SAFETY PRECAUTIONS

(Please read these instructions before using this equipment.)

Before using this product, please read this manual and the relevant manuals introduced in this manual
carefully and pay full attention to safety to handle the product correctly.
These precautions apply only to this product. Refer to the Users manual of the QCPU module to use for a
description of the PLC system safety precautions.
In this manual, the safety instructions are ranked as "DANGER" and "CAUTION".

Indicates that incorrect handling may cause hazardous

DANGER conditions, resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous

CAUTION conditions, resulting in medium or slight personal injury or
physical damage.

Depending on circumstances, procedures indicated by CAUTION may also be linked to serious

results.
In any case, it is important to follow the directions for usage.

Please save this manual to make it accessible when required and always forward it to the end user.

A-1
For Safe Operations
1. Prevention of electric shocks
DANGER
Never open the front case or terminal covers while the power is ON or the unit is running, as this
may lead to electric shocks.
Never run the unit with the front case or terminal cover removed. The high voltage terminal and
charged sections will be exposed and may lead to electric shocks.
Never open the front case or terminal cover at times other than wiring work or periodic
inspections even if the power is OFF. The insides of the Motion controller and servo amplifier are
charged and may lead to electric shocks.
Completely turn off the externally supplied power used in the system before mounting or
removing the module, performing wiring work, or inspections. Failing to do so may lead to electric
shocks.
When performing wiring work or inspections, turn the power OFF, wait at least ten minutes, and
then check the voltage with a tester, etc.. Failing to do so may lead to electric shocks.
Be sure to ground the Motion controller, servo amplifier and servomotor. (Ground resistance :
100 or less) Do not ground commonly with other devices.
The wiring work and inspections must be done by a qualified technician.
Wire the units after installing the Motion controller, servo amplifier and servomotor. Failing to do
so may lead to electric shocks or damage.
Never operate the switches with wet hands, as this may lead to electric shocks.
Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this
may lead to electric shocks.
Do not touch the Motion controller, servo amplifier or servomotor terminal blocks while the power
is ON, as this may lead to electric shocks.
Do not touch the built-in power supply, built-in grounding or signal wires of the Motion controller
and servo amplifier, as this may lead to electric shocks.

2. For fire prevention

CAUTION
Install the Motion controller, servo amplifier, servomotor and regenerative resistor on
incombustible. Installing them directly or close to combustibles will lead to fire.
If a fault occurs in the Motion controller or servo amplifier, shut the power OFF at the servo
amplifier’s power source. If a large current continues to flow, fire may occur.
When using a regenerative resistor, shut the power OFF with an error signal. The regenerative
resistor may abnormally overheat due to a fault in the regenerative transistor, etc., and may lead
to fire.
Always take heat measures such as flame proofing for the inside of the control panel where the
servo amplifier or regenerative resistor is installed and for the wires used. Failing to do so may
lead to fire.
Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this
may lead to fire.

A-2
3. For injury prevention
CAUTION
Do not apply a voltage other than that specified in the instruction manual on any terminal.
Doing so may lead to destruction or damage.
Do not mistake the terminal connections, as this may lead to destruction or damage.
Do not mistake the polarity ( + / - ), as this may lead to destruction or damage.
Do not touch the heat radiating fins of controller or servo amplifier, regenerative resistor and
servomotor, etc., while the power is ON and for a short time after the power is turned OFF. In this
timing, these parts become very hot and may lead to burns.
Always turn the power OFF before touching the servomotor shaft or coupled machines, as these
parts may lead to injuries.
Do not go near the machine during test operations or during operations such as teaching.
Doing so may lead to injuries.

4. Various precautions
Strictly observe the following precautions.
Mistaken handling of the unit may lead to faults, injuries or electric shocks.
(1) System structure
CAUTION
Always install a leakage breaker on the Motion controller and servo amplifier power source.
If installation of an electromagnetic contactor for power shut off during an error, etc., is specified in
the instruction manual for the servo amplifier, etc., always install the electromagnetic contactor.
Install the emergency stop circuit externally so that the operation can be stopped immediately and
the power shut off.
Use the Motion controller, servo amplifier, servomotor and regenerative resistor with the correct
combinations listed in the instruction manual. Other combinations may lead to fire or faults.
Use the Motion controller, base unit and motion module with the correct combinations listed in the
instruction manual. Other combinations may lead to faults.
If safety standards (ex., robot safety rules, etc.,) apply to the system using the Motion controller,
servo amplifier and servomotor, make sure that the safety standards are satisfied.
Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal
operation of the Motion controller or servo amplifier differ from the safety directive operation in the
system.
In systems where coasting of the servomotor will be a problem during the forced stop, emergency
stop, servo OFF or power supply OFF, use dynamic brakes.
Make sure that the system considers the coasting amount even when using dynamic brakes.
In systems where perpendicular shaft dropping may be a problem during the forced stop,
emergency stop, servo OFF or power supply OFF, use both dynamic brakes and electromagnetic
brakes.

A-3
 CAUTION
The dynamic brakes must be used only on errors that cause the forced stop, emergency stop, or
servo OFF. These brakes must not be used for normal braking.
The brakes (electromagnetic brakes) assembled into the servomotor are for holding applications,
and must not be used for normal braking.
The system must have a mechanical allowance so that the machine itself can stop even if the
stroke limits switch is passed through at the max. speed.
Use wires and cables that have a wire diameter, heat resistance and bending resistance
compatible with the system.
Use wires and cables within the length of the range described in the instruction manual.
The ratings and characteristics of the parts (other than Motion controller, servo amplifier and
servomotor) used in a system must be compatible with the Motion controller, servo amplifier and
servomotor.
Install a cover on the shaft so that the rotary parts of the servomotor are not touched during
operation.
There may be some cases where holding by the electromagnetic brakes is not possible due to the
life or mechanical structure (when the ball screw and servomotor are connected with a timing belt,
etc.). Install a stopping device to ensure safety on the machine side.

(2) Parameter settings and programming

CAUTION
Set the parameter values to those that are compatible with the Motion controller, servo amplifier,
servomotor and regenerative resistor model and the system application. The protective functions
may not function if the settings are incorrect.
The regenerative resistor model and capacity parameters must be set to values that conform to
the operation mode, servo amplifier and servo power supply module. The protective functions
may not function if the settings are incorrect.
Set the mechanical brake output and dynamic brake output validity parameters to values that are
compatible with the system application. The protective functions may not function if the settings
are incorrect.
Set the stroke limit input validity parameter to a value that is compatible with the system
application. The protective functions may not function if the setting is incorrect.
Set the servomotor encoder type (increment, absolute position type, etc.) parameter to a value
that is compatible with the system application. The protective functions may not function if the
setting is incorrect.
Set the servomotor capacity and type (standard, low-inertia, flat, etc.) parameter to values that
are compatible with the system application. The protective functions may not function if the
settings are incorrect.
Set the servo amplifier capacity and type parameters to values that are compatible with the
system application. The protective functions may not function if the settings are incorrect.
Use the program commands for the program with the conditions specified in the instruction
manual.

A-4
 CAUTION
Set the sequence function program capacity setting, device capacity, latch validity range, I/O
assignment setting, and validity of continuous operation during error detection to values that are
compatible with the system application. The protective functions may not function if the settings
are incorrect.
Some devices used in the program have fixed applications, so use these with the conditions
specified in the instruction manual.
The input devices and data registers assigned to the link will hold the data previous to when
communication is terminated by an error, etc. Thus, an error correspondence interlock program
specified in the instruction manual must be used.
Use the interlock program specified in the intelligent function module's instruction manual for the
program corresponding to the intelligent function module.

(3) Transportation and installation

CAUTION
Transport the product with the correct method according to the mass.
Use the servomotor suspension bolts only for the transportation of the servomotor. Do not
transport the servomotor with machine installed on it.
Do not stack products past the limit.
When transporting the Motion controller or servo amplifier, never hold the connected wires or
cables.
When transporting the servomotor, never hold the cables, shaft or detector.
When transporting the Motion controller or servo amplifier, never hold the front case as it may fall
off.
When transporting, installing or removing the Motion controller or servo amplifier, never hold the
edges.
Install the unit according to the instruction manual in a place where the mass can be withstood.
Do not get on or place heavy objects on the product.
Always observe the installation direction.
Keep the designated clearance between the Motion controller or servo amplifier and control panel
inner surface or the Motion controller and servo amplifier, Motion controller or servo amplifier and
other devices.
Do not install or operate Motion controller, servo amplifiers or servomotors that are damaged or
that have missing parts.
Do not block the intake/outtake ports of the Motion controller, servo amplifier and servomotor with
cooling fan.
Do not allow conductive matter such as screw or cutting chips or combustible matter such as oil
enter the Motion controller, servo amplifier or servomotor.
The Motion controller, servo amplifier and servomotor are precision machines, so do not drop or
apply strong impacts on them.
Securely fix the Motion controller, servo amplifier and servomotor to the machine according to
the instruction manual. If the fixing is insufficient, these may come off during operation.

A-5
 CAUTION
Always install the servomotor with reduction gears in the designated direction. Failing to do so
may lead to oil leaks.
Store and use the unit in the following environmental conditions.
Conditions
Environment
Motion controller/Servo amplifier Servomotor
Ambient 0°C to +40°C (With no freezing)
According to each instruction manual.
temperature (32°F to +104°F)
80% RH or less
Ambient humidity According to each instruction manual.
(With no dew condensation)
Storage -20°C to +65°C
According to each instruction manual.
temperature (-4°F to +149°F)
Indoors (where not subject to direct sunlight).
Atmosphere
No corrosive gases, flammable gases, oil mist or dust must exist
Altitude 1000m (3280.84ft.) or less above sea level
Vibration According to each instruction manual

When coupling with the synchronous encoder or servomotor shaft end, do not apply impact such
as by hitting with a hammer. Doing so may lead to detector damage.
Do not apply a load larger than the tolerable load onto the synchronous encoder and servomotor
shaft. Doing so may lead to shaft breakage.
When not using the module for a long time, disconnect the power line from the Motion controller
or servo amplifier.
Place the Motion controller and servo amplifier in static electricity preventing vinyl bags and store.
When storing for a long time, please contact with our sales representative.
Also, execute a trial operation.
When you disinfect or protect wooden packing from insects, take measures except by fumigation.
Fumigating the Motion controller and servo amplifier or packing the Motion controller and servo
amplifier with fumigated wooden packing can cause a malfunction of the Motion controller and
servo amplifier due to halogen materials (such as fluorine, chlorine, bromine, and iodine) which
are contained in fumigant.
The Motion controller and servo amplifier must not be used with parts which contain halogen-
series flame retardant materials (such as bromine) under coexisting conditions.

A-6
(4) Wiring
CAUTION
Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal
screws for tightness after wiring. Failing to do so may lead to run away of the servomotor.
After wiring, install the protective covers such as the terminal covers to the original positions.
Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF)
on the output side of the servo amplifier.
Correctly connect the output side (terminal U, V, W) and ground. Incorrect connections will lead
the servomotor to operate abnormally.
Do not connect a commercial power supply to the servomotor, as this may lead to trouble.
Do not mistake the direction of the surge absorbing diode installed on the DC relay for the control
signal output of brake signals, etc. Incorrect installation may lead to signals not being output
when trouble occurs or the protective functions not functioning.
Servo amplifier Servo amplifier
24VDC 24VDC
DOCOM DOCOM

Control output Control output

signal RA signal RA

DICOM DICOM

For the sink output interface For the source output interface

Do not connect or disconnect the connection cables between each unit, the encoder cable or
PLC expansion cable while the power is ON.
Securely tighten the cable connector fixing screws and fixing mechanisms. Insufficient fixing may
lead to the cables combing off during operation.
Do not bundle the power line or cables.

(5) Trial operation and adjustment

CAUTION
Confirm and adjust the program and each parameter before operation. Unpredictable
movements may occur depending on the machine.
Extreme adjustments and changes may lead to unstable operation, so never make them.
When using the absolute position system function, on starting up, and when the Motion
controller or absolute value motor has been replaced, always perform a home position return.
Before starting test operation, set the parameter speed limit value to the slowest value, and
make sure that operation can be stopped immediately by the forced stop, etc. if a hazardous
state occurs.

A-7
(6) Usage methods
CAUTION
Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the
Motion controller, servo amplifier or servomotor.
Always execute a test operation before starting actual operations after the program or
parameters have been changed or after maintenance and inspection.
Do not attempt to disassemble and repair the units excluding a qualified technician whom our
company recognized.
Do not make any modifications to the unit.
Keep the effect or electromagnetic obstacles to a minimum by installing a noise filter or by using
wire shields, etc. Electromagnetic obstacles may affect the electronic devices used near the
Motion controller or servo amplifier.
When using the CE Mark-compliant equipment, refer to this manual for the Motion controllers
and refer to the corresponding EMC guideline information for the servo amplifiers, inverters and
other equipment.
Use the units with the following conditions.
Item Conditions
Input power According to each instruction manual.
Input frequency According to each instruction manual.
Tolerable momentary power failure According to each instruction manual.

(7) Corrective actions for errors

CAUTION
If an error occurs in the self diagnosis of the Motion controller or servo amplifier, confirm the
check details according to the instruction manual, and restore the operation.
If a dangerous state is predicted in case of a power failure or product failure, use a servomotor
with electromagnetic brakes or install a brake mechanism externally.
Use a double circuit construction so that the electromagnetic brake operation circuit can be
operated by emergency stop signals set externally.
Shut off with the
Shut off with servo ON signal OFF, emergency stop
alarm, electromagnetic brake signal. signal (EMG).

Servo motor
EMG
RA1

Electromagnetic
brakes
B 24VDC

If an error occurs, remove the cause, secure the safety and then resume operation after alarm
release.
The unit may suddenly resume operation after a power failure is restored, so do not go near the
machine. (Design the machine so that personal safety can be ensured even if the machine
restarts suddenly.)

A-8
(8) Maintenance, inspection and part replacement
CAUTION
Perform the daily and periodic inspections according to the instruction manual.
Perform maintenance and inspection after backing up the program and parameters for the Motion
controller and servo amplifier.
Do not place fingers or hands in the clearance when opening or closing any opening.
Periodically replace consumable parts such as batteries according to the instruction manual.
Do not touch the lead sections such as ICs or the connector contacts.
Before touching the module, always touch grounded metal, etc. to discharge static electricity from
human body. Failure to do so may cause the module to fail or malfunction.
Do not directly touch the module's conductive parts and electronic components.
Touching them could cause an operation failure or give damage to the module.
Do not place the Motion controller or servo amplifier on metal that may cause a power leakage
or wood, plastic or vinyl that may cause static electricity buildup.
Do not perform a megger test (insulation resistance measurement) during inspection.
When replacing the Motion controller or servo amplifier, always set the new module settings
correctly.
When the Motion controller or absolute value motor has been replaced, carry out a home
position return operation using one of the following methods, otherwise position displacement
could occur.
1) After writing the servo data to the Motion controller using programming software, switch on the
power again, then perform a home position return operation.
2) Using the backup function of the programming software, load the data backed up before
replacement.
After maintenance and inspections are completed, confirm that the position detection of the
absolute position detector function is correct.
Do not drop or impact the battery installed to the module.
Doing so may damage the battery, causing battery liquid to leak in the battery. Do not use the
dropped or impacted battery, but dispose of it.
Do not short circuit, charge, overheat, incinerate or disassemble the batteries.
The electrolytic capacitor will generate gas during a fault, so do not place your face near the
Motion controller or servo amplifier.
The electrolytic capacitor and fan will deteriorate. Periodically replace these to prevent secondary
damage from faults. Replacements can be made by our sales representative.
Lock the control panel and prevent access to those who are not certified to handle or install
electric equipment.
Do not burn or break a module and servo amplifier. Doing so may cause a toxic gas.

A-9
(9) About processing of waste
When you discard Motion controller, servo amplifier, a battery (primary battery) and other option
articles, please follow the law of each country (area).

CAUTION
This product is not designed or manufactured to be used in equipment or systems in situations
that can affect or endanger human life.
When considering this product for operation in special applications such as machinery or systems
used in passenger transportation, medical, aerospace, atomic power, electric power, or
submarine repeating applications, please contact your nearest Mitsubishi sales representative.
Although this product was manufactured under conditions of strict quality control, you are strongly
advised to install safety devices to forestall serious accidents when it is used in facilities where a
breakdown in the product is likely to cause a serious accident.

(10) General cautions

All drawings provided in the instruction manual show the state with the covers and safety
partitions removed to explain detailed sections. When operating the product, always return the
covers and partitions to the designated positions, and operate according to the instruction
manual.

A - 10
REVISIONS
The manual number is given on the bottom left of the back cover.
Print Date Manual Number Revision
Apr., 2013 IB(NA)-0300212-A First edition

Japanese Manual Number IB(NA)-0300205

This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent
licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property
rights which may occur as a result of using the contents noted in this manual.

© 2013 MITSUBISHI ELECTRIC CORPORATION

A - 11
 INTRODUCTION

Thank you for choosing the Mitsubishi Motion controller Q170MSCPU.

Before using the equipment, please read this manual carefully to develop full familiarity with the functions
and performance of the Motion controller you have purchased, so as to ensure correct use.

CONTENTS

Safety Precautions .........................................................................................................................................A- 1

Revisions ........................................................................................................................................................A-11
Contents .........................................................................................................................................................A-12
About Manuals ...............................................................................................................................................A-15

1. OVERVIEW 1- 1 to 1-12

1.1 Overview................................................................................................................................................... 1- 1
1.2 Comparison between Q170MSCPU and Q170MCPU ........................................................................... 1- 3
1.3 Program Software Version....................................................................................................................... 1-12

2. SYSTEM CONFIGURATION 2- 1 to 2-74

2.1 Motion System Configuration .................................................................................................................. 2- 1

2.1.1 Q170MSCPU System overall configuration ..................................................................................... 2- 3
2.1.2 Q170MSCPU System internal configuration.................................................................................... 2- 5
2.1.3 Function explanation of the Q170MSCPU Motion controller........................................................... 2- 6
2.1.4 Restrictions on Motion controller ...................................................................................................... 2- 8
2.2 Checking Serial Number and Operating System Software Version....................................................... 2-11
2.2.1 Checking serial number .................................................................................................................... 2-11
2.2.2 Checking operating system software version .................................................................................. 2-13
2.3 System Configuration Equipment............................................................................................................ 2-14
2.4 General Specifications ............................................................................................................................. 2-20
2.5 Specifications of Equipment .................................................................................................................... 2-21
2.5.1 Q170MSCPU Motion controller ........................................................................................................ 2-21
2.5.2 Power supply module........................................................................................................................ 2-44
2.5.3. Extension base unit and extension cable........................................................................................ 2-49
2.5.4 Q172DLX Servo external signals interface module ......................................................................... 2-53
2.5.5 Q173DPX Manual pulse generator interface module ...................................................................... 2-58
2.5.6 Manual pulse generator .................................................................................................................... 2-66
2.5.7 SSCNET cables ............................................................................................................................. 2-67
2.5.8 Battery ............................................................................................................................................... 2-69
2.5.9 Forced stop input terminal ................................................................................................................ 2-73

3. DESIGN 3- 1 to 3-16

3.1 System Designing Procedure .................................................................................................................. 3- 1

3.2 External Circuit Design ............................................................................................................................ 3- 4
3.2.1 Power supply circuit design .............................................................................................................. 3- 7
3.2.2 Safety circuit design .......................................................................................................................... 3- 9
3.3 Layout Design within the Control Panel .................................................................................................. 3-11
3.3.1 Mounting environment....................................................................................................................... 3-11
A - 12
 3.3.2 Calculating heat generation by Motion controller............................................................................. 3-12
3.4 Design Checklist ...................................................................................................................................... 3-16

4. INSTALLATION AND WIRING 4- 1 to 4-32

4.1 Module Installation ................................................................................................................................... 4- 1

4.1.1 Instructions for handling .................................................................................................................... 4- 1
4.1.2 Instructions for mounting the modules ............................................................................................. 4- 3
4.1.3 Installation and removal of module to the base unit......................................................................... 4-10
4.1.4 Mounting and removal of the battery holder..................................................................................... 4-13
4.2 Connection and Disconnection of Cable ................................................................................................. 4-18
4.2.1 SSCNET cable ............................................................................................................................... 4-18
4.2.2 Forced stop input cable..................................................................................................................... 4-24
4.2.3 24VDC power supply cable .............................................................................................................. 4-25
4.3 Wiring........................................................................................................................................................ 4-26
4.3.1 Instructions for wiring ........................................................................................................................ 4-26
4.3.2 Connecting to the power supply ....................................................................................................... 4-29
4.3.3 Wiring of connector ........................................................................................................................... 4-31

5. START-UP PROCEDURES 5- 1 to 5-10

5.1 Check Items before Start-up.................................................................................................................... 5- 1

5.2 Start-up Adjustment Procedure ............................................................................................................... 5- 3
5.3 Operating System Software Installation Procedure................................................................................ 5- 7
5.4 Trial Operation and Adjustment Checklist............................................................................................... 5- 9

6. INSPECTION AND MAINTENANCE 6- 1 to 6-34

6.1 Maintenance Works ................................................................................................................................. 6- 2

6.1.1 Instruction of inspection works.......................................................................................................... 6- 2
6.2 Daily Inspection ........................................................................................................................................ 6- 4
6.3 Periodic Inspection................................................................................................................................... 6- 5
6.4 Life ............................................................................................................................................................ 6- 6
6.5 Battery ...................................................................................................................................................... 6- 7
6.5.1 Battery life.......................................................................................................................................... 6- 8
6.5.2 Battery replacement procedure ........................................................................................................ 6-11
6.5.3 Resuming operation after storing the Motion controller ................................................................... 6-14
6.5.4 Symbol for the new EU Battery Directive ......................................................................................... 6-14
6.6 Troubleshooting ....................................................................................................................................... 6-15
6.6.1 Troubleshooting basics ..................................................................................................................... 6-15
6.6.2 Troubleshooting of Motion controller ................................................................................................ 6-16
6.6.3 Confirming error code ....................................................................................................................... 6-32
6.6.4 Internal I/O circuit troubleshooting .................................................................................................... 6-33

7. EMC DIRECTIVES 7- 1 to 7- 8

7.1 Requirements for Compliance with the EMC Directive .......................................................................... 7- 1

7.1.1 Standards relevant to the EMC Directive ......................................................................................... 7- 2
7.1.2 Installation instructions for EMC Directive........................................................................................ 7- 3
7.1.3 Parts of measure against noise ........................................................................................................ 7- 6
A - 13
 7.1.4 Example of measure against noise .................................................................................................. 7- 8

APPENDICES APP- 1 to APP-42

APPENDIX 1 Differences Between Q170MSCPU and Q173DSCPU/Q172DSCPU.............................APP- 1

APPENDIX 1.1 Differences of parameters...........................................................................................APP- 2
APPENDIX 1.2 Differences of peripheral device interface ..................................................................APP- 3
APPENDIX 1.3 Differences of CPU display and I/O assignment ........................................................APP- 4
APPENDIX 1.4 Differences of I/O signals ............................................................................................APP- 6
APPENDIX 2 Creation of Project..............................................................................................................APP- 9
APPENDIX 2.1 Sample data.................................................................................................................APP-10
APPENDIX 3 Processing Times...............................................................................................................APP-27
APPENDIX 4 Cables.................................................................................................................................APP-28
APPENDIX 4.1 SSCNET cables........................................................................................................APP-28
APPENDIX 4.2 Forced stop input cable ...............................................................................................APP-31
APPENDIX 4.3 24VDC power supply cable.........................................................................................APP-31
APPENDIX 4.4 Internal I/F connector cable.........................................................................................APP-32
APPENDIX 4.5 SSCNET cables (SC-J3BUS M-C) manufactured by Mitsubishi Electric
System & Service ........................................................................................................APP-34
APPENDIX 5 Exterior Dimensions ...........................................................................................................APP-35
APPENDIX 5.1 Motion controller ..........................................................................................................APP-35
APPENDIX 5.2 Servo external signals interface module (Q172DLX).................................................APP-36
APPENDIX 5.3 Manual pulse generator interface module (Q173DPX)..............................................APP-36
APPENDIX 5.4 Power supply module ..................................................................................................APP-37
APPENDIX 5.5 Battery holder ..............................................................................................................APP-38
APPENDIX 5.6 Connector ....................................................................................................................APP-39
APPENDIX 5.7 Manual pulse generator (MR-HDP01) ........................................................................APP-42

A - 14
About Manuals

The following manuals are also related to this product.

In necessary, order them by quoting the details in the tables below.

Related Manuals

(1) Motion controller

Manual Number
Manual Name
(Model Code)
Q170MSCPU Motion controller User's Manual
This manual explains specifications of the Q170MSCPU Motion controller, Q172DLX Servo external signal IB-0300212
interface module, Q173DPX Manual pulse generator interface module, Servo amplifiers, SSCNET (1XB962)
cables, and the maintenance/inspection for the system, trouble shooting and others.
Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (COMMON)
IB-0300134
This manual explains the Multiple CPU system configuration, performance specifications, common
(1XB928)
parameters, auxiliary/applied functions, error lists and others.

Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual

IB-0300135
(Motion SFC)
(1XB929)
This manual explains the functions, programming, debugging, error lists for Motion SFC and others.

Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual

IB-0300136
(REAL MODE)
(1XB930)
This manual explains the servo parameters, positioning instructions, device lists, error lists and others.

Q173D(S)CPU/Q172D(S)CPU Motion controller (SV22) Programming Manual

(VIRTUAL MODE)
IB-0300137
This manual explains the dedicated instructions to use the synchronous control by virtual main shaft,
(1XB931)
mechanical system program create mechanical module, servo parameters, positioning instructions, device
lists, error lists and others.

Q173DSCPU/Q172DSCPU Motion controller (SV22) Programming Manual

(Advanced Synchronous Control) IB-0300198
This manual explains the dedicated instructions to use the synchronous control by synchronous control (1XB953)
parameters, device lists, error lists and others.

Motion controller Setup Guidance (MT Developer2 Version1)

IB-0300142
This manual explains the items related to the setup of the Motion controller programming software
( — )
MT Developer2.

A - 15
(2) PLC
Manual Number
Manual Name
(Model Code)
QCPU User's Manual (Hardware Design, Maintenance and Inspection)
This manual explains the specifications of the QCPU modules, power supply modules, base units, SH-080483ENG
extension cables, memory card battery, and the maintenance/inspection for the system, trouble shooting, (13JR73)
error codes and others.

QnUCPU User's Manual (Function Explanation, Program Fundamentals)

SH-080807ENG
This manual explains the functions, programming methods and devices and others to create programs
(13JZ27)
with the QCPU.

QCPU User's Manual (Multiple CPU System)

This manual explains the Multiple CPU system overview, system configuration, I/O modules, SH-080485ENG
communication between CPU modules and communication with the I/O modules or intelligent function (13JR75)
modules.

QnUCPU User's Manual (Communication via Built-in Ethernet Port) SH-080811ENG

This manual explains functions for the communication via built-in Ethernet port of the CPU module. (13JZ29)

MELSEC-Q/L Programming Manual (Common Instruction)

SH-080809ENG
This manual explains how to use the sequence instructions, basic instructions, application instructions and
(13JW10)
micro computer program.

MELSEC-Q/L/QnA Programming Manual (PID Control Instructions) SH-080040

This manual explains the dedicated instructions used to exercise PID control. (13JF59)

MELSEC-Q/L/QnA Programming Manual (SFC)

SH-080041
This manual explains the system configuration, performance specifications, functions, programming,
(13JF60)
debugging, error codes and others of MELSAP3.

I/O Module Type Building Block User's Manual

SH-080042
This manual explains the specifications of the I/O modules, connector, connector/terminal block
(13JL99)
conversion modules and others.

MELSEC-L SSCNET /H Head Module User's Manual

SH-081152ENG
This manual explains specifications of the head module, procedures before operation, system
(13JZ78)
configuration, installation, wiring, settings, and troubleshooting.

A - 16
(3) Servo amplifier
Manual Number
Manual Name
(Model Code)
SSCNET /H interface MR-J4- B Servo amplifier Instruction Manual
SH-030106
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for
(1CW805)
MR-J4- B Servo amplifier.

SSCNET /H interface Multi-axis AC Servo MR-J4W- B Servo amplifier Instruction Manual

SH-030105
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Multi-
(1CW806)
axis AC Servo MR-J4W - B Servo amplifier.

SSCNET interface MR-J3- B Servo amplifier Instruction Manual

SH-030051
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for
(1CW202)
MR-J3- B Servo amplifier.

SSCNET interface 2-axis AC Servo Amplifier MR-J3W- B Servo amplifier Instruction

Manual SH-030073
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for 2-axis (1CW604)
AC Servo Amplifier MR-J3W- B Servo amplifier.

SSCNET Compatible Linear Servo MR-J3- B-RJ004 Instruction Manual

SH-030054
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Linear
(1CW943)
Servo MR-J3- B-RJ004 Servo amplifier.

SSCNET Compatible Fully Closed Loop Control MR-J3- B-RJ006 Servo amplifier
Instruction Manual SH-030056
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Fully (1CW304)
Closed Loop Control MR-J3- B-RJ006 Servo amplifier.

SSCNET Interface Direct Drive Servo MR-J3- B-RJ080W Servo amplifier Instruction
Manual SH-030079
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Direct (1CW601)
Drive Servo MR-J3- B-RJ080W Servo amplifier.

SSCNET interface Drive Safety integrated MR-J3- B Safety Servo amplifier Instruction
Manual SH-030084
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for safety (1CW205)
integrated MR-J3- B Safety Servo amplifier.

A - 17
MEMO

A - 18
1 OVERVIEW

1. OVERVIEW

1.1 Overview 1

This User's Manual describes the hardware specifications and handling methods of the
Motion Controller Q170MSCPU for the Q series PLC Multiple CPU system.
The Manual also describes those items related to the specifications of the option
module for the Motion controller, Manual pulse generator and cables.
In this manual, the following abbreviations are used.
Generic term/Abbreviation Description
Q170MSCPU or Motion controller Q170MSCPU/Q170MSCPU-S1 Motion controller
Q172DLX Servo external signals interface module/
Q172DLX/Q173DPX or Motion module
Q173DPX Manual pulse generator interface module
MR-J4(W)- B Servo amplifier model MR-J4- B/MR-J4W- B
MR-J3(W)- B Servo amplifier model MR-J3- B/MR-J3W- B
General name for "Servo amplifier model MR-J4- B/MR-J4W- B/MR-J3- B/
AMP or Servo amplifier
MR-J3W- B"
Multiple CPU system or Motion system Abbreviation for "Multiple PLC system of the Q series"
PLC CPU area PLC control area (CPU No.1) of Q170MSCPU/Q170MSCPU-S1 Motion controller
Motion control area (CPU No.2) of Q170MSCPU/Q170MSCPU-S1 Motion
Motion CPU area
controller
Abbreviation for "CPU No.n (n= 1 to 4) of the CPU module for the Multiple CPU
CPUn
system"
Operating system software General name for "SW8DNC-SV Q "
Operating system software for conveyor assembly use (Motion SFC) :
SV13
SW8DNC-SV13Q
Operating system software for automatic machinery use (Motion SFC) :
SV22
SW8DNC-SV22Q
Programming software package General name for MT Developer2/GX Works2/MR Configurator2
Abbreviation for "Motion controller engineering environment
MELSOFT MT Works2
MELSOFT MT Works2"
(Note-1) Abbreviation for "Motion controller programming software MT Developer2
MT Developer2
(Version 1.56J or later)"
Abbreviation for "Programmable controller engineering software
GX Works2
MELSOFT GX Works2 (Version 1.98C or later)"
(Note-1) Abbreviation for "Servo setup software package
MR Configurator2
MR Configurator2 (Version 1.19V or later)"
Manual pulse generator or MR-HDP01 Abbreviation for "Manual pulse generator (MR-HDP01)"
(Note-2)
SSCNET /H
(Note-2) High speed synchronous network between Motion controller and servo amplifier
SSCNET
(Note-2)
SSCNET (/H) General name for SSCNET /H, SSCNET
General name for "system using the servomotor and servo amplifier for absolute
Absolute position system
position"
General name for module that has a function other than input or output, such as
Intelligent function module
A/D converter module and D/A converter module.
(Note-2)
SSCNET /H head module Abbreviation for "MELSOFT-L series SSCNET /H head module (LJ72MS15)"
(Note-1): This software is included in Motion controller engineering environment "MELSOFT MT Works2".
(Note-2): SSCNET: Servo System Controller NETwork

1-1
1 OVERVIEW

REMARK
For information about each module, design method for program and parameter,
refer to the following manuals.

Item Reference Manual

PLC CPU area, peripheral devices for PLC program design, MELSEC-Q series PLC Manuals,
I/O modules and intelligent function module Manual relevant to each module
Operation method for MT Developer2 Help of each software
• Multiple CPU system configuration
• Performance specification Q173D(S)CPU/Q172D(S)CPU Motion controller
• Design method for common parameter Programming Manual (COMMON)
• Auxiliary and applied functions (common)
• Design method for Motion SFC program
Q173D(S)CPU/Q172D(S)CPU Motion controller
SV13/SV22 • Design method for Motion SFC parameter
(SV13/SV22) Programming Manual (Motion SFC)
• Motion dedicated PLC instruction
• Design method for positioning control
program in the real mode Q173D(S)CPU/Q172D(S)CPU Motion controller
• Design method for positioning control (SV13/SV22) Programming Manual (REAL MODE)
parameter
SV22 • Design method for mechanical system Q173D(S)CPU/Q172D(S)CPU Motion controller (SV22)
(Virtual mode) program Programming Manual (VIRTUAL MODE)
SV22
(Advanced • Design method for synchronous control Q173DSCPU/Q172DSCPU Motion controller (SV22)
synchronous parameter Programming Manual (Advanced Synchronous Control)
control)

1-2
1 OVERVIEW

1.2 Comparison between Q170MSCPU and Q170MCPU

(1) Comparison of hardware

Item Q170MSCPU Q170MSCPU-S1 Q170MCPU
Power supply Built-in (24VDC)
Q03UDCPU or equivalent Q06UDHCPU or equivalent Q03UDCPU or equivalent
PLC CPU area
(30k steps) (60k steps) (20k steps)
Program capacity 30k steps (120 bytes) 60k steps (240 bytes) 30k steps (80 bytes)
LD instruction processing speed 0.02µs 0.0095µs 0.02µs
Q172DCPU or equivalent
Motion CPU area Q172DSCPU or equivalent (16 axes)
(16 axes)
Forced stop input Use forced stop input terminal
Main base unit None
(Note-1)
7 extensions (Up to 64 slots) 1 extension
Extension base unit
(Q52B/Q55B/Q63B/Q65B/Q68B/Q612B usable) (Q52B/Q55B usable)
• Extension base unit use:
Base unit Connection after the extension
GOT bus base unit of stage 1
No restriction
connection • Extension base unit not use:
Direct bus connection to
Motion controller
Q172DLX 2 modules
Q172DEX Unusable
Motion (Note-2)
Q173DPX 4 modules 3 modules
module
Base unit for
Extension base unit
installation
Battery Demand
Q6BAT Packed together with Motion controller
Q7BAT (Large capacity) Usable (sold separately)
Number of CPUs 2 modules
CPU No.1 PLC CPU area
Multiple CPU
CPU No.2 Motion CPU area
system
CPU No.3 —
CPU No.4 —
Mounting method Be sure to mount Motion controller on control panel by fixing screws
178 (7.01)(H) × 52 (2.05)(W)
Exterior dimensions [mm(inch)] 186 (7.32)(H) × 52 (2.05)(W) × 135 (5.31)(D)
× 135 (5.31)(D)
Medium of operating system The operating system software
CD-ROM (1 disk)
software (SV22 (Virtual mode switching method)) is installed.
Model of SV13 SW8DNC-SV13QN SW8DNC-SV13QG
operating system SV22 SW8DNC-SV22QN SW8DNC-SV22QF
software SV43 — —
Programming PLC CPU area GX Works2
tool Motion CPU area MT Developer2

1-3
1 OVERVIEW

Comparison of hardware (continued)

Item Q170MSCPU Q170MSCPU-S1 Q170MCPU
Communication speed 50Mbps
Up to 20m (65.62ft.) between stations
Standard cable
Transmission Maximum overall distance 320m(1049.87ft.) (20m (65.62ft.) ×16 axes)
SSCNET

distance Long distance Up to 50m (164.04ft.) between stations

cable Maximum overall distance 800m (2624.67ft.) (50m (164.04ft.) ×16 axes)
MR-J3- B, MR-J3W- B, MR-J3- B-RJ004, MR-J3- B-RJ006,
Servo amplifier
MR-J3- B-RJ080W, MR-J3- B Safety
Communication speed 150Mbps
Up to 20m (65.62ft.) between stations
SSCNET /H

Standard cable Maximum overall distance 320m(1049.87ft.)

Transmission (20m (65.62ft.) ×16 axes)
Unusable
distance Up to 100m (328.08ft.) between stations
Long distance
Maximum overall distance 1600m (5249.34ft.)
cable
(100m (328.08ft.) ×16 axes)
Servo amplifier MR-J4- B, MR-J4- B-RJ, MR-J4W- B

(Note-1): Occupies 8 slots of the main base unit as empty slots.

(Note-2): When using the incremental synchronous encoder (SV22 use), you can use above number of modules.
When connecting the manual pulse generator, you can use only 1 module.

1-4
1 OVERVIEW

(2) Comparison of SV13/SV22 Motion control specifications/

performance specifications
(a) Comparison of Motion control specifications
Item Q170MSCPU Q170MSCPU-S1 Q170MCPU
Number of control axes Up to 16 axes
0.22ms/ 1 to 4 axes
0.44ms/ 1 to 6 axes
SV13 0.44ms/ 5 to 10 axes
0.88ms/ 7 to 16 axes
Operation cycle 0.88ms/11 to 16 axes
(default) 0.44ms/ 1 to 4 axes
0.44ms/ 1 to 6 axes
SV22 0.88ms/ 5 to 12 axes
0.88ms/ 7 to 16 axes
1.77ms/13 to 16 axes
Interpolation functions Linear interpolation (Up to 4 axes), Circular interpolation (2 axes), Helical interpolation (3 axes)
PTP(Point to Point) control, Speed
PTP(Point to Point) control, Speed control, control, Speed-position control,
Speed-position control, Fixed-pitch feed, Constant speed control, Fixed-pitch feed, Constant speed
Position follow-up control, Speed control with fixed position stop, control, Position follow-up control,
Control modes
Speed switching control, High-speed oscillation control, Speed control with fixed position
Speed torque control, Synchronous control (SV22 (Virtual mode stop, Speed switching control,
switching method/Advanced synchronous control method)) High-speed oscillation control,
Synchronous control (SV22)
Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration,
Acceleration/deceleration control
Advanced S-curve acceleration/deceleration
Compensation Backlash compensation, Electronic gear, Phase compensation (SV22)
(Note-1)
Programming language Motion SFC, Dedicated instruction, Mechanical support language (SV22)
Servo program capacity 16k steps
Number of positioning points 3200 points (Positioning data can be designated indirectly)
USB/RS-232 PLC CPU area control
Peripheral I/F
PERIPHERAL I/F Motion CPU area control
Proximity dog type (2 types),
Count type (3 types),
Proximity dog type (2 types), Count type (3 types),
Data set type (2 types),
Data set type (2 types), Dog cradle type,
Dog cradle type,
Stopper type (2 types), Limit switch combined type,
Home position return function Stopper type (2 types),
Scale home position signal detection type,
Limit switch combined type,
Dogless home position signal reference type
Scale home position signal
detection type
Home position return re-try function provided, home position shift function provided
JOG operation function Provided
Manual pulse generator Possible to connect 3 modules (Q173DPX use)
(Note-2), (Note-3)
operation function Possible to connect 1 module (Internal I/F use)
Possible to connect 8 modules
(Note-4) (Note-4)
Possible to connect 12 modules (SV22 use) (SV22 use)
Synchronous encoder operation (Note-5)
(Q173DPX + Internal I/F + Via device ) (Q173DPX + Internal I/F)
function
ABS synchronous encoder unusable ABS synchronous encoder
unusable
M-code function M-code output function provided, M-code completion wait function provided
Number of output points 32 points
SV13
Watch data: Motion control data/Word device
Virtual mode switching method:
Number of output points 32 points
Limit switch output Number of output points 32 points
Watch data: Motion control data/
function Advanced synchronous control method:
SV22 Word device
Number of output points 64 points × 2 settings
Output timing compensation
Watch data: Motion control data/Word device

1-5
1 OVERVIEW

Comparison of Motion control specifications (continued)

Item Q170MSCPU Q170MSCPU-S1 Q170MCPU
ROM operation function Provided
Q172DLX, External input signals (FLS/RLS/DOG) of servo Q172DLX or External input signals
External input signal
amplifier, Internal I/F (DI), Bit device (FLS/RLS/DOG) of servo amplifier
High-speed reading function
(Note-6) Via internal I/F/input module, Via tracking of Q173DPX

Forced stop Motion controller forced stop (EMI connector, system setting), Forced stop terminal of servo amplifier
Total 256 points Total 256 points
Number of I/O points (Internal I/F (Input 4 points, Output 2 points) + I/O module (Internal I/F (Input 4 points,
+ Intelligent function module) Output 2 points) + I/O module)
Mark detection function Provided
Clock data setting Clock synchronization between Multiple CPU
Provided Provided
Security function
(Protection by software security key or password) (Protection by password)
All clear function Provided
Remote operation Remote RUN/STOP, Remote latch clear
Optional data SSCNET Up to 3 data/axis (Communication data: Up to 3 points/axis)
monitor
SSCNET /H Up to 6 data/axis (Communication data: Up to 6 points/axis) None
function
Motion buffering method
Motion buffering method
(Real-time waveform can be
Digital oscilloscope function (Real-time waveform can be displayed)
displayed)
Sampling data: Word 16CH, Bit 16CH
Sampling data: Word 4CH, Bit 8CH
Made compatible by setting battery to servo amplifier.
Absolute position system
(Possible to select the absolute data method or incremental method for each axis)
SSCNET Communication
SSCNET /H, SSCNET SSCNET
communication method
(Note-7)
Number of lines 1 line
Driver communication function
(Note-8) Provided None

Number of Q172DLX 2 modules usable 2 modules usable

Motion related (Note-9) (Note-9)
Q173DPX 4 modules usable 3 modules usable
modules
Interrupt module, Input module, Output module, Interrupt module, Input module,
Input/Output composite module, Analogue input module, Output module,
PLC module which can be control
Analogue output module, Analogue input/output module, Input/Output composite module,
by Motion CPU (area)
High-speed counter module, Positioning module, Analogue input module,
Simple Motion module, Control unit of displacement sensor Analogue output module
Number of SSCNET /H head
Up to 4 stations usable Unusable
module connection stations

(Note-1): SV22 virtual mode only

(Note-2): When the manual pulse generator is used via the Q170MSCPU's internal I/F, the Q173DPX cannot be used.
(Note-3): When the operation cycle is 7.11ms or less, the manual pulse generator I/F built-in CPU can be used.
(Note-4): Any incremental synchronous encoder connected to the Q170MSCPU's internal I/F will automatically be assigned an Axis No.
one integer greater than the number of encoders connected to any Q173DPX modules.
(Note-5): SV22 advanced synchronous control only
(Note-6): This cannot be used in SV22 advanced synchronous control of Q17MSCPU/Q170MSCPU-S1.
(Note-7): The servo amplifiers for SSCNET cannot be used.
(Note-8): Servo amplifier (MR-J3- B) only
(Note-9): When using the incremental synchronous encoder (SV22 use), you can use above number of modules.
When connecting the manual pulse generator, you can use only 1 module.

1-6
1 OVERVIEW

(b) Comparison of Motion SFC performance specifications

Item Q170MSCPU(-S1) Q170MCPU
Code total
(Motion SFC chart + Operation control 652k bytes 543k bytes
Motion SFC program
+ Transition)
capacity
Text total
668k bytes 484k bytes
(Operation control + Transition)
Number of Motion SFC programs 256 (No.0 to 255)
Motion SFC chart size/program Up to 64k bytes (Included Motion SFC chart comments)
Number of Motion SFC steps/program Up to 4094 steps
Motion SFC program
Number of selective branches/branch 255
Number of parallel branches/branch 255
Parallel branch nesting Up to 4 levels
4096 with F(Once execution type) and FS(Scan execution type)
Number of operation control programs
combined. (F/FS0 to F/FS4095)
Number of transition programs 4096(G0 to G4095)
Code size/program Up to approx. 64k bytes (32766 steps)
Number of blocks(line)/program Up to 8192 blocks (in the case of 4 steps(min)/blocks)
Number of characters/block Up to 128 (comment included)
Number of operand/block Up to 64 (operand: constants, word device, bit devices)
( ) nesting/block Up to 32 levels
Calculation expression, bit conditional expression,
Operation control program
Descriptive branch/repetition processing
expression Calculation expression/bit conditional expression/
Transition program
comparison conditional expression
Binary operation =, +, -, *, /, %
Bit operation ~, &, |, ^, >>, <<
Operation control
SIN, COS, TAN, ASIN, ACOS, ATAN, SQRT, LN, EXP, ABS, RND,
program (F/FS) Standard function
FIX, FUP, BIN, BCD
/
Type conversion SHORT, USHORT, LONG, ULONG, FLOAT, UFLOAT, DFLT, SFLT
Transition program
Bit device status (None), !
(G)
Bit device control SET, RST, DOUT, DIN, OUT
Logical operation (None), !, *, +
Comparison operation ==, !=, <, <=, >, >=
(Note-1)
CHGV, CHGVS , CHGT,
Instruction Motion dedicated function CHGV, CHGT
CHGT2, CHGP
EI, DI, NOP, BMOV, FMOV, EI, DI, NOP, BMOV, FMOV,
Others MULTW, MULTR, TO, FROM, MULTW, MULTR, TO, FROM,
RTO, RFROM, TIME TIME
Vision system dedicated MVOPEN, MVLOAD, MVTRG, MVPST, MVIN, MVOUT, MVFIN,
function MVCLOSE, MVCOM
Data control SCL, DSCL —
Program control IF - ELSE - IEND, SELECT - CASE - SEND, FOR - NEXT, BREAK
Synchronous control CAMRD, CAMWR, CAMWR2,
—
dedicated function CAMMK, CAMPSCL

1-7
1 OVERVIEW

Comparison of Motion SFC performance specifications (continued)

Item Q170MSCPU(-S1) Q170MCPU
Number of multi execute programs Up to 256
Number of multi active steps Up to 256 steps/all programs
Normal task Execute in main cycle of Motion controller
Execute in fixed cycle Execute in fixed cycle
Event task Fixed cycle (0.22ms, 0.44ms, 0.88ms, 1.77ms, (0.44ms, 0.88ms, 1.77ms, 3.55ms,
Execute specification (Execution 3.55ms, 7.11ms, 14.2ms) 7.11ms, 14.2ms)
Executed
can be External Execute when input ON is set among interrupt module QI60
task
masked.) interrupt (16 points).
PLC interrupt Execute with interrupt instruction (D(P).GINT) from PLC.
Execute when input ON is set among interrupt module QI60
NMI task
(16 points).
Number of I/O points (X/Y) 8192 points
Total 256 points
(Internal I/F (Input 4 points, Output
Number of real I/O points (PX/PY) 256 points
2 points) + I/O module + Intelligent
function module)
Internal relays (M) 12288 points
Link relays (B) 8192 points
Number of devices Annunciators (F) 2048 points
(Device In the Motion Special relays (SM) 2256 points
(Note-2)
CPU (area) only) Data registers (D) 8192 points 8192 points
(Included the Link registers (W) 8192 points
positioning dedicated Special registers (SD) 2256 points
device) Motion registers (#) 12288 points
Coasting timers (FT) 1 point (888μs)
(Note-3)
Multiple CPU area devices (U \G) Up to 14336 points usable

(Note-1): SV22 advanced synchronous control only

(Note-2): 19824 points can be used for SV22 advanced synchronous control.
(Note-3): Usable number of points changes according to the system settings.

1-8
1 OVERVIEW

(c) Comparison of Mechanical system program specifications

Item Q170MSCPU(-S1) Q170MCPU
Virtual servomotor
Drive module PLS
Synchronous encoder
Roller
Control units mm, inch
Output Ball screw
module Rotary table degree
Cam mm, inch, degree, PLS mm, inch, PLS
Program language Dedicated instructions (Servo program + mechanical system program)
Virtual servomotor 16 16
Drive module Total 28 Total 24
Synchronous encoder 12 8
Virtual main shaft 16 16
Virtual axis Virtual auxiliary input Total 32 Total 32
16 16
axis
Gear 32 32
Number of Direct clutch
32 32
modules Smoothing clutch
Transmission
which can be Speed change gear 32 32
module
set per CPU Differential gear 16 16
Differential gear to main
16 16
shaft
Roller 16 16
Output Ball screw 16 16
Total 16 Total 16
module Rotary table 16 16
Cam 16 16
(Note-1)
Types Up to 256
(Note-1)
Resolution per cycle 256 • 512 • 1024 • 2048
Memory capacity 132k bytes
Cam Storage memory for
CPU internal RAM memory
cam data
Stroke resolution 32767
Control mode Two-way cam/feed cam

(Note-1): Relation between a resolution per cycle of cam and type are shown below.

Resolution per cycle 256 512 1024 2048

Type 256 128 64 32

1-9
1 OVERVIEW

(3) Comparison of PLC CPU area control and performance

Item Q170MSCPU Q170MSCPU-S1 Q170MCPU
Q03UDCPU or Q06UDHCPU or Q03UDCPU or equivalent
PLC CPU area
equivalent (30k steps) equivalent (60k steps) (20k steps)
Control method Stored program repeat operation
I/O control mode Refresh mode
Relay symbol language (ladder), logic symbolic language (list),
Sequence control language
MELSAP3 (SFC), MELSAP-L, Structured text (ST)
LD instruction 0.02 μs 0.0095 μs 0.02 μs
Processing speed MOV instruction 0.04 μs 0.019 μs 0.04 μs
(sequence instruction) PC MIX value (instruction/μs) 28 60 28
Floating point addition 0.12 μs 0.057 μs 0.12 μs
Total number of instructions 858
Operation (floating point operation) instruction Yes
Character string processing instruction Yes
PID instruction Yes
Special function instruction (Trigonometric function,
Yes
square root, exponential operation, etc.)
Constant scan 0.5 to 2000ms (Setting available in 0.5ms unit.)
30k steps 60k steps 20k steps
Program capacity
(120k bytes) (240k bytes) (80k bytes)
QCPU standard memory 8k bytes
CPU shared memory Multiple CPU high speed
32k bytes
transmission area
No. of I/O device points (X/Y) 8192 points
512 points
(Up to 320 points (64
No. of I/O points (X/Y) 4096 points
points × 5 modules) is
usable with I/O module.)
Internal relay (M) 8192 points
Latch relay (L) 8192 points
Link relay (B) 8192 points
Timer (T) 2048 points
Retentive timer (ST) 0 points
Counter (C) Points by default 1024 points
Data register (D) (changeable by parameters) 12288 points
Link register (W) 8192 points
Annunciator (F) 2048 points
Edge relay (V) 2048 points
Link special relay (SB) 2048 points
Link special register (SW) 2048 points
File register (R, ZR) 98304 points 393216 points 98304 points
Step relay (S) 8192 points
Index register/Standard device register (Z) 20 points
Index register (Z) Up to 10 points (Z0 to Z18)
(32-bit modification specification of ZR device) (Index register (Z) is used in double words.)
Pointer (P) 4096 points
Interrupt pointer (I) 256 points
Special relay (SM) 2048 points
Special register (SD) 2048 points
Function input (FX) 16 points
Function output (FY) 16 points

1 - 10
1 OVERVIEW

Comparison of PLC CPU area control and performance (continued)

Item Q170MSCPU Q170MSCPU-S1 Q170MCPU
Function register (FD) 5 points
Local device Yes
Device initial values Yes
(Note-1)
7 extensions (Up to 64 slots) 1 extension
Number of extension
(Q52B/Q55B/Q63B/Q65B/Q68B/Q612B usable) (Q52B/Q55B usable)
• Extension base unit use:
Connection after the
extension base unit of
Extension base unit
stage 1
GOT bus connection No restriction
• Extension base unit not
use:
Direct bus connection to
Motion controller
PLC type when program is made by GX Works2 Q03UDCPU Q06UDHCPU Q03UDCPU
D(P).DDRD, D(P).DDWR,
D(P).DDRD, D(P).DDWR, D(P).SFCS,
D(P).SFCS, D(P).SVST,
D(P).SVST, D(P).CHGT, D(P).CHGT2,
Motion dedicated PLC instruction (Note-2) D(P).CHGT, D(P).CHGT2,
D(P).CHGV, D(P).CHGVS , D(P).CHGA,
(Note-2) D(P).CHGV, D(P).CHGA,
D(P).CHGAS , D(P).GINT
D(P).GINT

(Note-1): Occupies 8 slots of the main base unit as empty slots.

(Note-2): SV22 advanced synchronous control only

1 - 11
1 OVERVIEW

1.3 Programming Software Version

The programming software versions that support Motion CPU are shown below.
MELSOFT MT Works2
Motion CPU (MT Developer2) MR Configurator2
SV13/SV22
Q170MSCPU
1.56J 1.19V
Q170MSCPU-S1

1 - 12
2 SYSTEM CONFIGURATION

2. SYSTEM CONFIGURATION
This section describes the Motion controller (Q170MSCPU) system configuration,
precautions on use of system and configured equipments.

2.1 Motion System Configuration

2
(1) Equipment configuration in Q170MSCPU system
Extension of the Q series module
(Note-2) (Note-3)

PUSH

I/O module/Intelligent
Large capacity battery holder Q5 B extension base unit
Forced stop input cable function module of the
(Q170MSBAT-SET) (Q52B, Q55B)
Q series

(Note-1)

M IT S U B IS H I
L IT H IU M B A T T E R Y

PROGRAMMABLE CONTROLLER
TYPE Q6BAT

Battery Motion controller Extension cable Motion module

(Q6BAT) (Q170MSCPU) (QC B) (Q172DLX, Q173DPX)

Power supply module/ I/O

SSCNET cable Q6 B extension base unit
module/Intelligent function
(MR-J3BUS M(-A/-B)) (Q63B, Q65B, Q68B, Q612B)
module of the Q series

Servo amplifier Servo amplifier

(MR-J3(W)- B) (MR-J4(W)- B)

It is possible to select the best according to the system.

(Note-1): Be sure to install the Battery (Q6BAT) to the Battery holder.
(It is packed together with Q170MSCPU.)
(Note-2): Large capacity battery use (Q7BAT is included), sold separately.
(Note-3): Fabricate the forced stop input cable on the customer side.

2-1
2 SYSTEM CONFIGURATION

(2) Peripheral device configuration for the Q170MSCPU

The following (a)(b)(c) can be used.

(a) USB configuration (b) RS-232 configuration (c) Ethernet configuration

Motion controller Motion controller Motion controller

(Q170MSCPU) (Q170MSCPU) (Q170MSCPU)

RS-232 communication cable

USB cable Ethernet cable (Note-1)
(QC30R2)

Personal computer Personal computer Personal computer

(Note-1): Corresponding Ethernet cables

Part name Connection type Cable type Ethernet standard Module name
10BASE-T
Connection with HUB Straight cable
100BASE-TX Compliant with Ethernet standards, category 5 or higher.
Ethernet cable
10BASE-T • Shielded twisted pair cable (STP cable)
Direct connection Crossover cable
100BASE-TX

[Selection criterion of cable]

• Category : 5 or higher
• Diameter of lead : AWG26 or higher
• Shield : Copper braid shield and drain wire
Copper braid shield and aluminium layered type shield

2-2
2 SYSTEM CONFIGURATION

2.1.1 Q170MSCPU System overall configuration

Motion controller
Q170MSCPU
MELSEC-L series
SSCNET /H head module
USB/RS-232 SSCNET cable
d01 d02 d03 d16 L61P LJ72MS15
(MR-J3BUS M(-A/-B)) I/O module/
Intelligent function
SSCNET (/H)
module
Personal Computer
IBM PC/AT Up to 4 stations
M M M M
E E E E
24VDC

EMI forced stop input MR-J3(W)- B/MR-J4(W)- B model Servo amplifier

(24VDC) Up to 16 axes
External input signals of servo amplifier
Proximity dog/Speed-position switching
Battery Upper stroke limit
(Q6BAT/Q7BAT) Lower stroke limit

PERIPHERAL I/F

Manual pulse generator/

P Incremental synchronous encoder Panel personal computer
1/module
Input signal/Mark detection input signal (4 points)
Output signal (2 points)

Motion CPU area control module interface module PLC CPU area control module

interface module
Servo external

Manual pulse

Extension
generator

cable
signals

(QC B)
function module

Power QI60 QX QY Q6 AD Q172D Q173D

supply / LX PX I/O module/
Intelligent

module Q6 DA Intelligent function module

Extension base unit Manual pulse generator/

(Q6 B/Q5 B) P Incremental synchronous encoder
UP to 7 extensions (64 slots) 3/module (MR-HDP01)
External input signals Number of Inputs
FLS : Upper stroke limit
RLS : Lower stroke limit
8 axes/module
STOP : Stop signal
DOG/CHANGE : Proximity dog/Speed-position switching

Analogue input/output

Input/output (Up to 256 points)

External input signals

Upper stroke limit
Interrupt signals (16 points) Lower stroke limit
STOP signal
Proximity dog/Speed-position switching

2-3
2 SYSTEM CONFIGURATION

CAUTION
Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal
operation of the Motion controller or servo amplifier differ from the safety directive operation in the
system.
The ratings and characteristics of the parts (other than Motion controller, servo amplifier and
servomotor) used in a system must be compatible with the Motion controller, servo amplifier and
servomotor.
Set the parameter values to those that are compatible with the Motion controller, servo amplifier,
servomotor and regenerative resistor model and the system application. The protective functions
may not function if the settings are incorrect.

2-4
2 SYSTEM CONFIGURATION

2.1.2 Q170MSCPU System internal configuration

(1) What is Multiple CPU system for Q170MSCPU ?

A Multiple CPU system for Q170MSCPU 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.
And, the Motion CPU area controls the servo amplifiers connected by SSCNET
cable.

Motion controller
PLC CPU area (CPU No.1 fixed) Motion CPU area (CPU No.2 fixed)

Device memory Device memory

PLC control Multiple CPU Motion control
Power supply

processor Multiple CPU high speed Multiple CPU processor

high speed bus high speed
transmission transmission
memory memory

Q series PLC system bus

PLC I/O module PLC intelligent Motion module

24VDC (DI/O) function module (Proximity dog signal, manual
(A/D, D/A, Network etc.) pulse generator input)

Forced stop input (24VDC)

Personal computer
Manual pulse generator/Incremental SSCNET (/H)
GX Works2 P
MT Developer2 synchronous encoder 1 module

Input signal/Mark detection input signal (4 points) Servo

Output signal (2 points) amplifier

Servo
PERIPHERAL I/F M M
motor
Servo external
Personal computer input signals
MT Developer2 (FLS, RLS, DOG)

(a) The device memory is the memory area for the bit devices (X, Y, M, etc.)
and word devices (D, W, etc.).

(b) The Multiple CPU high speed transmission memory between the PLC CPU
area and Motion CPU area can be communicated at 0.88ms cycles.

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2 SYSTEM CONFIGURATION

2.1.3 Function explanation of the Q170MSCPU Motion controller

(1) Whole
(a) The Multiple CPU high speed bus is equipped with between the PLC CPU
area and Motion CPU area. With this reserved Multiple CPU high speed bus,
data transfer of 0.88ms period is possible for up to 14k words.

(b) Data transfer between the PLC CPU area and Motion CPU area is possible
by Multiple CPU high speed transmission memory or automatic refresh.

(c) The Multiple CPU high speed transmission cycle is synchronized with the
motion control cycle thus optimizing the control system.

(2) PLC CPU area

(a) The I/O modules, analog I/O modules, pulse I/O modules, positioning
modules, information modules and network can be controlled with the
sequence program.

(b) The device data access and program start of the Motion CPU area can be
executed by the Motion dedicated PLC instructions.
(c) The real-time processing can be realized by the Multiple CPU synchronous
interrupt program.

(3) Motion CPU area

(a) Up to 16 axes servo amplifiers per 1 line can be controlled in Q170MSCPU.

(b) It is possible to set the program which synchronized with the motion
operation cycle and executed at fixed cycle (0.22[ms], 0.44[ms], 0.88[ms],
1.77[ms], 3.55[ms], 7.11[ms], 14.2[ms]).

(c) It is possible to execute a download of servo parameters to servo amplifier,

servo ON/OFF to servo amplifier and position commands, etc. by connecting
between the Q170MSCPU and servo amplifier with SSCNET cable.

(d) It is possible to select the servo control functions/programming languages by

installing the corresponding operating system software in the Q170MSCPU.

(e) Motion modules (Q172DLX/Q173DPX) are controlled with the Motion CPU
area, and the signals such as stroke limit signals connected to Motion
(Note-1)
modules and incremental synchronous encoder can be used as
motion control.

(f) The synchronous control can be executed by using the incremental

synchronous encoder (up to 12 axes). The incremental synchronous
encoder (1 axis) can also be used with Q170MSCPU's internal I/F.

(g) The stroke limit signals and proximity dog signals connected to the servo
amplifiers can be used for the motion control.

(h) I/O controls (DI 4 points, DO 2 points) built-in Q170MSCPU (Motion CPU
area) can be realized.

2-6
2 SYSTEM CONFIGURATION

(i) PLC I/O modules and intelligent function modules (excluding some modules)
can be controlled with the Motion CPU area.
(Refer to Section 2.3(2).)

(j) Wiring is reduced by issuing the external signal (upper/lower stroke limit
signal, proximity dog signal) via the servo amplifier.

(Note-1): The incremental synchronous encoder can be used in SV22.

It cannot be used in SV13.

2-7
2 SYSTEM CONFIGURATION

2.1.4 Restrictions on Motion controller

(1) Q170MSCPU Multiple CPU system is composed of the PLC CPU area (CPU No.1
fixed) and Motion CPU area (CPU No.2 fixed). Other CPU (CPU No.3, CPU No.4)
cannot be set.

(2) It takes about 10 seconds to startup (state that can be controlled) of Motion
controller. Make a Multiple CPU synchronous startup setting suitable for the
system.

(3) Execute the automatic refresh of the Motion CPU area and PLC CPU area by
using the automatic refresh of Multiple CPU high speed transmission area setting.

(4) The Motion modules, I/O modules and intelligent function modules, etc. can be
installed on the extension base unit only.

(5) The CPU modules cannot be installed on the extension base unit.

(6) The synchronous encoder interface module Q172DEX/Q172EX(-S1/-S2/-S3)

cannot be used.

(7) Be sure to control the Motion modules (Q172DLX, Q173DPX) with the Motion
CPU area. They will not operate correctly if PLC CPU area is set by mistake.

(8) Q172LX/Q173PX(-S1) for Q173HCPU(-T)/ Q172HCPU(-T)/Q173CPUN(-T)/

Q172CPUN(-T)/Q173CPU/Q172CPU cannot be used.

(9) Motion CPU area cannot be set as the control CPU of Graphic Operation
Terminal(GOT).

(10) Be sure to set the battery.

(11) There are following methods to execute the forced stop input.
• Use a EMI connector of Q170MSCPU.
• Use a device set in the forced stop input setting of system setting.

(12) Forced stop input for EMI connector of Q170MSCPU cannot be invalidated by
the parameter.
When the device set in the forced stop input setting is used without use of EMI
connector of Q170MSCPU, apply 24VDC voltage on EMI connector and
invalidate the forced stop input of EMI connector.

(13) Be sure to use the cable for forced stop input. The forced stop cannot be
released without using it. Fabricate the forced stop input cable on the customer
side.

2-8
2 SYSTEM CONFIGURATION

(14) Set "SSCNET /H" or "SSCNET " for every line in the SSCNET setting of
system setting to communicate with the servo amplifiers.
MR-J4(W)- B can be used by setting "SSCNET /H", and MR-J3(W)- B can be
used by setting "SSCNET ".

(15) There are the following restrictions when "SSCNET " is set as communication
method.
When the operation cycle is 0.2[ms], set the system setting and the axis select
rotary switch of servo amplifier to "0 to 3".
If the axis select rotary switch of servo amplifier is set to "4 to F", the servo
amplifiers are not recognized.
When the operation cycle is 0.4[ms], set the system setting and the axis select
rotary switch of servo amplifier to "0 to 7".
If the axis select rotary switch of servo amplifier is set to "8 to F", the servo
amplifiers are not recognized.
There is no restriction when "SSCNET /H" is set in the SSCNET setting.
(Note): The setting of axis select rotary switch differs according to the servo
amplifier. Refer to the "Servo amplifier Instruction Manual" for details.

(16) Maximum number of control axes of servo amplifier is shown below.

• Operation cycle is 0.2[ms]: 4 axes per line
• Operation cycle is 0.4[ms]: 8 axes per line
There is no restriction when "SSCNET /H" is set in the SSCNET setting.

(17) When the operation cycle is "default setting", the operation cycle is set
depending on the number of axes used. However, when "SSCNET " is set in
the SSCNET communication setting and the number of axes used of servo
amplifier is 9 axes or more per line, the operation cycle of 0.8 [ms] or more is set.
(Refer to Section 2.5.1(2).)

(18) MR-J4W3- B (Software version "A2" or before) and MR-J3W- B does not
supports operation cycle 0.2 [ms]. Set 0.4[ms] or more as operation cycle to use
MR-J4W3- B(Software version "A2" or before) and MR-J3W- B.
MR-J4W3- B (Software version "A3" or later) supports operation cycle 0.2 [ms].
However, when using operation cycle 0.2 [ms], some functions are restricted.
Refer to the "Servo amplifier Instruction Manual" for details.

(19) If there is an axis which is not set at least 1 axis by system setting in applicable
servo amplifier at MR-J4W- B use, all axes connected to applicable servo
amplifier and subsequent servo amplifiers cannot be connected. Set "Not used"
to the applicable axis with a dip switch for the axis which is not used by
MR-J4W- B.

2-9
2 SYSTEM CONFIGURATION

(20) The module name displayed by "System monitor" - "Product information list" of
GX Works2 is different depending on the function version of Motion modules
(Q172DLX, Q173DPX).
(Note): Even if the function version "C" is displayed, it does not correspond to
the online module change.

Model display
Module name
Function version "B" Function version "C"
Q172DLX Q172LX Q172DLX
Q173DPX MOTION-UNIT Q173DPX

(21) Use the Graphic Operation Terminal (GOT) that supports Q170MSCPU.
(Refer to the "GOT1000 Series Connection Manual (Mitsubishi Products)".)

2 - 10
2 SYSTEM CONFIGURATION

2.2 Checking Serial Number and Operating System Software Version

Checking for the serial number of Motion controller and Motion module, and the
operating system software version are shown below.

2.2.1 Checking serial number

(1) Motion controller (Q170MSCPU)

(a) Rating plate
The rating plate is situated on the side face of the Motion controller.

(b) Front of Motion controller

The serial number is printed in the projection parts forward of the lower side
of Motion controller.

MITSUBISHI Q170MSCPU
MODE
RUN
ERR.
USER
BAT.
PULL
BOOT

POWER

USB RESET STOP RUN

RS-232
MITSUBISHI PASSED
CN1
MOTION CONTROLLER
MODEL Q170MSCPU

MAC ADD. 002692475470 Rating plate

PERIPHERAL I/F

EMI.COM 24VDC 1.40A

NC
EMI
SERIAL A32659999
80M1 IND. CO NT.EQ.
Serial number
C UL CLASS2 ONLY
US LISTED
KCC-REI-MEK-
TC510A842G51
EJECT DATE:2013-01

EXT.IO

MITSUBISHI ELECTRIC CORPORATION

CARD

MADE IN JAPAN
See Q170MSCPU instruction manual.
24VDC

FRONT

OUT

A32659999

Serial number

(c) System monitor (product information list)

The serial number can be checked on the system monitor screen in
GX Works2. (Refer to Section 2.2.2.)

2 - 11
2 SYSTEM CONFIGURATION

(2) Motion module (Q172DLX/Q173DPX)

(a) Rating plate
The rating plate is situated on the side face of the Motion module.

(b) Front of Motion module

The serial No. is printed in the projection parts forward of the lower side of
Motion module.

Q172DLX

MITSUBISHI PASSED Rating plate

MOTION I/F UNIT
MODEL Q172DLX
24VDC 0.16A 5VDC 0.06A
SERIAL
DATE 2011-06
C16054999 Serial number
C
UL US LISTED
80M1 IND. CONT. EQ.

MITSUBISHI ELECTRIC CORPORATION

MADE IN JAPAN BC370C224H01
CTRL Se e Q1 72DLX I nstruction man ual .

KCC-REI-MEK-
TC510A646G51

Q172DLX
Serial number C16054999

REMARK
The serial number display was corresponded from the Motion modules
manufactured in early April 2008.

2 - 12
2 SYSTEM CONFIGURATION

2.2.2 Checking operating system software version

The operating system software version can be checked on the system monitor screen
in GX Works2.
Select [Product Information List] button on the system monitor screen displayed on
[Diagnostics] – [System monitor] of GX Works2.

Serial number of
Motion controller

Operating system software version

2 - 13
2 SYSTEM CONFIGURATION

2.3 System Configuration Equipment

(1) Motion controller related module

Current
(Note-1)
Part name Model name Description consumption Remark
5VDC[A]
Power supply, PLC CPU, Motion CPU, all-in-one type
(Battery (Q6BAT), 24VDC power supply connector and connector for forced
(Note-2)
stop input cable are attached)
• Motion CPU area
Up to 16 axes control, Operation cycle 0.22[ms] or more, Servo program (Note-3)
Q170MSCPU 2.5
capacity 16k steps, Internal I/F (Incremental synchronous encoder
interface 1ch, Input signal/Mark detection input signal 4 points, Output
signal 2 points)
• PLC CPU area
Program capacity 30k steps, LD instruction processing speed 0.02μs
Motion controller
Power supply, PLC CPU, Motion CPU, all-in-one type
(Battery (Q6BAT), 24VDC power supply connector and connector for forced
(Note-2)
stop input cable are attached)
• Motion CPU area
Up to 16 axes control, Operation cycle 0.22[ms] or more, Servo program (Note-3)
Q170MSCPU-S1 2.5
capacity 16k steps, Internal I/F (Incremental synchronous encoder
interface 1ch, Input signal/Mark detection input signal 4 points, Output
signal 2 points)
• PLC CPU area
Program capacity 60k steps, LD instruction processing speed 0.0095μs
Servo external
Servo external signal input 8 axes
signals interface Q172DLX 0.06
(FLS, RLS, STOP, DOG/CHANGE×8)
module
Manual pulse
Manual pulse generator MR-HDP01/Incremental synchronous encoder
generator Q173DPX 0.38
interface ×3, Tracking input 3 points
interface module
Pulse resolution: 25PLS/rev(100PLS/rev after magnification by 4)
Manual pulse Permitted axial loads Radial load: Up to 19.6N
MR-HDP01 0.06
generator Thrust load: Up to 9.8N
Permitted speed: 200r/min(Normal rotation), Voltage-output
For memory data backup of RAM built-in Motion controller
Battery Q6BAT
Nominal current: 1800mAh
——
Large capacity For memory data backup of RAM built-in Motion controller
Q7BAT
battery Nominal current: 5000mAh
Large capacity
Q170MSBAT-SET Battery holder for Q7BAT (Attachment Q7BAT) ——
battery holder
Internal I/F Incremental synchronous encoder/Mark detection signal interface
LD77MHIOCON ——
connector set connector (Not included with Q170MSCPU/Q170MSCPU-S1)
Q61P 100 to 240VAC input, 5VDC 6A output
Power supply Q62P 100 to 240VAC input, 5VDC 3A/24VDC 0.6A output
(Note-4) ——
module Q63P 24VDC input, 5VDC 6A output
Q64PN 100 to 240VAC input, 5VDC 8.5A output

2 - 14
2 SYSTEM CONFIGURATION

Motion controller related module (continued)

Current
Part name Model name (Note-1) Description consumption Remark
5VDC[A]
Number of I/O modules installed 2 slots, type not requiring power supply
Q52B 0.08
module
Number of I/O modules installed 5 slots, type not requiring power supply
Q55B 0.10
Extension base module
(Note-5)
unit Q63B Number of I/O modules installed 3 slots 0.11
Q65B Number of I/O modules installed 5 slots 0.11
Q68B Number of I/O modules installed 8 slots 0.12
Q612B Number of I/O modules installed 12 slots 0.13
QC05B Length 0.45m(1.48ft.)
QC06B Length 0.6m(1.97ft.)
QC12B Length 1.2m(3.94ft.)
Extension cable ——
QC30B Length 3m(9.84ft.)
QC50B Length 5m(16.40ft.)
QC100B Length 10m(32.81ft.)
• Q170MSCPU MR-J4(W)- B/MR-J4(W)- B MR-J4(W)- B/
MR-J4(W)- B LJ72MS15
MR-J3BUS M • Q170MSCPU MR-J3(W)- B/MR-J3(W)- B MR-J3(W)- B ——
• Standard cord for inside panel
0.15m(0.49ft.), 0.3m(0.98ft.), 0.5m(1.64ft.), 1m(3,28ft.), 3m(9.84ft.)
• Q170MSCPU MR-J4(W)- B/MR-J4(W)- B MR-J4(W)- B/
MR-J4(W)- B LJ72MS15
SSCNET
MR-J3BUS M-A • Q170MSCPU MR-J3(W)- B/MR-J3(W)- B MR-J3(W)- B ——
cable
• Standard cable for outside panel
5m(16.40ft.), 10m(32.81ft.), 20m(65.62ft.)
• Q170MSCPU MR-J4(W)- B/MR-J4(W)- B MR-J4(W)- B/
MR-J4(W)- B LJ72MS15
MR-J3BUS M-B
(Note-6) • Q170MSCPU MR-J3(W)- B/MR-J3(W)- B MR-J3(W)- B ——
• Long distance cable
30m(98.43ft.), 40m(131.23ft.), 50m(164.04ft.)
SSCNET /H
Maximum link points: Input 64 bytes, Output 64 bytes
head module LJ72MS15 0.55
(Note-5) Transmission cycle 222μs, 444μs, 888μs

(Note-1): =Cable length (015: 0.15m(0.49ft.), 03: 0.3m(0.98ft.), 05: 0.5m(1.64ft.), 1: 1m(3.28ft.), 2: 2m(6.56ft.),
3: 3m(9.84ft.), 5: 5m(16.40ft.), 10: 10m(32.81ft.), 20: 20m(65.62ft.), 25: 25m(82.02ft.),
30: 30m(98.43ft.), 40: 40m(131.23ft.), 50:50m(164.04ft.))
(Note-2): Be sure to use the cable for forced stop input. The forced stop cannot be released without using it.
Cable for forced stop input is not attached to the Motion controller.
(Note-3): The manual pulse generator or incremental synchronous encoder that consumes less than 0.2[A] of
current can be connected to the internal I/F connector.
(Note-4): Be sure to use the power supply module within the range of power supply capacity.
(Note-5): 5VDC internal current consumption of shared equipments with PLC might be changed.
Be sure to refer to the MELSEC-Q/L series PLC Manuals.
(Note-6): Please contact your nearest Mitsubishi sales representative for the cable of less than 30m(98.43ft.).

2 - 15
2 SYSTEM CONFIGURATION

(2) PLC module which can be controlled by Motion CPU area

Current consumption 5VDC[A]
Part name Model name (Note-1) Remark

QX10 0.05 (TYP, All points ON)

AC QX10-TS 0.05 (TYP, All points ON)
QX28 0.05 (TYP, All points ON)
QX40 0.05 (TYP, All points ON)
QX40-TS 0.05 (TYP, All points ON)
QX40-S1 0.06 (TYP, All points ON)
QX40H 0.08 (TYP, All points ON)
DC (Positive common) QX41 0.075 (TYP, All points ON)
QX41-S1 0.075 (TYP, All points ON)
QX41-S2 0.075 (TYP, All points ON)
QX42 0.09 (TYP, All points ON)
QX42-S1 0.09 (TYP, All points ON)
Input module DC/AC QX50 0.05 (TYP, All points ON)
QX70 0.055 (TYP, All points ON)
QX70H 0.08 (TYP, All points ON)
DC sensor
QX71 0.07 (TYP, All points ON)
QX72 0.085 (TYP, All points ON)
QX80 0.05 (TYP, All points ON)
QX80-TS 0.05 (TYP, All points ON)
QX80H 0.08 (TYP, All points ON)
QX81 0.075 (TYP, All points ON)
DC (Negative common)
QX81-S2 0.075 (TYP, All points ON)
Refer to the MELSEC-Q series PLC
QX82 0.09 (TYP, All points ON)
Manuals.
QX82-S1 0.09 (TYP, All points ON)
QX90H 0.08 (TYP, All points ON)
QY10 0.43 (TYP, All points ON)
Relay QY10-TS 0.43 (TYP, All points ON)
QY18A 0.24 (TYP, All points ON)
Triac QY22 0.25 (TYP, All points ON)
QY40P 0.065 (TYP, All points ON)
QY40P-TS 0.065 (TYP, All points ON)
Sink Type QY41P 0.105 (TYP, All points ON)
QY42P 0.15 (TYP, All points ON)
Output module
QY50 0.08 (TYP, All points ON)
Transistor
Independent QY68A 0.11 (TYP, All points ON)
QY80 0.08 (TYP, All points ON)
QY80-TS 0.08 (TYP, All points ON)
Source Type
QY81P 0.095 (TYP, All points ON)
QY82P 0.16 (TYP, All points ON)
QY70 0.095 (TYP, All points ON)
TTL•CMOS (Sink)
QY71 0.15 (TYP, All points ON)
Input/Output QH42P 0.13 (TYP, All points ON)
DC Input/
composite QX48Y57 0.08 (TYP, All points ON)
Transistor output
module QX41Y41P 0.13 (TYP, All points ON)
Interrupt module QI60 0.06 (TYP, All points ON)

2 - 16
2 SYSTEM CONFIGURATION

PLC module which can be controlled by Motion CPU area (continued)

Current consumption 5VDC[A]
Part name Model name (Note-1) Remark

Voltage input Q68ADV 0.64

Q62AD-DGH 0.33
Current input Q66AD-DG 0.42
Analogue input
Q68ADI 0.64
module
Q64AD 0.63
Voltage/current input Q64AD-GH 0.89
Q68AD-G 0.46
Voltage output Q68DAVN 0.38
Current output Q68DAIN 0.38
Analogue output Q62DAN 0.33
module Q62DA-FG 0.37
Voltage/current output Refer to the MELSEC-Q series PLC
Q64DAN 0.34
Manuals.
Q66DA-G 0.62
Analogue input/output module Q64AD2DA 0.17
Differential input QD62D 0.38
High-speed
5/12/24VDC input/
counter module QD65PD2 0.23
Differential input
QD75P1 0.40
Open collector output QD75P2 0.46
QD75P4 0.58
QD75D1 0.52
Positioning
Differential output QD75D2 0.56
module
QD75D4 0.82
QD75MH1 0.15 Refer to the MELSEC-Q QD75MH
SSCNET compatible QD75MH2 0.15 Positioning Module User's Manual
QD75MH4 0.16 (Details).
QD77MS2 0.60 Refer to the MELSEC-Q QD77MS
Simple Motion
SSCNET /H compatible QD77MS4 0.60 Simple Motion Module User's Manual
module
QD77MS16 0.75 (Positioning Control).
UQ1-01 0.50 Refer to the manual of OPTEX FA
Control unit of displacement sensor
UQ1-02 0.50 CO., LTD.

(Note-1): 5VDC internal current consumption of shared equipments with PLC might be changed.
Be sure to refer to the manuals of each module.

2 - 17
2 SYSTEM CONFIGURATION

(3) PLC module which can be controlled by PLC CPU area

They are the same modules as the PLC modules which can be controlled by the
universal model QCPU "Q03UDCPU (Q170MSCPU use)" or "Q06UDHCPU
(Q170MSCPU-S1 use)".
Refer to the MELSEC-Q series PLC Manuals.

(4) Servo amplifier

Part name Model name Description Remarks
MR-J4- B
MR-J4 series
MR-J4- B-RJ
servo amplifier
MR-J4W- B For 2-axis type, 3-axis type
MR-J3- B
Refer to the servo amplifier
MR-J3W- B For 2-axis type
instruction manuals.
MR-J3 series MR-J3- B-RJ006 For fully closed control
servo amplifier MR-J3- B-RJ004 For linear servo motor
MR-J3- B-RJ080W For direct drive motor
MR-J3- B Safety For drive safety servo

(5) Operating system software

Application Software package
Conveyor assembly use SV13 SW8DNC-SV13QN
Automatic machinery use SV22 SW8DNC-SV22QN

(Note-1): The operating system software (SV22 (Virtual mode switching method)) is installed at the time of
product purchases.

(6) Operating system type/version

(a) Confirmation method in MT Developer2
The operating system software type and version of connected CPU can be
confirmed on the following screens.
1) Installation screen
2) CPU information screen displayed by menu bar [Help] [CPU
Information]
Example) When using Q170MSCPU, SV22 and OS version 00A.
(OS software) S V 2 2 Q N V E R 3 0 0 A

N: Q170MSCPU OS version

3: Motion SFC compatibility

. : Motion SFC not compatibility

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2 SYSTEM CONFIGURATION

(7) Programming software packages

(a) Motion controller engineering environment
Part name Model name
MELSOFT MT Works2
(Note-1) SW1DNC-MTW2-E
(MT Developer2 )
(Note-1): This software is included in Motion controller engineering environment
"MELSOFT MT Works2".

(b) PLC software package

Model name Software package
GX Works2 SW1DNC-GXW2-E

(c) Servo set up software package

Model name Software package
MR Configurator2 SW1DNC-MRC2-E

POINTS
When the operation of Windows is unclear in the operation of this software, refer
R

to the manual of Windows or guide-book from the other supplier.

R

2 - 19
2 SYSTEM CONFIGURATION

2.4 General Specifications

General specifications of the Motion controller are shown below.

Item Specification
Operating ambient temperature 0 to 55°C (32 to 131°F)
Storage ambient temperature -25 to 75°C (-13 to 167°F)
Operating ambient humidity 5 to 95% RH, non-condensing
Storage ambient humidity 5 to 95% RH, non-condensing
Constant
Frequency Half amplitude Sweep count
acceleration
Under 3.5mm 10 times each in
Compliant with 5 to 9Hz ——
intermittent (0.14inch) X, Y, Z directions
Vibration resistance JIS B 3502 and 2
vibration 9 to 150Hz 9.8m/s —— (For 80 min.)
IEC 61131-2
Under 1.75mm
5 to 9Hz ——
continuous (0.07inch) —
2
vibration 9 to 150Hz 4.9m/s ——
2
Shock resistance Compliant with JIS B 3502 and IEC 61131-2 (147m/s , 3 times in each of 3 directions X, Y, Z)
Operating ambience No corrosive gases
(Note-1)
Operating altitude 2000m(6561.68ft.) or less
Mounting location Inside control panel
(Note-2)
Overvoltage category II or less
(Note-3)
Pollution level 2 or less

(Note-1): Do not use or store the Motion controller under pressure higher than the atmospheric pressure of altitude 0m. Doing so can cause
an operation failure. When using the Motion controller under pressure, please contact with our sales representative.
(Note-2): This indicates the section of the power supply to which the equipment is assumed to be connected between the public electrical
power distribution network and the machinery within premises.
Category applies to equipment for which electrical power is supplied from fixed facilities.
The surge voltage withstand level for up to the rated voltage of 300V is 2500V.
(Note-3): This index indicates the degree to which conductive material is generated in terms of the environment in which the equipment is
used.
Pollution level 2 is when only non-conductive pollution occurs. A temporary conductivity caused by condensing must be expected
occasionally.

CAUTION
The Motion controller must be stored and used under the conditions listed in the table of
specifications above.
When not using the module for a long time, disconnect the power line from the Motion controller
or servo amplifier.
Place the Motion controller and servo amplifier in static electricity preventing vinyl bags and store.
When storing for a long time, please contact with our sales representative.
Also, execute a trial operation.

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2 SYSTEM CONFIGURATION

2.5 Specifications of Equipment

2.5.1 Q170MSCPU Motion controller

This section describes the specification of the Motion controller.

(1) Basic specifications of Q170MSCPU

Item Specification
Input voltage 21.6 to 26.4VDC
(Note-1), (Note-2)
(24VDC +/ -10%, ripple ratio 5% or less)
24VDC power supply (Note-3)
Inrush current 100A 1ms or less (at 24VDC input)
Max. input current 1.4A
Max. supplied current 4.5A (Included Q170MSCPU current consumption)
5VDC internal power
Q170MSCPU current (Note-6)
supply 2.5A
consumption
Efficiency 80% (TYP)
Input method Connector
Allowable momentary power failure immunity
(Note-4), (Note-5) 10ms (at 24VDC input)

Mass [kg] 0.8

Exterior dimensions [mm (inch)] 186 (7.32)(H) 52 (2.05)(W) 135 (5.31)(D)

POINTS
(Note-1): Input power supply
Q170MSCPU is rated for use with a 24VDC input power only.
The Q170MSCPU breaks down when 28VDC or more input.
(Note-2): Select 24VDC power supply and electric wire within the range of 21.6 to
26.4VDC including any input ripple or spike voltage measured at the input
connector of the Q170MSCPU.
(Note-3): Inrush current
Take care that the inrush current of several amperes may flow when the
sharp square voltage is applied, or the power supply is turned ON with the
mechanical switch. Turn ON the primary (AC side) of power supply.
When selecting a fuse and breaker in the external circuit, take account of
the blow out, detection characteristics and above matters.
(Note-4): Allowable momentary power failure period
(Note)
(1) An instantaneous power failure lasting less than 10ms will cause
24VDC down to be detected, but operation will continue.
(Note)
(2) An instantaneous power failure lasting in excess of 10ms may
cause the operation to continue or initial start to take place
depending on the power supply load.
(Note): This is for a 24VDC input. This is 10ms or less for less than
24VDC.
(Note-5): Select 24VDC power supply with allowable momentary power failure
period of 20ms or more.
(Note-6): The current consumption (0.2[A]) of manual pulse generator/incremental
synchronous encoder connected to the internal I/F connector is not
included.

2 - 21
2 SYSTEM CONFIGURATION

(2) Motion control specifications/performance specifications

(a) Motion control specifications
Item Specification
Number of control axes Up to 16 axes
0.22ms/ 1 to 4 axes
SV13 0.44ms/ 5 to 10 axes
Operation cycle
0.88ms/ 11 to 16 axes
(default)
0.44ms/ 1 to 6 axes
SV22
0.88ms/ 7 to 16 axes
Interpolation functions Linear interpolation (Up to 4 axes), Circular interpolation (2 axes), Helical interpolation (3 axes)
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,
Control modes
Speed switching control, High-speed oscillation control, Speed-torque control,
Synchronous control (SV22 (Virtual mode switching method/Advanced synchronous control method))
Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration,
Acceleration/deceleration control
Advanced S-curve acceleration/deceleration
Compensation Backlash compensation, Electronic gear, Phase compensation (SV22)
(Note-1)
Programming language Motion SFC, Dedicated instruction, Mechanical support language (SV22)
Servo program capacity 16k steps
3200 points
Number of positioning points
(Positioning data can be designated indirectly)
Peripheral I/F USB/RS-232 (PLC CPU area control), PERIPHERAL I/F (Motion CPU area control)
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, Scale home position signal detection type,
Home position return function
Dogless home position signal reference type
Home position return re-try function provided, home position shift function provided
JOG operation function Provided
Manual pulse generator operation Possible to connect 3 modules (Q173DPX use)
(Note-2), (Note-3)
function Possible to connect 1 module (Q170MSCPU's internal I/F use)
(Note-4)
Synchronous encoder operation Possible to connect 12 modules (SV22 use, Incremental only)
(Note-5)
function (Q173DPX + Internal I/F + Via device )
M-code function M-code output function provided, M-code completion wait function provided
Number of output points 32 points
SV13
Watch data: Motion control data/Word device
Limit switch Virtual mode switching method : Number of output points 32 points
output function Advanced synchronous control method : Number of output points 64 points  2 settings
SV22
Output timing compensation
Watch data: Motion control data/Word device
ROM operation function Provided
External input signal Q172DLX, External input signals (FLS/RLS/DOG) of servo amplifier, Internal I/F (DI), Bit device
High-speed reading function
(Note-6) Provided (Via internal I/F/input module, Via tracking of Q173DPX)

Forced stop Motion controller forced stop (EMI connector, System setting), Forced stop terminal of servo amplifier
Total 256 points
Number of I/O points
(Internal I/F (Input 4 points, output 2 points) + I/O module + Intelligent function module)
Mark detection
Continuous detection mode, Specified number of detection mode, Ring buffer mode
mode setting
Mark detection Mark detection
Internal I/F (DI), Bit device
function signal
Mark detection
32 settings
setting
Clock data setting Clock synchronization between Multiple CPU

2 - 22
2 SYSTEM CONFIGURATION

Motion control specifications (continued)

Item Specification
Security function Provided (Protection by software security key or password)
All clear function Provided
Remote operation Remote RUN/STOP, Remote latch clear
Optional data SSCNET /H Up to 6 data/axis (Communication data: Up to 6 points/axis)
monitor function SSCNET Up to 3 data/axis (Communication data: Up to 3 points/axis)
Motion buffering method (Real-time waveform can be displayed)
Digital oscilloscope function
Sampling data: Word 16CH, Bit 16CH
Made compatible by setting battery to servo amplifier.
Absolute position system
(Possible to select the absolute data method or incremental method for each axis)
SSCNET Communication
SSCNET /H, SSCNET
communication method
(Note-7)
Number of lines 1 line
Driver communication function
(Note-8) Provided

Number of Q172DLX 2 modules usable

Motion related (Note-9)
Q173DPX 4 modules usable
modules
Number of SSCNET head
Up to 4 stations usable
module communication stations

(Note-1): SV22 virtual mode only

(Note-2): When the manual pulse generator is used via the Q170MSCPU's internal I/F, the Q173DPX cannot be used.
(Note-3): When the operation cycle is 7.11ms or less, the manual pulse generator I/F built-in CPU can be used.
(Note-4): Any incremental synchronous encoder connected to the Q170MSCPU's internal I/F will automatically be assigned an Axis No.
one integer greater than the number of encoders connected to any Q173DPX modules.
(Note-5): SV22 advanced synchronous control only
(Note-6): This cannot be used in SV22 advanced synchronous control of Q17MSCPU/Q170MSCPU-S1.
(Note-7): The servo amplifiers for SSCNET cannot be used.
(Note-8): Servo amplifier (MR-J3- B) only
(Note-9): When using the incremental synchronous encoder (SV22 use), you can use above number of modules.
When connecting the manual pulse generator, you can use only 1 module.

2 - 23
2 SYSTEM CONFIGURATION

(b) Motion SFC performance specifications

Item Specification
Code total
(Motion SFC chart + Operation control 652k bytes
Motion SFC program
+ Transition)
capacity
Text total
668k bytes
(Operation control + Transition)
Number of Motion SFC programs 256 (No.0 to 255)
Motion SFC chart size/program Up to 64k bytes (Included Motion SFC chart comments)
Number of Motion SFC steps/program Up to 4094 steps
Motion SFC program
Number of selective branches/branch 255
Number of parallel branches/branch 255
Parallel branch nesting Up to 4 levels
4096 with F(Once execution type) and FS(Scan execution type)
Number of operation control programs
combined. (F/FS0 to F/FS4095)
Number of transition programs 4096 (G0 to G4095)
Code size/program Up to approx. 64k bytes (32766 steps)
Operation control program
Number of blocks(line)/program Up to 8192 blocks (in the case of 4 steps(min)/blocks)
(F/FS)
Number of characters/block Up to 128 (comment included)
/
Number of operand/block Up to 64 (operand: constants, word device, bit devices)
Transition program
( ) nesting/block Up to 32 levels
(G)
Calculation expression, bit conditional expression,
Operation control program
Descriptive branch/repetition processing
expression Calculation expression/bit conditional expression/
Transition program
comparison conditional expression
Number of multi execute programs Up to 256
Number of multi active steps Up to 256 steps/all programs
Normal task Execute in main cycle of Motion controller
Execute in fixed cycle
Event task Fixed cycle
(0.22ms, 0.44ms, 0.88ms, 1.77ms, 3.55ms, 7.11ms, 14.2ms)
Execute specification (Execution
Executed External Execute when input ON is set among interrupt module QI60
can be
task interrupt (16 points).
masked.)
PLC interrupt Execute with interrupt instruction (D(P).GINT) from PLC.
Execute when input ON is set among interrupt module QI60
NMI task
(16 points).
Number of I/O points (X/Y) 8192 points
Total 256 points
Number of real I/O points (PX/PY) (Internal I/F (Input 4 points, Output 2 points) + I/O module +
Intelligent function module)
Internal relays (M) 12288 points
Link relays (B) 8192 points
Annunciators (F) 2048 points
Number of devices
Special relays (SM) 2256 points
(Device In the Motion CPU (Note-1)
Data registers (D) 8192 points
area only)
Link registers (W) 8192 points
(Included the positioning
Special registers (SD) 2256 points
dedicated device)
Motion registers (#) 12288 points
Coasting timers (FT) 1 point (888µs)
(Note-2)
Multiple CPU area devices (U \G) Up to 14336 points

(Note-1): 19824 points can be used for SV22 advanced synchronous control.
(Note-2): Usable number of points changes according to the system settings.

2 - 24
2 SYSTEM CONFIGURATION

(3) PLC control specifications

Specification
Item
Q170MSCPU Q170MSCPU-S1
PLC CPU area Q03UDCPU or equivalent Q06UDHCPU or equivalent
Control method Stored program repeat operation
I/O control mode Refresh mode
Relay symbol language (ladder), logic symbolic language (list),
Sequence control language
MELSAP3 (SFC), MELSAP-L, Structured text (ST)
LD instruction 0.02 μs 0.0095 μs
Processing speed MOV instruction 0.04 μs 0.019 μs
(sequence instruction) PC MIX value (instruction/μs) 28 60
Floating point addition 0.12 μs 0.057 μs
Total number of instructions 858
Operation (floating point operation) instruction Yes
Character string processing instruction Yes
PID instruction Yes
Special function instruction (Trigonometric function,
Yes
square root, exponential operation, etc.)
Constant scan 0.5 to 2000ms (Setting available in 0.5ms unit.)
Program capacity 30k steps (120k byte) 60k steps (240k byte)
QCPU standard memory 8k bytes
CPU shared memory Multiple CPU high speed
32k bytes
transmission area
No. of I/O device points (X/Y) 8192 points
No. of I/O points (X/Y) 4096 points
Internal relay (M) 8192 points
Latch relay (L) 8192 points
Link relay (B) 8192 points
Timer (T) 2048 points
Retentive timer (ST) 0 points
Counter (C) Points by default 1024 points
Data register (D) (changeable by parameters) 12288 points
Link register (W) 8192 points
Annunciator (F) 2048 points
Edge relay (V) 2048 points
Link special relay (SB) 2048 points
Link special register (SW) 2048 points
File register (R, ZR) 98304 points 393216 points
Step relay (S) 8192 points
Index register/Standard device register (Z) 20 points
Index register (Z) Up to 10 points (Z0 to Z18)
(32-bit modification specification of ZR device) (Index register (Z) is used in double words.)
Pointer (P) 4096 points
Interrupt pointer (I) 256 points
Special relay (SM) 2048 points
Special register (SD) 2048 points
Function input (FX) 16 points
Function output (FY) 16 points
Function register (FD) 5 points
Local device Yes
Device initial values Yes

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2 SYSTEM CONFIGURATION

PLC control specifications (continued)

Specification
Item
Q170MSCPU Q170MSCPU-S1
(Note-1)
7 extension (Up to 64 slots)
Extension base unit Number of extensions
(Q52B/Q55B/Q63B/Q65B/Q68B/Q612B usable)
PC type when program is made by GX Works2 Q03UDCPU Q06UDHCPU

(Note-1): Occupies 8 slots of the main base unit as empty slots.

(4) Q170MSCPU names of parts

With front cover open,
Side face Front face and battery holder remove
24) 2)
11)
MITSUBISHI
MODE
Q170MSCPU 12) MODE
RUN
1) RUN 1)
ERR.
USER
13) ERR.
USER SW1 SW2
BAT. 14) BAT. F01 F01

3)

AB E

AB E
234 6

23 6
CD

CD
PULL

45
BOOT BOOT

5
15)
789 789

POWER
4) 16) POWER

17) USB RESET STOP RUN

5) USB RESET STOP RUN
18)
RS-232
6)
CN1 CN1
PERIPHERAL I/F

PERIPHERAL I/F
EMI.COM EMI.COM
7)
19) NC
EMI
NC
EMI

EJECT EJECT

20)
EXT.IO
8) EXT.IO
CARD

CARD

21) 24VDC 24VDC

FRONT 9) FRONT

OUT OUT

10)
(Note)
22)

PUSH

25) 23) (Note): Unusable

26)

Bottom face

2 - 26
2 SYSTEM CONFIGURATION

No. Name Application

1) 7-segment LED Indicates the operating status and error information.
Rotary function select 1 switch • Set the operation mode.
2)
(SW1) (Normal operation mode, Installation mode, Mode operated by ROM, etc)
Rotary function select 2 switch • Each switch setting is 0 to F.
3)
(SW2) (Factory default in SW1 "0", SW2 "0" position)
• ON (red) : The internal power (5VDC) is ON.
4) "POWER" LED
• OFF : The internal power (5VDC) is OFF.
• Move to RUN/STOP.
RUN : Sequence program/Motion SFC program is started.
5) RUN/STOP/RESET switch STOP : Sequence program/Motion SFC program is stopped.
• RESET (Momentary switch)
Set the switch to the "RESET" position 1 second or more to reset the hardware.
6) SSCNET CN1 connector (Note-1) Connector to connect the servo amplifier.
For communication I/F with peripheral devices.
• Upper LED
Remains flashing : It communicates with the peripheral devices.
ON : It does not communicate with the peripheral devices.
7) PERIPHERAL I/F connector
• Lower LED
Data transmission speed
ON : 100Mbps
OFF : 10Mbps
Connector to connect the manual pulse generator/incremental synchronous
8) Internal I/F connector encoder, or to input/output the signals.
(Voltage-output/open-collector type, Differential-output type)
9) 24VDC power supply connector The DC power of 24VDC is connected.
10) Serial number display Displays the serial number described on the rating plate.
Indicates the mode of the PLC CPU area.
11) "MODE" LED
• ON (green) : Q mode
Indicates the operating status of the PLC CPU area.
• ON : During operation with the RUN/STOP/RESET switch set to "RUN".
• OFF : During stop with the RUN/STOP/RESET switch set to "STOP".
When an error is detected and operation must be halted due to the error.
• Remains flashing : Parameters or programs are written with the RUN/STOP/
RESET switch set to "STOP", and then the RUN/STOP/
RESET switch is turned from "STOP" to "RUN".
• To turn ON the "RUN" LED after writing the program, carry
out the following steps.
1) Set the RUN/STOP/RESET switch in the order of "RUN"
12) "RUN" LED to "STOP" to "RUN".
2) Reset with the RUN/STOP/RESET switch.
3) Power ON the Motion controller again.
• To turn ON the "RUN" LED after writing the parameters,
carry out the following steps.
1) Reset with the RUN/STOP/RESET switch.
2) Power ON the Motion controller again.
(If the RUN/STOP/RESET is set in the order of "RUN" to
"STOP" to "RUN" after changing the parameters, network
parameters and intelligent function module parameters
will not be updated.

2 - 27
2 SYSTEM CONFIGURATION

No. Name Application

Indicates the operating status of the PLC CPU area.
• ON : Detection of self-diagnosis error which will not stop operation, except
battery error. (When operation continued at error detection is set in the
13) "ERR." LED parameter setting.)
• OFF : Normal
• Remains flashing :Detection of error whose occurrence stops operation.
Resetting with the RUN/STOP/RESET switch becomes valid.
Indicates the operating status of the PLC CPU area.
14) "USER" LED • ON : Annunciator (F) turned ON
• OFF : Normal
Indicates the operating status of the PLC CPU area.
• ON (yellow) : Occurrence of battery error due to reduction in battery voltage of the
memory card.
• ON (green) : Turned ON for 5 seconds after restoring of data backup to the
15) "BAT." LED
standard ROM by the latch data backup is completed.
• Remains flashing (green): Backup of data to the standard ROM by latch data
backup is completed.
• OFF : Normal
Indicates the operating status of the PLC CPU area.
16) "BOOT" LED • ON : Start of boot operation
• OFF : Non-execution of boot operation
• Connector to connect the peripheral devices for USB connection.
17) USB connector (Connector type mini B)
• Connect with the dedicated cable for USB
• Connector to connect the peripheral devices for RS-232 connection.
18) RS-232 connector
• Connect with the dedicated cable (QC30R2) for RS-232.
Forced stop input connector (EMI) Input to stop all axes of servo amplifier in a lump.
19) (Note-2) EMI ON (opened) : Forced stop
EMI OFF (24VDC input) : Forced stop release
20) Memory card EJECT button Used to eject the memory card from the Motion controller.
21) Memory card loading connector Connector used to load the memory card to the Motion controller.
22) Battery connector Connector to connect the Q6BAT/Q7BAT.
23) Battery holder (Note-3) Battery holder to set the Q6BAT/Q7BAT.
24) Module fixing screw hole (Note-4) Hole for screw used to fix to the control panel.
25) FG terminal Ground terminal connected with the shield pattern of the printed circuit board.
26) Extension cable connector Connector for transfer of signals to/from the extension base unit.

(Note-1): Put the SSCNET cable in the duct or fix the cable at the closest part to the Motion controller with bundle material
in order to prevent SSCNET cable from putting its own weight on SSCNET connector.
(Note-2): Be sure to use the cable for forced stop input. The forced stop cannot be released without using it.
If the cable for forced stop input is fabricated on the customer side, make it within 30m(98.43ft.).
(Note-3): Be sure to set the battery. The data (Refer to Section 6.5.) of RAM built-in Motion controller are not backed up if
the battery cable is not set correctly.
(Note-4): Purchase the M5 screws.

2 - 28
2 SYSTEM CONFIGURATION

(5) 7-segment LED display

The LED displays/flashes in the combination with errors.
Item 7-segment LED Remark
It takes about 10 seconds to initialize
(RUN/STOP display).
Execute the power cycle of the Motion controller
if the operation stopped at initializing. It may be
Start Initializing Motion controller's hardware fault when it is not
improved.
Explain the error symptom (LED display) and get
advice from our sales representative for the
modules with failure.

Normal " " remains flashing Normal operation

Steady "INS" display, Mode to install the operating system software via
Installation mode
" " remains flashing personal computer.
Mode to operate based on the user programs
Mode operated by
" " remains flashing and parameters stored in the RAM built-in Motion
RAM
controller.
Operation
Mode to operate after the user programs and
mode
Mode operated by Steady " . " display, parameters stored in the FLASH ROM built-in
ROM " " remains flashing Motion controller are read to the RAM built-in
Motion controller.
Stopped the Motion SFC program with the PLC
STOP Steady "STP" display
READY flag (M2000) OFF.

Executed the Motion SFC with the PLC READY

RUN Steady "RUN" display
flag (M2000) ON.

Early stage warning Displayed at battery voltage 2.7V or less.

Steady "BT1" display
Battery (2.7V or less) Refer to Section "6.5 Battery".
error Final stage warning Displayed at battery voltage 2.5V or less.
Steady "BT2" display
(2.5V or less) Refer to Section "6.5 Battery".

Operating system software It becomes the status of installation mode when

"A00" remains flashing
not installed the operating system software is not installed.

System setting error of the Motion controller

" AL" flashes 3 times
Refer to the "Q173D(S)CPU/Q172D(S)CPU
System setting error
Motion controller Programming Manual
Steady " L01" display
(COMMON)" for details.

" AL" flashes 3 times Servo error of the Motion controller

Servo error Refer to the Programming Manual of the
Steady " S01" display operating system software used for details.

Hardware fault or software fault

WDT error Steady "..." display Refer to the Programming Manual of the
operating system software used for details.

2 - 29
2 SYSTEM CONFIGURATION

Item 7-segment LED Remark

" AL" flashes 3 times

Steady " A1" display

Setting error of the Multiple CPU system
(Self-diagnosis error)
Self diagnostic error Refer to the " Q173D(S)CPU/Q172D(S)CPU
(Error related for Multiple CPU) Motion controller Programming Manual
4-digits error code is
(COMMON)" for details.
displayed in two sequential
flashes of 2-digits each.
(ex. error code [3012])

POINTS
(1) An error is displayed at the 7-segment LED, confirm the error code etc. using
MT Developer2.
(2) Refer to the Motion CPU error batch monitor of MT Developer2 or error list of
Programming Manual for error details.

(6) Rotary switch assignment

(a) Rotary function select 1 switch (SW1)
(Note)
Rotary switch Setting Mode Description

F0 1 0 Normal mode Normal operation mode

AB E
23
CD

4 56

789 Installed the operating system software using

A Installation mode
MT Developer2

(Note): Do not set other than the above setting.

(b) Rotary function select 2 switch (SW2)

(Note)
Rotary switch Setting Mode Description
Normal operation mode
0 Mode operated by RAM (Operation by the setting data and parameters
stored in the RAM built-in Motion controller.)
F0 1 Mode to operate based on the setting data and
AB E
23
CD

6 Mode operated by ROM parameters wrote to the FLASH ROM built-in

4 56

78 9
Motion controller.
Ethernet IP address
8 Mode to display the Ethernet IP address.
display mode
C SRAM clear SRAM "0" clear
(Note): Do not set other than the above setting.

CAUTION
Be sure to turn OFF the Motion controller's power supply before the rotary switch setting change.

2 - 30
2 SYSTEM CONFIGURATION

(7) Operation mode

(a) Rotary switch setting and operation mode
(Note-1)
Rotary switch setting
Operation mode
SW1 SW2
A Any setting (Except C) Installation mode
0 0 Mode operated by RAM
0 6 Mode operated by ROM
0 8 Ethernet IP address display mode
(Note-2)
Any setting C SRAM clear
(Note-1): Do not set other the above setting.
(Note-2): The data (Refer to Section 6.5) of RAM built-in Motion controller are cleared.

(b) Operation mode overview

Operation mode 7-segment LED Operation overview
• Steady "INS" display at the 7-segment LED.
• Operating system software can be installed.
• It is STOP status regardless of the RUN/STOP/RESET switch position at the front
Installation mode
side of Motion controller.
• The stop error "MULTI CPU DOWN (error code: 7000)" will occur at the PLC CPU
area.
• " . " remains flashing in the first digit of 7-segment LED.
• It operates based on the user programs and parameters stored in the RAM built-in
Mode operated
Motion controller.
by RAM
• The user programs and parameters for the ROM operation can be written to the
FLASH ROM built-in Motion controller.
• " . " remains flashing in the first digit and steady" . "display in the second digit of 7-
segment LED.
• Operation starts after the user programs and parameters stored in the FLASH ROM
built-in Motion controller are read to the RAM built-in Motion controller at power
supply on or reset of the Motion controller.
If the ROM writing is not executed, even if the user programs and parameters are
Mode operated
changed using the MT Developer2 during mode operated by ROM, operation starts
by ROM
with the contents of the FLASH ROM built-in Motion controller at next power supply
on or reset.
Also, If the ROM writing is not executed, even if the auto tuning data are reflected on
the servo parameter of Motion controller by operation in the auto-tuning setting,
operation starts with the contents of the FLASH ROM built-in Motion controller at
next power supply on or reset.
• Refer to next page "(c) Ethernet IP address display mode overview".
Ethernet IP • It is STOP status regardless of the RUN/STOP/RESET switch position on the front
Refer to next
address display side of Motion controller.
page (c)
mode • The stop error "MULTI CPU DOWN (error code: 7000)" will occur at the PLC CPU
area.
• " . " remains flashing in the first digit of 7-segment LED.
SRAM clear • The data (Refer to Section 6.5) of RAM built-in Motion controller are cleared by
turning ON the Motion controller’s power supply after the rotary switch2 is set to "C".

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2 SYSTEM CONFIGURATION

POINTS
(1) Be sure to turn OFF the Motion controller's power supply before the rotary
switch setting change.
(2) It is recommended to shift to the mode operated by ROM after the programs
and parameters are fixed. The erasing of the programs and parameters can
be avoided even if the battery decrease. (The ROM writing cannot be
executed for the current position of the servo motor in the absolute position
system, home position and latch device. Back up them beforehand using
MT Developer2.)
Refer to Section 4.4 of the "Q173D(S)CPU/Q172D(S)CPU Motion controller
Programming Manual (COMMON)" for details of the ROM operation.

(c) Ethernet IP address display mode overview

7-segment LED Operation overview

(Note)
IP address
(ex. 192.168.3.39)

Subnet mask pattern

(Note)

(ex. 255.255.255.0)

Default router IP
(Note)
address
(ex. 192.168.3.1)

Link status
Disconnect

Connect
(10Mbps) Full duplex

Connect
(100Mbps) Half duplex

(Note): When the Ethernet parameters are not written in the Motion controller, the addresses
are displayed as follows.
• IP address : 192.168.3.39
• Subnet mask pattern : 255.255.255.0
• Default router IP address : 192.168.3.1

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2 SYSTEM CONFIGURATION

(8) Internal I/F connector

(a) The pin layout of the Q170MSCPU's internal I/F connector
Use the internal I/F connector on the front of the Q170MSCPU to connect to
manual pulse signals and incremental synchronous encoder signals.
The following is the pin layout of the internal I/F connector as viewed from
the front.
Internal I/F connector
Pin No. Signal Name Pin No. Signal Name
26 HAL 13 HBL
(Note-1) (Note-1)
25 HAH 12 HBH
(Note-2) 24 HA 11 HB (Note-2)
26 13
(Note-6) 23 No connect 10 SEL (Note-3)
22 SG 9 5V
21 No connect 8 No connect
20 No connect 7 No connect
(Note-6) (Note-6)
19 No connect 6 No connect
14 1 18 No connect 5 No connect
17 DI3 4 DI4
16 DI1 3 DI2
(Note-4) 15 COM1 2 COM2 (Note-5)
14 DO1 1 DO2

Applicable connector model name:

Soldering type connector (LD77MHIOCON)
10126-3000PE connector (Sumitomo 3M Limited make) (Optional)
10326-52F0-008 connector case
Wire size: AWG28
(Note-1): Input type from manual pulse generator/Incremental synchronous encoder
is switched by SEL.
Not connected : Voltage-output/open-collector type
SEL-SG connection : Differential-output type
(Note-2): Voltage-output/open-collector type
Connect the A-phase signal to HA, and the B-phase signal to HB.
(Note-3): Differential-output type
Connect the A-phase signal to HAH, and the A-phase inverse signal to HAL.
Connect the B-phase signal to HBH, and the B-phase inverse signal to HBL.
(Note-4): "COM1" is the common terminal of DI1, DI2, DI3 and DI4.
(Note-5): "COM2" is the common terminal of DO1 and Do2.
(Note-6): Do not connect to any of the terminal is explained as "No connect".

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2 SYSTEM CONFIGURATION

(b) Input signal/Mark detection

1) Specifications of input signal/mark detection input signal
Item Specifications
Number of input points 4 points
Input method Positive common/Negative common shared
Common terminal arrangement 4 points/common (Common contact: COM1)
Isolation method Photocoupler
Rated input voltage 24VDC
Rated input current (IIN) Approx. 5mA
21.6 to 26.4VDC
Operating voltage range
(24VDC 10%, ripple ratio 5% or less)
ON voltage/current 17.5VDC or more/3.5mA or more
OFF voltage/current 5VDC or less/0.9mA or less
Input resistance Approx. 5.6k
OFF to ON
Response time 1ms or less
ON to OFF

2) Interface between input signal/mark detection input signal

Input or Pin No. Wiring
Signal name Internal circuit Description
output 1 2 3 4 example

(Note-1)
Input/ DI 16 3 17 4 Signal input,
Input Mark detection Mark detection
signal input COM1 15 signal input
24VDC (Note-2)

(Note-1): =1 to 4
(Note-2): As for the 24VDC sign, both "+" and "-" are possible.

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2 SYSTEM CONFIGURATION

(c) Output signal

1) Specifications of output signal
Item Specifications
Number of output points 2 points
Output method Sink/Source type
Common terminal arrangement 2 points/common (Common contact: COM2)
Isolation method Photocoupler
Rated load voltage 24VDC 10%
Maximum load current (Iout) 40mA/point, 80mA/common
21.6 to 26.4VDC
External power supply
(24VDC 10%, ripple ratio 5% or less)
Maximum voltage drop at ON (Vdorp) 2.75VDC or less
OFF voltage/current 11VDC or less/1.7mA or less
OFF to ON 1ms or less
Response time
ON to OFF 1ms or less (Rated load, resistance load)

2) Interface between output signal

Input or Pin No. Wiring
Signal name Internal circuit Description
output 1 2 example

(Note-1) load
DO 14 1
Output Output Signal output
COM2 2
24VDC (Note-2)

(Note-1): =1 to 2
(Note-2): As for the 24VDC sign, both "+" and "-" are possible.

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2 SYSTEM CONFIGURATION

(d) Manual pulse generator/Incremental synchronous encoder input

1) Specifications of manual pulse generator/incremental synchronous
encoder
Item Specifications
Signal input form Phase A/Phase B
Maximum input pulse
1Mpps (After magnification by 4, up to 4Mpps)
frequency
Pulse width 1µs or more
Leading edge/trailing edge
0.25µs or less
time
Phase difference 0.25µs or more
High-voltage 2.0 to 5.25VDC
Differential-output Low-voltage 0 to 0.8VDC
type Differential voltage 0.2V
(26LS31 or
Cable length Up to 30m (98.43ft.)
equivalent ) 1 s or more
0.5 s or more 0.5 s or more

Phase A
0.25 s or more
Example of waveform
Phase B

0.25 s or less 0.25 s or less

(Note): Duty ratio 50%

Maximum input pulse 200kpps

frequency (After magnification by 4, up to 800kpps)
Pulse width 5µs or more
Leading edge/trailing edge
1.2µs or less
time
Phase difference 1.2µs or more
High-voltage 3.0 to 5.25 VDC
Voltage-output/
Low-voltage 0 to1.0VDC
Open-collector
Cable length Up to 10m (32.81ft.)
type 5 s or more
2.5 s or more 2.5 s or more

Phase A
1.2 s or more
Example of waveform
Phase B

1.2 s or less 1.2 s or less

(Note): Duty ratio 50%

POINT
Use a manual pulse generator or an incremental synchronous encoder that
consumes less than 0.2[A] of current.

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2 SYSTEM CONFIGURATION

2) Interface between manual pulse generator (differential-output type)/

incremental synchronous encoder
Input or
Signal name Pin No. Wiring example Internal circuit Specification Description
Output
Rated input voltage For connection manual
A+ pulse generator/
Manual 25 A 5.5VDC or less
HAH incremental
pulse synchronous encoder
generator, A HIGH level
A- Phases A, B
phase A 26 Manual 2.0 to 5.25VDC
Pulse width
HAL pulse 1 s or more
generator/
Incremental
B+ synchronous LOW level 0.5 s 0.5 s
Manual 12 encoder 0.8VDC or less
HBH B or more or more
Input pulse (Duty ratio: 50%)
generator, B 26LS31 or
phase B B- Leading edge, Trailing
13 equivalent
HBL edge time 0.25 s or less
Phase difference

Phase A
Select type
(Note-2) Phase B
signal 10 0.25 s or more
SEL
(1) Positioning address
increases if Phase A
leads Phase B.
(2) Positioning address
decreases if Phase B
P5(Note-1) 9 Power supply
leads Phase A.
5V 5VDC
Power
supply SG

SG 22

(Note-1): The 5V(P5)DC power supply from the Q170MSCPU must not be used if a separate power supply
is applied to the manual pulse generator/incremental synchronous encoder.
If a separate power supply is used, be sure it is 5V voltage.
Anything else may cause a failure.
(Note-2): Connect SEL to the SG terminal if the manual pulse generator (differential-output type)
/incremental synchronous encoder is used.

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2 SYSTEM CONFIGURATION

3) Interface between manual pulse generator (voltage-output/open-

collector type)/incremental synchronous encoder
Input or
Signal name Pin No. Wiring example Internal circuit Specification Description
Output
Rated input voltage For connection manual
Manual pulse A 5.5VDC or less pulse generator/
incremental
generator,
24 synchronous encoder
phase A HIGH level
Phases A, B
HA Manual 3 to 5.25VDC/
Pulse width
pulse 2mA or less 5 s or more
generator/
Incremental
synchronous LOW level
Manual pulse encoder B 1VDC or less/
2.5 s 2.5 s
or more or more
Input generator, 5mA or more
11 (Duty ratio: 50%)
phase B
HB Leading edge, Trailing
edge time 1.2 s or less
Phase difference

Phase A
Select type
signal 10 No connect Phase B
1.2 s or more
SEL
(1) Positioning address
increases if Phase A
leads Phase B.
(2) Positioning address
P5(Note-1) 9 Power supply decreases if Phase B
5V 5VDC leads Phase A.
Power
supply SG

SG 22

(Note-1): The 5V(P5)DC power supply from the Q170MSCPU must not be used if a separate power supply
is applied to the manual pulse generator/incremental synchronous encoder.
If a separate power supply is used, be sure it is 5V voltage.
Anything else may cause a failure.

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2 SYSTEM CONFIGURATION

4) Connection examples of manual pulse generator/incremental

synchronous encoder
Differential-output type Voltage-output/Open-collector type
Manual pulse generator/ Manual pulse generator/
Q170MSCPU Incremental synchronous Q170MSCPU Incremental synchronous
encoder side encoder side
Signal name Signal name
HAH A HA A
HAL A HB B
HBH B SG 0V
HBL B 5V 5V
SG 0V SEL (Note-1)
Shield
5V 5V Shell
: Twist pair cable
SEL (Note-2) (Note-1)

Shell Shield
: Twist pair cable

(Note-1): The 5V(P5)DC power supply from the Q170MSCPU must not be used if a separate power
supply is applied to the manual pulse generator/incremental synchronous encoder.
If a separate power supply is used, be sure it is 5V voltage. Anything else may cause a failure.
(Note-2): Input type from manual pulse generator/incremental synchronous encoder switched by SEL.
Not connected: Voltage-output/open-collector type
SEL-SG connection: Difference-output type

CAUTION
If a separate power supply is applied to the manual pulse generator/incremental synchronous
encoder, be sure it is 5V voltage. Anything else may cause a failure.
Always wire the cables when power is off. Not doing so may damage the circuit of modules.
Wire the cable correctly. Wrong wiring may damage the internal circuit.

(e) Connection of manual pulse generator/incremental synchronous encoder

Manual pulse generators/incremental synchronous encoders of the voltage-
output/open-collector type and differential-output type can be connected.
Both connection methods are different. (Refer to this section (8)(a).)

Connectable manual pulse generator/

Motion controller
incremental synchronous encoder
Q170MSCPU (Internal I/F) Up to 1 module

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2 SYSTEM CONFIGURATION

(f) Axis No. of manual pulse generator/incremental synchronous encoder

Any incremental synchronous encoder connected to the Q170MSCPU's
internal I/F will automatically be assigned an axis No. one integer greater
than the number of encoders connected to any Q173DPX modules.
The setting for the axis No. of manual pulse generator/incremental
synchronous encoder used by the internal I/F and Q173DPX.

Q170MS Internal I/F

CPU (Note-3)
(Note-1)
P

1st 2nd 3rd

(Note-2)
Q173D Q173D Q173D
PX PX PX
(Note-1): = Axis No.
The following Axis No.s are automatically set
depending on the number of Q173DPX modules.
0: P1
1: P4
P7 to P9 2: P7
3: P10
P4 to P6 (Note-2): Q173DPX installed to the smallest slot number
of the extension base unit is the 1st.
(Note-3)
P1 to P3 (Note-3): Axis No. P1 to P3 of the manual pulse generator
can be used.
4th
Q173D (Note): When the manual pulse generator is used with the
PX internal I/F, do not set the Q173DPX in the system
settings.

P10 to P12

Number of Q173DPXs
Axis No.
0 1 2 3 4
P1
P2 1 1 1 1

P3
P4
P5 2 2 2

P6
P7 —
P8 3 3
—
P9
P10 —
P11 4
—
P12

: Usable by internal I/F.

1 : Usable only by the 1st Q173DPX
2 : Usable only by the 2nd Q173DPX
3 : Usable only by the 3rd Q173DPX
4 : Usable only by the 4th Q173DPX
—: Unusable

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2 SYSTEM CONFIGURATION

POINTS
For advanced synchronous control method, set the axis No. of synchronous
encoder in the synchronous encoder axis parameter.
Refer to the "Q173DSCPU/Q172DSCPU Motion controller (SV22) Programming
Manual (Advanced Synchronous Control)" for details.

(9) PERIPHERAL I/F connector

Item Specification
Data transmission speed 100Mbps/10Mbps
Communication mode Full-duplex/Half-duplex
Transmission
Transmission method Base band
Cable length [m(ft.)] Up to 30 (98.43)

(10) 24VDC power supply connector

24VDC power supply is supplied from the 24VDC power supply connector of
the front face of the Motion controller.
The pins layout (from front view) and connection of the 24VDC power supply
connector is shown below.

Pin No. Signal name

1 1 24V(+)

2
2 24G
3 FG
3

• Applicable connector model name

FKC2.5/3-ST-5.08 connector (PHOENIX CONTACT make) (Attachment)
• Conductor size for power line
2
0.3 to 2.5mm (AWG12 to AWG22)

CAUTION
24V(+) pin is upper side and 24G pin is lower side of 24VDC power supply connector (from front
view) of Motion controller. If the polarity is wrong, the unit may be damaged.
Twist 24V(+) and 24G for 24VDC power line.
Power off the Motion controller before wiring 24VDC power supply.
Use proper size wire for 24VDC power line.

2 - 41
2 SYSTEM CONFIGURATION

(11) Forced stop input connector

The pins layout (from front view) and connection of the forced stop input
connector is shown below.

Pin No. Signal name

3 3 EMI.COM
(Note-1)
2 2 No connect
1 1 EMI
(Note-1): Do not connect to any of the terminal
is explained as "No connect".

• Applicable connector model name

FK-MCP1.5/3-ST-3.81 connector (PHOENIX CONTACT make) (Attachment)
• Conductor size for power line
2
0.3 to 1.5mm (AWG16 to AWG22)

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2 SYSTEM CONFIGURATION

(12) Selection of the modules used in the extension base unit

The modules used in the extension base unit are selected according to the total
of current consumption of the modules, and peripheral devices (Manual pulse
generator, Incremental synchronous encoder, etc.) supplied by the Motion
controller and Motion controller internal power supply.
5VDC internal current consumption of shared equipments with PLC might be
changed. Be sure to refer to the MELSEC-Q series PLC Manuals.

(a) Calculation example of module selection

<System configuration>

Q170MS
CPU
Incremental synchronous encoder

Q55B
QX40 Q173D QY40P QJ71 Q62DAN
PX LP21-25

MR-HDP01

MR-HDP01

• 5VDC current consumption of each module

Q170MSCPU : 2.50 [A] QY40P : 0.065 [A]
Incremental synchronous encoder: 0.20 [A] QJ71LP21-25 : 0.55 [A]
QX40 : 0.05 [A] Q62DAN : 0.33 [A]
Q173DPX : 0.38 [A] Q55B : 0.10 [A]
MR-HDP01 : 0.06 [A]

• Power consumption of overall modules

I5V = 2.50 + 0.20 + 0.05 + 0.38 + 0.06 2 + 0.065 + 0.55 + 0.33 + 0.10
= 4.295 [A]
System configuration is possible because of the total of current
consumption 4.295 [A] is the allowable value 4.5 [A] or less.

POINT
Configure the system in such a way that the total current consumption at 5VDC of
all the modules is the allowable value 4.5 [A] or less.

2 - 43
2 SYSTEM CONFIGURATION

2.5.2 Power supply module

(1) Power supply module specifications

Item Q61P Q62P Q63P Q64PN
Base loading position Q series power supply module loading slot
Applicable base unit Q35DB, Q38DB, Q312DB, Q63B, Q65B, Q68B, Q612B
100 to 240VAC (+10%/-15%) 24VDC (+30%/-35%) 100 to 240VAC (+10%/-15%)
Input power supply
(85 to 264VAC) (15.6 to 31.2VDC) (85 to 264VAC)
Input frequency 50/60Hz ±5% —— 50/60Hz ±5%
Input voltage distortion factor 5% or less —— 5% or less
Max. input apparent power 130VA 105VA 45W 160VA
(Note-4) 100A 1ms or less (Note-4)
Inrush current 20A 8ms or less 20A 8ms or less
(at 24VDC input)
Rated output 5VDC 6A 3A 6A 8.5A
current 24VDC —— 0.6A ——
External output voltage —— 24VDC±10% ——
Overcurrent 5VDC 6.6A or more 3.3A or more 6.6A or more 9.9A or more
(Note-1)
protection 24VDC —— 0.66A or more ——
Overvoltage
(Note-2) 5VDC 5.5 to 6.5V
protection
Efficiency 70% or more 65% or more 70% or more
Allowable momentary power 10ms or less
(Note-3) 20ms or less 20ms or less
failure time (at 24VDC input)
Across inputs/LG and
Across inputs/LG and outputs/FG
500VAC across outputs/FG
Dielectric withstand voltage 2,830VAC rms/3 cycles (Altitude: 2000m
primary and 5VDC 2,830VAC rms/3 cycles
(6561.68ft.) )
(Altitude: 2000m (6561.68ft.))
Across inputs and outputs (LG
Across inputs and outputs (LG and FG and FG separated), across
10M or more by
separated), across inputs and LG/FG, across inputs and LG/FG, across
Insulation resistance insulation resistance
outputs and LG/FG 10M or more by insulation outputs and LG/FG 10M or
tester
resistance tester (500VDC) more by insulation resistance
tester (500VDC)
• By noise simulator of
• By noise simulator of
• By noise simulator of 1,500Vp-p noise voltage, 1,500Vp-p noise voltage,
500Vp-p noise
1µs noise width and 25 to 60Hz noise 1µs noise width and 25 to
Noise immunity voltage, 1µs noise
frequency 60Hz noise frequency
width and 25 to 60Hz
• Noise voltage IEC61000-4-4, 2kV • Noise voltage IEC61000-4-4,
noise frequency
2kV
Operation indicator LED indication (Normal: ON (Green), Error: OFF)
Fuse Built-in (Unchangeable by user)
Application ERR contact
Rated switching
24VDC, 0.5A
voltage/current
Minimum switching
Contact 5VDC, 1mA
load
output
Response time OFF to ON: 10ms or less. ON to OFF: 12ms or less.
section
Mechanical: 20 million times or more
Life time
Electrical: 100 thousand times at rated switching voltage/current or more
Surge suppressor None
Fuse None
Terminal screw size M3.5 screw

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2 SYSTEM CONFIGURATION

Power supply module specifications (continued)

Item Q61P Q62P Q63P Q64PN
Applicable wire size 0.75 to 2mm2
Applicable crimping terminal RAV1.25 to 3.5, RAV2 to 3.5
Applicable tightening torque 0.66 to 0.89 N•m
Exterior dimensions 98(H) × 55.2(W) × 90(D) 98(H) × 55.2(W) × 115(D)
[mm(inch)] (3.86(H) × 2.17(W) × 3.54(D)) (3.86(H) × 2.17(W) × 4.53(D))
Mass [kg] 0.40 0.39 0.33 0.47

POINTS
(Note-1): Overcurrent protection
The overcurrent protection device shuts off the 5V, 24VDC circuit and
stops the system if the current flowing in the circuit exceeds the specified
value.
The LED of the power supply module is turned off or lights up in dim
green when voltage is lowered. If this device is activated, switch the input
power supply off and eliminate the cause such as insufficient current
capacity or short. Then, a few minutes later, switch it on to restart the
system.
The initial start for the system takes place when the current value
becomes normal.
(Note-2): Overvoltage protection
The overvoltage protection device shuts off the 5VDC circuit and stops
the system if a voltage of 5.5VDC or more is applied to the circuit.
When this device is activated, the power supply module LED is switched
OFF.
If this happens, switch the input power OFF, then a few minutes later ON.
This causes the initial start for the system to take place. The power supply
module must be changed if the system is not booted and the LED
remains OFF.

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2 SYSTEM CONFIGURATION

POINTS
(Note-3): Allowable momentary power failure period
(1) For AC input power supply
(a) An instantaneous power failure lasting less than 20ms will cause
AC down to be detected, but operation will continue.
(b) An instantaneous power failure lasting in excess of 20ms may
cause the operation to continue or initial start to take place
depending on the power supply load.
Further, when the AC supply of the AC input module is the same
as that of the power supply module, it prevents the sensor
connected to the AC input module, which is ON at power-off,
from turning OFF by switching off the power supply.
However, if only the AC input module is connected to the AC
line, which is connected to the power supply, detection of the AC
down for the power supply module may be delayed by the
capacitor in the AC input module. Thus, connect a load of
approx. 30mA per AC input module to the AC line.
(2) For DC input power supply
(Note)
(a) An instantaneous power failure lasting less than 10ms will
cause 24VDC down to be detected, but operation will continue.
(Note)
(b) An instantaneous power failure lasting in excess of 10ms
may cause the operation to continue or initial start to take place
depending on the power supply load.
(Note): This is for a 24VDC input. This is 10ms or less for less
than 24VDC.
(Note-4): Inrush current
When power is switched on again immediately (within 5 seconds) after
power-off, an inrush current of more than the specified value (2ms or less)
may flow. Reapply power 5 seconds after power-off.
When selecting a fuse and breaker in the external circuit, take account of
the blow out, detection characteristics and above matters.

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2 SYSTEM CONFIGURATION

(2) Names of Parts and Setting

This section describes the names of the parts of each power module.

• Q61P (100 to 240VAC input, 5VDC 6A output)

• Q62P (100 to 240VAC input, 5VDC 3A/24VDC 0.6A output)
• Q63P (24VDC input, 5VDC 6A output)
• Q64PN (100 to 240VAC input, 5VDC 8.5A output)
9) 1)
Q62P POWER

INPUT 8)
100-240VAC
50/60Hz 105VA
OUTPUT 5VDC 3A/24VDC 0.6A

ERR.
6) +24V 2)
L
+ -
24G
24VDC
(Q62P only) 0.5A
(FG) 3)
(LG) 4)
INPUT
N 5)
100-240VAC
L

Q62P

10) 7)

No. Name Application

ON (green) : Normal (5VDC output, momentary power failure within 20ms)
OFF : • AC power supply is ON, however, the power supply module is out of order.
AC input
(5VDC error, overload, internal circuit failure, blown fuse)
power supply
• AC power supply is not ON
POWER • Power failure (including an momentary power failure of more than 20ms)
1)
LED ON (green) : Normal (5VDC output, momentary power failure within 10ms)
OFF : • DC power supply is ON, however, the power supply module is out of order.
DC input
(5VDC error, overload, internal circuit failure, blown fuse)
power supply
• DC power supply is not ON
• Power failure (including an momentary power failure of more than 10ms)
2) ERR terminals • Normally OFF when loaded in an extension base unit.
3) FG terminal Ground terminal connected to the shield pattern of the printed circuit board.
Grounding for the power supply filter. The potential of Q61P, Q62P, and Q64PN terminal
4) LG terminal
is 1/2 of the input voltage.
• Power input terminals connected to a power supply of 100VAC to 200VAC.
5) Power input terminals (Q61P, Q62P, Q64PN)
• Power input terminals connected to a power supply of 24VDC. (Q63P)
+24V, 24G terminals
6) Used to supply 24VDC power to inside the output module. (using external wiring)
(Q62P only)
7) Terminal screw M3.5 7 screw
8) Terminal cover Protective cover of the terminal block
Used to fix the module to the base unit.
9) Module fixing screw hole
M3 12 screw (user-prepared) (Tightening torque : 0.36 to 0.48 N•m)
10) Module mounting lever Used to load the module into the base unit.

2 - 47
2 SYSTEM CONFIGURATION

POINTS
(1) The Q63P is dedicated for inputting a voltage of 24VDC.
Do not input a voltage of except 24VDC into it or trouble may occur on the
Q63P.
(2) Ensure that the earth terminals LG and FG are grounded.
(Ground resistance : 100 or loss)
Since the LG terminal has a half of the input voltage, touching this terminal may
result in an electric shock.
(3) When the Q61P, Q62P, Q63P or Q64PN is loaded on the extension base unit,
a system error cannot be detected by the ERR terminal.
(The ERR terminal is always OFF.)

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2.5.3 Extension base unit and extension cable

This section describes the specifications of the extension cables for the base units
(Extension base unit), and the specification standards of the extension base unit.
5VDC internal current consumption of base unit might be changed. Be sure to refer to
the MELSEC-Q series PLC Manuals.

(1) Extension base unit specifications

(a) Type not requiring power supply module
Type
Q52B Q55B
Item
Number of I/O modules 2 5
Possibility of extension Extendable
Applicable module Q series modules
5VDC internal current
0.08 0.10
consumption [A]
Fixing hole size M4 screw hole or 4.5 hole (for M4 screw)
Exterior dimensions 106(W) 98(H) 44.1(D) 189(W) 98(H) 44.1(D)
[mm(inch)] (4.17(W) 3.86(H) 1.74(D)) (7.44(W) 3.86(H) 1.74(D))
Mass [kg] 0.14 0.23
Attachment Fixing screw M4 14 4 pieces

(b) Type requiring power supply module

Type
Q63B Q65B Q68B Q612B
Item
Number of I/O modules 3 5 8 12
Possibility of extension Extendable
Applicable module Q series modules
5VDC internal current
0.11 0.11 0.12 0.13
consumption [A]
Fixing hole size M4 screw hole or 4.5 hole (for M4 screw)
189(W) 98(H) 245(W) 98(H) 328(W) 98(H) 439(W) 98(H)
Exterior dimensions 44.1(D) 44.1(D) 44.1(D) 44.1(D)
[mm(inch)] (7.44(W) 3.86(H) (9.65(W) 3.86(H) (12.91(W) 3.86(H) (17.28(W) 3.86(H)
1.74(D)) 1.74(D)) 1.74(D)) 1.74(D))
Mass [kg] 0.23 0.28 0.39 0.49
(Note-1)
Attachment Fixing screw M4 × 14 4 pieces

(Note-1): The 5 base mounting screws are included with the Q68B and Q612B that have 5 base mounting holes.

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(2) Extension cable specifications

The list below describes the specifications of the extension cables which can be
used.

Type
QC05B QC06B QC12B QC30B QC50B QC100B
Item
Cable length [m(ft.)] 0.45(1.48) 0.6(1.97) 1.2(3.94) 3.0(9.84) 5.0(16.40) 10.0(32.81)
Connection between the Motion controller and extension base unit,
Application
or connection between the extension base units.
Mass [kg] 0.15 0.16 0.22 0.40 0.60 1.11

POINT
When the extension cables are used in combination, limit the overall length of the
combined cable to 13.2m (43.31ft.).

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2 SYSTEM CONFIGURATION

(3) Names of parts of the extension base unit

Names of parts of the extension base unit are described below.

(a) Extension base unit (Q5 B, Q6 B)

• Q52B, Q55B
6) 5)

IN OUT

3)

2) I/O0 I/O1 I/O2 I/O3 I/O4

1)

4)

• Q63B, Q65B, Q68B, Q612B

6) 5)

IN OUT

3)

2) I/O0 I/O1 I/O2 I/O3 I/O4 I/O5 I/O6 I/O7 I/O8 I/O9 I/O10 I/O11
POWER

1)

4)

No. Name Application

Extension cable Connector for connecting an extension cable (for signal communications with the
1)
connector extension base unit)
Protective cover of extension cable connector. Before an extension cable is connected,
2) Base cover the area of the base cover surrounded by the groove under the word "OUT" on the base
cover must be removed with a tool such as nippers.
Stage No. setting
3) Connector for setting the number of stages of extension base units.
connector
Connector for installing the Motion modules, power supply module, I/O modules, and
intelligent function module.
4) Module connector To the connectors located in the spare space where these modules are not installed,
attach the supplied connector cover or the blank cover module (QG60) to prevent entry
of dirt.
5) Module fixing screw hole Screw hole for fixing the module to the extension base unit. Screw size: M3 12
6) Base mounting hole Hole for mounting this base unit onto the panel of the control panel (for M4 screw)

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(4) I/O allocations

It is possible to allocate unique I/O No.s for each Motion CPU area independently
of the PLC CPU area’s I/O No.s.
ON/OFF data input to the Motion CPU area is handled via input devices PX ,
while ON/OFF data output from the Motion CPU area is handled via output
devices PY .
It is not mandatory to match the I/O device PX/PY No.s used in the Motion
program with the PLC I/O No.s; but it is recommended to make them match as
much as possible.

The following figure shows an example of I/O allocation.

Q170MS
CPU

0 1 2 3 4

QX41 Q62DAN QY41P QX41 QY41P

X0 to X1F 20 to 3F Y80 to Y9F PX0 to PX1F PY20 to PY3F

(X40 to X5F) (Y60 to Y7F)

PLC CPU area Motion CPU area

control module control module

(Note-1): When the number of modules to be installed is 32 points.

(Note-2): When the PX/PY No. does not match the PLC I/O No.

Refer to the Q173D(S)CPU/Q172D(S)CPU Motion Controller Programming Manual

(COMMON) about the I/O allocation setting method of the Motion CPU area, and refer
to APPENDIX 1.3 and the "QnUCPU User's Manual (Function Explanation, Program
Fundamentals)" about the I/O allocation setting method of the PLC CPU area.

POINT
I/O device of the Motion CPU area can be set in the range PX/PY000 to PX/PYFFF.
The real I/O points must be 256 points or less. (As for the I/O No., it is possible not
to continue.)

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2.5.4 Q172DLX Servo external signals interface module

Q172DLX receives external signals (servo external signals) required for positioning
control.

(1) Q172DLX name of parts

1)
Q172DLX
5)
2)

CTRL 3)

6) Q172DLX
7)

4)

No. Name Application

Hook used to fix the module to the base unit.
1) Module fixing hook
(Single-motion installation)
Display the servo external input status from the external
equipment.

LED Details

2) Input indicator LED Display for servo external signal input status of
0 to 1F
each axis.
The proximity dog/speed-position switching signal (DOG/
CHANGE) does not turn ON without setting Q172DLX in the
system setting.
3) CTRL connector The servo external signal input connector of each axis.
4) Module mounting lever Used to install the module to the base unit.
Module fixing screw Hole for the screw used to fix to the base unit.
5)
hole (M3×12 screw : Purchase from the other supplier)
6) Module fixing projection Projection used to fix to the base unit.
7) Serial number display Display the serial number described on the rating plate.

POINT
Input indicator LED of the proximity dog/speed-position switching signal (DOG/
CHANGE) turns ON at the following conditions.
• Q172DLX is set on the system setting of MT Developer2.
• The proximity dog/speed-position switching signal (DOG/CHANGE) is input.

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(2) Performance specifications

(a) Module specifications
Item Specifications
Number of I/O occupying points 32 points(I/O allocation: Intelligent, 32 points)
Internal current consumption(5VDC) [A] 0.06
98(H) 27.4(W) 90(D)
Exterior dimensions [mm(inch)]
(3.86(H) 1.08(W) 3.54(D) )
Mass [kg] 0.15

(b) Input
Item Specifications
Servo external signals : 32 points
(Upper stroke limit, Lower stroke limit, Stop input,
Number of input points
Proximity dog/Speed-position switching signal)
(4 points 8 axes)
Input method Sink/Source type
Common terminal arrangement 32 points/common (common terminal: B1, B2)
Isolation method Photocoupler
Rated input voltage 12/24VDC
Rated input current 12VDC 2mA/24VDC 4mA
10.2 to 26.4VDC
Operating voltage range
(12/24VDC +10/ -15%, ripple ratio 5% or less)
ON voltage/current 10VDC or more/2.0mA or more
OFF voltage/current 1.8VDC or less/0.18mA or less
Input resistance Approx. 5.6k
Response time of the OFF to ON
Upper/Lower stroke limit 1ms
ON to OFF
and STOP signal
Response time of the OFF to ON
0.4ms/0.6ms/1ms
proximity dog, Speed-
ON to OFF (CPU parameter setting, Default 0.4ms)
position switching signal
Operation indicator ON indication (LED)
External connector type 40 pin connector
2
Applicable wire size 0.3mm
Applicable connector for the external A6CON1 (Attachment),
connection A6CON2, A6CON3, A6CON4 (Optional)
Applicable connector/
A6TBXY36, A6TBXY54, A6TBX70 (Optional)
Terminal block converter module

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(3) Connection of servo external signals interface module

(a) Servo external signals
There are the following servo external signals.
(Upper stroke limit is limit value of address increase direction/lower stroke
limit is limit value of an address decrease direction.)
The Q172DLX is assigned a set of input No.s per axis. Make the system
setting of MT Developer2 to determine the I/O No.s corresponding to the
axis No.s.

Number of points
Servo external signal Application
on one Q172DLX
Upper stroke limit input (FLS)
For detection of upper and lower stroke limits.
Lower stroke limit input (RLS)
Stop signal input (STOP) For stopping under speed or positioning control. 32 points
Proximity dog/ For detection of proximity dog at proximity dog or count (4 points/8 axes)
Speed-position switching input type home position return or for switching from speed
(DOG/CHANGE) to position switching control.

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(b) The pin layout of the CTRL connector

Use the CTRL connector on the front of the Q172DLX module to connect to
servo external signals.
The following is the pin layout of the Q172DLX CTRL connector as viewed
from the front.
CTRL connector
Pin No. Signal Name Pin No. Signal Name
Signal No. B20 FLS1 A20 FLS5 Signal No.
B19 RLS1 A19 RLS5
B20 A20 1 5
B18 STOP1 A18 STOP5
B17 DOG1/CHANGE1 A17 DOG5/CHANGE5
B16 FLS2 A16 FLS6
B15 RLS2 A15 RLS6
2 6
B14 STOP2 A14 STOP6
B13 DOG2/CHANGE2 A13 DOG6/CHANGE6
B12 FLS3 A12 FLS7
B11 RLS3 A11 RLS7
3 7
B10 STOP3 A10 STOP7
B9 DOG3/CHANGE3 A9 DOG7/CHANGE7
B8 FLS4 A8 FLS8
B7 RLS4 A7 RLS8
4 8
B6 STOP4 A6 STOP8
B5 DOG4/CHANGE4 A5 DOG8/CHANGE8
B4 No connect A4 No connect
B1 A1
B3 No connect A3 No connect
B2 COM A2 No connect
B1 COM A1 No connect

Applicable connector model name

A6CON1 type soldering type connector
FCN-361J040-AU connector (FUJITSU COMPONENT LIMITED) (Attachment)
FCN-360C040-B connector cover
A6CON2 type Crimp-contact type connector
A6CON3 type Pressure-displacement type connector (Optional)
A6CON4 type soldering type connector
DOG/CHANGE, STOP, RLS, FLS functions of each axis(1 to 8) For information about
signal details, refer to
DOG/CHANGE Proximity dog/Speed-position the programming manual.
switching signal
STOP Stop signal
RLS Lower stroke limit
FLS Upper stroke limit

(Note): Connector/terminal block conversion modules and cables can be

used at the wiring of CTRL connector.
A6TBXY36/A6TBXY54/A6TBX70 : Connector/terminal block
converter module
AC TB ( :Length [m]) : Connector/terminal block
converter module cable

POINT
Signal No. 1 to 8 can be assigned to the specified axis. Make the assignment in the
system settings of MT Developer2.

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(4) Interface between CTRL connector and servo external signal

Input or
Signal name Pin No. LED Wiring example Internal circuit Specification Description
Output
FLS1 B20 0 Supply voltage
FLS2 B16 4 12 to 24 VDC
FLS3 B12 8 (10.2 to 26.4 VDC,
stabilized power
FLS4 B8 C
Upper stroke supply) FLS
FLS5 A20 10
limit input
FLS6 A16 14
FLS7 A12 18
FLS8 A8 1C
RLS1 B19 1
RLS2 B15 5
RLS3 B11 9
RLS4 B7 D
Lower stroke RLS
RLS5 A19 11
limit input
RLS6 A15 15
RLS8 A11 19
High level
RLS8 A7 1D 10.0 VDC or more/
STOP1 B18 2 2.0mA or more
STOP2 B14 6
Input
STOP3 B10 A
STOP4 B6 E
STOP
STOP5 A18 12
STOP6 A14 16 Stop signal input
STOP7 A10 1A
Low level
STOP8 A6 1E 1.8 VDC or less/
DOG/CHANGE1 B17 3 0.18mA or less
DOG/CHANGE2 B13 7
DOG/CHANGE3 B9 B
DOG/CHANGE4 B5 F Proximity dog/ DOG/CHANGE
DOG/CHANGE5 A17 13 Speed-position
DOG/CHANGE6 A13 17 switching signal
DOG/CHANGE7 A9 1B
DOG/CHANGE8 A5 1F

Common terminals
Power supply B1 B2 for servo external
(Note)
12VDC to 24VDC input signal.

(Note): As for the connection to power line (B1, B2), both "+" and "–" are possible.

CAUTION
Always use a shield cable for connection of the CTRL connector and external equipment, and
avoid running it close to or bundling it with the power and main circuit cables to minimize the
influence of electromagnetic interface. (Separate them more than 200mm (0.66ft.) away.)
Connect the shield wire of the connection cable to the FG terminal of the external equipment.
Make parameter setting correctly. Incorrect setting may disable the protective functions such
as stroke limit protection.
Always wire the cables when power is off. Not doing so may damage the circuit of modules.
Wire the cable correctly. Wrong wiring may damage the internal circuit.

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2.5.5 Q173DPX Manual pulse generator interface module

Q173DPX receives signals required for Manual pulse and Incremental synchronous
encoder (Voltage-output/Open-collector type/Differential-output type) input.

(1) Q173DPX name of parts

1)
Q173DPX
5) PLS.A PLS.B TREN
1
2
1
2
1
2
2)
3 3 3

PULSER 3)
ON
1 2 3 4 5 6

6)

7) Q173DPX
8)

4)

No. Name Application

Hook used to fix the module to the base unit.
1) Module fixing hook
(Single-motion installation)
Display the input status from the external equipment.

LED Details
Display for input signal status of manual
PLS.A 1 to 3
pulse generator/incremental synchronous
PLS.B 1 to 3
2) Input indicator LED encoder phases A, B
Display for signal status of tracking
TREN 1 to 3
enable
The manual pulse generator/incremental synchronous
encoder phases A, B and tracking enable signal does not
turn ON without setting Q173DPX in the system setting.
Input connector of the Manual pulse generator/Incremental
3) PULSER connector
synchronous encoder.
4) Module mounting lever Used to install the module to the base unit.
Hole for the screw used to fix to the base unit
5) Module fixing screw hole
(M3×12 screw : Purchase from the other supplier)

2 - 58
2 SYSTEM CONFIGURATION

No. Name Application

Detection setting of TREN1 signal
Dip switch 1 SW1 SW2
OFF OFF
TREN is detected at leading
ON ON
edge of TREN signal.
ON OFF
Dip switch 2
TREN is detected at trailing edge
Dip switches
(Note-1) OFF ON
of TREN signal.
Detection setting of TREN2 signal

ON
1 2 3 4 5 6

Dip switch 3 SW3 SW4

OFF OFF
TREN is detected at leading
6) ON ON
edge of TREN signal.
ON OFF
Dip switch 4
TREN is detected at trailing edge
OFF ON
of TREN signal.
(Factory default in OFF
position) Detection setting of TREN3 signal
Dip switch 5 SW5 SW6
OFF OFF
TREN is detected at leading
ON ON
edge of TREN signal.
ON OFF
Dip switch 6
TREN is detected at trailing edge
OFF ON
of TREN signal.
7) Module fixing projection Projection used to fix to the base unit.
8) Serial number display Display the serial number described on the rating plate.
(Note-1): The function is different depending on the operating system software installed.

CAUTION
Before touching the DIP switches, always touch grounded metal, etc. to discharge static
electricity from human body. Failure to do so may cause the module to fail or malfunction.
Do not directly touch the module's conductive parts and electronic components. Touching them
could cause an operation failure or give damage to the module.

POINTS
Input indicator LED of the manual pulse generator/incremental synchronous
encoder phases A, B and tracking enable signal turns ON at the following
conditions.
(1) PLS.A 1 to 3, PLS.B 1 to 3
• Q173DPX is set in the system setting of MT Developer2.
• All axes servo ON command (M2042) turned on.
• Manual pulse generator enable flag (M2051, M2052, M2053) turned on.
• Manual pulse generator signal is input.
(2) TREN 1 to 3
• Q173DPX is set in the system setting of MT Developer2.
• The tracking enable signal is input.

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2 SYSTEM CONFIGURATION

(2) Performance specifications

(a) Module specifications
Item Specifications
Number of I/O occupying points 32 points(I/O allocation: Intelligent, 32 points)
Internal current consumption(5VDC)[A] 0.38
Exterior dimensions [mm(inch)] 98(H) 27.4(W) 90(D) (3.86(H) 1.08(W) 3.54(D) )
Mass [kg] 0.15

(b) Tracking enable signal input

Item Specifications
Number of input points Tracking enable signal : 3 points
Input method Sink/Source type
Common terminal arrangement 1 point/common(Common contact: TREN.COM)
Isolation method Photocoupler
Rated input voltage 12/24VDC
Rated input current 12VDC 2mA/24VDC 4mA
10.2 to 26.4VDC
Operating voltage range
(12/24VDC +10/ -15%, ripple ratio 5% or less)
ON voltage/current 10VDC or more/2.0mA or more
OFF voltage/current 1.8VDC or less/0.18mA or less
Input resistance Approx. 5.6k
OFF to ON 0.4ms/0.6ms/1ms
Response time
ON to OFF (CPU parameter setting, Default 0.4ms)
Operation indicator ON indication(LED)
(Note): Functions are different depending on the operating system software installed.

(c) Manual pulse generator/Incremental synchronous encoder input

Item Specifications
Number of modules 3/module
Voltage-output/ High-voltage 3.0 to 5.25VDC
Open-collector type Low-voltage 0 to 1.0VDC
Differential-output type High-voltage 2.0 to 5.25VDC
(26LS31 or equivalent) Low-voltage 0 to 0.8VDC
Input frequency Up to 200kpps (After magnification by 4)
• Voltage-output type/Open-collector type (5VDC),
Applicable types Recommended product: MR-HDP01
• Differential-output type: (26LS31 or equivalent)
External connector type 40 pin connector
2
Applicable wire size 0.3mm
Applicable connector for the external A6CON1(Attachment)
connection A6CON2, A6CON3, A6CON4 (Optional)
Voltage-output/
30m (98.43ft.)
Cable length Open-collector type
(Open-collector type: 10m (32.81ft.))
Differential-output type

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2 SYSTEM CONFIGURATION

(3) Connection of manual pulse generator

Manual pulse generators of the voltage-output/open-collector type and
differential-output type can be connected. Both connection methods are different.
(Refer to this section (5).)
When the manual pulse generator is connected to the Q173DPX, it cannot be
connected to the internal I/F.
Motion controller Connectable manual pulse generator
Up to 3 modules
Q170MSCPU
(Q173DPX: Up to 1 module)

(4) Connection of incremental synchronous encoder

Incremental synchronous encoders of the voltage-output/Open-collector type and
differential-output type can be connected. Both connection methods are different.
(Refer to this section (5).)
Motion controller Connectable synchronous encoder
Up to 12 modules
Q170MSCPU
(Q173DPX: Up to 4 modules)
Q170MSCPU
Up to 10 modules
(Combination of Q173DPX
(Note) (Q173DPX: Up to 3 modules)
and internal I/F )
(Note): Refer to Section 2.5.1 for details of the internal I/F.

• Tracking enable signal

Tracking enable signal of Q173DPX is used to start the input from incremental
synchronous encoders in the external input mode for the clutch.
The external input signal of the incremental synchronous encoder is indicated
below.
This signal is used as the input start signal, high-speed reading function or high-
speed input request signal from incremental synchronous encoder.
External input signal of the Number of points on
Application
incremental synchronous encoder one Q173DPX
Input start function from incremental Each 1 point
Tracking enable signal input
synchronous encoder (Total 3 points )

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(5) Connection of manual pulse generator interface module

(a) The pin layout of the PULSER connector
Use the PULSER connector on the front of the Q173DPX module to connect
to manual pulse signals and incremental synchronous encoder signals.
The following is the pin layout of the Q173DPX PULSER connector as
viewed from the front.
PULSER connector
Pin No. Signal Name Pin No. Signal Name
2) B20 HB1 A20 HA1 2)
B19 SG A19 SG
B20 A20 B18 5V A18 HPSEL1 1)
B17 HA1N A17 HA1P
3) 3)
B16 HB1N A16 HB1P
2) B15 HB2 A15 HA2 2)
B14 SG A14 SG
B13 5V A13 HPSEL2 1)
B12 HA2N A12 HA2P
3) 3)
B11 HB2N A11 HB2P
2) B10 HB3 A10 HA3 2)
B9 SG A9 SG
B8 5V A8 HPSEL3 1)
B7 HA3N A7 HA3P
3) 3)
B6 HB3N A6 HB3P
B5 No connect A5 No connect
B4 TREN1- A4 TREN1+
B1 A1
B3 TREN2- A3 TREN2+
B2 TREN3- A2 TREN3+
4) B1 FG A1 FG 4)

Applicable connector model name

A6CON1 type soldering type connector
FCN-361J040-AU connector (FUJITSU COMPONENT LIMITED) (Attachment)
FCN-360C040-B connector cover
A6CON2 type Crimp-contact type connector
A6CON3 type Pressure-displacement type connector (Optional)
A6CON4 type soldering type connector
1): Input type from manual pulse generator/incremental synchronous
encoder switched by HPSEL .
Not connected : Voltage-output/open-collector type
HPSEL -SG connection : Differential-output type
(Switching is possible for each input 1 to 3)
2): Voltage-output/open-collector type
Connect the A-phase signal to HA1/HA2/HA3, and the B-phase signal
to HB1/HB2/HB3.
3): Differential-output type
Connect the A-phase signal to HA1P/HA2P/HA3P, and the A-phase
inverse signal to HA1N/HA2N/HA3N.
Connect the B-phase signal to HB1P/HB2P/HB3P, and the B-phase
inverse signal to HB1N/HB2N/HB3N.
4): Connect the shield cable between manual pulse generator/incremental
synchronous encoder and Q173DPX at the FG signal.
5): Connector/terminal block conversion modules cannot be used.

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2 SYSTEM CONFIGURATION

(b) Interface between PULSER connector and manual pulse generator

(Differential-output type)/Incremental synchronous encoder
Input or PIN No.
Signal name Wiring example Internal circuit Specification Description
Output 1 2 3
A Rated input voltage For connection manual
A17 A12 A7 A 5.5VDC or less pulse generator
Manual HA P Phases A, B
pulse
A HIGH level Pulse width
generator, A 20 s or more
phase A B17 B12 B7 Manual 2.0 to 5.25VDC/
HA P è “® pulse
Ž p
ƒ ƒ
‹ ƒ
T^ 2mA or less
generator/
I Incremental
NC“¯ Šú 5 s 5 s
G
ƒ “ƒ ƒ
R[ _ƒ
synchronous or more or more
A LOW level
Manual A16 A11 A6 encoder B (Duty ratio: 50% 25%)
HA P 0.8VDC or less
Input pulse Leading edge, Trailing
generator, B
A 26LS31 or edge time 1 s or less
phase B
B16 B11 B6 equivalent Phase difference
HA P
Phase A

Phase B
Select type 2.5 s or more
(Note-2)
signal A18 A13 A8
(1) Positioning address
HPSEL increases if Phase A
leads Phase B.
(2) Positioning address
decreases if Phase B
(Note) leads Phase A.
P5 B18 B13 B8 Power supply
5V 5VDC
Power
supply SG
A19 A14 A9
SG
B19 B14 B9

(Note-1): The 5V(P5)DC power supply from the Q173DPX must not be used if a separate power supply is
applied to the Manual pulse generator/Incremental synchronous encoder.
If a separate power supply is used, be sure it is 5V voltage. Anything else may cause a failure.
(Note-2): Connect HPSEL to the SG terminal if the manual pulse generator (differential-output type)
/incremental synchronous encoder is used.

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2 SYSTEM CONFIGURATION

(c) Interface between PULSER connector and manual pulse generator (Voltage-
output/Open-collector type)/Incremental synchronous encoder.
Input or Pin No.
Signal name Wiring example Internal circuit Specification Description
Output 1 2 3
Rated input voltage For connection manual
Manual pulse generator
A 5.5VDC or less
pulse Phases A, B
A20 A15 A10
generator, HIGH level Pulse width
phase A Manual 3 to 5.25VDC/
20 s or more
HA pulse 2mA or less
generator/ 5 s 5 s
Incremental or more or more
Manual synchronous LOW level
encoder B (Duty ratio: 50% 25%)
pulse 1VDC or less/
Input B20 B15 B10 5mA or more Leading edge, Trailing
generator,
edge time 1 s or less
phase B Phase difference
HB
Phase A

Phase B
Select type 2.5 s or more
No connect
signal A18 A13 A8 (1) Positioning address
HPSEL increases if Phase A
leads Phase B.
(2) Positioning address
decreases if Phase B
(Note) leads Phase A.
P5 B18 B13 B8 Power supply
5V 5VDC
Power
supply SG
A19 A14 A9
SG
B19 B14 B9

(Note-1) : The 5V(P5)DC power supply from the Q173DPX must not be used if a separate power supply is
applied to the Manual pulse generator/Incremental synchronous encoder.
If a separate power supply is used, be sure it is 5V voltage. Anything else may cause a failure.

(d) Interface between PULSER connector and tracking enable signal

Input or Pin No.
Signal name Wiring example Internal circuit Specification Description
Output 1 2 3
Tracking enable
TREN A4 A3 A2 signal input.
Tracking
Input
enable
TREN B4 B3 B2
12V to 24VDC

(Note): As for the connection to tracking enable (TREN +, TREN –), both "+" and "–" are possible.

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(6) Connection examples of manual pulse generator

Manual pulse generator Manual pulse generator
(Voltage-output/Open-collector type) (Differential-oputput type)
Q173DPX Q173DPX
Manual pulse Manual pulse
Signal name generator side Signal name generator side
HA A HA P A
HB B HA N A
SG 0V HB P B
SG 5V HB N B
SG (Note-1) SG 0V
P5 P5 5V
Shield
FG FG Shield
(Note-1)
: 1 to 3 : Twist pair cable SV
(Note-2)
HPSEL
: Twist pair cable
: 1 to 3
(Note-1): The 5V(P5)DC power supply from the Q173DPX must not be used if a separate power supply is
applied to the manual pulse generator/incremental synchronous encoder.
If a separate power supply is used, be sure it is 5V voltage. Anything else may cause a failure.
(Note-2): Connect HPSEL to the SG terminal if the manual pulse generator (differential-output
type)/incremental synchronous encoder is used.

CAUTION
If a separate power supply is applied to the manual pulse generator/incremental synchronous
encoder, be sure it is 5V voltage. Anything else may cause a failure.
Always wire the cables when power is off. Not doing so may damage the circuit of modules.
Wire the cable correctly. Wrong wiring may damage the internal circuit.
P5 terminal is the power supply for the manual pulse generator. Do not apply a voltage and do
not use it for other purposes.

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2 SYSTEM CONFIGURATION

2.5.6 Manual pulse generator

(1) Manual pulse generator specifications

Item Specifications
(Note-1)
Model name MR-HDP01
Ambient temperature -10 to 60°C(14 to 140°F)
Pulse resolution 25PLS/rev(100 PLS/rev after magnification by 4)
Output method Voltage-output/Output current : Up to 20mA
Power supply voltage 4.5 to 13.2VDC
Current consumption [mA] 60
(Note-2)
"H" level: Power supply voltage -1V or more (with no load)
Output level
"L" level: 0.5V or less (with maximum leading-in)
Life time 1,000,000 revolutions or more (at 200r/min)
Permitted axial loads Radial load : Up to 19.6N, Thrust load : Up to 9.8N
Mass [kg] 0.4
Number of max. revolution Instantaneous Up to 600r/min. normal 200r/min
Pulse signal status 2 signals : A phase, B : phase, 90° phase difference
Start friction torque 0.06N•m (20°C (68°F) )
(Note-1): Use MR-HDP01 by connecting with internal I/F or Q173DPX or Q170MSCPU's
internal I/F.
(Note-2): If a separate power supply is used, be sure it is 5VDC ± 0.25V voltage.

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2 SYSTEM CONFIGURATION

2.5.7 SSCNET cables

Between the Motion controller and servo amplifiers, or servo amplifier and servo
amplifier connected by SSCNET cable. Up to 16 servo amplifies can be connected.

(1) SSCNET cable specifications

Model name Cable length [m(ft.)] Description
MR-J3BUS015M 0.15 (0.49)
MR-J3BUS03M 0.3 (0.98)
MR-J3BUS M MR-J3BUS05M 0.5 (1.64)
MR-J3BUS1M 1 (3.28)
MR-J3BUS3M 3 (9.84)
• Q170MSCPU Servo amplifier
MR-J3BUS5M-A 5 (16.40)
• Servo amplifier Servo amplifier
MR-J3BUS M-A MR-J3BUS10M-A 10 (32.81)
MR-J3BUS20M-A 20 (65.62)
MR-J3BUS30M-B 30 (98.43)
MR-J3BUS M-B MR-J3BUS40M-B 40 (131.23)
MR-J3BUS50M-B 50 (164.04)

(2) Connection between the Q170MSCPU and servo amplifiers

Connect the SSCNET cables to the following connectors.
Refer to Section 4.2.1 for the connection and disconnection of SSCNET cable.
Q170MSCPU SSCNET cable length
MR-J3BUS M use
1) 3m(9.84ft.)
MR-J3BUS M-A use
1) 20m(65.62ft.)
MR-J3BUS M-B use
1) 50m(164.04ft.)

1) CN1A CN1A
1)
Cap
CN1B CN1B

Servo amplifier Servo amplifier

(Note): It cannot communicate if the connection of

CN1A and CN1B is mistaken.

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2 SYSTEM CONFIGURATION

(3) Setting of the axis No. and axis select rotary switch of servo
amplifier
Axis No. is used to set the axis numbers of servo amplifiers connected to
SSCNET connector 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.

• Setting display of axis No. • Axis select rotary switch

(Servo amplifier)

7 8 9

3 4 5 6

A
B C DE
2
F 0 1

Set the axis No. relative to axis number (dno.).

(Note): Correspondence between dno. and axis select rotary switch of servo amplifiers is
shown below.

Correspondence between dno.s and axis select rotary switches of servo amplifier
(Note) Axis select rotary switch of (Note) Axis select rotary switch of
dno. dno.
servo amplifier servo amplifier
d01 "0" d09 "8"
d02 "1" d10 "9"
d03 "2" d11 "A"
d04 "3" d12 "B"
d05 "4" d13 "C"
d06 "5" d14 "D"
d07 "6" d15 "E"
d08 "7" d16 "F"

(Note): The dno. is number of servo amplifier axis displayed with the system setting of
MT Developer2. Axis No. is set relative to dno. in the system settings.

REMARK
The setting of axis select rotary switch is different depending on the servo amplifier.
Refer to the "Servo amplifier Instruction Manual" for details.

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2 SYSTEM CONFIGURATION

2.5.8 Battery

This section describes the battery specifications and, handling precautions used in the
Motion controller.

(1) Battery specifications

Model name
Q6BAT Q7BAT
Item
Classification Manganese dioxide lithium primary battery
Initial voltage [V] 3.0
Nominal current [mAh] 1800 5000
Storage life Actually 5 years (Room temperature)
Lithium content [g] 0.49 1.52
Applications For memory data backup of RAM built-in Motion controller
Exterior dimensions [mm(inch)] 16(0.63)×32(1.26) 24(0.94)×52(2.05)

(Note): The following points are changed for lithium metal batteries transportation by sea or air
due to Recommendations of the United Nations Rev. 15 and ICAO-TI 2009-2010 edition.
1) A package containing 24 cells or 12 batteries or less that are not contained in
equipment are no longer exempt from the following: attachment of a handling label,
submission of the Shipper's Declaration for Dangerous Goods, and a 1.2m drop test.
2) A battery handling label (size: 120 x 110mm) is required. Emergency telephone
number must be filled out in the additional handling information of the Shipper's
Declaration for Dangerous Goods.
3) New label design containing battery illustration must be used (in air transportation
only).

CAUTION!

IF DAMAGED

Lithium Metal batteries

DO NOT LOAD OR TRANSPORT
PACKAGE IF DAMAGED
For more information,call
+81-3-3218-3639
International

Fig.2.1 Example of Label with Battery Illustration

• Transportation precaution for customers

Documentations like the handling label in the specified design and the Shipper's
Declaration for Dangerous Goods are required for air and sea transportation. Please
attach documentations like the handling label in the specified design and the Shipper's
Declaration for Dangerous Goods to the package.

If you need the self-certification form for the battery safety test, contact Mitsubishi.
For more information, contact Mitsubishi.

2 - 69
2 SYSTEM CONFIGURATION

(2) Data back-up of Motion controller by the battery

Be sure to set the battery to the Motion controller.
Set the battery (Q6BAT/Q7BAT) to battery holder.
The data (Refer to Section 6.5.) of RAM built-in Motion controller are not backed
up without using the battery.
In the following status, the backup time after power OFF is 3 minutes.
• The Q6BAT/Q7BAT lead connector is disconnected.
• The lead wire of Q6BAT/Q7BAT is broken.

Table 2.1 Battery life of Q6BAT/Q7BAT

(Note-2)
Battery life (Total power failure time) [h]
Actual service
Battery Guaranteed Guaranteed (Note-6)
Power-on (Note-4) (Note-5) value
Motion controller Battery type consumption value value Backup time
(Note-1) time ratio (Reference value)
(Note-3) (MIN) (TYP) after alarm
(TYP)
(75°C (167°F)) (40°C (104°F))
(25°C (77°F))
0% 13000 40000
30% 18000
Q6BAT 2 50% 21000
43800
70% 24000
Q170MSCPU 100% 43800
(Note-7)
0% 39000
30%
Q7BAT
2 50% 43800
(Large capacity) 43800
70%
100%
43800
0% 15300
30% 21000 90
1 50% 27900 (After SM51/
70% 41500 SM52 ON)
100% 43800
0% 2600 7500 8800
30% 3700 10600 12500
Q170MSCPU-S1 Q6BAT 2 50% 5100 14700 17400
70% 8400 23700 28000
100% 43800 43800 43800
0% 1400 4100 4800
30% 2100 5900 6900
3 50% 2900 8200 9600
70% 4800 13500 15800
100% 43800 43800 43800

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2 SYSTEM CONFIGURATION

Table 2.1 Battery life of Q6BAT/Q7BAT (continued)

(Note-2)
Battery life (Total power failure time) [h]
Actual service
Battery Guaranteed Guaranteed (Note-6)
Power-on (Note-4) (Note-5) value
Motion controller Battery type consumption value value Backup time
(Note-1) time ratio (Reference value)
(Note-3) (MIN) (TYP) after alarm
(TYP)
(75°C (167°F)) (40°C (104°F))
(25°C (77°F))
0%
30%
1 50% 43800 43800 43800
70%
100%
0% 7600 21500 25000
30% 10900 30400 35300 90
Q7BAT
Q170MSCPU-S1 2 50% 15100 42000 (After SM51/
(Large capacity)
70% 24700 43800 SM52 ON)
43800
100% 43800
0% 4100 11900 13750
30% 5900 17000 19500
3 50% 8200 23600 27000
70% 13600 38600
43800
100% 43800 43800

(Note-1): The battery consumption represents consumption of the Motion controller battery energy.
The larger the battery consumption value is, the more battery per time unit is consumed.
Refer to the "QCPU User's Manual (Hardware Design, Maintenance and Inspection) for details.
(Note-2): The actual service value indicates the average value, and the guaranteed value indicates the minimum value.
(Note-3): The power-on time ratio indicates the ratio of Motion controller power-on time to one day (24 hours).
(When the total power-on time is 17 hours and the total power-off time is 7 hours, the power-on time ratio is 70%.)
(Note-4): The guaranteed value (MIN) ; equivalent to the total power failure time that is calculated based on the characteristics value of the
memory (SRAM) supplied by the manufacturer and under the storage ambient temperature range of -25°C to 75°C (-13 to 167°F)
(operating ambient temperature of 0°C to 55°C (32 to 131°F)).
(Note-5): The guaranteed value (TYP) ; equivalent to the total power failure time that is calculated based on the normal air-conditioned
environment (40°C (104°F)).
(Note-6): The actual service value (Reference value) ; equivalent to the total power failure time that is calculated based on the measured
value and under the storage ambient temperature of 25°C (77°F). This value is intended for reference only, as it varies with
characteristics of the memory.
(Note-7): Battery consumption 1 cannot be used in Q170MSCPU.

POINTS
The self-discharge influences the life of battery without the connection to Motion
controller. The battery should be exchanged approximately every 4 or 5 years.
Exchange the battery with a new one in 4 to 5 years even if a total power failure
time is guaranteed value or less.

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2 SYSTEM CONFIGURATION

CAUTION
Do not short a battery.
Do not charge a battery.
Do not disassemble a battery.
Do not burn a battery.
Do not overheat a battery.
Do not solder the battery terminal.
The data (Refer to Section 6.5.) of RAM built-in Motion controller are not backed up without
using the battery.

(3) Connection procedure with Motion controller

Set the battery (Q6BAT/Q7BAT) to the battery holder, and connect the lead
connector of battery to the battery connector of Motion controller.
Put the lead wire in the battery holder, and set it to the Motion controller.

Motion controller

PUSH

Battery holder

Refer to Section 4.1.4 for the mounting and removal of the battery holder and the
connection of the battery lead wire.

2 - 72
2 SYSTEM CONFIGURATION

2.5.9 Forced stop input terminal

(1) Table of the forced stop input terminal specifications

Item Specifications
Number of input points Forced stop signal : 1 point
Input method Sink/Source type
Rated input current 2.4mA
Isolation method Photocoupler
20.4 to 26.4VDC
Operating voltage range
(+10/ -15%, ripple ratio 5% or less)
ON voltage/current 17.5VDC or more/2.0mA or more
OFF voltage/current 1.8VDC or less/0.18mA or less
Input resistance Approx. 10k
OFF to ON
Response time 1ms or less
ON to OFF
External connector type 3 pin connector
2
Recommended wire size 0.3 to 1.5mm (AWG16 to AWG22)

2 - 73
2 SYSTEM CONFIGURATION

MEMO

2 - 74
3 DESIGN

3. DESIGN

3.1 System Designing Procedure

System designing procedure is shown below.

Motion control system design

Select the operating system software to be installed according

to the machinery and equipment to be controlled.

Select the number of Q172DLX's and design according to the

Refer to section 2.5.4 3
each axis control system and whether servo external signals are
required or not.
When there is mechanical home position and home position
return is made: Proximity dog required
For speed control: Speed-position switching control signal
required
When overrun prevention is necessary: Stroke limit required
When each axis stop is necessary: STOP signal required

Refer to section 2.5.1

Select whether the manual pulse generators, incremental
synchronous encoders or I/O signals built-in Motion controller
are required or not.

Refer to section 2.5.5

Select Q173DPX and design according to whether manual pulse
generators and incremental synchronous encoders are required
or not.

Select interrupt module QI60 according to whether interrupt

input are required or not.

Refer to MELSEC-Q
Select I/O modules/intelligent function modules according to the
series manual.
specifications of the external equipment to be controlled.

Refer to section 2.5.4

Select the extension base units, extension power supply module
Refer to section 2.5.5
and extension cables, and make I/O assignment according to
Refer to MELSEC-Q
necessary number of Q172DLXs, Q173DPXs, I/O modules,
series manual.
intelligent function modules.

Refer to the servo

Select the servo amplifier and servo motor according to the
amplifier manual.
motor capacity and number of revolution from the machine
mechanism to be controlled each axis.

Refer to section 2.5.7

Set the servo amplifier connection by SSCNET (/H) and axis
numbers (dno.) and axis No..

Refer to MELSEC-L
Select SSCNET /H head module and I/O modules/intelligent
series SSCNET /H
function modules according to the specifications of the external
head module manual.
equipment to be controlled.
Select the head module connection by SSCNET /H, station
number and axis No.

3-1
3 DESIGN

Refer to section 3.2

External circuit design

Power supply circuit design

Refer to section 3.2.1

Design the power supply circuit which supplies power to such
system components as the Motion controller, I/O equipment and
servo amplifiers, etc., taking into consideration the protective
coordination and noise suppression techniques.

Safety circuit design

Refer to section 3.2.2

Design the operation-ready circuit which stops the system at
occurrence of any alarm such as a Motion controller or servo
amplifier alarm or the emergency stop, the circuit which avoids
a malfunction while power is unstable at power-on, and the
electromagnetic brake circuit for servomotors.

Layout design within control panel

Refer to section 3.3

Layout design based on the design environment such as
temperatures and vibrations in consideration of heat generated
from modules and handling of module installation.

CAUTION
Provide appropriate circuits external to the Motion controller to prevent cases where danger may
result from abnormal operation of the overall system in the event of an external power supply fault
or Motion controller failure.
Mount the Motion controller, servo amplifier, servomotor and regenerative resistor on
incombustible. Mounting them directly or close to combustibles will lead to fire.
If a fault occurs in the Motion controller or servo amplifier, shut the power OFF at the servo
amplifier’s power source. If a large current continues to flow, fire may occur.
When using a regenerative resistor, shut the power OFF with an error signal. The regenerative
resistor may abnormally overheat due to a fault in the regenerative transistor, etc., and may lead
to fire.
Always take heat measures such as flame proofing for the inside of the control panel where the
servo amplifier or regenerative resistor is mounted and for the wires used. Failing to do so may
lead to fire.
Do not apply a voltage other than that specified in the instruction manual on any terminal. Doing
so may lead to destruction or damage.
Do not mistake the polarity ( + / - ), as this may lead to destruction or damage.

3-2
3 DESIGN

CAUTION
Do not touch the heat radiating fins of controller or servo amplifier, regenerative resistor and
servomotor, etc. while the power is ON and for a short time after the power is turned OFF. In this
timing, these parts become very hot and may lead to burns.
Always turn the power OFF before touching the servomotor shaft or coupled machines, as these
parts may lead to injuries.
Do not go near the machine during test operations or during operations such as teaching.
Doing so may lead to injuries.
Always mount a leakage breaker on the Motion controller and servo amplifier power source.
If mounting of an electromagnetic contactor for power shut off during an error, etc., is specified in
the instruction manual for the servo amplifier, etc., always mount the electromagnetic contactor.
Mount an emergency stop circuit externally so that the operation can be stopped immediately and
the power shut off.
Use the Motion controller, servo amplifier, servomotor and regenerative resistor with the correct
combinations listed in the instruction manual. Other combinations may lead to fire or faults.
If safety standards (ex., robot safety rules, etc.,) apply to the system using the Motion controller,
servo amplifier and servomotor, make sure that the safety standards are satisfied.
Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal
operation of the Motion controller or servo amplifier differ from the safety directive operation in
the system.
In systems where coasting of the servomotor will be a problem during the forced stop, the
emergency stop, servo OFF or when the power is shut OFF, use dynamic brakes.
Make sure that the system considers the coasting amount even when using dynamic brakes.
In systems where perpendicular shaft dropping may be a problem during the forced stop, the
emergency stop, servo OFF or when the power is shut OFF, use both dynamic brakes and
electromagnetic brakes.
The dynamic brakes must be used only during the forced stop, the emergency stop and errors
where servo OFF occurs. These brakes must not be used for normal braking.
The brakes (electromagnetic brakes) assembled into the servomotor are for holding applications,
and must not be used for normal braking.
The system must have a mechanical allowance so that the machine itself can stop even if the
stroke limits switch is passed through at the max. speed.
Use wires and cables that have a wire diameter, heat resistance and bending resistance
compatible with the system.
Use wires and cables within the length of the range described in the instruction manual.
The ratings and characteristics of the parts (other than Motion controller, servo amplifier,
servomotor) used in a system must be compatible with the Motion controller, servo amplifier and
servomotor.
Install a cover on the shaft so that the rotary parts of the servomotor are not touched during
operation.
There may be some cases where holding by the electromagnetic brakes is not possible due to
the life or mechanical structure (when the ball screw and servomotor are connected with a
timing belt, etc.). Mount a stopping device to ensure safety on the machine side.

3-3
3 DESIGN

3.2 External Circuit Design

As to the ways to design the external circuits of the Motion system, this section
describes the method and instructions for designing the power supply circuits and
safety circuits, etc. (Example: Q170MSCPU and MR-J4- B use)

(1) Sample system circuit design for Motion CPU area

3-phase
200 to 230VAC

Q170MSCPU
MCCB1

R S T

Q5 B
Forced stop (Note-1)
EMI.COM Output module
QY10
EMI

Power supply for Q170MSCPU QC B

CP1 PYm (Note-2)
RA1
24VDC +24V +24V Servo normal
Power output
supply 24G 24G
(Servo normal: ON,
FG FG Alarm: OFF)
COM

SSCNET /H

Power supply for I/O EMG

CP2
24VDC +24V +24V
Power
supply 24G 24G
Emergency Stop
EMG

Operation Ready
OFF ON
CP3 RA1

EMG
MC1 to 3 MC1 SK MC2 SK MC3 SK
(Note-6) (Note-6) (Note-6)
Power supply for
electromagnetic brake Surge suppresser
CP4
24VDC +24V
Power
supply 24G

3-4
3 DESIGN

POINT
(1) (Note-1): Make the forced stop input cable within 30m(98.43ft.). The forced stop <Example> For control axis 1, axis 2 and axis 3
by the forced stop terminal of input module is also possible. Servo error detection
(2) (Note-2): Motion SFC program example is shown in the right record.
(3) (Note-3): It is also possible to use a full wave rectified power supply as the [F 1]
power supply for the electromagnetic brake. SET PYm PYm ON with initial
(ON : normal)
(4) (Note-4): It is also possible to use forced stop signal of the servo amplifier.
(5) (Note-5): Refer to the servo amplifier instruction manuals for selection of the [G 1]
M2408+M2428+M2448 Servo error detection
circuit breaker and electromagnetic contactor. of the axis 1, axis 2,
(6) (Note-6): The surge suppressor is recommended to be used for an AC relay or axis 3
[F 2]
electromagnetic contactor (MC) near the servo amplifier. RST PYm OFF : abnormal (error)
Refer to the servo amplifier instruction manual for selection of the
surge suppressor. END

MCCB2 (Note-5) MC1 U

L1 MR-J4-B U
V
L2 V M
W
L3 A W RA2
Electro-
L11 Ground magnetic B
U
brake
L21 DICOM (Note-3)

SSCNET /H CN1A ALM RA2

CN1B EM2/1 +24V

DOCOM 24G
(Note-4)

MCCB3 (Note-5) MC2 U

L1 MR-J4-B U
V
L2 V M
W
L3 B W RA3
Electro-
L11 Ground magnetic B
U
brake
L21 DICOM (Note-3)

CN1A ALM RA3

CN1B EM2/1
DOCOM
(Note-4)

MCCB4 (Note-5) MC3 U

L1 MR-J4-B U
V
L2 V M
W
L3 C W RA4
Electro-
L11 Ground magnetic B
U
brake
L21 DICOM (Note-3)

CN1A ALM RA4

CN1B EM2/1
DOCOM
(Note-4)

(Note-1): When the control power supply of servo amplifier is shut off, it is not possible to communicate with the servo amplifier after that.
Example) When the control power supply L11/L21 of servo amplifier in above B figure is shut off, it is also not possible to
communicate with the servo amplifier C .
If only a specific servo amplifier main circuit power supply is shut off, be sure to shut off the main circuit power supply L1/L2/L3,
and do not shut off the control power supply L11/L21.
(Note-2): Be sure to shut off the both of main circuit power supply L1/L2/L3 and control power supply L11/L21 after disconnection of
SSCNET communication by the connect/disconnect function of SSCNET communication at the time of exchange of servo
amplifier. At this time, it is not possible to communicate between the servo amplifier and Motion controller. Therefore, be sure to
exchange the servo amplifier after stopping the operating of machine beforehand.

3-5
3 DESIGN

(2) System design circuit example of the PLC CPU area

Power supply

Transformer Transformer

Input switched when Fuse Fuse

power supply established
PLC CPU area
SM52 DC power
Ym
RUN/STOP circuit
(-) (+)
SM403
Interlocked with RA1 Yn
(Run monitor relay) Fuse
XM Set time for DC power
TM supply to be established.
TM
MC1 NO M10
N0
M10
Program
START SW RA1
MC
MC STOP SW
RA2
Voltage relay is
recommended.
RA2 XM

Output module Low battery alarm

(Lamp or buzzer)
Ym
L ON when run by SM403

Yn
RA1

Output module
MC MC
Interlock circuits as necessary.
Provide external interlock Power to output
circuits for conflicting equipment switched
operations, such as forward OFF when the STOP
rotation and reverse rotation, signal is given.
and for parts that could MC2
MC1 In the case of an
damage the machine or cause emergency stop or a
accidents if no interlock were stop caused by a limit
used. MC1
MC2 switch.

The start-up procedure is as follows

1) Switch the Motion controller power ON.
2) Set the Motion controller to RUN.
3) When DC power is established, RA2 goes ON.
4) Timer (TM) times out after the DC power reaches 100[%]. (The TM set value
should be the period of time from when RA2 goes ON to the establishment of
100[%] DC voltage. Set this value to approximately 0.5 seconds.)
5) Turn ON the start switch.
6) When the electromagnetic contactor (MC) comes on, the output equipment is
powered and may be driven by the program. (If a voltage relay is used at RA2,
no timer (TM) is required in the program.)

3-6
3 DESIGN

3.2.1 Power supply circuit design

This section describes the protective coordination and noise suppression techniques of
the power supply circuit.

(1) Separation and protective coordination (leakage current protection,

over current protection) of power supply lines
Separate the lines for Motion controller's power supplies from the lines for I/O
devices and servo amplifiers as shown below.
When there is much noise, connect an insulation transformer.
The Motion controller may malfunction as it is affected by various noises such as
electric path noises from the power supply lines, and electromagnetic noises
from conductors. To avoid such troubles, set the 24VDC power supply according
to application.
Isolation
Motion
transformer
Main power controller
supply power supply 24VDC
Motion
100/200VAC power
controller
MCCB CP supply
T1
I/O power supply
I/O equipment
CP

Motor power supply

Motor equipment
CP
Main circuit power supply
for servo amplifier
100/200/400VAC
MCCB
Control power supply Servo amplifier
for servo amplifier

CP

3-7
3 DESIGN

(2) Grounding
The Motion controller may malfunction as it is affected by various noises such as
electric path noises from the power supply lines, radiated and induced noises
from other equipment, servo amplifiers and their cables, and electromagnetic
noises from conductors. To avoid such troubles, connect the earthing ground of
each equipment and the shield grounds of the shielded cables to the earth.
For grounding, use the exclusive ground terminal wire of each equipment or a
single-point earth method to avoid grounding by common wiring, where possible,
since noises may sneak from other equipment due to common impedances.
24VDC
Line noise
100/200VAC power Motion controller
filter
supply

SSCNET (/H)

Servo
Servo amplifier
motor

(Note): Be sure to ground the line noise filter, Motion controller, servo amplifier and
servomotor. (Ground resistance : 100 or less)

3-8
3 DESIGN

3.2.2 Safety circuit design

(1) Concept of safety circuits

When the Motion controller is powered on and off, normal control output may not
be done momentarily due to a delay or a startup time difference between the
Motion controller power supply and the external power supply (DC in particular)
for the control target.
Also, an abnormal operation may be performed if an external power supply fault
or Motion controller failure takes place.
To prevent any of these abnormal operations from leading to the abnormal
operation of the whole system and in a fail-safe viewpoint, areas which can result
in machine breakdown and accidents due to abnormal operations
(e.g. emergency stop, protective and interlock circuits) should be constructed
outside the Motion controller.

(2) Emergency stop circuit

The circuit should be constructed outside of the Motion controller or servo
amplifier. Shut off the power supply to the external servo amplifier by this circuit,
make the electromagnetic brakes of the servomotor operated.

(3) Forced stop circuit

(a) The forced stop of all servo amplifiers is possible in a lump by using the
forced stop input of Motion controller. After forced stop, the forced stop
factor is removed and the forced stop canceled.
(The servo error detection signal does not turn on with the forced stop.)
The forced stop input cannot be invalidated in the parameter setting of
system setting.
Make the forced stop input cable within 30[m](98.43[ft.]).
The wiring example for the forced stop input of Motion controller is shown
below.
Q170MS
CPU
EMI.COM
EMI

Forced stop

24VDC
<Motion controller>

24VDC (Note-1)
EMI.COM

EMI

Forced stop
(Note): The forced stop input can not be invalidated in the system
settings.
(Note-1): As for the connection, both "+" and "-" are possible.

3-9
3 DESIGN

(b) The forced stop of all servo amplifiers is possible in a lump by using the
forced stop input of input modules. After forced stop, the forced stop factor is
removed and the forced stop canceled.
(The servo error detection signal does not turn on with the forced stop.)
The forced stop input can be set by allocation of the device number in the
parameter setting of system setting. When the device is used, apply 24VDC
voltage on EMI connector and invalidate the forced stop input of EMI
connector.
The wiring example that uses the forced stop input of input module (QX10)
is shown below.
Q170MS
CPU
EMI.COM
EMI
24VDC
power supply
+24V

24G QX10
Xn

COM
Forced stop

100VAC
<Input module QX10>

100VAC
TB17 QX10

TB16

LED

Internal
circuit
TB1

Forced stop
(Note): The forced stop input can be set in the system settings.

(c) It is also possible to use the forced stop signal of the servo amplifier.
Refer to manual of the servo amplifier about servomotor capacity.

Operation status of the emergency stop and the forced stop are as follows.

Operation of
Item Remark
the signal ON
Shut off the power supply to the external servo amplifier
Emergency stop
by external circuit, make the servomotor stopped.
Servo OFF
The servomotor is stopped according to the stop
Forced stop
instruction from Motion controller to the servo amplifier.

3 - 10
3 DESIGN

3.3 Layout Design within the Control Panel

3.3.1 Mounting environment

Mount the Motion controller system in the following environment conditions.

(1) Ambient temperature is within the range of 0 to 55[°C] (32 to 131[°F]).

(2) Ambient humidity is within the range of 5 to 95[%]RH.

(3) No condensing from sudden temperature changes

(4) No corrosive or inflammable gas

(5) There must not be a lot of conductible dust, iron filings, oil mist, or salt, organic
solvents.

(6) No direct sunlight

(7) No strong electrical or magnetic fields

(8) No direct vibrations or shocks on the Motion controller

3 - 11
3 DESIGN

3.3.2 Calculating heat generation by Motion controller

The ambient temperature inside the panel storing the Motion controller must be
suppressed to an ambient temperature of 55°C(131°F) or less, which is specified for
the Motion controller.
For the design of a heat releasing panel, it is necessary to know the average power
consumption (heating value) of the devices and instruments stored inside.
Here the method of obtaining the average power consumption of system is described.
From the power consumption, calculate a rise in ambient temperature inside the
control panel.

How to calculate average power consumption

The power consuming parts of the Motion controller are roughly classified into six
blocks as shown below.

(1) Total power consumption for 5VDC logic circuits of all modules
(including Motion controller)
This is a power to which each module consumes the current supplied by the
5VDC output circuit of the internal power supply.
(including the current consumption of the base unit.)
W5V = I5V 5 [W]
I5V: Current consumption of 5VDC logic circuit of each module

(2) Power consumption of internal power supply

The power conversion efficiency of the internal power supply is approx. 80[%],
while 20 [%] of the output power is consumed as heat. As a result, 1/4 of the
output power is the power consumption.
Therefore the calculation formula is as follows.
1
WPW = 4 W 5V [W]

I5V: Current consumption of 5VDC logic circuit of each module

(3) A total of 24VDC average power consumption of the internal output

circuit and output module
The average power of the external 24VDC power is the total power consumption
of the internal output circuit and each output module.
W24V = I24V 24 Simultaneous ON rate [W]
I24V: Average current consumption of external 24VDC power supply [A]
(Power consumption for simultaneous ON points)

(4) Average power consumption due to voltage drop in the output

section of the internal output circuit and output module
(Power consumption for simultaneous ON points)
WOUT = IOUT Vdrop Number of outputs Simultaneous ON rate [W]
IOUT : Output current (Current in actual use) [A]
Vdrop : Voltage drop in the internal output circuit and each output module [V]

3 - 12
3 DESIGN

(5) Average power consumption of the input section of the internal

input circuit and input module (Power consumption for
simultaneous ON points)
WIN = IIN E Number of input points Simultaneous ON rate [W]
IIN : Input current (Effective value for AC) [A]
E : Input voltage (Voltage in actual use) [V]

(6) Power consumption of the external power supply section of the

intelligent function module
WS = I+15V 15 + I-15V 15 + I24V 24[W]

I+15V: Power consumption of the +15VDC external power supply section of

the intelligent function module
I-15V : Power consumption of the -15VDC external power supply section of the
intelligent function module
I24V : Power consumption of the 24VDC external power supply section of the
intelligent function module

The total of the power consumption values calculated for each block is the power
consumption of the overall Motion system

W = W 5V + WPW + W 24V + WOUT + WIN + WS [W]

From this overall power consumption [W], calculate the heating value and a rise
in ambient temperature inside the panel.

The outline of the calculation formula for a rise in ambient temperature inside the
panel is shown below.
W
T= [C]
UA
W : Power consumption of overall Motion system (value obtained above)
2
A : Surface area inside the panel [m ]
U : When the ambient temperature inside the panel is uniformed by a fan ....... 6
When air inside the panel is not circulated.............................................. 4

POINT
If the temperature inside the panel has exceeded the specified range, it is
recommended to mount a heat exchanger to the panel to lower the temperature.
If a normal ventilating fan is used, dust will be sucked into the Motion controller
together with the external air, and it may affect the performance of the Motion
controller.

3 - 13
3 DESIGN

(7) Example of average power consumption calculation

(a) System configuration

Q170MS
CPU
Incremental synchronous encoder

Q55B
QX40 Q173D QY40P QJ71 Q62DAN
PX LP21-25

MR-HDP01

MR-HDP01

(b) 5VDC/24VDC current consumption of each module

Model name 5VDC 24VDC
0.08 [A]
Q170MSCPU 2.50 [A]
(Internal output circuit)
Incremental synchronous
0.20 [A] —
encoder
(Note)
QX40 0.05 [A] —
Q173DPX 0.38 [A] —
MR-HDP01 0.06 [A] —
(Note)
QY40P 0.065 [A] 1.60 [A]
(Note)
QJ71LP21-25 0.55 [A] —
(Note)
Q62DA 0.33 [A] 0.15 [A]
(Note)
Q55B 0.10 [A] —
(Note): 5VDC internal current consumption of shared equipments with PLC might be
changed. Be sure to refer to the MELSEC-Q series PLC Manuals.

(c) Total power consumption for 5VDC logic circuits of all modules
W5V = (2.50 + 0.20 + 0.05 + 0.38 + 0.06 2 + 0.065 + 0.55 + 0.33 + 0.10) 5
= 21.475 [W]

(d) Power consumption of internal power supply

1
WPW = 4 21.475 = 5.369 [W]

(e) A total of 24VDC average power consumption of the internal output circuit
and output module
W24V = (0.08 + 1.60) 24 1 = 40.32 [W]

(f) Average power consumption due to voltage drop in the output section of the
internal output circuit and output module
WOUT = 0.04 2.75 2 1 + 0.1 0.2 16 1 = 0.54 [W]

3 - 14
3 DESIGN

(g) Average power consumption of the input section of the internal input circuit
and input module
WIN = 0.005 24 4 1 + 0.004 24 16 1 = 2.016 [W]

(h) Power consumption of the external power supply section of the intelligent
function module.
WS = 0.15 24 = 3.60 [W]

(i) Power consumption of overall system

W = 21.475 + 5.369 + 40.32 + 0.54 + 2.016 + 3.60= 73.32 [W]

3 - 15
3 DESIGN

3.4 Design Checklist

At the worksite, copy the following table for use as a check sheet.

Item Sub Item Design confirmation Check

Number of axes axes
Motion controller Manual pulse generator pcs.
selection Incremental synchronous encoder pcs.
Number of I/O points points
Manual pulse generator pcs.
Incremental synchronous encoder pcs.
Upper limit point points
Lower limit point points
Motion module STOP input point points
Module selection Proximity dog input point points
selection Speed switching input point points
Tracking enable signal point points
Q172DLX modules
Q173DPX modules
Number of I/O modules/intelligent function
modules
modules installed to extension base unit
Extension base unit
Distance between Motion controller and
and extension cable mm
extension base unit
selection
Extension base unit selection
Extension cable selection
External Avoidance of operation failure at power-on
Fail-safe circuit design
circuit design Avoidance of hazard at Motion controller failure
Conformance with general specifications such as ambient
temperature, humidity, dust, etc.
Total power consumption of base unit
Layout W
Module layout design (Calculate the heating value)
design
Layout in consideration of clearances between enclosure's inside
walls, other structures and modules and heats generated by
modules within the control panel.

3 - 16
4 INSTALLATION AND WIRING

4. INSTALLATION AND WIRING

4.1 Module Installation

4.1.1 Instructions for handling

CAUTION
Use the Motion controller in an environment that meets the general specifications contained in this
manual. Using this Motion controller in an environment outside the range of the general specifications
could result in electric shock, fire, operation failure, and damage to or deterioration of the product.
When the modules are installed to the base unit while pressing the installation lever located at the
bottom of module, insert the module fixing projection into the fixing hole in the base unit until it stops.
Then, securely install the module with the fixing hole as a supporting point. Incorrect installation of the
module can cause an operation failure, damage or drop. 4
When using the Motion controller in the environment of much vibration, tighten the module with a
screw. Tighten the screw in the specified torque range. Under tightening may cause a drop, short
circuit or operation failure. Over tightening may cause a drop, short circuit or operation failure due to
damage to the screw or module.
Be sure to connect the extension cable to connectors of the base unit correctly. After connecting,
check them for looseness. Poor connections could cause an input or output failure.
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.
Do not install/remove the module onto/from base unit or terminal block more than 50 times, after the
first use of the product. Failure to do so may cause the module to malfunction due to poor contact of
connector.
Do not directly touch the module's conductive parts and electronic components. Doing so may cause
an operation failure or give damage to the module.
Lock the control panel and prevent access to those who are not certified to handle or install electric
equipment.
Do not touch the heat radiating fins of controller or servo amplifier's, regenerative resistor and servo
motor, etc. while the power is ON and for a short time after the power is turned OFF. In this timing,
these parts become very hot and may lead to burns.
Remove the modules while paying attention.

This section describes instructions for handling the Motion controller, motion, I/O and
intelligent function modules, base units and so on.

(1) Module, terminal block connectors and pin connectors are made of resin; do not
drop them or subject them to strong impact.

(2) Do not remove modules' printed circuit boards from the enclosure in order to avoid
changes in operation.

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4 INSTALLATION AND WIRING

(3) Tighten the module fixing screws and terminal block screws within the tightening
torque range specified below.
Location of screw Tightening torque range [N•m]
(Note-1)
Motion controller fixing screw (M5 screw) 2.75 to 3.63
Motion controller FG fixing screw (M4 12 screw) 0.82 to 1.11
Module fixing screw (M3 12 screw) 0.36 to 0.48
I/O module terminal block screw (M3 screw) 0.42 to 0.58
I/O module terminal block fixing screw (M3.5 screw) 0.68 to 0.92
Power supply module terminal screw (M3.5 screw) 0.68 to 0.92
(Note-1)
Base unit fixing screw (M4 14 screw) 1.40 to 1.89
(Note-1): Torque range applies when the mounting panel is 2mm(0.88inch) thick and a fastening nut is
used to secure the screw from the back side of the panel.

(4) When using an extension cable, keep it away from the main circuit cable (high
voltage and large current).
Keep a distance of 100mm or more from the main circuit.

(5) Be sure to fix a Motion controller or base unit to the panel using mounting screws.
Not doing so could result in vibration that may cause erroneous operation.

4-2
4 INSTALLATION AND WIRING

4.1.2 Instructions for mounting the modules

When mounting the Motion controller, base unit to an enclosure or similar, fully
consider its operability, maintainability and environmental resistance.

(1) Fitting dimensions

(a) Motion controller
[Unit: mm (inch)]
38(1.50) 7(0.28)

(0.31)
3-fixing screw (M5)

8
MITSUBISHI Q170MSCPU
MODE
RUN
ERR.
USER
BAT.
PULL
BOOT

POWER

USB RESET STOP RUN

RS-232 CN1

154(6.06)
PERIPHERAL I/F
EMI.COM

186(7.32)
NC
EMI

EJECT

EXT.IO
CARD

24VDC

FRONT

OUT

7(0.28)
52(2.05)

4-3
4 INSTALLATION AND WIRING

(b) Base unit

1) Q52B, Q55B
4-fixing screw (M4 14)

IN OUT

Hs2

H
I/O0 I/O1 I/O2 I/O3 I/O4

Hs1
Ws1 Ws2

2) Q63B, Q65B, Q68B, Q612B,

5-fixing screw (M4 14)

IN OUT

Hs2

H
I/O0 I/O1 I/O2 I/O3 I/O4 I/O5 I/O6 I/O7 I/O8 I/O9 I/O10 I/O11
POWER

Hs1
Ws1 Ws2 Ws3

Q52B Q55B Q63B Q65B Q68B Q612B

W 106 (4.17) 189 (7.44) 189 (7.44) 245 (9.65) 328 (12.91) 439 (17.28)
Ws1 15.5 (0.61)
83.5 ± 0.3 167 ± 0.3 190 ± 0.3 190 ± 0.3
Ws2 167 ± 0.3 222.5
(3.29 ± 0.01) (6.57 ± 0.01) (7.48 ± 0.01) (7.48 ± 0.01)
(6.57 ± 0.01) (8.76 ± 0.01)
116 ± 0.3 227 ± 0.3
Ws3 — — (Ws2 + Ws3) (Ws2 + Ws3)
(4.57 ± 0.01) (8.93 ± 0.01)
H 98 (3.86)
Hs1 7 (0.28)
Hs2 80 ± 0.3 (3.15 ± 0.01)
[Unit: mm (inch)]

4-4
4 INSTALLATION AND WIRING

(2) Module mounting position

Keep the clearances shown below between the top/bottom faces of the module
and other structures or parts to ensure good ventilation and facilitate module
replacement.

(a) Motion controller

Top of panel or wiring duct

40mm(1.58inch)
or more

100mm
(3.94inch)
Motion or more
controller Servo amplifier
(Note-1)

Door
Panel

Extension
cable 70mm(2.76inch)
or more

30mm(1.18inch) 30mm(1.18inch)
or more or more

10mm(0.39inch)
or more

(Note-1): Fit the Motion controller at the left side of the servo amplifier.

(b) Base unit

Top of panel or wiring duct Base unit

30mm(1.18inch)
or more (Note-3)
IN OUT
Door

Panel
20mm(0.79inch)
or more (Note-2)

30mm(1.18inch)
or more

5mm(0.20inch) 5mm(0.20inch)
or more (Note-1) or more

(Note-1): 20mm(0.79inch) or more when the adjacent module is not removed and the extension cable is connected.
(Note-2): 80mm(3.15inch) or more for the connector type.
(Note-3): For wiring duct with 50mm(1.97inch) or less height. 40mm(1.57inch) or more for other cases.

4-5
4 INSTALLATION AND WIRING

(3) Module mounting orientation

(a) Mount the Motion controller in the orientation shown below to ensure good
ventilation for heat release.

(b) Do not use it in either of the orientations shown below.

Vertical Flat Upside down

(4) Mounting surface

Mount the Motion controller and base unit on a flat surface. If the mounting
surface is not even, this may strain the printed circuit boards and cause
malfunctions.

(5) Mounting of unit in an area where the other devices are mounted
Avoid mounting base unit in proximity to vibration sources such as large
magnetic contractors and no-fuse circuit breakers; mount those on a separate
panel or at a distance).

4-6
4 INSTALLATION AND WIRING

(6) Distances from the other devices

In order to avoid the effects of radiated noise and heat, provide the clearances
indicated below between the Motion controller/base unit and devices that
generate noise or heat (contactors and relays, etc.).
• In front of Motion controller/base unit : 100mm (3.94inch) or more
• On the right and left of Motion controller/base unit : 50mm (1.97inch) or more

100mm(3.94inch) 50mm(1.97inch)
50mm(1.97inch)
or more or more
or more

100mm(3.94inch)
or more

Contactor, relay, etc.

4-7
4 INSTALLATION AND WIRING

(7) Mounting method for the modules

(a) Motion controller
Mount a Motion controller in the following procedure.

1) Fit the one Motion controller bottom mounting screws into the enclosure.

Panel

2) Place the bottom side notch of the Motion controller onto the bottom side
screw.

Panel

3) Fit the mounting screws into the holes at the top of the Motion controller
and then retighten the all mounting screws.

Panel

POINT
Screw the Motion controller to the panel.

4-8
4 INSTALLATION AND WIRING

CAUTION
Do not touch the heat radiating fins of controller or servo amplifier's, regenerative resistor and
servomotor, etc. while the power is ON and for a short time after the power is turned OFF. In this
timing, these parts become very hot and may lead to burns.
Remove the modules while paying attention.

(b) Base unit

Mount a base unit in the following procedure.

1) Fit the two base unit top mounting screws into the enclosure.
Panel

2) Place the right-hand side pear-shaped hole of the base unit onto the
right-hand side screw.
Panel

3) Place the left-hand side pear-shaped hole of the base unit onto the left-
hand side screw.
Panel

4) Fit the mounting screws into the holes at the bottom of the base unit,
and then retighten the all mounting screws.

(Note): Mount a base unit to a panel, with no module installed in the right-end slot.
Remove the base unit after removing the module from the right-end slot.

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4 INSTALLATION AND WIRING

4.1.3 Installation and removal of module to the base unit

This section describes how to install and remove a Motion module, I/O module,
intelligent function module or another module to and from the base unit.

(1) Installation and removal of the module from base unit

(a) Installation

Securely insert the module Base unit

Base unit
fixing projection into the
module fixing hole so that the
latch is not misaligned. Module
connector

Module
fixing
Using the module fixing hole projection
Module
as a fulcrum, push the module Module mounting lever
in the direction of arrow to Module fixing hole
install it into the base unit.
Module
Module fixing
fixing projection
Make sure that the module is projection
Module Module fixing hole
installed in the base unit mounting
securely. lever

Module fixing hole

When using module in a place

where there is large vibration
or impact, install them by the
unit fixing screws.
Base unit
Base unit

Module fixing
END hook

Module
fixing
projection

Module fixing hole

4 - 10
4 INSTALLATION AND WIRING

POINTS
(1) When installing the module, always insert the module fixing projection into the
module fixing hole of the base unit.
At that time, securely insert the module fixing projection so that it does not
come off from the module fixing hole.
If the module is forcibly installed without the latch being inserted, the module
connector and module will be damaged.
(2) When using the modules in a place where there is large vibration or impact,
screw the module to the base unit.
Module fixing screw : M3 12 (user-prepared)
(3) Do not install/remove the module onto/from base unit or terminal block more
than 50 times, after the first use of the product. Failure to do so may cause the
module to malfunction due to poor contact of connector.

CAUTION
When the modules are installed to the base unit while pressing the installation lever located at the
bottom of module, insert the module fixing projection into the fixing hole in the base unit until it
stops. Then, securely install the module with the fixing hole as a supporting point. Incorrect
installation of the module can cause an operation failure, damage or drop.
When using the Motion controller in the environment of much vibration, tighten the module with a
screw.
Tighten the screw in the specified torque range. Under tightening may cause a drop, short circuit
or operation failure. Over tightening may cause a drop, short circuit or operation failure due to
damage to the screw or module.

4 - 11
4 INSTALLATION AND WIRING

(b) Removal
Push
When using the module fixing
screws, remove them.

Module fixing hook

Support the module with both
hands and securely press the
module fixing hook with your
finger.
Base unit

Module Module
connector
Pull the module based on the
supporting point of module
bottom while pressing the
module fixing hook. Module fixing hole

While lifting a module, take off

the module fixing projection
from the module fixing hole. Lifting

Pull

END

POINT
When the module fixing screw is used, always remove the module by removing the
module fixing screw and then taking the module fixing projection off the module
fixing hole of the base unit.
Attempting to remove the module by force may damage the module fixing
projection.

4 - 12
4 INSTALLATION AND WIRING

4.1.4 Mounting and removal of the battery holder

Mounting and removal procedure of the battery holder to the Motion controller is shown
below.

(1) Handling the battery lead wire

(a) Precautions for mounting the battery
Set the battery to the battery holder correctly after confirming "+" side and "-"
side for the battery.

(b) Precautions for handling the battery lead wire

For connection or removal of the battery lead wire, do it surely while holding
a battery lead connector.
Motion controller

Battery lead connector

Do not hold lead wire

Battery connector
Battery lead wire
Q6BAT
M IT S U B IS H I
L IT H IU M B A T T E R Y

Battery holder
PROGRAMMABLE CONTROLLER
TYPE Q6BAT

"+" side

(c) Connection of the battery lead wire

For connection of a battery (Q6BAT/Q7BAT) to the Motion controller,
connect it surely to a battery connector while holding a battery lead
connector. Be sure to insert it until it clicks.

(d) Removal of the battery lead wire

For removal of the battery lead wire, pull out it while holding a battery lead
connector.

POINT
(1) Forced removal of a connector while holding the battery lead wire will damage
the battery connector or battery lead wire.
(2) The data (Refer to Section 6.5) of RAM built-in Motion controller are not
backed up if the battery connector is not connect correctly.

4 - 13
4 INSTALLATION AND WIRING

(2) Battery holder (For Q6BAT)

(a) Mounting

Anchor the lead wire to the lead 1) Battery connector

wire fixing hook. (Q170MSCPU side)
Motion 2)
controller
Battery lead
Connect the battery lead connector 2) connector
to the battery connector. (Battery side)

Adjust the battery holder to the 3) Lead wire fixing hook

1)
installation grooves, and slide the
battery holder in the direction of
the arrow, taking care to not
damage the lead wires. Battery holder
(Be sure to insert it until it clicks.)

Make sure that the battery holder

is installed in the Motion controller Installation grooves
securely.

END

3)
Battery holder

Push

4 - 14
4 INSTALLATION AND WIRING

(b) Removal

Pull the battery holder while 1), 2)

pushing the battery holder fixing Motion controller
tab, and remove the holder from
the Motion controller.

Remove the battery lead connector 3)

from battery connector. (Note) Battery holder fixing tab
2)

END Pull
Push 1)
Battery holder

Battery connector
(Q170MSCPU side)
3)

Battery lead
connector
(Battery side)

(Note): Do not pull on the lead wire forcibly to remove the connector.

4 - 15
4 INSTALLATION AND WIRING

(3) Battery holder (For Q7BAT)

(a) Mounting

Anchor the lead wire to the lead 1) Battery connector

wire fixing hook. (Q170MSCPU side)
Motion 2)
controller
Battery lead
Connect the battery lead connector 2) connector
to the battery connector. (Battery side)

1)
Adjust the battery holder to the 3) Pass-through slot
installation grooves, and slide the
battery holder in the direction of
the arrow, taking care to not
damage the lead wires.
(Be sure to insert it until it clicks.) Battery holder

Make sure that the battery holder

is installed in the Motion controller
securely.

Installation grooves
END

3)

Push Battery holder

4 - 16
4 INSTALLATION AND WIRING

(b) Removal

Pull the battery holder while 1), 2)

pushing the battery holder fixing Motion controller
tab, and remove the holder from
the Motion controller.

Remove the battery lead connector 3)

from battery connector.(Note) Battery holder fixing tab
2)

END Pull
Push 1)

Battery holder

Battery connector
(Q170MSCPU side)
3)

Battery lead
connector
(Battery side)

(Note): Do not pull on the lead wire forcibly to remove the connector.

4 - 17
4 INSTALLATION AND WIRING

4.2 Connection and Disconnection of Cable

4.2.1 SSCNET cable

(1) Precautions for handling the SSCNET cable

• Do not stamp the SSCNET cable.
• When laying the SSCNET cable, be sure to secure the minimum cable bend
radius or more. If the bend radius is less than the minimum cable bend radius, it
may cause malfunctions due to characteristic deterioration, wire breakage, etc.
• For connection and disconnection of SSCNET cable, hold surely a tab of
cable connector.

Motion controller
CN1

(2) Connection of SSCNET cable

• For connection of SSCNET cable to the Motion controller, connect it to the
SSCNET connector CN1 of Motion controller while holding a tab of
SSCNET cable connector. Be sure to insert it until it clicks.
• If the cord tip for the SSCNET cable is dirty, optical transmission is interrupted
and it may cause malfunctions. If it becomes dirty, wipe with a bonded textile,
etc. Do not use solvent such as alcohol.

(3) Disconnection of SSCNET cable

• For disconnection of SSCNET cable, pull out it while holding a tab of
SSCNET cable connector or the connector.
• After disconnection of SSCNET cable, be sure to put a cap (attached to
Motion controller or servo amplifier) to the Motion controller and servo amplifier.
• For SSCNET cable, attach the tube for protection optical cord's end face on
the end of connector.

4 - 18
4 INSTALLATION AND WIRING

(4) Precautions of SSCNET cable wiring

SSCNET cable is made from optical fiber. If optical fiber is added a power such
as a major shock, lateral pressure, haul, sudden bending or twist, its inside
distorts or breaks, and optical transmission will not be available. Especially, as
optical fiber for MR-J3BUS M and MR-J3BUS M-A is made of synthetic resin,
it melts down if being left near the fire or high temperature. Therefore, do not
make it touched the part, which becomes high temperature, such as radiator or
regenerative option of servo amplifier, or servo motor.
Be sure to use optical fiber within the range of operating temperature described
in this manual.
Read described item of this section carefully and handle it with caution.

(a) Minimum bend radius

Make sure to lay the cable with greater radius than the minimum bend
radius. Do not press the cable to edges of equipment or others. For
SSCNET cable, the appropriate length should be selected with due
consideration for the dimensions and arrangement of Motion controller and
servo amplifier. When closing the door of control panel, pay careful
attention for avoiding the case that SSCNET cable is hold down by the
door and the cable bend becomes smaller than the minimum bend radius.
Model name of SSCNET cable Minimum bend radius[mm(inch)]
MR-J3BUS M 25(0.98)
Enforced covering cord : 50 (1.97)
MR-J3BUS M-A
Cord : 25 (0.98)
Enforced covering cord : 50 (1.97)
MR-J3BUS M-B
Cord : 30 (1.18)

(b) Tension
If tension is added on the SSCNET cable, the increase of transmission
loss occurs because of external force which concentrates on the fixing part
of SSCNET cable or the connecting part of SSCNET connector. At
worst, the breakage of SSCNET cable or damage of SSCNET
connector may occur. For cable laying, handle without putting forced
tension. (Refer to "APPENDIX 4.1 SSCNET cables" for the tension
strength.)

(c) Lateral pressure

If lateral pressure is added on the SSCNET cable, the cable itself distorts,
internal optical fiber gets stressed, and then transmission loss will increase.
At worst, the breakage of SSCNET cable may occur. As the same
condition also occurs at cable laying, do not tighten up SSCNET cable
with a thing such as nylon band (TY-RAP).
Do not trample it down or tuck it down with the door of control panel or
others.

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4 INSTALLATION AND WIRING

(d) Twisting
If SSCNET cable is twisted, it will become the same stress added
condition as when local lateral pressure or bend is added. Consequently,
transmission loss increases, and the breakage of SSCNET cable may
occur at worst.

(e) Disposal
When incinerating optical cable (cord) used for SSCNET cable, hydrogen
fluoride gas or hydrogen chloride gas which is corrosive and harmful may
be generated. For disposal of SSCNET cable, request for specialized
industrial waste disposal services who has incineration facility for disposing
hydrogen fluoride gas or hydrogen chloride gas.

(f) Wiring process of SSCNET cable

Put the SSCNET cable in the duct or fix the cable at the closest part to
the Motion controller with bundle material in order to prevent SSCNET
cable from putting its own weight on SSCNET connector.
Leave the following space for wiring.

• Putting in the duct

Top of panel or wiring duct

40mm(1.58inch)
or more

100mm
(3.94inch)
Motion or more
controller Servo amplifier
(Note-1)

Door
Panel

Extension
cable 70mm(2.76inch)
or more

30mm(1.18inch) 30mm(1.18inch)
or more or more

10mm(0.39inch)
or more

(Note-1): Fit the Motion controller at the left side of the servo amplifier.

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4 INSTALLATION AND WIRING

• Bundle fixing
Optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius, and
it should not be twisted. When bundling the cable, fix and hold it in position by using cushioning such as
sponge or rubber which does not contain migratable plasticizing.
If using adhesive tape for bundling the cable, fire resistant acetate cloth adhesive tape 570F (Teraoka
Seisakusho Co., Ltd) is recommended.

Motion controller

Panel

Cord
Loose slack

PUSH

Bundle material
Cable
Recommended product
NK clamp SP type (NIX,INC.)

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4 INSTALLATION AND WIRING

POINTS
(1) Be sure to connect SSCNET cable with the above connector. If the
connection is mistaken, between the Motion controller and servo amplifier
cannot be communicated.

(2) Forced removal of the SSCNET cable from the Motion controller will damage
the Motion controller and SSCNET cables.

(3) After removal of the SSCNET cable, be sure to put a cap on the SSCNET
connector. Otherwise, adhesion of dirt deteriorates in characteristic and it may
cause malfunctions.

(4) Do not remove the SSCNET cable while turning on the power supply of
Motion controller and servo amplifier.
Do not see directly the light generated from SSCNET connector of Motion
controller or servo amplifier and the end of SSCNET cable. When the light
gets into eye, may feel something is wrong for eye. (The light source of
SSCNET cable complies with class1 defined in JISC6802 or IEC60825-1.)

(5) If the SSCNET cable is added a power such as a major shock, lateral
pressure, haul, sudden bending or twist, its inside distorts or brakes, and
optical transmission will not be available.
Be sure to take care enough so that the short SSCNET cable is added a
twist easily.

(6) Be sure to use the SSCNET cable within the range of operating temperature
described in this manual. Especially, as optical fiber for MR-J3BUS M and
MR-J3BUS M-A are made of synthetic resin, it melts down if being left near
the fire or high temperature. Therefore, do not make it touched the part which
becomes high temperature, such as radiator or regenerative option of servo
amplifier, or servomotor.

(7) When laying the SSCNET cable, be sure to secure the minimum cable bend
radius or more.

(8) Put the SSCNET cable in the duct or fix the cable at the closest part to the
Motion controller with bundle material in order to prevent SSCNET cable
from putting its own weight on SSCNET connector.
When laying cable, the optical cord should be given loose slack to avoid from
becoming smaller than the minimum bend radius, and it should not be twisted.
When bundling the cable, fix and hold it in position by using cushioning such
as sponge or rubber which does not contain migratable plasticizing.
If using adhesive tape for bundling the cable, fire resistant acetate cloth
adhesive tape 570F (Teraoka Seisakusho Co., Ltd) is recommended.

4 - 22
4 INSTALLATION AND WIRING

POINTS
(9) Migrating plasticizer is used for vinyl tape. Keep the MR-J3BUS M, and
MR-J3BUS M-A cables away from vinyl tape because the optical
characteristic may be affected.

Optical cord Cable

SSCNET cable Cord Cable

MR-J3BUS M
MR-J3BUS M-A
MR-J3BUS M-B
: Normally, cable is not affected by plasticizer.
: Phthalate ester plasticizer such as DBP and DOP may affect optical
characteristic of cable.
Generally, soft polyvinyl chloride (PVC), polyethylene resin (PE) and fluorine
resin contain non-migrating plasticizer and they do not affect the optical
characteristic of SSCNET cable. However, some wire sheaths and cable
ties, which contain migrating plasticizer (phthalate ester), may affect
MR-J3BUS M and MR-J3BUS M-A cables (made of plastic). In addition,
MR-J3BUS M-B cable (made of quartz glass) is not affected by plasticizer.

(10) If the adhesion of solvent and oil to the cord part of SSCNET cable may
lower the optical characteristic and machine characteristic. If it is used such
an environment, be sure to do the protection measures to the cord part.

(11) When keeping the Motion controller or servo amplifier, be sure to put on a
cap to connector part so that a dirt should not adhere to the end of SSCNET
connector.

(12) SSCNET connector to connect the SSCNET cable is put a cap to protect
light device inside connector from dust. For this reason, do not remove a cap
until just before connecting SSCNET cable. Then, when removing
SSCNET cable, make sure to put a cap.

(13) Keep the cap and the tube for protecting light cord end of SSCNET cable in
a plastic bag with a zipper of SSCNET cable to prevent them from
becoming dirty.

(14) When exchanging the Motion controller or servo amplifier, make sure to put a
cap on SSCNET connector. When asking repair of Motion controller or
servo amplifier for some troubles, make also sure to put a cap on SSCNET
connector. When the connector is not put a cap, the light device may be
damaged at the transit. In this case, exchange and repair of light device is
required.

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4 INSTALLATION AND WIRING

4.2.2 Forced stop input cable

(1) Precautions for handling the forced stop input cable

For connection or removal of the forced stop input cable, do it surely while
holding a connector of forced stop input cable.

Motion controller

(2) Connection of the forced stop input cable

For connection of a forced stop input cable to the Motion controller, connect it
surely to a EMI connector of Motion controller while holding a connector. Be sure
to insert it until it clicks.

(3) Removal of the forced stop input cable

For removal of the forced stop input cable, pull out the cable while holding a
connector.

POINTS
The following handling will damage the Motion CPU module or forced stop input
cable.
• Forced removal of the forced stop input cable from the CPU module.
• The forced stop input cable is twined other cables.
• Excessive power is applied at cable laying.
Wire the cable correctly.

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4 INSTALLATION AND WIRING

4.2.3 24VDC power supply cable

(1) Precautions for handling the 24VDC power supply cable

For connection or removal of the 24VDC power supply cable, do it surely while
holding a connector of 24VDC power supply cable.

Motion controller

(2) Connection of the 24VDC power supply cable

For connection of a 24VDC power supply cable to the Motion controller, connect
it surely to a 24VDC power supply connector of Motion controller while holding a
connector. Be sure to insert it until it clicks.

(3) Removal of the 24VDC power supply cable

For removal of the 24VDC power supply cable, pull out the cable while holding a
connector.

POINTS
Forced removal of the 24VDC power supply cable from the Motion controller will
damage the Motion controller or 24VDC power supply cable.

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4 INSTALLATION AND WIRING

4.3 Wiring

4.3.1 Instructions for wiring

DANGER
Completely turn off the externally supplied power used in the system before installation or placing
wiring. Not doing so could result in electric shock or damage to the product.
When turning on the power supply or operating the module after wiring, be sure that the module's
terminal covers are correctly attached. Not attaching the terminal cover could result in electric shock.

CAUTION
Be sure to ground of the earth terminal FG and LG. Not doing so could result in electric shock or
operation failure. (Ground resistance: 100 or less)
When wiring in the Motion controller, be sure that it is done correctly by checking the product's rated
voltage and the terminal layout. Connecting a power supply that is different from the rating or
incorrectly wiring the product could result in fire or damage.
External connections shall be crimped or pressure welded with the specified tools, or correctly
soldered. Imperfect connections could result in short circuit, fire, or operation failure.
Tighten the terminal screws within the specified torque range. If the terminal screws are loose, it could
result in short circuit, fire, or operation failure. Tightening the terminal screws too far may cause
damages to the screws and/or the module, resulting in drop, short circuit, or operation failure.
Be sure there are no foreign matters such as sawdust or wiring debris inside the module. Such debris
could cause fire, damage, or operation failure.
The module has an ingress prevention label on its top to prevent foreign matter, such as wiring debris,
from entering the module during wiring.
Do not remove this label during wiring.
Before starting system operation, be sure to remove this label because of heat dissipation.

This section describes instructions for the wiring of the power supply.
Refer to the "7 EMC directives" for grounding method and measure against noise.
(1) Power supply wiring
(a) 24VDC power supply wires should be twisted as dense as possible. Connect
them with the shortest distance.
Also, to reduce the voltage drop to the minimum, use the thickest wires (Up
2
to 2.0mm ) possible.
Use the wires of the following core size for wiring.
(Note-1)
Application Recommended core size AWG
2
24VDC power supply wires 0.3 to 2.5mm AWG12 to AWG22
2
0.3 to 0.75mm
I/O equipment AWG18 to AWG22
(Outside diameter 2.8mm (0.11inch) or less)
2
Ground wire 2.0mm or more AWG14 or less
(Note-1): AWG stands for "American Wire Gauge". AWG is a unit of the thickness of conducting wire.

4 - 26
4 INSTALLATION AND WIRING

(b) Do not bundle the 24VDC power supply wires with, or run them close to, the
main circuit (high voltage, large current) and I/O signal lines (including
common line).
Reserve a distance of at least 100mm (3.94inch) from adjacent wires.

(c) Momentary power failure may be detected or the Motion controller may be
reset due to surge caused by lightning.
As measures against surge caused by lightning, connect a surge absorber
for lightning as shown below.
Using the surge absorber for lightning can reduce the influence of lightning.

24VDC Motion
AC U power supply controller

U U
E2 E3

E1 Surge absorber for lightening

POINTS
(1) Separate the ground of the surge absorber for lightning (E1), 24VDC power
supply (E2) and Motion controller (E3).
(2) Select a surge absorber for lightning whose power supply voltage does no
exceed the maximum allowable circuit voltage even at the time of maximum
power supply voltage elevation.

(2) Wiring of I/O equipment

(a) Insulation-sleeved crimping terminals cannot be used with the terminal
block.
It is recommended to cover the wire connections of the crimping terminals
with mark or insulation tubes.

(b) The wires used for connection to the terminal block should be 0.3 to
2
0.75mm in core and 2.8mm (0.11inch) or less in outside diameter.

(c) Run the input and output lines away from each other.

(d) When the wiring cannot be run away from the main circuit and power lines,
use a batch-shielded cable and ground it on the Motion controller side.
In some cases, ground it on the opposite side.
Motion controller
Shield cable
Input

DC
RA
Output

DC
Shield

4 - 27
4 INSTALLATION AND WIRING

(e) Where wiring runs through piping, ground the piping without fail.

(f) Run the 24VDC input line away from the 100VAC and 200VAC lines.

(g) Wiring of 200m (656.17ft.) or longer distance will give rise to leakage
currents due to the line capacity, resulting in a fault.
Refer to the troubleshooting chapter of the I/O Module User's Manual.

(h) As a countermeasure against the power surge due to lightning, separate the
AC wiring and DC wiring and connect a surge absorber for lightning (Refer
to Section 4.3.1(1)).
Failure to do so increases the risk of I/O device failure due to lightning.

(3) Grounding
For grounding, follow the steps (a) to (c) shown below.
(a) Use a dedicated grounding wire as far as possible.
(Ground resistance: 100 or less)

(b) When a dedicated grounding cannot be performed, use (2) Common

Grounding shown below.

Motion Another Motion Another Motion Another

controller equipment controller equipment controller equipment

grounding grounding

(1) Independent grounding.....Best (2) Common grounding.....Good (3) Joint grounding.....Not allowed

2
(c) For grounding a cable, use the cable of 2 mm or more.
Position the ground-contact point as nearly to the Motion controller as
possible, and reduce the length of the grounding cable as much as possible.

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4 INSTALLATION AND WIRING

4.3.2 Connecting to the power supply

The following diagram shows the wiring example of power lines, grounding lines, etc.
to the Motion controller.
100/200VAC
24VDC
AC
AC DC

Fuse

AC
DC
24VDC

24VDC
Connect to power input
terminals of I/O signals that
require 24VDC.
Ground wire

Grounding
Extension cable Ground wire
Extension base unit (Q68B)
Q61P CPU module Grounding

ERR (Note-1)

FG
LG
INPUT
100-240VAC

Ground
wire Extension cable
Grounding
Extension base unit (Q68B)
Q61P CPU module

ERR (Note-1)

FG
LG
INPUT
100-240VAC

Ground
wire
Grounding
(Note-1): The operation of the ERR terminal is always OFF (open).

4 - 29
4 INSTALLATION AND WIRING

POINT
(1) Use a different 24VDC power supply for the Motion controller and for I/O
signals.
(2) Use a different 24VDC power supplies for the Motion controller and the
electromagnetic brake of the servo motor.
(3) Refer to Section 2.5.1(10) for the pin layout of 24VDC power supply connector,
and refer to APPENDIX 4.3 for the connection diagram of 24VDC power
supply cable.
(4) Motion controller and 24VDC power supply are an open type device and must
be installed in a control panel for use.
This not only ensures safety but also ensures effective shielding for Motion
controller and 24VDC power supply generated electromagnetic noise.
2
(5) Use the thickest possible (up to 2mm ) wires for the 100/200VAC and 24VDC
power cables. Be sure to twist these wires starting at the connection terminals.
For wiring a terminal block, be sure to use a solderless terminal. To prevent a
short circuit should any screws loosen, use solderless terminals with insulation
sleeves of 0.8mm (0.03inch) or less.
Also, only two solderless terminals can be connected per terminal block.
Terminal
block
Solderless terminals
with insulation sleeves

(6) Ensure that the earth terminals LG and FG are grounded.

(Ground resistance : 100 or less)
If not, the programmable controller may become susceptible to noise.
Since the LG terminal has a half of the input voltage, touching this terminal
may result in an electric shock.
(7) No system error can be detected by the ERR terminal of an extension base
unit. (The ERR terminal is always set off.)

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4 INSTALLATION AND WIRING

4.3.3 Wiring of connector

Specialised tools are not required for wiring the 24VDC power supply connector and
forced stop input connector because plugs with spring connection are used.
(1) Applicable wire size and wire fabrication
(a) Applicable wire size
The applicable wire size for 24VDC power supply connector and forced stop
input connector are shown below.
Connector Type Applicable wire size
2
24VDC power supply connector FKC-2.5/3-ST-5.08 0.3 t0 2.5mm (AWG12 to AWG22)
2
Forced stop input connector FK-MCP1.5/3-ST-3.81 0.3 t0 1.5mm (AWG16 to AWG22)

(b) Wire fabrication

Strip the wire according to stripped length indicated in the figure below.
Slide the sheath off the wire and gently twist and straighten the strands.
When using the wire, be careful not to short with stray strands entering the
neighbouring poles. Do not use solder on the wire's core as this may lead to
insufficient contact.
Sheath Core

Approx.
10mm (0.39inch)

1) Using a ferrule
A ferrule can also be used to connect with the connector.
Use the ferrules in the table below for the 24VDC power supply
connector and forced stop input connector.
Ferrule model
Connector Wire size Crimping tool Manufacturer
For 1 wire For 2 wires
AWG16 AI1.5-10 BK AI-TWIN2×1.5-10 BK
24VDC power supply connector
AWG14 AI2.5-10 BU CRIMPFOX-ZA3 PHOENIX CONTACT
—
Forced stop input connector AWG21 AI0.5-10 WH

• Cut the wire sticking out from the end of the ferrule to 0.5mm
(0.02inch) or less.
0.5mm (0.02inch)
or less

• When using a twin ferrule, be sure to insert the wire in a manner that
will keep the insulation sleeve from interfering with the neighbouring
poles. Be sure to crimp the ferrule.
Crimping

Crimping

4 - 31
4 INSTALLATION AND WIRING

(2) Inserting wire

1) Press the connector release with a tool such as a flathead screwdriver.
2) While holding the release down, insert the wire all the way in.

Release
1)

2)

Wire

(Note): When using a ferrule, make sure the bumpy side is facing towards the
release.
When inserting 2 wires into one terminal, use a twin ferrule.
Insert the wire with the bumpy side facing the release.

(3) Connecting the power supply

(a) Do not connect the power supply plug when wires are live.
The inrush current may damage the internal parts.

(b) In consideration of safety, the maximum number of modules to a power

supply should be 4.
• Power supply (Recommended product)
Manufacturer Model name
TDK-Lambda corporation HWS30-24/A

4 - 32
5 START-UP PROCEDURES

5. START-UP PROCEDURES

5.1 Check Items before Start-up

Table 5.1 Check items before start-up

Part name Confirmation Items Check Reference
(1) Check for looseness, rattling or distorted installation. 4.1.2
(2) Check that the module fixing screw tightening torque is as specified. 4.1.1
(3) Check that the wire sizes of cables are correct.
4.3.1
(4) Check that the power line is wired correctly.
(5) Check that FG is wired correctly. 4.3.2
(6) Check that the FG terminal screws are tightened correctly.
(7) Check that the FG terminal screws are tightening torque is as
4.1.1
specified.
(8) Check that the 24VDC wires are twisted as closely as possible and
Q170MSCPU
run in the shortest distance.
Motion controller 4.3.1
(9) Check that cables are not binded to 24VDC wires, or run close to
the power wires.
(10) Check the grounding of the earth terminal FG. 4.3
(11) Check that the forced stop input is wired correctly. 3.2
(12) Check that the battery is installed.
4.1.4 5
(13) Check that the battery lead connector is connected correctly.
(14) Check that the internal I/F is wired correctly.
(15) Check that the manual pulse generator/incremental synchronous 2.5.1
encoder is wired correctly.
(1) Check that the extension base unit is Q52B/Q55B (type not
requiring power supply module) or Q63B/ Q65B/Q68B/Q612B (type 2.5.3
requiring power supply module).
(2) Check that the model name of module is correct. 2.3
(3) Check that the damage for installed modules.
(4) Check that the modules are installed correctly. 4.1.3
(5) Check for looseness, rattling or distorted installation. 4.1.2
(6) Check that the module fixing screw tightening torque is as specified. 4.1.1
Extension base unit
Refer to the "Q173D(S)CPU
/Q172D(S)CPU Motion
controller Programming
(7) Check that the total I/O points of I/O modules and intelligent function Manual (COMMON)", or
modules do not exceed the I/O points of the Motion controller. "QCPU User's Manual
(Hardware Design,
Maintenance and
Inspection).
(1) Check that the model name of power supply modules is correct. 2.5.2
(2) Check that the wire sizes of cables are correct.
4.3.1
(3) Check that the power line is wired correctly.
(4) Check that FG and LG are wired correctly. 4.3.2
(5) Check that the terminal screws are tightened correctly.
Power supply module (6) Check that the terminal screws are tightening torque is as specified. 4.1.1
(7) Check that the 100VAC, 200VAC and 24VDC wires are twisted as
closely as possible respectively and run in the shortest distance.
4.3.1
(8) Check that cables are not binded to 100VAC, 200VAC and 24VDC
wires, or run close to the power wires.
(9) Check the grounding of the earth terminal FG and LG. 4.3.2

5-1
5 START-UP PROCEDURES

Part name Confirmation Items Check Reference

Q172DLX Servo external Refer to the "Q173D(S)CPU
signals interface module (1) Check that the installation position of modules correspond to the /Q172D(S)CPU Motion
/ system setting. controller Programming
Q173DPX Manual pulse Manual (COMMON).
generator interface 2.5.4
(2) Check that the connection with external equipments is correct.
module 2.5.5
(1) Check that the wire size of cable is correct.
(2) Check that the terminal block screws are tightened correctly.
Refer to the I/O Module
(3) Check that the cables connected to each terminal of terminal block
Type Building Block User's
correspond to the signal names.
Manual
(4) Check that the external power supply are connected correctly.
I/O module (24VDC, 5VDC)
(5) Check that the 100VAC, 200VAC and 24VDC wires are twisted as
closely as possible respectively and run in the shortest distance.
(6) Check that the 100VAC, 200VAC and 24VDC wires are not bind the 4.3.1
cable together with and run close to the I/O wires.
(7) Check that the I/O wires are wired correctly.
(1) Check that the model name of SSCNET cables is correct.
(2) Check that the connecting position for connector of SSCNET 2.5.7
cables are correct.
(3) Check that the SSCNET cables are connected correctly.
SSCNET cable (4) Check for looseness, rattling or distorted connection.
(5) Check that the minimum bend radius or more secured.
4.2.1
(6) Check that the MR-J3BUS M or MR-J3BUS M-A do not come in
contact with wires/cables that use materials where the plasticizing
material is contained.

5-2
5 START-UP PROCEDURES

5.2 Start-up Adjustment Procedure

The mode indicated in the brackets [ ] at top left of

START each step is the mode for checking or setting using
MT Developer2/GX Works2.

Turn OFF Motion controller's power supply

Check that the power supply of Motion
controller is OFF.

Check wiring and module installation Refer to Section 4.1.3 for installation of module.
(1) Check the installation position and
condition of each modules.
DANGER
(2) Check the connecting condition of Be sure to ground the Motion controllers, servo
connectors. amplifiers and servo motors.
(3) Check that all terminal screws are tight. (Ground resistance: 100 or less)
(4) Check the ground wires of servo Do not ground commonly with other devices.
amplifier, etc.
(5) Check the servo motor wiring (U, V, W).
(6) Check the regenerative option wiring. CAUTION
(7) Check the circuit of emergency stop or
forced stop. Check that the combination of modules are correct.
Wrong combination may damage the modules.
[Installation mode]
Install operating system software Refer to Section 5.3.
Motion CPU The operating system software (SV22 (Virtual mode
area Install the operating system software to the
switching method)) is installed at
Motion controller using MT Developer2.
the time of product purchases.

Servo amplifier setting Refer to Section 2.5.7(3)

Servo amplifier
Set the axis number of servo amplifier.
CAUTION
When using a regenerative resistor, shut the
SSCNET /H head module setting power OFF with an error signal. The regenerative
resistor may abnormally overheat due to a fault in
SSCNET /H Set the station number of SSCNET /H the regenerative transistor, etc., and may lead to
head module head module. fires.
(SSCNET /H head module use) 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
Turn ON power supply fires.
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 parameters using
MT Developer2.
(1) Multiple CPU setting
(2) Automatic refresh setting
(3) System setting
(4) Q170MS I/O setting

Motion CPU [Servo data setting]

area Positioning parameters setting
CAUTION
Set the following positioning parameters
using MT Developer2. Set parameter values to those that are compatible
(1) Fixed parameters with the Motion controller, servo amplifier,
(2) Home position return data servo motor and regenerative resistor model name
(3) JOG operation data and the system name application.
(4) Servo parameters The protective functions may not function if the
(5) Parameter block settings are incorrect.
(6) Limit output data

1)

5-3
5 START-UP PROCEDURES

1)

[Parameter setting]

PLC CPU Parameter setting

area Set the PLC parameter using GX Works2.

[Parameter setting]
Parameter setting
SSCNET /H Set the SSCNET /H head module
head module parameter using GX Works2.
(SSCNET /H head module use)

(Note): An error may occur if the power is turned on

before system setting. In the case, reset the
Turn ON power supply again Motion controller after system setting.
Turn ON again the power supply or reset Refer to the "Q173D(S)CPU/Q172D(S)CPU
of Motion controller. Motion controller Programming Manual
(COMMON)" at the system setting error
occurrence.

Check pulse input signal of internal I/F Refer to Section 2.5.1

Check the wiring of pulse input signals of
internal I/F by monitoring of MT Developer2.
(1) Manual pulse generator/incremental
synchronous encoder setting

Check I/O signal of internal I/F Refer to Section 2.5.1

Check the wiring of I/O signals of internal
I/F by monitoring of MT Developer2.

Check external inputs to Q172DLX Refer to Section 2.5.4

Check the wiring of following external inputs
by monitoring of MT Developer2.
(1) FLS (Upper stroke limit input)
(2) RLS (Lower stroke limit input)
(3) STOP (Stop signal)
(4) DOG (Proximity dog)
Motion CPU
area

Check servo external inputs signal

Check the wiring of servo external input
signals by monitoring of MT Developer2.
(1) FLS (Upper stroke limit input)
(2) RLS (Lower stroke limit input)
(3) DOG (Proximity dog)

Check external inputs to Q173DPX Refer to Section 2.5.5

Check the wiring of following external inputs
by monitoring of MT Developer2 or LED
indicators.
(1) Manual pulse generator/incremental
synchronous encoder setting CAUTION
Do not mount a phase advancing capacitor, surge
absorber or radio noise filter (option FR-BIF) on
Check I/O module
the output side of the servo amplifier.
Check the wiring of I/O modules. Correctly connect the output side (terminal U, V,
W). Incorrect connections will lead the servo motor
to operate abnormally.
2)

5-4
5 START-UP PROCEDURES

2)

Check SSCNET /H head module

Check the wiring of I/O module of the
SSCNET /H intelligent function modules that are
head module connected to the SSCNET /H head module
by monitoring of GX Works2.
(SSCNET /H head module use)

[Programming]

Motion CPU
Create Motion programs
DANGER
area Create the Motion programs using
MT Developer2. When performing wiring work or inspections, turn
the power OFF, wait at least ten minutes, and
then check the voltage with a tester, etc.
[Programming] Failing to do so may lead to electric shocks.
Create PLC programs Wire the units after mounting the Motion controller,
servo amplifier and servo motor.
Create the PLC programs to start of Failing to do so may lead to electric shocks or
Motion programs using GX Works2. damage.
PLC CPU
area
Write PLC programs CAUTION
Write the PLC programs created to the PLC Always mount a leakage breaker on the Motion
CPU area (CPU No.1 fixed). controller and servo amplifier power source.
Install emergency stop circuit externally so that
operation can be stopped immediately and the
power shut off.
Write Motion programs Use the program commands for the program with
Motion CPU the conditions specified in the instruction manual.
Write the positioning data and Motion
area Some devices used in the program have fixed
programs created to the Motion CPU area
applications, so use these with the conditions
(CPU No.2 fixed).
specified in the programming manual.

Turn ON power supply again CAUTION

Turn ON again or reset the Motion If safety standards (ex., robot safety rules, etc., )
controller's power supply. 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
Turn ON servo amplifiers power supply controller or servo amplifier if the abnormal
Check the emergency stop ON and forced operation of the Motion controller or servo
stop ON, and turn ON the power supply of amplifier differ from the safety directive operation
servo amplifiers. in the system.

[Test mode
servo start-up
(Initial check) ]
Check servo amplifier Axis No. and error description of servo amplifier which
detected errors are displayed on initial check screen.
Check that the mounted servo amplifiers
operate correctly.

[Test mode
Motion CPU servo start-up
area (Upper/lower stroke
limit check) ]
Check upper/lower stroke limits
Check that the upper/lower stroke limits
operate correctly.

3)

5-5
5 START-UP PROCEDURES

3)
[Test mode
JOG operation ]
Check machine operation
CAUTION
Check the following by making the machine
operate with the JOG operation of The system must have a mechanical allowance so
MT Developer2. that the machine itself can stop even if the stroke
(1) Machine operates correctly limits switch is passed through at the max. speed.
(no vibration, hunting, etc. ) Execute the test operation in the system that it is
(2) Stroke limits operate correctly low-speed as much as possible and put forced
(3) Machine stops by the emergency stop stop, and confirm the operation and safety.
or forced stop.

[Test mode
home position return ]
Check home position return
Motion CPU
area Check the following by executing the home
position return.
(1) Home position return direction
(2) Home position return data
(3) Proximity dog position

[Programming]
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.

[Monitor]
Check by automatic operation
PLC CPU Check the sequence operation by executing
area the PLC program using an actual external
input.

END

POINTS
(1) Make note of servo motor module names before the servo motor is mounted
on a machine. The servo motor rating plate may not be visible after the servo
motor is mounted.
(2) When the servo amplifier, servo motor is first turned on, check the operation
before the servo motor is mounted on a machine to avoid an unexpected
accidents such as machine breakage.

5-6
5 START-UP PROCEDURES

5.3 Operating System Software Installation Procedure

The operating system software must be installed to the Motion controller by using the
peripheral device and MT Developer2.
The installation procedure is shown below.

START

Set a rotary switch1 (SW1) of Motion

Set to installation mode.
controller to "A".
Refer to Section 2.5.1(6) for rotary switch.
(Rotary switch 2 (SW2) is optional.)
Switch setting of factory default
SW1 "0", SW2 "0" position

Turn ON the Motion controller's power Steady "INS" display.

supply. RUN/STOP is ignored.

Start the install of MT Developer2.

Set the connection method between

the personal computer and Motion
controller in the Transfer Setup.
Operation in
MT Developer2 Only when the operating system software
(Note) Select the operating system software (SV22) is installed, select one of the
installed, and install it in the Motion following operation methods.
controller. Virtual mode switching method
Advanced synchronous control method

Dialog "Installation is completed" is The operating system software can be

displayed. installed normally by dialog display.

Turn OFF the Motion controller's

power supply.

Set a rotary switch1 (SW1) and

switch2 (SW2) of Motion controller to Set to mode operated by RAM.
"0".

END

(Note): Install the operating system software by screen of MT Developer2.

Refer to help of MT Developer2 for details.

5-7
5 START-UP PROCEDURES

POINTS
(1) When the software security key function is used in Motion controller, if the
software security key of the operating system software already installed in
Motion CPU is different from that embedded to the operating system software
to be installed, "Clear all" is executed at installation. It is recommended to
backup the data in advance using MT Developer2.
(2) The operating system software (SV22 (Virtual mode switching method)) is
installed at the time of product purchase.
(3) The operating system software is installed to the Motion CPU area. It has
already been installed to the PLC CPU area.
The PLC CPU area is never rewritten.
(4) Be sure to turn power supply OFF before changing rotary switch setting.
(5) Even if the operating system software is installed, the programs, parameters
and absolute position data written in the Motion controller not rewritten.
(6) Do not do any of the following while installing operation system software.
Doing so could result damage the Motion controller.
• Turn OFF the Motion controller's power supply.
• Change the RUN/STOP/RESET switch of Motion controller to RESET.
• Turn OFF the power supply of the personal computer.
• Pull out the personal computer's communication cable.
(7) Only when the operating system software (SV22) is installed on the Motion
controller, select one of the following operation methods.
• Virtual mode switching method
• Advanced synchronous control method
To change the operation method after the operating system software is
installed, install the operating system software (SV22) again, or change the
operation method in "Change CPU operation method" of MT Developer2.
Refer to help of MT Developer2 for details.

5-8
5 START-UP PROCEDURES

5.4 Trial Operation and Adjustment Checklist

At the worksite, copy the following table for use as a check sheet.
Work Step Item Check Items Check
Check that each module is installed correctly.
Check that each connector is connected correctly.
Check each terminal screw for looseness.
Installation of Check that the earth wires of Motion controller or servo amplifiers, etc. are correct.
Before power supply
unit/module Check that the servomotor wiring is correct.
ON
and basic wiring Check that the regenerative option wiring is correct.
Check that the circuit of emergency stop and forced stop are correct.
Check that the wiring of each power supply and I/O are correct.
Check that the rotary switch setting is correct.
Installation of OS Check that the operating system software is compatible.
System setting Check that the system setting is correct.
Q172DLX/Servo Check that the upper/lower stroke limit inputs are correct.
amplifier external Check that the STOP signal input is correct. (Q172DLX only)
signal Check that the proximity dog and speed/position switching signal input are correct.
Program/ Check that the Motion program, PLC program and positioning data are stored in the
Power supply ON/ positioning data Motion controller correctly.
Check the communications with servo amplifiers.
Motion controller in Check that the rotation direction for JOG operation is correct.
STOP status Check that the upper/lower limit switches operate correctly.
Basic axis Check that the rotation at maximum command speed is motor rating or less.
operations (Check Check that the machine operates correctly by the JOG operation.
each axis) Check that the machine stops by the upper/lower stroke limit.
Check that the machine stops by the emergency stop or forced stop.
Check that the home position return is executed correctly.
Check that each positioning control of Motion program is operates correctly.
Check each operation in manual operation mode of system during Motion program execution.
Check that the machine operation stops immediately by the emergency stop or forced
stop.
Manual operation
Check the operation of each actuator and confirmation limit switch.
Check that the emergency stop, forced stop and equipment alarm signals are correct.
Checks in compliance with control specifications specific to system and equipment.
Check each operation in automatic operation mode of system during Motion program
execution.
Motion controller
Check that the automatic operation motions.
in RUN status
Check that the machine operation stops immediately by the emergency stop or forced
Automatic
stop.
operation
Check that the module or equipment alarm causes an immediate stop or cycle stop.
Check that the restoring operation can be performed after an alarm stop.
Make other checks in compliance with control specifications specific to system and
equipment.
Check that the acceleration/deceleration torque is maximum torque or less.
Torque check
Check that the continuous effective load torque is rated torque or less.

5-9
5 START-UP PROCEDURES

MEMO

5 - 10
6 INSPECTION AND MAINTENANCE

6. INSPECTION AND MAINTENANCE

DANGER
Do not touch the terminals while power is on. Doing so could cause electric shock.
Correctly connect the battery. Also, do not charge, disassemble, heat, place in fire, short circuit, or
solder the battery.
Mishandling of a battery may cause overheating, cracks or ignition which could result in injury and fire.
Switch off all phases of the externally supplied power used in the system when cleaning the module or
retightening the terminal or module mounting screws.
Not doing so could result in electric shock.
Under tightening of terminal screws can cause a short circuit or malfunction.
Over tightening of screws can cause damages to the screws and/or the module, resulting in fallout,
short circuits, or malfunction.
The capacitor is mounted to the modules. Do not incinerate the modules so that the incineration of
capacitor may cause burst.
For disposal of the modules, request for specialized industrial waste disposal services who has
incineration facility.

CAUTION
Read the manual carefully and pay careful attention to safety for the on-line operation (especially
program change, forced stop or operation change) performed by connecting peripheral devices to the
6
Motion controller during operation.
Erroneous operation may cause machine breakage or accident.
Never try to disassemble or modify module. It may cause product failure, operation failure, injury or fire.
Use any radio communication device such as a cellular phone or a PHS phone more than 25cm (9.84
inch) away in all directions of the Motion controller.
Failure to do so may cause a malfunction.
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, damage to the module or operation failure.
Do not install/remove the module on to/from base unit or terminal block more than 50 times, after the
first use of the product. Failure to do so may cause the module to malfunction due to poor contact of
connector.
Do not drop or impact the battery installed to the module. Doing so may damage the battery, causing
battery liquid to leak in the battery.
Do not use the dropped or impacted battery, but dispose of it.
Before touching the module, always touch grounded metal, etc. to discharge static electricity from
human body. Failure to do so may cause the module to fail or malfunction.
Do not directly touch the module's conductive parts and electronic components. Touching them could
cause an operation failure or damage the module.

In order that you can use the Motion controller in normal and optimal condition at all
times, this section describes those items that must be maintained or inspected daily or
at regular intervals.

6-1
6 INSPECTION AND MAINTENANCE

6.1 Maintenance Works

6.1.1 Instruction of inspection works

In order that can use the Motion controller in safety and normal, those items that must
be inspected list below.

DANGER
Never open the front case or terminal covers while the power is ON or the unit is running, as this may
lead to electric shocks.
Never run the unit with the front case or terminal cover removed. The high voltage terminal and
charged sections will be exposed and may lead to electric shocks.
Never remove the front case or terminal cover at times other than wiring work or periodic inspections
even if the power is OFF. The insides of the Motion controller and servo amplifier are charged and
may lead to electric shocks.
When performing wiring work or inspections, turn the power OFF, wait at least ten minutes, and then
check the voltage with a tester, etc. Failing to do so may lead to electric shocks.
Never operate the switches with wet hands, as this may lead to electric shocks.
Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this may
lead to electric shocks or fire.
Do not touch the Motion controller, servo amplifier or servomotor terminal blocks while the power is
ON, as this may lead to electric shocks or fire.
Do not touch the built-in power supply, built-in grounding or signal wires of the Motion controller and
servo amplifier, as this may lead to electric shocks.

CAUTION
Be sure to ground the Motion controller, servo amplifier and servomotor. Do not ground commonly
with other devices. (Ground resistance : 100 or less)
The wiring work and inspections must be done by a qualified technician.
Wire the units after mounting the Motion controller, servo amplifier and servomotor. Failing to do so
may lead to electric shocks or damage.
Perform the daily and periodic inspections according to the instruction manual.
Perform maintenance and inspection after backing up the program and parameters for the Motion
controller and servo amplifier.
Do not place fingers or hands in the clearance when opening or closing any opening.
Periodically replace consumable parts such as batteries according to the instruction manual.
Do not touch the lead sections such as ICs or the connector contacts.
Do not place the Motion controller or servo amplifier on metal that may cause a power leakage or
wood, plastic or vinyl that may cause static electricity buildup.
Do not perform a megger test (insulation resistance measurement) during inspection.
When replacing the Motion controller or servo amplifier, always set the new unit settings correctly.
After maintenance and inspections are completed, confirm that the position detection of the absolute
position detector function is correct.

6-2
6 INSPECTION AND MAINTENANCE

CAUTION
Do not short circuit, charge, overheat, incinerate or disassemble the batteries.
The electrolytic capacitor will generate gas during a fault, so do not place your face near the Motion
controller or servo amplifier.
The electrolytic capacitor and fan will deteriorate. Periodically change these to prevent secondary
damage from faults. Replacements can be made by our sales representative.
If an error occurs in the self diagnosis of the Motion controller or servo amplifier, confirm the check
details according to the instruction manual, and restore the operation.
If a dangerous state is predicted in case of a power failure or product failure, in order to prevent that
state, use a servomotor with electromagnetic brakes for maintenance or mount a brake mechanism
externally.
Use a double circuit construction so that the electromagnetic brake operation circuit can be operated
by emergency stop signals set externally.
Shut off with the
Shut off with servo ON signal OFF, emergency stop
alarm, electromagnetic brake signal. signal (EMG).

Servo motor
EMG
RA1

Electromagnetic
brakes
B 24VDC

If an error occurs, remove the cause, secure the safety and then resume operation after alarm
release.
The unit may suddenly restart after a power failure is restored, so do not go near the machine. (Design
the machine so that personal safety can be ensured even if the machine restarts suddenly.)
Confirm and adjust the program and each parameter before operation. Unpredictable movements may
occur depending on the machine.
Extreme adjustments and changes may lead to unstable operation, so never make them.
Do not apply a voltage other than that specified in the instruction manual on any terminal.
Doing so may lead to destruction or damage.
Do not mistake the terminal connections, as this may lead to destruction or damage.
Do not mistake the polarity ( + / - ), as this may lead to destruction or damage.
Do not touch the heat radiating fins of controller or servo amplifier, regenerative resistor and
servomotor, etc., while the power is ON and for a short time after the power is turned OFF. In this
timing, these parts become very hot and may lead to burns.
Always turn the power OFF before touching the servomotor shaft or coupled machines, as these parts
may lead to injuries.
Do not go near the machine during test operations or during operations such as teaching. Doing so
may lead to injuries.
Do not bunch the control wires or communication cables with the main circuit or power wires, or lay
them closely. They should be installed 100mm (3.94inch) or more from each other.
Trying to bunch or install could result in noise that would cause operation failure.

6-3
6 INSPECTION AND MAINTENANCE

6.2 Daily Inspection

The items that must be inspected daily are shown below.

Table 6.1 Daily Inspection

Item Inspection item Inspection Criterion Action
Mounting of Motion Check that the fixing
1 Retighten the
controller screws are not loose and The screws and cover must be mounted securely.
screws.
2 Mounting of base unit the cover is not dislocated.
Check that the module is Securely
Installation of Motion
not dislocated and the unit The module fixing hook must be engaged and installed engaged the
3 modules and I/O
fixing hook is engaged correctly. module fixing
modules
securely. hook.
Check for loose terminal Retighten the
Screws should not be loose.
screws. terminal screws.
Check the distance
The proper clearance should be provided between solderless
between solderless Correct.
4 Connecting conditions terminals.
terminals.
Retighten the
Check the connector part of
Connections should not be loose. connector fixing
the cable.
screws.
The LED must be ON.
[POWER] LED Check that the LED is ON.
(Abnormal if the LED is OFF.).
The LED must be ON.
[MODE] LED Check that the LED is ON.
(Abnormal if the LED is OFF or flickering.)
Check that the LED is ON The LED must be ON.
[RUN] LED
in RUN status. (Abnormal if the LED is OFF.)
The LED must be OFF. Refer to Section
[ERR.] LED Check that the LED is OFF.
(Abnormal if the LED is ON or flickering.) 2.5.1
The LED must be OFF.
[BAT.] LED Check that the LED is OFF.
(Abnormal if the LED is ON (yellow).)
Motion controller

Steady "RUN" display.

(Abnormal if "RUN" does not display or incorrect display.)
Normal
Steady "STP" display.
Module indication LED

(Abnormal if "STP" does not display or incorrect display.)

Battery error
"BT1" does not display.
warning
5 (Abnormal if steady "BT1" display.)
(2.7V or less) Refer to Section
Battery error 6.5
"BT2" does not display.
warning
(Abnormal if steady "BT2" display.)
(2.5V or less)
" . . . " does not display.
WDT error
(Abnormal if steady " . . ." display.) Refer to Section
" AL" does not flash. 2.5.1
Others
(Abnormal if " . . ." flashes.)
The LED must be ON when the input power is turned ON.
Check that the LED is The LED must be OFF when the input power is turned OFF.
Input LED Refer to
ON/OFF. (Abnormal if the LED does not turn ON or turn OFF as
I/O module

"I/O Module
indicated above.)
Type Building
The LED must be ON when the output power is turned ON.
Block User's
Check that the LED is The LED must be OFF when the output power is turned OFF.
Output LED Manual".
ON/OFF. (Abnormal if the LED does not turn ON or turn OFF as
indicated above.)

6-4
6 INSPECTION AND MAINTENANCE

6.3 Periodic Inspection

The items that must be inspected one or two times every 6 months to 1 year are listed
below. When the equipment is moved or modified, or layout of the wiring is changed,
also implement this inspection.

Table 6.2 Periodic Inspection

Item Inspection item Inspection Criterion Action
Ambient environment

Ambient temperature 0 to 55 °C (32 to 131 °F) When the controller is used in

Measure with a thermometer and a the board, the ambient
1 Ambient humidity hygrometer. 5 to 95 % RH temperature in the board
Measure corrosive gas. becomes the ambient
temperature.
Atmosphere No corrosive gases

Measure a voltage across the

2 Power voltage 21.6 to 26.4 Change the power supply.
terminals of 24VDC.
Retighten the screws.
Move the module to check for The module must be installed If the Motion controller, Motion
Installation

Looseness, rattling
looseness and rattling. solidly. modules, or I/O modules are
3
loose, fix it with screws.
Adhesion of dirt and Dirt and foreign matter must not
Check visually. Remove and clean.
foreign matter be present.
Looseness of terminal Try to further tighten screws with a
Screws must not be loose. Retighten the terminal screws.
screws screwdriver.
Connection

Proximity of solderless Solderless terminals must be

4 Check visually. Correct.
terminals to each other positioned at proper intervals.
Looseness of Retighten the connector fixing
Check visually. Connectors must not be loose.
connectors screws.
Check the 7-segment LED at the Must be turned OFF "BT1" or Even if the lowering of a battery
front side of Motion controller. "BT2" display. capacity is not shown, replace
the battery with a new one if a
Check the length of term after Must not be used more than 5
service life time of the battery is
5 Battery purchasing the battery years.
exceeded.
Check that SM51 or SM58 is
Replace the battery with a new
turned OFF using MT Developer2 Must be turned OFF.
one when SM51 or SM58 is ON.
in monitor.

6-5
6 INSPECTION AND MAINTENANCE

6.4 Life

The following parts must be changed periodically as listed below.

However, if any part is found faulty, it must be changed immediately even when it has
not yet reached the end of its life, which depends on the operating method and
environmental conditions.
For parts replacement, please contact your sales representative.

Table 6.3 Life

Module name Part name Life guideline Remark
Life guideline is reference time.
Motion controller
If faulty, it must be changed
Electrolytic capacitor 10 years immediately even when it has
Motion module not yet reached the life
guideline.

(1) Capacitor
The life of the capacitor greatly depends on ambient temperature and operating
conditions. The capacitor will reach the end of its in 10 years of continuous
operation in normal air-conditioned environment.

6-6
6 INSPECTION AND MAINTENANCE

6.5 Battery

The battery installed in the Motion controller is used for data retention during the
power failure of the program memory and latch device.
The data stored in the RAM built-in Motion controller are shown below.
• PLC CPU area : Clock data, Latch devices (L), Devices of latch range, Error history
and Data in standard RAM
• Motion CPU area : Programs, Parameters, Motion devices (#), Devices of latch
range, and Absolute position data
Special relays (SM51, SM52, SM58 or SM59) of Motion CPU area turn on due to the
decrease of battery voltage. Even if the special relays turn on, the program and
retained data are not erased immediately.
However, if these relays are overlooked, the contents may be erased.
After relay SM51 or SM58 turns on, replace the battery quickly within the data
retention time for power failure (3 minutes).

POINT
(1) SM51 or SM58 turns on when the battery voltage falls below the specified
value, and remains ON even after the battery voltage is recovered to the
normal value. SM51 or SM58 turns off by power supply on again or reset.
(2) After SM51, SM52, SM58 or SM59 turns on, replace the battery quickly.
• SM51 or SM52 turns on at the battery voltage 2.5V or less.
• SM58 or SM59 turns on at the battery voltage 2.7V or less.
(3) If SM51 turns on, the details for the data of RAM built-in Motion controller
cannot be guaranteed.
It is recommended to back-up the data periodically.
(4) Whether or not to check the battery of Motion CPU can be set in the system
basic setting of system setting. If "Perform battery check" is not set, a self-
diagnosis error will not occur and the 7-segment LED "BT1" or "BT2" is not
also displayed.
Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller Programming
Manual (COMMON)" for details.

6-7
6 INSPECTION AND MAINTENANCE

6.5.1 Battery life

The battery life is shown below.

Table 6.4 Battery life of Q6BAT/Q7BAT

(Note-2)
Battery life (Total power failure time) [h]
Actual service
Battery Guaranteed Guaranteed (Note-6)
Power-on (Note-4) (Note-5) value Backup time
Motion controller Battery type consumption value value
(Note-1) time ratio (Reference value) after alarm
(Note-3) (MIN) (TYP) (Note-7)
(TYP)
(75°C (167°F)) (40°C (104°F))
(25°C (77°F))
0% 13000 40000
30% 18000
(Note-9)
Q6BAT 2 50% 21000
43800
70% 24000
Q170MSCPU 100% 43800
(Note-8)
0% 39000
Q7BAT 30%
(Large capacity) 2 50% 43800
(Note-9) 43800
70%
100%
43800
0% 15300
30% 21000 90
1 50% 27900 (After SM51/
70% 41500 SM52 ON)
100% 43800
0% 2600 7500 8800
30% 3700 10600 12500
(Note-9)
Q170MSCPU-S1 Q6BAT 2 50% 5100 14700 17400
70% 8400 23700 28000
100% 43800 43800 43800
0% 1400 4100 4800
30% 2100 5900 6900
3 50% 2900 8200 9600
70% 4800 13500 15800
100% 43800 43800 43800

6-8
6 INSPECTION AND MAINTENANCE

Table 6.4 Battery life of Q6BAT/Q7BAT (continued)

(Note-2)
Battery life (Total power failure time) [h]
Actual service
Battery Guaranteed Guaranteed (Note-6)
Power-on (Note-4) (Note-5) value
Motion controller Battery type consumption value value Backup time
(Note-1) time ratio (Reference value)
(Note-3) (MIN) (TYP) after alarm
(TYP)
(75°C (167°F)) (40°C (104°F))
(25°C (77°F))
0%
30%
1 50% 43800 43800 43800
70%
100%
0% 7600 21500 25000
Q7BAT 30% 10900 30400 35300 90
Q170MSCPU-S1 (Large capacity) 2 50% 15100 42000 (After SM51/
(Note-9)
70% 24700 43800 SM52 ON)
43800
100% 43800
0% 4100 11900 13750
30% 5900 17000 19500
3 50% 8200 23600 27000
70% 13600 38600
43800
100% 43800 43800

(Note-1): The battery consumption represents consumption of the Motion controller battery energy.
The larger the battery consumption value is, the more battery per time unit is consumed.
Refer to the "QCPU User's Manual (Hardware Design, Maintenance and Inspection) for details.
(Note-2): The actual service value indicates the average value, and the guaranteed value indicates the minimum value.
(Note-3): The power-on time ratio indicates the ratio of Motion controller power-on time to one day (24 hours).
(When the total power-on time is 17 hours and the total power-off time is 7 hours, the power-on time ratio is 70%.)
(Note-4): The guaranteed value (MIN) ; equivalent to the total power failure time that is calculated based on the characteristics value of the
memory (SRAM) supplied by the manufacturer and under the storage ambient temperature range of -25°C to 75°C (-13 to 167°F)
(operating ambient temperature of 0°C to 55°C (32 to 131°F)).
(Note-5): The guaranteed value (TYP) ; equivalent to the total power failure time that is calculated based on the normal air-conditioned
environment (40°C (104°F)).
(Note-6): The actual service value (Reference value) ; equivalent to the total power failure time that is calculated based on the measured
value and under the storage ambient temperature of 25°C (77°F). This value is intended for reference only, as it varies with
characteristics of the memory.
(Note-7): In the following status, the backup time after power OFF is 3 minutes.
• Q6BAT/Q7BAT lead connector is disconnected.
• Lead wire of Q6BAT/Q7BAT is broken.
(Note-8): Battery consumption 1 cannot be used in Q170MSCPU.
(Note-9): Set the battery (Q6BAT/Q7BAT) to battery holder.

6-9
6 INSPECTION AND MAINTENANCE

POINT
(1) Do not use the battery exceeding its guaranteed life.
(2) When the battery hours (total power failure time) may exceed its guaranteed
value, take the following measure.
• Perform ROM operation to protect a program even if the battery dies at the
Motion controller's power-OFF.
• If SM51 turns on, the contents for the data (Refer to Section 6.5) of RAM
built-in Motion controller cannot be guaranteed.
It is recommended to back-up the data periodically.
(3) When the total power failure time exceeds its guaranteed value, and SM51,
SM52, SM58 and SM59 of Motion CPU area turns on, immediately change the
battery. Even if the alarm has not yet occurred, it is recommended to replace
the battery periodically according to the operating condition
(4) The self-discharge influences the life of battery without the connection to the
Motion controller. The battery should be exchanged approximately every 4 or 5
years. And, exchange the battery with a new one in 4 to 5 years even if a total
power failure time is guaranteed value or less.
(5) It is recommended to shift to the mode operated by ROM after the programs
and parameters are fixed. The erasing of the programs and parameters can be
avoided even if the battery decrease. (The ROM writing cannot be executed
for the current position of the servo motor in the absolute position system,
home position and latch device. Back up them beforehand using
MT Developer2.)
Refer to Section 4.4 of the "Q173D(S)CPU/Q172D(S)CPU Motion controller
Programming Manual (COMMON)" for details of the ROM operation.

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6 INSPECTION AND MAINTENANCE

6.5.2 Battery replacement procedure

When the battery has been exhausted, replace the battery with a new one in
accordance with the procedure shown below.

POINTS
When replacing the battery, pay attention to the following.
(1) The Motion controller power supply must be on for 10 minutes or longer before
dismounting the battery.
(2) Back up the data using MT Developer2 before starting replacement.
(3) Firstly back up the data stored in the Motion controller to the personal
computer which is installed MT Developer2 then replace the battery with a new
one. After setting the battery in the Battery holder, verify the backing up the
data to the personal computer which is installed MT Developer2 and the data
in the Motion controller, confirm the data is not changing.
In the following status, the backup time after power OFF is 3 minutes.
• The lead connector of Q6BAT/Q7BAT is disconnected.
• The lead wire of Q6BAT/Q7BAT is broken.

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6 INSPECTION AND MAINTENANCE

(1) Q6BAT
Replacing Battery
Motion controller
Turn off the Motion controller's power
supply. Battery holder

Pull the battery holder while pushing 1), 2) Battery holder fixing tab
the battery holder fixing tab, and 2)
remove the holder from the Motion
controller. Push 1) Pull

Remove the battery lead connector 3)

Battery connector
from battery connector. (Note) (Q170MSCPU side)
Battery lead
3)
4) (Note)
connector
Remove the lead wire from the lead (Battery side)
wire fixing hook.

Remove the old battery from the 5)

battery holder.

Set the new battery to the battery 6)

holder correctly after confirming "+"
side and "-" side for the battery.
Lead wire fixing hook
4)
Anchor the lead wire to the lead wire Remove
fixing hook.
LITHIUM BATTERY

5) "-" M ITS U B IS H I
"+"
4) side side
Battery
(Q6BAT)
Connect the battery lead connector
to the battery connector. Top face of battery holder

Adjust the battery holder to the 7)

installation grooves, and slide the
battery holder in the direction of the
arrow, taking care to not damage the
lead wires.
(Be sure to insert it until it clicks.) " - " side " + " side

6)
Turn on the Motion controller's power
supply.

END
Installation grooves

7) Battery holder

Push
(Note): Do not pull on the lead wire forcibly to remove the connector.

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6 INSPECTION AND MAINTENANCE

(2) Q7BAT
Replacing Battery
Motion controller
Turn off the Motion controller's power
Battery holder
supply.

Pull the battery holder while pushing 1), 2) Battery holder fixing tab
2)
the battery holder fixing tab, and
remove the holder from the Motion
controller. 1) Pull
Push

Remove the battery lead connector 3) Battery connector

from battery connector. (Note-1) (Q170MSCPU side)
Battery lead
4)
(Note)
connector
Remove the lead wire from the 4) (Battery side)
pass-through slot.
4)

5) Remove the lead wire

Remove the old battery from the
battery holder while pushing a tab.
Pass-
through
Have "-" side of new battery forward 6) slot
and align the lead wire to the pass-
through slot (Note-2) , and then set it to
the battery holder.
(Be sure to insert it until it clicks.)

Anchor the lead wire to the pass- 7)

through slot. Battery(Q7BAT)

5)
Connect the battery lead connector Pull
to the battery connector for Motion
controller. Push
Tab

Neatly place the lead wires and

connector into the battery holder.

Adjust the battery holder to the 8)

installation grooves, and slide the Lead wire
battery holder in the direction of the (Note-2)
arrow, taking care to not damage the
lead wires. 6)
7)
(Be sure to insert it until it clicks.)
Push
" - " side
Turn on the Motion controller's power Installation grooves
supply.

END

8)

Push
Battery holder

(Note-1): Do not pull on the lead wire forcibly to remove the connector.
(Note-2): Tilt the battery not to hitch the lead wire to the battery holder.

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6 INSPECTION AND MAINTENANCE

6.5.3 Resuming operation after storing the Motion controller

When the operation is to be resumed after being stored with the battery removed or
the battery has gone flat during storage, the contents for the data (Refer to Section
6.5) of RAM built-in Motion controller cannot be guaranteed.
Before resuming operation, write the contents for the data backed up prior to storage
to RAM built-in Motion controller.

POINT
Before storing the Motion controller, always back up the contents for the data to
RAM built-in Motion controller.

6.5.4 Symbol for the new EU Battery Directive

This section describes a symbol for the new EU Battery Directive (2006/66/EC) that is
labeled batteries.

Note: This symbol mark is for EU countries only.

This symbol mark is according to the directive 2006/66/EC Article 20 Information for
end-users and Annex II.
Your MITSUBISHI ELECTRIC product is designed and manufactured with high quality
materials and components which can be recycled and/or reused.
This symbol means that batteries and accumulators, at their end-of-life, should be
disposed of separately from your household waste.
If a chemical symbol is printed beneath the symbol shown above, this chemical symbol
means that the battery or accumulator contains a heavy metal at a certain
concentration. This will be indicated as follows:
Hg: mercury (0.0005%), Cd: cadmium (0.002%), Pb: lead (0.004%)

In the European Union there are separate collection systems for used batteries and
accumulators.
Please, dispose of batteries and accumulators correctly at your local community waste
collection/recycling centre.
Please, help us to conserve the environment we live in!

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6 INSPECTION AND MAINTENANCE

6.6 Troubleshooting

This section describes the various types of trouble that occur when the system is
operated, and causes and corrective actions of these troubles.

6.6.1 Troubleshooting basics

The basic three points that must be followed in the troubleshooting are as follows.

(1) Visual inspection

Visually check the following.
(a) Movement of machine (stopped condition, operating condition)
(b) Power supply on/off
(c) Status of input/output devices
(d) Installation condition of the Motion controller, I/O module, Motion module,
intelligent function module, SSCNET cable, Synchronous encoder cable.
(e) State of wiring (I/O cables, cables)
(f) Display states of various types of indicators
• MODE LED, RUN LED, ERR. LED, BAT LED, 7-segment LED (Installation
mode, Operation mode, Battery error, STOP/RUN, etc.), etc.
(g) Status of setting of various types of switches (Setting of No. of stages of
extension base, power interrupt hold-on status).

After checking (a) to (g), monitor the operating conditions of servomotors and
error code using MT Developer2 and GX Works2.

(2) Check of trouble

Check to see how the operating condition varies while the Motion controller is
operated as follows.
(a) Set the RUN/STOP/RESET switch of Motion controller to STOP.
(b) Reset the trouble with the RUN/STOP/RESET switch of Motion controller.
(c) Turn ON and OFF the Motion controller’s power supply.

(3) Narrowing down the range of trouble occurrence causes

Estimate the troubled part in accordance with items (1) and (2) above.
(a) Motion controller or external devices
(b) Motion CPU area or PLC CPU area
(c) I/O module or others
(d) Servo program or Motion SFC program
(e) Sequence program

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6 INSPECTION AND MAINTENANCE

6.6.2 Troubleshooting of Motion controller

This section describes the contents of troubles for the error codes and corrective
actions of the troubles.
As for troubleshooting of PLC CPU area, refer to the QCPU User's Manual (Hardware
Design, Maintenance and Inspection) of their respective modules.
As for troubleshooting of I/O modules, refer to the "I/O Module Type Building Block
User's Manual" of their respective modules.

POINT
Check that the operating system software is installed before starting the Motion
controller.

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6 INSPECTION AND MAINTENANCE

(1) Troubleshooting flowchart

The following show the contents of the troubles classified into a variety of groups
according to the types of events.

Error-occurrence description

"POWER" LED turns off (a) "Flowchart for when "POWER" LED turns off"

" ." does not flash in the first digit of (b) "Flowchart for when " ." does not flash in the first digit of
7-segment LED 7-segment LED"

"A00" displays on 7-segment LED (c) "Flowchart for when "A00" displays on 7-segment LED"

(d) "Flowchart for when "AL" "L01" displays on 7-segment

"AL" "L01" displays on 7-segment LED
LED"

"AL" "A1" " " displays on 7-segment (e) "Flowchart for when "AL" "A1" " " displays on
Motion LED 7-segment LED"
CPU area

"BT " displays on 7-segment LED (f) "Flowchart for when "BT " 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 servo amplifier does not start"

(i) "Flowchart for when "AL" "S01" displays on 7-segment

"AL" "S01" displays on 7-segment LED
LED"

"MODE" LED does not turn on (j) "Flowchart for when "MODE" LED does not turn on."

"MODE" LED is flickering (k) "Flowchart for when "MODE" LED is flickering."

"RUN" LED turns off (l) "Flowchart for when "RUN" LED turns off."

PLC
"RUN" LED is flickering (m) "When "RUN" LED is flickering."
CPU area

"ERR." LED turns on/is flickering (n) "Flowchart for when "ERR." LED turns on/is flickering."

"USER" LED turns on (o) "When "USER" LED turns on."

"BAT. " LED (Yellow) turns on (p) "When "BAT. LED turns on (yellow)."

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6 INSPECTION AND MAINTENANCE

(a) Flowchart for when "POWER" LED turns off

The following shows the flowchart for when "POWER" LED turns off at the
power supply ON or during operation.

"POWER" LED turns off

NO
Is there a power supply? Supply power.

YES

NO Does "POWER" YES

LED turn on?

Is the wiring/ NO Connect wiring and fix terminal

terminal connection connection correctly.
correct?

YES

NO Does "POWER" YES

LED turn on?

Is the power NO The supply voltage should be within

supply voltage within the
the rated range.
rated range?

YES

NO Does "POWER" YES

LED turn on?

Remove the internal I/F connector

from the Motion controller.

1)
END

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6 INSPECTION AND MAINTENANCE

1)

The manual pulse generator,

incremental synchronous encoder or
NO connection cable is faulty.
Does "POWER"
(Replace it with a normal manual
LED turn on? pulse generator, incremental
synchronous encoder or connection
cable.)
YES

Does "POWER" YES

LED turn on?

NO
Remove all modules from the
extension base unit. A hardware fault
If the module will not work, explain
the error symptom and get advice
from our sales representative for the
modules with failure.

The extension base unit or extension

Does "POWER" NO cable is faulty.
LED turn on? (Replace it with a normal extension
base unit or extension cable.)

YES

Does "POWER" YES

LED turn on?

Install all modules that removed from NO

the extension base unit to the
extension base unit.
A hardware fault
Explain the error symptom and get
advice from our sales representative.
Check the sum of internal current
consumption of the modules that
comprise the system.

Does the total YES Reexamine the system configuration

current exceed the rated to make the total current less than the
output current? rated output current.

NO

NO Does "POWER" YES

LED turn on?

A hardware fault
Check operation in the order starting
with the minimum system. END
If the module will not work, explain
the error symptom and get advice
from our sales representative for the
modules with failure.

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6 INSPECTION AND MAINTENANCE

(b) Flowchart for when " ." does not flash in the first digit of
7-segment LED

" ." does not flash in the first digit of

7-segment LED.

NO (a)
Does "POWER"
"Flowchart for when "POWER" LED
LED turn on?
turns off"

YES

Is the
connecting direction
of extension cable correctly? NO
Connect the extension cable correctly.
(Isn't IN-IN or OUT-OUT
connection?)

YES
NO Does " . " flash YES
in the first digit of 7-segment
LED?

"RESET"
Is the
Set the RUN/STOP/RESET switch to
RUN/STOP/RESET switch
"STOP".
set to STOP?

"STOP"

NO Does " . " flash YES

in the first digit of 7-segment
LED?

A hardware fault
Check operation in the order starting
END
with the minimum system.
If the module will not work, explain
the error symptom and get advice
from our sales representative for the (Note) : Normally, " . " flashes in the first digit of
modules with failure. 7-segment LED.

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6 INSPECTION AND MAINTENANCE

(c) Flowchart for when "A00" displays on 7-segment LED

"A00" displays when the operating system software is not installed.
The following shows the flowchart for when "A00" displays on 7-segment
LED at the power supply ON or operation start.

"A00" displays on 7-segment LED

Is the
operating system NO
software installed to Motion
controller?

YES Install the operating system software.

Reset the Motion controller.

Does "A00" disappear NO

on 7-segment LED?

YES

END Explain the error symptom and get

advice from our sales representative.

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6 INSPECTION AND MAINTENANCE

(d) Flowchart for when "AL" "L01" displays on 7-segment LED

""AL" (flashes 3 times) Steady "L01" display" displays at the system
setting error occurrence.
The following shows the flowchart for when ""AL" (flashes 3 times)
Steady "L01" display" displays during operation.

"AL" "L01" displays on 7-segment

LED.

Confirm details of error by Motion

CPU error batch monitor of
MT Developer2.

Does a ROM ERROR YES

occur?

NO
NO
Is ROM operation executed?

YES

Set a rotary switch1 (SW1) to "0", a Set a rotary switch1 (SW1) to "0", a
rotary switch2 (SW2) to "6" of Motion rotary switch2 (SW2) to "0" of Motion
controller, and then execute ROM controller.
writing. (Mode operated by RAM)

YES Check that the installed modules

Does a LAY ERROR
correspond to system setting and
(SL**) occur?
correct details of error.

NO

Set so that an error does not occur by

a relative check of system setting,
then write to the Motion CPU area
(CPU No.2 fixed).

Reset the Motion controller.

Does "A00" "L01" NO

disappear on 7-segment
LED?

YES

END

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6 INSPECTION AND MAINTENANCE

(e) Flowchart for when "AL" "A1" " " displays on 7-segment
LED.
""AL" (flashes 3 times) Steady "A1" display " "" displays at the self-
diagnosis error occurrence.
The following shows the flowchart for when ""AL" (flashes 3 times)
Steady "A1" display " "" displays during operation.
: 4-digits error code is displayed in two sequential flashes of 2-digits each.

"AL" "A1" " " displays

on 7-segment LED.

Confirm details of error by Motion

CPU error batch monitor of
MT Developer2.

YES
Hardware cause fault?

NO
NO
Noise cause?
Correct each Motion controller setting
based on the error causes .
YES

Take measures against noise.

Reset the Motion controller. Explain the error symptom and get
advice from our sales representative.

Does "AL" "A1" NO

" " disappear on 7-segment
LED.

YES

END

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6 INSPECTION AND MAINTENANCE

(f) Flowchart for when "BT " displays on 7-segment LED

"BT1" or "BT2" displays when the battery voltage is lowered.
"BT1" or "BT2" displays at the following cases.
• BT1: Battery voltage 2.7V or less
• BT2: Battery voltage 2.5V or less
The following shows the flowchart for when "BT " displays.

"BT " displays on 7-segment LED

Turn off the Motion controller's power

supply.

Replace the battery.

Turn on the Motion controller's power

supply.

Does "BT "

disappear on 7-segment NO (SM58 or SM51 ON)
LED (Confirm ON/OFF by
monitoring SM )

YES (SM58, SM51 OFF)

END
A hardware fault
Explain the error symptom and get
advice from our sales representative.

REMARK
If SM51 turns on, the contents for the data (Refer to Section 6.5.) of RAM built-in
Motion controller cannot be guaranteed.
It is recommended to back-up the battery periodically.

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6 INSPECTION AND MAINTENANCE

(g) Flowchart for when " . . ." displays on 7-segment LED

" . . ." displays at the WDT error occurrence.
The following shows the flowchart for when " . . ." displays on 7-segment
LED during operation.

" . . ." displays on 7-segment LED

Confirm details of error by Motion

CPU error batch monitor of
MT Developer2.

Is the error NO
code of Motion CPU area
WDT cause "1"?

YES
Is the error NO
code of Motion CPU area
Correct the main cycle not to exceed WDT cause "2"?
1.0[s] by the following methods, and
write it to Motion CPU area (CPU
No.2 fixed). YES
1) Change the operation cycle to
large value in the system setting.
2) Reduce the number of execution to Correct the Motion operating time to
the event task program and NMI shorten by the following methods,
task program in the Motion SFC and write it to Motion CPU area
program. (SV13/SV22) (CPU No.2 fixed).
3) Reduce the number of execution to 1) Change the operation cycle to
the normal task program executed large value in the system setting.
simultaneously in the Motion SFC 2) Reduce the number of execution to
program. (SV13/SV22) the event task program and NMI
4) Reduce the number of automatic task program in the Motion SFC
refresh points of CPU shared program. (SV13/SV22)
memory.

Reset the Motion controller.

Does " . . ." disappear NO

on 7-segment LED.

YES

END Explain the error symptom and get

advice from our sales representative.

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6 INSPECTION AND MAINTENANCE

(h) Flowchart for when servo amplifier does not start

The following shows the flowchart for when servo amplifier does not start.

Servo amplifier does not start.

Is there error display NO

on 7-segment LED of Motion Remove the error cause.
controller?

YES NO YES
Does servo amplifier start?

NO Set the target axis in the system

Is the target axis set in
the system setting? setting.

YES
NO YES
Does servo amplifier start?

Is the connection of NO
SSCNET cable correct? Connect the SSCNET cable correctly.

YES
NO YES
Does servo amplifier start?

Is the axis select NO Set the axis select rotary switch

rotary switch setting of servo
correctly.
amplifier correct?

YES
NO YES
Does servo amplifier start?

Is the servo amplifier NO Remove the error cause of servo

connected from target axis near
amplifier that does not start.
controller started?

YES
NO YES
Does servo amplifier start?

Explain the error symptom and get

advice from our sales representative.
END

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6 INSPECTION AND MAINTENANCE

(i) Flowchart for when "AL" "S01" displays on 7-segment LED

""AL" (flashes 3 times) Steady "S01" display" displays at the servo error
occurrence.
The following shows the flowchart for when ""AL" (flashes 3 times)
Steady "S01" display" displays on 7-segment LED during operation.

"AL" "S01" displays on 7-segment

LED.

Confirm details of error by Motion

CPU error batch monitor of
MT Developer2.

Remove the error cause of servo

amplifier, and then execute the servo
error reset (M3208+20n ON) or
re-turn on the servo amplifier power
supply.

Does "AL" "S01" NO

disappear on
7-segment LED?

YES

END

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6 INSPECTION AND MAINTENANCE

(j) Flowchart for when "MODE" LED does not turn on

The following shows the flowchart for when "MODE" LED does not turn on
at Motion controller’s power-on.

"MODE" LED does not turn on

Connect a personal computer and

Motion controller.

Does the Motion YES Carry out PLC diagnostics, and

controller communicate with perform troubleshooting according to
GX Works2 ? the diagnostics result.

NO

Is the
extension cable
connected properly ? (Isn't NO
IN connected to IN or OUT Connect the extension cable properly.
connected to
OUT ?)

YES
NO YES
Does "MODE" LED turn on?

Is the After resetting the Motion controller

RUN/STOP/RESET NO with the RUN/STOP/RESET switch,
switch in the STOP set the RUN/STOP/RESET switch to
position ? the STOP position.

YES

NO YES
Does "MODE" LED turn on?

A hardware fault
Check operation in the order starting END
with the minimum system.
If the module will not work, explain
the error symptom and get advice
from our sales representative for the
modules with failure.

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6 INSPECTION AND MAINTENANCE

(k) Flowchart for when "MODE" LED is flickering

The following shows the flowchart for when "MODE" LED flickers at Motion
controller’s power-on, at operation start or during operation.

"MODE" LED is flickering.

Have the forced YES

ON/OFF settings made? Cancel forced ON/OFF.

NO

NO YES
Does "MODE" LED turn on?

Is the
RUN/STOP/RESET NO Set the RUN/STOP/RESET switch to
switch in the STOP the STOP position.
position ?

YES

NO YES
Does "MODE" LED turn on?

A hardware fault
Check operation in the order starting END
with the minimum system.
If the module will not work, explain
the error symptom and get advice
from our sales representative for the
modules with failure.

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6 INSPECTION AND MAINTENANCE

(l) Flowchart for when "RUN" LED turns off

The following shows the flowchart for when "RUN" LED turns off during
operation.
"RUN" LED turns off.

NO (a) "Flowchart for when "POWER"

Does "POWER" LED
turn on ? LED turns off"

YES

Is "ERR." LED YES (n) "Flowchart for when "ERR." LED

on/flickering ? turns on/is flickering"

NO

Reset the Motion controller.

(1) Controller part fault/poor

YES connection between the module
Does "RUN" LED turn on ?
and base unit
(2) Excessive noise generation

NO For the case of (1) For the

case of (2)
Set the RUN/STOP/RESET switch to Explain the error symptom and get
STOP and write END to address 0 advice from our sales representative.
with the GX Works2.

Set the RUN/STOP/RESET switch to

RUN and enter to the monitor mode
with the GX Works2 to be operated.

NO
Does "RUN" LED turn on ?

YES

Possible cause is a sequence

program error.

Check the program and modify the Connect a surge suppression circuit,
program error location. such as CR, to the noise source.

NO
Does "RUN" LED turn on ?

YES

END

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6 INSPECTION AND MAINTENANCE

(m) When "RUN" LED is flickering

If the "RUN" LED flickers, follow the steps below.
When the programs or parameters are written into the Motion controller
during STOP status and then the RUN/STOP/RESET switch is set from
STOP to RUN, the RUN LED flickers.
Although this status does not mean the Motion controller error, the Motion
controller stops the operation. To set the Motion controller into RUN status,
reset the Motion controller using the RUN/STOP/RESET switch or set the
RUN/STOP/RESET switch from STOP to RUN again.
With this setting, the RUN LED turns on.

(n) Flowchart for when "ERR." LED turns on/is flickering

The following shows the flowchart for when "ERR." LED turns on or flickers
at Motion controller’s power-on, at operation start or during operation.

"ERR." LED turns on or is flickering.

Confirm details of error by

PC diagnostics of GX Works2.

YES
Hardware cause fault?

NO

Set the RUN/STOP/RESET switch to A hardware fault

STOP. Explain the error symptom and get
advice from our sales representative.

Correct error contents while referring

to the help of the GX Works2.

Reset the Motion controller.

Set the RUN/STOP/RESET switch to

RUN.

NO
Does "ERR." LED turn off?

YES

END

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6 INSPECTION AND MAINTENANCE

(o) When "USER" LED turns on

If the "USER" LED turns on, follow the steps described below.
"USER" LED turns on when an error is detected by the CHK instruction or
the annunciator (F) turns on.
If "USER" LED is on, monitor the special relays SM62 and SM80 in the
monitor mode of GX Works2.
• When SM62 has turned ON
The annunciator (F) is ON.
Using SD62 to SD79, check the error cause.
• When SM80 has turned ON
The "USER" LED turned ON by the execution of the CHK instruction.
Using SD80, check the error cause.
Eliminate the error cause after confirming it.
The "USER" LED can be turned off by:
• Making a reset with the RUN/STOP/RESET switch; or
• Executing the LEDR instruction in the sequence program.

(p) When "BAT." LED turns on (yellow)

If "BAT." LED turns on (yellow), follow the steps described below.
"BAT." LED turns on (yellow) when a low battery capacity is detected.
If the "BAT." LED is on, monitor the special relays and special registers in
the monitor mode of GX Works2 to check which of the SRAM card batteries
was lowered in capacity. (SM51 to SM52, SD51 to SD52)
After confirmation, replace the battery with a new one, and reset the Motion
controller with the RUN/STOP/RESET switch or run the LEDR instruction,
and the "BAT." LED will turn off.

6.6.3 Confirming error code

The error codes and error contents can be read using GX Works2 and MT Developer2.
Refer to the Operating Manual of GX Works2 and help of MT Developer2 for details of
operating method.

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6 INSPECTION AND MAINTENANCE

6.6.4 Internal I/O circuit troubleshooting

This section describes possible problems with internal I/O circuits and their corrective
actions.

(1) Internal input circuit troubleshooting

The following describes possible problems with internal input circuits and their
corrective actions.

Internal Input Circuit Troubleshooting and Corrective Action

Condition Cause Corrective action
• Drive by switch with LED indicator. • Connect an appropriate resistor so that the
current across the Motion controller becomes
lower than the off current.
DC input DC input
(plus common) (plus common)
Example 1

Internal input
signal is not Leakage Resistor
current Motion Motion
turned OFF. controller controller

(Note): A calculation example of the resistance to

be connected is shown below.
• Sneak path due to the use of two power • Use only one power supply.
supplies. • Connect a sneak path prevention diode.
DC input (Figure below)
Example 2

Internal input DC input

signal is not Motion
turned OFF. E1 E2 controller Motion
E1 E2 controller
E1>E2

<Calculation example of Example 1>

If a switch with LED display is connected to Motion controller, and current of 4
[mA] is leaked.
Motion controller

Leakage
current 4[mA] Input signal
part
3.6k[ ]
24VDC

(a) Because the condition for OFF voltage (0.9[mA]) of Motion controller is not
satisfied. Connect a resistor as shown below.
4[mA] Motion controller
Iz=0.9[mA]
Iz=3.1[mA]
Input impedance
5.6k[ ]
3.6k[ ]
24VDC

6 - 33
6 INSPECTION AND MAINTENANCE

(b) Calculate the connecting resistor value R as indicated below.

To satisfy the 0.9 [mA] OFF current of the Motion controller, the resistor R to
be connected may be the one where 3.1 [mA] or more will flow.

IR: Iz = Z(Input impedance): R

Iz 0.9 3
R IR × Z(Input impedance) = 3.1 × 5.6 × 10 = 1625[ ]

R < 1625 [ ]
Assuming that resistor R is 1500 [ ], the power capacity W of resistor R is:
2 2
W = (Input voltage) ÷ R = 26.4 ÷ 1500 = 0.464 [W]

(c) The power capacity of the resistor selected is 3 to 5 times greater than the
actual current consumption. 1.5K [ ], 2 to 3 [W] resistor may therefore be
connected to the terminal in question.

(2) Internal output circuit troubleshooting

The following describes possible problems with internal output circuits and their
corrective actions.
A lamp, relay or photocoupler can be driven. Install a diode(D) for an inductive
load (relay etc.), or install an inrush current suppressing resistor(R) for a lamp
load. (Permissible current: 40mA or less, inrush current: 100mA or less)
A maximum of 2.6V voltage drop occurs in the servo amplifier.
(a) Circuit example of sink output
If polarity of diode is reversed,
Motion controller will fail.

Load

24VDC 10%

(b) Circuit example of source output

If polarity of diode is reversed,
Motion controller will fail.

Load

24VDC 10%

CAUTION
Do not mistake the polarity and " + / - " of diode, as this may lead to destruction or damage.

6 - 34
7 EMC DIRECTIVES

7. EMC DIRECTIVES

Compliance to the EMC Directive, which is one of the EU Directives, has been a legal
obligation for the products sold in European countries since 1996 as well as the Low
Voltage Directive since 1997.
Manufacturers who recognize their products are compliant to the EMC and Low
Voltage Directives are required to declare that print a "CE mark" on their products.

MITSUBISHI PASSED
MOTION CONTROLLER
MODEL Q170MSCPU

MAC ADD. 002692475470

24VDC 1.40A
SERIAL A31993011
80M1 IND. CONT.EQ.

C UL CLASS2 ONLY
US LISTED
CE mark

KCC-REI-MEK-
TC510A842G51
DATE:2013-01

MITSUBISHI ELECTRIC CORPORATION

MADE IN JAPAN
See Q170MSCPU instruction manual.

(1) Authorized representative in Europe

Authorized representative in Europe is shown below.
Name : Mitsubishi Electric Europe BV
Address : Gothaer strase 8, 40880 Ratingen, Germany 7

7.1 Requirements for Compliance with the EMC Directive

The EMC Directive specifies that products placed on the market must be so
constructed that they do not cause excessive electromagnetic interference
(emissions) and are not unduly affected by electromagnetic interference (immunity)".
Section 7.1.1 through Section 7.1.4 summarize the precautions on compliance with
the EMC Directive of the machinery constructed with the Motion controllers.
These precautions are based on the requirements and the standards of the regulation,
however, it does not guarantee that the entire machinery constructed according to the
descriptions will comply with above-mentioned directive. The method and judgement
for complying with the EMC Directive must be determined by the person who
construct the entire machinery.

7-1
7 EMC DIRECTIVES

7.1.1 Standards relevant to the EMC Directive

The standards relevant to the EMC Directive are listed in table below.
Certification Test item Test details Standard value
(Note-2)
30M-230MHz QP : 40dBµV/m
EN55011:2007/A2:2007 Radio waves from the product are (10m (32.81ft.) in measurement range)
(Note-1)
Radiated emission measured. 230M-1000MHz QP: 47dBµV/m
(10m (32.81ft.) in measurement range)
AC power line
0.15M-0.5MHz QP : 79dBµV
(Note-5)
EN61000-6-4:2007 (Note-3) AV : 66dBµV
EN55011:2007/A2:2007
EN61131-2:2007 0.5M-30MHz QP: 73dBµV
(Power line) Noise from the product to the power
(Note-4) AV: 60dBµV
EN55022:2006/A1:2007 line and electrical communication port
Electrical communication port
(Electrical communication port) is measured.
0.15M-0.5MHz QP, AV: Logarithmic
Conducted emission
decrease
0.5M-30MHz QP: 87dBµV
AV: 74dBµV
EN61000-4-2:1995 8kV: 10 times at 1 second interval,
+A1:1998+A2:2001 Immunity test in which electrostatic Air discharge
Electrostatic discharge discharge is applied to the product. 4kV: 10 times at 1 second interval,
immunity Contact discharge
80-1000MHz 10V/m,
EN61000-4-3:2006 Immunity test in which electric fields 1400M-2000MHz 3V/m,
(Note-1)
Radiated immunity are radiated to the product. 2000M-2700MHz 1V/m,
80%AM modulation @1kHz
EN61000-4-4:2004 Immunity test in which burst noise is AC power line: ±2kV/5kHz
Electrical fast transient/ applied to the power cable and signal DC power line: ±2kV/5kHz
burst (EFT/B) immunity line. I/O, communication line: ±1kV/5kHz
AC power line
EN61000-6-2:2005 Common mode: ±2.5kV
EN61131-2:2007 Differential mode: ±1.5kV
EN61000-4-5:2006 Immunity test in which surge is applied DC power line
Surge immunity to the power line and signal line. Common mode: ±0.5kV
Differential mode: ±0.5kV
I/O, communication line
Common mode: ±1kV
EN61000-4-6:2007 Immunity test in which high frequency
0.15-80MHz,
+A:2001 noise is applied to the power line and
80%AM modulation @1kHz, 10Vrms
Conducted immunity signal line.
(Note-3)
EN61000-4-11:2004 Immunity test in which power supply
0% of rated voltage, 250cycle
Short interruptions immunity has short interruptions.
(Note-3)
EN61000-4-11:2004 Test in which voltage dip is applied to 40% of rated voltage, 10cycle
Voltage dip the power supply. 70% of rated voltage, 25cycle
(Note-3)
EN61131-2:2007 Immunity test in which voltage dip is
EN61131-2:2007 0% of rated voltage, 0.5cycle 20 times
Voltage dip immunity applied to the power supply.

(Note-1): This product is an open type device (a device designed to be housed inside other equipment) and must be installed inside a
conductive control panel.
The corresponding test has been done with the programmable controller installed inside a control panel.
(Note-2): QP : Quasi-peak value
(Note-3): For the AC power supply line.
(Note-4): For the electrical communication port.
(Note-5): AV: Average value

7-2
7 EMC DIRECTIVES

7.1.2 Installation instructions for EMC Directive

(1) Installation
Motion controller is an open type device and must be installed inside a control
panel for use.
This not only ensures safety but also ensures effective shielding of Motion
controller-generated electromagnetic noise.

(a) Control panel

1) Use a conductive control panel.
2) When attaching the control panel's top plate or base plate, expose bare
metal surface and weld so that good surface contact can be made
between the panel and plate.
3) To ensure good electrical contact with the control panel, mask the paint
on the installation bolts of the inner plate in the control panel so that
contact between surfaces can be ensured over the widest possible
area.
4) Ground the control panel with a thick wire so that a low impedance
connection to ground can be ensured even at high frequencies.
5) Holes made in the control panel must be 10cm (3.94inch) diameter or
less. If the holes are 10cm (3.94 inch) or larger, radio frequency noise
may be emitted.
In addition, because radio waves leak through a clearance between the
control panel door and the main unit, reduce the clearance as much as
practicable.
The leakage of radio waves can be suppressed by the direct application
of an EMI gasket on the paint surface.

(2) Connection of power line and ground wire

It is necessary to use the Motion controller grounding terminal only when it is in
the grounded condition. Be sure to ground the grounding for the safety reasons
and EMC Directives.
Ground wire and power supply cable for the Motion controller system must be
connected as described below.
(a) Provide a grounding point near the FG terminals. Ground the FG terminals
(FG : Frame Ground) with the thickest and shortest wire possible. (The wire
length must be 30cm (11.81inch) or shorter.) The FG terminals function is to
pass the noise generated in the Motion controller system to the ground, so
wire the ground wire as short as possible to ensure a low impedance.
The wire itself carries a large noise content and thus short wiring means
that the wire is prevented from acting (noise emission) as an antenna.

7-3
7 EMC DIRECTIVES

(3) Cables
The cables extracted from the control panel contain a high frequency noise
component. On the outside of the control panel, therefore, they serve as
antennas to emit noise. To prevent noise emission, use shielded cables for the
cables which are connected to the I/O modules and intelligent function modules
and may be extracted to the outside of the control panel.
The use of a shielded cable also increases noise resistance.
The signal lines (including common line) of the programmable controller, which
are connected to I/O modules, intelligent function modules and/or extension
cables, have noise durability in the condition of grounding their shields by using
the shielded cables. If a shielded cable is not used or not grounded correctly, the
noise resistance will not meet the specified requirements.

(a) Grounding of shield section of shield cable

1) Ground the exposed shield section of the shielded cable close to the
module. When the grounded cables and the not yet grounded cables
are bundled, the cables might be induced to electromagnetic.
2) Ground the exposed shield section to spacious area on the control
panel. A clamp can be used as shown in Figure 7.2.
In this case, mask the inner wall surface when coating the control panel,
and contact the exposed shield section with the clamp at the exposed
bare metal surface.
Screw

Clamp fitting
Shield section

Shield cable

Exposed bare
metal surface

Figure 7.1 Part to be exposed Figure 7.2 Shield grounding (Correct example)

Note) The method of grounding with a vinyl-coated wire soldered onto

the shielded section of the shielded cable as in shown Figure 7.3
is not recommended. Doing so will raise the high-frequency
impedance, resulting in loss of the shielding effect.

Shield cable
Wire

Solderless terminal, crimp contact

Figure 7.3 Shield grounding (Incorrect example)

7-4
7 EMC DIRECTIVES

(4) Precautions relevant to the electrostatic discharge

There is a weak part to electrostatic discharge in the surface of the module.
Before touching the module, always touch grounded metal, etc. to discharge
static electricity from human body. Failure to do so may cause the module to fail
or malfunction.
Do not directly touch the module's conductive parts and electronic components.
Touching them could cause an operation failure or give damage to the module.

7-5
7 EMC DIRECTIVES

7.1.3 Parts of measure against noise

(1) Ferrite core

A ferrite core has the effect of reducing noise in the 30MHz to 100MHz band.
It is not required to fit ferrite cores to cables, but it is recommended to fit ferrite
cores if shield cables pulled out of the enclosure do not provide sufficient
shielding effects.
Note that the ferrite cores must be fitted to the cables in the position immediately
before they are pulled out of the enclosure. If the fitting position is improper, the
ferrite will not produce any effect.
• Ferrite core (Recommended product)
Manufacturer Model name
TDK ZCAT3035-1330

(2) Noise filter (power supply line filter)

A noise filter is a component which has an effect on conducted noise.
The attachment of the noise filter to the power supply line of the servo amplifier
and controller's power supply is effective for the reducing noise.
(The noise filter has the effect of reducing conducted noise of 10 MHz or less.)
• Noise ferrite (Recommended product)
Manufacturer Model name
Mitsubishi electric FR-BLF
Soshin Electric HF3010A-UN

The precautions required when installing a noise filter are described below.
(a) Do not bundle the wires on the input side and output side of the noise filter.
When bundled, the output side noise will be induced into the input side
wires from which the noise was filtered.
Input side Input side
(power supply side) (power supply side)

Induction
Noise filter Noise filter
Output side Output side
(device side) (device side)

The noise will be included when the Separate and lay the input and
input and output wires are bundled. output wires.

Figure 7.4 Precautions on noise filter

(b) Ground the noise filter grounding terminal to the control cabinet with the
shortest wire possible (approx. 10cm (3.94 inch)).

7-6
7 EMC DIRECTIVES

(3) Cable clamp

It is also possible to ground the exposed shielded part of the cable to the panel
with the AD75CK cable clamp (Mitsubishi).
• Ground the shield at a position 20 to 30cm (7.87 to 11.81 inch) away from the
module.
• When the cables pulled out from the control panel, ground the cables at a
position 5 to 10cm (1.97 to 3.94inch) near the input/output hole of the control
panel with the cable clamp (AD75CK), etc.

Motion controller

Inside control panel

20 to 30cm
(7.87 to 11.81 inch)
AD75CK
AD75CK

5 to 10cm
(1.97 to 3.94 inch)

• Cable clamp (Recommended product)

Manufacturer Model name
AERSBAN-DSET
Mitsubishi electric AERSBAN-ESET
AD75CK

CAUTION
Do not ground the cable clamp to the top of control panel.
Doing so may lead to damage by drop of screws, etc. during installation or removing the cable clamp.

7-7
7 EMC DIRECTIVES

7.1.4 Example of measure against noise

Control panel A
: AD75CK cable clamp
Motion controller
: Ferrite core (Recommended product: ZCAT3035-1330)

SSCNET cable

Ethernet cable
(Shield tuisted pair of
category 5 or more)

5) Internal I/F
connector cable Manual pulse generator/
1) Synchronous encoder/
DI/DO Control panel B
5) 5)
Extension base
2)

Extension cable (QC B)

3) 3) 3)
24VDC
AC power power supply
NF
supply

4)

1) Ground the FG terminal of the Motion controller and 24VDC power supply module to the control panel.
2) Measure against noise of the power supply cable (24VDC twisted cable)
Wire the power supply cable as short as possible using the twisted cable.
Install a ferrite core at a position 20 to 30cm (7.87 to 11.81inch) away from the product.
3) Measure against noise of the extension cable (QC B)
Ground the cables at a position 20 to 30cm (7.87 to 11.81inch) away from the module with the cable clamp, etc.
When the cables are extracted from the control panel, ground the cables at a position 5 to 10cm (1.97 to 3.94inch) away
from the exit/entrance of the control panel with the cable clamp, etc.
4) Install a ferrite core in the secondary side of NF. (Approx. 1 turn)
5) Measure against noise of the internal I/F connector cable
Install a ferrite core at a position 20 to 30cm (7.87 to 11.81inch) away from the module.
Ground the cables at a position 30 to 40cm (11.81 to 15.75inch) away from the module with the cable clamp, etc.
When the cables are extracted from the control panel, ground the cables at a position 5 to 10cm (1.97 to 3.94inch) away
from the exit/entrance of the control panel with the cable clamp, etc.

(1) Refer to Section 2 for the following cables.

• Ethernet cable
• RS-232 communication cable
• USB cable
• SSCNET cable
• Extension cable
• Forced stop input cable

(2) Refer to APPENDIX 4.4 for the internal I/F connector cable.
Correctly wire the internal I/F connector cable. Use the shielded twisted pair
cable.

(3) In wiring inside the panel, the power line connected to the power or servo
amplifier and the communication cable such as bus connection cable or network
cable must not be mixed. If the cables are installed closely with each other for
wiring reasons, using a separator (made of metal) can make the cables less
influenced by noise.
Mixing the power line and communication cable may cause malfunction due to
noise.

7-8
APPENDICES

APPENDICES

APPENDIX 1 Differences Between Q170MSCPU and Q173DSCPU/Q172DSCPU

This section describes the differences between Q170MSCPU and Q173DSCPU/

Q172DSCPU, and the details of change.
The specifications of Q170MSCPU are equal to those of Q172DSCPU.
Refer to the following manuals for the specifications in common with Q172DSCPU.
Manual name Manual number
Q173D(S)CPU/Q172D(S)CPU Motion controller
IB-0300134
Programming Manual (COMMON)
Q173D(S)CPU/Q172D(S)CPU Motion controller
IB-0300135
(SV13/SV22) Programming Manual (Motion SFC)
Q173D(S)CPU/Q172D(S)CPU Motion controller
IB-0300136
(SV13/SV22) Programming Manual (REAL MODE)
Q173D(S)CPU/Q172D(S)CPU Motion controller
IB-0300137
(SV22) Programming Manual (VIRTUAL MODE)
Q173DSCPU/Q172DSCPU Motion controller
IB-0300198
(SV22) Programming Manual (Advanced Synchronous Control)

APP.

APP - 1
APPENDICES

APPENDIX 1.1 Differences of parameters

Table 1.1 Differences of parameters

Item Q170MSCPU Q173DSCPU/Q172DSCPU
[Axis No.] [Axis No.]
1 to 16 Q173DSCPU: 1 to 32
Q172DSCPU: 1 to 16
[Amplifier type] [Amplifier type]
• Communication type "SSCNET /H" use • Communication type "SSCNET /H" use
Amplifier setting MR-J4(W)-B(-RJ) MR-J4(W)-B(-RJ)
• Communication type "SSCNET " use • Communication type "SSCNET " use
MR-J3(W)-B MR-J3(W)-B
MR-J3-B(S) Fully closed MR-J3-B(S) Fully closed
MR-J3(W)-B Linear MR-J3(W)-B Linear
MR-J3(W)-B DD motor MR-J3(W)-B DD motor
[I/O setting] [Self CPU installation position setting]
Used/Unused Self CPU
[First I/O No.] Other CPU
0000 to 0FF0 CPU (empty)
(Note-1)
[High-speed read setting] [Input setting]
System Used/Unused Used/Unused
setting [Input signal detection direction] [First input No.]
Valid on leading edge (Normal open)/ 0000 to 0FF0
(Note-1)
Valid on trailing edge (Normal close) [High-speed read setting]
Used/Unused
[Input signal detection direction]
Q170MS I/O setting/
Valid on leading edge (Normal open)/
CPU setting
Valid on trailing edge (Normal close)
(Note-2)
[Multiple CPU synchronous control setting]
Independent CPU
Master CPU
Slave CPU
[Status device setting]
Set device to "Synchronous controlling",
"Status for each CPU", and "Error status for
CPU and axis".
Bit device :X, Y, M, B, F
Word device : D, W, #, U \G

(Note-1): This cannot be set in SV22 advanced synchronous control.

(Note-2): SV22 advanced synchronous control only.

POINT
(1) Set "MR-J4-B" to use the MR-J4W- B.
MR-J4W- B is recognized as two servo amplifiers or three servo amplifiers.
Set two axes or three axes as "MR-J4-B".
(2) Set "MR-J3-B" to use the MR-J3W- B.
MR-J3W- B is recognized as two servo amplifiers. Set two axes as "MR-J3-B".

APP - 2
APPENDICES

APPENDIX 1.2 Differences of peripheral device interface

Table 1.2 Differences of peripheral device interface

Item Q170MSCPU Q173DSCPU/Q172DSCPU
USB Connect to the USB connector/
Connect to the PLC CPU
RS-232 connector of PLC CPU
RS-232 module.
area.
Direct connection Connect to the PERIPHERAL Connect to the PERIPHERAL
PERIPHERAL I/F Connection via I/F connector of Motion CPU I/F connector of Motion CPU
HUB area. module.

APP - 3
APPENDICES

APPENDIX 1.3 Differences of CPU display and I/O assignment

Table 1.3 Differences of CPU display and I/O assignment

Item Q170MSCPU Q173DSCPU/Q172DSCPU
• Motion CPU area : Q170MSCPU-PCPU
• PLC CPU area : Q03UDCPU (Q170MSCPU use) • Motion CPU : Q173DSCPU, Q172DSCPU
CPU display
Q06UDHCPU (Q170MSCPU-S1 • PLC CPU : Q06UDHCPU, etc.
use)
• The main base of eight slots corresponding is built • The main base and extension base are
Base mode into the Q170MSCPU. automatically determined.
(Auto) • 16 points are set to each empty slot. • I/O or empty slot, etc. is automatic determined,
• First address of the extension base is "70". and the points are assigned.
I/O assignment
• I/O assignment points are individually assigned.
setting
When the first address of the extension base is set
Base mode
to address "0", the setting is as follows. • I/O assignment points are individually assigned.
(Detail)
• Main base: 8 slots
• Number of points of each empty slot: 0 point

The CPU display and setting of I/O assignment are shown below.

(1) CPU display

Confirm the CPU display of the PLC CPU area and Motion CPU area on the
System Monitor screen displayed on [Diagnostics] – [System monitor] of
GX Works2.
PLC CPU area is displayed as " Q03UDCPU (Q170MSCPU use)/Q06UDHCPU
(Q170MSCPU-S1 use)", and Motion CPU area is displayed as "Q170MSCPU-
PCPU".

PLC CPU area

(Q03UDCPU/
Q06UDHCPU)
Motion CPU area
(Q170MSCPU-PCPU)

APP - 4
APPENDICES

(2) Setting of I/O assignment

Set the I/O assignment points in [I/O assignment] of PC parameter of
GX Works2.
(a) When the Base mode is set to "Auto" (default).
16 points are set to empty slot of the main base. Therefore, the first address
of the extension base is set to "70".

(b) When the Base mode is set to "Detail".

The first address of the extension base is set to "0" by setting 0 point to the
empty slot of the main base.

Set the number of points of slot

1(0-1) to 7 (0-7) to "0 point".

Set the number of points of I/O

module.

Set "Detail".

Set the number of slots of the

main base to "8".
Set the number of slots to be
used to the number of slots
of the extension base.

POINT
The first address of the extension base can be assigned from address "0" by using
the sample data.
Refer to "APPENDIX 2.1" for details of the sample data.

APP - 5
APPENDICES

APPENDIX 1.4 Differences of I/O signals

Table 1.4 Differences of I/O signals

Item Q170MSCPU Q173DSCPU/Q172DSCPU
(Note-1) (Note-1)
• Q170MSCPU's internal I/F • Built-in interface in Motion CPU
(Input 4 points, output 2 points) (Input 4 points)
I/O signal
• PLC I/O module • PLC I/O module
• Intelligent function module • Intelligent function module

(Note-1): Real input device (PX) or real output device (PY) is in units of 16 points.
• Real input (PX) : 4 points + Dummy (Unsable: Fixed at 0) 12 points
• Real output (PY) : 2 points + Dummy (Unsable: Fixed at 0) 14 points
(Example) When the first I/O No. is set to 0(H).
• PX0 to PX3 (Real input), PX4 to PXF (Unsable: Fixed at 0)
• PY0 to PY1 (Real output), PY2 to PYF (Unsable: Fixed at 0)

(1) Q170MS I/O setting

The setting method for the I/O signals of internal I/F is shown below.

Setting for the I/O signals

Setting for the mark detection signal (DI)

Item Setting range Initial value Remarks

I/O setting Used/Unused Unused
0000 to 0FF0 Number of I/O points
First I/O No. 0000
(in units of 16 points) must be total of 256
High-speed read points or less.
(Note-1) Used/Unused Unused
setting
Valid on leading edge
Set the detection
Input signal detection (Normal open)/ Valid on leading edge
direction of the mark
direction Valid on trailing edge (Normal open)
detection signal (DI).
(Normal close)

(Note-1): This cannot be set in SV22 advanced synchronous control.

APP - 6
APPENDICES

(2) Application of input signal

There are two kinds of applications of the input and mark detection for the
Q170MSCPU's internal I/F.
The same signal can be used simultaneously by the input and mark detection.
I/O setting Input signal Mark detection
Usable as the real input device (PX) or
Used Usable as the real input device (PX)
mark detection signal (DI)
Unused Unusable Usable as the mark detection signal (DI)

(3) High-speed reading of specified data

This function is used to store the specified positioning data in the specified device
(D, W, U \G). The signal from input module controlled in the Motion CPU area is
used as a trigger.
Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion Controller Programming
Manual (COMMON)" for the high-speed reading of specified data.

(a) Modules and signals to be used

Input module Signal Read timing Number of settable points
Q173DPX TREN 3
Internal I/F PX device 0.8[ms] 4
(Note-1) (Note-2)
PLC input module 8

(Note-1): Only one PLC input module can be used.

(Note-2): Either of the input signal of internal I/F (DI) and PLC input module can be used.

(4) Mark detection function

Any motion control data and all device data can be latched at the input timing of
the mark detection signal. Also, data within a specific range can be latched by
specifying the data detection range.
Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion Controller Programming
Manual (COMMON)" for the mark detection function.

(a) Mark detection signal

Set the input signal for mark detection.
1) Module input signal
a) Q170MSCPU's internal I/F
Detection Signal detection direction
Input module Signal Signal No.
accuracy [µs] (Leading edge/Trailing edge)
Set direction in the "Q170MS I/O
Q170MSCPU's internal I/F DI 1 to 4 30
Setting" of System Settings.

APP - 7
APPENDICES

2) Bit device
Signal detection direction
Bit device Setting range Detection accuracy [µs]
(Leading edge/Trailing edge)
(Note-1)
X(PX) 0 to 1FFF
Y(PY) 0 to 1FFF
(Note-2) Set direction in the mark
M 0 to 8191 • Operation cycle 222[µs] : 222
detection signal detection
B 0 to 1FFF • Operation cycle 444[µs] or more : 444 direction.
SM 0 to 1999
(Note-3)
U \G 10000.0 to (10000+p-1).F
(Note-1): The range of "PXn+4 to PXn+F" cannot be used (fixed at 0) for the input device (PXn+0 to PXn+F)
allocated to the built-in interface in Motion CPU (DI). (n: First input No.)
(Note-2): The range of M0 to M12287 is valid in the SV22 advanced synchronous control.
(Note-3): "p" indicates the user setting area points of the Multiple CPU high speed transmission area for each CPU.

APP - 8
APPENDICES

APPENDIX 2 Creation of Project

There are following methods to create the Q170MSCPU project.

(1) Create the new project.
(2) Convert the project for Q170MCPU/Q17 D(S)CPU/
Q17 HCPU(-T)/Q17 CPUN(-T)/Q17 CPU.
(3) Create the new project using the sample data.

Refer to the help of MT Developer2 for creation method of project.

The contents to create the project using the sample data describes in APPENDIX 2.1.

APP - 9
APPENDICES

APPENDIX 2.1 Sample data

An easy setting can be achieved for the parameter setting such as the automatic
refresh setting of Multiple CPU setting and I/O assignment setting by using the sample
data.
Creation of project using the sample data is suitable for the machine control in the
sequence program.
The sample data have two types (Motion CPU area, PLC CPU area).

(1) Overview
(a) Multiple CPU setting
An easy setting can be achieved for the automatic refresh setting of
positioning dedicated signal between the PLC CPU area and Motion CPU
area.

(b) I/O assignment setting

The main base of eight slots or equivalent is built into the Q170MSCPU.
All points of "empty slot" not used on the main base are set to "0" point by
the sample data.

(c) Device comment

The name of positioning dedicated signal can be used as the device
comment of the sequence program.

(2) How to use

The following methods to use the sample data are shown below.
• Divert the sample data.
• Overwrite the sample data to the created project.

(3) Setting description

Outline of overwrite sample data is shown table below.
Add the extension base units and each module according to the system.
Refer to this section (7) for details of the sample data.
Programming
CPU area Item Description Project name
software package
• Extension base
Base setting
Stage1 to Stage 7 SV13: Q170MS_SV13_MT2
Motion CPU (Note-1)
• Multiple CPU high speed transmission MT Developer2 SV22: Q170MS_SV22_MT2
area Multiple CPU (Note-2)
area setting Q170MS_SV22_AD_MT2
setting
• Automatic refresh setting of CPU No.1, 2
• Base setting
No. of slots for the base unit used
I/O
• I/O assignment
assignment
Unit types, I/O points, I/O number
• Base mode setting
SV13: Q170MS_SV13_GX2
PLC CPU PLC system Points occupied by empty slot (Note-1)
GX Works2 SV22: Q170MS_SV22_GX2
area • No. of PLC (Note-2)
Q170MS_SV22_AD_GX2
Multiple CPU • Multiple CPU high speed transmission
settings area setting
• Auto refresh setting of CPU No.1, 2
Device Set the name of positioning dedicated signal
comment to the comment of device.
(Note-1): Project for virtual mode switching method.
(Note-2): Project for advanced synchronous control method.

APP - 10
APPENDICES

(4) Precautions
(a) By using the sample data, the positioning dedicated signals of the Motion
CPU area are changed to the device value of PLC CPU area by the
automatic refresh. It needs to set again the automatic refresh setting after
rewriting the sample data to transmit the data to the positioning dedicated
signal using the Motion SFC program.

(b) The existing data are overwritten and erased by diverting the sample data to
the created project.
(c) The project PLC type used in the PLC CPU area is "Q03UD".
When using sample data for Q170MSCPU-S1, the PLC type needs to be
changed to "Q06UDH" in the change PLC type of GX Works2.

(d) Sample data is only for workspace format project. There is no single file
format project.

(5) Procedure for project creation

(a) When the sample data is diverted.

1) Motion CPU area

START

Start-up MT Developer2.

Open a project of sample data. Sample data

Save folder
C:\Program Files\MELSOFT\MTD2\SampleData\MT2
Project name
Save projects under the specified SV13: Q170MS_SV13_MT2
name. SV22: Q170MS_SV22_MT2 (Note-1)
Q170MS_SV22_AD_MT2 (Note-2)

END (Note-1): Project for virtual mode switching method.

(Note-2): Project for advanced synchronous control method.

2) PLC CPU area

START

Start-up GX Works2.

Open a project of sample data. Sample data

Save folder
C:\Program Files\MELSOFT\MTD2\SampleData\GX2
Project name
Save projects under the specified SV13: Q170MS_SV13_GX2
name. SV22: Q170MS_SV22_GX2 (Note-1)
Q170MS_SV22_AD_GX2 (Note-2)

END (Note-1): Project for virtual mode switching method.

(Note-2): Project for advanced synchronous control method.

APP - 11
APPENDICES

(b) When the sample data is overwritten to the created project.

1) Motion CPU area
START

Start-up MT Developer2.

Create the project.

Divert the following sample data Sample data

in the basic setting of System Save folder
setting. C:\Program Files\MELSOFT\MTD2\SampleData\MT2
Base setting Project name
Multiple CPU setting SV13: Q170MS_SV13_MT2
SV22: Q170MS_SV22_MT2 (Note-1)
Q170MS_SV22_AD_MT2 (Note-2)
END (Note-1): Project for virtual mode switching method.
(Note-2): Project for advanced synchronous control method.

2) PLC CPU area

START

Start-up GX Works2.

Create the project.

Divert the following sample data

in the Multiple CPU settings or I/O
assignment of PLC parameter.
I/O assignment
PLC system
Multiple CPU settings Sample data
Save folder
C:\Program Files\MELSOFT\MTD2\SampleData\GX2
Divert the following sample data Project name
by making a copy of project. SV13: Q170MS_SV13_GX2
Device comment SV22: Q170MS_SV22_GX2 (Note-1)
Q170MS_SV22_AD_GX2 (Note-2)
Diversion file
"COMMENT" of device comment
END (Note-1): Project for virtual mode switching method.
(Note-2): Project for advanced synchronous control method.

POINT
The existing data are overwritten and erased by diverting the sample data to the
created project.

APP - 12
APPENDICES

(6) Operation procedure for sample data

Refer to the help of MT Developer2 for details.

(a) Motion CPU area (MT Developer2)

1) Multiple CPU setting
a) Diversion of sample data
Divert the sample data by selecting the [Import Multiple CPU
Parameter] button of the base setting or Multiple CPU setting of the
basic setting of system setting.

Select the [Import Multiple

CPU Parameter] button

b) Confirm the sample data

Compare the Automatic Refresh Setting List screen with the
contents of this section (7), and then confirm the sample data are
diverted correctly.

Data of automatic
refresh

APP - 13
APPENDICES

(b) PLC CPU area (GX Works2)

1) Multiple CPU settings / I/O assignment
a) Diversion of sample data
Divert the sample data by selecting the [Import Multiple CPU
Parameter] button of the Multiple CPU settings or I/O assignment of
the PLC parameter setting.

Select the [Import Multiple

CPU Parameter] button

APP - 14
APPENDICES

b) Confirm the sample data

Compare the Auto refresh settings screen with the contents of this
section (7), and then confirm the sample data are diverted correctly.
• Multiple CPU settings

Data of automatic
refresh

• I/O assignment

Points occupied by
empty slot
Number of slots of the
main base

APP - 15
APPENDICES

2) Device comment
The device comment data is allocated in the Multiple CPU high speed
transmission area setting for the positioning dedicated signal.
The device can be used while confirming the comment to execute the
control for the Motion CPU area in the PLC CPU area.
a) Diversion of device comment
After opening the diversion source project (Sample data) and the
diversion project, execute the following steps.
1.Operation of the diversion source project (Sample data) (Copy)
Select the "Global Device Comment" in the project view and then
[Project] – [Object] – [Copy] of menu bar.
2.Operation of the diversion project (Paste)
Select the "Global Device Comment" in the project view and then
"[Project] – [Object] – [Paste]" of menu bar.

Copy the "Global

Device Comment"
to the diversion
project from the
diversion source
project.

APP - 16
APPENDICES

(7) Description of sample data

(a) Motion CPU area
1) SV13 (Q170MS_SV13_MT2)
a) Base setting
Setting items Description
Stage 1 Nothing
Stage 2 Nothing
Stage 3 Nothing
Extension base Stage 4 Nothing
Stage 5 Nothing
Stage 6 Nothing
Stage 7 Nothing

b) Multiple CPU setting

Setting items Description
Operating mode All station stop by stop error of CPU 1/2
Multiple CPU synchronous startup setting Set CPU No. 1/2 to synchronous startup

c) Multiple CPU high speed transmission area setting

CPU specific send range
CPU User setting area Automatic refresh
Points (k)
Points Start End Points
No.1 7 7022 G10000 G17021 146
No.2 7 6482 G10000 G16481 686

d) Automatic refresh setting

• CPU No.1 (Receive)
Automatic refresh CPU specific send range(U3E0\)
Setting No.
Points Start End Start End
1 28 M3072 M3519 G17022 G17049
2 118 D640 D757 G17050 G17167

• CPU No.2 (Send)

Automatic refresh CPU specific send range(U3E1\)
Setting No.
Points Start End Start End
1 46 M2000 M2735 G16482 G16527
2 320 D0 D319 G16528 G16847
3 320 #8000 #8319 G16848 G17167

APP - 17
APPENDICES

2) SV22 (Q170MS_SV22_MT2) (Project for virtual mode switching method)

a) Base setting
Setting items Description
Stage 1 Nothing
Stage 2 Nothing
Stage 3 Nothing
Extension base Stage 4 Nothing
Stage 5 Nothing
Stage 6 Nothing
Stage 7 Nothing

b) Multiple CPU setting

Setting items Description
Operating mode All station stop by stop error of CPU 1/2
Multiple CPU synchronous startup setting Set CPU No. 1/2 to synchronous startup

c) Multiple CPU high speed transmission area setting

CPU specific send range
CPU User setting area Automatic refresh
Points (k)
Points Start End Points
No.1 7 6978 G10000 G16977 190
No.2 7 5838 G10000 G15837 1330

d) Automatic refresh setting

• CPU No.1 (Receive)
Automatic refresh CPU specific send range(U3E0\)
Setting No.
Points Start End Start End
1 28 M3072 M3519 G16978 G17005
2 44 M4800 M5503 G17006 G17049
3 118 D640 D757 G17050 G17167

• CPU No.2 (Send)

Automatic refresh CPU specific send range(U3E1\)
Setting No.
Points Start End Start End
1 46 M2000 M2735 G15838 G15883
2 44 M4000 M4703 G15884 G15927
3 320 D0 D319 G15928 G16247
4 600 D800 D1399 G16248 G16847
5 320 #8000 #8319 G16848 G17167

APP - 18
APPENDICES

3) SV22 (Q170MS_SV22_AD_MT2) (Project for advanced synchronous

control method)
a) Base setting
Setting items Description
Stage 1 Nothing
Stage 2 Nothing
Stage 3 Nothing
Extension base Stage 4 Nothing
Stage 5 Nothing
Stage 6 Nothing
Stage 7 Nothing

b) Multiple CPU setting

Setting items Description
Operating mode All station stop by stop error of CPU 1/2
Multiple CPU synchronous startup setting Set CPU No. 1/2 to synchronous startup

c) Multiple CPU high speed transmission area setting

CPU specific send range
CPU User setting area Automatic refresh
Points (k)
Points Start End Points
No.1 7 7022 G10000 G17021 146
No.2 7 6482 G10000 G16481 686

d) Automatic refresh setting

• CPU No.1 (Receive)
Automatic refresh CPU specific send range(U3E0\)
Setting No.
Points Start End Start End
1 28 M3072 M3519 G17022 G17049
2 118 D640 D757 G17050 G17167

• CPU No.2 (Send)

Automatic refresh CPU specific send range(U3E1\)
Setting No.
Points Start End Start End
1 46 M2000 M2735 G16482 G16527
2 320 D0 D319 G16528 G16847
3 320 #8000 #8319 G16848 G17167

APP - 19
APPENDICES

(b) PLC CPU area

1) SV13 (Q170MS_SV13_GX2)
When using Q170MSCPU-S1, change the PLC type to "Q06UDH" in the
change PLC type of GX Works2.
a) I/O assignment
• I/O assignment
Setting items Description
Slot PLC PLC 1 2 3 4 5 6 7
Type PLC No.1 PLC No.2 Empty Empty Empty Empty Empty Empty Empty
Points 0 point 0 point 0 point 0 point 0 point 0 point 0 point
Start XY 3E00 3E10 0000 0000 0000 0000 0000 0000 0000
Switch 1 — — — — — — —
Switch 2 — — — — — — —
Switch
Switch 3 — — — — — — —
setting
Switch 4 — — — — — — —
Switch 5 — — — — — — —
Error time output mode — — — — — — — — —
Hardware error time
Detailed — — — — — — — — —
PLC operation mode
setting
I/O response time — — — — — — — — —
Control PLC — — PLC No.1 PLC No.1 PLC No.1 PLC No.1 PLC No.1 PLC No.1 PLC No.1

• Base setting
Setting items Description
Slots (Main) 8
Base mode Detail

b) Multiple CPU settings

Setting items Description
1 No. of PLC 2 modules
2 Host CPU number No specification
3 Operating mode All station stop by stop error of PLC1/PLC2
4 Multiple CPU synchronous startup setting "PLC No.1", "PLC No.2" checked
5 Online module change "Enable online module change with another PLC" not checked
6 Input sharing when using Multiple CPUs "All CPUs can read all inputs" not checked
7 Output sharing when using Multiple CPUs "All CPUs can read all outputs" not checked
Use multiple CPU high speed communication
CPU specific send range
PLC User setting area Auto refresh
Multiple CPU high speed transmission
8 point (k) I/O No. point Start End point
area setting
No.1 7 U3E0 7022 G10000 G17021 146
No.2 7 U3E1 6482 G10000 G16481 686

APP - 20
APPENDICES

c) Auto refresh settings

• PLC No.1
Auto refresh CPU specific send range(U3E0\)
No.
Point Start End Start End
1 28 M3072 M3519 — G17022 G17049
2 118 D640 D757 — G17050 G17167

• PLC No.2
Auto refresh CPU specific send range(U3E1\)
No.
Point Start End Start End
1 46 M2000 M2735 — G16482 G16527
2 320 D0 D319 — G16528 G16847
3 320 D8000 D8319 — G16848 G17167

d) PLC system setting

Only "Points occupied by empty slot" is overwritten at the sample
data diversion. The content before sample data diversion are
retained without rewriting for the other data.
Setting items Description
Low speed 100ms
1 Timer limit setting
High speed 10.00ms
RUN Not used
2 RUN-PAUSE contacts
PAUSE Not used
3 Latch data backup operation valid contact Not used
4 Remote reset "Allow" not checked
5 Output mode at STOP to RUN "Previous state" checked
6 Floating point arithmetic processing —
7 Intelligent function module setting Not used
8 Module synchronization "Synchronize intelligent module's pulse up" checked
9 Common pointer No. Not used
10 Points occupied by empty slot 16 points
Interrupt counter start No. —
I28 Fixed scan interval 100.0ms
11 System interrupt settings I29 Fixed scan interval 40.0ms
I30 Fixed scan interval 20.0ms
I31 Fixed scan interval 10.0ms
12 Interrupt program / Fixed scan program setting "High speed execution" not checked
13 A-PLC Not checked
14 Service processing setting Scan time rate 10%
15 CPU module change setting Not used

APP - 21
APPENDICES

2) SV22 (Q170MS_SV22_GX2) (Project for virtual mode switching method)

When using Q170MSCPU-S1, change the PLC type to "Q06UDH" in the
change PLC type of GX Works2.
a) I/O assignment
• I/O assignment
Setting items Description
Slot PLC PLC 1 2 3 4 5 6 7
Type PLC No.1 PLC No.2 Empty Empty Empty Empty Empty Empty Empty
Points 0 point 0 point 0 point 0 point 0 point 0 point 0 point
Start XY 3E00 3E10 0000 0000 0000 0000 0000 0000 0000
Switch 1 — — — — — — —
Switch 2 — — — — — — —
Switch
Switch 3 — — — — — — —
setting
Switch 4 — — — — — — —
Switch 5 — — — — — — —
Error time output mode — — — — — — — — —
Hardware error time
Detailed — — — — — — — — —
PLC operation mode
setting
I/O response time — — — — — — — — —
Control PLC — — PLC No.1 PLC No.1 PLC No.1 PLC No.1 PLC No.1 PLC No.1 PLC No.1

• Base setting
Setting items Description
Slots (Main) 8
Base mode Detail

b) Multiple CPU setting

Setting items Description
1 No. of PLC 2 modules
2 Host CPU number No specification
3 Operating mode All station stop by stop error of PLC1/PLC2
4 Multiple CPU synchronous startup setting "PLC No.1", "PLC No.2" checked
5 Online module change "Enable online module change with another PLC" not checked
6 Input sharing when using Multiple CPUs "All CPUs can read all inputs" not checked
7 Output sharing when using Multiple CPUs "All CPUs can read all outputs" not checked
Use multiple CPU high speed communication
CPU specific send range
PLC User setting area Auto refresh
Multiple CPU high speed transmission
8 point (k) I/O No. point Start End point
area setting
No.1 7 U3E0 6978 G10000 G16977 190
No.2 7 U3E1 5838 G10000 G15837 1330

APP - 22
APPENDICES

c) Auto refresh settings

• PLC No.1
Auto refresh CPU specific send range(U3E0\)
No.
Point Start End Start End
1 28 M3072 M3519 — G16978 G17005
2 44 M4800 M5503 — G17006 G17049
3 118 D640 D757 — G17050 G17167

• PLC No.2
Auto refresh CPU specific send range(U3E1\)
No.
Point Start End Start End
1 46 M2000 M2735 — G15838 G15883
2 44 M4000 M4703 — G15884 G15927
3 320 D0 D319 — G15928 G16247
4 600 D800 D1399 — G16248 G16847
5 320 D8000 D8319 — G16848 G17167

d) PLC system
Only "Points occupied by empty slot" is overwritten at the sample
data diversion. The content before sample data diversion are
retained without rewriting for the other data.

Setting items Description

Low speed 100ms
1 Timer limit setting
High speed 10.00ms
RUN Not used
2 RUN-PAUSE contacts
PAUSE Not used
3 Latch data backup operation valid contact Not used
4 Remote reset "Allow" not checked
5 Output mode at STOP to RUN "Previous state" checked
6 Floating point arithmetic processing —
7 Intelligent function module setting Not used
8 Module synchronization "Synchronize intelligent module's pulse up" checked
9 Common pointer No. Not used
10 Points occupied by empty slot 16 points
Interrupt counter start No. —
I28 Fixed scan interval 100.0ms
11 System interrupt settings I29 Fixed scan interval 40.0ms
I30 Fixed scan interval 20.0ms
I31 Fixed scan interval 10.0ms
12 Interrupt program / Fixed scan program setting "High speed execution" not checked
13 A-PLC Not checked
14 Service processing setting Scan time rate 10%
15 CPU module change setting Not used

APP - 23
APPENDICES

3) SV22 (Q170MS_SV22_AD_GX2) (Project for advanced synchronous

control method)
When using Q170MSCPU-S1, change the PLC type to "Q06UDH" in the
change PLC type of GX Works2.
a) I/O assignment
• I/O assignment
Setting items Description
Slot PLC PLC 1 2 3 4 5 6 7
Type PLC No.1 PLC No.2 Empty Empty Empty Empty Empty Empty Empty
Points 0 point 0 point 0 point 0 point 0 point 0 point 0 point
Start XY 3E00 3E10 0000 0000 0000 0000 0000 0000 0000
Switch 1 — — — — — — —
Switch 2 — — — — — — —
Switch
Switch 3 — — — — — — —
setting
Switch 4 — — — — — — —
Switch 5 — — — — — — —
Error time output mode — — — — — — — — —
Hardware error time
Detailed — — — — — — — — —
PLC operation mode
setting
I/O response time — — — — — — — — —
Control PLC — — PLC No.1 PLC No.1 PLC No.1 PLC No.1 PLC No.1 PLC No.1 PLC No.1

• Base setting
Setting items Description
Slots (Main) 8
Base mode Detail

b) Multiple CPU settings

Setting items Description
1 No. of PLC 2 modules
2 Host CPU number No specification
3 Operating mode All station stop by stop error of PLC1/PLC2
4 Multiple CPU synchronous startup setting "PLC No.1", "PLC No.2" checked
5 Online module change "Enable online module change with another PLC" not checked
6 Input sharing when using Multiple CPUs "All CPUs can read all inputs" not checked
7 Output sharing when using Multiple CPUs "All CPUs can read all outputs" not checked
Use multiple CPU high speed communication
CPU specific send range
PLC User setting area Auto refresh
Multiple CPU high speed transmission
8 point (k) I/O No. point Start End point
area setting
No.1 7 U3E0 7022 G10000 G17021 146
No.2 7 U3E1 6482 G10000 G16481 686

APP - 24
APPENDICES

c) Auto refresh settings

• PLC No.1
Auto refresh CPU specific send range(U3E0\)
No.
Point Start End Start End
1 28 M3072 M3519 — G17022 G17049
2 118 D640 D757 — G17050 G17167

• PLC No.2
Auto refresh CPU specific send range(U3E1\)
No.
Point Start End Start End
1 46 M2000 M2735 — G16482 G16527
2 320 D0 D319 — G16528 G16847
3 320 D8000 D8319 — G16848 G17167

d) PLC system setting

Only "Points occupied by empty slot" is overwritten at the sample
data diversion. The content before sample data diversion are
retained without rewriting for the other data.
Setting items Description
Low speed 100ms
1 Timer limit setting
High speed 10.00ms
RUN Not used
2 RUN-PAUSE contacts
PAUSE Not used
3 Latch data backup operation valid contact Not used
4 Remote reset "Allow" not checked
5 Output mode at STOP to RUN "Previous state" checked
6 Floating point arithmetic processing —
7 Intelligent function module setting Not used
8 Module synchronization "Synchronize intelligent module's pulse up" checked
9 Common pointer No. Not used
10 Points occupied by empty slot 16 points
Interrupt counter start No. —
I28 Fixed scan interval 100.0ms
11 System interrupt settings I29 Fixed scan interval 40.0ms
I30 Fixed scan interval 20.0ms
I31 Fixed scan interval 10.0ms
12 Interrupt program / Fixed scan program setting "High speed execution" not checked
13 A-PLC Not checked
14 Service processing setting Scan time rate 10%
15 CPU module change setting Not used

APP - 25
APPENDICES

(8) Automatic refresh of sample data

The data to the internal relay and data register of PLC CPU area are transmitted
to the positioning dedicated signals of Motion CPU area via the Multiple CPU
high speed transmission area.
The positioning dedicated signals of Motion CPU area can be controlled by only
control of the sequence program of PLC CPU area.
And, add the special relays, special registers and user devices to the parameters
of automatic refresh if required.

The flow for the data of automatic refresh that uses the sample data is shown
below.

(Example) SV13 use

PLC CPU area (CPU No.1) Motion CPU area (CPU No.2)
Multiple CPU high speed Multiple CPU high speed
Internal relay transmission area transmission area Internal relay
M0 U3E0\G10000 U3E0\G10000 M0
CPU No.1 CPU No.1
M1999
transmitting data receiving data M1999
M2000 M2000
Transfer
in 0.88ms Axis status
M2735 cycle Ma M2735
ing Automatic Automatic
ss in
M2736
roce refresh area refresh area cy M2736
p c le
D
M3071 EN M3071
EN

cle
M3072 M3072
D

Axis command

cy
p ro

U3E1\G10000 U3E1\G10000 signal

in
ce

Ma
M3519 M3519
ss

CPU No.2 CPU No.2

M3520 M3520
ing

receiving data transmitting data

ing

Ma
ess

in c

Transfer M8191
roc

in 0.88ms
ycl
Dp

Data register cycle Data register

e
EN

Automatic Automatic
D0 D0
END processing refresh area refresh area Main cycle Axis monitor
device
D319 D319
D320 D320

D639 D639
D640 D640
Control change
g

register
sin

D757 D757
es

D758 D758
oc
pr
D
EN

Ma
in c

D7999 D8191
ycl

D8000 Motion device

e

D8319 #0
D8320

#7999
#8000
Monitor device
#8319
#8320

#12287

APP - 26
APPENDICES

APPENDIX 3 Processing Times

The operation processing times are the same as Q172DSCPU for each operation
control and transition instruction, and Motion dedicated PLC instruction.
Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion Controller (SV13/SV22)
Programming Manual (Motion SFC)" for processing times.

APP - 27
APPENDICES

APPENDIX 4 Cables

In this cable connection diagram, maker names of connectors are omitted. Refer to
"APPENDIX 5.6 Connector" for maker names of connectors.

APPENDIX 4.1 SSCNET cables

Generally use the SSCNET cables available as our products.

Refer to APPENDIX 4.5 for long distance cable up to 100(328.08)[m(ft.)] and ultra-long
bending life cable.

(1) Model explanation

Numeral in the column of cable length on the table is a symbol put in the " " part
of cable model. Cables of which symbol exists are available.
Cable length [m(ft.)] Application/
Cable model 0.15 0.3 0.5 1 3 5 10 20 30 40 50 Flex life remark
(0.49) (0.98) (1.64) (3.28) (9.84) (16.40) (32.81) (65.62) (98.43) (131.23) (164.04)
Standard cord for
MR-J3BUSM 015 03 05 1 3 Standard
inside panel
Standard cable for
MR-J3BUSM-A 5 10 20 Standard
outside panel
(Note-1) Long distance
MR-J3BUSM-B 30 40 50 Long flex
cable

(Note-1): For the cable of less than 30[m](98.43[ft.]), contact your nearest Mitsubishi sales representative.

(2) Specifications
Description
SSCNET cable model MR-J3BUS M MR-J3BUS M-A MR-J3BUS M-B
0.15 0.3 to 3 5 to 20 30 to 50
SSCNET cable length [m(ft.)]
(0.49) (0.98 to 9.84) (16.40 to 65.62) (98.43 to 164.04)
Minimum bend radius Enforced covering cord: 50 (1.97) Enforced covering cord: 50 (1.97)
25(0.98)
[mm(inch)] Cord: 25 (0.98) Cord: 30(1.18)
Tension strength [N] 70 140 420 (Enforced covering cord) 980 (Enforced covering cord)
Temperature range for -40 to 80 -20 to 70
(Note-1)
use [°C(°F)] (-40 to 176) (-4 to 158)
Ambient Indoors (no direct sunlight), No solvent or oil

4.4 0.4
(0.09 0.008)
2.2 0.2
(0.09 0.003)

(0.17 0.016)
2.2 0.07

Optical 4.4 0.1

(0.09 0.003)
2.2 0.07

(0.17 0.004)
cable
(Cord)
2.2 0.07
(0.09 0.003)
External appearance
[mm(inch)]

10.16(Note-2) 4.4 0.1

(0.40) (0.17 0.004) 6 0.2
7.6 0.5
(0.24 0.008)
(0.30 0.02)

(Note-1): This temperature range for use is the value for optical cable (cord) only.
(Note-2): Dimension of connector fiber insert location. The distance of two cords is changed by how to bend it.

APP - 28
APPENDICES

POINTS
(1) If the end face of cord tip for the SSCNET cable is dirty, optical transmission
is interrupted and it may cause malfunctions. If it becomes dirty, wipe with a
bonded textile, etc. Do not use solvent such as alcohol.
(2) Do not add impossible power to the connector of the SSCNET cable.
(3) When incinerating the SSCNET cable (optical fiber), hydrogen fluoride gas or
hydrogen chloride gas which is corrosive and harmful may be generated. For
disposal of the SSCNET cable (optical fiber), request for specialized
industrial waste disposal services who has incineration facility for disposing
hydrogen fluoride gas or hydrogen chloride gas.

(a) MR-J3BUS M
1) Model explanation
Type: MR-J3BUS M-
Symbol Cable type
None Standard cord for inside panel
A Standard cable for outside panel
B Long distance cable

Symbol Cable length [m(ft.)]

015 0.15(0.49)
03 0.3(0.98)
05 0.5(1.64)
1 1(3.28)
3 3(9.84)
5 5(16.40)
10 10(32.81)
20 20(65.62)
30 30(98.43)
40 40(131.23)
50 50(164.04)

2) Exterior dimensions
• MR-J3BUS015M
[Unit: mm(inch)]
15 13.4 37.65
6.7(0.26) (0.59) (0.53) (1.48)
Protective tube
20.9(0.82)

150 +50
-0

(5.91)
(0.31)
8+0
2.3(0.09)
1.7(0.07)

APP - 29
APPENDICES

• MR-J3BUS03M to MR-J3BUS3M
Refer to the table of this section (1) for cable length (L).

[Unit: mm(inch)]
Protective tube (Note)

100 100
(3.94) L (3.94)

(Note): Dimension of connector part is the same as that of MR-J3BUS015M.

• MR-J3BUS5M-A to MR-J3BUS20M-A,MR-J3BUS30M-B to
MR-J3BUS50M-B
Refer to the table of this section (1) for cable length (L).
Variation [mm(inch)]
SSCNET cable
A B
MR-J3BUS5M-A to MR-J3BUS20M-A 100(3.94) 30(1.18)
MR-J3BUS30M-B to MR-J3BUS50M-B 150(5.91) 50(1.97)

[Unit: mm(inch)]
Protective tube
(Note)

(A) (B) (B) (A)

L

(Note): Dimension of connector part is the same as that of MR-J3BUS015M.

POINTS
Keep the cap and the tube for protecting light cord end of SSCNET cable in a
plastic bag with a zipper of SSCNET cable to prevent them from becoming dirty.

APP - 30
APPENDICES

APPENDIX 4.2 Forced stop input cable

Fabricate the forced stop input cable on the customer side.

Make the forced stop input cable within 30m(98.43ft.).

(1) Connection diagram

Q170MSCPU side Solderless terminal side

3
2
1

FK-MCP1.5/3-ST-3.81 (Connector) Solderless terminal size: R1.25-35

EMI.COM 3 EMI.COM

EMI 1 EMI

: Twisted pair cable

(Note) : Use a cable of wire size AWG16 to AWG22.

APPENDIX 4.3 24VDC power supply cable

Fabricate the forced stop input cable on the customer side.

(1) Connection diagram

Q170MSCPU side Solderless terminal side
1
2 A
3
View A

FKC2.5/3-ST-5.08 (Connector) Solderless terminal size: R1.25-35

24V(+) 1 24V(+)

24G 2 24G

FG 3 FG

: Twisted pair cable

(Note) : Use a cable of wire size AWG12 to AWG22.

APP - 31
APPENDICES

APPENDIX 4.4 Internal I/F connector cable

Fabricate the Q170MSCPU's internal I/F connector cable on the customer side.

(1) Differential-output type

(a) Connection diagram
Make the cable within 30m(98.43ft.).
Q170MSCPU side Solderless terminal

13 26
A
1 14

View A

10126-3000PE (Connector)
10326-52F0-008 (Connector case)

HBL 13 HBL
HBH 12 HBH
HAL 26 HAL
HAH 25 HAH
HB 11 Differential-output type
Manual pulse generator/
incremental synchronous encoder side
HA 24

SG 22 5VGND
5V 9 5V
SEL 10
(Note-1)

DO1 14 DO1
COM2 2
Output signal side
DO2 1 DO2
DOCOM

DI1 16 DI1
COM1 15
DI3 17 DI3

Input signal/mark detection input side

DI2 3 DI2

DI4 4 DI4
DICOM
FG Shell

FG
: Twisted pair cable
(Note-1): Connect SEL to the SG terminal if differential-output type is used.
(Note-2): Use cable of wire side AWG28.

APP - 32
APPENDICES

(2) Voltage-output/Open-collector type

(a) Connection diagram
Make the cable within 10m(32.81ft.).
Q170MSCPU side Solderless terminal

13 26
A
1 14

View A

10126-3000PE (Connector)
10326-52F0-008 (Connector case)

HBL 13
HBH 12
HAL 26
HAH 25
HB 11 HB

HA 24 HA Voltage-output/open-collector type
Manual pulse generator/
incremental synchronous encoder side
SG 22 5VGND
5V 9 5V
SEL 10
(Note-1)

DO1 14 DO1
COM2 2
Output signal side
DO2 1 DO2
DOCOM

DI1 16 DI1
COM1 15
DI3 17 DI3

Input signal/mark detection input side

DI2 3 DI2

DI4 4 DI4
DICOM
FG Shell

FG
: Twisted pair cable
(Note-1): When voltage-output/open-collector type is used, open between SEL and SG.
(Note-2): Use cable of wire size AWG28.

CAUTION
When fabricating the internal I/F connector cable, do not make incorrect connection.
Doing so may cause an operation failure or damage the module.

APP - 33
APPENDICES

APPENDIX 4.5 SSCNET cables (SC-J3BUS M-C) manufactured by Mitsubishi Electric

System & Service

POINTS
• For the details of the SSCNET cables, contact your local sales office.
• Do not look directly at the light generated from CN1A/CN1B connector of servo
amplifier or the end of SSCNET cable. The light can be a discomfort when it
enters the eye.

The cable is available per 1[m] up to 100[m]. The number of the length (1 to 100) will
be in the part in the cable model.
Cable length [m(ft.)]
Cable model Bending life Application/remark
1 to 100 (3.28 to 328.08)
SC-J3BUS M-C 1 to 100 Ultra-long bending life Long distance cable

APP - 34
APPENDICES

APPENDIX 5 Exterior Dimensions

APPENDIX 5.1 Motion controller

(1) Q170MSCPU/Q170MSCPU-S1
[Unit: mm (inch)]
38(1.50)

8(0.31)
7(0.28)

MITSUBISHI Q170MSCPU MITSUBISHI Q170MSCPU

MODE MODE
RUN RUN
ERR. ERR.
USER USER
BAT. BAT.
PULL PULL
BOOT BOOT

POWER POWER

USB RESET STOP RUN USB RESET STOP RUN

RS-232 CN1 RS-232 CN1

PERIPHERAL I/F

PERIPHERAL I/F
EMI.COM EMI.COM
168(6.61)

154(6.06)
NC NC
EMI EMI

186(7.32)
EJECT EJECT

EXT.IO EXT.IO
CARD

CARD
24VDC 24VDC

FRONT FRONT

OUT OUT

PUSH
7(0.28)
135(5.31) 2.8 52(2.05) 52(2.05)
(0.11)
With battery holder
remove

APP - 35
APPENDICES

APPENDIX 5.2 Servo external signals interface module (Q172DLX)

[Unit: mm (inch)]
Q172DLX

98(3.86)
CTRL

Q172DLX

23(0.91)

4(0.16)
90(3.54) 45(1.77) 27.4(1.08)

APPENDIX 5.3 Manual pulse generator interface module (Q173DPX)

[Unit: mm (inch)]
Q173DPX
PLS.A PLS.B TREN
1 1 1
2 2 2
3 3 3
98(3.86)

PULSER
ON
1 2 3 4 5 6

Q173DPX

23(0.91)
4(0.16)

90(3.54) 45(1.77) 27.4(1.08)

APP - 36
APPENDICES

APPENDIX 5.4 Power supply module

(1) Q61P, Q62P, Q63P

[Unit: mm (inch)]

Q61P POWER

98(3.86)
PULL

MITSUBISHI

90(3.54) 55.2(2.17)

(2) Q64PN
[Unit: mm (inch)]

Q64PN POWER

98(3.86)

PULL

MITSUBISHI

115(4.53) 55.2(2.17)

APP - 37
APPENDICES

APPENDIX 5.5 Battery holder

(1) Battery holder (For Q6BAT)

[Unit: mm (inch)]

47.2(1.86) 2.2(0.09) 24.4(0.96)

34.2(1.35)
17.8(0.70)

PUSH

(2) Battery holder (For Q7BAT)

[Unit: mm (inch)]
CABLE

64.5(2.54)
44.2(1.74)
27.8(1.09)

PUSH

2(0.08) 27.7(1.09)

APP - 38
APPENDICES

APPENDIX 5.6 Connector

(1) SSCNET cable connector

[Unit: mm (inch)]
4.8(0.19)

(0.53)
13.4
1.7
(0.07)

(0.59)
15 2.3

9.3(0.37)
(0.26) (0.09)
6.7

17.6 0.2 8
(0.69 0.01) (0.31)
20.9 0.2
(0.82 0.01)

(2) Forced stop input connector (PHOENIX CONTACT make)

Type Connector: FK-MCP1.5/3/ST-3.81
[Unit: mm (inch)]
12.22
(0.48)
20.8(0.82)
6.6(0.26)
(0.49)
12.4

(3) 24VDC power supply connector (PHOENIX CONTACT make)

Type Connector: FKC2.5/3-ST-5.08
[Unit: mm (inch)]
15.86(0.62)
25.6(1.01)
8.3(0.33)
15(0.59)

APP - 39
APPENDICES

(4) Internal I/F connector (Sumitomo 3M Limited make)

Type
Type
Connector Connector case
Soldering type (Quick release metal latch type)
10126-3000PE 10326-52F0-008
(LD77MHIOCON)
Soldering type (Threaded type) 10126-3000PE 10326-52A0-008
Pressure-displacement type
(Note-1) 10126-6000EL 10326-3210-000
(Quick release metal latch type)

(Note-1): The following specialized tools are required.

These specialized tools are not provided by Mitsubishi. Please purchase them by
customers.
• MDR assembly press for pressure-displacement type (Sumitomo 3M Limited)
Model name: 10960 (Hand press)
10962 (Fixture unit)
10963 (Fixture block)
10964-1 (Cable clamp (black) 14 - 50 position)

(a) Soldering type (Quick release metal latch type) (LD77MHIOCON)

[Unit: mm (inch)]
12.0
(0.47)
(0.39)
10.0

14.0
25.8(1.02)
(0.55)
39.0(1.54)
23.8(0.94)

37.2(1.46) 12.7
(0.50)

APP - 40
APPENDICES

(b) Soldering type (Threaded type)

[Unit: mm (inch)]
12.0
(0.47)

(0.39)
10.0
14.0
25.8(1.02)
(0.55)

39.0(1.54)
23.8(0.94)

37.2(1.46) 12.7
(0.20)
5.2

(0.50)

(c) Pressure-displacement type (Quick release metal latch type)

[Unit: mm (inch)]
7.1(0.28)

24.8(0.98)
42.0(1.65)
33.0(1.30)

33.5(1.32) 11.5
(0.45)

APP - 41
APPENDICES

APPENDIX 5.7 Manual pulse generator (MR-HDP01)

[Unit: mm (inch)]
0.5
3.6(0.14) 27.0 3 Studs (M4 10)
(1.06) PCD72, equi-spaced

0
90
10

0.5

1
70(2.76)
50(1.97)
80
20

80(3.15)
60(2.36)
+5to
12V 0V A B
70
30

60
40
50
M3 6

16 20 8.89 7.6
Packing t=2.0
3- 4.8(0.19) (0.63) (0.79) (0.35) (0.30)
equi-spaced

Space
(2. -0 2
62 +

72 0.2
)
44

(2.8
3)

The figure of a processing disc

APP - 42
WARRANTY

Please confirm the following product warranty details before using this product.

1. Gratis Warranty Term and Gratis Warranty Range

We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as
the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the
distributor from which you purchased the Product or our service provider. However, we will charge the actual cost of
dispatching our engineer for an on-site repair work on request by customer in Japan or overseas countries. We are
not responsible for any on-site readjustment and/or trial run that may be required after a defective unit are repaired
or replaced.

[Gratis Warranty Term]

The term of warranty for Product is thirty six (36) months after your purchase or delivery of the Product to a place
designated by you or forty two (42) months from the date of manufacture whichever comes first "Warranty Period".
Warranty period for repaired Product cannot exceed beyond the original warranty period before any repair work.

[Gratis Warranty Range]

(1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule.
It can also be carried out by us or our service company upon your request and the actual cost will be charged.
However, it will not be charged if we are responsible for the cause of the failure.
(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with
the terms and conditions and instructions that are set forth in the instruction manual and user manual for the
Product and the caution label affixed to the Product.
(3) Even during the term of warranty, the repair cost will be charged on you in the following cases;
1) A failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure
caused by your hardware or software problem
2) A failure caused by any alteration, etc. to the Product made on your side without our approval
3) A failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is
equipped with a safety device required by applicable laws and has any function or structure considered to
be indispensable according to a common sense in the industry
4) A failure which may be regarded as avoidable if consumable parts designated in the instruction manual,
etc. are duly maintained and replaced
5) Any replacement of consumable parts (battery, fan, etc.)
6) A failure caused by external factors such as inevitable accidents, including without limitation fire and
abnormal fluctuation of voltage, and acts of God, including without limitation earthquake, lightning and
natural disasters
7) A failure generated by an unforeseeable cause with a scientific technology that was not available at the
time of the shipment of the Product from our company
8) Any other failures which we are not responsible for or which you acknowledge we are not responsible for

2. Onerous Repair Term after Discontinuation of Production

(1) We may accept the repair at charge for another seven (7) years after the production of the product is
discontinued.
The announcement of the stop of production for each model can be seen in our Sales and Service, etc.
(2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production.

3. Service in overseas countries

Our regional FA Center in overseas countries will accept the repair work of the Product; However, the terms and
conditions of the repair work may differ depending on each FA Center. Please ask your local FA center for details.

4. Exclusion of Loss in Opportunity and Secondary Loss from Warranty Liability

Whether under or after the term of warranty, we assume no responsibility for any damages arisen from causes for
which we are not responsible, any losses of opportunity and/or profit incurred by you due to a failure of the Product,
any damages, secondary damages or compensation for accidents arisen under a specific circumstance that are
foreseen or unforeseen by our company, any damages to products other than the Product, and also compensation
for any replacement work, readjustment, start-up test run of local machines and the Product and any other
operations conducted by you.

5. Change of Product specifications

Specifications listed in our catalogs, manuals or technical documents may be changed without notice.
6. Precautions for Choosing the Products
(1) For the use of our Motion controller, its applications should be those that may not result in a serious damage
even if any failure or malfunction occurs in Motion controller, and a backup or fail-safe function should operate
on an external system to Motion controller when any failure or malfunction occurs.
(2) Our Motion controller is designed and manufactured as a general purpose product for use at general industries.
Therefore, applications substantially influential on the public interest for such as atomic power plants and other
power plants of electric power companies, and also which require a special quality assurance system, including
applications for railway companies and government or public offices are not recommended, and we assume no
responsibility for any failure caused by these applications when used.
In addition, applications which may be substantially influential to human lives or properties for such as airlines,
medical treatments, railway service, incineration and fuel systems, man-operated material handling equipment,
entertainment machines, safety machines, etc. are not recommended, and we assume no responsibility for any
failure caused by these applications when used.
We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality
for a specific application. Please contact us for consultation.

Microsoft, Windows, Windows NT, and Windows Vista are registered trademarks of Microsoft Corporation in
the United States and other countries.
Ethernet is a trademark of Xerox Corporation.
All other company names and product names used in this manual are trademarks or registered trademarks
of their respective companies.

IB(NA)-0300212-A