Motion Controller Quick Start Guide CONTROLLERS Q172DCPU Q170MCPU,Q172DCPU,Q173DCPU A(09.09)
User Manual: MOTION CONTROLLERS Q172DCPU
Open the PDF directly: View PDF .
Page Count: 88
Download | |
Open PDF In Browser | View PDF |
MITSUBISHI ELECTRIC MELSEC System Q Programmable Controllers Quick-Start Guide Motion Controller Q170MCPU Q172DCPU Q173DCPU Art. No.: 09 09 2009 Version A MITSUBISHI ELECTRIC INDUSTRIAL AUTOMATION Quick-Start Guide Motion controller Q170MCPU/Q172DCPU/Q173DCPU Art. no.: A Version 09/2009 pdp - rw Revisions/Additions/Corrections — About This Manual The texts, illustration, diagrams and examples in this manual are provided for information purposes only. They are intended as aids to help explain the installation, operation, programming and use of the Mitsubishi motion controllers. If you have any questions about the installation and operation of any of the products described in this manual please contact your local sales office or distributor (see back cover). You can find the latest information and answers to frequently asked questions on our website at www.mitsubishi-automation.com. MITSUBISHI ELECTRIC EUROPE BV reserves the right to make changes to this manual or the technical specifications of its products at any time without notice. ©2005 MITSUBISHI ELECTRIC EUROPE B.V. Related Manuals The following manuals are also related to this Quick-Start Guide. These can be obtained free of charge from our website at www.mitsubishi-automation.com. Servo amplifier PLC Motion controller Device Manual Name Manual Number/ Art. No. Q170MCPU Motion controller User's Manual This manual explains specifications of the Q170MCPU Motion controller, Q172DLX Servo external signal interface module, Q173DPX Manual pulse generator interface module, Servo amplifiers, SSCNET cables, and the maintenance/inspection for the system, trouble shooting and others. IB-0300156 Q173DCPU/Q172DCPU Motion controller Programming Manual (COMMON) This manual explains the Multiple CPU system configuration, performance specifications, common parameters, auxiliary/applied functions, error lists and others. IB-0300134 Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (Motion SFC) This manual explains the functions, programming, debugging, error lists for Motion SFC and others. IB-0300135 Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (REAL MODE) This manual explains the servo parameters, positioning instructions, device lists, error lists and others. IB-0300136 Q173DCPU/Q172DCPU Motion controller (SV22) Programming Manual (VIRTUAL MODE) This manual explains the dedicated instructions to use the synchronous control by virtual main shaft, mechanical system program create mechanical module, servo parameters, positioning instructions, device lists, error lists and others. IB-0300137 Motion controller Setup Guidance (MT Developer2 Version1) This manual explains the items related to the setup of the Motion controller programming software MT Developer2. IB-0300142 QCPU User's Manual (Hardware Design, Maintenance and Inspection) This manual explains the specifications of the QCPU modules, power supply modules, base units, extension cables, memory card battery, and the maintenance/inspection for the system, trouble shooting, error codes and others. SH-080483ENG QnUCPU User's Manual (Function Explanation, Program Fundamentals) This manual explains the functions, programming methods and devices and others to create programs with the QCPU. SH-080807ENG QCPU User's Manual (Multiple CPU System) This manual explains the Multiple CPU system overview, system configuration, I/O modules, communication between CPU modules and communication with the I/O modules or intelligent function modules. SH-080485ENG QCPU Programming Manual (Common Instructions) This manual explains how to use the sequence instructions, basic instructions, application instructions and micro computer program. SH-080809ENG QCPU (Q Mode)/QnACPU Programming Manual (PID Control Instructions) This manual explains the dedicated instructions used to exercise PID control. SH-080040 QCPU (Q Mode)/QnACPU Programming Manual (SFC) This manual explains the system configuration, performance specifications, functions, programming, debugging, error codes and others of MELSAP3. SH-080041 I/O Module Type Building Block User's Manual This manual explains the specifications of the I/O modules, connector, connector/terminal block conversion modules and others. SH-080042 SSCNET III Compatible MR-J3-쏔B Servo amplifier Instruction Manual This manual explains the I/O signals, parts names, parameters, start-up procedure and others for MR-J3쏔B Servo amplifier. SH-030051 SSCNET III Compatible Linear Servo MR-J3-쏔B-RJ004 Servo amplifier Instruction Manual This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Linear Servo MR-J3-쏔B-RJ004 Servo amplifier. SH-030054 SSCNET III Compatible Fully Closed Loop Control MR-J3-쏔B-RJ006 Servo amplifier Instruction Manual This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Fully Closed Loop Control MR-J3-쏔B-RJ006 Servo amplifier. SH-030056 SSCNET III Compatible, STO Function Compatible MR-J3-쏔BSafety Servo amplifier Instruction Manual This manual explains the I/O signals, parts names, parameters, start-up procedure and others for safety servo MR-J3-쏔BSafety Servo amplifier. SH-030084 Safety Guidelines General safety information and precautions For use by qualified staff only This manual is only intended for use by properly trained and qualified electrical technicians who are fully acquainted with the relevant automation technology safety standards. All work with the hardware described, including system design, installation, configuration, maintenance, service and testing of the equipment, may only be performed by trained electrical technicians with approved qualifications who are fully acquainted with all the applicable automation technology safety standards and regulations. Any operations or modifications to the hardware and/or software of our products not specifically described in this manual may only be performed by authorised MITSUBISHI ELECTRIC staff. Proper use of the products The motion controllers are only intended for the specific applications explicitly described in this manual. All parameters and settings specified in this manual must be observed. The products described have all been designed, manufactured, tested and documented in strict compliance with the relevant safety standards. Unqualified modification of the hardware or software or failure to observe the warnings on the products and in this manual may result in serious personal injury and/or damage to property. Only peripherals and expansion equipment specifically recommended and approved by MITSUBISHI ELECTRIC may be used in combination with programmable controllers of MELSEC System Q. All and any other uses or application of the products shall be deemed to be improper. Relevant safety regulations All safety and accident prevention regulations relevant to your specific application must be observed in the system design, installation, configuration, maintenance, servicing and testing of these products. The regulations listed below are particularly important in this regard. This list does not claim to be complete, however; you are responsible for being familiar with and conforming to the regulations applicable to you in your location. ● VDE Standards – VDE 0100 Regulations for the erection of power installations with rated voltages below 1000 V – VDE 0105 Operation of power installations – VDE 0113 Electrical installations with electronic equipment – VDE 0160 Electronic equipment for use in power installations – VDE 0550/0551 Regulations for transformers – VDE 0700 Safety of electrical appliances for household use and similar applications – VDE 0860 Safety regulations for mains-powered electronic appliances and their accessories for household use and similar applications. Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU I ● Fire safety regulations ● Accident prevention regulations – VBG Nr.4 Electrical systems and equipment Safety warnings in this manual In this manual warnings that are relevant for safety are identified as follows: II m DANGER: b WARNING: Failure to observe the safety warnings identified with this symbol can result in health and injury hazards for the user. Failure to observe the safety warnings identified with this symbol can result in damage to the equipment or other property. Specific safety information and precautions The following safety precautions are intended as a general guideline for using PLC systems together with other equipment. These precautions must always be observed in the design, installation and operation of all control systems. m DANGER: ● Observe all safety and accident prevention regulations applicable to your specific application. Always disconnect all power supplies before performing installation and wiring work or opening any of the assemblies, components and devices. ● Assemblies, components and devices must always be installed in a shockproof housing fitted with a proper cover and fuses or circuit breakers. ● Devices with a permanent connection to the mains power supply must be integrated in the building installations with an all-pole disconnection switch and a suitable fuse. ● Check power cables and lines connected to the equipment regularly for breaks and insulation damage. If cable damage is found immediately disconnect the equipment and the cables from the power supply and replace the defective cabling. ● Before using the equipment for the first time check that the power supply rating matches that of the local mains power. ● Take appropriate steps to ensure that cable damage or core breaks in the signal lines cannot cause undefined states in the equipment. ● You are responsible for taking the necessary precautions to ensure that programs interrupted by brownouts and power failures can be restarted properly and safely. In particular, you must ensure that dangerous conditions cannot occur under any circumstances, even for brief periods. ● EMERGENCY OFF facilities conforming to EN 60204/IEC 204 and VDE 0113 must remain fully operative at all times and in all PLC operating modes. The EMERGENCY OFF facility reset function must be designed so that it cannot ever cause an uncontrolled or undefined restart. ● You must implement both hardware and software safety precautions to prevent the possibility of undefined control system states caused by signal line cable or core breaks. ● When using modules always ensure that all electrical and mechanical specifications and requirements are observed exactly. ● Residual current protective devices pursuant to DIN VDE Standard 0641 Parts 1-3 are not adequate on their own as protection against indirect contact for installations with PLC systems. Additional and/or other protection facilities are essential for such installations. ● Do not install/remove the module onto/from base unit or terminal block more than 50 times, after the first use of the product (conforming to IEC 61131-2). Failure to do so may cause the module to malfunction due to poor contact of connector. Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU III Precautions to prevent damages by electrostatic discharge Electronic devices and modules can be damaged by electrostatic charge, which is conducted from the human body to components of the PLC. Always take the following precautions, when handling the PLC: b WARNING: ● Before touching a module of the PLC, always touch grounded metal, etc. to discharge static electricity from human body. ● Wear isolating gloves when touching the powered PLC, e. g. at maintenance during visual check. ● You shouldn’t wear clothing made of synthetic fibre at low humidity. This clothing gets a very high rate of electrostatic charge. IV Screenshots and Software version All screenshots in this manual were captured with versions of the programming software listed in section 4.2.1 running under Windows XP. Slight modifications could occur in case of newer software versions. Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU V Typographic Conventions Use of notes Notes containing important information are clearly identified as follows: NOTE Note text Use of examples Examples containing important information are clearly identified as follows: Example 왓 Example text 쑶 Numbering in figures and illustrations Reference numbers in figures and illustrations are shown with white numbers in a black circle and the corresponding explanations shown beneath the illustrations are identified with the same numbers, like this: Procedures In some cases the setup, operation, maintenance and other instructions are explained with numbered procedures. The individual steps of these procedures are numbered in ascending order with black numbers in a white circle, and they must be performed in the exact order shown: Text. Text. Text. Footnotes in tables Footnote characters in tables are printed in superscript and the corresponding footnotes shown beneath the table are identified by the same characters, also in superscript. If a table contains more than one footnote, they are all listed below the table and numbered in ascending order with black numbers in a white circle, like this: VI Text Text Text Table of Contents Table of Contents 1 Introduction 1.1 What is motion control? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1 1.1.1 1.1.2 1.2 Block diagram of a motion control system. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2 Difference between Q170MCPU and QD Motion controllers . . . . . . . . . . . . . . . . . . . . 1-2 Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3 1.2.1 1.2.2 Q170MCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3 Q172DCPU, Q173DCPU. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4 1.3 Terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5 2 Details of the modules 2.1 Q170MCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1 2.1.1 2.1.2 2.1.3 2.2 Frontview and partnames . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1 System configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3 Minimum equipment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4 Q172DCPU/Q173DCPU. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5 2.2.1 2.2.2 2.2.3 Frontview and partnames . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5 System configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6 Minimum equipment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7 3 Mounting and wiring 3.1 Module mounting into cabinet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1 3.1.1 3.1.2 3.2 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6 3.2.1 3.2.2 3.3 Mounting of Q170MCPU. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1 Mounting of Q172DCPU/Q173DCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3 Wiring for Q170MCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6 Wiring for QD Motion controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10 SSCNET III connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11 3.3.1 3.3.2 3.3.3 3.3.4 3.3.5 SSCNET III cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11 Connection between the Q170MCPU and servo amplifiers . . . . . . . . . . . . . . . . . . . . . 3-11 Connection between the Q172DCPU and servo amplifiers . . . . . . . . . . . . . . . . . . . . . 3-12 Connection between the Q173DCPU and servo amplifiers . . . . . . . . . . . . . . . . . . . . . 3-13 Setting the axis No. and axis select switch of servo amplifier . . . . . . . . . . . . . . . . . . . 3-14 4 Start-up and trial operation 4.1 Start-up procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2 4.2 Software installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4 4.2.1 4.2.2 Programming software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4 Operating system (OS). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4 Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU VII Table of Contents 5 Project creation 5.1 Sample project creation with MT Developer2 and GX Developer . . . . . . . . . . . . . . . . . . . . . . . . . 5-1 5.2 Additional procedures. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11 5.2.1 5.2.2 5.2.3 5.2.4 5.2.5 5.2.6 6 Sample programs 6.1 Sample program with OS SV22: 2_axes_motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1 6.1.1 6.1.2 6.1.3 6.1.4 6.1.5 6.1.6 6.1.7 6.2 System configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2 System setting data of the motion CPU. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3 Axis Data Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4 Motion SFC Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5 Mechanical system program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8 CAMs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9 Sample program with OS SV22: 2_axes_motion_no_inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10 6.2.1 6.2.2 System configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11 A Appendix A.1 Exterior Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1 A.1.1 A.1.2 A.2 Motion controller Q170MCPU. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-1 Motion controller Q172DCPU and Q173DCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3 A.2.1 A.2.2 VIII Transfer setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11 Project opening . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12 Writing project to the Motion/PLC CPU. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13 Monitoring function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-15 Device monitoring and testing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16 Motion CPU change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17 Q170MCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3 QD-Motion controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-4 What is motion control? 1 Introduction Introduction This english document is the original instruction. This start-up guidance is intended for those who use the Q170MCPU standalone motion controller and QD-Motion controller for the first time. How to use programming tool MT Works2 for motion CPU and programming tool GX (IEC) Developer for sequencer CPU will be explained. Refer to our QD-Motion controller/Q170MCPU manuals for further information. (For manual numbers see preamble of this quick start guide.) 1.1 What is motion control? A Motion control system comes from the combination of a Motion CPU and a PLC CPU. While the Motion CPU controls complex servo movements by synchronizing the connected servo axes, the PLC CPU is responsible for machine's general control and communication. With a motion control system you are able to solve different positioning applications from positioning with one axis in small production lines up to multi-axis positioning in large-scale systems. The Motion CPU controls different more or less complex motion sequences via the connected servo amplifiers and motors. Typical applications of a motion control systems are: ● Plastics and textile processing, ● Packaging, ● Printing and paper converting, ● Forming, ● Wood and glass working, ● Production of semiconductors. Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU 1-1 Introduction 1.1.1 What is motion control? Block diagram of a motion control system The following diagram shows the components of a motion control system with CPUs, modules, servo amplifiers and motors. Motion controller PLC CPU area (CPU No.1 fixed) Power supply PLC control processor Motion CPU area (CPU No.2 fixed) Device memory Multiple CPU high speed transmission memory Multiple CPU high speed bus Device memory Motion control processor Multiple CPU high speed transmission memory Q series PLC system bus PLC I/O module (DI/O) 24 V DC Personal computer GX (IEC) Developer MT Developer2 PLC intelligent function module (A/D, D/A, Network etc.) Motion module (Proximity dog signal, manual pulse generator input) Forced stop input (24 V DC) Manual pulse generator/Incremental synchronous encoder 1 module SSCNET III P Servo amplifier Input signal/Mark detection input signal (4 points) Output signal (2 points) PERIPHERAL I/F) Personal computer MT Developer2 Fig. 1-1: M M Servomotor Servo external input signals (FLS, RLS, DOG) Block diagram of a motion control system All of Mitsubishi motion controllers exploit the potentiality of the proprietary high-speed motion network SSCNET III. A Multiple CPU system is a system in which between the PLC CPU area and Motion CPU area are connected with the Multiple CPU high speed bus in order to control the I/O modules and intelligent function modules. PLC CPU area is fixed as CPU No. 1, and Motion CPU area is fixed as CPU No. 2. The Motion CPU area controls the servo amplifiers connected by SSCNET III cable. The Multiple CPU high speed transmission memory between the PLC CPU area and Motion CPU area can communicate at a rate of 0.88 ms. 1.1.2 Difference between Q170MCPU and QD Motion controllers With the motion controller Q170MCPU, the functionality of the PLC CPU and the Motion CPU is integrated in one compact housing. That means, compared to the modules Q172DCPU and Q173DCPU, there is no need of an additional PLC and base unit for the configuration of a motion system. Synchronous encoder interface is included as standard, enabling multiple axes synchronization with an external encoder. Applications as labelling, packaging and material handling do not require any other optional module. 1-2 Specification Introduction 1.2 Specification 1.2.1 Q170MCPU Item Specification Power Supply 24 V DC +/-10 %, ripple ratio 5 % or less Mass [kg] 0.9 Dimensions [mm] 178 (H) x 52 (W) x 135 (D) Digital Inputs (Mark detection) 4 Digital Outputs 2 Synchronous Encoder 앫 A/B-phase pulse train 앫 Open-collector-type: 앫 Differential-type: Peripheral Interface 100/10 Mbps Ethernet, USB, RS-232 Connectable servo amplifier MR-J3-첸B servo amplifiers over SSCNET III (Rotational, Linear and Fully closed loop compatible) Compatible extension base unit Q52B/Q55B Compatible motion modules Q172DLX/Q172DEX/Q173DPX Memory back up Q6BAT (included with Q170MCPU) Tab. 1-1: up to 800 kpps, up to 10 m up to 1 Mpps, up to 30 m Q170MCPU General specifications Item Specification Number of controlled axes Up to 16 Operation Cycle - SV13 OS (SW8DNC-SV13QG) 0.44 ms/1 to 6 axes 0.88 ms/7 to 16 axes Operation Cycle - SV22 OS (SW8DNC-SV22QF) 0.44 ms/1 to 4 axes 0.88 ms/5 to 12 axes 1.77 ms/13 to 16 axes Interpolation functions Linear interpolation (up to 4 axes), Circular interpolation (2 axes), Helical interpolation (3 axes) Control modes PTP (Point to Point) control, Speed control, Speed-position control, Fixed- pitch feed, Constant speed control, Position follow-up control, Speed control with fixed position stop, Speed switching control, High-speed oscillation control, Synchronous control (SV22) CAM function 앫 앫 앫 앫 Programming language Motion SFC, Dedicated instruction, Mechanical support language (SV22) Tab. 1-2: Up to 256 CAM profiles can be stored internally Resolution per cycle 256, 512, 1 024 or 2 048 points Stroke resolution 32 767 Two-way CAM and Feed CAM Q170MCPU Motion Control specifications Item Specification Processing speed (sequence instruction) LD instruction: MOV instruction: Program capacity 20k steps (80 kbyte) Programming language Ladder, IL, SFC, ST, MELSAP-L (IEC61131-3 programming compatible) Tab. 1-3: 0.02 μs 0.04 μs Q170MCPU PLC control specifications Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU 1-3 Introduction 1.2.2 Specification Q172DCPU, Q173DCPU Item Q172DCPU Q173DCPU Internal current consumption (5 V DC) [A] 1.14 1.25 Mass [kg] 0.33 Dimensions [mm] 98 (H) x 27.4 (W) x 119.3 (D) Compatible motion modules Q172DLX/Q172DEX/Q173DPX Connectible Servo amplifiers MR-J3-B쏔 Servo amplifiers over SSCNET III (Rotational, Linear and fully closed loop compatible) Tab. 1-4: Q172DCPU/Q173DCPU general specifications Item Q172DCPU Q173DCPU Number of control axes Up to 8 axes Up to 32 axes SV13 0.44 ms/1 to 6 axes 0.88 ms/7 to 8 axis 0.44 ms/1 to 6 axes 0.88 ms/7 to 18 axis 1.77 ms/19 to 32 axes SV22 0.44 ms/1 to 4 axes 0.88 ms/5 to 8 axis 0.44 ms/1 to 4 axes 0.88 ms/5 to 12 axis 1.77 ms/13 to 28 axes 3.55 ms/29 to 32 axes Operation cycle (default) Interpolation functions Linear interpolation (up to 4 axes), Circular interpolation (2 axes), Helical interpolation (3 axes) Control modes PTP (Point to Point) control, Speed control, Speed-position control, Fixed- pitch feed, Constant speed control, Position follow-up control, Speed control with fixed position stop, Speed switching control, High-speed oscillation control, Synchronous control (SV22) Acceleration/ Deceleration control Automatic trapezoidal acceleration/deceleration 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 points 3 200 points (Positioning data can be designated directly) Peripheral IF Via PLC CPU (USB/RS-232) Home position return function Proximity dog type (2 types), Count type (3 types), Data set type (2 types), Dog cradle type, Stopper type (2 types), Limit switch combined type (Home position return retry function provided, home position shift function provided) Tab. 1-5: 1-4 Q172DCPU/Q173DCPU Motion control specifications Terminology 1.3 Introduction Terminology The terms and abbreviations below are important for motion controllers and are used frequently in this guide. Direction of rotation of electric motors The direction (or sense) of rotation of electric motors is defined looking at the end of the motor shaft. Direction of rotation is described as: ● Clockwise/Reverse or ● Counterclockwise/Forward Motor Fig. 1-2: Direction of rotation Forward rotation (CCW) Reverse rotation (CW) Abbreviations – FLS Upper stroke limit – RLS Lower stroke limit – STOP Stop signal – DOG Proximity dog – EMI Emergency signal input – CW Clockwise – CCW Counterclockwise – SSCNET III Optical bus system for data communication Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU 1-5 Introduction 1-6 Terminology Q170MCPU Details of the modules 2 Details of the modules 2.1 Q170MCPU 2.1.1 Frontview and partnames With front cover open and battery holder removed Front view 쐃 쐅 쐃 쐅 씋 쐇 쐋 쐈 쐏 쐉 씍 쐄 씈 쐂 씉 쐆 쐊 씊 씌 쐎 Bottom view 씎 쐎 Fig. 2-1: Q170MCPU No. Name Application 쐃 7-segment LED Displays operation status and error information. 쐇 POWER LED ON (Red): OFF: The internal power (5 V DC) is ON. The internal power (5 V DC) is OFF. 쐋 RUN/STOP/RESET switch RUN: STOP: RESET: Sequence-/Motion SFC program started Sequence-/Motion SFC program stopped Reset of the hardware (momentary switch, set minimum for 1 sec) 쐏 PERIPHERAL I/F connector For Ethernet-communication with peripheral devices. Data transmission speed: 10 Mbps/100 Mbps 쐄 SSCNET III connector CN1 Connector to connect the servo amplifiers via optical bus cable. 쐂 EXT. IO connector Connector for manual pulse generator/incremental synchronous encoder/digital I/O signals. (Voltage-output/open-collector type, Differential-output type) Tab. 2-1: Description of the partnames in fig. 2-1. Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU 2-1 Details of the modules Q170MCPU No. Name Application 쐆 24VDC connector Connector for 24 V DC power supply 쐊 Serial number Shows the serial number, printed on the rating plate 쐎 Battery holder Battery holder to set the Q6BAT/Q7BAT 쐅 2-2 Displays the mode of the PLC CPU ON (green): Q mode RUN Diplays the operating status of the PLC CPU ON: The operating status is ”RUN” OFF: The operating status was set to ”STOP” or operation has been halted due to an error. Flashing: Failure during writing of parameters or programs ERR. Diplays the operating status of the PLC CPU ON: Detection of an error during self-diagnosis OFF: Normal operation Flashing: The detected error stops operation. (Resetting with the RUN/STOP/RESET switch becomes valid.) USER Diplays the operating status of the PLC CPU ON: Annunciator turned ON OFF: Normal operation BAT. Diplays the operating status of the PLC CPU ON (yellow): Low battery voltage at memory card ON (green for 5 sec): Restoring of data backup to the standard ROM by the latch data backup is completed ON (green): Backup of data to the standard ROM by latch data backup is completed OFF: Normal operation BOOT Diplays the operating status of the PLC CPU ON: Start of boot operation OFF: No boot operation Status LED 쐈 USB connector Connector to connect the peripheral devices for USB connection (Connector type mini B) 쐉 Forced stop input connector (EMI) Input to stop all axis at once Open: Forced stop (EMI ON) 24 V DC: Forced stop release (EMI OFF) 씈 Eject button for memory card Used to eject the memory card from the Motion controller 씉 Memory card loading connector Connector used to load the memory card to the Motion controller 씊 — Not usable 씋 Rotary switch SW1, SW2 앫 Setting of the operation mode (Normal operation mode, Installation mode, Mode operated by ROM, etc.) 앫 Each switch setting is from 0 to F (Factory default setting: SW1: A, SW2: 0) 씌 FG terminal Frame ground: Ground terminal connected with the shield pattern of the printed circuit board 씍 RS-232 connector Connector to connect the peripheral devices for RS-232 connection (Connect with the dedicated cable QC30R2) 씎 Extension cable connector Connector for transfer of signals to/from the extension base unit Tab. 2-1: NOTE MODE Description of the partnames in fig. 2-1. For more details of the partnames and status LEDs please refer to the user’s manual of the motion controller Q170MCPU. Q170MCPU 2.1.2 Details of the modules System configuration Motion controller Q170MCPU USB/RS-232 PERIPHERAL I/F Personal computer IBM PC/AT Panel personal computer SSCNET III cable (MR-J3BUS첸M(-A/-B)) Forced stop input cable (Q170DEMICBL첸M) d01 SSCNET III d02 d03 d16 24 V DC EMI forced stop input (24 V DC) P M M M M E E E E Manual pulse generator/ Incremental synchronous encoder x 1/module 앫 Input signal/Mark detection input signal (4 points) 앫 Output signal (2 points) Servo external signals interface module External input signals of servo amplifier 앫 Proximity dog 앫 Upper stroke limit 앫 Lower stroke limit PLC CPU area control module Manual pulse generator interface module Motion CPU area control module Extension cable (QC첸B) Servo amplifier model MR-J3-첸B, up to 16 axes Q172DLX Q173DPX QX / QY I/O module/ Intelligent function module (Up to 512points) GOT Extension base unit (Q52B/Q55B) Up to 1 extension Input/output (Up to 256 points) P Manual pulse generator/Incremental synchronous encoder x 3/module (MR-HDP01) External input signals 앫 앫 앫 앫 Fig. 2-2: FLS: Upper stroke limit RLS: Lower stroke limit STOP: Stop signal DOG/CHANGE: Proximity dog/ Speed-position switching Number of inputs 8 axes/module System configuration GX (IEC) Developer and MT Works2 can be used simultaneously on one personal computer. Interrupt module (QI60) and analog I/O module (Q6쏔AD/Q6쏔DA) can also be used as the Motion CPU area control module. Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU 2-3 Details of the modules 2.1.3 Q170MCPU Minimum equipment Product Details Controller Standalone motion controller, 16 axes, SSCNETIII Q170MCPU Software MT Developer2-E Programming software for Q-/QH-/QD-/Q170MCPU motion controller (Windows 2000/XP/Vista) MT Developer OS Systems Operating systems for Q-/QH-/QD-/Q170MCPU motion controller MR Configurator (Setup221) Servo setup software MR Configurator GX (IEC) Developer PLC programming software GX Developer Tab. 2-2: 2-4 Minimum equipment for Q170MCPU 24V connector, DI/O connector, SRAM backup battery, EMI connector included Q172DCPU/Q173DCPU Details of the modules 2.2 Q172DCPU/Q173DCPU 2.2.1 Frontview and partnames Q172DCPU Front view Q173DCPU Front view Q172DCPU Q173DCPU 쐃 STOP RUN 789 쐏 쐄 쐄 CN1 쐂 CN2 CN1 SW 2 CAUTION EMI 쐏 FRONT BAT 쐆 F0 1 D ABC E D ABC E 789 D ABC E D ABC E 쐋 789 CAUTION EMI F 01 1 789 STOP RUN 쐇 23456 SW 2 23456 F0 1 23456 쐋 F0 1 1 23456 쐇 쐃 FRONT BAT 쐆 Q172DCPU-/Q173DCPU Bottom view 쐊 Fig. 2-3: No. Name Application 쐃 7-segment LED Displays operation status and error information 쐇 Rotary switch SW1, SW2 앫 Setting of the operation mode (Normal operation mode, Installation mode, Mode operated by ROM, etc.) 앫 Each switch setting is from 0 to F (Factory default setting: SW1: A, SW2: 0) 쐋 RUN/STOP switch RUN: Motion SFC program started STOP: Motion SFC program stopped (Factory default setting is STOP) 쐏 Forced stop input connector (EMI) Input to stop all axis at once Open: Forced stop (EMI ON) 24 V DC: Forced stop release (EMI OFF) 쐄 SSCNET III connector CN1 Connector to connect the servo amplifiers of system 1 (channel 1) via optical bus cable (Q172DCPU: up to 8 axes; Q173DCPU: up to 16 axes) 쐂 SSCNET III connector CN2햲 Connector to connect the servo amplifiers of system 2 (channel 2) via optical bus cable (up to 16 axes) 쐆 Module loading lever Used to install the module on the base unit 쐊 Battery connector (BAT) Connector to connect the battery holder unit Q170DBATC Tab. 2-3: 햲 NOTE Q172DCPU, Q173DCPU Description of the partnames in fig. 2-3. Q173DCPU only For more details of the partnames please refer to the user’s manual of the motion controllers Q172DCPU and Q173DCPU. Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU 2-5 Details of the modules 2.2.2 Q172DCPU/Q173DCPU System configuration Main base unit (Q3첸DB) Q61P Q172D QnUD(H) CPU/ Q173D CPU CPU QI60 Manual pulse generator interface module PLC CPU/ Motion CPU Synchronous encoder interface module Servo external signals interface module Motion CPU control module Q6 AD Q172D Q172D Q173D LX EX PX Q6 DA QX QY I/O module Intelligent function module 100/200 V AC P Manual pulse generator x 3/module (MR-HDP01) (Up to 1 module) Serial absolute synchronous encoder cable (Q170ENCCBL첸M) USB/RS-232 E Serial absolute synchronous encoder x 2/module (Q170ENC) (Up to 6 modules) External input signals 앫 앫 앫 앫 Battery holder unit (Q170DBATC) Number of inputs FLS: Upper stroke limit RLS: Lower stroke limit STOP: Stop signal DOG/CHANGE: Proximity dog/ Speed-position switching Analog input/output Input/output (Up to 256 points) Interrupt signals (16 points) Forced stop input cable (Q170DEMICBL첸M) Extension cable (QC첸B) Power supply module Extension base unit (Q6첸B) EMI forced stop input (24 V DC) SSCNET III cable (MR-J3BUS첸M(-A/-B)) Up to 7 extensions M E d3 d2 d1 SSCNET III (CN1) M E M E d8 M E Servo amplifier model MR-J3-첸B, up to 8 axes (Q172DCPU)/ up to 32 axes (Q173DCPU) External input signals of servo amplifier 앫 Proximity dog 앫 Upper stroke limit 앫 Lower stroke limit Fig. 2-4: 2-6 System configuration 8 axes/module (Up to 4 modules) Q172DCPU/Q173DCPU 2.2.3 Details of the modules Minimum equipment Product Details Controller Q38DB 8 slot base unit Q61P or similar Power supply module Input: 100–240 V AC Output: 5 V DC/6 A QnUD(E)(H)CPU PLC CPU Module; 4096 I/O Q172DCPU/ Q173DCPU Motion controller CPU module, 8/32 axes, SSCNET III Software MT Developer2-E Programming software for Q-/QH-/QD-/Q170MCPU motion controller (Windows 2000/XP/Vista) MT Developer OS Systems Operating systems for Q-/QH-/QD-/Q170MCPU motion controller MR Configurator (Setup221) Servo setup software MR Configurator GX (IEC) Developer PLC programming software GX Developer Tab. 2-4: Minimum equipment for Q172DCPU/Q173DCPU EMI connector/cable is sold separately. The Forced stop input cannot be invalidated by internal parameter. Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU 2-7 Details of the modules 2-8 Q172DCPU/Q173DCPU Module mounting into cabinet Mounting and wiring 3 Mounting and wiring 3.1 Module mounting into cabinet 3.1.1 Mounting of Q170MCPU Keep the clearances shown below between the top/bottom faces of the module and other structures or parts to ensure good ventilation and facilitate module replacement. Top of panel or wiring duct 욷40 mm 욷100 mm Motion controller Door Servo amplifier Panel 135 mm 욷90 mm 욷30 mm 욷30 mm 욷10 mm Fig. 3-1: Module mounting position Fit the Motion controller at the left side of the servo amplifier. Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU 3-1 Mounting and wiring Module mounting into cabinet Mounting method for the motion controller b WARNING: Completely turn off the externally supplied power used in the system before installation or removing the module. Not doing so could result in electric shock or damage to the product. Fit the holes for the bottom mounting screws of the Motion controller into the panel. Place the bottom side notch of the Motion controller onto the bottom side screw. Fit the mounting screws into the holes at the top of the Motion controller and then retighten the all mounting screws using the allowed torque. 3-2 Module mounting into cabinet 3.1.2 Mounting and wiring Mounting of Q172DCPU/Q173DCPU Keep the clearances shown below between the top/bottom faces of the module and other structures or parts to ensure good ventilation and facilitate module replacement. Top of panel or wiring duct Base unit Motion CPU module Q03DCPU MODE RUN ERR. USER BAT. BOOT QX40 01 2 3 4 5 6 7 89 AB CDE F QX40 0 1 2 3 45 6 7 8 9 A B CDE F Q172DEX SY. ENC TREN 1 1 2 2 욷40 mm Motion CPU module Q173DPX PLS.A PLS. B TREN 1 1 1 2 2 2 3 3 3 SY. ENC1 욷100 mm USB Panel RS-232 Q172DEX Door PULSER PULL Q173DPX 123.5 mm 욷100 mm 욷5 mm Fig. 3-2: 욷5 mm Module mounting position NOTE 욷20 mm when the adjacent module is not removed and the extension cable is connected. It is not possible to mount the main base unit by DIN rail. Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU 3-3 Mounting and wiring Module mounting into cabinet Installation of the module on Q3첸B and Q6첸B b WARNING: ● Completely turn off the externally supplied power used in the system before installing the module. Not doing so could result in electric shock or damage to the product. ● When installing the module, always insert the module fixing projection into the module fixing hole of the base unit. If the module is forcibly installed without the latch being inserted, the module connector and module will be damaged. Securely insert the module fixing protection into the module fixing hole so that the latch is not misaligned. Using the module fixing hole as a fulcrum, push the module in the direction of arrow to install it into the base unit. Make sure that the module is installed in the base unit securely. When using module in a place where there is large vibration or impact, install it by the unit fixing screws (M3 x 12). Base unit Base unit Module Module connector Module fixing hole Module fixing hook Module fixing hook Module loading lever Fig. 3-3: 3-4 Installation of the module Module mounting into cabinet Mounting and wiring Removal of the module from Q3첸B and Q6첸B b WARNING: ● Completely turn off the externally supplied power used in the system before removing the module. Not doing so could result in electric shock or damage to the product. ● When the module fixing screw is used, always remove the module by removing the module fixing screw and then taking the module fixing latch off the module fixing hole of the base unit. Attempting to remove the module by force may damage the module fixing latch. Base unit Module Module connector Support the module with both hands and securely press the module fixing hook with your finger. Pull the module based on the supporting point of module bottom while pressing the module fixing hook. While lifting a module, take off the module fixing projection from the module fixing hole. Fig. 3-4: Removal of the module Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU 3-5 Mounting and wiring Wiring 3.2 Wiring 3.2.1 Wiring for Q170MCPU Power supply and EMI Connector layout 1A 1B 2A 2B Tab. 3-1: Pin No. Signal name Pin No. Signal name 1A 24V(+) 1B 24V(+) 2A 24G 2B 24G Power supply 24 V Q170MCPU side 2A 2B Solderless terminal 1A 1B 1827587-2 (Terminal) 1-1827864-2 (Connector) 24V(+) 24G 24V(+) 24G Fig. 3-5: 1B 2B 1A 2A Solderless terminal size: R1.25-3.5 24V(+) 24G : Twisted pair cable 24 V DC power supply cable without EMI connector Q170MCPU side 2A 2B Solderless terminal 1A 1B 2 1 1827587-2 (Terminal) 1-1827864-2 (Connector) 24V(+) 24G 24V(+) 24G EMI.COM EMI 1B 2B 1A 2A Solderless terminal size: R1.25-3.5 24V(+) 24G : Twisted pair cable 2 1 5556PBTL (Terminal) 5557-02R-210 (Connector) Fig. 3-6: 3-6 24 V DC power supply cable with EMI connector Use "1A" and "2A" when the 24 V DC voltage is applied on EMI terminal and the forced stop input of EMI terminal is invalidated. Use a cable of wire size AWG22. Wiring Mounting and wiring Q170MCPU side Solderless terminal 2 1 5556TL (Terminal) 5557-02R (Connector) Solderless terminal size: R1.25-3.5 EMI.COM EMI EMI.COM EMI : Twisted pair cable햲 Q170MCPU 햳 Fig. 3-7: Forced stop input cable for EMI 햲 Use a cable of wire size AWG22. 햳 Tab Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU 3-7 Mounting and wiring Wiring Digital I/O Cable Q170MCPU side 25 50 1 26 Solderless terminal Connection diagram HDR-E50MSG1+ (Connector) HDR-E50LPH (Connector case) HBL HBH HAL HAH HB 25 24 23 22 21 HA 20 SG 5V SG 5V SEL SG 48 46 47 45 49 50 DO1 COM2 DO2 COM2 6 7 31 32 DO1 DI1 COM1 DI3 3 5 4 DI1 DI2 COM1 DI4 DICOM FG 28 30 29 DI2 HBL HBH HAL HAH 5VGND 5V DO2 DOCOM DI4 DICOM Shell Shell FG 3-8 Output signal side DI3 : Twisted pair cable Tab. 3-2: Differential-output type Manual pulse generator/ incremental synchronous encoder side Differential-output type cable for internal I/F connector The maximum length of the cable should be 30 m. Connect SEL to the SG terminal if differential-output type is used. Input signal/mark detection input side Wiring Mounting and wiring Cable Q170MCPU side 25 50 1 26 Solderless terminal Connection diagram HDR-E50MSG1+ (Connector) HDR-E50LPH (Connector case) HBL HBH HAL HAH HB 25 24 23 22 21 HB HA 20 HA SG 5V SG 5V SEL SG 48 46 47 45 49 50 5VGND 5V DO1 COM2 DO2 COM2 6 7 31 32 DI1 COM1 DI3 3 5 4 DI1 DI2 COM1 DI4 DICOM FG 28 30 29 DI2 Voltage-output/opencollector type Manual pulse generator/ incremental synchronous encoder side DO1 DO2 DOCOM Output signal side DI3 Input signal/mark detection input side DI4 DICOM Shell Shell FG : Twisted pair cable Tab. 3-3: Voltage-output/open-collector type cable for internal I/F connector The maximum length of the cable should be 10 m. When voltage-output/open-collector type is used, open between SEL and SG. Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU 3-9 Mounting and wiring 3.2.2 Wiring Wiring for QD Motion controller Power supply and EMI Power supply module ERR FG LG INPUT 100–240 V AC AC Ground wire Grounding Fig. 3-8: Power supply module for QD motion controller (example with Q62P) Terminal(s) Function FG Ground terminal connected to the shield pattern of the printed circuit board. LG Grounding for the power supply filter. The potential of Q61P-A1, Q61P-A2, Q61P, Q62P, Q64P and Q61SP is half of the input voltage. The following functions of the ERR termials are only availible, when the power supply module is mounted on a main base unit. When mounted on an extension base unit the terminals are always OFF (open). ERR Tab. 3-4: 앫 The terminals are ON (connected) when the whole system operates normally. 앫 The terminals turn OFF (open) when the AC power is not input, a stop error (including a reset) occurs in the CPU module or the fuse is blown. 앫 In a multiple CPU system configuration the terminals turn OFF (open) when a stop error occurs in any of the CPU modules. Explanation of the terminals in fig. 3-8 Q170MCPU side Solderless terminal 2 1 5556TL (Terminal) 5557-02R (Connector) Solderless terminal size: R1.25-3.5 EMI.COM EMI EMI.COM EMI : Twisted pair cable 햲 Motion CPU module Removal 햳 Fig. 3-9: 햲 3 - 10 Forced stop input cable for EMI Use a cable of wire size AWG22. 햲 SSCNET III connection Mounting and wiring 3.3 SSCNET III connection 3.3.1 SSCNET III cable The cables in the following table are applicable for the connection between the Q170MCPU/QD-Motion controllers and the servo amplifier MR-J3-첸B and between the servo amplifiers MR-J3-첸B. Symbol for cable length (첸) Cable 0,3 m 0,5 m 1m 3m 5m 10 m 20 m 30 m 40 m 50 m MR-J3BUS첸M 015 03 05 1 3 — — — — — — MR-J3BUS첸M-A — — — — — 5 10 20 — — — MR-J3BUS첸M-B — — — — — — — — 30 40 50 Tab. 3-5: 3.3.2 0,15 m SSCNET III cable identification Connection between the Q170MCPU and servo amplifiers Q170MCPU CN1 햲 CN1A CN1A 햲 CN1B Servo amplifier Cap햳 CN1B Servo amplifier Fig. 3-10: SSCNET III connection method with Q170MCPU 햲 햳 NOTE Chose the right SSCNET III cable type in tab. 3-5 depending on the cable length for your system configuration. Attach a cap to the SSCNET III connectors of the system not being used. If the connectors CN1A und CN1B are mixed up at the servo amplifiers, no communication is possible. Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU 3 - 11 Mounting and wiring 3.3.3 SSCNET III connection Connection between the Q172DCPU and servo amplifiers Q172DCPU Motion CPU module CN1 햲 CN1A CN1A 햲 CN1B Servo amplifier Cap햳 CN1B Servo amplifier Fig. 3-11: SSCNET III connection method with Q172DCPU 햲 햳 NOTE 3 - 12 Chose the right SSCNET III cable type in tab. 3-5 depending on the cable length for your system configuration. Attach a cap to the SSCNET III connectors of the system not being used. If the connectors CN1A und CN1B are mixed up at the servo amplifiers, no communication is possible. SSCNET III connection 3.3.4 Mounting and wiring Connection between the Q173DCPU and servo amplifiers Q173DCPU Motion CPU module CN1 CN2 Cap햳 SSCNET III Channel 1 햲 CN1A CN1A 햲 Cap햳 CN1B CN1B Servo amplifier Servo amplifier SSCNET III Channel 2 햲 CN1A CN1A 햲 CN1B Servo amplifier Cap햳 CN1B Servo amplifier Fig. 3-12: SSCNET III connection method with Q173DCPU 햲 햳 NOTE Chose the right SSCNET III cable type in tab. 3-5 depending on the cable length for your system configuration. Attach a cap to the SSCNET III connectors of the system not being used. If the connectors CN1A und CN1B are mixed up at the servo amplifiers, no communication is possible. Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU 3 - 13 Mounting and wiring 3.3.5 SSCNET III connection Setting the axis No. and axis select switch of servo amplifier Axis No. is used to set the axis number of servo amplifiers connected to SSCNET III motion bus in the program. Axis No. of 1 to 16 can be set. Axis No. is set in the system setting of MT Developer2. Axis No. (1 to 16) is allocated and set for the setting axis number (d01 to d16) of servo amplifier. Since the axis number (d01 to d16) of servo amplifier on the system setting screen corresponds to axis select rotary switch (0 to F) of servo amplifier, set the axis select rotary switch referring to the table below (Tab. 3-6). B C DE 2 7 8 9 A 3 4 5 6 Axis select switch F 0 1 Setting display of axis No. (Servo amplifier) Set the axis No. relative to axis number (dno.). Fig. 3-13: Setting the axis No. dno. 3 - 14 Axis select rotary switch of servo amplifier dno. SSCNET III channel Axis select rotary switch of servo amplifier d01 1 "0" d09 1 "8" d02 1 "1" d10 1 "9" d03 1 "2" d11 1 "A" d04 1 "3" d12 1 "B" d05 1 "4" d13 1 "C" d06 1 "5" d14 1 "D" d07 1 "6" d15 1 "E" d08 1 "7" d16 1 "F" Tab. 3-6: NOTE SSCNET III channel Correspondence between dno.s and axis select switches of servo amplifier The dno. represents the station number, which is set by the rotary switch at the servo amplifier. Start-up and trial operation 4 m Start-up and trial operation DANGER: ● Be sure to ground the Motion controllers, servo amplifiers and servomotors (Ground resistance: 100 Ω or less). Do not ground commonly with other devices. ● Never open the front case or terminal cover at times other than wiring work or periodic inspections even if the power is OFF. The insides of the Motion controller and servo amplifier are charged and may lead to electric shocks. ● 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. ● Wire the units after mounting the Motion controller, servo amplifier and servomotor. Failing to do so may lead to electric shocks or damage. b WARNING: ● Check that the combination of modules are correct. Wrong combination may damage the modules. ● 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 fires. ● Always take heat measure such as flame proofing for the inside of the control panel where the servo amplifier or regenerative resistor is mounted and for the wires used. Failing to do so may lead to fires. ● Do not mount 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). Incorrect connections will lead the servo motor to operate abnormally. ● Set parameter values to those that are compatible with the Motion controller, servo amplifier, servo motor and regenerative resistor model name and the system name application. The protective functions may not function if the settings are incorrect. ● Always mount a leakage breaker on the Motion controller and servo amplifier power source. ● Install emergency stop circuit externally so that operation can be stopped immediately and the power shut off. ● Use the program commands for the program with the conditions specified in the instruction manual. ● Some devices used in the program have fixed applications, so use these with the conditions specified in the programming manual. ● If safety standards (ex., robot safety rules, etc.,) apply to the system using the Motion controller, servo amplifier and servo motor, 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. ● 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. ● Execute the test operation in the system that it is low-speed as much as possible and put forced stop and confirm the operation and safety. Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU 4-1 Start-up and trial operation 4.1 Start-up procedure Start-up procedure START [Parameter setting] Turn OFF Motion controller's power supply Check that the power supply of Motion controller is OFF. PLC CPU area Parameter setting Set the PLC parameter using GX (IEC) Developer. Turn ON power supply again Check wiring and module installation 앫 Check the installation position and condition of each module. 앫 Check the connecting condition of connectors. 앫 Check that all terminal screws are tight. 앫 Check the ground wires of servo amplifier, etc. 앫 Check the servo motor wiring (U, V, W). 앫 Check the regenerative option wiring. 앫 Check the circuit of emergency stop or forced stop. Turn ON again the power supply or reset of Motion controller. Check external inputs to Q172DLX Check the wiring of following external inputs by monitoring of MT Developer2. 앫 FLS (Upper stroke limit input) 앫 RLS (Lower stroke limit input) 앫 STOP (Stop signal) Check external inputs to Q173DPX Check the wiring of following external inputs by monitoring of MT Developer2 or LED indicators. [Installation mode] Install operating system software Motion CPU area Install the operating system software to the Motion controller using MT Developer2. Motion CPU area 앫 Manual pulse generator/incremental synchronous encoder setting Check I/O module Servo amplifier setting Servo amplifier Set the axis number of servo amplifier. Check the wiring of I/O modules. [Servo data setting] Positioning parameters setting Turn ON power supply Set the RUN/STOP/RESET switch of Motion controller to STOP, and turn ON the Motion controller's power supply. [System setting] Parameters setting Set the following positioning parameters using MT Developer2. Motion CPU area Fig. 4-1: Fixed parameters Home position return data JOG operation data Servo parameters Parameter block Limit output data Start-up procedure (1) 4-2 앫 앫 앫 앫 앫 앫 앫 Multiple CPU setting 앫 Automatic refresh setting 앫 System setting NOTE Set the following positioning parameters using MT Developer2. The mode indicated in the brackets [ ] at top left of each step is the mode for checking or setting using MT Developer2/GX (IEC) Developer. The operating system software is 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. An error may occur if the power is turned on before system setting. In the case, reset the Multiple CPU system after system setting. Refer to the "Q173DCPU/Q172DCPU Motion controller Programming Manual (COMMON)" at the system setting error occurrence. Start-up procedure Start-up and trial operation [Test mode • JOG operation] [Programming] Create Motion programs Motion CPU area Check machine operation Create the Motion programs using MT Developer2. Check the followings by making the machine operate with the JOG operation of MT Developer2. [Programming] 앫 Machine operates correctly (no vibration, hunting, etc.) 앫 Stroke limits operate correctly 앫 Machine stops by the emergency stop or forced stop Create PLC programs Create the PLC programs to start the Motion programs using GX (IEC) Developer. PLC CPU area Write PLC programs Motion CPU area Write the PLC programs created to the PLC CPU area (CPU No.1 fixed). Check home position return Check the followings by executing the home position return. 앫 Home position return direction 앫 Home position return data 앫 Proximity dog position Write Motion programs Motion CPU area [Test mode • home position return] [Programming] Write the positioning data and Motion programs created to the Motion CPU area (CPU No.2 fixed). Check Motion program Set the RUN/STOP/RESET switch of Motion controller to RUN and check that all positioning controls by Motion programs are correct. Turn ON power supply again Turn ON again or reset the Motion controller's power supply. [Monitor] Check by automatic operation Turn ON servo amplifiers power supply Check the emergency stop ON and forced stop ON, and turn ON the power supply of servo amplifiers. [Test mode • Servo start-up (Initial check)] PLC CPU area Check the sequence operation by executing the PLC program using an actual external input. END Check servo amplifier Check that the mounted servo amplifiers operate correctly. Motion CPU area [Test mode • Servo start-up (Upper/lower stroke limit check)] Check upper/lower stroke limits Check that the upper/lower stroke limits operate correctly. Fig. 4-1: Start-up procedure (2) NOTE The mode indicated in the brackets [ ] at top left of each step is the mode for checking or setting using MT Developer2/GX (IEC) Developer. Axis No. and error description of servo amplifier which detected errors are displayed on initial check screen. An error may occur if the power is turned on before system setting. In the case, reset the Multiple CPU system after system setting. Refer to the "Q173DCPU/Q172DCPU Motion controller Programming Manual (COMMON)" at the system setting error occurrence. Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU 4-3 Start-up and trial operation Software installation 4.2 Software installation 4.2.1 Programming software Install all of the software listed in the table below. Product Detail MELSOFT MT Works2 (MT Developer2) Ver. 1.05F or later GX Developer2) Ver. 8.48A or later MR Configurator (optional) Ver. C2 or later Tab. 4-1: 4.2.2 Software Operating system (OS) As the OS software is not pre-installed, the first step before using the system is installing it into Motion CPU. This section explains the method for displaying the installation screen and install the OS. Install one of the following OS. Motion CPU Q170MCPU Q172DCPU Q173DCPU Tab. 4-2: 4-4 Operating system Detail SV13 (SW8DNC-SV13QG) Conveyor assembly use SV22 (SW8DNC-SV22QF) Automatic machinery use SV13 (SW8DNC-SV13QD) Conveyor assembly use SV22 (SW8DNC-SV22QC) Automatic machinery use SV13 (SW8DNC-SV13QB) Conveyor assembly use SV22 (SW8DNC-SV22QA) Automatic machinery use Assignment of operating system to motion controller Software installation Start-up and trial operation Operating system installation 햲 Power off the motion controller. CD AB E 햳 Set the rotary switch 1 (on the motion controller) to "A" to set the installation mode. 78 9 CD AB E F01 5 23 4 6 5 23 4 6 F01 78 9 Rotary switch 1 햴 Power on the motion CPU. After the power is turned on, the 7-segment LED displays "INS", and the motion CPU gets into the installation mode. 햵 Select "Start" - "All Programs" - "MELSOFT Application" - "MT Works2" - "Install". 햶 The installation screen appears. Select "Online" - "Transfer Setup" to set the communication setup screen. Further details in the section "Transfer setup" (section 5.2.1) of this quick-start guide. 햷 Click the button Install Motion Controller OS. When the motion controller OS has already been installed, the version is displayed in addition to the CPU type. 햸 Insert the CD-ROM with the motion controller OS into the CD-ROM drive of the personal computer. 햹 Click the button Browse and specify the OS's source folder. The CPU type and OS version appear. 햺 Click the button Execution. The installation is started. Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU 4-5 Start-up and trial operation Software installation # Once the installation is finished, power off the motion CPU. Set the rotary switch 1 (SW1) to "0" and the rotary switch 2 (SW2) to "0" to set the motion CPU to the RAM operation mode. $ Power on the motion CPU. When the power is turned on, "." in the first digit on the 7-segment LED flashes. 4-6 Sample project creation with MT Developer2 and GX Developer 5 Project creation Project creation NOTE 5.1 The sample programs, described in this manual can be downloaded free of charge through the website www.mitsubishi-automation.com/mymitsubishi/mymitsubishi_content.html. Sample project creation with MT Developer2 and GX Developer New project creation Start MT Developer2 and create a new project with CPU and OS Type selected as shown below. After clicking OK in the New Project Window, the MT Developer2 project window will appear, as shown below. Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU 5-1 Project creation Sample project creation with MT Developer2 and GX Developer System Structure Settings Double-click the amplifier icon (SSCNET Structure) to confirm the set amplifier type is correct. If any I/O are wired to the amp, such as home or limit sensors, select the Detail Setting tab and set the External Signal Input Setting to Amplifier Input Valid. Servo Data Settings and Parameter Block In the "MT Developer2 Project Window Menu", double-click Servo Data to bring up the "Servo Data" tab. Edit the settings so that they match the screenshot shown in the left figure. – "Travel Value/Rev." should represent how far the load moves for every rotation of the motor. 5-2 Sample project creation with MT Developer2 and GX Developer Example 왓 Project creation The ball screw lead is 5 mm and the mechanical gear ratio is 1/5. Servomotor: Unit setting: Number of Pulses/Rev.: Travel Value/Rev.: HF-KP43 mm 262 144 [PULSES] 1/5 x 5 000.0 = 1 000.0 [μm] Fig. 5-1: Mechanical configuration of the example Gear ratio 1 : 5 5 mm 쑶 – "Upper stroke limit" and "Lower stroke limit" enable software stroke limits. Fig. 5-2: Stroke limits Stroke range (Machine motion range) Stroke limit (Lower limit value) Stroke limit (Upper limit value) – "Exec.Sv.Prog." will allow the servo programs to be executed even if the servo motor has not yet been homed. If "Not Exec.Sv.Prog." is selected and the servo has not been homed, the servo programs will stop and an error will occur. Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU 5-3 Project creation Sample project creation with MT Developer2 and GX Developer – The Parameter Blocks, accessible by the "Servo Data" menu, serve to make setting changes easy by allowing data such as the acceleration/deceleration control to be set for each positioning processing. A maximum of 64 blocks can be set as parameter blocks. Speed limit value Speed Rapid stop cause occurrence Positioning speed set in the servo program Time Real acceleration time Set acceleration time Set rapid stop deceleration time Real rapid stop deceleration time Real deceleration time Set deceleration time Fig. 5-3: 5-4 Time diagram for setting of parameter blocks Sample project creation with MT Developer2 and GX Developer Project creation Servo Parameter Settings In the "Project Window Menu", double-click Servo Parameter. This will launch the servo setup software called MR Configurator. Please change the following parameter in the "Basic setting": ● PA04: 0100 (Disabling the EMG input on servo amplifier. This will allow the amplifier to operate regardless of forced stop input status.) ● PA14: 0 or 1 according to the motor rotation direction (CW or CCW) and click OK. Note Launching MR Configurator from within MT Developer2 is not the same as launching MR Configurator from the Windows Start Menu. Opening from within MTD2 allows changes to servo parameters to be saved within the MTD2 project files. Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU 5-5 Project creation Sample project creation with MT Developer2 and GX Developer Motion SFC Program Creation In the "Project Window Menu" under "Motion SFC Program", double-click Motion SFC Program Manager. This open the "Motion SFC Program Manager" pop-up window. Click the icon New which opens up the "New Motion SFC Program" window. Set the Motion SFC Program No. to "1", enter "1 Axis JOG" as the program name and then click OK. In the "Project Window Menu" under “Motion SFC Program”, double-click Motion SFC Parameter. This open the “Motion SFC Parameter” pop-up window. Double-click program 1 and then change the Start Setting to "Automatic Start". Then close this window. 5-6 Sample project creation with MT Developer2 and GX Developer Project creation Prepare an SFC program. The sample program below allows a simple forward and backward movement of Axis 1. Step Description 5a Add an F-block, 2 x G-block, 2 x K-block, a Jump, and a Pointer to the program by left-clicking the respective button on the menu bar and left-clicking in the program workspace. Press the Esc key (or right click) after adding each block to the workspace. 5b Double-click the F-block, enter "0" for the program number. Next, press Enter or click the Edit button. In the Program Editor window, type "SET M2402". The common system device M2402 enables "Servo On" for all axes when set. 5c Double-click the G-block, enter "0" for the program number. Next, press Enter and then input the text "M2415". The axis status device M2415 shows if axis 1 is ready. We are telling the controller to wait until the axis is fully initialized before moving on to the next step. Without such a delay in front of a motion command (K-block), an error is likely to occur. 5d Double-click the K-block, enter "1" for the program number. Next, press Enter and select "Linear Interpol." as the Command Class and "INC-1" as the Servo Command. Click OK. The Servo Program Editor window will now open. In the Servo Program Editor window, set the Axis to 1 and the travel amount to 20000 PLS. Then set the Speed to 20000 PLS/s. 5e Repeat step 5c. 5f Repeat step 5d changing the travel amount to -20000 PLS. 5g Connect each function block to the one after it by clicking the Connect button from the menu bar and then left-clicking on one block and dragging to the next box. Tab. 5-1: Detailed procedure for preparing the SFC program Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU 5-7 Project creation Sample project creation with MT Developer2 and GX Developer File Conversion, Download and Program Run Click the Batch Conversion button from the menu bar. If all steps were followed correctly, you should receive a "Complete successfully" message in the output bar at the bottom of the screen. Batch conversion Output screen Transfer programs and parameters to the Motion controller using the setting in the screenshot below. 5-8 Sample project creation with MT Developer2 and GX Developer Project creation Please refer to the "Writing project to the Motion/PLC CPU" section of this quick-start guide for further details on writing/reading programs (section 5.2.3). PLC program creation and download to PLC CPU Start GX Developer and create a new project with the correct PLC series and PLC type as shown below. Select Q03UD as PLC type in case Q170MCPU is used. In the "Project Window Menu" under "Parameter", double-click PLC parameter. This opens the "Q parameter setting" pop-up window. Click I/O assignment and afterwards Read PLC data. Read PLC Data Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU 5-9 Project creation Sample project creation with MT Developer2 and GX Developer The pop-up warning windows shown below will appear: Click Yes. Then close the "Q parameter setting" windows by clicking End confirming the chosen setting. Transfer programs and parameters to the PLC controller using the setting in the screenshot below. Please refer to "Transfer setup" (section 5.2.1) for further information on transfer setup setting and to "Writing project to the Motion/PLC CPU" (section 5.2.3) of this quick-start guide for further information on writing/reading programs. ! Enjoy your program! Cycle the power supply of Q170MCPU and MR-J3 servo both. According to the program, you created, the motor will automatically rotate 1 revolution in both directions. The movement will be stopped by using RUN/STOP switch at the Q170MCPU front panel. 5 - 10 Additional procedures 5.2 Additional procedures 5.2.1 Transfer setup Project creation This section explains how to set the communication between PC and Q170MCPU/Q172DCPU by the Transfer Setup screen. For the sake of simplicity, it will be explained how to configure the communication by using a direct connection with an USB cable. Operating Procedure (Motion CPU access) Double-click on Serial/USB button in the "PC side I/F" selection. Select USB and close the pop-up window. Select PLC module in the "CPU side I/F". Select No specification in the "Other Station" setting. Select PLC No.2 as "Target System". Operating Procedure (PLC CPU access) Double-click on Serial/USB button in the "PC side I/F" selection. Select USB and close the pop-up window. Select PLC module in the "CPU side I/F". Select No specification in the "Other Station" setting. Select PLC No.1 as "Target System". Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU 5 - 11 Project creation 5.2.2 Additional procedures Project opening This section explains the method for reading a project saved in the hard disk or other memory media of the personal computer. Operating Procedure (MT Developer2 project) Select "Project" - "Open Project". The "Open Project" window appears. Enter the folder (drive/path), where the workspace is saved, in the Folder field. Double click Workspace in the "Workspace/ Project List". Select the project data. Details of the specified project data are displayed in the "Project Name" and "Title" columns. Click the Open button. Operating Procedure (GX Developer project) Select "Project" - "Open Project". The Open Project window appears. Enter the folder (drive/path), where the workspace is saved, in the "Folder" field. Select the project data. Click the Open button. 5 - 12 Additional procedures 5.2.3 Project creation Writing project to the Motion/PLC CPU This section explains the method for writing a project saved in the hard disk or other memory media of the personal computer to the Motion/PLC controller internal memory. Operating Procedure (MT Developer2) Select "Online" - "Write to CPU". The "Write to CPU" screen appears. Select Program memory as target memory to write to. Click on Parameter+ Program to select the data to be written. Click the Execute button. When a password is registered, the Password Check dialog box appears. When program write is to be executed, a message appears if there are programs that have not been converted. The screen on the left appears if the motion controller is in RUN mode. Click the OK button. Once download is complete, another message will appear asking if you would like to place the controller back in Run mode. Again, select Yes and then Close. The specified data is written to the target memory. When writing is completed, the dialog box appears notifying the process completion. Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU 5 - 13 Project creation Additional procedures Operating Procedure (GX Developer) Select "Online" - "Write to PLC". The "Write to PLC" screen appears. Select Program memory/Device memory as target memory to write to. Click on Parameter+ Program to select the data to be written. Click the Execute button. When program write is to be executed, a message appears if there are programs that have not been converted. The screen on the left appears if the motion controller is in RUN mode. Click the Yes button. The specified data is written to the target memory. When writing is completed, the dialog box appears notifying the process completion. 5 - 14 Additional procedures 5.2.4 Project creation Monitoring function Operating Procedure Click the monitor icon of the application jump toolbar on the main frame. Monitor is started. Clicking on the buttons in the shown toolbar is possible to select the devices to be monitored: – Current value monitor – Motion error – Axis monitor – Servo Monitor – Positioning monitor – … NOTE Refer to MT Developer2 Help for further information. Tip: Press function key "F1" for immediate help on displayed function. Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU 5 - 15 Project creation 5.2.5 Additional procedures Device monitoring and testing Operating Procedure (MT Developer2) Select "Online" - "Monitor" - "Commons" - "Entry Device Monitor". The "Device Entry Monitor" screen appears. Click Add. The "Device"/"Label" windows appears. Select the device to be monitored and then push Register button. The chosen devices will be displayed in the "Device Entry Monitor". Click Close. Click Start Monitoring button. The actual values of the registered devices will be displayed in the column "Value". Double-click the value of the Device to be tested. The "Device Test" window appears. Click Set or Reset to test the selected bit device or Write Data to write a value into the selected register. 5 - 16 Additional procedures 5.2.6 Project creation Motion CPU change This section explains the method for changing the CPU and OS types of the open project. Operating Procedure Open a project to change its CPU and OS types. Opening existing projects. Select "Project" - "Change CPU/OS Type". The "CPU/OS Change" screen appears. Select a CPU type and OS type. Click the OK button. When the CPU type is changed from Q17nCPU to Q17nDCPU/Q170MCPU/Q17nHCPU, the following screen appears. Click the Yes button to change the CPU or OS type. Click the No button to stop the change of the CPU or OS type. When changing from SV13 to SV22 The confirmation screen appears asking wether to change the OS type. Click the Yes button. When changing from SV22 to SV13 Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU 5 - 17 Project creation Additional procedures A dialog box appears notifying the CPU and OS types have been changed. Click the OK button. 5 - 18 Sample program with OS SV22: 2_axes_motion Sample programs 6 Sample programs 6.1 Sample program with OS SV22: 2_axes_motion 6.1.1 System configuration Motion controller Q170MCPU Rotary switches 78 9 5 23 4 6 CD AB E 78 9 CD AB E USB/RS232 5 23 4 6 Personal computer IBM PC/AT F01 F01 SSCNET III SSCNET III cable (MR-J3BUS첸M(-A/-B)) d01 d02 24 V DC Forced stop input (24 V DC) M E M E Extension cable (QC첸B) Extension base unit (QC55B) QX80 QY80 Q173DPX P Input Manual pulse generator/ Incremental synchronous encoder Output Fig. 6-1: System configuration with Q170MCPU, two axes and extension base unit PLC CPU/ Motion CPU Main base unit (Q3쏔DB) Q61P QnUD(H) Motion CPU CPU QX80 QY80 Q173D PX 100/200 V AC P USB/RS232 Manual pulse generator (MR-HDP01) Output Input Personal computer IBM PC/AT Forced stop input cable (Q170DEMICBL첸M) EMI forced stop input (24 V DC) SSCNET III (CN1) Battery holder unit Q170DBATC Fig. 6-2: d02 d01 SSCNET III cable (MR-J3BUS첸M(-A/-B)) M E M E System configuration with Q172DCPU and two axes Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU 6-1 Sample programs 6.1.2 Sample program with OS SV22: 2_axes_motion Functions Input Function Details PX0 Forced stop When PX0 turns off, servomotors are forced to stop and motion control is suspended (E7 warning). PX1 and PX2 and PX7 Tab. 6-1: PX7 Motion mode OFF OFF OFF JOG mode OFF ON OFF Man. pulse generator mode ON OFF OFF Home position return mode ON ON OFF Operation mode (Real) ON ON ON Operation mode (Virtual) Functions of the inputs JOG mode Man. pulse generator mode Home position return mode Operation mode (Real) Operation mode (Virtual) 6-2 PX1 Motion selection input Motion mode Tab. 6-2: PX2 Details PX3: Axis 1 JOG forward rotation PX4: Axis 1 JOG reverse rotation PX5: Axis 2 JOG forward rotation PX6: Axis 2 JOG reverse rotation Manual pulse generator operation of axis 1 is executed with the manual pulse generator P1. Manual pulse generator operation of axes 1 and 2 is executed with the manual pulse generator P2. PX3: OFF 씮 ON Home position return of axis 1 is executed. PX4: OFF 씮 ON Home position return of axis 2 is executed PX3: OFF 씮 ON Sample movement (point-to-point) PX4: OFF 씮 ON Sample movement (linear interpolation) 2 synchronized cams movement automatically started. NOTE: Home position required beforehand Details of motion mode Sample program with OS SV22: 2_axes_motion 6.1.3 Sample programs System setting data of the motion CPU SSCNET Line 1 Extension Base - Stage 1 : 5 Slots Fig. 6-3: Structure of the system (left) and of SSCNET III (right) with Q170MCPU Main Base : 8 Slots SSCNET Line 1 Fig. 6-4: Structure of the system (left) and of SSCNET III (right) with QD motion controller Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU 6-3 Sample programs Sample program with OS SV22: 2_axes_motion CPU specific send range PLC User setting area Auto refresh point (K) I/O No. point Start End point Start End CPU No. 1 7 U3E0 7168 G10000 G17167 0 — — CPU No. 2 7 U3E1 6468 G10000 G16467 700 G16468 G17167 PLC No. 1 CPU specific send range Auto refresh No. point Start End Start End 1 — — — — — 2 — — — — — 3 — — — — — PLC No. 2 CPU specific send range Auto refresh No. point Start End Start End 1 20 M2000 M2319 G16468 G16487 2 40 M2400 M3039 G16488 G16527 3 640 D0 D639 G16528 G17167 Tab. 6-3: 6.1.4 Axis Data Setting Fig. 6-5: 6-4 Multiple CPU setting - Auto refresh setting Setting of the axis data Sample program with OS SV22: 2_axes_motion 6.1.5 No. Sample programs Motion SFC Program Program Name Task Auto. END Cont. Trans. Executing Flag Cycle Interrupt 20 Main Normal Yes — — Nothing — — 110 Motion control Normal No — — Nothing — — 120 JOG Normal No — — Nothing — — 130 Manual pulse gen Normal No — — Nothing — — 140 Home position re Normal No — — Nothing — — 150 Programming oper Normal No — — Nothing — — 160 Virtual mode Normal No — — Nothing — — Tab. 6-4: Program overview Fig. 6-6: Motion SFC Programs "Main", "JOG" and "Manual pulse generator" Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU 6-5 Sample programs Fig. 6-7: 6-6 Sample program with OS SV22: 2_axes_motion Motion SFC Programs "Home position return" and "Motion control" Sample program with OS SV22: 2_axes_motion Fig. 6-8: Sample programs Motion SFC Program "Programming operation" Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU 6-7 Sample programs Sample program with OS SV22: 2_axes_motion Fig. 6-9: Motion SFC Program "Virtual mode" 6.1.6 Mechanical system program V.1 Clutch: Clutch ON/OFF Command Dev.: M12 Clutch Status Device: M13 Clutch: Clutch ON/OFF Command Dev.: M10 Clutch Status Device: M11 Axis 1 CAM: Cam No. Dev.: D2004 Stroke Setting Dev.: D2006 Number of Pulses/Rev.: 20 000 [PLS] Fig. 6-10: 6-8 Mechanical system Axis 2 CAM: Cam No. Dev.: D2000 Stroke Setting Dev.: D2002 Number of Pulses/Rev.: 20 000 [PLS] Sample program with OS SV22: 2_axes_motion 6.1.7 Sample programs CAMs Stroke Ratio Stroke Ratio Graph Absolute Angle [deg] Speed Speed Graph Absolute Angle [deg] Fig. 6-11: CAM 1 (Axis 1) Stroke Ratio Stroke Ratio Graph Absolute Angle [deg] Speed Speed Graph Absolute Angle [deg] Fig. 6-12: CAM 2 (Axis 2) Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU 6-9 Sample programs 6.2 Sample program with OS SV22: 2_axes_motion_no_inputs Sample program with OS SV22: 2_axes_motion_no_inputs This second sample program is mainly similar to the first one in section 6.1. The only difference is, that the hard wired inputs have been replaced by internal bit devices. System configuration Personal computer IBM PC/AT Motion controller Q170MCPU Rotary switches 78 9 5 23 4 6 CD AB E 78 9 CD AB E USB 5 23 4 6 6.2.1 F01 F01 SSCNET III SSCNET cable (MR-J3BUS첸M(-A/-B)) d01 d02 24 V DC Forced stop input (24 V DC) M E M E Fig. 6-13: System configuration with Q170MCPU and two axes PLC CPU/ Motion CPU Main base unit (Q3쏔DB) Q61P QnUD(H) Motion CPU CPU 100/200 V AC USB/RS232 Forced stop input cable (Q170DEMICBL첸M) EMI forced stop input (24 V DC) Personal computer IBM PC/AT SSCNET III (CN1) Battery holder unit Q170DBATC Fig. 6-14: System configuration with Q172DCPU and two axes 6 - 10 d02 d01 SSCNET III cable (MR-J3BUS첸M(-A/-B)) M E M E Sample program with OS SV22: 2_axes_motion_no_inputs 6.2.2 Functions Bit Devices Function Details M100 Forced stop When M100 turns off, servomotors are forced to stop and motion control is suspended (E7 warning). M101 and M102 and M107 Tab. 6-5: Motion selection input JOG mode Home position return mode Operation mode (Real) Operation mode (Virtual) Tab. 6-6: M102 M101 M107 OFF OFF OFF Motion mode JOG mode ON OFF OFF Home position return mode ON ON OFF Operation mode (Real) ON ON ON Operation mode (Virtual) Functions of bit devices Motion mode NOTE Sample programs Details M103: Axis 1 JOG forward rotation M104: Axis 1 JOG reverse rotation M105: Axis 2 JOG forward rotation M106: Axis 2 JOG reverse rotation M103: ON Home position return of axis 1 is executed. M104: ON Home position return of axis 2 is executed M103: OFF 씮 ON Sample movement 1 (point-to-point) M104: ON Sample movement 2 (linear interpolation) 2 synchronized cams movement automatically started. NOTE: Home position required beforehand Details of motion mode Refer to the section "Device monitor and testing" (section 5.2.5) of this quick-start guide for further details of bit devices setting/resetting. Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU 6 - 11 Sample programs 6 - 12 Sample program with OS SV22: 2_axes_motion_no_inputs Exterior Dimensions Appendix A Appendix A.1 Exterior Dimensions A.1.1 Motion controller Q170MCPU Unit: [mm] 38 MITSUBISHI MODE RUN ERR. USER BAT. PULL BOOT MITSUBISHI MODE RUN ERR. USER BAT. PULL BOOT Q170MCPU Q170MCPU POWER POWER USB PERIPHERAL I/F RESET STOP RUN RS-232 RESET STOP RUN PERIPHERAL I/F USB RS-232 EMI EMI CN1 EJECT 178 EJECT 154 161 CN1 168 8 7 EXT.IO CARD CARD EXT.IO FRONT FRONT OUT OUT 24VDC 24VDC PUSH 7 6 135 4.6 52 52 With battery holder removed Fig. A-1: Dimensions of Q170MCPU Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU A-1 Appendix A.1.2 Exterior Dimensions Motion controller Q172DCPU and Q173DCPU Unit: [mm] Q172DCPU D ABC E 789 D ABC E F 01 23456 23456 F 01 789 1 STOP RUN 2 SW CAUTION CN1 98 EMI FRONT BAT 119.3 Fig. A-2: 27.4 Dimensions of Q172DCPU Unit: [mm] Q173DCPU D ABC E 789 D ABC E F 01 23456 23456 F 01 789 1 STOP RUN 2 SW CAUTION CN2 CN1 98 EMI FRONT BAT 119.3 Fig. A-3: A-2 Dimensions of Q173DCPU 27.4 Troubleshooting A.2 Appendix Troubleshooting The following flowcharts show the contents of the troubles with the motion controllers classified into a variety of groups according to the types of events. A.2.1 Q170MCPU Error-occurrence description "POWER" LED turns off "." does not flash in the first digit of 7-segment LED (b) "Flowchart for when "." does not flash in the first digit of 7-segment LED" "A00" displays on 7-segment LED (c) "Flowchart for when "A00" displays on 7-segment LED" "AL" 씮 "L01" displays on 7-segment LED Motion CPU area "AL" 씮 "A1" 씮 "첸" displays on 7-segment LED "BT첸" displays on 7-segment LED (f ) "Flowchart for when "BT첸" displays on 7-segment LED" Servo amplifier does not start (h) "Flowchart for when the Servo amplifier does not start "MODE" LED is flickering "RUN" LED turns off "RUN" LED is flickering "ERR." LED turns on/is flickering "USER" LED turns on "BAT. " LED (Yellow) turns on NOTE (e) "Flowchart for when "AL" 씮 "A1" 씮 "첸" displays on 7-segment LED" (g) "Flowchart for when "…" displays on 7-segment LED" "MODE" LED does not turn on Fig. A-4: (d) "Flowchart for when "AL" 씮 "L01" displays on 7-segment LED" "…" displays on 7-segment LED "AL" 씮 "S01" displays on 7-segment LED PLC CPU area (a) "Flowchart for when "POWER LED" turns off" (i) "Flowchart for when "AL" 씮 "S01" displays on 7-segment LED" (j) "Flowchart for when "MODE" LED does not turn on" (k) "Flowchart for when "MODE" LED is flickering" (l) "Flowchart for when "RUN" LED turns off" (m) "Flowchart for when "RUN" is flickering" (n) "Flowchart for when "ERR." LED turns on/is flickering" (o) "Flowchart for when "USER" LED turns on" (p) "Flowchart for when "BAT. " LED (Yellow) turns on" Troubleshooting flowchart for Q170MCPU The procedure of fault finding for each event group (a) to (p), mentioned on the right side of the above flowchart, is described in chapter 6 of the user’s manual of the motion controller Q170MCPU. Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU A-3 Appendix A.2.2 Troubleshooting QD-Motion controller Error-occurrence description "POWER" LED turns off "." does not flash in the first digit of 7-segment LED (b) "Flowchart for when "." does not flash in the first digit of 7-segment LED" "A00" displays on 7-segment LED (c) "Flowchart for when "A00" displays on 7-segment LED" "AL" 씮 "L01" displays on 7-segment LED "AL" 씮 "A1" 씮 "첸" displays on 7-segment LED "BT첸" displays on 7-segment LED NOTE A-4 (d) "Flowchart for when "AL" 씮 "L01" displays on 7-segment LED" (e) "Flowchart for when "AL" 씮 "A1" 씮 "첸" displays on 7-segment LED" (f ) "Flowchart for when "BT첸" displays on 7-segment LED" "…" displays on 7-segment LED (g) "Flowchart for when "…" displays on 7-segment LED" Servo amplifier does not start (h) "Flowchart for when the Servo amplifier does not start "AL" 씮 "S01" displays on 7-segment LED Fig. A-5: (a) "Flowchart for when "POWER LED" turns off" (i) "Flowchart for when "AL" 씮 "S01" displays on 7-segment LED" Troubleshooting flowchart for Q172DCPU and Q173DCPU The procedure of fault finding for each event group (a) to (i), mentioned on the right side of the above flowchart, is described in chapter 6 of the user’s manual of the motion controllers Q172DCPU and Q173DCPU. Index Index B Base unit M Module mounting Module installation . . . . . . . . . . . . . . . . . . . . . . . . . . .3-4 Q170MCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2 Module removal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-5 Q172DCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4 Q173DCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4 C Motion-Control-System CCW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-5 Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2 Change of Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1 CPU type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17 O OS type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17 CPU type change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17 CW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-5 Operating system Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5 Versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4 D OS type change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-17 Dimensions P Q170MCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1 Q172DCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2 Power supply Q173DCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2 Q170MCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6 DOG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-5 QD motion controller . . . . . . . . . . . . . . . . . . . . . . . .3-10 E EMI R RLS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5 Abbreviation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-5 Rotary switch setting Q170MCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2 F Q172DCPU, Q173DCPU . . . . . . . . . . . . . . . . . . . . . . . 2-5 FLS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-5 S Forced stop input Q170MCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-7 QD motion controller . . . . . . . . . . . . . . . . . . . . . . . 3-10 Specification Q170MCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3 Q172DCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4 I I/F connector Q170MCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-8 I/F connector cable Q173DCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4 SSCNET III Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-11 Connection with Q170MCPU . . . . . . . . . . . . . . . .3-11 Differential-output type . . . . . . . . . . . . . . . . . . . . . .3-8 Connection with Q172DCPU . . . . . . . . . . . . . . . . .3-12 Open-collector type . . . . . . . . . . . . . . . . . . . . . . . . . .3-9 Connection with Q173DCPU . . . . . . . . . . . . . . . . .3-13 Voltage-output type . . . . . . . . . . . . . . . . . . . . . . . . . .3-9 Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU i Index ii MITSUBISHI ELECTRIC HEADQUARTERS EUROPEAN REPRESENTATIVES EUROPEAN REPRESENTATIVES MITSUBISHI ELECTRIC EUROPE B.V. EUROPE German Branch Gothaer Straße 8 D-40880 Ratingen Phone: +49 (0)2102 / 486-0 Fax: +49 (0)2102 / 486-1120 MITSUBISHI ELECTRIC EUROPE B.V. CZECH REPUBLIC Czech Branch Avenir Business Park, Radlická 714/113a CZ-158 00 Praha 5 Phone: +420 (0)251 551 470 Fax: +420 (0)251-551-471 MITSUBISHI ELECTRIC EUROPE B.V. FRANCE French Branch 25, Boulevard des Bouvets F-92741 Nanterre Cedex Phone: +33 (0)1 / 55 68 55 68 Fax: +33 (0)1 / 55 68 57 57 MITSUBISHI ELECTRIC EUROPE B.V. IRELAND Irish Branch Westgate Business Park, Ballymount IRL-Dublin 24 Phone: +353 (0)1 4198800 Fax: +353 (0)1 4198890 MITSUBISHI ELECTRIC EUROPE B.V. ITALY Italian Branch Viale Colleoni 7 I-20041 Agrate Brianza (MB) Phone: +39 039 / 60 53 1 Fax: +39 039 / 60 53 312 MITSUBISHI ELECTRIC EUROPE B.V. POLAND Poland Branch Krakowska 50 PL-32-083 Balice Phone: +48 (0)12 / 630 47 00 Fax: +48 (0)12 / 630 47 01 MITSUBISHI ELECTRIC EUROPE B.V. SPAIN Spanish Branch Carretera de Rubí 76-80 E-08190 Sant Cugat del Vallés (Barcelona) Phone: 902 131121 // +34 935653131 Fax: +34 935891579 MITSUBISHI ELECTRIC EUROPE B.V. UK UK Branch Travellers Lane UK-Hatfield, Herts. AL10 8XB Phone: +44 (0)1707 / 27 61 00 Fax: +44 (0)1707 / 27 86 95 MITSUBISHI ELECTRIC CORPORATION JAPAN Office Tower “Z” 14 F 8-12,1 chome, Harumi Chuo-Ku Tokyo 104-6212 Phone: +81 3 622 160 60 Fax: +81 3 622 160 75 MITSUBISHI ELECTRIC AUTOMATION, Inc. USA 500 Corporate Woods Parkway Vernon Hills, IL 60061 Phone: +1 847 478 21 00 Fax: +1 847 478 22 53 GEVA AUSTRIA Wiener Straße 89 AT-2500 Baden Phone: +43 (0)2252 / 85 55 20 Fax: +43 (0)2252 / 488 60 TEHNIKON BELARUS Oktyabrskaya 16/5, Off. 703-711 BY-220030 Minsk Phone: +375 (0)17 / 210 46 26 Fax: +375 (0)17 / 210 46 26 ESCO DRIVES & AUTOMATION BELGIUM Culliganlaan 3 BE-1831 Diegem Phone: +32 (0)2 / 717 64 30 Fax: +32 (0)2 / 717 64 31 Koning & Hartman b.v. BELGIUM Woluwelaan 31 BE-1800 Vilvoorde Phone: +32 (0)2 / 257 02 40 Fax: +32 (0)2 / 257 02 49 INEA BH d.o.o. BOSNIA AND HERZEGOVINA Aleja Lipa 56 BA-71000 Sarajevo Phone: +387 (0)33 / 921 164 Fax: +387 (0)33/ 524 539 AKHNATON BULGARIA 4 Andrej Ljapchev Blvd. Pb 21 BG-1756 Sofia Phone: +359 (0)2 / 817 6004 Fax: +359 (0)2 / 97 44 06 1 INEA CR d.o.o. CROATIA Losinjska 4 a HR-10000 Zagreb Phone: +385 (0)1 / 36 940 - 01/ -02/ -03 Fax: +385 (0)1 / 36 940 - 03 AutoCont C.S. s.r.o. CZECH REPUBLIC Technologická 374/6 CZ-708 00 Ostrava-Pustkovec Phone: +420 595 691 150 Fax: +420 595 691 199 B:ELECTRIC, s.r.o. CZECH REPUBLIC Mladoboleslavská 812 CZ-197 00 Praha 19 - Kbely Phone: +420 286 850 848, +420 724 317 975 Fax: +420 286 850 850 Beijer Electronics A/S DENMARK Lykkegårdsvej 17, 1. DK-4000 Roskilde Phone: +45 (0)46/ 75 76 66 Fax: +45 (0)46 / 75 56 26 Beijer Electronics Eesti OÜ ESTONIA Pärnu mnt.160i EE-11317 Tallinn Phone: +372 (0)6 / 51 81 40 Fax: +372 (0)6 / 51 81 49 Beijer Electronics OY FINLAND Jaakonkatu 2 FIN-01620 Vantaa Phone: +358 (0)207 / 463 500 Fax: +358 (0)207 / 463 501 UTECO A.B.E.E. GREECE 5, Mavrogenous Str. GR-18542 Piraeus Phone: +30 211 / 1206 900 Fax: +30 211 / 1206 999 MELTRADE Ltd. HUNGARY Fertő utca 14. HU-1107 Budapest Phone: +36 (0)1 / 431-9726 Fax: +36 (0)1 / 431-9727 Beijer Electronics SIA LATVIA Vestienas iela 2 LV-1035 Riga Phone: +371 (0)784 / 2280 Fax: +371 (0)784 / 2281 Beijer Electronics UAB LITHUANIA Savanoriu Pr. 187 LT-02300 Vilnius Phone: +370 (0)5 / 232 3101 Fax: +370 (0)5 / 232 2980 ALFATRADE Ltd. MALTA 99, Paola Hill Malta- Paola PLA 1702 Phone: +356 (0)21 / 697 816 Fax: +356 (0)21 / 697 817 INTEHSIS srl MOLDOVA bld. Traian 23/1 MD-2060 Kishinev Phone: +373 (0)22 / 66 4242 Fax: +373 (0)22 / 66 4280 HIFLEX AUTOM.TECHNIEK B.V. NETHERLANDS Wolweverstraat 22 NL-2984 CD Ridderkerk Phone: +31 (0)180 – 46 60 04 Fax: +31 (0)180 – 44 23 55 Koning & Hartman b.v. NETHERLANDS Haarlerbergweg 21-23 NL-1101 CH Amsterdam Phone: +31 (0)20 / 587 76 00 Fax: +31 (0)20 / 587 76 05 Beijer Electronics AS NORWAY Postboks 487 NO-3002 Drammen Phone: +47 (0)32 / 24 30 00 Fax: +47 (0)32 / 84 85 77 Sirius Trading & Services srl ROMANIA Aleea Lacul Morii Nr. 3 RO-060841 Bucuresti, Sector 6 Phone: +40 (0)21 / 430 40 06 Fax: +40 (0)21 / 430 40 02 Craft Con. & Engineering d.o.o. SERBIA Bulevar Svetog Cara Konstantina 80-86 SER-18106 Nis Phone:+381 (0)18 / 292-24-4/5 Fax: +381 (0)18 / 292-24-4/5 INEA SR d.o.o. SERBIA Izletnicka 10 SER-113000 Smederevo Phone: +381 (0)26 / 617 163 Fax: +381 (0)26 / 617 163 AutoCont Control s.r.o. SLOVAKIA Radlinského 47 SK-02601 Dolny Kubin Phone: +421 (0)43 / 5868210 Fax: +421 (0)43 / 5868210 CS MTrade Slovensko, s.r.o. SLOVAKIA Vajanskeho 58 SK-92101 Piestany Phone: +421 (0)33 / 7742 760 Fax: +421 (0)33 / 7735 144 INEA d.o.o. SLOVENIA Stegne 11 SI-1000 Ljubljana Phone: +386 (0)1 / 513 8100 Fax: +386 (0)1 / 513 8170 Beijer Electronics AB SWEDEN Box 426 SE-20124 Malmö Phone: +46 (0)40 / 35 86 00 Fax: +46 (0)40 / 35 86 02 Econotec AG SWITZERLAND Hinterdorfstr. 12 CH-8309 Nürensdorf Phone: +41 (0)44 / 838 48 11 Fax: +41 (0)44 / 838 48 12 GTS TURKEY Bayraktar Bulvari Nutuk Sok. No:5 TR-34775 Yukari Dudullu-Umraniye-ISTANBUL Phone: +90 (0)216 526 39 90 Fax: +90 (0)216 526 3995 CSC Automation Ltd. UKRAINE 4-B, M. Raskovoyi St. UA-02660 Kiev Phone: +380 (0)44 / 494 33 55 Fax: +380 (0)44 / 494-33-66 MITSUBISHI ELECTRIC FACTORY AUTOMATION EURASIAN REPRESENTATIVES Kazpromautomatics Ltd. Mustafina Str. 7/2 KAZ-470046 Karaganda Phone: +7 7212 / 50 11 50 Fax: +7 7212 / 50 11 50 KAZAKHSTAN MIDDLE EAST REPRESENTATIVES ILAN & GAVISH Ltd. ISRAEL 24 Shenkar St., Kiryat Arie IL-49001 Petah-Tiqva Phone: +972 (0)3 / 922 18 24 Fax: +972 (0)3 / 924 0761 TEXEL ELECTRONICS Ltd. ISRAEL 2 Ha´umanut, P.O.B. 6272 IL-42160 Netanya Phone: +972 (0)9 / 863 39 80 Fax: +972 (0)9 / 885 24 30 CEG INTERNATIONAL LEBANON Cebaco Center/Block A Autostrade DORA Lebanon - Beirut Phone: +961 (0)1 / 240 430 Fax: +961 (0)1 / 240 438 AFRICAN REPRESENTATIVE CBI Ltd. Private Bag 2016 ZA-1600 Isando Phone: + 27 (0)11 / 928 2000 Fax: + 27 (0)11 / 392 2354 SOUTH AFRICA Mitsubishi Electric Europe B.V. /// FA - European Business Group /// Gothaer Straße 8 /// D-40880 Ratingen /// Germany Tel.: +49(0)2102-4860 /// Fax: +49(0)2102-4861120 /// info@mitsubishi-automation.com /// www.mitsubishi-automation.com
Source Exif Data:
File Type : PDF File Type Extension : pdf MIME Type : application/pdf PDF Version : 1.6 Linearized : Yes Encryption : Standard V2.3 (128-bit) User Access : Print, Annotate, Fill forms, Extract, Print high-res Tagged PDF : Yes Page Mode : UseOutlines XMP Toolkit : Adobe XMP Core 4.0-c316 44.253921, Sun Oct 01 2006 17:14:39 Producer : Acrobat Distiller 8.1.0 (Windows) Keywords : mailbox@pdp.de Creator Tool : FrameMaker 8.0 Modify Date : 2010:01:28 08:59:29+01:00 Create Date : 2010:01:26 09:50Z Metadata Date : 2010:01:28 08:59:29+01:00 Format : application/pdf Title : Motion Controller Quick-Start Guide: Q170MCPU, Q172DCPU, Q173DCPU Creator : pdp GmbH, D-47475 Kamp-Lintfort Description : MELSEC System Q Subject : mailbox@pdp.de Document ID : uuid:559d4c01-02bf-4ef1-baab-17c999240769 Instance ID : uuid:a4e10cc3-2459-4ce2-a042-c14346da85b5 Page Count : 88 Author : pdp GmbH, D-47475 Kamp-LintfortEXIF Metadata provided by EXIF.tools