Mitsubishi Electronics Q172CPU9(N) manual

IB(NA)-0300040-B(0205)MEE MOTION CONTROLLER Qseries (Q173CPU ( N ) /Q172CPU ( N )) User's Manual U Q MOTION CONTROLLERS Q173CPU ( N ) Q172CPU ( N ) User's Manual MODEL MODEL CODE Q173/Q172CPU-USE-E 1CT780 IB(NA)-0300040-B(0205)MEE When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Indu[...]

A - 1 SAFETY PRECAUTIONS (Read these precautions before using.) When using this equip ment, thoroughly read this manual and the associated manuals introduced in t his manual. Also pay careful a ttention t o safety and handle the module properly. These precautions apply only to this equipment . Refer to the Users manual of the QCPU module t o use fo[...]

A - 2 For Safe Oper ation s 1. Prevention of electric shocks ! DANGER Never open the front case or terminal covers while the pow er is ON or the unit is running, as this may lead to elect ric shocks. Never run the unit with the front case or term inal cover removed. The high voltage terminal and charged sections will be ex posed and may lead to ele[...]

A - 3 3. For injury prev ention ! CAUTION Do not apply a volt age other than that specified in the instruction manual on any terminal. Doing so may lead t o 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 n[...]

A - 4 ! CAUTION In systems where perpendicular shaft dropping may be a problem during the forced stop, emergency stop, servo O FF or power supply OFF, use both dynamic brakes and electromagnetic bra kes. The dynamic brakes must be used only on errors that cause the forced stop, e mergency stop, or servo OFF. These brakes must not be used for normal[...]

A - 5 ! CAUTION Set the servomotor encoder type (increment, absolute position ty pe, etc.) param eter to a value that is compatible with t he system application. The protectiv e functions may not function if the settin g is i ncorrec t. Set the servomotor capacity and ty pe (standard, low-inertia, flat, etc.) parameter to values that are compatible[...]

A - 6 ! CAUTION Do not get on or place heavy objects on the product. Always observ e the installation direction. Keep the designated clear ance between the Motion controller or servo amplifier and cont rol panel inner surface or the Motion controller and servo amplifier, Motion controller or serv o amplifier and other devices. Do not install or ope[...]

A - 7 (4) W iring ! CAUTION Correctly and securely wire the wires. Reconfirm the connect ions for mistakes and the terminal screws for tightness after wiring. Failing to do so may lead t o run away of the servomotor. After wiring, install the protectiv e covers such as the terminal covers to the original positions. Do not install a phase advancing [...]

A - 8 (6) Us age methods ! CAUTION Immediately turn OFF the power if smoke, abnor mal sounds or odors are emitted from the Motion controller, servo amplifier or servomotor. Always execut e a test operation before star ting actual operations after the program or parameters have been changed or after maintenance and inspection. The units must be disa[...]

A - 9 ! CAUTION If an error occurs, remo ve the cause, secure the safety and then resume operation after alarm release. The unit may suddenly resume operation after a pow er failure is restored, so do not go near the machine. (Design t he machine so that personal safety can be ensured even if the machine restarts suddenly.) (8) Mai ntenance, inspec[...]

A - 10 (9) About processi ng of waste W hen you dis car d Moti on contr oller , ser vo am plif ier, a batter y (pr imar y batt ery) a nd o ther o ption articl es, pleas e foll ow the law of eac h coun try (ar ea). ! CAUTION This product is not designed or manufactured to be used in equipme nt or systems in situations that can affect or endanger hum[...]

A - 11 REVI SION S The manual number i s given on the bottom left of the b ack cov er. Pri nt D ate Manual Num ber Revision Nov., 20 01 IB(NA)-0300 040-A First edi tion May., 2002 IB(NA)-0 300040- B [Addit ion model ] Q173CPUN/Q1 72CPUN, MR- J2M-B, A10B D-PCF [Addit ion funct ion] • For W indows2000 • ROM operation • MODE LED Installat ion m [...]

A - 12 INTRODUCT ION Thank you for choos ing the Q173CPU( N)/Q17 2CPU(N ) Motion C ontroller . Please r ead this m anual caref ully so tha t equi pment is used to its optim um . CONTENT S Safet y Precaut ions ............................................................................................................. ............................ A-[...]

A - 13 4. IN STALL ATION AND W IRING 4- 1 t o 4-2 0 4.1 Mod ule Ins tallat ion ........................................................................................................ ........................... 4- 1 4.1.1 Ins truct ions f or ha ndlin g ................................................................................................[...]

A - 14 APPE NDICES App- 1 to App- 37 APPENDIX 1 Ca bl es .............................................................................................................. ....................App- 1 APPEN DIX 1.1 SS CNET cables ..................................................................................................... ....... App- 1 APPEN DIX[...]

A - 15 About Ma nuals This manual is only to exp lain hardwar e of the Mo tion controller . The f ollowing m anuals are relate d to th is prod uct. Referr ing to this lis t, pl ease reques t the nec essar y manua ls. This User's Manua l do not descr ibes har dware spec ific ation an d handli ng metho ds of the PLC CPU modules , power s upply m[...]

A - 16 (2) PLC Manual N ame Manual N umber (Model Code) QCPU User's Manual (Hardw are Design, Maintenance and Inspection) This manual expl ains the s pecifi cations of t he QCPU modules , power supply modul es, base m odules, extension c ables, m emory card batt ery and others . (Optional) SH-080483ENG (13JR73) QCPU User's Manual (Functio[...]

1 - 1 1 OVERVIE W 1. OVERVIEW 1.1 Overv iew This User's Manua l desc rib es the hard ware s pecif icati ons a nd h andlin g meth ods of the Motion Contr oller's Mod el Q 173CPU( N)/Q17 2CPU( N) f or th e Q ser ies PLC M ultip le CP U sy st e m. The M anual also d escr ibes those item s rel ated to the s pecif icati ons of the option modul[...]

1 - 2 1 OVERVIE W Generic term/Abbreviation Description Dividing unit Dividing unit (Q173DV) Battery unit Battery unit (Q170BAT) A  0BD -PCF A10BD-PCF/A30BD-PCF SSC I/F board SSC I/F communication cab le Abbreviation for "Cable for SSC I/F board/card" Teaching Unit or A31TU-D3 /A31T U-DN A31TU-D3 /A31TU-DN Teaching unit (No te-3) Intel[...]

2 - 1 2 SYSTEM CONFIG URATION 2. SYSTEM CONFIGURATION This section d escri bes the Q17 3CPU(N) /Q1 72CPU( N) s ystem conf igur ation, preca utions on us e of s yste m and conf igure d equ ipm ents. 2.1 Motion Sy stem Configurati on This sect ion des cri bes th e equ ipm ent conf igur atio n, con figura tion with perip heral devices and s ystem conf[...]

2 - 2 2 SYSTEM CONFIG URATION (a) W hen using the D ividing unit/exter nal battery It is poss ible t o select the best accor ding to t he system. Power supply module/ QCPU/ I/O module/ Intelligent function module of the Q series Motion CPU module (Q173CPU(N)) CPU base unit (Q33B, Q35B, Q38B, Q312B ) Extension cable (QC B) Extension of the Q series [...]

2 - 3 2 SYSTEM CONFIG URATION (b) W hen using the Dividi ng cable MIT SUB ISHI Powe r supp ly mod ule/ QCPU/ I/O module/ Intelligent functi on module of the Q series Motion CP U module (Q173 CPU (N)) CPU ba se un it (Q33B, Q3 5B, Q38B, Q312B) Extension of the Q series module Serv o amp lifie r (MR-H -BN) Servo amplifier (MR-J 2 -B) Moti on modu le [...]

2 - 4 2 SYSTEM CONFIG URATION (2) Equipment configuration in Q172CPU(N) system Q172CPU(N) S ystem configurat ion Is this system continuously power off for 1000 hours or more running? YES NO (Note) Refer to equ ipment configu ration o f "(a) Wh en using the externa l battery" . Refer to equi pment confi guration of "(b) Wh en not usin[...]

2 - 5 2 SYSTEM CONFIG URATION (a) W hen using the exter nal battery MITSUBIS HI LITHIU M BATTERY Battery unit (Q170BAT) (Note-1) MITSUBISH I LITHIUM BATT ERY BAT CPU Q17B AT DATE PASSED Pow er sup ply module / QCPU/ I/O module/ Intelligent function module of the Q series Motion CPU module (Q172CPU(N)) CPU base unit (Q33B, Q35B, Q38B, Q312B) Exten s[...]

2 - 6 2 SYSTEM CONFIG URATION (b) W hen not using the ex ternal battery MITSUBISHI CPU base unit (Q33B, Q35B, Q38B, Q312B) It is possible t o select the best accordi ng to the system. Extensio n of the Q series mod ule Motion module (Q172LX, Q1 72EX, Q1 73PX) Q6 B extension base unit (Q63B, Q65B, Q68B, Q6 12B) Power supply m odule/ I/O module/Intel[...]

2 - 7 2 SYSTEM CONFIG URATION (3) Peri pheral device configur ation for the Q173C PU(N) / Q172CPU(N) The following (a) (b) (c) can be used. (a) RS-232 configu ration RS-232 cable (QC30R2) Personal computer Motion CPU module (Q173CPU(N), Q172CPU(N)) (b) USB configurati on Motion CPU module (Q173CPU(N), Q172CPU(N)) Personal computer (Windows 98/2000/[...]

2 - 8 2 SYSTEM CONFIG URATION 2.1.1 Q173CPU(N ) System overal l configurati on M a n u a l p u l s e g e n e r a t o r i n t e r f a c e m o d u l e S y n c h r o n o u s e n c o d e r i n t e r f a c e m o d u l e S e r v o e x t e r n a l s i g n a l s i n t e r f a c e m o d u l e (Up to 6 modules ) (Up to 1 m odu le) QI60 PLC CPU/ Motion CPU SS[...]

2 - 9 2 SYSTEM CONFIG URATION CAUTION Constr uct a safet y circ uit ex tern all y of the Motion contr oller or s ervo amplif ier if the abnor mal operat ion of the Motion con trol ler or s ervo am plifier diff er fr om the s afet y direc tive opera tion in th e sy st em. The ra tings and c harac teris tics of th e parts (ot her th an Mot ion c ontr[...]

2 - 10 2 SYSTEM CONFIG URATION 2.1.2 Q172CPU(N ) System overal l configurati on M a n u a l p u l s e g e n e r a t o r i n t e r f a c e m o d u l e S y n c h r o n o u s e n c o d e r i n t e r f a c e m o d u l e S e r v o e x t e r n a l s i g n a l s i n t e r f a c e m o d u l e (Up to 4 m odu les) (Up to 1 module) QI60 PLC CPU/ Motion CPU SS[...]

2 - 11 2 SYSTEM CONFIG URATION CAUTION Constr uct a safet y circ uit ex tern all y of the Motion contr oller or s ervo amplif ier if the abnor mal operat ion of the Motion con trol ler or s ervo am plifier diff er fr om the s afet y direc tive opera tion in th e sy st em. The ra tings and c harac teris tics of th e parts (ot her th an Mot ion c ont[...]

2 - 12 2 SYSTEM CONFIG URATION 2.1.3 Function expl anation of the Q17 3CPU(N )/Q172CPU(N) Motion CPU modules (1) Up to 3 2 axes ser vo am plifier s per 4 s ystem s (up t o 8 ax es p er 1 s ystem ) can be used i n Q17 3CPU(N) . Up to 8 ax es s ervo am plif iers p er 1 s ystem can be use d in Q172CPU(N) . (2) It is possib le to set t he progr am whic[...]

2 - 13 2 SYSTEM CONFIG URATION 2.1.4 Restrictions on Moti on systems (1) It is not al lowed t o us e the Motion CPU as th e contr ol C PU of a modu le ins tall ed on the QA1 S6 B extens io n bas e unit . PLC CPU m ust be used as th e contr ol CPU. (2) T he co nnector for insta llati on of m em ory car d on th e Mot ion CP U modu le is for future f [...]

2 - 14 2 SYSTEM CONFIG URATION (12) N um ber of M otion CPU m odules and t emper ature condit ions (Q1 73CP U/ Q172 CPU on ly ) (a) It is p ossibl e to rem ove the Cooli ng fan unit(Q 170F AN) i n ord er to d ispers e heat from i nside the Moti on CP U modul e acco rding t o the numbe r of th e Motion CPU m odul e and am bient tem pera ture c ondit[...]

2 - 15 2 SYSTEM CONFIG URATION 2.2 System Config uration Eq uipment (1) Table of Moti on controll er related module Part nam e Model nam e (Note-1) Descr iption Current consumpt ion 5VDC[A] Remark Q172CPUN Up to 8 axes cont rol 1.14 Q172CPUN-T Up to 8 axes cont rol, For teac hing unit 1.45 Q172CPU Up to 8 axes cont rol, W ith cooling fan unit 1.62 [...]

2 - 16 2 SYSTEM CONFIG URATION Table of Moti on controller r elated module (conti nued) Part nam e Model nam e (Note-1) Descr iption Current consumpt ion 5VDC[A] Remark QC05B Length 0. 45m(1.48ft.) QC06B Length 0. 6m(1.97ft.) QC12B Length 1. 2m(3.94ft.) QC30B Length 3m (9.84ft.) QC50B Length 5m (16.40ft.) Extension cabl e QC100B Length 10m (32.81ft[...]

2 - 17 2 SYSTEM CONFIG URATION Table of Moti on controller r elated module (conti nued) Part nam e Model n ame (Note-1) Descr iption Current consumpt ion 5VDC[A] Remark MR-J 2CN S Q172EX(-S1) s ide connect or Connector :10120-3000VE Connector c ase : 10320-52F 0-008 MR-HENC si de connector Plug : MS3106B20-29S Cable clum p : MS3057-12A Connector s [...]

2 - 18 2 SYSTEM CONFIG URATION Table of Moti on controller r elated module (conti nued) Part nam e Model nam e (Note-1) Descr iption Current consumpt ion 5VDC[A] Remark Q172CPU(N) connect or set Q172CON Connector f or Q172CPU(N ) (Note-6) Connector : HDR-E14 MG1 Case : HDR-E14LPA5 —— Q173CPU(N) connect or set Q173CON Q173CPU(N) s ide connect or[...]

2 - 19 2 SYSTEM CONFIG URATION (2) Q seri es PLC module w hich can be control by Motion CPU Part nam e Model name Descr iption Remark AC QX10 100-120VAC, 7-8mA, 16 point s, Termi nal block QX40 24VDC/4m A, Positi ve common, 16 points , Terminal bl ock QX41 24VDC/4m A, Positi ve common, 32 points, Connec tor QX42 24VDC/4m A, Positi ve common, 64 poi[...]

2 - 20 2 SYSTEM CONFIG URATION (3) Table o f servo amplifier The f ollowi ng ser vo am plif ier series can be use d. (a) MR-H BN Part nam e Model nam e Descript ion MR-H BN MR-H ser ies servo am plifier MR-H KBN Refer t o catalogue of the servo am plifi er. Battery MR-BA T Back -up for the absolut e positi on detection Terminal connector MR-TM Conn[...]

2 - 21 2 SYSTEM CONFIG URATION (b) MR-J2 S- B/MR-J2M-B/MR-J2- B/MR- J2-03B5 Part nam e Model n ame Desc ription MR-J 2S- B MR-J2-Super s eries servo am plifier MR-J 2S- B1 Ref er to catal ogue of the se rvo amplif ier. MR-J 2M- DU Drive unit MR-J2M-P8B I nterfac e unit MR-J2M series servo am plifier MR-J2M-BU Bas e unit Refer to c atalogue of t he [...]

2 - 22 2 SYSTEM CONFIG URATION (c) FR-V5 0- Part nam e Model n ame Descript ion FR-V520- K FR-V500 series vector inverter FR-V540- K Refer to c atalogue of t he vector inv erter. Q172J2BCBL M • MR-J2 -B (Note-1) FR-V5NS (Note-2) 0.5m(1.6 4ft.), 1m(3.2 8ft.), 5 m(16.40 ft.) SSCNET c able FR-V5N SCBL • Q172CPU(N) FR -V5NS (Note-2) • FR-V5NS (No[...]

2 - 23 2 SYSTEM CONFIG URATION (5) Operati ng environment o f personal computer Oper ating env iron ment is shown below . IBM PC/AT with which WindowsNT4.0/98/2000/XP English version operates normally. Item W indow sNT R 4.0(Service Pack 2 or later) (Not e) or Wi ndows R 98 Windows R 2000 Windows R XP CPU Pentium133MHz or more Pentium II 233M Hz or[...]

2 - 24 2 SYSTEM CONFIG URATION 2.3 General Speci fications Gener al spec ificati ons o f Q173CP U(N)/Q 172CPU( N) modul e are show n below . Item Specification Operating ambient temperature 0 to 55°C (32 to 131°F) Storage ambient temperature -25 to 75°C (Not e-3) (-13 to 167°F) Operating ambient humidity 5 to 95% RH , non-condensing Storage amb[...]

2 - 25 2 SYSTEM CONFIG URATION ! CAUTION The Motion controller must be stored and used under the condit ions listed in the table of specifications ab ove. When not using the module for a long time, disconnect t he power line from the Motion controller or servo amplifier. Place the Motion controller and servo amplifier in stat ic electricity prevent[...]

2 - 26 2 SYSTEM CONFIG URATION 2.4 Specifications of E quipment and Setti ngs 2.4.1 Name o f parts for CPU modul e This sect ion ex plains the nam es and s ettin g of the m odul e. (1) Q173CPU N(-T)/Q172CPUN (-T) Front f ace Q17 CPU N T RS-232 USB MODE RUN ERR. M.RUN BAT. BOOT 2) 8) 3) 4) 5) 6) 7) PULL Put your finger here to open t he cover. FRON [...]

2 - 27 2 SYSTEM CONFIG URATION (2) Q173CPU /Q172CPU Front f ace Q17 CPU RS-232 USB MODE RUN ERR. M.RUN BAT. BOOT 2) 8) 3) 4) 5) 6) 7) PULL Put your finger h ere to open the cover. FRONT SSCNET CN2 CN1 W ith front co ver o pen MODE RUN ERR. M. RUN BAT. B OOT ON SW 1 2 3 4 5 STOP RUN RESET L CLR 9) 10) 11) 12) 13) 14) 15) Side f ace Bottom 16) 17) 21[...]

2 - 28 2 SYSTEM CONFIG URATION No. Nam e Applic ation 1) Module fi xing hook • Hook used to fi x the module to t he base unit.(Quic k release ins tallat ion) 2) MODE LED (Mode judgi ng) • Lit(green) • Lit(ora nge) : Norm al mode : Instal lation mode • m ode written i n ROM • Lit : Motion CPU norm al start 3) RUN LED • Not lit : Motion C[...]

2 - 29 2 SYSTEM CONFIG URATION (3) Appli cations of switches, connectors on Q 173CPU(N )/ Q172CPU(N ) No. Nam e Applicati on Dip switch 1 Must not be used. (Shipped from the factory i n OFF position) • ROM operating s etting (Shi pped from the factory i n OFF position) Dip sw itch 2 Dip sw itch 3 S W2 OFF ON OFF ON SW 3 OFF OFF ON ON Mode operate[...]

2 - 30 2 SYSTEM CONFIG URATION (4) Basic speci fications of Q173CPU(N) /Q172CPU(N) (a) Modul e specifications Item Q173CP UN Q173CPUN-T Q173CPU Q172CPUN Q172CPUN-T Q172CPU Teaching unit —— Us able —— —— Usable —— Internal c urrent consumpt ion(5VDC) [A ] 1.25 1.56 (Note) 1.75 1.14 1.45 (Note) 1.62 Mass [k g] 0.23 0.24 0.22 0.22 0.23[...]

2 - 31 2 SYSTEM CONFIG URATION Motion control speci fications (continued) Item Q173C PUN(-T) Q173CPU Q172CPUN(-T) Q172CPU Synchronous encoder operation function Possible to connect 12 modules Possible to connect 8 modules M-code function M-code output function provide d M-code completion w ait function provided Limit switch output function Number o[...]

2 - 32 2 SYSTEM CONFIG URATION (b) Moti on SFC performance specifications Item Q173CPU(N)/Q172CPU(N) Code total (Motion SFC chart+ Operation control+ Transition) 287k bytes Motion SFC program capacity Text total (Operation control+ Transition) 224k bytes Number of Motion SFC programs 256(No.0 to 255) Motion SFC chart size/program Up to 64k bytes (I[...]

2 - 33 2 SYSTEM CONFIG URATION (6) SV43 Moti on control specificat ions/per formance specifications (a) Motion contr ol specifications Item Q173CPUN Q173CPU Q172CPUN Q172CPU N umber of control ax e s Up to 32 axes U pt o8a x e s Operation cycle (default) 0.88ms/ 1 to 4 axes 1.77ms/ 5 to 12 ax es 3.55ms/13 to 24 ax es 7.11ms/25 to 32 ax es 0.88ms/1 [...]

2 - 34 2 SYSTEM CONFIG URATION (b) Moti on program performance speci fications Item Q173CPU(N)/Q172CPU(N) Total of program files 248k bytes Program capacity Number of programs Up to 1024 (No. 1 to 1024) Arithmetic operation Unary operation, Additive operation, Multiplicative operation, Remai nder operation Comparison operation Equal to, Not equal t[...]

2 - 35 2 SYSTEM CONFIG URATION (7) Selecti on of Q172EX, Q173PX Synchronous encoder Item Serial absolute Incremental Manual pulse generator Q173CPU(N) 12 modules Q172CPU(N) 8 modules 3 modules Module selection Q172EX Q173PX (8) Q173CPU (N)/Q172CPU( N) internal r echargeable battery • Initial c harging of the Q1 73CPU(N)/Q1 72CPU(N) Turn on the po[...]

2 - 36 2 SYSTEM CONFIG URATION 2.4.2 Power supply module (1) Table o f the power supply module specificati ons This secti on describ es the power supply module s specificatio ns. Perform ance spec ificati ons Item Q61P-A1 Q61P-A 2 Q62P Base loadi ng position Power supply m odule loading s lot Applicabl e base unit Q33B, Q35B, Q38B, Q312B, Q65B, Q68[...]

2 - 37 2 SYSTEM CONFIG URATION The po wer s upp ly mod ule s pecif icat ions (c ont inued) Perform ance spec ificati ons Item Q63P Q64P Base loadi ng position Power s upply module l oading slot Applicabl e base unit Q33B, Q35B, Q38B, Q312B, Q65B, Q68B, Q612B Input po wer supply 24VDC (+30%/-35% ) (15.6 to 31.2V DC) 100 to 120VAC/ 200 to 240VAC (+1 [...]

2 - 38 2 SYSTEM CONFIG URATION POINTS (Note- 1) : Overc urren t prote ction The ov ercur rent protec tion devi ce shu ts off t he 5V DC or 24VDC circui t and st ops th e s ystem if the curren t flow ing in the c ircui t excee ds t he specif ied valu e. W hen th is d evice is act iva ted, th e po wer suppl y mod ule LED is s witched OFF or d iml y l[...]

2 - 39 2 SYSTEM CONFIG URATION (2) Names of Parts and Setti ng This sect ion des cribes the nam es of the p arts of eac h power m odule. (a) Q61P-A1, Q61P- A2, Q62P, Q63P, Q64P Q61P-A1 POWE R 100 -12 0VAC INPUT 50/60Hz 105VA OUTPUT 5VDC 6A ERR. L +- 24VDC 0.5A (FG) (LG) N L 100-120VAC INPU T 9) 1) 8) 2) 3) 4) 5) 10) 7) Q61P-A2 POWER 200-240V AC INP[...]

2 - 40 2 SYSTEM CONFIG URATION No. Name Application 1) POWER LED 5VDC power indicator LED 2) ERR terminals Turned OFF (opened) when a stop error occurs in the CPU module. Normally off w hen loaded in an extension base unit. 3) FG terminal Ground terminal connected to t he shield pattern of the printed circuit board. 4) LG terminal Grounding for the[...]

2 - 41 2 SYSTEM CONFIG URATION (3) Selecti on of the pow er supply module The po wer s uppl y modu le is select ed ac cordi ng to the to tal of curr ent consum ption of t he I/O m od ules, s pec ial func tion m odule, an d per ipher al de vices suppl ied b y its p ower m odu le. (Se lect t he p ower s uppl y m odule i n cons iderat ion of the c urr[...]

2 - 42 2 SYSTEM CONFIG URATION (4) Example of the po wer supply selection calculati on ( W hen using the Q173 CPUN-T.) (a) System c onfigur atio n Q38B Q173PX Q173 CPUN-T Q172LX Q172 EX QX 40 QX40 QY10 QY10 MR-HDP01 Q02H CPU Q61P-A 1 MR-HDP01 MR-H ENC A31TU-D3K13 (b) 5 VDC cur rent c onsum pti on of e ach m odule Q02HCP U : 0.6 4 [A] Q173 PX : 0.11[...]

2 - 43 2 SYSTEM CONFIG URATION 2.4.3. Base unit and ex tension cable This sect ion des cri bes th e spec if icatio ns of the ex tens ion c ables for t he b ase u nits (CPU base unit or ex tens ion base unit) used in th e s ystem , and t he s pecif icat ion standar ds of the extens ion base u nit. (1) Table of the base unit specifications (a) CPU ba[...]

2 - 44 2 SYSTEM CONFIG URATION (2) Table of the extension cable speci fications The l ist be low des cribes th e spec ific ations of the ex tensi on cab les which can be us ed for the QCPU sy stem. Type Item QC05B QC06B QC12B Q C30B QC50B QC100B Cable length[m(ft.)] 0.45(1.48) 0.6(1.97) 1.2(3.94) 3.0( 9.84) 5.0(16.40) 10.0(32.8) Application Connect[...]

2 - 45 2 SYSTEM CONFIG URATION (4) I/O allocations It i s po ssible to al locate uni que I /O No .s fo r ea ch Moti on CP U in depende ntly of the PL C’s I/O No. s. (I /O No.s a re uniq ue betw een th e Q seri es PLC CPU with in a given s ystem , but the I/O No.s of the Mot ion CP U are uniqu e for eac h Mot ion CPU.) ON/OF F da ta inpu t to the [...]

2 - 46 2 SYSTEM CONFIG URATION 2.4.4 Q172LX Ser vo external si gnals interface module Q172LX rec eives exter nal s ign als (s ervo exter nal s ignal s) r equir ed for posit ion ing control. (1) Q172LX name of parts 5) 6) 2) 4) 3) 1) CTRL Q172LX Q1 72LX No. Name Application 1) Module fixing hook Hook used to fix the module to the base unit. (Quick r[...]

2 - 47 2 SYSTEM CONFIG URATION (2) Performance speci fications (a) Modul e specifications Item Specifications Number of I/O occupying point s 32 points(I/O allocation: Intell igent, 32 points) Internal current consumption(5 VDC) [A] 0.05 Exterior dimensions [ mm(inch)] 98(H) 27.4(W ) 90(D) (3.86(H) 1.08( W ) 3.54(D) ) Mass [kg] 0.15 (b) Input Item [...]

2 - 48 2 SYSTEM CONFIG URATION (3) Connecti on of servo exter nal signal s interface module (a) Serv o external signals There are th e followi ng servo e xternal signal s. (Upper str oke l imit is lim it va lue of ad dress incr ease d irec tion/ lower s trok e lim it is lim it value of an addr ess decreas e dir ecti on.) The Q 172LX is as sign ed a[...]

2 - 49 2 SYSTEM CONFIG URATION (b) The pin lay out of the CTRL connector Use the CTRL c onnec tor at the Q 172LX modu le fro nt to connect the s ervo exte rnal si gnals. The f ollowi ng pin la yout of t he Q17 2LX CT RL co nnect or vie wed f rom the front. The pin la yout and co nnect ion desc ript ion of the CT RL conn ector are descri bed be low.[...]

2 - 50 2 SYSTEM CONFIG URATION (4) Interface betw een CTRL connector and s erv o external signal RLS Input or Output Signal name Interna l circuit FLS Stop signal input STOP DOG/CHANGE 12VDC to 24VDC FLS1 FLS2 FLS3 FLS4 FLS5 FLS6 FLS7 FLS8 LED 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 A[...]

2 - 51 2 SYSTEM CONFIG URATION 2.4.5 Q172EX Ser ial absolute synchr onous encoder interface modul e Q172EX rec eive extern al si gnals r equ ired f or ser ial abs olut e s ynchron ous e ncoder . (1) Q172EX /Q172EX-S1/Q172EX-S2/Q172E X- S3 name of parts 2 1 TREN SY. EN C SY.EN C2 SY.EN C1 Q172 EX 2) 4) 1) 3) 2 1 Q172 EX 5) 6) MITSUBISHI LITHIUM BATT[...]

2 - 52 2 SYSTEM CONFIG URATION (2) Performance speci fications (a) Modul e specifications Specifications Item Q172EX Q172EX -S1 Q172EX-S2 Q172EX-S3 Memory for data ex change None Provided None Provided Number of I/O occupying point s 32 points(I/O allocation: Intell igent, 32 points) Internal current consumption(5 VDC)[A] 0.07 Exterior dimensions [[...]

2 - 53 2 SYSTEM CONFIG URATION (c) Seri al absolute synchronous encoder inp ut Item Specifications Applicable signal types Differential- output type : (SN75C 1168 or equivalent) Transmission m ethod Serial communications Synchronous method Counter-clock-wise (v iewed from end of shaft) Communication spee d 2.5Mbps Applicable types MR-HENC Position [...]

2 - 54 2 SYSTEM CONFIG URATION (3) Select to number of the sy nchronous encoder modules Syn chronou s encode rs are avai labl e in voltag e output ty pe(in crementa l), di ffere ntial ou tput type (incr ementa l) a nd seria l absol ute output type (MR-HE NC). Q172E X(-S1 ) can be con nected t o only serial absolut e output type (MR-HE NC). Q172E X-[...]

2 - 55 2 SYSTEM CONFIG URATION (4) Connecti on of synchronous encoder inter face module. (a) Connecti on with serial absolute sy nchronous encoder (MR- HENC/Q170EN C) Use the SY.E NC con nector at th e Q172 EX m odule f ront to c onnec t the seri al ab solute synchron ous en coder( MR-HE NC/Q17 0ENC). W hen track ing en able signa l is n ot us ed, [...]

2 - 56 2 SYSTEM CONFIG URATION (5) Interface betw een SY.EN C connector and ex ternal equipment Pin No. SY .ENC co nnec tor Serial abs olut e synchronous enco der Input or Output Signal nam e Wiring example 12VDC to 24V DC Input MR 7 MRR 17 P5 10 18 19 20 LG 1 2 3 1 1 12 BAT 9 TREN 4 TREN. COM 14 SD 5VD C Battery plate Internal circ uit Specificati[...]

2 - 57 2 SYSTEM CONFIG URATION (6) Detail s of encoder cable connections (a) Q172EX (-S1) 1) W hen not us ing tr acking enab le sign al MR-JHSCBL10 M-H to MR-JHSCBL30M-H (10 t o 30 m (32 .81 to 98.4 3ft .)) P5 19 LG 11 P5 20 LG 12 MR 7 MRR 17 BT 9 LG 1 SD S R C F G N D P5 19 LG 11 P5 20 LG 12 P5 18 LG 3 BT 9 LG 1 SD S F G N R C D SY.ENC side connec[...]

2 - 58 2 SYSTEM CONFIG URATION (b) Q172EX -S2/Q172EX-S3 1) W hen not us ing tr acking enab le sign al (Note-1) SDplate 20 12 18 2 S H J N R K L SY.ENC side connector 10120-3000 VE ( connector) 10320-52F 0-008(c onnecto r case) MS 3106B22- 14S(cable clum p) Synchrono us encoder si de connector (plug) :Twisted pair cable E Q170ENCCBL2M to Q170ENCCBL5[...]

2 - 59 2 SYSTEM CONFIG URATION (7) Connecti on of the battery This secti on de scribes t he bat tery speci fication s, han dling precau tion s and insta llatio n of the Q1 72EX. (a) Specifications The spec ific ations of the bat ter y for mem or y back -up ar e shown in th e tabl e belo w. Battery Speci fications Model name Item A6BAT/MR -BAT Class[...]

2 - 60 2 SYSTEM CONFIG URATION (c) Battery service life time Battery service life time Guaranteed time(M IN) [ h ] Actual time(TYP) [ h ] MR-HENC 1 pcs. 10000 30000 MR-HENC 2 pcs. 5000 15000 Q170ENC 1 pcs. 8000 24000 Q170ENC 2 pcs. 4000 12000 CAUTION Do not short a battery. Do not charge a battery. Do not disassemble a battery. Do not burn a batter[...]

2 - 61 2 SYSTEM CONFIG URATION 2.4.6 Q173PX M anual pulse gener ator interface module Q173P X receive e xterna l signal s requir ed for Ma nual pul se gene rator and Incre mental syn chronou s encode r (Volt age- output /Open coll ecto r type /Diffe rent ial-ou tput ty pe). (1) Q173PX /Q173PX-S1 name of parts TREN Q173P X PULSER Q173PX-S1 PLS. A 3 [...]

2 - 62 2 SYSTEM CONFIG URATION No. Name Application Detection setting of T REN1 signal SW 1 SW 2 Dip switch 1 OFF OFF ON ON ON OFF TREN is detected w hen TREN signal turns off to on. Dip switch 2 OFF ON TREN is detected when TREN signal turns on to off. Detection setting of T REN2 signal SW 3 SW 4 Dip switch 3 OFF OFF ON ON ON OFF TREN is detected [...]

2 - 63 2 SYSTEM CONFIG URATION (2) Performance speci fications (a) Modul e specifications Specifications Item Q173PX Q173PX -S1 Memory for data ex change None Provided Number of I/O occupying point s 32 points(I/O allocation: Intell igent, 32 points) Internal current consumption(5 VDC)[A] 0.11 Exterior dimensions [ mm(inch)] 98(H) 27.4(W ) 90(D) (3[...]

2 - 64 2 SYSTEM CONFIG URATION (c) M anual pulse generator/Incr emental synchronous encoder input Item Specifications Number of modules 3/module High-voltage 3.0 to 5.25VDC Voltage-output/ Open collector type Low-voltage 0 to 1.0VDC High-voltage 2.0 to 5.25VDC Differential-output type (26LS31 or equivalent) Low -voltage 0 to 0.8VDC Input frequency [...]

2 - 65 2 SYSTEM CONFIG URATION (3) Connecti on of manual pulse g enerator Manu al puls e ge nerator s ar e av ailab le in volt age ou tput /open coll ector type and di fferent ial ou tput ty pe. Sinc e the se type s differ in connect ion method , design accord ing to th e connec tion m ethod of sectio n 2.4.6 (5 ). In additi on the usa ble num bers[...]

2 - 66 2 SYSTEM CONFIG URATION (5) Connecti on of manual pulse g enerator i nterface module (a) The pin lay out of the PULSER connector Use the PUL SER con nec tor at the Q 173PX modul e fron t to co nnect t he manual puls e s ignals , incr em ental s ynchr onous enc ode r sign als. The fo llowin g pin lay out of the Q173PX PU LSER connect or view [...]

2 - 67 2 SYSTEM CONFIG URATION (b) Interface betw een PULSER connector and manual pulse generator (Differential output ty pe)/Incremental synchronous encoder Interface betw een Manual pulse g enerator (Differential outp ut type)/ Incremental sy nchronous encoder Input or Outp ut Sig nal n ame Pin No. PUL SER con nect or Wiri ng exam ple Interna l c[...]

2 - 68 2 SYSTEM CONFIG URATION (c) Inter face between PULSER connector an d manual pul se generator (Voltage output/Open collector ty pe)/ Incremental sy nchronous encoder. Interface betw een Manual pulse g enerator (Vol tage-output/Open coll ector type)/Incr emental synchronous encoder A Manual p ulse generator / synchronous encoder Input or Outp [...]

2 - 69 2 SYSTEM CONFIG URATION (6) Connecti on examples of manual pulse g enerator Connection of manual puls e generator Connection of m anual pulse generator (Vo ltage-output /Open c ollect or type) (Differ ential-o utput ty pe) SG SG Q173PX SG P5 Signal name A A B 0V 5V SG P5 A B 0V 5V B Ma nual pu lse generator side FG FG SG shield (Note-2) : 1 [...]

2 - 70 2 SYSTEM CONFIG URATION 2.4.7 Manual pulse g enerator/Ser ial absolute sy nchronous encoder (1) Table of the Manu al pulse gener ator specifications Item Specifications Model name MR-HDP01 Ambient temperature -10 to 60°C(14 to 140°F) Pulse resolution 25PLS/rev(100 PLS/rev after magnification by 4) Output method Voltage-output(power supply [...]

2 - 71 2 SYSTEM CONFIG URATION (2) Table o f the Serial absolut e sy nchronous encoder speci fications Specifications Item MR-HENC Q170ENC (Note-1) Ambient temperature -5 to 55°C(23 to 131°F) Resolution 16384PLS/rev 262144PLS/rev Connectable encoder Q172E X(-S1) Q172EX-S2/-S3 Transmission m ethod Serial communications Direction of increasing addr[...]

2 - 72 2 SYSTEM CONFIG URATION 2.4.8 A31TU-D3 /A31TU -DN Teaching uni t (Japanese versi on only) Teachi ng unit A3 1TU- D3 /A31TU-D N can be easi ly set t he t eachi ng of p ositi oning point, eac h param eter setti ngs, cr eatio n of servo progra m , servo m onitor , ser vo tes t, and so on wit hout the per iphera l devices . (Mot ion CPU m odule [...]

2 - 73 2 SYSTEM CONFIG URATION REMARK Exter nal saf et y circu it Constr uct th e circ uit (po wer s uppl y OFF of ser vomotor , etc.) of parts which m a y occur m achi ne bre akdo wn and acci dents due t o abnor mal opera tions outs ide of the Motio n CP U in a fa il-sa fe view poin t, to avoi d abno rmal o pera tion s of w hole syste m. ! CAUTION[...]

2 - 74 2 SYSTEM CONFIG URATION (2) A31 TU-D3 /A31TU- DN Name of parts DISABLE EMG.STOP ENABLE 5) 1) 2) 3) 4) 6) 7) A31TU DATA MONITOR TEST STOP OVERR IDE STEP - STEP + RETURN 8 ITE M # 9 CLEAR 5 DELETE E 6 INDI RECT F 3 C 2 B 0 MDI - 7 INST RUCTIO N ; 4 WRITE D 1 STORE A . SHIFT AXIS NO. FUNCTION PROGR AM JOG - ERROR RESET SP CAN JOG + GO No. Nam e[...]

2 - 75 2 SYSTEM CONFIG URATION (3) Teaching uni t specifications Specif ications Items A31TU-D3 A31T U-DN Language Japanes e Tact sw itch 28 key s for SV ENABLE/DI SABLE sw itch Oper ation ena ble/disa ble Emergency s top switc h Push loc k return reset type Deadman s witch 3-positi on switch None Operation Contrast adj usting s witch Shade/light D[...]

2 - 76 2 SYSTEM CONFIG URATION 4) W hen the t each ing un it (A3 1TU-D 3 ) is not us ed, c onnec t th e short- circuit c onnec tor f or teac hin g unit ( A31T UD3TM) t o th e contr ol pan el side connect or of the ca ble for teachin g unit ( Q170TUD3C BL3M). Connec tion exam ple bet ween the ca ble for teac hing un it (Q170T UD3CB L3M) an d exter n[...]

2 - 77 2 SYSTEM CONFIG URATION (b) Connecti on between the teaching unit (A31TU-DN ) and Motion CPU (Q173CPUN-T/Q172CPU N-T) There ar e f ollo wing two co nnec ting m eth od. • W hen the c onnec tor is co nnect ed to the c ontr ol pa nel. • W hen the c onnec tor is co nnect ed d irect ly in t he c ontro l pane l. 1) W hen the c onnec tor is co [...]

2 - 78 2 SYSTEM CONFIG URATION Connec tion exam ple bet ween the ca ble for te aching un it (Q1 70TUDN CBL3M) is shown be low. MITSUBI SHI Q173C PUN-T SSCNET M.RUN MODE RUN ERR. BAT. BOOT FRONT CN2 CN1 PULL USB RS-232 TU QX40 0 1 2 3 4 5 6 7 8 9 A B C D E F SY.EN C2 SY.EN C1 Q172EX Q172EX 2 1 TREN SY.E NC 2 1 Q02HCPU USER MODE RUN ERR. BAT. BOOT PU[...]

2 - 79 2 SYSTEM CONFIG URATION 2) W hen the c onnec tor is co nnecte d dir ect ly in th e contr ol p anel. a) Co nnec t the ca ble for teachi ng uni t (Q17 0TUD NCBL03M -A) to th e TU c onnector of Mot ion CP U (Q1 73CPUN-T /Q17 2CPUN- T) af ter connec ting t o the t eac hing u nit ( A31TU- DN ). b) W hen the t each ing un it (A3 1TU-D N ) i s not [...]

2 - 80 2 SYSTEM CONFIG URATION ! CAUTION Do not c onnec t the A31T U-D3 to the ca ble for teach ing unit (Q 170T UDNCBL03 M-A ). The protect ive functi on sto ps wor king. Be sure to fix the relay portion of a connector which has connected the cable for teaching unit (Q170TUDNCBL03M-A) w ith teaching unit (A31TU-D N ) so that impossible power is no[...]

2 - 81 2 SYSTEM CONFIG URATION (c) W hen not using a teaching uni t (A31TU-D3 /A31TU-D N ) Connec t a sh ort-cir cuit c onn ector for teac hing unit (Q17 0TUT M) to a TU connec tor of Moti on CPU (Q17 3CPUN- T/Q1 72CPUN- T) . Connec tion ex ampl e wit hout te achi ng un it (A31T U-D 3 /A31TU-DN ) is shown be low. MITSUBI SHI Q173C PUN- T SSCNET M.R[...]

2 - 82 2 SYSTEM CONFIG URATION 2.4.9 SSCNET cables, ter minal connector and connection method This sectio n des cribes how t o co nnect betwe en the Mot ion CP U modu le a nd ser vo am plifiers . Betw een th e Motion CPU mo dule and servo a mplifi ers is conn ecte d by SSC NET cable. W hen using the Q 172CPU( N), o nly 1 S SCNET cab le f or conn ec[...]

2 - 83 2 SYSTEM CONFIG URATION (b) W hen using the Dividi ng cable CN1 Q173CPU(N) Motion CPU mod ule Servo amplifier MITSUBISHI CN1A CN1B MITSUBISHI CN1A CN1B MITSUBISHI CN1A CN1B MITSUBISHI CN1A CN1B 3) 3) 2) 4) 4) Servo a mplifier Servo amplifier Servo amplifier SSCNET cable over all length per 1 syste m 2)+total of 3) 30m(98.43ft.) SSCNET SYSTEM[...]

2 - 84 2 SYSTEM CONFIG URATION List of SSCNET cabl e model na me No. Part nam e Model n ame (Note-2) Cable length Descript ion 1) Motion CPU Dividing unit Q173DVCBL M 0.5 m(1.64ft.) , 1m(3.28 ft.) Q173CPU(N) Dividing u nit (Q173DV) Q173J2B CBL M (Note-3) 0.5m(1.6 4ft.), 1m(3.2 8ft.), 5m(16.4 0ft.) Q173CPU(N) Servo am plifier (MR -J2 -B) 2) Motion C[...]

2 - 85 2 SYSTEM CONFIG URATION (2) Connecti on between the Q172CPU (N) and serv o amplifiers (a) W hen using the exter nal battery Batte ry u nit (Note-1) (Q170BAT) CN1 Q172CPU(N) Motion CPU mod ule Serv o amp lif ier MITSUBISHI CN1A CN1B MITSUBISHI CN1A CN1B 3) 4) Servo amplifier BAT CPU MITSUBISHI LITHIUM BATTE RY 1) (Note-1) : When using the ext[...]

2 - 86 2 SYSTEM CONFIG URATION List of SSCNET cabl e model na me No. P art name Model n ame (Note-1) Cable length Descript ion Q172J2BCBL M- B 0.5m(1.64 ft.), 1 m(3.28 ft.), 5m(16.4 0ft.) Q172CPU(N) Servo ampli fier (MR-J2 -B) Battery unit ( Q170BAT) 1) Motion CPU Servo amplifier Battery unit Q172HBCBL M-B 0.5m(1.6 4ft.), 1 m(3.28 ft.), 5m(16.4 0ft[...]

2 - 87 2 SYSTEM CONFIG URATION (3) Cable speci fications (a) Q172J2BCBL M (-B) Model name Item Q172J2BCBL05M(-B) Q172J2BCBL1M(-B) Q172J2BCBL5M(-B) Cable length [m(ft.)] 0.5( 1.64) 1(3.28) 5(16.40) (b) Q172HBC BL M (-B ) Model name Item Q172HBCBL05M(-B) Q172HBCBL1M(-B) Q172HBCBL5M(-B) Cable length [m(ft.)] 0.5( 1.64) 1(3.28) 5(16.40) (c) Q173J2B CBL[...]

2 - 88 2 SYSTEM CONFIG URATION (h) FR-V 5NSCBL Model name Item FR-V5NSCBL005 FR-V5NSCBL01 FR-V5NSCBL05 FR-V5N SCBL10 FR-V5NSCBL20 Cable length [m(ft.)] 0.5(1.64) 1( 3.28) 5(16.40) 10( 32.81) 20(65.62) (4) Connecti on example w ith servo ampl ifiers As th e SSCNE T cable s or termi nal con nect or is diffe rent depend ing on the serv o am plifiers ,[...]

2 - 89 2 SYSTEM CONFIG URATION (a) MR-H- BN configuration Motio n CPU module Battery MR-BAT , A6BA T Termina l connecto r Q173CPU(N) /Q172CPU(N) Battery MR-BAT , A6BAT Battery MR-BAT , A6BA T Q172CPU(N) configurat ion : Q172HBCBL M Q173CPU(N) configuration : Q17 3HB CBL M MR-H-B N MR-H-B N MR-H-BN (b) MR-J2 -B configuration Moti on CPU m odule Term[...]

2 - 90 2 SYSTEM CONFIG URATION (d) FR-V 5 0- + FR-V5 0- configuration Motion CPU module Q172CPU(N) Terminal connector sett ing i s se t by connector in FR-V5NS. SSCNET communi cation option FR-V5NS FR-V5 0- SSCNET communi cation option FR-V5NS FR-V5 0- (e) FR-V 5 0- + MR-J 2 -B configuration Battery MR-BAT, A6BAT Motion CPU modu le MR-J2 -B Q172CPU[...]

2 - 91 2 SYSTEM CONFIG URATION (h) MR-H -BN + FR -V5 0- configur ation Q172CPU(N) configuration : Q172HBCBL M Q173CPU(N) configuration : Q17 3HB CBL M Moti on CPU module Q173CPU(N) /Q172CPU(N) Terminal connector sett ing is se t by connector in FR-V5NS. MR-H-BN SSCNET communica tion option FR-V5NS FR-V5 0- Battery MR-BAT, A6BAT Q172HBCBL M (i) W he[...]

2 - 92 2 SYSTEM CONFIG URATION • FR-V5 0- + MR-J2 -B c onfig urat ion Motio n CPU module Q173CPU(N) Battery Q173 DV MR-BAT, A6BAT Q173DVCBL M Terminal connector sett ing is se t by connector in FR-V 5NS. SSCNET communica tion option FR-V5NS FR-V5 0- MR-J2 - B Battery MR-BAT, A6BAT Q172J2BCBL M • FR-V5 0- + MR -H-BN configur ation Motio n CPU mo[...]

2 - 93 2 SYSTEM CONFIG URATION 2) Ex ample of Q172CPU( N) • MR-H-BN + MR-J2 -B + MR-H-BN configuratio n Battery Q170BAT Motion CPU modul e MR-BAT , A6BAT Termi nal connector Q172CPU(N) Battery MR-BAT , A6BA T Battery MR-BAT , A6BAT Battery MR-BAT , A6BAT Q172HBCBL M-B MR-J2 -B MR-H-B N MR-H-BN • MR-J2 -B + MR-H-BN + MR-J2 -B conf igur atio n Ba[...]

2 - 94 2 SYSTEM CONFIG URATION (5) Setting of the axis No. and axi s select switch of servo ampl ifier Axis No. is used to set the axis num bers of ser vo am plifi ers con nec ted to SSCNE T connector(CN ) in the program . Axis No. of 1 to 32 can be s et for Q 173C PU(N), and ax is No. of 1 t o 8 ca n be s et for Q172CPU(N) . Axis No. is set f or e[...]

2 - 95 2 SYSTEM CONFIG URATION Correspondences between dno.s a nd axi s select switches of servo ampl ifier dno. (Note) SSCNET SYSTEM Servo ampl ifier' s rotary sw itch dno. (Note) SSCNET SYSTEM Servo ampl ifier' s rotary sw itch 1 1 "0" 1 2 "0" 2 1 "1" 2 2 "1" 3 1 "2" 3 2 "2" 4 [...]

2 - 96 2 SYSTEM CONFIG URATION 2.4.10 External battery This sectio n descri bes the b atter y specif ica tions used in the Motion C PU, hand ling preca utions an d equi pment s. (1) Exter nal battery specifications(F or Motion CPU modul e) Model name Item A6BAT/MR-BAT Classification Manganese diox ide lithium primary battery Initial voltage [V] 3.6[...]

2 - 97 2 SYSTEM CONFIG URATION CAUTION Do not short a battery. Do not charge a battery. Do not disassemble a battery. Do not burn a battery. Do not overheat a battery. Do not solder the battery terminal. When using the external battery , be sure to select "th e external battery use" in the syst em settings. If not setting the external bat[...]

2 - 98 2 SYSTEM CONFIG URATION (b) Connecti on with Q172CPU(N) Connec tion pr oced ure of Q17 2CPU(N) and A6BAT /MR-BAT 1) Set the A6BAT /MR-B AT t o the B atter y un it (Q17 0BAT ). 2) Con nect th e A 6BAT/MR- BAT conn ector t o the BAT connect or of Q170BA T. 3) Con nect b etwee n Q17 2CPU(N) and Q 170 BAT b y the S SCNET cabl e. Battery unit (Q1[...]

2 - 99 2 SYSTEM CONFIG URATION 2.4.11 Cooling fan unit (Q170FAN ) (Q173CPU/Q172C PU only) This sect ion ex plains the s pecif icati ons of the Cooli ng fa n unit (Q 17 0FAN) used f or t he Motion C PU modul e. (1) Remov able conditions o f the Cooling fan uni t It is p ossibl e to r em ove the Coolin g fan u nit (Q 170FA N) i n order to d ispers e [...]

2 - 10 0 2 SYSTEM CONFIG URATION (3) In point of the l ayout desig n within the control panel Leave 50mm (1.9 7inch) or m ore clear anc e betwe en th e top of the m odul es and structur es or parts . Top of pane l or wiri ng duc t 50mm (1.9 7in ch) min. Power suppl y PLC CPU Motion CPU The wi nd blow s li es Cool ing fan unit (Q170F AN)[...]

3 - 1 3 DESIGN 3. DESIGN 3.1 System Desi gning Procedure Design the s ystem which us es the Multi ple C PU s ystem i n the follo wing pr oced ure. Refer to s ection 2.4.4 Refer to s ection 2.4.5 Refer to s ection 2.4.6 Motion control system desig n Select the Mot ion CPU module a ccording t o numbe r of co ntrol axes and wheth er teach ing uni t i [...]

3 - 2 3 DESIGN Refer to sect ion 3.2 Refer to section 3. 2.1 Refer to sect ion 3.2.2 Refer to sect ion 3.3 Design th e power su pply circuit w hich suppl ies power to such system componen ts as the Moti on controll er, I/O equi pment and servo amplifier s, etc., tak ing into con sideration th e protecti ve coordinati on and noi se suppressi on tech[...]

3 - 3 3 DESIGN ! CAUTION Do not touc h the s ervo ampl ifier's h eat ra diatin g fins , reg enerat ive resis tor an d ser vom otor, e tc. while t he p ower is ON and f or a shor t t ime af ter th e po wer is tur ned O FF. In th is t iming, these parts bec om e very hot and m a y lead to burns. Alwa ys turn the p ower OF F bef ore t ouchi ng th[...]

3 - 4 3 DESIGN 3.2 External Circuit Design As to t he ways to d esign the externa l circ uits of the Motion s y stem , this sect ion expla ins the m ethod and ins truc tions for desi gning th e power suppl y circuits and safety circui ts, etc. (1) Sample sy stem circuit desig n for motion contr ol 1 FLS1 CP3 CP1 R S T Ra1 OFF ON MC MC SK 24V 24G FL[...]

3 - 5 3 DESIGN POINT 1) (Note-1) : The fol lowing is the Mo tion SFC pro gram example . < Example> For control axis 1 and axis 2 [F 1] SET PYm [G 1] M2408 M242 8 Servo er ror detectio n [F 2] RST PYm END 4) (Note-4) : It recommends u sing one leakage breaker for one s ervo amplif ier. When electric power is sup plied to multi ple se rvo am pl[...]

3 - 6 3 DESIGN (2) Sample sy stem circuit desig n for motion contr ol 2 (For A31TU- DN ) CP1 R S T +24V 24G COM COM NFB FG LG Q61P- A2 Xn CP2 Q173CPUN- T/ FLS1 DOG8 / CHAN GE8 EMG EMG SG Q170TUDNCBL3M CP3 OFF ON MC MC EMG Ra1 SK (Internal conn ection) 3-ph as e 200/ 220 VAC 24VDC Pow er supply Emergen cy Stop Operati on Read y Number of inputs: 8 a[...]

3 - 7 3 DESIGN POINT 1) (Note-1 ) : The follow ing is the Moti on SFC pro gram example. < Example> For control axis 1 and axis 2 [F 1] SET PYm [G 1] M2408 M242 8 Servo er ror detectio n [F 2] RST PYm END 4) (Note-4) : It reco mmends using o ne leakage break er for one serv o amplifier. When electric power is sup plied to multi ple servo ampli[...]

3 - 8 3 DESIGN (3) Sample sy stem circuit desig n for motion contr ol 3 (For A31TU- D3 ) DC24VD CP1 RST +24V 24G FLS1 COM COM NFB 200VAC 200VAC FG LG Q61P-A2 Xn CP2 Emergency stop FLS1 DOG8/ CHANGE 8 G24 Ra1 EMG SG EMG1 DC24VE DED1 Q170 TUD 3CB L3M CP3 ON MC MC EMG OFF A31TU-D3 Internal circuit Ra4 EMG SG Ra2 Ra3 (Cabl e) Ra2 Ra1 Emergency st op sw[...]

3 - 9 3 DESIGN POINT 1) (Note-1) : The following is the Motion SFC program example. < Example> For control axis 1 and axis 2 [F 1] SET PYm [G 1] M2408 M2428 Servo error detecti on [F 2] RST PYm END 4) (Note-4) : It recommends using o ne leakage b reaker for o ne servo amplif ier. When electric powe r is supplied to multiple servo amplifiers f[...]

3 - 10 3 DESIGN (4) System desig n circuit ex ample of the PLC I/O (a) System desig n circuit ex ample(when not usi ng ERR contact of power supply module) Starting p ossible when the PLC RUN outp ut RA 1 is O N START/STO P circuit Turns out put equipme nt power off when STOP occurs on emerg ency stop , on s top a t upper/l ower limit switch Start s[...]

3 - 11 3 DESIGN (b) System desi gn circuit ex ample(when using ERR contact of power supply module) Interlock circu its as necessary. Provide external inte rlock circ uits for c onfl icti ng operati ons, such as forward r otation and reve rse ro tat ion, and for p arts that could damage the machi ne or cause acciden t if no interlo ck were used. MC [...]

3 - 12 3 DESIGN 3.2.1 Power supply circuit desig n This se ction de scribe s the prote ctive coo rdina tion and noise suppressi on techni ques o f the po wer su ppl y circuit. (1) Separati on and protectiv e coor dination ( leakage current pr otection, over current pr otection) of pow er supply systems W hen wiring , separ ate t he li nes of Mult i[...]

3 - 13 3 DESIGN 3.2.2 Safety cir cuit design (1) Concept of safety cir cuits W hen the Mo tion c ontro ller i s powere d on- off , proper outpu ts m ay not b e prov ided tempora r ily due to the de la ys an d rise times o f the Mo tion con trolle r power s uppl y and exter nal I/ O con trol p ower s uppl ies (e speci all y DC). Also, ab norm al ope[...]

3 - 14 3 DESIGN (b) It is also possi ble to use t he f orced s top s igna l of th e ser vo am plif ier. Refer t o m anual of the serv o am plifier abo ut ser vom otor ca pacit y. Operat ion sta tus of the em ergenc y stop a nd t he forc ed s top are as fo llows. Item Operation of the signal ON Remark Emergency stop Shut off the power supply to the [...]

3 - 15 3 DESIGN 3.3 Layout Desi gn within The Contr ol Panel 3.3.1 Installation env ironment Instal l the M otio n contr oll er s ystem in the f ol lowing envir onm ent con ditions . (1) Ambie nt tem pera tur e is within t he r ange of fol lowin g co ndit ions. Q173CPU/Q172CPU Number of the Motion C PU Q173CPUN(-T)/ Q172CPUN(-T) With Cool ing fan u[...]

3 - 16 3 DESIGN 3.3.2 Layout desig n of the base uni ts This sect ion d escri bes th e p recau tions r elat ed t o inst all a M otio n contr o ller in an enclos ure. (1) T o im prove vent ilati on and p erm it eas y re placem ent of the m odule , le ave a s pace of the following ta ble betwee n the to p, bott om, side of the m odule and an y other [...]

3 - 17 3 DESIGN 3.3.3 Calculati ng heat gener ation by Motion contr oller The am bie nt tem peratur e in side t he con tro l pane l stor ing t he M otion c ontr oller mus t be suppr essed to a M otio n con troller oper atin g am bient t em perature of 5 5°C(1 31°F). It is possi ble to rem ove the Coolin g fan unit( Q170F AN) depend ing on th e nu[...]

3 - 18 3 DESIGN (6) Power consumption of the power supply section of the intelligent function module W S = I 5V 5 + I 24V 24 + I 100V 100 [W ] The to tal of the p ower cons um ption values calc ulate d f or eac h b lock bec om es the po wer co nsum ption of the over all Mo tion s ystem . W = W PW + W 5V + W 24V + W OUT + W IN + W S [W ] From this o[...]

3 - 19 3 DESIGN (e) A tota l of 24 VDC aver age po wer c onsum ption of th e out put m odule W 24V = 192 [W ] (8A/com m on) (f) Averag e po wer co nsum ption d ue t o vo ltage drop in the outp ut sec tion of th e outpu t modu le W OUT = 0 [W ] (g) A verag e power cons um ption of the input s ecti on of the i nput m odule W IN = 0.00 4 24 32 1 = 3.0[...]

3 - 20 3 DESIGN 3.4 Design Checkli st At the work site, c opy t he fol lowin g tab le for us e as a che ck sheet. Item Sub Item Design confirmation Check Number of ax es ax es Number of I/O points points Motion CPU module selecti on CPU module selecti on PLC CPU module selection Manual pulse generator pcs. Synchronous encoder pcs. Teaching unit Upp[...]

4 - 1 4 INSTALLATION AND W IRING 4. INSTALLATION AND W IRING 4.1 Module Install ation 4.1.1 Instructions for h andling ! CAUTION Use th e Mot ion c ontro ller in an envir onm ent th at meets the gener al sp ecific at ions c onta ined in this manual . Us in g thi s Mot ion con trol ler in an envi ron ment o uts id e t he ra nge of t he general speci[...]

4 - 2 4 INSTALLATION AND W IRING (5) W hen an extens io n cab le is used, do not bin d the c able to geth er wit h the m ain circui t (hi gh vo ltage, heav y cu rrent) line or la y them clos e to each o ther . (6) Ins tall the CP U base unit ( b y screwing) in t he f ollowing proc edure. 1) Fit t he t wo fix ing scre ws f or top of the CPU bas e un[...]

4 - 3 4 INSTALLATION AND W IRING 4.1.2 Instructions for instal lation of the base unit Instal l th e Motio n con tro ller m odule to a panel , etc. , co nsid ering enoug h abo ut operab ilit y, maintai nabil ity and en vironm enta l resistanc e. (1) Fitting di mensions Fitti ng dim ensio ns of each base unit are as f ol lows: I/11 0358 I/10 I/0 9 I[...]

4 - 4 4 INSTALLATION AND W IRING (3) Moti on controller installati on orientation (a) S ince t he M otion c ontr oller gener ates h eat, it sho uld be fitt ed on a well vent ilated loca tion i n th e orient atio n sho wn be low. (b) Do not use it in ei ther o f the or ienta tions s hown belo w. Vert ical Flat (4) Installati on surface Fit th e base[...]

4 - 5 4 INSTALLATION AND W IRING 4.1.3 Installation and r emoval of module This sectio n ex plains how t o ins tall a nd rem ove a po wer s uppl y modul e, PL C CPU module , Mot ion C PU m odule, Motion m odule, I/O m odule , int ellig ent f unction m odule or an other module t o and from the base uni t. (1) Install ation and remov al of the module[...]

4 - 6 4 INSTALLATION AND W IRING (b) Removal from Q3 B and Q6 B Module fixing hole Module Base unit Module conn ect or Completion Hold the m odule with b oth hands, and push the h ook on the top of the module with a finger until it stops. While pushing the hook, and using the bottom of the module as a support, pu ll the module tow ard yo u. Lift th[...]

4 - 7 4 INSTALLATION AND W IRING 4.2 Installation and R emoval of Cable 4.2.1 SSCNET cable (1) Precauti ons for handling the SSC NET cable • Do not stam p the SSCNE T c able. • W hen layin g the SSCNET cab le, be s ure t o sec ure t he m inimum cable bend radius of 30 mm (1.18 inc h) or mor e. If the minim um cable bend r adius is less than 30 [...]

4 - 8 4 INSTALLATION AND W IRING 4.2.2 SSC I/F communi cation cable (1) Precauti ons for handling the SSC I/F communication cable • Do not stam p the SSC I/F com munic ation ca ble. • W hen layin g the SSC I/F c omm unicat ion ca ble, b e sur e to sec ure th e m inimum cable bend r adius of 30 mm (1.18 inch) or m ore. If the minim um cable bend[...]

4 - 9 4 INSTALLATION AND W IRING 4.2.3 Battery cabl e (1) Precauti ons for handling the batter y cable • For i nstal lation or r em oval of the b atter y cab le, ho ld su rel y a cab le con nector . Battery cable CPU/BAT connecto r Battery unit (Q170BAT) (2) Install ation of the battery cabl e • For i nstal lation of t he batt er y cable to the[...]

4 - 10 4 INSTALLATION AND W IRING 4.2.4 Cable for teaching uni t (1) Precauti ons for handling the cable for teaching unit • Do no t stamp the cable fo r tea ching unit. • W hen layin g the c ab le for t each ing un it, be sure to s ecure the m inim um cable bend r adius of 30 m m (1.18 inc h) or m ore. If the minim um cable bend r adius is les[...]

4 - 11 4 INSTALLATION AND W IRING ! CAUTION W hen a teac hing unit is re moved, the emer genc y stop an d ser vom otor bec ome c oasti ng sta te. I n system s wher e coas ting of t he ser vom otor wi ll be a prob lem, use d ynam ic brak es. Do not c onnec t th e Moti on CPU m odule s ide c onnect or of the c able f or teac hing unit (Q170T UD CBL(-[...]

4 - 12 4 INSTALLATION AND W IRING 4.3 Installation o f the Serial Absolute Sy nchronous Encoder This sect ion des cri bed ins truc tions for h andl ing th e Ser ial a bso lute s ynchr onous encoder (MR-HENC /Q170ENC). (1) If the s erial absol ute s ynchr onous enco der is link ed to a cha in, tim ing b elt, or gears , the m ac hine r otating shaf t[...]

4 - 13 4 INSTALLATION AND W IRING ! CAUTION The M R-HENC /Q1 70EN C cont ains a glas s disk and precis io n mec hanism . T ake car e when hand ling it. T he enco der p erf orm ance m ay deter iora te if it is dro pped or subj ected to s hock s or v ibrat ion excee ding t he prescr ibed l im its. Do not conn ect the shaf t of MR-HEN C/Q170 ENC direc[...]

4 - 14 4 INSTALLATION AND W IRING 4.4 Replacement of the Cooli ng fan unit (Q170 FAN) (Q173CPU /Q172CPU only) (1) Remov al and installation of the cooling fan unit ( Q170FAN) (a) Rem oval of co oling f an unit fr om Q 173CPU/Q 172C PU The re mova l of the co oling fan unit are d escr ibed belo w. Completion Remove the cooling fan con- nector from t[...]

4 - 15 4 INSTALLATION AND W IRING 4.5 W iring 4.5.1 Instructions for w i ring ! DANGER Comple tel y turn off th e al l lines of th e po wer supp l y externa ll y before wiri ng. N ot co mp letel y turnin g off all po wer c ould r esult in el ectr ic sh ock or dam age to the product. When turning on the power supply or operating t he m odule after w[...]

4 - 16 4 INSTALLATION AND W IRING (b) Do not bunch or la y the m closel y the m ain c ircuit (hi gh vol tage, large curren t) cables of the 100 VAC and 24 VDC wit h the I/O sig nal cab les. If possib le, se parate them 100m m (3.94inch) or m ore awa y. (c) As a c ounter meas ure t o po wer sur ge due to th under , conn ect a s urg e absor ber f or [...]

4 - 17 4 INSTALLATION AND W IRING (g) W iring of 200m (65 6.17f t.) or m ore d istanc e wi ll gi ve ris e to le akage curre nts due t o the wiring ca pacit y, res ultin g in a fa ult. Refe r to the troub lesho oting ch apter of th e I/O Modu le User 's Manua l. (3) Groundi ng To gro und the cabl e, foll ow the steps (a ) to (c) sh own below . [...]

4 - 18 4 INSTALLATION AND W IRING 4.5.2 Wiring to the power supply module The f ollowi ng d iagram sho ws the wiring exam ple of pow er li nes, gr ound ing lines , etc . to th e CPU a nd ex tens ion base units. AC 100/110VAC Fuse 24VDC AC DC Connect to 24VDC te rminals of I/O module that requires 24VDC internally. Extension cable Ground wire Ground[...]

4 - 19 4 INSTALLATION AND W IRING 4.6 Installation/ W iri ng Checkli st At the work site, c opy t he fol lowin g tab le for us e as a che ck sheet. Item Sub Item Installation/wiring confir mation Check Check for looseness, rattl ing or distorted inst allation. Check that the fix ing screw tightening torque is as sp ecified. Installation of base uni[...]

4 - 20 4 INSTALLATION AND W IRING At the worksi te, copy the following table for u s e as a check sh eet . (Conti nued) Item Sub Item Installation/wiring confir mation Check When using Q173DV, check th at the Q173CPU(N) and Q173DV are connected to the SSCNE T cable. When using the ex ternal battery, check that the Q172CPU(N) and Q170BAT are connect[...]

5 - 1 5 TRIAL OPERATION AND ADJUSTMENT 5. TRIAL OPERATION AND ADJUSTMENT 5.1 Checklist before T rial Oper ation Table 5.1 Checkl ists before Trial Operation Model nam e Confirm ation It ems Reference (1) Check t hat the batt ery lead con nector is connected i nto the BAT connector of the Dividing u nit correc tly. 2.4.10 Q173CPU(N)/Q17 2CPU(N ) Mot[...]

5 - 2 5 TRIAL OPERATION AND ADJUSTMENT 5.2 Trial Operati on and Adjustment Proced ure Be sure to ground the Motion con trollers, s ervo amp lifie rs and se rvomot ors. (Ground r esistance: 1 00 or les s) Do not g round comm only with other devices. Set the followi ng positioning parameters from the peripher al devise. (a) mar utiple CPU pa ramete r[...]

5 - 3 5 TRIAL OPERATION AND ADJUSTMENT 2) Motion CPU CAUTION [Servo data setting mod e] CAUTI ON Check external in puts to Q172LX Check the w iring of fol lowing exte rnal inputs b y monitori ng of the p eriphera l device. (1) FLS (Up per stroke limit input) (2) RLS (L ower stroke limit input) (3) STOP (S top signal) I/O modu le Check the I /O modu[...]

5 - 4 5 TRIAL OPERATION AND ADJUSTMENT Turn ON again the po wer supply or reset of Multiple CPU system. Crea te Moti on pro grams Write PLC p rograms Motion CPU [Programming mode] Create the Mo tion prog rams by GSV P . [Parameter setting mode] [Programming mode] Create the P LC programs to start of Motion programs b y the peri pheral device with t[...]

5 - 5 5 TRIAL OPERATION AND ADJUSTMENT Check servo a mplifier Chec k t hat the i nsta lle d s ervo ampl ifiers ope rat e corr ectly. CAUTION Motio n CPU 3) 4) [Test mode servo sta rt-up (Initial check ) ] [Tes t mo de servo sta rt-up (Model name check ) ] Read an d displays the servo amplif ier and servomo tor model nam es from t he serv o amplifie[...]

5 - 6 5 TRIAL OPERATION AND ADJUSTMENT [Progr amming mo de] End PLC CP U Motion CPU Check by aut omatic oper ation Check the sequence oper ation by exe cuting the PLC pr ogram usi ng an actual exte rnal inp ut. Chec k Moti on pro gram Set the RUN/STOP key of PLC/Motion CPU module to RUN, a nd check that all p ositioning controls by Motion p rograms[...]

5 - 7 5 TRIAL OPERATION AND ADJUSTMENT 5.3 Operating Sy stem Sof twar e Installation Procedur e The op erati ng s ystem softwar e mus t be ins ta lled t o the Moti on CPU m odu le b y usin g the per ipher al de vice a nd pr ogram m ing soft ware pac ka ge. End Start installat ion Open the cover at the front of the Motion C PU and turn O N the insta[...]

5 - 8 5 TRIAL OPERATION AND ADJUSTMENT 5.4 Trial Operati on and Adjustment Checkli st At the work site, c opy t he fol lowin g tab le for us e as a che ck sheet. Work Step I tem Trial Operation and Adjus tm ent Confirmat ion Ch eck Check t hat the each m odule is installed c orrectly. Check t hat the each connec tor is connec ted correc tly. Check [...]

6 - 1 6 INSPECTION AND M AINTENANCE 6. INSPECTION AND MAINTENANCE ! DANGER Do not touc h the t erm inals while power is on. Doi ng so could c ause e lectr ic shoc k. Correctly connect the ba tter y. Als o, do not c harge, dis assem ble, h eat, place i n fire , short c ircu it, or solder th e batter y. Misha ndling of a batt er y may caus e o verhea[...]

6 - 2 6 INSPECTION AND M AINTENANCE 6.1 Maintenance W orks 6.1.1 Instruction of inspecti on works In order that can us e the Moti on contr oller in safet y and norm al, th ose item s that m ust be inspec ted lis t belo w. ! CAUTION Never open t he f ront c ase or ter m inal co vers while the po wer is ON or the unit is r unnin g, as t his ma y lead[...]

6 - 3 6 INSPECTION AND M AINTENANCE ! CAUTION Do not s hort circu it, ch arge, over heat, i nciner ate or disa ssem ble t he batt eries . The e lectro l ytic capac it or will gen erate gas dur ing a faul t, so d o not plac e your f ace near the M otio n contr oller or ser vo am plifi er. The e lectro l ytic capac itor and f an wi ll det eriorat e. [...]

6 - 4 6 INSPECTION AND M AINTENANCE 6.2 Daily Inspecti on The it em s that m ust be insp ecte d dail y ar e list ed b elow. Table 6.1 Daily Inspection Item Inspection item Inspection Criterion Action 1 Installation of the base unit Check that the fix ing screws are not loose and the cover is not dislocated. The screw s and cover must be installed c[...]

6 - 5 6 INSPECTION AND M AINTENANCE Daily Inspecti on(continued) Item Inspection item Inspection Criterion Action Input LED Check that the LED is ON/OFF. The LED must be ON at input signal ON. The LED must be OFF at input signal O FF. (Abnormal if the LED does not turn ON or turn OFF as indicated abov e.) 4 Module indication LED I/O modul e Output [...]

6 - 6 6 INSPECTION AND M AINTENANCE 6.3 Periodic Inspecti on The it em s that m ust be insp ected one or two t im es ever y 6 m onths to 1 year ar e list ed below. W hen the e quipm ent is mov ed or m od ified, or la yout of the wiri ng is c ha nged, also im plement t his insp ecti on. Table 6.2 Peri odic Inspection Item Inspection item Inspection [...]

6 - 7 6 INSPECTION AND M AINTENANCE 6.4 External Battery The s pecia l rela ys (M 9006, M900 7) tur n ON due t o the Motion CPU progr am or the decre ase in vo ltage of memor y back -up batt er y. Even if th ese spec ia l rela ys tur n ON, the progr am an d th e cont ents of m emor y back -up are not er ased im m ediatel y. However , if thes e rela[...]

6 - 8 6 INSPECTION AND M AINTENANCE 6.4.1 Battery serv ice life time (1) Q173CPU (N)/Q172CPU( N), Q172EX module batter y service l if e time The batt ery ser vice l ife tim e corresp onding to the t ype is sho wn below. Battery service life time (Total pow er failure time) [h] (Note-1) Type Classificat ion Guaranteed time (M IN) Actual time (TYP) A[...]

6 - 9 6 INSPECTION AND M AINTENANCE 6.4.2 Battery r eplacement procedure (1) Q172EX module battery replacement pro cedure W hen the Q172EX module bat ter y has been ex hauste d, repl ace the bat ter y with a new one i n acc ordance wi th the pr oce dure sh own b elo w. Bef ore r emovi ng the batter y, tur n ON t he p ower s uppl y for 10 minut es o[...]

6 - 10 6 INSPECTION AND M AINTENANCE (2) Battery replacement procedur e of the Div iding unit, Battery unit W hen the ba tter y has b een ex haust ed, re place the ba tter y with a ne w one in accord ance with t he pr oced ure s hown belo w. POINTS Replac e the b atter y tak ing c are of the f ollo wing. (1) St art the r eplacem ent o perati on aft[...]

6 - 11 6 INSPECTION AND M AINTENANCE 6.5 Discard of internal rechargeabl e battery (1) Discard pr ocedure of internal recharg eable battery The rech argea ble lith ium batter y is built- in in the M otio n CPU m odule. W hen you dis card t he M otion C PU m odule, discar d an inter nal r echarg eable batter y accord ing to the fo llo wing proc edur[...]

6 - 12 6 INSPECTION AND M AINTENANCE ! CAUTION Do not disassemble the modules except the t ime of discard. Do not short circuit, charge, overheat, incinerate or disassemble the batt eries.[...]

6 - 13 6 INSPECTION AND M AINTENANCE 6.6 Troubleshooti ng This sect ion des cribes th e vari ous t ypes of trou ble t hat oc cur when th e s ystem is operat ed, an d ca uses an d cor rect ive act ions of thes e tro ubles. 6.6.1 Basics of troubleshooting In ord er to incre ase t he rel iabil ity of the s ystem , not onl y highl y reliab le de vices [...]

6 - 14 6 INSPECTION AND M AINTENANCE 6.6.2 Troubleshooti ng of Motion CPU mo dule and I/O modules This sectio n des cribes the c ont ents of trou bles f or th e error codes and c orr ective actions of t he tro ubles . As fo r troub lesho oting o f PLC CPU , refer to the QCPU Us er's Ma nual (Functio n Expl anatio n, Progr am Fundamen tals) of [...]

6 - 15 6 INSPECTION AND M AINTENANCE (a) Flowchart for w hen "POW ER" LED is turned o ff. The fo llowin g shows the flow chart when the "PO W ER" LED is tur ned off a t the po wer su ppl y ON or duri ng oper ation . "POWER" LED is turned off Explain the error symptom and get advice from our sal es representative. Is th[...]

6 - 16 6 INSPECTION AND M AINTENANCE (b) Flowchart for w hen "MODE" LED is turned o ff. The fo llowin g shows the flow chart when the "MODE" LED is tu r ned o ff at the po wer su ppl y ON. "MODE" LED is turned off Che ck the w iri ng and t urn on t he all power supplies. Completion NO YES NO YES YES NO YES NO NO YES YE[...]

6 - 17 6 INSPECTION AND M AINTENANCE (c) Flowchar t for when "RUN" LED is turned off. The fo llowin g shows th e flow c har t when th e "RUN" LED i s turned off du ring operat ion. "RUN" LED is t urned off. Is "E RR." LE D turned on /flicke red? 1) Moti on CPU p arts/conn ection fa ult 2) By excessi ve noise [...]

6 - 18 6 INSPECTION AND M AINTENANCE (d) Flowchart for w hen "ERR." LED is turned on/ flickered. The fo llowin g shows the flow chart to be follow ed when the "ERR." LED is turned on/flick ered at th e power su ppl y ON or operat ion star t or durin g operat ion. "ERR." LED is turned on/flickered. H/W error Is the"[...]

6 - 19 6 INSPECTION AND M AINTENANCE (e) Flowchart for when "M.RUN" LED is turned off. The fo llowin g shows the flow chart when the "M.R UN" LED i s turned off durin g op eratio n. "M.RUN" LED is turne d off. Completi on NO YES NO YES Set th e RESET/L. CLR swit ch to the neutra l positi on. RESET p ositio n OFF ON YES[...]

6 - 20 6 INSPECTION AND M AINTENANCE (f) Flowchart for w hen "BAT." LED is turned o n. In the M otio n CPU, when th e exter nal b atter y capac ity o f the Di viding unit or Bat ter y unit is l owered , th e LED is tur ned on. After r eplac ing t he b atter y with a ne w one, "BAT ." L ED is tur ned of f with th e execu ting res[...]

6 - 21 6 INSPECTION AND M AINTENANCE (g) Flowchart for w h en output load of output module is not turne d on. The fo llowin g shows the flow chart when the outp ut load o f the ou tput module is not tur ned on dur ing opera tion. Voltage measurement among the modules input and COM terminals. Check the external wiring and external input devices. Out[...]

6 - 22 6 INSPECTION AND M AINTENANCE (h) Flowchart for w h en the peripheral dev ice cannot communicate to the Motion controll er. The fo llowin g shows the flow chart when the Moti on CPU cannot commun ica te with th e GSV P durin g the po wer su ppl y ON. 　　 USB YES NO YES NO YES YES NO NO NO YES YES NO YES NO NO RS-232 1) YES The peripheral [...]

6 - 23 6 INSPECTION AND M AINTENANCE Is t he c ommun icati on setting correct? 1) NO YES YES NO Com plet ion NO Expl ain the erro r sympto m and ge t advice from our sale s repres entativ e. YES Explain the erro r sy mptom a nd get adv ice from our sales r eprese ntative. YES NO Can the CP U comm unica te with the GSV P ? Is th e USB driver insta l[...]

6 - 24 6 INSPECTION AND M AINTENANCE (i) Flow chart for when the power supply of teaching unit is not turned on. The fo llowin g shows the flow chart when the powe r supply of teac hing uni t is not tur ned on dur ing the p ower sup pl y of Mot ion CPU O N. H/W e rror Explain the error sympto m and get advice from our sale s representative. Wiring [...]

6 - 25 6 INSPECTION AND M AINTENANCE 6.6.3 I/O modules tr oubleshooting This sect ion des cribes tro ubles hoot ing wit h I/O circ uits and their correc tiv e acti ons. (1) Input cir cuit troubleshooting and corrective action This sect ion des cri bes tro ubles hoot ing with input c ircui ts an d th eir c orrect ive actions . Input Circui t Trouble[...]

6 - 26 6 INSPECTION AND M AINTENANCE Input Circ uit Troubleshooting and Correctiv e Action (Continued) Condition Cause Corrective action Example 5 Input signal does not turn OFF. • Sneak path due to the use of t wo power supplies. Input module E 1 E 2 > E 2 E 1 • Use only one pow er supply. • Connect a sneak pat h prevention diode. (Figure[...]

6 - 27 6 INSPECTION AND M AINTENANCE (2) Output cir cuit troubleshooting and cor rective acti on This se ction describ es troubl eshooting with ou tput cir cuits and their corre ctive actions . Output Circui t T roubleshooting and Correctiv e Action Condition Cause Corrective action Example 1 Overvoltage applied to load when output turns OFF • If[...]

6 - 28 6 INSPECTION AND M AINTENANCE 6.7 Confir m method of Er ror Code W hen an err or occ urs, the er ror cod e and error m ess age ca n be r ead b y the person al com puter(I BM PC/ AT) insta llati on of t he SW 6RN- GSV P. The proc ed ure f or re ading err or cod es b y the SW 6RN-GSV P is as f ollo ws. (1) Star t the SW 6RN-GSV P. (2) Con nect[...]

App - 1 A PPENDICES APPENDICES APPENDIX 1 Cab les In this cabl e con nectio n dia gram , m aker nam es of conn ectors are om itte d. Ref er to "APPEND IX 2.7 Conn ector" for m aker nam es of connec tors. APPENDIX 1.1 SSCNET cables Gener ally use the SS CNET cable s avai lable as our optio ns. If the re quire d length is not f ound i n our[...]

App - 2 A PPENDICES Use th e followin g or equiv alent twi sted pair cables a s the SSCNE T cable s. Table 2 W ire models Type Length [m(ft.)] W ire model Q172J2BCBL M(-B) Q172HBCBL M(-B) 0.5(1.64), 1(3.28), 5(16.40) UL20276 AWG#28 7pair(CREAM) Q173DVCBL M 0.5(1.64), 1(3.28) U L20276 AWG#28 13pair(CREAM) Q173J2B CBL M Q173HB CBL M UL20276 A W G#28 [...]

App - 3 A PPENDICES (a) Q172J2BCBL M(-B) 1) Model ex planation Type: Q172J 2BCBL M- None Connect Battery u nit B No 05 Cable length [m(ft.)] 1 Symbol 5 0.5(1.64) 1(3.2 8) 5(16.40) Symbol Yes 2) Connection di agram W hen fabric ati ng a c able, use t he rec omm ended wire gi ven on APPENDIX 1.1 , and m ak e the cab le as s how in th e foll owi ng co[...]

App - 4 A PPENDICES (b) Q172HBC BL M(-B ) 1) Model ex planation None Connect Battery u nit B No 05 Cable length [m(ft.)] 1 Symbol 5 0.5(1.64) 1(3.28) 5(16.40) Type: Q172HBCBL M- Symbol Yes 2) Connection di agram W hen fabric ati ng a c able, use t he rec omm ended wire gi ven on APPEND IX 1.1 , and m ak e the cab le as s how in th e fo llowi ng con[...]

App - 5 A PPENDICES (c) Q173DVC BL M 1) Model ex planation Type: Q173DVCBL M 05 Cable length [m(ft.)] 1 Symbol 0.5(1.64) 1(3.28) 2) Connection di agram W hen fabric ati ng a c able, use t he rec omm ended wire gi ven on APPEND IX 1.1 , and m ak e the cab le as s how in th e fo llowi ng connec tion diagr am . The o vera ll dist ance of SSCNET cab le[...]

App - 6 A PPENDICES (d) Q173J2B CBL M 1) Model ex planation none Symbol Number of SSCNET SYSTEM SSCNET SY STEM 1 SSC N ET SY STEM 2 2 3 4 05 Cable length [m(ft.)] 1 Symbol 5 0.5(1.64) 1(3.28) 5(16.40) Type: Q173J2B CBL M SSC N ET SY STEM 3 SSC N ET SY STEM 4 2) Connection di agram W hen fabric ati ng a c able , use t he rec omm ended wire gi ven on[...]

App - 7 A PPENDICES (e) Q173HB CBL M 1) Model ex planation none Symb ol Numb er of SSCNET SYST EM SSCN ET SYSTEM 1 SSCNET SY STEM 2 2 3 4 05 Cable length [m(ft.) ] 1 Symbol 5 0.5(1.64) 1(3.28) 5(16.40) Type: Q173HB CBL M SSCNET SY STEM 3 SSCNET SY STEM 4 2) Connection di agram W hen fabric ati ng a c able , use t he rec omm ended wire gi ven on APP[...]

App - 8 A PPENDICES (f) MR-J2 HBUS M 1) Model ex planation 05 Cable length [m(ft.)] 1 Symbol 5 0.5(1.64) 1(3.28) 5(16.40) Type: MR-J2HBUS M 2) Connection di agram W hen fabric ati ng a c able, use t he rec omm ended wire gi ven on APPENDIX 1.1 , and m ak e the cab le as s how in th e foll owi ng connec tion diagr am . The o vera ll dis tance of SSC[...]

App - 9 A PPENDICES (g) MR-J2 HBUS M-A 1) Model ex planation 05 1 5 0.5(1.64) 1(3.28) 5(16.40) Symbol Type: MR-J2HBUS M-A Cable length [m(ft.)] 2) Connection di agram W hen fabric ati ng a c able , use t he rec omm ended wire gi ven on APPENDIX 1.1 , and m ak e the cab le as s how in th e foll owi ng connec tion diagr am . The o vera ll dis tance o[...]

App - 10 A PPENDICES (h) MR-HB US M 1) Model ex planation 05 1 Symbol 5 0.5(1.64) 1(3.28) 5( 16.4 0) Type: M R-HBU S M Cable length [m(ft.)] 2) Connection di agram W hen fabric ati ng a c able, use t he rec omm ended wire gi ven on APPENDIX 1.1 , and m ak e the cab le as s how in th e foll owi ng connec tion diagr am . The o vera ll dis tance of SS[...]

App - 11 A PPENDICES APPENDIX 1.2 Ser ial a bsolute synchr onous encoder cable Gener all y use t he ser ial a bsolu te s ynchron ous e ncod er cab les a vailab le as our options . If the r equir ed len gth is not f oun d in o ur opt ions , fabr icate the c abl e on th e custo mer side. (1) Sele ction The f ollowi ng tab le ind icates the s eria l a[...]

App - 12 A PPENDICES (2) MR-JHS CBL M-L/H Synchr onous encod er c able is t he s ame e ncoder cab les of the HC- SFS/HC- RFS/HC-U FS 2 000 r/m in s eries s ervom otors . (a) Model explanation Symbol L H 2 Cable length [m(ft.)] 5 Symbol 10 20 30 2(6.56) 5(16.40) 10(32.81) 20(65.62) 30(98.43) Specifications Standa rd flexi ng life Long flex ing life [...]

App - 13 A PPENDICES (3) Q170ENCCBL M (a) Model explanation Type: Q170ENCCBL M 2 Cable length [m(ft.)] 5 Symbol 10 20 30 2(6.56) 5(16.40) 10(32.81) 20(65.62) 30(98.43) 50 50(164.04) (b) Connecti on diagr am W hen fabric ati ng a c able, u se t he recom m ended wir e a nd c onnect or s et Q170 ENCCNS for encod er cabl e given on APPE NDIX 1.2, and m[...]

App - 14 A PPENDICES APPENDIX 1.3 Cable for the teaching uni t Gener all y use t he cab les f or the t eachi ng u nit av ailab le as o ur opt ions. If th e req uire d length is not fou nd i n our options , fabr icat e the cabl e on the cust om er sid e. (1) Sele ction The fo llowin g table indi cates the cables used wi th the cable fo r the teachin[...]

App - 15 A PPENDICES Table 9 W ire speci f ications Characteristics of one core Wire model Core size [mm 2 ] Number of cores Structure [Number of wires/mm] Conductor resistance [ /km] Insulating sheath OD d[mm] (Note-1) Finished OD [mm] (Note-2) UL20276 A W G#28 13p air(CREAM) 0.08 26(13 pairs) 7/0.127 222 or less 0.38 6.5 UL20276 A W G#24 18p air([...]

App - 16 A PPENDICES (2) Q170TUD3C BL3M (a) Connecti on diagram W hen fabric ating a c able, u se the r ecom m ended wir e a nd c onnect or give n on APPEN DIX 1.3, and m ake th e cabl e as show in th e foll owing connec tion diagr am. Mak e the c able wit hin 3m (9.84f t.). DB-209 62 BAL 15 BA 2 SG 22 Q170TUD3CBL3M HDR-E26-LPA5 HDR-E26FG1 DB-25SF-[...]

App - 17 A PPENDICES (3) Q170TUDNCBL3M (a) Connecti on diagram W hen fabric ating a c able, u se the r ecom m ended wir e a nd c onnect or give n on APPEN DIX 1.3, and m ake th e cabl e as show in th e foll owing connec tion diagr am. Mak e the c able wit hin 3m (9.84f t.). DB-209 62 BAL BA SG Q170TUDNCBL3M HDR-E26-LPA5 HDR-E26FG1 DB-25SF-N SG 5V 5[...]

App - 18 A PPENDICES (4) Q170TUDNCBL03M-A (a) Connecti on diagram W hen fabric ating a c able, u se the r ecom m ended wir e a nd c onnect or give n on APPEN DIX 1.3, and m ake th e cabl e as show in th e foll owing connec tion diagr am. Mak e the c able wit hin 3m (9.84f t.). BAL BA SG Q170TUDNCBL03M-A HDR-E26-LPA5 HDR-E26FG1 17JE-13250- 02(D8A) S[...]

App - 19 A PPENDICES (5) A31 TU-D extended cabl e (a) Connecti on diagram W hen fabric ating a c able, u se the r ecom m ended wir e a nd c onnect or gi ven on AP PENDIX 1.3, an d m ake the cabl e as s how in the f ollo wing c onn ectio n diagr am. T he cab le over all distanc e bet ween the Mo tio n CPU a nd te aching unit is with in 3 0m ( 98.43f[...]

App - 20 A PPENDICES APPENDIX 2 Ex terior Dimensions APPENDIX 2.1 CPU module (1) Q172CPU N Module [Unit: m m ( inch)] 114.3(4.50) 17.5 79.5(3.13) (0.69) SSCNET M.RU N Q172CPUN MODE RUN ERR . BAT. BOOT FRONT CN2 CN1 PULL USB RS-232 27.4(1.08) 98(3.86) (2) Q173CPU N Module [Unit: m m ( inch)] Q173CPUN SSCNET M.RUN MODE RUN ERR. BAT. BOOT FRONT CN2 CN[...]

App - 21 A PPENDICES (3) Q172CPU N-T Module [Unit: m m ( inch)] 114.3(4.50) 17.5(0.69) 79.5(3.13) 46(1.81) SSCNET M.RUN Q172CPUN-T MODE RUN ERR. BAT. BOOT FRONT CN2 CN1 PULL USB RS-232 27.4(1.08) 98(3.86) TU (4) Q173CPU N-T Module [Unit: m m ( inch)] Q173CPUN-T SSCNET M.RUN MODE RUN ERR. BAT. BOOT FRON T CN2 CN1 PULL USB RS-232 27.4(1.08) 98( 3.86 [...]

App - 22 A PPENDICES (5) Q172CPU Module [Unit: m m ( inch)] 48.5(1.91) 17.5 89.3(3.52) SSCNET M.RUN Q172C PU MODE RUN ERR . BAT. BOOT FRONT CN2 CN1 PULL USB RS-232 27.4(1.08) 98( 3.86 ) 20 26(1.02) (0.69) (0.79) Cooling fan uni t (6) Q173CPU Module [Unit: m m ( inch)] 89.3(3.52) 17.5 48.5(1.91) Q173C PU SSC NE T M.RUN MODE RUN ERR. BAT. BOO T FRONT[...]

App - 23 A PPENDICES (7) Q173CPU N(-T)/Q172CPUN (-T) Modul e (with SSCNET cable) [Unit: m m ( inch)] 98(3. 86) 100(3.9 4) Q173C PUN SSCNET M.RU N MODE RUN ERR. BAT. BOOT FRONT CN2 CN1 PULL USB RS-232 27.4(1 .08) 114. 3(4.50) SSC NET cabl e Q173CPUN (-T )/ Q172C PUN(-T) Motion module (8) Q173CPU /Q172CPU Modul e (with SSCNET cabl e) [Unit: m m ( inc[...]

App - 24 A PPENDICES APPENDIX 2.2 Servo exter nal signals inter face module (Q172LX ) [Unit: m m ( inch)] Q172L X CTRL Q172LX 98(3.86) 27.4(1.08) 90(3.54) 45(1.77) APPENDIX 2.3 Serial absolute synchr onous encoder interface modul e (Q172EX/Q172EX -S1/ Q172EX- S2/Q172EX-S3) [Unit: m m ( inch)] 4.2(0.17) 27.4(1.08) 90(3.54) 98(3.86) SY.ENC2 SY.E NC1 [...]

App - 25 A PPENDICES APPENDIX 2.4 Manual pulse gener ator interface module (Q173PX /Q173PX-S1) (1) Q173PX [Unit: m m ( inch)] Q173PX PULSER Q173PX PLS.A 3 2 1 PLS. B 3 2 1 TREN 3 2 1 98( 3.86 ) 27.4 (1.08 ) 90(3.54) 45 (1. 77 ) (2) Q173PX -S1 [Unit: m m ( inch)] Q173P X PULSER Q173PX-S1 PLS.A 3 2 1 PLS.B 3 2 1 TREN 3 2 1 98(3.86) 27.4(1.08) 90(3.54[...]

App - 26 A PPENDICES APPENDIX 2.5 Power supply module ( Q61P-A1, Q61P-A2, Q62P, Q63P, Q64P) [Unit: m m ( inch)] (1) Q61P-A1, Q61P- A2, Q62P, Q63P Q61P -A1 POWER PULL 90(3.54) 55.2(2.17) 98(3.86) (2) Q64 P [Unit: m m ( inch)] Q64P POWER PUL L 115(4.53) 55.2(2.17) 98( 3.86 )[...]

App - 27 A PPENDICES APPENDIX 2.6 Dividing unit (Q173D V), Battery uni t (Q170BAT) (1) Dividing uni t (Q173DV) [Unit: m m ( inch)] BAT Q173CPU SSCNET CN2 SSCNET CN1 SSCNET CN4 SSCNET CN3 Q17 3D V DATE PASSED 125(4.92) 19.5 (0.77) 10 (0.39) 45(1.77) 60(2.36) 140(5.51) 7.5 (0.30) 4- 5 .3(0.21) (Fixing screw M5 14) (2) Battery unit (Q170BAT) [Unit: m [...]

App - 28 A PPENDICES APPENDIX 2.7 Connector (1) Honda connectors make(HDR model) (Cable connector for the teaching uni t) Type Number of pins Connector Connector case 14 HDR-E14MG1 HDR-E14LPA5 HDR-E26MG1 26 HDR-E26 FG1 HDR-E26LPA5 Spec ified t ool: FHAT-00 29/FHP T -000 4C Make r: Ho nda conne cto rs Thes e tools are not so ld in Mitsub ishi. Pleas[...]

App - 29 A PPENDICES (2) Sum itom o 3M m ake(MDR t ype) (Cable connector for the serial absol ute synchronous encoder) Type Number of pins Type Connector Connector case Solder connection type (Quick release metal latc h type) 10120-3000VE 10320-52F0-008 Solder connection type (Threaded type) 10120-3000VE 10320-52A0-008 20 Insulation displacement ty[...]

App - 30 A PPENDICES (b) Solder connection type( Threaded type) Type Conne cto r : 10120- 3000VE /10126-30 00VE Connec tor c ase: 1 0320- 52A0- 008/10 326-5 2A0- 008 [Unit: m m ( inch)] 1 0 . 0 ( 0 . 3 9 ) 12.0 (0.4 7) A 3 9 . 0 ( 1 . 5 4 ) 2 3 . 8 ( 0 . 9 4 ) 14.0(0.55) 12.7 (0.50) B 5 . 7 ( 0 . 2 2 ) C 27.4(1.08) 33. 3(1.31) 22.0(0.87) AB C 20 pi[...]

App - 31 A PPENDICES (4) Q170TUD3C BL(A31TU-D3  side connector) T ype Connect or : D B-25SF -N (Mak er : J apan Aviat ion Elec tron ics Industr y) Scre w lock : D2 0418- J3 (M aker : J apan Aviat ion El ectron ics Industr y) Instal lation plate : Not for sal e Circu lar cl amp : D B2096 2 (Mak er : J apan Aviat ion E lectro nics Industr y) (a) C[...]

App - 32 A PPENDICES (6) A31 TUD3T M T y pe Connec tor : 1 7JE- 23250- 02(D8 A) (Mak er : DDK) [Unit: m m ( inch)] 35.0(1.38) 1 5 . 0 A31TUD3TM 1 9 . 0 1 9 . 0 6 . 1 54.0(2.13) Cabl e outsi de diam eter 9(0 .35) o r les s ( 0 . 5 9 ) ( 0 . 2 4 ) ( 0 . 7 5 ) ( 0 . 7 5 )[...]

App - 33 A PPENDICES APPENDIX 2.8 Manual pulse gener ator (MR-HD P01) [Unit: m m ( inch)] (0.63) Packing 27.0 20 8.89 0 . 2 7 2 ( 2 . 8 3 ) 3.6(0.14) t =2.0 3 Studs (M4 10) PCD72, M3 6 7.6 16 0. 70(2.76) 50(1.97) 60(2.36) 0.5 8 0(3.15) 1 NP 5 to 12V 0V A B equi-spaced 6 2 ( 2 . 4 4 ) 2 - 0 5 9 0 8 0 7 0 6 0 5 0 4 0 3 0 2 0 1 0 0 Space 3- 4.8(0.19) [...]

App - 34 A PPENDICES APPENDIX 2.9 Serial absolute synchr onous encoder (MR-H ENC/Q170ENC) (1) MR-HE NC [Unit: m m ( inch)] 0 -0.11 -0.006 -0.017 0 -0.11 -0.009 -0.025 +0.1 4 -0.012 -0.042 +0.1 0 5(0.20) 3(0.12) Shaft cross-section B 50(1.97) 15(0.59) 14.3(0.56) 14.3(0.56) 16(0.63) N.P 68(2.68) 56(2.20) 68(2.68) 56(2.20) 68(2.68) 4- 5.4(0.21) 91(3.5[...]

App - 35 A PPENDICES APPENDIX 2.10 Teaching unit ( A31TU-D3 /A31T U-DN ) [Unit: m m ( inch)] <Side fa ce> <Back face> <Front fac e> A31TU DISABLE EMG.STOP ENABLE <Bot tom> 153(6.02) 136(5.35) 203(7.99) 68(2.68) 34 22 (19(0.75)) DATA MONITOR TEST STOP OVERR IDE STEP - STEP + RETURN 8 ITEM # 9 CLEAR 5 DELETE E 6 INDI RECT F 3 [...]

App - 36 A PPENDICES APPENDIX 2.11 Cooling fan unit (Q170FAN) (Q173CPU/Q172C PU only) [Unit: m m ( inch)] 25 25 0.5 10 0.5 8 2 3 6 1 18 (0.98) (0.98 0.02) (0.39 0.02 ) (0.31) (0.08) (0.12) (0.24) (0.04) (0.71)[...]

App - 37 A PPENDICES MEM O[...]

WA RRA NT Y Please confir m the following product w arranty details bef ore using th is product. 1. Gratis W arranty Term and Gratis W arranty Rang e If any faults or defects ( hereinafter "Failure ") found to be the respo nsibility of M itsubishi o ccurs during us e of the product within the grati s warranty term, the product shall be r [...]

IB(NA)-0300040-D(0603)MEE MOTION CONTROLLER Qseries (Q173CPU ( N ) /Q172CPU ( N )) User's Manual U Q MOTION CONTROLLERS Q173CPU ( N ) Q172CPU ( N ) User's Manual MODEL MODEL CODE Q173-U-E 1XB780 IB(NA)-0300040-D(0603)MEE When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for s[...]