Mitsubishi MOTION CONTROLLERS Q172DCPU Dokumentacja Strona 1

MITSUBISHI ELECTRICMITSUBISHI ELECTRICINDUSTRIAL AUTOMATIONMELSEC System QProgrammable ControllersQuick-Start GuideMotion ControllerQ170MCPUQ172DCPUQ1

II● Fire safety regulations● Accident prevention regulations–VBG Nr.4 Electrical systems and equipmentSafety warnings in this manualIn this manual war

Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU IIISpecific safety information and precautionsThe following safety precautions are intended as a gener

IVPrecautions to prevent damages by electrostatic dischargeElectronic devices and modules can be damaged by electrostatic charge, which is conducted f

Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU VScreenshots and Software versionAll screenshots in this manual were captured with versions of the pro

VITypographic ConventionsUse of notesNotes containing important information are clearly identified as follows:Use of examplesExamples containing impor

Table of ContentsMotion controller Q170MCPU/ Q172DCPU/ Q173DCPU VIITable of Contents1 Introduction1.1 What is motion control? . . . . . . . . . . . .

Table of ContentsVIII5 Project creation5.1 Sample project creation with MT Developer2 and GX Developer . . . . . . . . . . . . . . . . . . . . . . . .

What is motion control? IntroductionMotion controller Q170MCPU/ Q172DCPU/ Q173DCPU 1 - 11 IntroductionThis english document is the original instructi

Introduction What is motion control?1 - 21.1.1 Block diagram of a motion control systemThe following diagram shows the components of a motion control

Specification IntroductionMotion controller Q170MCPU/ Q172DCPU/ Q173DCPU 1 - 31.2 Specification1.2.1 Q170MCPUItem SpecificationPower Supply 24 V DC +

Introduction Specification1 - 41.2.2 Q172DCPU, Q173DCPUItem Q172DCPU Q173DCPUInternal current consumption (5 V DC) [A]1.14 1.25Mass [kg] 0.33 Dimensio

Terminology IntroductionMotion controller Q170MCPU/ Q172DCPU/ Q173DCPU 1 - 51.3 TerminologyThe terms and abbreviations below are important for motion

Introduction Terminology1 - 6

Q170MCPU Details of the modulesMotion controller Q170MCPU/ Q172DCPU/ Q173DCPU 2 - 12 Details of the modules2.1 Q170MCPU2.1.1 Frontview and partnames

Details of the modules Q170MCPU2 - 2No. Name Application쐆 24VDC connector Connector for 24 V DC power supply쐊 Serial number Shows the serial number, p

Q170MCPU Details of the modulesMotion controller Q170MCPU/ Q172DCPU/ Q173DCPU 2 - 32.1.2 System configurationGX (IEC) Developer and MT Works2 can be

Details of the modules Q170MCPU2 - 42.1.3 Minimum equipment24V connector, DI/O connector, SRAM backup battery, EMI connector includedProduct DetailsC

Q172DCPU/Q173DCPU Details of the modulesMotion controller Q170MCPU/ Q172DCPU/ Q173DCPU 2 - 52.2 Q172DCPU/Q173DCPU2.2.1 Frontview and partnames햲Q173DC

Details of the modules Q172DCPU/Q173DCPU2 - 62.2.2 System configurationFig. 2-4: System configurationQ172DCPU/Q173DCPUMotion CPU control modulePLC CPU

Q172DCPU/Q173DCPU Details of the modulesMotion controller Q170MCPU/ Q172DCPU/ Q173DCPU 2 - 72.2.3 Minimum equipmentEMI connector/cable is sold separ

Quick-Start GuideMotion controller Q170MCPU/Q172DCPU/Q173DCPUArt. no.: Version Revisions/Additions/CorrectionsA 09/2009 pdp - rw —

Details of the modules Q172DCPU/Q173DCPU2 - 8

Module mounting into cabinet Mounting and wiringMotion controller Q170MCPU/ Q172DCPU/ Q173DCPU 3 - 13 Mounting and wiring3.1 Module mounting into ca

Mounting and wiring Module mounting into cabinet3 - 2Mounting method for the motion controllerbWARNING:Completely turn off the externally supplied pow

Module mounting into cabinet Mounting and wiringMotion controller Q170MCPU/ Q172DCPU/ Q173DCPU 3 - 33.1.2 Mounting of Q172DCPU/Q173DCPUKeep the clea

Mounting and wiring Module mounting into cabinet3 - 4Installation of the module on Q3첸B and Q6첸B Securely insert the module fixing protection into th

Module mounting into cabinet Mounting and wiringMotion controller Q170MCPU/ Q172DCPU/ Q173DCPU 3 - 5Removal of the module from Q3첸B and Q6첸BbWARNING:

Mounting and wiring Wiring3 - 63.2 Wiring3.2.1 Wiring for Q170MCPUPower supply and EMIUse "1A" and "2A" when the 24 V DC voltage

Wiring Mounting and wiringMotion controller Q170MCPU/ Q172DCPU/ Q173DCPU 3 - 7햲Use a cable of wire size AWG22.햳Tab Fig. 3-7: Forced stop input cable

Mounting and wiring Wiring3 - 8Digital I/OThe maximum length of the cable should be 30 m.Connect SEL to the SG terminal if differential-output type

Wiring Mounting and wiringMotion controller Q170MCPU/ Q172DCPU/ Q173DCPU 3 - 9The maximum length of the cable should be 10 m.When voltage-output/op

Mounting and wiring Wiring3 - 103.2.2 Wiring for QD Motion controllerPower supply and EMI햲Use a cable of wire size AWG22. Fig. 3-8: Power supply mod

SSCNET III connection Mounting and wiringMotion controller Q170MCPU/ Q172DCPU/ Q173DCPU 3 - 113.3 SSCNET III connection3.3.1 SSCNET III cableThe ca

Mounting and wiring SSCNET III connection3 - 123.3.3 Connection between the Q172DCPU and servo amplifiers햲Chose the right SSCNET III cable type in ta

SSCNET III connection Mounting and wiringMotion controller Q170MCPU/ Q172DCPU/ Q173DCPU 3 - 133.3.4 Connection between the Q173DCPU and servo amplif

Mounting and wiring SSCNET III connection3 - 143.3.5 Setting the axis No. and axis select switch of servo amplifierAxis No. is used to set the axis n

Start-up and trial operationMotion controller Q170MCPU/ Q172DCPU/ Q173DCPU 4 - 14 Start-up and trial operationmDANGER:● Be sure to ground the Motion

Start-up and trial operation Start-up procedure4 - 24.1 Start-up procedureThe mode indicated in the brackets [ ] at top left of each step is the mode

Start-up procedure Start-up and trial operationMotion controller Q170MCPU/ Q172DCPU/ Q173DCPU 4 - 3The mode indicated in the brackets [ ] at top lef

Start-up and trial operation Software installation4 - 44.2 Software installation4.2.1 Programming softwareInstall all of the software listed in the ta

Software installation Start-up and trial operationMotion controller Q170MCPU/ Q172DCPU/ Q173DCPU 4 - 5Operating system installation햲 Power off the mo

About This ManualThe texts, illustration, diagrams and examples in this manual are providedfor information purposes only. They are intended as aids to

Start-up and trial operation Software installation4 - 6# Once the installation is finished, power off the motion CPU. Set the rotary switch 1 (SW1) to

Sample project creation with MT Developer2 and GX Developer Project creationMotion controller Q170MCPU/ Q172DCPU/ Q173DCPU 5 - 15 Project creation5.1

Project creation Sample project creation with MT Developer2 and GX Developer5 - 2 System Structure SettingsDouble-click the amplifier icon (SSCNET St

Sample project creation with MT Developer2 and GX Developer Project creationMotion controller Q170MCPU/ Q172DCPU/ Q173DCPU 5 - 3Servomotor: HF-KP43Un

Project creation Sample project creation with MT Developer2 and GX Developer5 - 4– The Parameter Blocks, accessible by the "Servo Data" menu

Sample project creation with MT Developer2 and GX Developer Project creationMotion controller Q170MCPU/ Q172DCPU/ Q173DCPU 5 - 5 Servo Parameter Set

Project creation Sample project creation with MT Developer2 and GX Developer5 - 6 Motion SFC Program CreationIn the "Project Window Menu" u

Sample project creation with MT Developer2 and GX Developer Project creationMotion controller Q170MCPU/ Q172DCPU/ Q173DCPU 5 - 7Prepare an SFC progra

Project creation Sample project creation with MT Developer2 and GX Developer5 - 8 File Conversion, Download and Program RunClick the Batch Conversion

Sample project creation with MT Developer2 and GX Developer Project creationMotion controller Q170MCPU/ Q172DCPU/ Q173DCPU 5 - 9Please refer to the &

Project creation Sample project creation with MT Developer2 and GX Developer5 - 10The pop-up warning windows shown below will appear:Click Yes. Then c

Additional procedures Project creationMotion controller Q170MCPU/ Q172DCPU/ Q173DCPU 5 - 115.2 Additional procedures5.2.1 Transfer setupThis section

Project creation Additional procedures5 - 125.2.2 Project openingThis section explains the method for reading a project saved in the hard disk or othe

Additional procedures Project creationMotion controller Q170MCPU/ Q172DCPU/ Q173DCPU 5 - 135.2.3 Writing project to the Motion/PLC CPUThis section e

Project creation Additional procedures5 - 14Operating Procedure (GX Developer) Select "Online" - "Write to PLC". The "Write

Additional procedures Project creationMotion controller Q170MCPU/ Q172DCPU/ Q173DCPU 5 - 155.2.4 Monitoring functionOperating Procedure Clicking on

Project creation Additional procedures5 - 165.2.5 Device monitoring and testingOperating Procedure (MT Developer2) Select "Online" - "

Additional procedures Project creationMotion controller Q170MCPU/ Q172DCPU/ Q173DCPU 5 - 175.2.6 Motion CPU changeThis section explains the method f

Project creation Additional procedures5 - 18 A dialog box appears notifying the CPU and OS types have been changed. Click the OK button.

Sample program with OS SV22: 2_axes_motion Sample programsMotion controller Q170MCPU/ Q172DCPU/ Q173DCPU 6 - 16 Sample programs6.1 Sample program wi

Related ManualsThe following manuals are also related to this Quick-Start Guide. These can be obtained free of charge from our website at www.mitsubis

Sample programs Sample program with OS SV22: 2_axes_motion6 - 26.1.2 FunctionsInput Function DetailsPX0 Forced stopWhen PX0 turns off, servomotors are

Sample program with OS SV22: 2_axes_motion Sample programsMotion controller Q170MCPU/ Q172DCPU/ Q173DCPU 6 - 36.1.3 System setting data of the motio

Sample programs Sample program with OS SV22: 2_axes_motion6 - 46.1.4 Axis Data SettingPLCCPU specific send rangeUser setting area Auto refreshpoint (

Sample program with OS SV22: 2_axes_motion Sample programsMotion controller Q170MCPU/ Q172DCPU/ Q173DCPU 6 - 56.1.5 Motion SFC ProgramNo. Program Na

Sample programs Sample program with OS SV22: 2_axes_motion6 - 6Fig. 6-7: Motion SFC Programs "Home position return" and "Motion control

Sample program with OS SV22: 2_axes_motion Sample programsMotion controller Q170MCPU/ Q172DCPU/ Q173DCPU 6 - 7Fig. 6-8: Motion SFC Program "Prog

Sample programs Sample program with OS SV22: 2_axes_motion6 - 86.1.6 Mechanical system programFig. 6-9: Motion SFC Program "Virtual mode"Fi

Sample program with OS SV22: 2_axes_motion Sample programsMotion controller Q170MCPU/ Q172DCPU/ Q173DCPU 6 - 96.1.7 CAMs Fig. 6-11: CAM 1 (Axis 1) F

Sample programs Sample program with OS SV22: 2_axes_motion_no_inputs6 - 106.2 Sample program with OS SV22: 2_axes_motion_no_inputsThis second sample

Sample program with OS SV22: 2_axes_motion_no_inputs Sample programsMotion controller Q170MCPU/ Q172DCPU/ Q173DCPU 6 - 116.2.2 FunctionsBit Devices F

Sample programs Sample program with OS SV22: 2_axes_motion_no_inputs6 - 12

Exterior Dimensions AppendixMotion controller Q170MCPU/ Q172DCPU/ Q173DCPU A - 1A AppendixA.1 Exterior DimensionsA.1.1 Motion controller Q170MCPUFig

Appendix Exterior DimensionsA - 2A.1.2 Motion controller Q172DCPU and Q173DCPU Fig. A-2: Dimensions of Q172DCPU Fig. A-3: Dimensions of Q173DCPU982

Troubleshooting AppendixMotion controller Q170MCPU/ Q172DCPU/ Q173DCPU A - 3A.2 TroubleshootingThe following flowcharts show the contents of the trou

Appendix TroubleshootingA - 4A.2.2 QD-Motion controllerFig. A-5: Troubleshooting flowchart for Q172DCPU and Q173DCPUNOTE The procedure of fault findin

IndexMotion controller Q170MCPU/ Q172DCPU/ Q173DCPU iIndexBBase unitModule installation . . . . . . . . . . . . . . . . . . . . . . . . . . .3-4Modul

Indexii

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Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU ISafety GuidelinesGeneral safety information and precautionsFor use by qualified staff onlyThis manual