3BUS5M-A to MR-J3BUS20M-A,MR-J3BUS30M-B to MR-J3BUS50M-B Refer to the table of this section (1) for cable length (L). SSCNET Protective tube Variation [mm(inch)] cable A B MR-J3BUS5M-A to MR-J3BUS20M-A 100(3.94) 30(1.
APPENDICES APPENDIX 1.2 Serial absolute synchronous encoder cable Generally use the serial absolute synchronous encoder cables available as our products. If the required length is not found in our products, fabricate the cable on the customer side. (1) Selection The following table indicates the serial absolute synchronous encoder cables used with the serial absolute synchronous encoder. Connector sets (Q170ENCCNS) are also available for your fabrication.
APPENDICES (2) Q170ENCCBL M (a) Model explanation Type: Q170ENCCBL M Symbol 2 5 10 20 30 50 Cable length [m(ft.)] 2(6.56) 5(16.40) 10(32.81) 20(65.62) 30(98.43) 50(164.04) (b) Connection diagram When fabricating a cable, use the recommended wire and connector set Q170ENCCNS for encoder cable given on APPENDIX 1.2, and make the cable as show in the following connection diagram. Maximum cable length is 50m(164.04ft.). SY.ENC connector Q172DEX 1 LG 2 LG 12 3 LG 13 LG 15 6 14 TREN.
APPENDICES APPENDIX 1.3 Battery cable Generally use the battery cable available as our products. If the required length is not found in our products, fabricate the cable on the customer side. Make the battery cable within 0.5m(1.64ft.). (1) Q170DBATCBL M (a) Model explanation Type : Q170DBATCBL M Symbol 05 Cable length [m(ft.)] 0.5(1.64) (b) Connection diagram CPU Module side Battery holder side 4 1 1 3 50351-8100 (Terminal) 51103-0400 (Connector) + 4 - 3 N.C.
APPENDICES APPENDIX 1.4 Forced stop input cable Generally use the forced stop input cable available as our products. If the required length is not found in our products, fabricate the cable on the customer side. Make the forced stop input cable within 30m(98.43ft.). (1) Q170DEMICBL M (a) Model explanation Type : Q170DEMICBL M Symbol 05 1 3 5 10 15 20 25 30 Cable length [m(ft.)] 0.5(1.64) 1(3.28) 3(9.84) 5(16.40) 10(32.81) 15(49.21) 20(65.62) 25(82.02) 30(98.
APPENDICES APPENDIX 2 Exterior Dimensions APPENDIX 2.1 CPU module (1) Q172DCPU Module [Unit: mm (inch)] Q172DCPU CDE AB 789 CD AB E F01 45 23 6 45 23 6 F01 789 1 SW 2 STOP RUN CAUTION CN1 98(3.86) EMI FRONT BAT 119.3(4.70) 27.4(1.08) (2) Q173DCPU Module [Unit: mm (inch)] Q173DCPU CDE AB 789 CD AB E F01 45 23 6 45 23 6 F01 789 1 SW 2 STOP RUN CAUTION CN2 CN1 98(3.86) EMI FRONT BAT 119.3(4.70) 27.4(1.
APPENDICES APPENDIX 2.2 Servo external signals interface module (Q172DLX) [Unit: mm (inch)] CTRL 98(3.86) Q172DLX Q172DLX 90(3.54) 45(1.77) 27.4(1.08) APPENDIX 2.3 Synchronous encoder interface module (Q172DEX) [Unit: mm (inch)] Q172DEX SY.ENC1 MITSUBISHI LITHIUM BATTERY SY.ENC2 Q172DEX 4.2(0.17) 90(3.54) 39(1.54) App - 9 27.4(1.08) 98(3.86) SY.
APPENDICES APPENDIX 2.4 Manual pulse generator interface module (Q173DPX) [Unit: mm (inch)] Q173DPX PULSER KSD06S 1 2 3 4 5 6 ON Q173DPX 90(3.54) 45(1.77) App - 10 27.4(1.08) 98(3.86) PLS.A PLS.
APPENDICES APPENDIX 2.5 Power supply module (Q61P-A1, Q61P-A2, Q61P, Q62P, Q63P, Q64P) [Unit: mm (inch)] (1) Q61P-A1, Q61P-A2, Q61P, Q62P, Q63P Q61P 98(3.86) POWER PULL 90(3.54) 55.2(2.17) (2) Q64P [Unit: mm (inch)] Q64P 98(3.86) POWER PULL 115(4.53) 55.2(2.
APPENDICES APPENDIX 2.6 Battery holder unit (Q170DBATC) (1) Battery holder unit (Q170DBATC) [Unit: mm (inch)] 18.4(0.72) 60(2.36) 11.6 (0.46) 30(1.18) 40(1.57) 80(3.15) 7.5 (0.30) 45(1.77) BATTERY CPU 2- 5.3(0.
APPENDICES APPENDIX 2.7 Connector (1) Cable connector for serial absolute synchronous encoder (Sumitomo 3M make (MDR type)) Number of pins Solder connection type (Quick release metal latch type) Solder connection type (Threaded type) Insulation displacement type (Quick release metal latch type) Connector Connector case 10120-3000PE 10320-52F0-008 10120-3000PE 10320-52A0-008 10120-6000EL(Note) 10320-3210-000(Note) (Note): These connectors are not options. Please purchase them by customer.
APPENDICES (c) Insulation displacement type(Quick release metal latch type) Type Connector : 10120-6000EL Connector case: 10320-3210-000 11.5(0.45) [Unit: mm (inch)] 6.7 42.0(1.65) 33.0(1.30) Position where e.g. logo is indicated 20.9 2- 0.5(0.02) 29.7(1.17) (2) SSCNET cable connector 13.4 (0.53) 4.8(0.19) 2.3 (0.09) 9.3(0.37) 6.7 (0.26) 15 (0.59) 1.7 (0.07) 17.6 0.2 (0.69 0.01) 8 (0.31) 20.9 0.2 (0.82 0.
APPENDICES (3) Battery cable connector (a) Battery holder side (Tyco Electronics AMP K.K make) Type Connector : 1376477-3 Terminal : 1376476-1 5.4 (0.21) 6.5 (0.26) [Unit: mm (inch)] 8.3 (0.33) 8.2 (0.32) 10.0 (0.39) (b) CPU module side (Molex Incorporated make) Type Connector : 51103-0400 Terminal : 50351-8100 [Unit: mm (inch)] 7.5 (0.30) 5.8 (0.23) 9.5 (0.37) 12.2 (0.48) 10.5 (0.
APPENDICES APPENDIX 2.8 Manual pulse generator (MR-HDP01) [Unit: mm (inch)] Packing t =2.0 3.6(0.14) NP 90 60(2.36) 0.5 80(3.15) 1 70 30 80 20 10 PCD72, equi-spaced 70(2.76) 50(1.97) 0 3 Studs (M4 10) 5 to 12V 0V A B 60 M3 6 40 50 7.6 (0.30) Space 72(2.8 3) 0.2 62 (2. 44 -0 ) 2 8.89 (0.35) 16 20 27.0 0.5 (0.63)(0.79) (1.06) 3- 4.8(0.19) equi-spaced The figure of processing a disc APPENDIX 2.9 Serial absolute synchronous encoder (Q170ENC) [Unit: mm (inch)] 84(3.31) 58.5(2.
APPENDICES MEMO App - 17
WARRANTY Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company.
MOTION CONTROLLER Qseries User's Manual (Q173DCPU/Q172DCPU) HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN MODEL Q173D-U-E MODEL CODE 1XB927 IB(NA)-0300133-A(0801)MEE IB(NA)-0300133-A(0801)MEE When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications subject to change without notice.
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