Q173HCPU
Q173HCPU
Q173HCPU
Motion Controller
User's Manual
-Q172HCPU
-Q173HCPU
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".
Please save this manual to make it accessible when required and always forward it to the end user.
A-1
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. The insides of the Motion controller and servo amplifier are
charged and may lead to electric shocks.
Completely turn off the externally supplied power used in the system before mounting or
removing the module, performing wiring work, or inspections. Failing to do so may lead to electric
shocks.
When performing wiring work or inspections, turn the power OFF, wait at least ten minutes, and
then check the voltage with a tester, etc.. Failing to do so may lead to electric shocks.
Be sure to ground the Motion controller, servo amplifier and servomotor. (Ground resistance :
100 or less) Do not ground commonly with other devices.
The wiring work and inspections must be done by a qualified technician.
Wire the units after installing the Motion controller, servo amplifier and servomotor. Failing to do
so may lead to electric shocks or damage.
Never operate the switches with wet hands, as this may lead to electric shocks.
Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this
may lead to electric shocks.
Do not touch the Motion controller, servo amplifier or servomotor terminal blocks while the power
is ON, as this may lead to electric shocks.
Do not touch the built-in power supply, built-in grounding or signal wires of the Motion controller
and servo amplifier, as this may lead to electric shocks.
A-2
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., while the power is ON and for a short time after the power is turned OFF. In this
timing, these parts become very hot and may lead to burns.
Always turn the power OFF before touching the servomotor shaft or coupled machines, as these
parts may lead to injuries.
Do not go near the machine during test operations or during operations such as teaching.
Doing so may lead to injuries.
4. Various precautions
Strictly observe the following precautions.
Mistaken handling of the unit may lead to faults, injuries or electric shocks.
(1) System structure
CAUTION
Always install a leakage breaker on the Motion controller and servo amplifier power source.
If installation of an electromagnetic contactor for power shut off during an error, etc., is specified in
the instruction manual for the servo amplifier, etc., always install the electromagnetic contactor.
Install the emergency stop circuit externally so that the operation can be stopped immediately and
the power shut off.
Use the Motion controller, servo amplifier, servomotor and regenerative resistor with the correct
combinations listed in the instruction manual. Other combinations may lead to fire or faults.
Use the Motion controller, base unit and motion module with the correct combinations listed in the
instruction manual. Other combinations may lead to faults.
If safety standards (ex., robot safety rules, etc.,) apply to the system using the Motion controller,
servo amplifier and servomotor, make sure that the safety standards are satisfied.
Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal
operation of the Motion controller or servo amplifier differ from the safety directive operation in the
system.
In systems where coasting of the servomotor will be a problem during the forced stop, emergency
stop, servo OFF or power supply OFF, use dynamic brakes.
Make sure that the system considers the coasting amount even when using dynamic brakes.
In systems where perpendicular shaft dropping may be a problem during the forced stop,
emergency stop, servo OFF or power supply OFF, use both dynamic brakes and electromagnetic
brakes.
A-3
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.
Use wires and cables that have a wire diameter, heat resistance and bending resistance
compatible with the system.
Use wires and cables within the length of the range described in the instruction manual.
The ratings and characteristics of the parts (other than Motion controller, servo amplifier and
servomotor) used in a system must be compatible with the Motion controller, servo amplifier and
servomotor.
Install a cover on the shaft so that the rotary parts of the servomotor are not touched during
operation.
There may be some cases where holding by the electromagnetic brakes is not possible due to the
life or mechanical structure (when the ball screw and servomotor are connected with a timing belt,
etc.). Install a stopping device to ensure safety on the machine side.
A-4
CAUTION
Set the sequence function program capacity setting, device capacity, latch validity range, I/O
assignment setting, and validity of continuous operation during error detection to values that are
compatible with the system application. The protective functions may not function if the settings
are incorrect.
Some devices used in the program have fixed applications, so use these with the conditions
specified in the instruction manual.
The input devices and data registers assigned to the link will hold the data previous to when
communication is terminated by an error, etc. Thus, an error correspondence interlock program
specified in the instruction manual must be used.
Use the interlock program specified in the intelligent function module's instruction manual for the
program corresponding to the intelligent function module.
A-5
CAUTION
Always install the servomotor with reduction gears in the designated direction. Failing to do so
may lead to oil leaks.
Store and use the unit in the following environmental conditions.
Conditions
Environment
Motion controller/Servo amplifier Servomotor
Ambient 0°C to +40°C (With no freezing)
According to each instruction manual.
temperature (32°F to +104°F)
80% RH or less
Ambient humidity According to each instruction manual.
(With no dew condensation)
Storage -20°C to +65°C
According to each instruction manual.
temperature (-4°F to +149°F)
Indoors (where not subject to direct sunlight).
Atmosphere
No corrosive gases, flammable gases, oil mist or dust must exist
Altitude 1000m (3280.84ft.) or less above sea level
Vibration According to each instruction manual
When coupling with the synchronous encoder or servomotor shaft end, do not apply impact such
as by hitting with a hammer. Doing so may lead to detector damage.
Do not apply a load larger than the tolerable load onto the synchronous encoder and servomotor
shaft. Doing so may lead to shaft breakage.
When not using the module for a long time, disconnect the power line from the Motion controller
or servo amplifier.
Place the Motion controller and servo amplifier in static electricity preventing vinyl bags and store.
When storing for a long time, please contact with our sales representative.
Also, execute a trial operation.
A-6
(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) and ground. Incorrect connections will lead
the servomotor to operate abnormally.
Do not connect a commercial power supply to the servomotor, as this may lead to trouble.
Do not mistake the direction of the surge absorbing diode installed on the DC relay for the control
signal output of brake signals, etc. Incorrect installation may lead to signals not being output
when trouble occurs or the protective functions not functioning.
Servo amplifier Servo amplifier
24VDC 24VDC
DOCOM DOCOM
DICOM DICOM
For the sink output interface For the source output interface
Do not connect or disconnect the connection cables between each unit, the encoder cable or
PLC expansion cable while the power is ON.
Securely tighten the cable connector fixing screws and fixing mechanisms. Insufficient fixing may
lead to the cables combing off during operation.
Do not bundle the power line or cables.
A-7
(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.
Keep the effect or electromagnetic obstacles to a minimum by installing a noise filter or by using
wire shields, etc. Electromagnetic obstacles may affect the electronic devices used near the
Motion controller or servo amplifier.
When using the CE Mark-compliant equipment, refer to this manual for the Motion controllers
and refer to the corresponding EMC guideline information for the servo amplifiers, inverters and
other equipment.
Use the units with the following conditions.
Item Conditions
Input power According to each instruction manual.
Input frequency According to each instruction manual.
Tolerable momentary power failure According to each instruction manual.
Servomotor
RA1 EMG
Electromagnetic
brakes
24VDC
If an error occurs, remove the cause, secure the safety and then resume operation after alarm
release.
The unit may suddenly resume operation after a power failure is restored, so do not go near the
machine. (Design the machine so that personal safety can be ensured even if the machine
restarts suddenly.)
A-8
(8) Maintenance, inspection and part replacement
CAUTION
Perform the daily and periodic inspections according to the instruction manual.
Perform maintenance and inspection after backing up the program and parameters for the Motion
controller and servo amplifier.
Do not place fingers or hands in the clearance when opening or closing any opening.
Periodically replace consumable parts such as batteries according to the instruction manual.
Do not touch the lead sections such as ICs or the connector contacts.
Before touching the module, always touch grounded metal, etc. to discharge static electricity from
human body. Failure to do so may cause the module to fail or malfunction.
Do not directly touch the module's conductive parts and electronic components.
Touching them could cause an operation failure or give damage to the module.
Do not place the Motion controller or servo amplifier on metal that may cause a power leakage
or wood, plastic or vinyl that may cause static electricity buildup.
Do not perform a megger test (insulation resistance measurement) during inspection.
When replacing the Motion controller or servo amplifier, always set the new module settings
correctly.
When the Motion controller or absolute value motor has been replaced, carry out a home
position return operation using one of the following methods, otherwise position displacement
could occur.
1) After writing the servo data to the Motion controller using programming software, switch on the
power again, then perform a home position return operation.
2) Using the backup function of the programming software, load the data backed up before
replacement.
After maintenance and inspections are completed, confirm that the position detection of the
absolute position detector function is correct.
Do not drop or impact the battery installed to the module.
Doing so may damage the battery, causing battery liquid to leak in the battery. Do not use the
dropped or impacted battery, but dispose of it.
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 replace these to prevent secondary
damage from faults. Replacements can be made by our sales representative.
Lock the control panel and prevent access to those who are not certified to handle or install
electric equipment.
Do not burn or break a module and servo amplifier. Doing so may cause a toxic gas.
A-9
(9) About processing of waste
When you discard Motion controller, servo amplifier, a battery (primary battery) and other option
articles, please follow the law of each country (area).
CAUTION
This product is not designed or manufactured to be used in equipment or systems in situations
that can affect or endanger human life.
When considering this product for operation in special applications such as machinery or systems
used in passenger transportation, medical, aerospace, atomic power, electric power, or
submarine repeating applications, please contact your nearest Mitsubishi sales representative.
Although this product was manufactured under conditions of strict quality control, you are strongly
advised to install safety devices to forestall serious accidents when it is used in facilities where a
breakdown in the product is likely to cause a serious accident.
A - 10
REVISIONS
The manual number is given on the bottom left of the back cover.
Print Date Manual Number Revision
Jun., 2005 IB(NA)-0300110-A First edition
May., 2006 IB(NA)-0300110-B [Additional model]
Software for SV43
[Additional correction/partial correction]
About Manuals, Troubleshooting
Sep., 2006 IB(NA)-0300110-C [Additional model]
Q61P, MR-J3- B-RJ006
[Additional correction/partial correction]
About Manuals
Dec., 2011 IB(NA)-0300110-D [Partial correction]
Safety Precautions, Section 4.2.1 Partial change of sentence, Warranty
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.
A - 11
INTRODUCTION
CONTENTS
1. OVERVIEW 1- 1 to 1- 2
1.1 Overview................................................................................................................................................... 1- 1
3. DESIGN 3- 1 to 3-20
A - 12
4. INSTALLATION AND WIRING 4- 1 to 4-22
A - 13
APPENDICES App- 1 to App-28
APPENDIX 1 Cables..................................................................................................................................App- 1
APPENDIX 1.1 SSCNET cables.........................................................................................................App- 1
APPENDIX 1.2 Serial absolute synchronous encoder cable................................................................App- 5
APPENDIX 1.3 Cable for the teaching unit ...........................................................................................App- 7
APPENDIX 1.4 Battery cable.................................................................................................................App-13
APPENDIX 2 Exterior Dimensions ............................................................................................................App-14
APPENDIX 2.1 CPU module .................................................................................................................App-14
APPENDIX 2.2 Servo external signals interface module (Q172LX) ....................................................App-17
APPENDIX 2.3 Serial absolute synchronous encoder interface module (Q172EX-S2/Q172EX-S3).App-17
APPENDIX 2.4 Manual pulse generator interface module (Q173PX/Q173PX-S1).............................App-18
APPENDIX 2.5 Power supply module (Q61P-A1, Q61P-A2, Q62P, Q63P, Q64P) ............................App-19
APPENDIX 2.6 Battery holder unit (Q170HBATC) ...............................................................................App-20
APPENDIX 2.7 Connector .....................................................................................................................App-21
APPENDIX 2.8 Manual pulse generator (MR-HDP01) .........................................................................App-26
APPENDIX 2.9 Serial absolute synchronous encoder (Q170ENC) .....................................................App-26
APPENDIX 2.10 Teaching unit (A31TU-D3 /A31TU-DN ) ..............................................................App-27
A - 14
About Manuals
Related Manuals
A - 15
(2) PLC
Manual Number
Manual Name
(Model Code)
QCPU User's Manual (Hardware Design, Maintenance and Inspection)
This manual explains the specifications of the QCPU modules, power supply modules, base modules, SH-080483ENG
extension cables, memory card battery and others. (13JR73)
(Optional)
Fully Closed Loop Control MR-J3- B-RJ006 Servo amplifier Instruction Manual
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Fully SH-030056
Closed Loop Control MR-J3- B-RJ006 Servo amplifier. (1CW304)
(Optional)
A - 16
1 OVERVIEW
1. OVERVIEW
1.1 Overview 1
This User's Manual describes the hardware specifications and handling methods of the
Motion Controller's Model Q173HCPU/Q172HCPU 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,
Teaching unit and cables.
In this manual, the following abbreviations are used.
Generic term/Abbreviation Description
Q173HCPU/Q172HCPU or
Q173HCPU/Q172HCPU/Q173HCPU-T/Q172HCPU-T Motion CPU module
Motion CPU (module)
Q172LX Servo external signals interface module/
Q172LX/Q172EX/Q173PX or (Note-1)
Q172EX-S2/-S3 Serial absolute synchronous encoder interface module /
Motion module
Q173PX(-S1) Manual pulse generator interface module
MR-J3- B Servo amplifier model MR-J3- B
AMP or Servo amplifier General name for "Servo amplifier model MR-J3- B"
QCPU, PLC CPU or PLC CPU module Qn(H)CPU
Multiple CPU system or Motion system Abbreviation for Multiple PLC system of the Q series
Abbreviation for "CPU No.n (n= 1 to 4) of the CPU module for the Multiple CPU
CPUn
system"
Programming software package General name for "MT Developer" and "GX Developer"
Operating system software General name for "SW RN-SV Q "
Operating system software for conveyor assembly use (Motion SFC) :
SV13
SW6RN-SV13Q
Operating system software for automatic machinery use (Motion SFC) :
SV22
SW6RN-SV22Q
SV43 Operating system software for machine tool peripheral use: SW5RN-SV43Q
Abbreviation for Integrated start-up support software package
MT Developer (Note-2)
"MT Developer (Version or later)"
Abbreviation for MELSEC PLC programming software package
GX Developer
"GX Developer (Version 6 or later)"
Manual pulse generator or MR-HDP01 Abbreviation for "Manual pulse generator (MR-HDP01)"
Serial absolute synchronous encoder
Abbreviation for "Serial absolute synchronous encoder (Q170ENC)"
or Q170ENC
(Note-3) High speed synchronous network between Motion controller and servo
SSCNET
amplifier
(Note-3) High speed synchronous communication network between Motion
SSCNET
controller and servo amplifier
General name for "System using the servomotor and servo amplifier for
Absolute position system
absolute position"
Battery holder unit Battery holder unit (Q170HBATC)
External battery General name for "Q170HBATC" and "Q6BAT"
1-1
1 OVERVIEW
REMARK
For information about the each module, design method for program and parameter,
refer to the following manuals relevant to each module.
1-2
2 SYSTEM CONFIGURATION
2. SYSTEM CONFIGURATION
This section describes the Q173HCPU/Q172HCPU system configuration, precautions
on use of system and configured equipments.
Motion module CPU base unit Extension cable Q6 B extension base unit
(Q172LX, Q172EX, Q173PX) (Q33B, Q35B, Q38B, Q312B) (QC B) (Q63B, Q65B, Q68B, Q612B)
BAT
CPU
Q170HBAT
PASSED
DATE
SVO ON
MITSUBISHI
LITHIUM BATTERY
Battery SSCNET cable Cable for the teaching unit Teaching unit
(Q6BAT) (MR-J3BUS M(-A/-B)) (Q170TUD CBL M(-A)) (A31TU-D3 , A31TU-DN )
(Note-4)
2-1
2 SYSTEM CONFIGURATION
MITSUBISHI
SSCNET
CARD
A30CD-PCF
Personal computer
(Note) : For information about GPP functions of PLC CPU, refer to the operating
manual of PLC. Also, refer to the programming manual of the operating
system for information about creating Motion programs, and refer to the help
of each software for information about operation of each programming
software package.
2-2
2 SYSTEM CONFIGURATION
interface module
interface module
interface module
Servo external
Manual pulse
Synchronous
generator
encoder
signals
CPU base
unit PLC CPU/
(Q3 B) Motion CPU
100/200VAC
(Note-2)
2-3
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.
Set the parameter values to those that are compatible with the Motion controller, servo amplifier,
servomotor and regenerative resistor model and the system application. The protective functions
may not function if the settings are incorrect.
When a teaching unit is used, the cable for the teaching unit is necessary between the Motion
CPU (Q173HCPU-T/Q172HCPU-T) and teaching unit. And, connect the short-circuit connector
for teaching unit, after removing the teaching unit or when not using it.
2-4
2 SYSTEM CONFIGURATION
interface module
interface module
interface module
Servo external
Manual pulse
Synchronous
generator
encoder
signals
CPU base
unit PLC CPU/
(Q3 B) Motion CPU
100/200VAC
(Note-2)
Analogue input/output
Personal Computer
IBM PC/AT
Input/output (Up to 256 points)
USB
Interrupt signals (16 points)
2-5
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.
Set the parameter values to those that are compatible with the Motion controller, servo amplifier,
servomotor and regenerative resistor model and the system application. The protective functions
may not function if the settings are incorrect.
When a teaching unit is used, the cable for the teaching unit is necessary between the Motion
CPU (Q173HCPU-T/Q172HCPU-T) and teaching unit. And, connect the short-circuit connector
for teaching unit, after removing the teaching unit or when not using it.
2-6
2 SYSTEM CONFIGURATION
(1) Up to 32 axes servo amplifiers per 2 systems (up to 16 axes per 1 system) can be
used in Q173HCPU. Up to 8 axes servo amplifiers per 1 system can be used in
Q172HCPU.
(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]).
(5) It is possible to use the signals such as stroke limit signals and synchronous
encoder connected to various Motion modules for motion control by setting the
Q173HCPU/Q172HCPU as the control CPU of various motion modules
(Q172LX/Q172EX, etc.).
(6) It is possible to execute not only servo control but also DI/O input/output control
according to programs described in Motion SFC program by setting the
Q173HCPU/Q172HCPU as the control CPU of Q series PLC I/O modules (When
the Motion SFC is used as the operating system software.).
(Refer to Section 2.2 (2) for Q series PLC I/O modules that can be controlled by
Motion CPU.)
(7) It is possible to exchange a data among CPUs such as automatic refresh, as the
Q series PLC Multiple CPU system.
2-7
2 SYSTEM CONFIGURATION
(11) The maximum distance between the Motion CPU and servo amplifier, servo
amplifier and servo amplifier of the SSCNET cable on the same bus was set to
50(164.04)[m(ft.)], and the flexibility improved at the Motion system design.
2-8
2 SYSTEM CONFIGURATION
(1) It is not allowed to use the Motion CPU as the control CPU of a module installed
on the QA1S6 B extension base unit. PLC CPU must be used as the control
CPU.
(2) Motion CPU module cannot be used as standalone module. It must always be
used in combination with the PLC CPU module (version that supports Multiple
CPU systems). Moreover, it must be installed on the right side of PLC CPU
module. PLC CPU module cannot be installed in a position to the right of Motion
CPU module.
(3) Personal computer CPU unit must be installed on the right side of Motion CPU
module. Motion CPU module cannot be installed in a position to the right of
personal computer CPU unit.
(4) Make sure to use the PLC CPU module in "Q mode".
(5) Motion CPU module cannot be set as the control CPU of intelligent function
module or Graphic Operation Terminal (GOT).
(6) SSCNET cable which connects the Motion CPU and servo amplifier, and the
teaching unit connecting cable which connects the Motion CPU and A31TU-
(Note-1)
D3 /A31TU-DN are pulled from the bottom part of unit. Make sure to
secure sufficient space for pulling out the cable when designing the control panel.
(7) Motion CPU module is one module element of Q series multiple PLC system. It
must be set the parameters of Q series multiple PLC system for each PLC CPU.
Motion CPU module must also be set to support the Multiple CPU system in the
system settings.
(8) Make sure to use the Motion CPU as the control CPU of motion modules
(Note-2)
dedicated for Motion CPU (Q172LX, Q172EX , Q173PX, etc.). They will not
operate correctly if PLC CPU is set and installed as the control CPU by mistake.
Motion CPU is treated as a 32-point intelligent module by PLC CPU of other CPU.
It cannot be accessed from other CPU.
(9) When a Multiple CPU system is configured, make sure to configure the modules
so that the total current consumption of individual modules on the CPU base does
not exceed the 5VDC output capacity of power supply module.
(Refer to Section 2.4.2 (3), (4) "Selection of the power supply module".)
(Note-2)
(10) Installation position of the Q172EX is only CPU base unit.
2-9
2 SYSTEM CONFIGURATION
PLC CPU
CPU CPU Q17 CPU Q17 CPU(N)/Q17 CPUN(-T)
1
(Note-1) :Be sure to install the following operating
(Note-1) (Note-2) system software to the Q17 CPU.
Application Version
CPU 0 1 2 SV13/SV22 00R or later
Q17 Q17 H Q17 H
Power supply
PLC CPU
PLC CPU
CPU 0 1 2
Q17 Q17 H
Power supply
PLC CPU
PLC CPU
CPU CPU
4
(Note-1) (Note-2)
(12) When the operation cycle is 0.4[ms], set the system setting as the axis select
switch of servo amplifier "0 to 7".
If the axis select switch of servo amplifier "8 to F" is set, the servo amplifiers are
not recognized.
(13) The backup time (when it is charged for 40 hours) for internal rechargeable
battery of Motion CPU is 1100 hours (Guaranteed time)/4300 hours (Actual time).
Set the external battery if the power failure time exceeds guaranteed time.
(Refer to Section 2.4.10 External battery)
2 - 10
2 SYSTEM CONFIGURATION
2 - 11
2 SYSTEM CONFIGURATION
2 - 12
2 SYSTEM CONFIGURATION
(Note-1) : =Cable length (015: 0.15m(0.49ft.), 03: 0.3m(0.98ft.), 05: 0.5m(1.64ft.), 1: 1m(3.28ft.), 2: 2m(6.56ft.),
3: 3m(9.84ft.), 5: 5m(16.40ft.), 10: 10m(32.81ft.), 20: 20m(65.62ft.), 30: 30m(98.43ft.),
40: 40m(131.23ft.), 50:50m(164.04ft.)
(Note-2) : Q172EX-S3 and Q173PX-S1 can be used in only the operating system software of special specification
that needs data exchange function.
(Note-3) : Be sure to use the power supply module within the range of power supply capacity.
(Note-4) : Battery Q6BAT is not attached to Battery holder unit Q170HBATC. Please purchase it separately.
(Note-5) : Please contact your nearest Mitsubishi sales representative for the cable of less than 30m(98.43ft.).
2 - 13
2 SYSTEM CONFIGURATION
2 - 14
2 SYSTEM CONFIGURATION
2 - 15
2 SYSTEM CONFIGURATION
WindowsNT 4.0
R
or Windows 98
R
CPU Pentium 133MHz or more Pentium 233MHz or more Pentium 450MHz or more
R R R
Memory capacity Recommended 32MB or more Recommended 64MB or more Recommended 192MB or more
Hard disk free space Hard disk free space is as following list.
Disk drive 3.5inch (1.44MB) floppy disk drive, CD-ROM disk drive
Display 800×600 pixels, 256 colors or more
(Note) : Impossible to use USB connection.
2 - 16
2 SYSTEM CONFIGURATION
GX Developer SW D5C-GPPW-E
(Note) : =used "6" or later.
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) The screen might not be correctly displayed depending on the system font size
of WindowsNT 4.0/Windows 98/Windows 2000/ Windows XP.
R R R R
2 - 17
2 SYSTEM CONFIGURATION
Item Specification
Operating ambient 0 to 55°C
temperature (32 to 131°F)
Storage ambient -25 to 75°C (Note-3)
temperature (-13 to 167°F)
Operating ambient
5 to 95% RH, non-condensing
humidity
Storage ambient
5 to 95% RH, non-condensing
humidity
Frequency Acceleration Amplitude Sweep count
Under 3.5mm
5 to 9Hz ——
intermittent (0.14inch) 10 times each
2
Vibration resistance Conforming vibration 9 to 150Hz 9.8m/s —— in X, Y, Z
JIS B 3502, Under 1.75mm directions
IEC 61131-2 5 to 9Hz ——
continuous (0.07inch) (For 80 min.)
2
vibration 9 to 150Hz 4.9m/s ——
2
Shock resistance Conforming to JIS B 3502, IEC 61131-2(147m/s , 3 times in each of 3 directions X, Y, Z)
Operating ambience No corrosive gases
Operating altitude 2000m(6561.68ft.) or less
Installation location Inside control panel
Overvoltage category
or less
(Note-1)
(Note-1) : This indicates the section of the power supply to which the equipment is assumed to be connected between the
public electrical power distribution network and the machinery within premises.
Category applies to equipment for which electrical power is supplied from fixed facilities.
The surge voltage withstand level for up to the rated voltage of 300V is 2500V.
(Note-2) : This index indicates the degree to which conductive material is generated in terms of the environment in which
the equipment is used.
Pollution level 2 is when only non-conductive pollution occurs. A temporary conductivity caused by condensing
must be expected occasionally.
(Note-3) : Do not use or store the Motion CPU module under pressure higher than the atmospheric pressure of altitude 0m.
Doing so can cause an operation failure.
2 - 18
2 SYSTEM CONFIGURATION
! CAUTION
The Motion controller must be stored and used under the conditions listed in the table of
specifications above.
When not using the module for a long time, disconnect the power line from the Motion controller
or servo amplifier.
Place the Motion controller and servo amplifier in static electricity preventing vinyl bags and store.
When storing for a long time, please contact with our sales representative.
2 - 19
2 SYSTEM CONFIGURATION
(1) Q173HCPU(-T)/Q172HCPU(-T)
Q17 HCPU-T
MODE 2) MODE
RUN RUN
ERR.
M.RUN
3) ERR.
M.RUN
BAT. BAT.
BOOT 4) BOOT
ON SW
5) 1
2
SSCNET
FRONT
6) 3 10)
4
BAT 5
CN1 7)
PC STOP RUN
11)
CN2 TU RESET L CLR
PULL 12)
USB
9)
8) 19)
19) 19)
16) 17)
17)
SW
67
ON
14)
2 - 20
2 SYSTEM CONFIGURATION
2 - 21
2 SYSTEM CONFIGURATION
RESET : Set the switch to the "RESET" position once to reset the hardware.
Applies a reset after an operation error and initialized the operation.
L.CLR : Clear the latch area all data which set with the parameters.
(LATCH CLEAR also clears data outside the latch area at this time.)
RESET/L.CLR switch (Note-1) Latch clear operating method
12)
(Momentary switch) 1) Set the "RUN/STOP" switch to "STOP".
2) Move the "RESET/L.CLR" switch to "L.CLR" several times until the "M. RUN LED"
flickers.
("M. RUN LED" flickers : Latch clear completed. )
3) Move the "RESET/L.CLR" switch to "L.CLR" once more. ("M. RUN LED" turn off.)
13) Module fixing screw hole Hole for the screw used to fix to the base unit. (M3×12 screw : Purchase from the other supplier)
14) Module fixing hook Hook used to fix to the base unit.
SSCNET CN1 connector
15) (Note-2) Connector to connect between Motion CPU module and servo amplifier of system 1 (up to 16 axes)
17) TU connector (Note-4), (Note-5) Connector to connect between Motion CPU module and teaching unit
18) BAT connector Connector to connect between Motion CPU module and battery holder unit Q170HBATC
19) PC connector Connector to connect between Motion CPU module and personal computer via SSCNET
(Note-1) : It is not possible to reset the Multiple CPU system by each of the PLC CPU/Motion CPU No.2 to 4.
If it is reset, other CPU occurred to stop of the overall Multiple CPU system where MULTI CPU DOWN (Error code : 7000).
The overall Multiple CPU system reset is resetting the CPU No.1 of PLC CPU.
(Note-2) : 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.
(Note-3) : Q173HCPU/Q173HCPU-T only. Teaching unit corresponds to only Japanese.
(Note-4) : Q172HCPU/Q172HCPU-T only. Teaching unit corresponds to only Japanese.
(Note-5) : When connecting the teaching unit, be sure to use the cable which adjusts to the model name of teaching unit.
2 - 22
2 SYSTEM CONFIGURATION
0.44ms/ 1 to 3 axes
0.88ms/ 4 to 10 axes 0.44ms/ 1 to 3 axes
SV13
1.77ms/11 to 20 axes 0.88ms/ 4 to 8 axes
Operation cycle 3.55ms/21 to 32 axes
(default) 0.88ms/ 1 to 5 axes
1.77ms/ 6 to 14 axes 0.88ms/ 1 to 4 axes
SV22 —— ——
3.55ms/15 to 28 axes 1.77ms/ 5 to 8 axes
7.11ms/29 to 32 axes
Linear interpolation (Up to 4 axes), Circular interpolation (2 axes),
Interpolation functions
Helical interpolation (3 axes)
PTP(Point to Point) control, Speed control, Speed-position control, Fixed-pitch feed,
Control modes Constant speed control, Position follow-up control, Speed control with fixed position stop,
Speed switching control, High-speed oscillation control, Synchronous control (SV22)
Acceleration/ Automatic trapezoidal acceleration/deceleration,
deceleration control S-curve acceleration/deceleration
Compensation Backlash compensation, Electronic gear, Phase compensation (SV22)
Programming language Motion SFC, Dedicated instruction, Mechanical support language (SV22)
Servo program capacity 14k steps
Number of positioning 3200 points
points (Positioning data can be designated indirectly)
Programming tool IBM PC/AT
Peripheral I/F USB/SSCNET
Teaching operation
None Provided (SV13 use) None Provided (SV13 use)
function
Proximity dog type (2 types), Count type (3 types), Data set type (2 types), Dog cradle type,
Home position return
Stopper type (2 types), Limit switch combined type
function
(Home position return re-try function provided, home position shift function provided)
JOG operation function Provided
2 - 23
2 SYSTEM CONFIGURATION
2 - 24
2 SYSTEM CONFIGURATION
2 - 25
2 SYSTEM CONFIGURATION
2 - 26
2 SYSTEM CONFIGURATION
2 - 27
2 SYSTEM CONFIGURATION
2 - 28
2 SYSTEM CONFIGURATION
2 - 29
2 SYSTEM CONFIGURATION
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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. Then, a few minutes later, switch it on to restart
the system.
The initial start for the system takes place when the current value
becomes normal.
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2 SYSTEM CONFIGURATION
POINTS
(Note-3) : Allowable momentary power failure period
(1) For AC input power supply (QX10, etc.)
• An instantaneous power failure lasting less than 20ms will cause
AC down to be detected, but operation will continue.
• 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.
Further, when the AC supply of the AC input module is the same
as that of the power supply module, it prevents the sensor
connected to the AC input module, which is ON at power-off, from
turning OFF by switching off the power supply.
However, if only the AC input module is connected to the AC line,
which is connected to the power supply, detection of the AC down
for the power supply module may be delayed by the capacitor in
the AC input module. Thus, connect a load of approx. 30mA per
AC input module to the AC line.
(2) For DC input power supply
(Note)
• An instantaneous power failure lasting less than 10ms will
cause 24VDC down to be detected, but operation will continue.
(Note)
• An instantaneous power failure lasting in excess of 10ms may
cause the operation to continue or initial start to take place
depending on the power supply load.
(Note) : This is for a 24VDC input. This is 10ms or less for less
then 24VDC.
2 - 32
2 SYSTEM CONFIGURATION
9) 1)
Q62P POWER 8)
INPUT
100-240VAC
50/60Hz 105VA
OUTPUT 5VDC 3A 24VDC 0.6A
6) ERR.
+24V 2)
(Q62P only)
L
+ -
24G
24VDC 0.5A
(FG) 3)
(LG) 4)
INPUT N 5)
100-240VAC
L
Q62P
10) 7)
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2 SYSTEM CONFIGURATION
2 - 34
2 SYSTEM CONFIGURATION
POINTS
(1) The Q61P-A1 is dedicated for inputting a voltage of 100VAC.
Do not input a voltage of 200VAC into it or trouble may occur on the Q61P-A1.
Power Supply power voltage
module type 100VAC 200VAC
Power supply module causes
Q61P-A1 Operates normally.
trouble.
Power supply module does
not cause trouble.
Q61P-A2 Operates normally.
CPU module cannot be
operated.
(5) When the Q61P-A1, Q61P-A2, Q61P, Q62P, Q63P or Q64P is loaded on the
extension base unit, a system error cannot be detected by the ERR terminal.
(The ERR terminal is always OFF.)
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2 SYSTEM CONFIGURATION
Current
Part name Model name Description consumption
5VDC [A]
Q173HCPU Up to 32 axes control 1.25
Q173HCPU-T Up to 32 axes control, For teaching unit 1.56 (Note-2)
Motion CPU module
Q172HCPU Up to 8 axes control 1.14
Q172HCPU-T Up to 8 axes control, For teaching unit 1.45 (Note-2)
Servo external signal Servo external signal 8 axes
Q172LX 0.05
interface module (FLS, RLS, STOP, DOG/CHANGE×8)
Serial absolute synchronous encoder Q170ENC interface×2,
Serial absolute synchronous Q172EX-S2
Tracking input 2 points
encoder interface module 0.07
(Note-1) Serial absolute synchronous encoder Q170ENC interface×2,
Q172EX-S3
Tracking input 2 points, Memory built-in for data exchange
Manual pulse generator MR-HDP01/Incremental synchronous encoder
Q173PX
Manual pulse generator interface×3, Tracking input 3 points
0.11
interface module (Note-1) Manual pulse generator MR-HDP01/Incremental synchronous encoder
Q173PX-S1
interface×3, Tracking input 3 points, Memory built-in for data exchange
Pulse resolution: 25PLS/rev (100 PLS/rev after magnification by 4)
Permitted axial loads Radial load: Up to 19.6N
Manual pulse generator MR-HDP01 0.06
Thrust load: Up to 9.8N
Permitted speed: 200r/min (Normal rotation), Voltage output
A31TU-D3K13 For SV13, With 3-position deadman switch
Teaching unit 0.26
A31TU-DNK13 For SV13, Without deadman switch
Resolution: 262144PLS/rev
Serial absolute synchronous Permitted axial loads Radial load: up to 19.6N
Q170ENC 0.20
encoder Thrust load: up to 9.8N
Permitted speed: 3600r/min
(Note-1) : Select the power supply module in consideration of the current consumption of connecting peripheral
device (Q170ENC or MR-HDP01).
(Note-2) : Current consumption of A31TU-D3 /A31TU-DN is included.
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2 SYSTEM CONFIGURATION
A31TU-D3K13 MR-HDP01
MR-HDP01
Q170ENC
(Note) : Configure the system in such a way that the total current
consumption at 5VDC of all the modules is less than the allowable
value.
2 - 37
2 SYSTEM CONFIGURATION
This section describes the specifications of the extension cables for the base units
(CPU base unit or extension base unit) used in the system, and the specification
standards of the extension base unit.
2 - 38
2 SYSTEM CONFIGURATION
Type
QC05B QC06B QC12B QC30B QC50B QC100B
Item
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(32.81)
Connection between the CPU base unit and extension base unit, or connection between the
Application
extension base units.
Mass [kg] 0.15 0.16 0.22 0.40 0.60 1.11
POINT
When the extension cables are used in combination, limit the overall length of the
combined cable to 13.2m (43.31ft.).
5) 4)
OUT
1)
2)
CPU I / O0 I / O1 I /O2 I / O3 I / O4 I /O5 I / O6 I / O7 I / O8 I /O9 I / O10 I / O11
POWER
3) 6)
2 - 39
2 SYSTEM CONFIGURATION
I/O Allocations
0 1 2 3 4 5 6 7 8 9
Power supply
Q25H Q25H Q173H QX41 QY41 QY41 Q172LX QX41 QY41 QY41
CPU CPU CPU
module
O
X0 to X1F Y20 to Y3F Y40 to Y5F Intelligent PX0 to PX1F PY20 to PY3F YC0 to YDF
U 32 points
T
(X60 to X7F) (Y80 to Y9F) (YA0 to YBF)
CPU No.1 CPU No.2 CPU No.3 Module of Module of Module of Module of Module of Module of Module of
control control control control control control control
CPU No.1 CPU No.1 CPU No.2 CPU No.3 CPU No.3 CPU No.3 CPU No.1
POINT
I/O device of the Motion CPU can be set in the range PX/PY000 to PX/PYFFF.
The real I/O points must be 256 points or less. (As for the I/O No., it is possible not
to continue.)
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2 SYSTEM CONFIGURATION
Q172LX receives external signals (servo external signals) required for positioning
control.
1)
5) Q172LX
2)
3)
CTRL
6) Q172LX
4)
POINT
Mode judging LED turns ON at the following conditions.
• Q172LX is set on the system setting display of SW6RN-GSV P.
• DOG/CHANGE signal is input.
2 - 41
2 SYSTEM CONFIGURATION
(b) Input
Item Specifications
Servo external signals : 32 points
(Upper stroke limit, Lower stroke limit, Stop input,
Number of input points
Proximity dog/Speed-position switching signal)
(4 points 8 axes)
Input method Sink/Source type
Isolation method Photocoupler
Rated input voltage 12/24VDC
Rated input current 12VDC 2mA/24VDC 4mA
10.2 to 26.4VDC
Operating voltage range
(12/24VDC +10/ -15%, ripple ratio 5% or less)
ON voltage/current 10VDC or more/2.0mA or more
OFF voltage/current 1.8VDC or less/0.18mA or less
Input resistance Approx. 5.6k
Response time of the OFF to ON
Upper/Lower stroke limit and 1ms
STOP signal ON to OFF
2 - 42
2 SYSTEM CONFIGURATION
Number of points
Servo external signal Application
on one Q172LX
Upper stroke limit input (FLS)
For detection of upper and lower stroke limits.
Lower stroke limit input (RLS)
Stop signal input (STOP) For stopping under speed or positioning control. 32 points
Proximity dog/ For detection of proximity dog at proximity dog or count (4 points/8 axes)
Speed-position switching input type home position return of for switching from speed to
(DOG/CHANGE) position switching control.
2 - 43
2 SYSTEM CONFIGURATION
CTRL connector
Pin No. Signal Name Pin No. Signal Name Signal No.
Signal No.
B20 FLS1 A20 FLS5
B19 RLS1 A19 RLS5
1 5
B18 STOP1 A18 STOP5
B17 DOG1/CHANGE1 A17 DOG5/CHANGE5
B16 FLS2 A16 FLS6
B15 RLS2 A15 RLS6
2 6
B14 STOP2 A14 STOP6
B13 DOG2/CHANGE2 A13 DOG6/CHANGE6
DOG/CHANGE, STOP, RLS, FLS functions of each axis(1 to 8) For information about
signal details, refer to
DOG/CHANGE Proximity dog/Speed-position
the programming manual.
switching signal
STOP Stop signal
RLS Lower stroke limit
FLS Upper stroke limit
POINT
Signal No. 1 to 8 can be assigned to the specified axis. To make assignment, make
the system settings of the positioning software package.
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2 SYSTEM CONFIGURATION
(Note): As for the connection to power line (B1, B2), both "+" and "–" are possible.
CAUTION
Always use a shield cable for connection of the CTRL connector and external equipment, and
avoid running it close to or bundling it with the power and main circuit cables to minimize the
influence of electromagnetic interface. (Separate them more than 200mm (0.66ft.) away.)
Connect the shield wire of the connection cable to the FG terminal of the external equipment.
Make parameter setting correctly. Incorrect setting may disable the protective functions such
as stroke limit protection.
Always wire the cables when power is off. Not doing so may damage the circuit of modules.
Wire the cable correctly. Wrong wiring may damage the internal circuit.
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2 SYSTEM CONFIGURATION
Q172EX receive external signals required for serial absolute synchronous encoder.
The installation position of Q172EX is only CPU base.
1)
5) Q172EX-S2
SY.ENC TREN
1 1 2)
2 2
SY.ENC1 3)
8)
LITHIUM BATTERY
MITSUBISHI
SY.ENC2
6) Q172EX
9) 7) 4)
LED Details
Indicates to display the signal input status of
2) Mode judging LED SY.ENC each serial absolute synchronous encoder.
1, 2 (When the serial absolute synchronous encoder
cable connected property, LED is turned on.)
TREN Indicates to display the signal status of tracking
1, 2 enable.
3) SY. ENC connector Input connector of the serial absolute synchronous encoder.
4) Module loading lever Used to install the module to the base unit.
Module fixing screw Hole for the screw used to fix to the base unit
5)
hole (M3×12 screw : Purchase from the other supplier)
6) Module fixing hook Hook used to fix to the base unit.
7) Battery connector For connection of battery lead wire.
8) Battery holder Used to the Install the Battery (A6BAT/MR-BAT) to the holder.
Battery
9) For Serial absolute synchronous encoder battery backup.
(A6BAT/MR-BAT)
2 - 46
2 SYSTEM CONFIGURATION
2 - 47
2 SYSTEM CONFIGURATION
2 - 48
2 SYSTEM CONFIGURATION
2 - 49
2 SYSTEM CONFIGURATION
SY.ENC connector
Signal Signal Applicable connector
Pin No. Pin No. model names
name name
10120-3000VE connector
1 LG 11 LG 10320-52F0-008 connector cover
2 LG 12 LG (3M make)
3 LG 13 No connect
4 TREN 14 TREN.CO
5 No connect 15 No connect
6 MD 16 MDR
7 MR 17 MRR
8 No connect 18 P5
9 BAT 19 P5
10 P5 20 P5
FR ONT
SSCNET
BAT SY.ENC1
CN1
PC
CN2 TU PU LSER
PULL PULL
SY.ENC2
RS-232
Q172EX Q173PX
SY.ENC connector
2 - 50
2 SYSTEM CONFIGURATION
P5 10 18 19 20
5VDC
LG 1 2 3 11 12
Input Battery
BAT 9
TREN 4 5.6k
(Note)
TREN.
COM 14
(Note)
12VDC to 24VDC
SD plate
(Note) : As for the connection to power line (TREN, TREN.COM), both "+" and "–" are possible.
CAUTION
Always use a shield cable for connection of the SY.ENC connector and external equipment, and
avoid running it close to or bundling it with the power and main circuit cables to minimize the
influence of electromagnetic interface. (Separate them more than 200mm (0.66 ft.) away.)
Connect the shield wire of the connection cable to the FG terminal of the external equipment.
When increasing the cable length, use the cable 50m(164.04ft.) or less. Note that the cable
should be run in the shortest possible distance to avoid induced noise.
Always wire the cables when power is off. Not doing so may damage the circuit of modules.
Wire the cable correctly. Wrong wiring may damage the internal circuit.
2 - 51
2 SYSTEM CONFIGURATION
P5 19 S
LG 11 R
P5 20
LG 12
P5 18
LG 2
BAT 9 E
LG 1
MR 7 K
MRR 17 L
MD 6 H
MDR 16 J
SDplate N
P5 19 S
LG 11 R
P5 20
LG 12
P5 18
LG 2
BAT 9 E
LG 1
MR 7 K
MRR 17 L
MD 6 H
MDR 16 J
SDplate
TREN 4 N
TREN.COM 14
24VDC
:Twisted pair cable
2 - 52
2 SYSTEM CONFIGURATION
(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
Classification Manganese dioxide lithium primary battery
Normal voltage [V] 3.6
Battery discharge capacity [mAh] 1600
Battery warranty period 5 years
Lithium content [g] 0.48
For backup absolute positioning data of the serial absolute
Applications
synchronous encoder (Q170ENC)
Exterior dimensions [mm(inch)] 16(0.63) × 30(1.18)
(Note) : The 44th Edition of the IATA (International Air Transportation Association) Dangerous Goods Regulations
was effected in January 1st, 2003 and administered immediately.
In this edition, the provisions relating to lithium and lithium ion batteries have been revised to strengthen
regulations on the air transportation of battery.
This battery is not dangerous goods (not class 9). Therefore, these batteries of 24 units or less are not
subject to the regulations.
These batteries more than 24 units require packing based on Packing Instruction 903.
If you need the self-certification form for the battery safety test, contact Mitsubishi.
For more information, contact Mitsubishi.
A6BAT
LITHIUM BATTERY
/MR-BAT
MITSUBISHI
2 - 53
2 SYSTEM CONFIGURATION
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 terminals.
2 - 54
2 SYSTEM CONFIGURATION
Q173PX receive external signals required for Manual pulse generator and Incremental
synchronous encoder (Voltage-output/Open collector type/Differential-output type).
PULSER
3)
ON
1 2 3 4 5 6
6)
KSD06S
7) Q173PX
4)
LED Details
Input signal status of the Manual pulse
PLS.A 1 to 3
2) Mode judging LED generator/Incremental synchronous
PLS.B 1 to 3
encoder phases A and B
TREN 1 to 3 Tracking enable signal
This LED is not turned on if it is not set the Q173PX in the
system settings.
Input connector of the Manual pulse generator/Incremental
3) PULSER connector
synchronous encoder.
4) Module loading lever Used to load the module to the base unit.
Module fixing screw Hole for the screw used to fix to the base unit
5)
hole (M3×12 screw : Purchase from the other supplier)
2 - 55
2 SYSTEM CONFIGURATION
POINTS
The lighting condition of input display LED is shown below.
(1) PLS.A 1 to 3, PLS.B 1 to 3
• Q173PX is set on the system setting display of SW6RN-GSV P.
• All axes servo ON command (M2042) turned on.
• Manual pulse generator enable flag (M2051, M2052, M2053) turned on.
• Manual pulse generator signal is input.
(2) TREN 1 to 3
• Q173PX is set on the system setting display of SW6RN-GSV P.
• Tracking signal is input.
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2 SYSTEM CONFIGURATION
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2 SYSTEM CONFIGURATION
Q173HCPU Up to 3 modules
Q172HCPU ( Up to 1 module )
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2 SYSTEM CONFIGURATION
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2 SYSTEM CONFIGURATION
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2 SYSTEM CONFIGURATION
Phase A
Select type
(Note-2) Phase B
signal A18 A13 A8 2.5 s or
more
HPSEL (1) Positioning address
increases if Phase A
leads Phase B.
(Note-1) Power supply (2) Positioning address
P5 B18 B13 B8 5VDC decreases if Phase B
5V leads Phase A.
Power
supply SG
A19 A14 A9
SG
B19 B14 B9
(Note-1) : The 5V(P5)DC power supply from the Q173PX must not be connected if a separated power
supply is used as the Manual pulse generator/Incremental synchronous encoder power supply.
Use a 5V stabilized power supply as a separated power supply. Any other power supply may
cause a failure.
(Note-2) : Connect HPSEL to the SG terminal if the manual pulse generator (differential output type)
/incremental synchronous encoder is used.
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2 SYSTEM CONFIGURATION
(Note) : The 5V(P5)DC power supply from the Q173PX must not be connected if a separated power
supply is used as the Manual pulse generator/Incremental synchronous encoder power supply.
Use a 5V stabilized power supply as a separated power supply. Any other power supply
may cause a failure.
(Note) : As for the connection to tracking enable (TREN +, TREN –), both "+" and "–" are possible.
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2 SYSTEM CONFIGURATION
(Note-1) : The 5V(P5)DC power supply from the Q173PX must not be connected if a separated
power supply is used as the Manual pulse generator/Incremental synchronous
encoder power supply.
Use a 5V stabilized power supply as a separated power supply. Any other power supply
may cause a failure.
(Note-2) : Connect HPSEL to the SG terminal if the manual pulse generator (differential output
type/incremental synchronous encoder is used.
CAUTION
If a separate power supply is used as the manual pulse generator/incremental synchronous
encoder power supply, use a 5V stabilized power supply. Any other power supply may cause a
failure.
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2 SYSTEM CONFIGURATION
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2 SYSTEM CONFIGURATION
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2 SYSTEM CONFIGURATION
Teaching unit A31TU-D3 /A31TU-DN can be easily set the teaching of positioning
point, each parameter settings, creation of servo program, servo monitor, servo test,
and so on without the peripheral devices. (Motion CPU module Q173HCPU-T/
Q172HCPU-T is usable only. Refer to the A31TU-D Teaching Unit Operating Manual
for the usable operating system software and version.)
Provided
(Emergency stop switch × 2,
Terminal for external safety circuit ——
Deadman switch × 2,
Emergency stop input to Motion CPU × 1)
Connect to the external safety circuit. Connect directly the emergency stop
(Normally closed contact input) switch of A31TU-DN .
The emergency stop state of Motion CPU (Normally closed contact input)
Emergency stop input to Motion CPU
occurs by releasing the normally closed The emergency stop state of Motion CPU
contact of external safety circuit. occurs by pushing the emergency stop
switch of A31TU-DN .
Q170TUDNCBL3M
Q170TUD3CBL3M
(Control panel connecting type)
Connecting cable with Motion CPU (Control panel connecting type)
Q170TUDNCBL03M-A
(Direct connecting type)
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2 SYSTEM CONFIGURATION
REMARK
External safety circuit
Construct the circuit (power supply OFF of servomotor, etc.) of parts which may
occur machine breakdown and accidents due to abnormal operations outside of the
Motion CPU in a fail-safe viewpoint, to avoid abnormal operations of whole system.
! CAUTION
If the teaching unit A31TU-D3 is released during operation, the emergency stop state of Motion
CPU occurs, and the servomotor becomes coasting state.
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2 SYSTEM CONFIGURATION
5) 1)
DISABLE ENABLE
A31TU
2)
7)
DATA PROGRAM MONITOR TEST
STOP 3)
INSTRUCTION
ITEM CLEAR EMG.STOP
; # SP
7 8 9
OVERRIDE
WRITE DELETE INDIRECT
D E F
4 5 6
4)
STEP -
STORE
A B C
1 2 3
FUNCTION
MDI
-
STEP +
6)
. 0
RETURN
SHIFT ERROR
RESET CAN
AXIS GO
JOG - JOG +
NO.
The emergency stop signal is input to the Motion CPU by the external
safety circuit.
3-position deadman switch The Motion CPU will be in the state which can be operated by holding the
6)
(A31TU-D3 only) middle position of enable switch.
The emergency stop state of Motion CPU occurs by gripping or releasing
this switch, and the servomotor stops and becomes coasting state.
Buzzer sounds at the operation key input or any alarm occurrence.
7) Internal buzzer
(It is possible to switch off the buzzer at the key input by setting.)
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2 SYSTEM CONFIGURATION
Specifications
Items
A31TU-D3 A31TU-DN
Language Japanese
Tact switch 28 keys for SV
ENABLE/DISABLE switch Operation enable/disable
Operation
Emergency stop switch Push lock return reset type
Deadman switch 3-position switch None
Contrast adjusting switch Shade/light
Display method 4 lines × 16 characters LCD display
Interface Conforming RS-422
Protective construction IP54 equivalent
Ambient temperature 0 to 40°C (32 to 104°F)
5VDC power supply Supplied from Motion CPU
5VDC consumption current [A] 0.26
Mass [kg] 1.74 (Including cable 5m (16.40ft.))
POINTS
(1) The total extended distance of cable between the Motion CPU and teaching
unit is within [30m(98.43ft.)] including the A31TU-D3 /A31TU-DN cable
[5m(16.40ft.)]
(2) The teaching unit is shipped, a protection sheet is attached in the surface of
the display and operation key to prevent the crack for conveyance. Remove a
protection sheet to use. Operation and display check without removing a
protection sheet are possible, however adhesives may remain in a teaching
unit by secular change.
(3) When the servomotor is operated by the JOG feed, etc. using the teaching unit
(A31TU-D3 ) with deadman switch, operate it pushing the deadman switch at
middle position. The emergency stop state of Motion CPU occurs by gripping
or releasing this switch, and the servomotor stops and becomes coasting
state.
4) When the teaching unit (A31TU-D3 ) is not used, connect the short-
circuit connector for teaching unit (A31TUD3TM) to the control panel
side connector of the cable for teaching unit (Q170TUD3CBL3M).
Connection example between the cable for teaching unit (Q170TUD3CBL3M) and
external safety circuit is shown below.
A31TU-D3
Control panel Q173HCPU-T/Q172HCPU-T
DISABLE ENABLE
A31TU
EMG.STOP
FRONT
INSTRUCTION
ITEM CLEAR
SSCNET ; # SP
BAT
7 8 9
SY.ENC1 OVERRIDE
CN1
WRITE DELETE INDIRECT
PC
D E F
4 5 6
CN2 TU PULSER STEP -
PULL PULL STOR E
A B C
1 2 3
SHIFT ERROR
CAN
RESET
RS-232
AXIS GO
Q173PX JOG - JOG +
Q172EX NO.
Q170TUD3CBL3M
Deadman switch
Emergency stop input Deadman
contact point
Emergency stop A31TUD3TM
Servo amplifier contact point
Main circuit
power supply
External safety circuit
(Relay, MC, etc.)
! CAUTION
Do not use it in the combination of the teaching unit without deadman switch (A31TU-DN ) and
cable for teaching unit with deadman switch (Q170TUD3CBL3M). The protective function stops
working.
When the teaching unit (A31TU-D3 ) is not used in the Motion CPU (Q173HCPU-T/
Q172HCPU-T), connect the short-circuit connector for teaching unit (A31TUD3TM) to the control
panel side connector of the cable for teaching unit (Q170TUD3CBL3M). If it is not connected, the
emergency stop state of Motion CPU occurs, and the servomotor becomes coasting state.
2 - 70
2 SYSTEM CONFIGURATION
A31TU-DN
Control panel Q173HCPU-T/Q172HCPU-T
DISABLE ENABLE
A31TU
EMG.STOP
INSTRUCTION
ITEM CLEAR
FRONT ; # SP
SSCNET 7 8 9
BAT SY.ENC1 OVE RRIDE
PC D E F
4 5 6
STEP -
PULL PULLCN2 TU PULSER
STORE
A B C
1 2 3
STEP +
PULL
USB USB FUNCTION
MDI
-
. 0
SY.ENC2 RETURN
SHIFT ERROR
RESET CAN
RS-232
AXIS GO
Q173PX JOG - JOG +
Q172EX NO.
Q170TUDNCBL3M
No deadman switch
Servo amplifier
A31TUD3TM
! CAUTION
Do not use it in the combination of the teaching unit with deadman switch (A31TU-D3 ) and
cable for teaching unit without deadman switch (Q170TUDNCBL3M). The protective function
stops working.
When the teaching unit (A31TU-DN ) is not used in the Motion CPU (Q173HCPU-T/Q172HCPU-T),
connect the short-circuit connector for teaching unit (A31TUD3TM) to the control panel side connector
of the cable for teaching unit (Q170TUDNCBL3M). If it is not connected, the emergency stop state of
Motion CPU occurs, and the servomotor becomes coasting state.
2 - 71
2 SYSTEM CONFIGURATION
A31TU-DN
Control panel Q173HCPU-T/Q172HCPU-T
DISABLE ENABLE
A31TU
MELSEC
Q02HCPU Q173HC PU-T QX40 Q172EX Q173PX-S1
Q61P- A1 0 12 3 45 6 7 SY.ENC TREN PLS.A PLS.B TREN
POWER MOD E MODE 1 1 1
1 1
RUN R UN 8 9A B C D E F 2 2 2
2 2
ERR . ERR. 3 3 3
USER M.RUN DATA PROGRAM MONITOR
TEST
BAT. BAT. STOP
BOOT BOOT
INSTRUCTION EMG.STOP
ITEM CLEAR
FRON T
; # SP
SSCN ET 7 8 9
BAT SY.ENC1 OVERRIDE
CN1 WRITE DELETE INDIRECT
PC D E F
4 5 6
CN2 PULSER STEP -
TU
PULL PULL STOR E
A B C
1 2 3
STEP +
PULL
USB USB MDI
FUNCTION -
. 0
SY.ENC2 RETURN
SHIFT ERROR
RESET CAN
RS-232
AXIS GO
Q173PX JOG - JOG +
Q172EX NO.
Q170TUDNCBL03M-A
Q170TUTM
When the A31TU-DN No deadman switch
is not used.
Servo amplifier
Main circuit
power supply
! CAUTION
Do not connect the A31TU-D3 to the cable for teaching unit (Q170TUDNCBL03M-A). The protective
function stops working.
Be sure to fix the relay portion of a connector which has connected the cable for teaching unit
(Q170TUDNCBL03M-A) with teaching unit (A31TU-DN ) so that impossible power is not applied
for the connector of Motion CPU (Q173HCPU-T/Q172HCPU-T). A connector may be damaged.
Do not pull a teaching unit (A31TU-DN ). A connector may be damaged.
When a teaching unit (A31TU-DN ) is removed, first be sure to remove a TU connector of Motion
CPU (Q173HCPU-T/Q172HCPU-T) so that impossible power is not applied for the connector. If a
connector of teaching unit (A31TU-DN ) is removed connecting a TU connector of Motion CPU
(Q173HCPU-T/Q172HCPU-T), a TU connector of Motion CPU (Q173HCPU-T/Q172HCPU-T)
may be damaged.
When the teaching unit (A31TU-DN ) is not used in the Motion CPU (Q173HCPU-T/Q172HCPU-T),
connect the short-circuit connector for teaching unit (Q170TUTM) after removing a TU connector of
cable for teaching unit (Q170TUDNCBL03M-A) from a TU connector of Motion CPU (Q173HCPU-T/
Q172HCPU-T). If it is not connected, the emergency stop state of Motion CPU occurs, and the
servomotor becomes coasting state.
2 - 72
2 SYSTEM CONFIGURATION
MELSEC
Q02HCPU Q173H CPU-T QX40 Q172EX Q173PX-S1
Q61P- A1 0 12 3 45 6 7 SY.ENC TREN PLS.A PLS.B TREN
POWER MOD E MODE 1 1 1
1 1
R UN RUN 8 9A B C D E F 2 2 2
2 2 3 3 3
ERR. ERR.
USER M.RUN
BAT. BAT.
BOOT BOOT
FRONT
SSC NET
BAT
SY.ENC1
CN1
PC
CN2 TU PULSER
PULL PULL
PULL
USB USB
SY.ENC2
RS-232
Q172EX Q173PX
Q170TUTM
When the A31TU-D3 /
A31TU-DN is not used.
Servo amplifier
Main circuit
power supply
! CAUTION
When the teaching unit (A31TU-D3 /A31TU-DN ) is not used in the Motion CPU (Q173HCPU-T/
Q172HCPU-T), connect the short-circuit connector for teaching unit (Q170TUTM) to a TU connector
of Motion CPU (Q173HCPU-T/Q172HCPU-T). If it is not connected, the emergency stop state of
Motion CPU occurs, and the servomotor becomes coasting state.
2 - 73
2 SYSTEM CONFIGURATION
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 Q172HCPU, only 1 SSCNET cable for connection to servo
amplifier can be used. (Connect to CN1.) When using the Q173HCPU, up to 2
SSCNET cables for connection to servo amplifier can be used. (Connect to CN1 and
CN2.)
Up to 16 servo amplifies can be connected to 1 SSCNET cable.
(However, when using the Q172HCPU, up to 8 servo amplifiers can be connected.)
Q173HCPU
Motion CPU module
1) CN1A CN1A
1)
Cap
CN1B
CN1B
SSCNET SYSTEM2
1) CN1A CN1A
1)
Cap
CN1B
CN1B
2 - 74
2 SYSTEM CONFIGURATION
CN1
1) CN1A CN1A
1)
Cap
CN1B
CN1B
2 - 75
2 SYSTEM CONFIGURATION
POINTS
(1) Be sure to connect SSCNET cable with the above connector. If the
connection is mistaken, between the Motion controller 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 mounting
SSCNET cable. Then, when removing SSCNET cable, make sure to put a
cap.
(3) Be sure to keep a cap and the tube for protecting light code end of SSCNET
cable in a plastic bag with a zipper of SSCNET cable to prevent them from
becoming dirty.
(4) Do not remove the SSCNET cable while turning on the power supply of
Motion CPU and servo amplifier.
Do not see directly the light generated from the end of SSCNET cable.
When the light gets into eye, may feel something is wrong for eye. (The light
source of SSCNET cable corresponds to class1 defined in JISC6802 or
IEC60825-1.)
(5) When exchanging the servo amplifier or Motion controller, make sure to put a
cap on SSCNET connector. When asking repair of servo amplifier or Motion
controller for some troubles, make also sure to put a cap on SSCNET
connector. When the connector is not put a cap, the light device may be
damaged at the transit. In this case, exchange and repair of light device is
required.
2 - 76
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 Q173HCPU, and axis No. of 1 to 8 can be set
for Q172HCPU.
Axis No. is set for each system of SSCNET in the system setting of
programming software. Axis No. (Q173HCPU:1 to 32/Q172HCPU:1 to 8) is
allocated and set for the setting axis number (d01 to d16) of servo amplifier.
Since the axis number (d01 to d16) of servo amplifier on the system setting
screen corresponds to axis select switch (0 to F) of servo amplifier, set the axis
select switch referring to the table of next page.
• System setting (Allocation of axis No.) • Axis select switch (Servo amplifier)
7 8 9
3 4 5 6
A
B C DE
2
F 0 1
(Note) : Correspondence between dno. and axis select switch of servo amplifiers is shown in the next
page.
2 - 77
2 SYSTEM CONFIGURATION
(Note) : The dno. is number of servo amplifier axis displayed in the system setting of programming
software. Axis No. is set relative to dno. in the system settings.
2 - 78
2 SYSTEM CONFIGURATION
This section describes the battery specifications used in the Motion CPU, handling
precautions and equipments.
2 - 79
2 SYSTEM CONFIGURATION
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 "the external battery use" in the system
settings. If not setting the external battery, the back-up data of Motion CPU may not back up,
since the battery voltage detection error is not detected.
Q173HCPU/Q172HCPU
Motion CPU module
BAT
Battery holder unit
(Q170HBATC)
BAT MITSUBISHI
LITHIUM BATTERY
CPU
0.5[m]
Q6BAT
(1.64[ft.])
2 - 80
3 DESIGN
3. DESIGN
Design the system which uses the Multiple CPU system in the following procedure.
Select the number of Q172LX's and design according to the each Refer to section 2.4.4
axis control system and whether servo external signals are required
or not.
When there is mechanical home position and dog type home position
return is made: Proximity dog required
For speed control: Speed-position switching control signal required
When overrun prevention is necessary: Stroke limit required
When each axis stop is necessary: STOP signal required
Select Q173PX, Q172EX and design according to whether manual Refer to section 2.4.5
pulse generators and synchronous encoders are required or not. Refer to section 2.4.6
Select I/O modules according to the specifications of the external Refer to MELSEC-Q
equipment to be controlled. series manual.
Select the servo amplifier and servo motor according to the motor Refer to the servo
capacity and number of revolution from the machine mechanism to be amplifier manual.
controlled each axis.
3-1
3 DESIGN
! CAUTION
Provide appropriate circuits external to the Motion CPU to prevent cases where danger may result
from abnormal operation of the overall system in the event of an external power supply fault or
Motion CPU failure.
Install the Motion controller, servo amplifier, servomotor, and regenerative resistor on inflammable
material. Direct installation on flammable material or near flammable material may lead to fire.
If a fault occurs in the Motion controller or servo amplifier, shut the power OFF at the servo
amplifier’s power source. If a large current continues to flow, fire may occur.
When using a regenerative resistor, shut the power OFF with an error signal. The regenerative
resistor may abnormally overheat due to a fault in the regenerative transistor, etc., and may lead
to fire.
Always take heat measures such as flame proofing for the inside of the control panel where the
servo amplifier or regenerative resistor is installed and for the wires used. Failing to do so may
lead to fire.
Do not apply a voltage other than that specified in the instruction manual on any terminal. Doing
so may lead to destruction or damage.
Do not mistake the polarity ( + / - ), as this may lead to destruction or damage.
3-2
3 DESIGN
! CAUTION
Do not touch the servo amplifier's heat radiating fins, regenerative resistor and servomotor, etc.
while the power is ON and for a short time after the power is turned OFF. In this timing, these
parts become very hot and may lead to burns.
Always turn the power OFF before touching the servomotor shaft or coupled machines, as these
parts may lead to injuries.
Do not go near the machine during test operations or during operations such as teaching.
Doing so may lead to injuries.
Always install a leakage breaker on the Motion controller and servo amplifier power source.
If installation of an electromagnetic contactor for power shut off during an error, etc., is specified
in the instruction manual for the servo amplifier, etc., always install the electromagnetic contactor.
Install an emergency stop circuit externally so that the operation can be stopped immediately and
the power shut off.
Use the Motion controller, servo amplifier, servomotor and regenerative resistor with the
combinations listed in the instruction manual. Other combinations may lead to fire or faults.
If safety standards (ex., robot safety rules, etc.,) apply to the system using the Motion controller,
servo amplifier and servomotor, make sure that the safety standards are satisfied.
Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal
operation of the Motion controller or servo amplifier differ from the safety directive operation in
the system.
In systems where coasting of the servomotor will be a problem during the forced stop, the
emergency stop, servo OFF or when the power is shut OFF, use dynamic brakes.
Make sure that the system considers the coasting amount even when using dynamic brakes.
In systems where perpendicular shaft dropping may be a problem during the forced stop, the
emergency stop, servo OFF or when the power is shut OFF, use both dynamic brakes and
electromagnetic brakes.
The dynamic brakes must be used only during the forced stop, the emergency stop and errors
where servo OFF occurs. 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.
Use wires and cables that have a wire diameter, heat resistance and bending resistance
compatible with the system.
Use wires and cables within the length of the range described in the instruction manual.
The ratings and characteristics of the parts (other than Motion controller, servo amplifier,
servomotor) used in a system must be compatible with the Motion controller, servo amplifier and
servomotor.
Install a cover on the shaft so that the rotary parts of the servomotor are not touched during
operation.
There may be some cases where holding by the electromagnetic brakes is not possible due to
the service life time or mechanical structure (when the ball screw and servomotor are
connected with a timing belt, etc.). Install a stopping device to ensure safety on the machine
side.
3-3
3 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
Power Supply PLC CPU Motion CPU Servo external Input module Output module
signals interface
Q61P-A2 Qn(H)CPU Q173HCPU/ module
NFB1 QX40 QY10
S T CP1 Q172HCPU Q172LX
R
200VAC
FLS1
200VAC Forced stop PYm
Xn
DOG8/ Ra1
CHANGE8
Servo normal output
COM (Servo normal:ON
FG Alarm:OFF)
LG
COM G24
SSCNET
Number of inputs:
8 axes/module FLS1
DOG8/
CHANGE8
CP2 EMG
24VDC +24V
Power
supply 24G
Emergency Stop
EMG
Operation Ready
CP3 Ra1 OFF ON
MC
MC
SK
3-4
3 DESIGN
END
Electro-
L11 Ground magnetic
L21 brake
DICOM (Note-2)
SSCNET CN1A
ALM Ra2
CN1B EM1
DOCOM
(Note-3) 24VDC
(Note-1) : When the control power supply of servo amplifier is shut off, it is not possible to communicate with the servo amplifier after that.
Example) When the control power supply L11/L21 of servo amplifier in above B figure is shut off, it is also not possible to
communicate with the servo amplifier C .
If only a specific servo amplifier power supply is shut off, be sure to shut off the main circuit power supply L1/L2/L3, and do not
shut off the control power supply L11/L21.
(Note-2) : Be sure to shut off the both of main circuit power supply L1/L2/L3 and control power supply L11/L21 at the time of exchange of
servo amplifier. At this time, it is not possible to communicate between the servo amplifier and Motion controller. Therefore, be
sure to exchange the servo amplifier after stopping the operating of machine beforehand.
3-5
3 DESIGN
3-phase
200/220VAC
Power Supply PLC CPU Motion CPU Servo external Input module Output module
signals interface
Q61P-A2 Qn(H)CPU Q173HCPU-T/ module
NFB1
Q172HCPU-T QX40 QY10
R S T CP1 Q172LX
200VAC
FLS1
200VAC Forced stop PYm
Xn
DOG8/
CHANGE8
Ra1
Servo normal
(Internal connection) COM output
FG EMG (Servo normal:ON
Alarm:OFF)
LG SG
COM G24
Q170TUDNCBL3M
Number of inputs:
8 axes/module
FLS1
DOG8/
CHANGE8
CP2
EMG
24VDC +24V
Power
supply 24G
Emergency Stop
EMG
Operation Ready
CP3 OFF ON
Ra1
MC
MC
SK
3-6
3 DESIGN
[F 2]
RST PYm OFF : abnormal(error)
END
A31TUD3TM(A31TU-D3 /
A31TU-DN not use) DATA PR OGRAM MONIT OR TEST
STOP
INSTRUCTION
ITEM CLEAR EMG.STOP
; # SP
7 8 9
A31TUD3TM
OVERRIDE
WRITE DELETE INDIRECT
D E F
4 5 6
STEP -
STORE
A B C
1 2 3
STEP +
MDI
FUNCT ION
-
. 0
RETURN
SHIFT ERROR
CAN
RESET
AXIS GO
JOG - JOG +
NO.
ALM Ra2
EM1
DOCOM
(Note-3) 24VDC
MC
3-7
3 DESIGN
3-phase
200/220VAC
Power Supply PLC CPU Motion CPU Servo external Input module Output module
signals interface
Q61P-A2 Qn(H)CPU Q173HCPU-T/ module
NFB1 QX40 QY10
R S T
Q172HCPU-T Q172LX
CP1
200VAC
FLS1
200VAC Forced stop
PYm
Xn
DOG8/ Ra4
CHANGE8
Servo normal
output
(Internal connection) COM (Servo normal:ON
FG EMG Alarm:OFF)
LG SG
COM G24
Q170TUD3CBL3M
EMG1
DC24VE
Number of inputs: DED1
8 axes/module DC24VD
FLS1 EMG
SG
DOG8/
CHANGE8
CP2 Ra1
24VDC +24V
Power
supply
24G
Emergency stop
EMG
Ra2 Ra3
Ra1
A31TU-D3 Internal circuit SK
Emergency stop switch
DC24VE EMG1
Ra2
(Cable) (Cable)
SK
Dead-man switch
DC24VD DED1
Ra3
(Cable) (Cable)
SK
Operation Ready
CP3 OFF ON
Ra1 Ra2 Ra3 Ra4
MC
Ra2 Ra3 MC
EMG SG SK
(Cable) (Cable)
3-8
3 DESIGN
A31TUD3TM(A31TU-D3 /
A31TU-DN not use)
DATA PROGRAM MONITOR TEST
STOP
INSTR UCTION
ITEM CLEAR
EMG.STOP
; # SP
A31TUD3TM
7 8 9
OVERRIDE
WRITE DELETE INDIR ECT
D E F
4 5 6
STEP -
STORE
A B C
1 2 3
STEP +
MDI
FUNCTION
-
. 0
RETURN
SHIFT ERROR
CAN
RESET
AXIS GO
JOG - JOG +
NO.
ALM Ra5
EM1
DOCOM
(Note-3) 24VDC
MC
3-9
3 DESIGN
Alarm output
MC Output module
(lamp or buzzer)
Output module
Ym
MC Turns output equipment L RA1 switched
power off when STOP ON by SM403
Yn
occurs. RA1
on emergency stop,
MC2
on stop at upper/lower
MC1
limit switch Output module
MC MC
MC1 Interlock circuits as necessary.
MC2
Provide external interlock Turns output
circuits for conflicting equipment
operations, such as forward power off when
MC2 STOP occurs
rotation and reverse rotation,
MC1
and for parts that could on emergency
damage the machine or MC1 stop, on stop at
MC2
cause accidents if no upper/lower limit
interlock were used. switch
Power supply
Using AC and DC
Transformer Transformer
DC power supply
established signal input Fuse Fuse
CPU
SM52 DC power
START/STOP circuit supply
Ym
Starting possible
SM403 (-) (+)
when the PLC RUN
Yn Fuse
output RA1 is ON
XM
Set TM to time
TM
to establish
N0 TM DC input signal
MC1 N0 M10
M10
Start Stop Program
switch switch
RA1 RA3
MC
MC
RA2
A voltage relay
is recommended
Input module
RA2 XM
output module
Ym Alarm output
L
(lamp or buzzer)
Yn
RA1
RA3 switched
Power supply module ERR OFF by ERR
RA3
output module MC MC
Interlock circuits as
Turns output equipment
necessary. Provide
power off when ERR
external interlock
switch OFF
circuits for conflicting
MC2 on emergency stop,
operations, such as
MC1 on stop at upper/lower
forward rotation and
MC1 limit switch
reverse rotation,
MC2
and for parts that could
damage the machine or
cause accident if no
interlock were used.
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 systems
When wiring, separate the lines of Multiple CPU system power supplies from
those of the I/O equipment and servo amplifier as shown below.
When there is much noise, connect an insulation transformer.
Insulation
Main power PLC power
transformer
supply supply
Multiple CPU
100/200VAC
NFB CP system
I/O power
T1
supply
I/O devices
CP
Main circuit
power supply
Main circuit device
CP
Servo amplifier
power supply
200VAC Servo amplifier
NFB
(2) Grounding
The Motion system may malfunction as it is affected by various noises such as
electric path noises from the power supply systems, radiated and induced noises
from other equipment, servo amplifiers and their cables, and electromagnetic
noises from conductors. To avoid such troubles, connect the earthing ground of
each equipment and the shield grounds of the shielded cables to the earth.
Also use ferrite cores (ex., ZCAT3035-1330(TDK make)) to prevent the sneak
noises from the panel personal computer.
For grounding, use the exclusive ground terminal wire of each equipment or a
single-point earth method to avoid grounding by common wiring, where
possible, since noises may sneak from other equipment due to common
impedances.
Panel personal
computer
Ferrite core
SSCNET
(Note): Be sure to ground the line noise filter, Multiple CPU system, servo amplifier and
servomotor. (Ground resistance : 100 or less)
3 - 12
3 DESIGN
circuit
TB16
TB17
100VAC
3 - 13
3 DESIGN
(b) It is also possible to use the forced stop signal of the servo amplifier.
Refer to manual of the servo amplifier about servomotor capacity.
Operation status of the emergency stop and the forced stop are as follows.
Operation of
Item Remark
the signal ON
Shut off the power supply to the external servo amplifier
Emergency stop
by external circuit, make the servomotor stopped.
Servo OFF
The servomotor is stopped according to the stop
Forced stop
instruction from Motion controller to the servo amplifier.
3 - 14
3 DESIGN
(5) There must not be a lot of conductible dust, iron filings, oil mist, or salt, organic
solvents.
3 - 15
3 DESIGN
! CAUTION
Due to ventilation problems, do not install the base units vertically or horizontally.
Install the base units on a flat surface. Unevenness or warping of the surface can apply undue
force to printed circuit boards and lead to operation failures.
Avoid installing the base units close to a vibration source, such as a large electromagnetic
contactor or no-fuse breaker. Install them on a separate panel or at a safe distance.
To limit the effects of reflected noise and heat, leave 100mm(3.94inch) or more clearance to
instruments fitted in front of the Motion controller (on the rear of the door).
Similarly, leave 50mm(1.97inch) or more clearance between instruments and the left and right
sides of the base units.
3 - 16
3 DESIGN
The ambient temperature inside the control panel storing the Motion controller must be
suppressed to a Motion controller operating ambient temperature of 55°C(131°F).
For the design of radiation from the storing panel, it is necessary to know the average
power consumption (heating value) of the devices and instruments stored in the control
panel. Here the method of obtaining the average power consumption of Q173HCPU/
Q172HCPU system is described. From the power consumption, calculate a rise in
ambient temperature inside the control panel.
The power consuming parts of the Motion controller are roughly classified into six
blocks as shown below.
3 - 17
3 DESIGN
From this overall power consumption [W], calculate the heating value and a rise
in ambient temperature inside the control panel.
The outline of the calculation formula for a rise in ambient temperature inside the
control panel is shown below.
W
T= [C]
UA
W : Power consumption of overall Motion system (value obtained above)
2
A : Surface area inside the control panel[m ]
U : When the ambient temperature inside the control panel
is uniformed by a fan ................................................................................. 6
When air inside the control panel is not circulated.................................. 4
POINT
When a rise in ambient temperature inside the control panel exceeds the specified
limit, it is recommended that you install a heat exchanger in the control panel to
lower the ambient temperature inside the control panel.
If a normal ventilating fan is used, dust will be sucked into the Motion controller
together with the external air, and it may affect the performance of the Motion
controller.
3 - 18
3 DESIGN
Q172EX-S2
Q173HCPU
Q02HCPU
Q61P-A1
Q173PX
Q172LX
QY10
QY10
QX40
QX40
(b) 5 VDC current consumption of each module
Q02HCPU : 0.64 [A]
Q173HCPU : 1.25 [A]
Q172LX : 0.05 [A]
Q172EX-S2 : 0.07 [A]
Q173PX : 0.11 [A]
QX40 : 0.05 [A]
QY10 : 0.43 [A]
Q38B : 0.114 [A]
(f) Average power consumption due to voltage drop in the output section of the
output module
WOUT = 0 [W]
(g) Average power consumption of the input section of the input module
WIN = 0.004 24 32 1 = 3.07 [W]
(h) Power consumption of the power supply section of the intelligent function
module.
WS = 0 [W]
3 - 19
3 DESIGN
At the worksite, copy the following table for use as a check sheet.
3 - 20
4 INSTALLATION AND WIRING
! 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.
Hold down the module loading lever at the module bottom, and securely install the module fixing hook
into the fixing hole in the base unit. Incorrect loading of the module can cause an operation failure,
failure or drop. When using the Motion controller in the environment of much vibration, tighten the
module with a screw. 4
Tighten the screw in the specified torque range. Under tightening may cause a drop, short circuit or
operation failure. Over tightening may cause a drop, short circuit or operation failure due to damage to
the screw or module.
Be sure to install the extension cable to connectors of the base unit correctly. After installation, check
them for looseness. Poor connections could cause an input or output failure.
Completely turn off all lines of power supply externally before loading or unloading the module. Not
doing so could result in electric shock or damage to the product.
Do not directly touch the module's conductive parts. Touching the conductive parts could cause
an operation failure or give damage to the module.
This section describes instructions for handling the CPU modules, I/O modules,
intelligent function modules, power supply modules and base units, etc.
(1) Do not drop or apply strong impact on the CPU modules, I/O modules, intelligent
function modules, power supply modules, base units and memory card, etc.
(2) Do not remove modules printed circuit boards from the case in order to avoid
failure.
(3) The module fixing screws and terminal block screws within the tightening torque
range specified below.
Location of screw Tightening torque range
Module fixing screw (M3 12 screw) 0.36 to 0.48 N•m
I/O module terminal block screw (M3 screw) 0.42 to 0.58 N•m
I/O module terminal block fixing screw (M3.5 screw) 0.66 to 0.89 N•m
Power supply module terminal screw (M3.5 screw) 0.66 to 0.89 N•m
(4) Make sure to install the power supply module on the CPU base unit and extension
base unit. When the power supply module is not installed and if the I/O modules
and intelligent function module installed on the base units are light load type, the
modules may be operated. In this case, because a voltage becomes unstable,
we cannot guarantee the operation.
4-1
4 INSTALLATION AND WIRING
(5) When an extension cable is used, do not bind the cable together with the main
circuit (high voltage, heavy current) line or lay them close to each other.
(6) Install the CPU base unit (by screwing) in the following procedure.
(a) Fit the two fixing screws for top of the CPU base unit to the panel.
Panel
(b) Place the right-hand side notch of the CPU base unit onto the right-hand side
screw.
Panel
(c) Place the left-hand side pear-shaped hole of the CPU base unit onto the left-
hand side screw.
Panel
(d) Fit the fixing screws into the fixing screw holes in the CPU base unit bottom and
re-tighten the four fixing screws.
(Note) : Install the CPU base unit to a panel, with no module installed in the
rightmost slot.
Remove the CPU base unit after unloading the module from the rightmost
slot.
4-2
4 INSTALLATION AND WIRING
Install the Motion controller module to a panel, etc. , considering enough about
operability, maintainability and environmental resistance.
Hs
H
CPU I / O0 I /O1 I / O2 I / O3 I / O4 I /O5 I /O6 I / O7 I /O8 I /O9 I / O10 I / O11
POWER
Ws
W
Control
Door
panel
100mm
Motion CPU module (3.94inch)
100mm 123mm or more
(3.94inch) (4.84inch)
or more
(Note-1) : 20mm (0.79 inch) or more when the extension cable is connected without removing the adjacent module.
(Note-2) : Height of a wiring duct is 50mm (1.97 inch) or more : 40mm (1.57 inch) or more
4-3
4 INSTALLATION AND WIRING
Vertical Flat
50mm(1.97inch)
or more
100mm(3.94inch) 50mm(1.97inch)
or more or more
4-4
4 INSTALLATION AND WIRING
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.
Base unit
Module
Insert the module fixing hook connector
into the module fixing hole of
Module loading
the base unit.
lever
Module
Module fixing hook fixing hook
Module fixing hole
Push the module in the
direction of arrow to install it Module fixing hole
into the base unit.
Completion
POINTS
(1) Always insert the module fixing hook of the module into the module fixing hole.
Forcing the hook into the hole will damage the module connector and module.
(2) When using the modules in a place where there is large vibration or impact,
screw the module to the base unit.
Module fixing screw : M3 12 (purchase from the other supplier)
4-5
4 INSTALLATION AND WIRING
Module
Module
connector
While pushing the hook, and
using the bottom of the module
as a support, pull the module
toward you.
Module fixing hole
Completion
POINT
When the module fixing screw is used, always remove the module by removing the
module fixing screw and then taking the module fixing hook off the module fixing
hole of the base unit.
Forcibly removal the module will damage the module.
4-6
4 INSTALLATION AND WIRING
• For installation or removal of the SSCNET cable, hold surely a tab of cable
connector.
• Refer to Section 4.4.3. for wiring precautions.
Motion CPU
module
CN2 CN1
4-7
4 INSTALLATION AND WIRING
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) Forcibly removal the SSCNET cable from the Motion CPU module will
damage the Motion CPU modules and SSCNET cables.
(3) 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.
(4) Do not remove the SSCNET cable while turning on the power supply of
Multiple CPU system and servo amplifier.
Do not see directly the light generated from SSCNET connector of Motion
CPU module or servo amplifier and the end of SSCNET cable. When the
light gets into eye, may feel something is wrong for eye. (The light source of
SSCNET cable complies with class1 defined in JISC6802 or IEC60825-1.)
(5) If the SSCNET cable is added a power such as a major shock, lateral
pressure, haul, sudden bending or twist, its inside distorts or brakes, and
optical transmission will not be available.
Be sure to take care enough so that the short SSCNET cable is added a
twist easily.
(6) Be sure to use the SSCNET cable within the range of operating temperature
described in this manual. Especially, as optical fiber for MR-J3BUS M and
MR-J3BUS M-A are made of synthetic resin, it melts down if being left near
the fire or high temperature. Therefore, do not make it touched the part which
becomes high temperature, such as radiator or regenerative option of servo
amplifier, or servomotor.
(7) When laying the SSCNET cable, be sure to secure the minimum cable bend
radius or more.
(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.
When bundling the cable, fix and hold it in position by using cushioning such
as sponge or rubber which does not contain migratable plasticizing.
If using adhesive tape for bundling the cable, fire resistant acetate cloth
adhesive tape 570F (Teraoka Seisakusho Co., Ltd) is recommended.
4-8
4 INSTALLATION AND WIRING
POINTS
(9) Migrating plasticizer is used for vinyl tape. Keep the MR-J3BUS M, and
MR-J3BUS M-A cables away from vinyl tape because the optical
characteristic may be affected.
(10) If the adhesion of solvent and oil to the cord part of SSCNET cable may
lower the optical characteristic and machine characteristic. If it is used such
an environment, be sure to do the protection measures to the cord part.
(11) When keeping the Motion CPU or servo amplifier, be sure to put on a cap to
connector part so that a dirt should not adhere to the end of SSCNET
connector.
(12) SSCNET connector to connect the SSCNET cable 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.
(13) Keep the cap and the tube for protecting light cord end of SSCNET cable in
a plastic bag with a zipper of SSCNET cable to prevent them from
becoming dirty.
(14) When exchanging the Motion controller or servo amplifier, make sure to put a
cap on SSCNET connector. When asking repair of Motion controller or
servo amplifier for some troubles, make also sure to put a cap on SSCNET
connector. When the connector is not put a cap, the light device may be
damaged at the transit. In this case, exchange and repair of light device is
required.
4-9
4 INSTALLATION AND WIRING
Motion CPU
module
PC connector
POINT
Forcibly removal the SSC I/F communication cable from the Motion CPU module
will damage the Motion CPU modules and SSC I/F communication cables.
4 - 10
4 INSTALLATION AND WIRING
Battery cable
CPU/BAT connector
Battery holder unit
(Q170HBATC)
POINT
Forcibly removal the battery cable from the battery holder unit will damage the
battery holder unit and battery cable.
4 - 11
4 INSTALLATION AND WIRING
TU connector
POINTS
(1) Forcibly removal the cable for teaching unit from the Motion CPU module will
damage the Motion CPU modules and the cable for teaching unit.
(2) When the cable for teaching unit or short-circuit connector is connected to the
connector for teaching unit, screw them to the connector for teaching unit.
Under tightening can cause a drop, short circuit or operation failure.
4 - 12
4 INSTALLATION AND WIRING
! CAUTION
When a teaching unit is removed, the emergency stop and servomotor become coasting state.
In systems where coasting of the servomotor will be a problem, use dynamic brakes.
4 - 13
4 INSTALLATION AND WIRING
This section described instructions 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.
(2) Large errors in eccentricity and angle of deviation during installation can apply
an excessive force to the Q170ENC shaft, which can cause deterioration in
performance drastically reduce encoder service time.
Minimize loads applied to the shaft such that they lie within the permitted shaft
load range.
4 - 14
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
B e a rin g
Q 170EN C
Coupling
Fig 4.2 Connecting the shaft of Q170ENC to a machine side rotary shaft.
Never hit the end of the Q170ENC coupling shaft with a hammer when connecting the coupling to it.
The large loads applied to Q170ENC will damage it.
The Q170ENC uses optical parts. Install it in an atmosphere where there are extremely few water
drops and little oil and dust.
In any place where the Q170ENC is exposed to water and/or oil, provide protection from oil and water,
e.g. install a cover. In addition, run the cable downward to prevent oil and/or water from running on the
cable into the Q170ENC. When it is inevitable to install the Q170ENC vertically or obliquely, trap for
the cable.
Use the Q170ENC within the specified temperature range (-5°C to 55°C (23 to 131°F) ).
4 - 15
4 INSTALLATION AND WIRING
4.4 Wiring
! DANGER
Completely turn off the all lines of the power supply externally before wiring. Not completely turning off
all power could result in electric shock or damage to the product.
When turning on the power supply or operating the module after wiring, be sure that the module's
terminal covers are correctly attached. Not attaching the terminal cover could result in electric
shock.
! CAUTION
Be sure to ground of the earth terminal FG and LG. Not doing so could result in electric shock or
operation failure. (Ground resistance: 100 or less)
When wiring in the Motion controller, be sure that it is done correctly by checking the product's rated
voltage and the terminal layout. Connecting a power supply that is different from the rating or
incorrectly wiring the product could result in fire or damage.
External connections shall be crimped or pressure welded with the specified tools, or correctly
soldered. Imperfect connections could result in short circuit, fire, or operation failure.
Tighten the terminal screws within the specified torque range. If the terminal screws are loose, it could
result in short circuit, fire, or operation failure. Tightening the terminal screws too far may cause
damages to the screws and/or the module, resulting in drop, short circuit, or operation failure.
Be sure there are no foreign matters such as sawdust or wiring debris inside the module. Such debris
could cause fire, damage, or operation failure.
The module has an ingress prevention label on its top to prevent foreign matter, such as wiring
debris, from entering the module during wiring.
Do not remove this label during wiring.
Before starting system operation, be sure to remove this label because of heat dissipation.
This section described instructions for the wiring of the power supply.
(1) Power supply wiring
(a) 100VAC, 200VAC and 24VDC wires should be twisted as dense as possible
respectively. Connect the modules with the shortest distance.
Also, to reduce the voltage drop to the minimum, use the thickest wires
possible.
Use the wires of the following core size for wiring.
Application Recommended core size
100VAC, 200VAC, 24VDC wires 2.0mm2 or less
I/O equipment 0.75mm2(0.75 to 1.5mm2 usable)
Ground wire 2.0mm2 or more
4 - 16
4 INSTALLATION AND WIRING
(b) Do not bunch or lay them closely the main circuit (high voltage, large
current) cables of the 100VAC and 24VDC with the I/O signal cables. If
possible, separate them 100mm (3.94inch) or more away.
Multiple CPU
AC
system
E2
POINTS
(1) Separate the ground of the surge absorber for thunder (E1) from that of the
PLC (E2).
(2) Select a surge absorber for thunder whose power supply voltage does not
exceed the maximum allowable circuit voltage even if at the time of maximum
power supply voltage elevation.
(b) The wires used for connection to the terminal block should be 0.3 to
2
0.75mm in core and 2.8mm (0.11inch) or less in outside diameter.
(c) Run the input and output lines away from each other.
(d) When the wiring cannot be run away from the main circuit and power lines,
use a batch-shielded cable and ground it on the Motion controller side.
In some cases, ground it in the opposite side.
Multiple CPU system
Shielded cable
Input
RA
Output Shield
DC
(e) Where wiring runs through piping, ground the piping without fail.
(f) Run the 24VDC input line away from the 100VAC and 200VAC lines.
4 - 17
4 INSTALLATION AND WIRING
(g) Wiring of 200m (656.17ft.) or more distance will give rise to leakage currents
due to the wiring capacity, resulting in a fault.
Refer to the troubleshooting chapter of the I/O Module User's Manual.
(3) Grounding
To ground the cable, follow the steps (a) to (c) shown below.
(a) Use the dedicated grounding as independent as possible.
(Ground resistance: 100 or less)
(b) When the Multiple CPU system and the another equipment cannot be
departed to ground the cable each other, use (2) Common Grounding
shown below.
grounding grounding
(1) Independent grounding.....Best (2) Common grounding.....Good (3) Joint grounding.....Not allowed
2
(c) Use the grounding cable of 2 mm or more.
Position the ground-contact point as nearly to the Multiple CPU system as
possible, and use the total length of the grounding cable as short as
possible.
4 - 18
4 INSTALLATION AND WIRING
The following diagram shows the wiring example of power lines, grounding lines, etc.
to the CPU and extension base units.
Fuse
ERR (Note)
AC
DC FG
24VDC
LG
INPUT
100-240VAC
(Note)
ERR
100VAC FG
LG
INPUT
100-240VAC
Ground wire
Grounding
POINT
2
(1) Use the thickest possible (up to 2 mm ) wires for the 100/200 VAC and 24
VDC power cables. Be sure to twist these wires starting at the connection
terminals. To prevent a short circuit should any screws loosen, use solderless
terminals with insulation sleeves.
(2) When the LG terminals and FG terminals are connected, be sure to ground the
wires. Do not connect the LG terminals and FG terminals to anything other than
ground. If LG terminals and FG terminals are connected without grounding the
wires, the Motion controller may be susceptible to noise.
In addition, since the LG terminals have potential of 1/2 input voltage, the
operator may receive an electric shock when touching metal parts.
(3) No system error can be detected by the ERR terminal of an extension base
unit. (ERR terminal is always set off.)
4 - 19
4 INSTALLATION AND 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. Be sure to use optical fiber within
the range of operating temperature described in this manual. Optical fiber melts down if
being left near the fire or high temperature. Therefore, do not make it touched the part,
which becomes high temperature, such as radiator or regenerative brake option of
servo amplifier.
Read described item of this section carefully and handle it with caution.
(2) Tension
If tension is added on the SSCNET cable, the increase of transmission loss
occurs because of external force which concentrates on the fixing part of
SSCNET cable or the connecting part of SSCNET connector. At worst, the
breakage of SSCNET cable or damage of SSCNET connector may occur.
For cable laying, handle without putting forced tension. (Refer to "APPENDIX1.1
SSCNET cables" for the tension strength.
(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.
4 - 20
4 INSTALLATION AND WIRING
Control Door
panel
100mm
Motion CPU module (3.94inch)
100mm 123mm or more
(3.94inch) (4.84inch)
or more
(Note-1): When the extension cable is connected without removing the adjacent module: 20[mm](0.79inch) or more
(Note-2): When height of a wiring duct is 50[mm](1.97inch) or more: 40[mm](1.57inch) or more
• Bundle fixing
Base unit
Control panel
Motion controller
Code
Loose slack
4 - 21
4 INSTALLATION AND WIRING
At the worksite, copy the following table for use as a check sheet.
Item Sub Item Installation/wiring confirmation Check
Check for looseness, rattling or distorted installation.
Installation of
Check that the fixing screw tightening torque is as specified.
base unit
Check the unit for damage.
Check that the installation module model names are correct.
Check that the Q173HCPU/Q172HCPU and PLC CPU are installed to the
Installation of Motion CPU slots/PLC CPU slots.
modules to Check that the Q172LX/Q172EX and Q173PX are installed to the Motion
base unit CPU control slots.
Check for looseness, rattling or distorted installation.
Check that the module fixing screw tightening torque is as specified.
Installation
Installation of Check for looseness, rattling or distorted installation.
of module
battery holder unit Check that the module fixing screw tightening torque is as specified.
Check that the amplitude, eccentricity and axial displacement relative to the
machine side rotary shaft are within the permissible values.
Installation of
Check that a flexible coupling is used for coupling with the machine side
synchronous
rotary shaft.
encoder
Check the module for damage.
Check that excessive impact was not given during installation.
Check the teaching unit for damage.
Installation of
Check that the combination of teaching unit and connecting cable are
teaching unit
correct.
Check that the 100VAC, 200VAC and 24VDC wires are twisted as closely
as possible respectively and run in the shortest distance.
Wiring of power Check that the 100VAC, 200VAC and 24VDC wires are not bind the cable
supply modules together with and run close to the power and I/O wires.
and I/O modules Check that each wiring is of the specified wire size.
wires Check for looseness of terminal block screw.
Check that the terminal block screw tightening torque is as specified.
Check that grounding of the earth terminal FG and LG.
Check that SSCNET cable model names for connection between
Wiring Q173HCPU/Q172HCPU and servo amplifier/servo amplifier and servo
amplifier are connect.
Wiring of
Check for looseness, rattling or distorted connector and connective.
SSCNET cable
Check that the minimum cable bend radius or more is secured.
Check that the codes does not touch the wires or made from material which
contains plasticizing material.
Check that the impossible power does not apply to the relay portion of cable
Wiring of attached teaching unit and cable connects CPU.
teaching unit cable Check that impossible power does not apply to the TU connector of
Q173HCPU-T/Q172HCPU-T.
4 - 22
5 TRIAL OPERATION AND ADJUSTMENT
Q173PX Manual pulse generator (3) Check that the battery is connected to the battery connector. 6.4.2
interface module
(4) Check that the battery voltage of Q172EX is normal.
2.4.5 (7)
(Normal value: 3.6V)
(1) Check that the installation module model names are correct. 2.4.3 (1)
CPU base unit (2) Check that the installation orders are correct. 2.1.4
5
(3) Check that the modules are installed correctly. 4.1.3 (1)
(1) Check that the power supply module model name installed on base unit
2.4.2 (1)
is correct.
Power supply module (2) Check that FG and LG are wired correctly. 4.4.2
(3) Check that the terminal screws are tightened correctly. 4.1.1 (3)
(4) Check that the cable sizes are correct. 4.4.1 (1)
(1) Check that the cables connected to each terminal of terminal block
correspond to the signal names. Refer to the
(2) Check that the terminal screws are tightened correctly. I/O Module Type
I/O module
(3) Check that the cable sizes are correct. Building Block User's
(4) Check that the external power supply are connected correctly. Manual
(24 VDC, 5 VDC)
(1) Check that the installation module model names are correct. 2.4.3 (1) (b)
(2) Check that the total I/O points of the I/O modules and special function Refer to the
module does not exceed the number I/O points of the CPU module. programming manual
Extension base unit
of operating system
software.
(3) Check that the installation modules are connected correctly. 4.1.3 (1)
(1) Check that the installation SSCNET cable model names are correct.
(2) Check that the installation positions of the connector for SSCNET 2.4.9
SSCNET cable
cables are correct.
(3) Check that the SSCNET cables are connected correctly. 4.2.1
(1) Check that the battery cables are connected correctly. 4.2.3
Battery holder unit (Q170HBATC)
(2) Check that the battery is connected to the battery connector. 6.4.2 (2)
(1) Check that the installation SSC I/F communication cable model names
2.2
SSC I/F communication cable are correct.
(2) Check that the SSC I/F communication cables are connected correctly. 4.2.2
(1) Check that the combination of teaching unit and the connecting cable are
Teaching unit correct.
2.4.8
(A31TU-D3 /A31TU-DN ) (2) Check that short-circuit connector for teaching unit is connected, when
teaching unit is not using.
5-1
5 TRIAL OPERATION AND ADJUSTMENT
1)
5-2
5 TRIAL OPERATION AND ADJUSTMENT
1)
CAUTION
I/O module
Do not install a phase advancing capacitor,
Check the I/O module wiring. 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,
[Servo data setting W). Incorrect connections will lead the
mode] servomotor to operate abnormally.
Positioning parameters setting
Set the following positioning parameters CAUTION
by the peripheral device.
(1) Fixed parameters Set parameter values to those that are
compatible with the Motion controller, servo
(2) Servo parameters
amplifier, servomotor and regenerative resistor
(3) Home position return data model name and the system name application.
(4) Limit switch The protective functions may not function if the
settings are incorrect.
2)
5-3
5 TRIAL OPERATION AND ADJUSTMENT
2)
DANGER
[Programming mode]
Never open the front case or terminal cover at
Create Motion programs
times other than wiring work or periodic
Motion CPU
Create the Motion programs by SW6RN-GSV P. inspections even if the power is OFF. The
insides of the Motion controller and servo
amplifier are charged and may lead to electric
[Parameter setting shocks.
mode]
PLC parameter setting When performing wiring work or inspections,
turn the power OFF, wait at least ten minutes,
Set the parameter setting and system setting by and then check the voltage with a tester, etc..
the peripheral device with the GX Developer. Failing to do so may lead to electric shocks.
Write Motion programs Some devices used in the program have fixed
applications, so use these with the conditions
Motion CPU Write the positioning data and Motion programs specified in the programming manual.
created by the peripheral device to the Motion
CPU module.
CAUTION
Turn ON power supply again If safety standards (ex., robot safety rules, etc., )
apply to the system using the Motion controller,
Turn ON again the power supply or reset of servo amplifier and servomotor, make sure that
Multiple CPU system. the safety standards are satisfied.
Construct a safety circuit externally of the
Motion controller or servo amplifier if the
Turn ON servo amplifiers power supply abnormal operation of the Motion controller or
Check the emergency stop ON and forced stop servo amplifier differ from the safety directive
ON, and turn ON the power supply of servo operation in the system.
amplifiers and servomotors.
[Test mode
servo start-up
(Initial check) ]
Check servo am plifier Axis No. and error description of servo amplifier which
detected errors are displayed on initial check screen.
Check that the installed servo amplifiers operate
correctly.
[Test mode
Motion CPU servo start-up
(Upper/lower stroke
limit check) ]
Check upper/lower stroke limits
Check that the upper/lower stroke limits operate
correctly.
3)
5-4
5 TRIAL OPERATION AND ADJUSTMENT
3)
[Test mode
JOG operation ]
Check machine operation
CAUTION
Check the followings by making the machine
operate with the JOG operation of peripheral The system must have a mechanical
device. allowance so that the machine itself can stop
(1) Machine operates correctly even if the stroke limits switch is passed
(no vibration, hunting, etc. )
(2) Stroke limits operate correctly through at the max. speed.
(3) Machine stops by the emergency stop
or forced stop.
[Test mode
home position return ]
Check home position return
Check the followings by executing the home
position return.
(1) Home position return direction
(2) Home position return data
(3) Proximity dog position
Motion CPU
[Programming mode]
Check Motion program
Set the RUN/STOP key of PLC/Motion CPU
module to RUN, and check that all positioning
controls by Motion programs are correct.
[Monitor mode]
Check by automatic operation
Check the sequence operation by executing
PLC CPU the PLC program using an actual external
input.
End
POINTS
(1) Make note of motor module names before the motor is installed on a machine.
The motor name plate may not be visible after the motor is installed.
(2) When the servo amplifier, servomotor is first turned on, check the operation
before the servomotor is installed on a machine to avoid an unexpected
accidents such as machine breakage.
5-5
5 TRIAL OPERATION AND ADJUSTMENT
The operating system software must be installed to the Motion CPU module by using
the peripheral device and programming software package.
The installation procedure is shown below.
Start installation
Turn ON the Motion CPU power supply. RUN/STOP key switch is ignored.
End
POINTS
(1) The operating system software was not installed at the time of Motion CPU
module purchase. Be sure to install the operating system software to be used
before a system start.
(2) Even if the operating system software is installed, the positioning data and
servo programs written in the Motion CPU module does not be rewritten.
(3) Do not turn off the power supply during installation. The Motion CPU module
may break down.
(4) When the operating system software is installed at set the multiple not installed
Motion CPU modules in one base unit, be sure to turn ON the install switches
of all not installed Motion CPU modules to install.
(Note): If the power supply is turned ON in the state of the install switch OFF
of all not installed Motion CPU modules, it does not operate normally.
Be sure to install the operating system software before system start.
5-6
5 TRIAL OPERATION AND ADJUSTMENT
At the worksite, copy the following table for use as a check sheet.
Work Step Item Trial Operation and Adjustment Confirmation Check
Check that the each module is installed correctly.
Check that the each connector is connected correctly.
Check the each terminal screw for looseness.
Installation of Check that the earth wires of power supply module or servo amplifiers, etc.
Before power supply
unit/module are correct.
ON
and basic wiring Check that the servomotor wiring is correct.
Check that the regenerative option wiring are correct.
Check that the circuit of emergency stop and forced stop are correct.
Check that the wiring of each power supply and I/O are correct.
OS installation Check that the operating system software is compatible.
System setting Check that the system setting is correct.
Power supply ON/ Check that the upper/lower stroke limit inputs are correct.
Q172LX external Check that the STOP signal input is correct.
Motion CPU module signals Check that the proximity dog and speed/position switching signal inputs are
in STOP status/ correct.
Program/ Check that the Motion program, PLC program and positioning data are stored
PLC CPU module in positioning data in the PLC/Motion CPU module correctly.
STOP status Check the communications with servo amplifiers.
Check that the rotation direction for JOG operation is correct.
Check that the upper/lower limit switches operate correctly.
Basic axis Check that the rotation at maximum command speed is motor rating or less.
Motion CPU module in
operations Check that the machine operates correctly by the JOG operation.
RUN status/
(Check each axis) Check that the machine stops by the upper/lower stroke limit.
Check that the machine stops by the emergency stop or forced stop.
PLC CPU module in
Check that the home position return is executed correctly.
STOP status
Check that each positioning control of Motion program is operates correctly.
Check the each operation in manual operation mode of system during Motion program
execution.
Check that the machine operation stops immediately by the emergency stop
or forced stop.
Manual operation Check the operation of each actuator and confirmation limit switch.
Check that the emergency stop, forced stop and equipment alarm signals are
correct.
Checks in compliance with control specifications specific to system and
Motion CPU module in equipment.
RUN status/ Check the each operation in manual operation mode of system during Motion program
execution.
PLC CPU module in Check that the automatic operation motions.
RUN status Check that the machine operation stops immediately by the emergency stop
Automatic or forced stop.
operation Check that the module or equipment alarm causes an immediate stop or cycle
stop.
Check that the restoring operation can be performed after an alarm stop.
Make other checks in compliance with control specifications specific to system
and equipment.
Check that the acceleration/deceleration torque is maximum torque or less.
Torque check
Check that the continuous effective load torque is rated torque or less.
5-7
5 TRIAL OPERATION AND ADJUSTMENT
MEMO
5-8
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.
Turn off the all lines of the power supply externally when cleaning the module, tightening the terminal
screws or module fixing screws. Not doing so could result in electric shocks.
Under tightening the terminal screws may cause a drop, short circuit or operation failure. Over
tightening may cause a drop, short circuit or operation failure due to damage to the screw or module.
! CAUTION
Read the manual carefully and pay careful attention to safety for the on-line operation (especially
program change, forced stop or operation change) performed by connecting peripheral devices to the
CPU module during operation.
Erroneous operation may cause machine breakage or accident.
Never try to disassemble or modify module. It may cause product failure, operation failure, injury or
fire.
When using cellular phone, keep them away from the Motion controller 25 cm (9.84 inch) or more. 6
It may cause an operation failure.
Turn off the all lines of the power supply externally when installing or removing the modules. Not
doing so could damage the module or result in operation failure.
In order that you can use the Motion controller in normal and optimal condition at all
times, this section describes those items that must be maintained or inspected daily or
at regular intervals.
6-1
6 INSPECTION AND MAINTENANCE
In order that can use the Motion controller in safety and normal, those items that must
be inspected list below.
! CAUTION
Never open the front case or terminal covers while the power is ON or the unit is running, as this may
lead to electric shocks.
Never run the unit with the front case or terminal cover removed. The high voltage terminal and
charged sections will be exposed and may lead to electric shocks.
Never remove the front case or terminal cover at times other than wiring work or periodic inspections
even if the power is OFF. The insides of the Motion controller and servo amplifier are charged and
may lead to electric shocks.
When performing wiring work or inspections, turn the power OFF, wait at least ten minutes, and then
check the voltage with a tester, etc.. Failing to do so may lead to electric shocks.
Be sure to ground the Motion controller, servo amplifier and servomotor. Do not ground commonly
with other devices. (Ground resistance : 100 or less)
The wiring work and inspections must be done by a qualified technician.
Wire the units after installing the Motion controller, servo amplifier and servomotor. Failing to do so
may lead to electric shocks or damage.
Never operate the switches with wet hands, as this may lead to electric shocks.
Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this may
lead to electric shocks.
Do not touch the Motion controller, servo amplifier or servomotor terminal blocks while the power is
ON, as this may lead to electric shocks.
Do not touch the built-in power supply, built-in grounding or signal wires of the Motion controller and
servo amplifier, as this may lead to electric shocks.
Perform the daily and periodic inspections according to the instruction manual.
Perform maintenance and inspection after backing up the program and parameters for the Motion
controller and servo amplifier.
Do not place fingers or hands in the clearance when opening or closing any opening.
Periodically replace consumable parts such as batteries according to the instruction manual.
Do not touch the lead sections such as ICs or the connector contacts.
Do not place the Motion controller or servo amplifier on metal that may cause a power leakage or
wood, plastic or vinyl that may cause static electricity buildup.
Do not perform a megger test (insulation resistance measurement) during inspection.
When replacing the Motion controller or servo amplifier, always set the new unit settings correctly.
After maintenance and inspections are completed, confirm that the position detection of the
absolute position detector function is correct.
6-2
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.
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, in order to prevent that
state, use a servomotor with electromagnetic brakes for maintenance or install a brake mechanism
externally.
Use a double circuit construction so that the electromagnetic brake operation circuit can be operated
by emergency stop signals set externally.
Shut off with the
Shut off with servo ON signal OFF, emergency stop
alarm, electromagnetic brake signal. signal(EMG).
Servomotor
RA1 EMG
Electro-
magnetic 24VDC
brakes
If an error occurs, remove the cause, secure the safety and then resume operation after alarm
release.
The unit may suddenly restart after a power failure is restored, so do not go near the machine. (Design
the machine so that personal safety can be ensured even if the machine restarts suddenly.)
Confirm and adjust the program and each parameter before operation. Unpredictable movements may
occur depending on the machine.
Extreme adjustments and changes may lead to unstable operation, so never make them.
Do not apply a voltage other than that specified in the instruction manual on any terminal.
Doing so may lead to destruction or damage.
Do not mistake the terminal connections, as this may lead to destruction or damage.
Do not mistake the polarity ( + / - ), as this may lead to destruction or damage.
Do not touch the servo amplifier's heat radiating fins, regenerative resistor and servomotor, etc., while
the power is ON and for a short time after the power is turned OFF. In this timing, these parts become
very hot and may lead to burns.
Always turn the power OFF before touching the servomotor shaft or coupled machines, as these parts
may lead to injuries.
Do not go near the machine during test operations or during operations such as teaching. Doing so
may lead to injuries.
Do not bunch the control wires or communication cables with the main circuit or power wires, or
lay them closely. They should be installed 100 mm (3.94 inch) or more from each other.
Trying to bunch or install could result in noise that would cause operation failure.
6-3
6 INSPECTION AND MAINTENANCE
(Note-1)
mentals)".
Check that the LED is ON in The LED must be ON.
[RUN] LED
RUN state. (Abnormal if the LED is OFF.)
The LED must be OFF.
[ERR.] LED Check that the LED is OFF.
Module indication LED
6-4
6 INSPECTION AND MAINTENANCE
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.
screws.
3
Adhesion of dirt and Dirt and foreign matter must not
Check visually. Remove and clean.
foreign matter be present.
6-5
6 INSPECTION AND MAINTENANCE
The special relays (M9006, M9007) turn ON due to the Motion CPU program or the
decrease in voltage of memory back-up battery.
Even if these special relays turn ON, the program and the contents of memory back-up
are not erased immediately.
However, if these relays are overlooked, the contents may be erased.
While a total of the memory back-up time after the M9006, M9007 turn ON is within a
specified time, replace the battery with a new one.
POINT
M9007 turns ON due to the decrease in voltage of battery. Even if M9007 turns ON,
it holds the data within a specified time.
However, for safety, replace the battery with a new one as soon as possible.
When the external battery voltage is lowered, the M9006 and M9007 turn ON.
M9006 always detects the battery decrease, and it turns ON when the battery voltage
becomes normal.
M9007 detects the battery decrease, and it holds an alarm until the power supply is
turned ON again or reset even if the battery voltage becomes normal.
Set the available/not available of external battery in the system settings.
6-6
6 INSPECTION AND MAINTENANCE
Battery service life time (Total power failure time) [h] (Note-1)
Type Classification Guaranteed time Actual time After the battery
(MIN) (TYP) decrease
Charging time:
Internal 200 500
8 hours or more No battery decrease
rechargeable
Q173HCPU/ (Note-3) Charging time: detection
battery 1100 4300
Q172HCPU 40 hours or more
120
External battery (Q6BAT) (Note-2) 60000 240000
(After M9006, M9007 on)
(Note-1) : The actual time in use means the averaged time, and the guaranteed time means the minimum time.
(Note-2) : The external battery for Q173HCPU/Q172HCPU is installed to the Battery holder unit(Q170HBATC).
(Note-3) : The internal rechargeable battery for Q173HCPU/Q172HCPU can not be replaced.
6-7
6 INSPECTION AND MAINTENANCE
Replacing Battery
Encoder cable
Install the Q172EX into the base unit.
Battery Connector
(A6BAT/MR-BAT)
Connect the encoder cable to the Q172EX.
END
6-8
6 INSPECTION AND MAINTENANCE
POINTS
Replace the battery taking care of the following.
(1) Start the replacement operation after backing up the data to the personal
computer which is installed the SW6RN-GSV P.
(2) Firstly back up the data stored in the Motion CPU to the personal computer
which is installed the SW6RN-GSV P then replace the battery with a new
one. After installation the battery in the Battery holder unit, verify the backing
up the data to the personal computer which is installed the SW6RN-GSV P
and the data in the Motion CPU module, confirm the data is not changing.
Replacing Battery
Turn off the power supply of the power <Battery holder unit(Q170HBATC)>
supply module.
Battery connector for Q6BAT
END
6-9
6 INSPECTION AND MAINTENANCE
Discard procedure
1)
2) 3)
1)
1) 2) Push in 4 hooks of the Motion CPU module side 3) Take out a printed circuit board from a case.
and remove a front cover.
4)
5)
Lithium battery
Cut
USB connector
4) Turn up a printed circuit board which has install the 6) Check that the internal rechargeable battery is set on
SSCNET connector, and then remove 7 fixing a surface of printed circuit board which has install the
screws (M3) from circuit board. USB connector, and cut lead sections of internal
5) Separate printed circuit boards. rechargeable battery.
7) When you discard an internal rechargeable battery,
please follow the law of each country (area).
! CAUTION
Do not disassemble the modules except the time of discard.
Do not short circuit, charge, overheat, incinerate or disassemble the batteries.
6 - 10
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.
In order to increase the reliability of the system, not only highly reliable devices are
used but also the speedy startup of the system after the occurrence of trouble
becomes an important factor.
To start up the system speedily, the cause of the trouble must be located and
eliminated correctly.
The basic three points that must be followed in the troubleshooting are as follows.
After confirming items (a) to (g), Motion CPU module connect the SW6RN-
GSV P, PLC CPU module connect the GX Developer and check the operating
conditions of the servomotors and the error code.
6 - 11
6 INSPECTION AND MAINTENANCE
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 (Function
Explanation, Program Fundamentals) of their respective modules.
POINT
Check that the operating system software is installed at the time of Motion CPU
module start.
(c)
"RUN" LED is OFF
"Flowchart for when "RUN" LED is turned off."
(d)
"ERR." LED is ON/ flickers "Flowchart for when "ERR." LED is turned on/
flickered."
(e)
ũ M. RUNṽ"M.RUN"
LEDª‚ “_ “”LED
µ ‚ is¢
‚ Ä ‚ OFF
é
‚
"Flowchart for when "M.RUN" LED is turned off."
(g)
I/O module is not operating correctly "Flowchart for when output load of output module
is not turned on."
(h)
The peripheral devices cannot
"Flowchart for when the peripheral device cannot
communicate to the Motion CPU.
communicate to the Motion CPU."
(i)
The power supply of teaching unit "Flowchart for when the power supply of teaching
is not turned on. unit is not turned on."
6 - 12
6 INSPECTION AND MAINTENANCE
NO
Is there a power supply? Supply power supply.
YES
NO Is "POWER"LED YES
turned on?
Is the wiring/
terminal block screws NO Connect the wiring/terminal block
connection correct? screws correctly.
YES
NO Is "POWER"LED YES
turned on?
Is the power
supply voltage reaching 85 to NO The supply voltage should be within
132VAC or 170 to 264VAC? the rated range.
YES
NO Is "POWER"LED YES
turned on?
YES
NO Is "POWER"LED YES
turned on?
NO Is "POWER"LED YES
turned on?
6 - 13
6 INSPECTION AND MAINTENANCE
Is the power
supply for all the power Check the wiring and turn on the
NO
supplies modules turned on?
Is the wiring of the power supply all power supplies.
module correct?
Is the LED of
NO Replace the power supply module,
power supply
and check that the LED is ON.
module turned on?
YES
NO Is "MODE" LED YES
turned on?
Is the
connecting direction of
extension cable correctly? NO
(Isn't IN- IN or OUT-OUT
Connect the extension cable correctly.
connection?)
YES
NO Is "MODE" LED YES
turned on?
Is the
CPU module of the No.1 "RESET" position
and corresponding CPU module Set the RESET/ L.CLR switch in the
RESET/L.CLR switch in the neutral position.
neutral position?
Neutral position
H/W error
Confirm the operation in the order
starting from the minimum system.
Completion
Explain the error symptom and get
advice from our sales representative
for the modules with failure. (Note) : Lit (green) : Normal
Lit (orange) : Installation mode mode written in ROM
6 - 14
6 INSPECTION AND MAINTENANCE
(d)
Is "ERR." LED YES
"Flowchart for when "ERR." LED
turned on/flickered? is turned on/flickered."
NO
"RUN" LED
Reset the PLC CPU module turned on 1) Motion CPU parts/connection
of the CPU No.1 with RESET/ L.CLR fault
switch. 2) By excessive noise
"RUN" LED turned off
For the case of 1) For the case of 2)
Set the RUN/STOP switch to STOP Explain the error symptom and get
and write the servo setting data to the advice from our sales representative.
Motion CPU module with the
SW6RN-GSV P.
NO Is "RUN" LED
turned on?
YES
Completion
6 - 15
6 INSPECTION AND MAINTENANCE
Is the"ERR." LED NO
Explain the error symptom and get
advice from our sales representative. turned off?
YES
Completion
6 - 16
6 INSPECTION AND MAINTENANCE
NO
RESET position
Is the RESET/L.CLR
switch of the CPU module in Set the RESET/L.CLR switch to
the neutral position? the neutral position.
When started the latch clear,
"M.RUN" LED is flickered.(Note-1)
Neutral position
NO Is "M.RUN" LED YES
turned on?
OFF
Is M2000 turned on? M2000 is turned on.
ON YES
NO Is "M.RUN" LED
turned on?
H/W error
Explain the error symptom and get
advice from our sales representative.
Completion
REMARK
(Note-1) : When the RUN/STOP switch is stop position and the RESET/L.CLR is
tilted to L.CLR several times for latch clear operation, the "M.RUN" LED
flashes to indicate that the latch clear processing is under operation.
When the RESET/L.CLR switch is further tilted to L.CLR while the
"M.RUN" LED flickers, "M.RUN" LED turned off and terminates the latch
clear processing.
6 - 17
6 INSPECTION AND MAINTENANCE
Is the "used
the external battery" NO
Reset by the RESET/ L.CLR switch.
in the system settings?
Is the voltage of NO
the external battery correct ? Replace the external battery.
H/W error
Explain the error symptom and get
advice from our sales representative.
Completion
6 - 18
6 INSPECTION AND MAINTENANCE
(g) Flowchart for when output load of output module is not turned
on.
The following shows the flowchart when the output load of the output
module is not turned on during operation.
Is it reaching the
supply voltage ON
value? OK
Confirm rush current when the load Confirm input-signal off to the monitor Check the external wiring and
is at the maximum simultaneous on. mode of the SW6RN-GSV P. external input devices.
NG
(Monitor signal off)
Input-signal
turned on.
Change the output relay number and
let the load maximum simultaneous Check the wiring for power supply
on current to within the specification. load and recover the power supply.
NG
POINT
For information about input signal of the input module is not turned off, refer to
section 6.6.3 I/O modules troubleshooting.
6 - 19
6 INSPECTION AND MAINTENANCE
Is the
operating system software NO
installed to the Motion
CPU module?
YES
Install the operating system software.
NO
Is the Is the
connection type YES NO
connecting setting The connecting setting is SSCNET.
SSCNET? correct?
NO YES
NO Can the CPU YES
communicate with the
SW6RN-GSV P?
Is the
connection type
USB ?
Explain the error symptom and get
advice from our sales representative.
YES
Completion
˜@@
˜
1)
6 - 20
6 INSPECTION AND MAINTENANCE
1)
Is the communication NO
setting correct? The communication setting is USB.
YES
NO
Is the
USB driver installed NO Install the USB driver into the
in the personal computer with
Win 98/2000/XP?
personal computer.
YES
NO
6 - 21
6 INSPECTION AND MAINTENANCE
(i) Flowchart for when the power supply of teaching unit is not
turned on.
The following shows the flowchart when the power supply of teaching unit
is not turned on during the power supply of Motion CPU ON.
The power supply of teaching
unit is not turned on.
Does
the current
consumption of the system YES
added teaching unit exceed the rated Review the system.
output current of power
supply module?
NO
YES NO YES
Is the power supply of
teaching unit turned on?
YES
NO Is the power supply of YES
teaching unit turned on?
If the
connecting cable is
Is the connecting YES replaced or the wiring is corrected, YES
cable made by the user? is the power supply of teaching
unit turned on?
NO
NO
If the
connecting cable is
Connecting cable error
replaced or the wiring is corrected, YES
Explain the error symptom and get
is the power supply of teaching
advice from our sales representative.
unit turned on?
NO
NO
NO
H/W error
Explain the error symptom and get
advice from our sales representative. Completion
6 - 22
6 INSPECTION AND MAINTENANCE
This section describes troubleshooting with I/O circuits and their corrective actions.
Leakage AC input
is not Input module
current
turned
OFF. Input module
Power supply
circuit.
is not
turned Leakage Input module
current
OFF.
Power supply
• Leakage current due to wiring capacity of • Same as Example 1.
wiring cable. • However, leakage current is not generated
(Wiring capacity C of twisted pair wire is when the power supply is located in the input
Input signal approx. 100 PF/m). equipment side as shown below.
Example 3
is not
Leakage
turned current Resistor
Input module Input module
OFF.
6 - 23
6 INSPECTION AND MAINTENANCE
Input signal
does not
E1 E2 Input module
turn OFF.
E1 E2 Input module
E1 >E2
Depending on short response time setting, noise Change response time setting.
Example 6
Leakage
Motion CPU
current 4[mA]
module
3.6[k ]
24[VDC]
(a) The 0.18 [mA] OFF current of the Q172LX is not satisfied. Connect a resistor as
shown below.
Q172LX
4[mA]
Iz=0.18[mA]
R<264 [ ].
Assuming that resistor R is 220 [ ], the power capacity W of resistor R is:
2 2
W = (Input voltage) ÷ R = 26.4 ÷ 220 = 3.168 [W]
(c) The power capacity of the resistor selected is 3 to 5 times greater than the actual
current consumption. 220 [ ], 10 to 15 [W] resistor may therefore be connected to
the terminal in question.
6 - 24
6 INSPECTION AND MAINTENANCE
applied to Load
Resistor
load when
output turns 2)
OFF
• With polarity of power supply 1), C is charged.
With polarity 2),the C charge voltage plus the Load
Load
fluctuates internally.
when load is Leakage current Resistor
a CR timer
(Triac output)
CR
Calculate resistor
timer
constant from load.
6 - 25
6 INSPECTION AND MAINTENANCE
When an error occurs, the error code and error message can be read by the personal
computer(IBM PC/AT) installation of the SW6RN-GSV P.
The procedure for reading error codes by the SW6RN-GSV P is as follows.
6 - 26
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.
Standard code
MR-J3BUSM 015 03 05 1 3 Standard
for inside panel
Standard cable
MR-J3BUSM-A 5 10 20 Standard
for outside panel
Long distance
MR-J3BUSM-B (Note-1) 30 40 50 Long flex
cable
(Note-1) : For the cable of less than 30[m](98.43[ft.]), contact your nearest Mitsubishi sales representative.
(2) Specifications
Description
(Code)
2.2 0.07
2.2 0.2
External appearance
[mm]
2.2 0.07
4.4 0.1
7.6 0.1 7.6 0.5
(Note-1): This temperature range for use is the value for optical cable (cord) only.
App - 1
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.
(3) When incinerating the SSCNET cable (optical fiber), hydrogen fluoride gas or
hydrogen chloride gas which is corrosive and harmful may be generated. For
disposal of the SSCNET cable (optical fiber), request for specialized
industrial waste disposal services who has incineration facility for disposing
hydrogen fluoride gas or hydrogen chloride gas.
App - 2
APPENDICES
(a) MR-J3BUS M
1) Model explanation
Type: MR-J3BUS M-
Symbol Cable type
None Standard code for inside panel
A Standard cable for outside panel
B Long distance cable
2) Exterior dimensions
• MR-J3BUS015M
[Unit: mm(inch)]
15 13.4 37.65
6.7(0.26) (0.59) (0.53) (1.48)
20.9(0.82)
RD TD
TD RD
+50
150 -0
(5,91)
(0.31)
8+0
2.3(0.09)
1.7(0.07)
• MR-J3BUS03M to MR-J3BUS3M
[Unit: mm(inch)]
Refer to the table of this section (1) for cable length (L).
(Note)
RD TD
TD RD
100 100
(3.94) (3.94)
L
App - 3
APPENDICES
• 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).
Variation [mm(inch)]
SSCNET cable
A B
MR-J3BUS5M-A to MR-J3BUS20M-A 100(3.94) 30(1.18)
MR-J3BUS30M-B to MR-J3BUS50M-B 150(5.91) 50(1.97)
[Unit: mm(inch)]
(Note)
RD TD
TD RD
(A) (B) (B) (A)
L
App - 4
APPENDICES
Generally use the serial absolute synchronous encoder cables available as our
options. If the required length is not found in our options, fabricate the cable on the
customer side.
(1) Selection
The following table indicates the serial absolute synchronous encoder cables
used with the serial absolute synchronous encoder.
Connector sets (Q170ENCCNS) are also available for your fabrication.
Table 1 Wire models
Type Length [m(ft.)] Wire model
2(6.56), 5(16.40), 10(32.81), 20(65.62),
Q170ENCCBLM M14B0023 12 pair (BLACK)
30(98.43), 50(164.04)
Use the following or equivalent twisted pair cables as the serial absolute
synchronous encoder cables.
Table 2 Connector sets
Connector sets type Description
Insulation sheath
Conductor
! CAUTION
When fabricating the encoder cable, do not make incorrect connection. Wrong connection will
cause runaway or explosion.
App - 5
APPENDICES
(2) Q170ENCCBL M
(a) Model explanation
Type: Q170ENCCBL M
P5 19 S
LG 11 R
P5 20
LG 12
P5 18
LG 2
BAT 9 E
LG 1
MR 7 K
MRR 17 L
MD 6 H
MDR 16 J
SD plate N
:Twisted pair cable
App - 6
APPENDICES
Generally use the cables for the teaching unit available as our options. If the required
length is not found in our options, fabricate the cable on the customer side.
(1) Selection
The following table indicates the cables used with the cable for the teaching unit.
Make selection according to your operating conditions.
Q170TUD3CBL3M
3(9.84)
Q170TUDNCBL3M UL20276 AWG#28 13pair(CREAM)
Q170TUDNCBL03M-A 0.3(0.98)
(Note)
A31TU-D extended cable —— UL20276 AWG#24 18pair(CREAM)
(Note) : The cable overall distance between the Motion CPU and teaching unit is
within 30m(98.43ft.) include the A31TU-D cable (5m(16.40ft.)).
Use the following cables or equivalent twisted pair cables as the cables for the
teaching unit.
App - 7
APPENDICES
UL20276 AWG#28 13pair(CREAM) 0.08 26(13 pairs) 7/0.127 222 or less 0.38 6.5
UL20276 AWG#24 18pair(CREAM) 0.08 36(18 pairs) 7/0.203 92.3 or less 0.85 15.5
Insulation sheath
Conductor
! CAUTION
When fabricating the cable for teaching unit, do not make incorrect connection. The protective
function stops working.
App - 8
APPENDICES
(2) Q170TUD3CBL3M
(a) Connection diagram
When fabricating a cable, use the recommended wire and connector given
on APPENDIX 1.3, and make the cable as show in the following connection
diagram. Make the cable within 3m(9.84ft.).
Q170TUD3CBL3M
HDR-E26FG1 (connector) DB-25SF-N (connector)
HDR-E26-LPA5(connector case) DB-20962 (cover)
BB 1 2 BB
BBL 14 15 BBL
BA 2 3 BA
BAL 15 16 BAL
CB 4 4 CB
CBL 17 17 CBL
CA 5 5 CA
CAL 18 18 CAL
5V 6 12 5V
SG 3 7 SG
5V 7 13 5V
SG 9 8 SG
5V 8 25 5V
SG 10 20 SG
5V 19 24 5V
SG 16
5V 20
SG 22
5V 21
SG 23
AB 11 21 AB
EMG 25
FG 13 1 FG
SD shell
(Red)
EMG
(White)
SG
(Red) 19 EMG2 (Note)
EMG2
(White) 23 DC24GE (Note)
DC24GE
(Red)
EMG1 22 EMG1
(White)
DC24VE 9 DC24VE
(Red)
DED2 6 DED2 (Note)
DC24GD (White) 14 DC24GD (Note)
(Red)
DED1 10 DED1
DC24VD
(White) 11 DC24VD
shell SD
:Twisted pair cable
(Note) : These terminals are used to construct a double circuit by external safety circuit.
Not connected by the cable Q170TUD3CBL3M when purchased.
Please contact your nearest Mitsubishi sales representative for a double circuit.
App - 9
APPENDICES
(3) Q170TUDNCBL3M
(a) Connection diagram
When fabricating a cable, use the recommended wire and connector given
on APPENDIX 1.3, and make the cable as show in the following connection
diagram. Make the cable within 3m(9.84ft.).
Q170TUDNCBL3M
HDR-E26FG1 (connector) DB-25SF-N (connector)
HDR-E26-LPA5 (connector case) DB-20962 (cover)
BB 1 2 BB
BBL 14 15 BBL
BA 2 3 BA
BAL 15 16 BAL
CB 4 4 CB
CBL 17 17 CBL
CA 5 5 CA
CAL 18 18 CAL
5V 6 12 5V
SG 3 7 SG
5V 7 13 5V
SG 9 8 SG
5V 8 25 5V
SG 10 20 SG
5V 19 24 5V
SG 16
5V 20
SG 22
5V 21
SG 23
AB 11 21 AB
EMG 25
FG 13 1 FG
22 EMG1
SD shell 9 DC24VE
6 DED2
14 DC24GD
shell SD
App - 10
APPENDICES
(4) Q170TUDNCBL03M-A
(a) Connection diagram
When fabricating a cable, use the recommended wire and connector given
on APPENDIX 1.3, and make the cable as show in the following connection
diagram. Make the cable within 3m(9.84ft.).
Q170TUDNCBL03M-A
HDR-E26FG1 (connector) 17JE-13250-02(D8A) (connector)
HDR-E26-LPA5 (connector case)
BB 1 2 BB
BBL 14 15 BBL
BA 2 3 BA
BAL 15 16 BAL
CB 4 4 CB
CBL 17 17 CBL
CA 5 5 CA
CAL 18 18 CAL
5V 6 12 5V
SG 3 7 SG
5V 7 13 5V
SG 9 8 SG
5V 8 25 5V
SG 10 20 SG
5V 19 24 5V
SG 16
5V 20
SG 22
5V 21
SG 23
AB 11 21 AB
EMG 25
FG 13 1 FG
22 EMG1
SD shell 9 DC24VE
6 DED2
14 DC24GD
shell SD
App - 11
APPENDICES
BB 2 2 BB
BBL 15 15 BBL
BA 3 3 BA
BAL 16 16 BAL
CB 4 4 CB
CBL 17 17 CBL
CA 5 5 CA
CAL 18 18 CAL
5V 12 12 5V
SG 7 7 SG
5V 13 13 5V
5V 24 24 5V
SG 8 8 SG
5V 25 25 5V
FG 1 1 FG
EMG1 22 22 EMG1
DC24VE 9 9 DC24VE
EMG2 19 19 EMG2
DC24GE 23 23 DC24GE
DED1 10 10 DED1
DC24VD 11 11 DC24VD
DED2 6 6 DED2
DC24GD 14 14 DC24GD
AB 21 21 AB
SG 20 20 SG
shell shell
:Twisted pair cable
App - 12
APPENDICES
Generally use the battery cable available as our options. If the required length is not
found in our options, fabricate the cable on the customer side. Make the battery cable
within 0.5m(1.64ft.).
3 DF3-2428-SCC DF3-2S-2C
+ 1 1 +
- 2 2 -
App - 13
APPENDICES
104.6(4.12)
FRONT
SSCNET
BAT
CN1
PC
PULL
USB
114.3(4.50) 27.4(1.08)
FRONT
SSCNET
BAT
CN1
PC
CN2
PULL
USB
114.3(4.50) 27.4(1.08)
App - 14
APPENDICES
104.6(4.12)
FRONT
SSCNET
BAT
CN1
PC
TU
PULL
USB
114.3(4.50) 27.4(1.08)
CN2 TU
PULL
USB
114.3(4.50) 27.4(1.08)
App - 15
APPENDICES
Q173HCPU
MODE
Q173HCPU(-T)/ RUN
ERR.
Q172HCPU(-T) M.RUN
BAT.
module BOOT
104.6(4.12)
FRONT
SSCNET
BAT
CN1
PC
CN2
PULL
USB
100(3.94)
SSC I/F
communication
cable
27.4(1.08)
App - 16
APPENDICES
[Unit: mm (inch)]
Q172LX
98(3.86)
CTRL
Q172LX
[Unit: mm (inch)]
Q172EX-S2
SY.ENC TREN
1 1
2 2
SY.ENC1
98(3.86)
LITHIUM BATTERY
MITSUBISHI
SY.ENC2
Q172EX
4.2(0.17)
90(3.54) 39(1.54) 27.4(1.08)
App - 17
APPENDICES
(1) Q173PX
[Unit: mm (inch)]
Q173PX
PLS.A PLS.B TREN
1 1 1
2 2 2
3 3 3
98(3.86)
PULSER
Q173PX
(2) Q173PX-S1
[Unit: mm (inch)]
Q173PX-S1
PLS.A PLS.B TREN
1 1 1
2 2 2
3 3 3
98(3.86)
PULSER
ON
1 2 3 4 5 6
KSD06S
Q173PX
App - 18
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-A1
POWER
98(3.86)
PULL
90(3.54) 55.2(2.17)
(2) Q64P
[Unit: mm (inch)]
Q64P
POWER
98(3.86)
PULL
115(4.53) 55.2(2.17)
App - 19
APPENDICES
45(1.77)
60(2.36)
BAT
CPU
PASSED Q170HBATC
DATE
(0.30)
7.5
40(1.57)
80(3.15)
(0.39) (0.65)
10 16.5
App - 20
APPENDICES
10
10
(0.98)
(0.98)
25
25
21 25.8
(0.83) (1.02)
(0.31)
(0.31)
8.0
8.0
App - 21
APPENDICES
A 14.0
(0.55)
23.8(0.94)
39.0(1.54)
Number of pins A B
20 pin 22.0(0.87) 33.3(1.31)
B 12.7
(0.50)
C
14.0(0.55)
A
39.0(1.54)
23.8(0.94)
Number of pins A B C
20 pin 22.0(0.87) 33.3(1.31) 27.4(1.08)
B 12.7
(0.22)
5.7
(0.50)
App - 22
APPENDICES
11.5(0.45)
D
Number of pins A B C D
C
4.8(0.19)
(0.53)
13.4
1.7
(0.07)
(0.59)
15
2.3
9.3(0.37)
(0.09)
(0.26)
6.7
17.6 0.2 8
(0.69 0.01) (0.31)
20.9 0.2
(0.82 0.01)
App - 23
APPENDICES
5.9(0.23)
6.8(0.27)
6(0.24)
76.0(2.99)
65.0(2.56) 5.5 (0.22)
47.1 0.2
(1.85 0.01)
0)
.1
.5
24.0(0.94)
5.0(0.20)
(0
R2
2-
12.0(0.47)
(0.50)
12.6
6.1 1.6(0.06)
(0.24) 35.9(1.41)
66.0(2.60)
6.0 (0.24) 54.0(2.13) 6.0 (0.24)
2- 5.3(0.21) (Fixing screw M5 14)
(0.59)
15.0
Hole
App - 24
APPENDICES
53.0(2.09)
47.04(1.85) 2- 3.05 0.13(0.12 0.01)
38.3(1.51)
1.2(0.05)
(0.50)
12.6
6.1(0.24) 8.0(0.31) or less
10.8
(0.43)
(Note) : Give the processing of the control panel referring to the above chart at cable producing.
(7) A31TUD3TM
Type Connector : 17JE-23250-02(D8A) (Maker : DDK)
[Unit: mm (inch)]
(0.59)
15.0
35.0(1.38)
(0.75)
19.0
(0.75)
19.0
A31TUD3TM
54.0(2.13)
6.1
(0.24)
App - 25
APPENDICES
[Unit: mm (inch)]
NP
50(1.97)
70(2.76)
80(3.15) 1
60(2.36) 0.5
20
80
5 to
12V 0V A B
30
70
60
40
50
M3 6
Space
) 2
-0
44
72(2.8
(2.
3)
62
0.2
[Unit: mm (inch)]
84(3.31) 58.5(2.30)
70.7(2.78) 28(1.10) 30(1.18)
45
7(0.28) 2(0.08)
40(1.57)
14(0.55)
8.72(0.34)
9.52(0.37)
75(2.95)
A
70.7(2.78)
(0.34)
8.72
122.5(4.82)
4- 5.5(0.22)
22.5(0.89)
40(1.57) 36.5(1.44)
App - 26
APPENDICES
[Unit: mm (inch)]
153(6.02)
DISABLE ENABLE
A31TU
203(7.99)
DATA PROGRAM MONITOR TEST
STOP
INSTRUCTION
ITEM CLEAR EMG.STOP
; # SP
7 8 9
OVERRIDE
D E F
4 5 6
STEP -
STORE
A B C
1 2 3
STEP +
MDI
FUNCTION -
. 0
RETURN
SHIFT ERROR
RESET CAN
AXIS GO
JOG - JOG +
NO.
136(5.35)
<Side face>
34
68(2.68)
(19(0.75))
<Bottom>
App - 27
APPENDICES
MEMO
App - 28
WARRANTY
Please confirm the following product warranty details before using this product.
IB(NA)-0300110-D
IB(NA)-0300110-D(1112)MEE
MODEL: Q173H-U-E
MODEL CODE: 1XB910
HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN
When exported from Japan, this manual does not require application to the
Ministry of Economy, Trade and Industry for service transaction permission.