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MELSEC-Q Series Motion Controller

(5/01/2017)

Q172DS/Q173DS Motion CPUs

The Q172DS and Q173DS Motion CPUs for the iQ Platform provide high performance for the most demanding motion applications for the food and beverage, packaging, automotive, and printing industries.


QD_Motion_Config2014

Motion Controller CPUs

Model Number

Q173DSCPU

Q172DSCPU

Stocked Item

S

S

Number of Control Axes

32 axes

16 axes

Operation Cycle
(Operation Cycle Setting)

0.2ms, 0.4ms, 0.8ms, 1.7ms, 3.5ms, 7.1ms

Control Modes

PTP (Point to Point) control, Speed control, Speed-position control, Fixed-pitch feed, Constant speed control, Position follow-up control, Speed control with fixed position stop, Speed switching control, High-speed oscillation control, Synchronous control (SV22)

Interpolation Functions

Linear interpolation (Up to 4 axes), Circular interpolation (2 axes), Helical interpolation (3 axes)

Control Modes

PTP(Point to Point) control, Speed control, Speed-position control, Fixed-pitch feed, Constant speed control, Position follow-up control, Speed control with fixed position stop, Speed switching control, High-speed oscillation control, Synchronous control (SV22)

Acceleration/ Deceleration Control

Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration, Advanced S-curve acceleration/deceleration

Compensation

Backlash compensation, Electronic gear, Phase compensation (SV22)

Programming Language

Motion SFC, Dedicated instruction, Mechanical support language (SV22)

Servo Program Capacity

16k steps

Number of Positioning Points

3200 points (Positioning data can be set indirectly)

Peripheral I/F

Via PLC CPU (USB, RS-232, Ethernet)

Home Position Return Function

Proximity dog type (2 types), Count type (3 types), Data set type (2 types), Dog cradle type, Stopper type (2 types), Limit switch combined type, 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 Operation Function

Possible to connect 3 modules (Q173DPX use), Possible to connect 1 module (Internal I/F use) (*5)

Speed-Torque Control

Speed control without positioning loops, Torque control without positioning loops, Tightening & Press-fit control

Synchronous Encoder

Possible to connect 12 modules (SV22 use)

M-Code Function

M-code output function provided, M-code completion wait function provided

Limit Switch Output Function

Number of output points 32 points, Watch data: Motion control data, Word device

ROM Operation Function

Provided

High-Speed Reading Function

8 points (Via Input module, Via tracking of Q172DEX/Q173DPX), 4 points (Via Q17_DSCPU’s Internal I/F)

Mark Detection Function

Function

Continuous Detection mode, Specified Number of Detections mode, Ring Buffer mode

Mark Detection Signal

4 points (Via Q17_DSCPU’s Internal I/F), Bit device, Q172DLX (DOG / CHANGE)

Mark Selection Setting

32

Torque limit Value Change Function

Forward new torque value, Reverse new torque value

Target Position Change Function

Provided

Servo Parameter Change Function

Provided

Servo Amplifier Control Mode Switching Function

Gain switching function, PI-PID control, Control loop changing (semi closed loop control, fully closed loop control)

Optional Data Monitor Function

6 setting/axes (MR-J4-B’s SSCNETIII/H use)

Forced Stop Function

Motion controller forced stop (EMI terminal, System setting), Forced stop terminal of servo amplifier

Number of Input/Output Points

Total 256 points (Q17_DSCPU’s Internal I/F 4 points + I/O module)

Clock Function

Provided

Security Function

Password registration, Password for every motion SFC programs, Software security key function

All Clear Function

Delete all user data in Motion CPU

Remote Operation

Remote RUN/STOP, Remote latch clear

Digital Oscilloscope Function

Bit data: 16 channels, Word data: 16 channels (*4)

Amplifier-less Operation Function

Provided

Absolute Position System

Made compatible by setting battery to servo amplifier.
(Possible to select the absolute data method or incremental method for each axis)

Number of SSCNET III Systems (*1)

2 systems

1 system

Motion Related Interface Module

Q172DLX: 4 modules usable
Q172DEX: 6 modules usable (*2)
Q173DPX: 4 modules usable (*3)

Q172DLX: 1 module usable
Q172DEX: 6 modules usable (*2)
Q173DPX: 4 modules usable (*3)

Internal Current

Q173DS: 1.75A (*6)
Q173D: 1.25A
Q173D-S1: 1.30A

Q172DS: 1.44A (*6)
Q172D: 1.25A
Q172D-S1: 1.30A

Dimensions W x D x H mm (in)

27.4 x 120.3 x 120.5 (1.08 x 4.74 x 4.74)

Weight (kg)

0.38

Notes:
1. The SSCNETIII compatible servo amplifier can be used, but the SSCNET compatible servo amplifier cannot be used.
2. Q172DEX cannot be used in SV13.
3. When using the incremental synchronous (SV22 use), you can use the number of modules in the specification. When connecting the manual pulse generator, you can use only 1 module.
4. 8CH word data and 8CH bit data can be displayed in real time.
5. When the manual pulse generator is used with the Q17_ DSCPU’s internal I/F, do not set the Q173DPX in the System Settings.
6. The current consumption (0.2A) of manual pulse generator/incremental synchronize encoder connected to the internal I/F connector is not contained.

Safety Signal Module

Model Number

Q173DSXY (*1)

Stocked Item

S

Input Signals

Number of Input Points

32 points x 2 systems (PLC CPU control 32 points + Motion CPU control 32 points, Safety input 20 points x 2 systems,
Feedback inputs for outputs 12 points x 2 systems)

Input Isolation Method

Photocoupler

Rated Input Voltage

24VDC (+10/-10%), Negative Common Type

Max. Input Current

Approx. 4mA

Input Resistance

Approx. 8.2kΩ

Input ON Voltage/Current

20VDC or more/3mA or more

Input OFF Voltage/Current

5VDC or less/1.7mA or less

Input Response Time

PLC CPU control I/O: 10ms (digital filter’s default value); Motion CPU control I/O: 15ms (CR filter)

Input Common Method

32 points/common (separate commons for the PLC CPU control I/O and the Motion CPU control I/O)

Input Operation Indicator LED

32 points (indication for PLC CPU control)

Output Signals

Number of Output Points

12 points x 2 systems (PLC CPU control 12 points + Motion CPU control 12 points)

Output Isolation Method

Photocoupler

Rated Output Voltage

24VDC (+10/-10%), Source type

Max. Load Current

(0.1A × 8 points, 0.2A × 4 points) x 2 systems, common current: each connector 1.6A or less

Max. Inrush Current

0.7A 10ms or less (1.4A, 10ms or less for 0.2A output pin)

Response Time

1ms or less

Output Common Method

12 points/common (separate commons for the PLC CPU control I/O and the Motion CPU control I/O)

Output Operation Indicator LED

Shared with inputs

Safety Specifications (*2)

Functions According to IEC61800-5-2

STO, SS1, SS2, SOS, SLS, SBC, SSM (IEC61800-5-2 : 2007) and Safety I/Os

Safety Performance

EN ISO 13849-1 Category3 PL d, EN 61800-5-2/IEC 61508 Part 1-7 : 1998/2000, EN 62061 SIL CL 2

Mean Time to Dangerous Failure (MTTFd)

169 years or more (theoretical value)

Diagnostic Converge (DCavq)

Low

Probability of Dangerous Failure per Hour (PFH)

2.17E-8 (1/h)

Number of I/O Occupying Points

32 points

Communication Between PLC CPUs

Parallel bus communication (via main base unit)

Communication Between Motion CPUs

Serial communication (RS-485), RIO cable

Number of Installed Modules

Up to 3 modules; (Max. number of input points: 60 points × 2 systems; Max. number of output points: 36 points × 2 systems)

5VDC Internal Current Consumption

0.20A (TYP. all points ON)

Weight (kg)

0.15

Dimensions (H x W x D)mm (inch)

98 x 27.4 x 90 (3.86 x 1.08 x 3.54)

Notes:
1. Install Q173DSXY to the main base unit. Do not install to the extension base unit.
2. These functions are certified by Certification Body only for the combination of Q173DSXY and “QnUD(E)(H)CPU”, the following PLC CPU modules. QnUD (E)(H) CPU : Q03UDCPU, Q03UDECPU, Q04UDHCPU, Q04UDEHCPU, Q06UDHCPU, Q06UDEHCPU, Q10UDHCPU, Q10UDEHCPU, Q13UDHCPU, Q13UDEHCPU, Q20UDHCPU, Q20UDEHCPU, Q26UDHCPU, Q26UDEHCPU, Q50UDEHCPU, Q100UDEHCPU

External Signal Interface Module

Model Number

Q172DLX

Stocked Item

S

Number of Inputs

Servo external signals: 32 points (Upper stroke limit, Lower stroke limit, Stop input, Proximity dog/Speed-position switching signal) (4 points x 8 axes)

Input Method

Sink/Source type

Isolation Method

Photocoupler

Rated Input Voltage

12/24VDC

Rated Input Current

12VDC 2mA/24VDC 4mA

Operating Voltage Range

10.2 to 26.4VDC (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. 5.6KΩ

Response time of the Upper/Lower Stroke Limit and STOP Signal

OFF – ON

1ms

ON – OFF

Response Time of the Proximity DOG, Speed-Position Switching Signal

OFF – ON

0.4ms/0.6ms/1ms (CPU parameter setting, Default 0.4ms)

ON – OFF

Common Terminal Arrangement

32 points/common (common terminal: B1, B2)

Indicates to Display

ON indication (LED)

External Connector Type

40 pin connector

Applicable Wire Size

0.3mm²

Applicable Connector for the External Connection

A6CON1 (Attachment), A6CON2, A6CON3 (Optional)

Applicable Connector/Terminal Block Converter Module

A6TBXY36, A6TBXY54, A6TBXY70 (Optional)

Number of I/O Occupying Points

32 points (I/O allocation: Intelligent, 32 points)

Internal Current Consumption (5VDC) (A)

0.06

Weight (kg)

0.15

Dimensions (mm (inch)) W x H x D

27.4 x 98 x 90 (1.08 x 3.86 x 3.54)


Servo External Signal

Application

Number of Points

Upper Stroke Limit Input (FLS)

For detection of upper and lower stroke limits

32 points
(4 points/8 axes)

Lower Stroke Limit Input (RLS)

Stop Signal Input (STOP)

For stopping under speed or positioning control

Proximity Dog/Speed-Position Switching Input (DOG/CHANGE)

For detection of proximity dog at proximity dog or count type home position return or for switching from speed to position switching control.

Note: Signal No. 1 to 8 can be assigned to the specified axis. To make the assignment, use the system settings of the positioning software package.


Serial Absolute Synchronous Encoder and Interface Module

Model Number

Q172DEX

Stocked Item

S

Number of Inputs

Tracking enable signal: 2 points

Input Method

Sink/Source type

Isolation Method

Photocoupler

Rated Input Voltage

12/24VDC

Rated Input Current

12VDC 2mA/24VDC 4mA

Operating Voltage Range

10.2 to 26.4VDC
(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. 5.6KΩ

Response Time

OFF – ON

0.4ms/0.6ms/1ms
(CPU parameter setting, Default 0.4ms)

ON – OFF

Common Terminal Arrangement

1 point/common
(Common terminal: TREN.COM)

Display

ON indication (LED)


Serial Absolute Synchronous Encoder Input

Model Number

Q172DEX

Applicable Signal Types

Differential-output type : (SN75C1168 or equivalent)

Transmission Method

Serial communications

Synchronous Method

Counter-clock-wise (viewed from end of shaft)

Communication Speed

2.5 Mbps

Applicable Types

Q170ENC

Position Detection Method

Absolute (ABS) method

Resolution

262144 PLS/rev (18bit)

Number of Modules

2/module

External Connector Type

20 pin connector

Applicable Connector for the External Connection

Q170ENCCNS (Optional)

Applicable Wire

MB14B0023 12 Pair

Recommended Cables

Q170ENCCBL_M: _= cable length 2m (6.56 ft.), 5m (16.4 ft.), 10m (32.81 ft.), 20m (65.62 ft.), 30m (98.43 ft.), 50m (164.04 ft.) (Note)

Cable Length

Up to 50m (164.04 ft.)

Back up the Absolute Position

Depends on A6BAT/MR-BAT

Battery Service Life Time
(Value in Actual)

12000 (h), (Example of encoders x 2, ambient temperature 40°C (104°F) ) 24000 (h), (Example of encoders x 1, ambient temperature 40°C (104°F) )

Memory of Data Exchange

None

Number of I/O Occupying Points

32 points (I/O allocation: Intelligent, 32 points)

Internal Current Consumption (5VDC) (A)

0.19

Dimensions W x H x D mm (in)

27.4 x 98 x 90 (1.08 x 3.86 x 3.54)

Weight (kg)

0.15

Note: Use these cables when the tracking enable signal is not used. Customer must make a cable when the tracking enable signal is used.


Synchronous Encoder (Optional)

Model Number

Q170ENC

Stocked Item

S

Resolution

262144 PLS/rev

Transmission Method

Serial Communications (Connected to Q172EX-S2/S3)

Direction on Increase

Counter clockwise (viewed from end of shaft)

Protective Construction (*1)

IP65 (dust proof, waterproof)
except for the shaft-through portion

Permitted Speed at ON

3600 r/min

Permitted Speed at OFF (*2)

500 r/min

Permitted Axis Load

Radial load: Max 19.6N; Thrust load: Max 9.8N

Runout at Input Shaft Tip

0.02 mm (0.00079 in) or less; 15 mm (0.59 in) from tip

Recommended Coupling

Bellows coupling

Permissible Angular Acceleration

40,000 rad/s²

Internal Current Consumption (A)

0.2

Connecting Cable

Q170ENCCBL_M: _= cable length 2m (6.56 ft.),
5m (16.4 ft.), 10m (32.8 ft.), 20m (65.6 ft.),
30m (98.4 ft.), 50m (164.04 ft.)]

Communication Method

Differential driver/receiver conforming to RS-422A

Transmission Distance

Up to 50m (164.04 ft)

Operating Temperature

-5°C to 55°C (23 to 131°F)

Weight kg (lbs)

0.6 (1.3)

Notes:
1. If an “o-ring” is required, please purchase separately.
2. If it exceeds a permitted speed at power OFF, a position displacement is generated.


Q170ENC

Manual Pulse Generator and Interface Module

Model Number

Q173DPX

Stocked Item

S

Number of Inputs

Tracking enable signal: 3 points

Input Method

Sink/Source type

Isolation Method

Photocoupler

Rated Input Voltage

12/24VDC

Rated Input Current

12VDC 2mA/24VDC 4mA

Operating Voltage Range

10.2 to 26.4VDC (12/24VDC +10/ -15%, ripple ratio 5% or less)

ON Voltage/Current

10VDC or more / 2.0 mA or more

OFF Voltage/Current

1.8VDC or less / 0.18 mA or less

Input Resistance

Approx. 5.6KΩ

Common Terminal Arrangement

1 point/common
(Common terminal: TREN.COM)

Display

ON indication (LED)


Manual Pulse Generator (Optional)

Model Number

MR-HDP01

Stocked Item

S

Pulse Resolution

25 PLS/rev (100 PLS/rev at magnification of 4)

Output Method

Voltage - output (power supply voltage - 1V or more), Output current = Up to 20 mA

Power Supply Voltage

4.5 to 13.2VDC (*1)

Consumption Current

60

Life

1,000,000 revolutions at 200 r/min

Permitted Axis Load

Radial load : Max. 19.6N; Thrust load : Max. 9.8N

Pulse Signal Status

2 signals: A phase, B: phase, 90° phase difference

Friction Torque

0.06N/m (at 20°C (68°F))

Operating Temperature

-10°C to +60°C (14°F to 140°F)

Weight kg (lbs)

0.4 (0.88)

Note 1: If using an external power supply, it needs to be 5VDC.


Serial Absolute Synchronous Encoder I/F

Model Number

Q173DPX

Number of Modules (Max.)

3 per module

Voltage-output/ Open Collector

High Voltage

3.0 to 5.25VDC

Low Voltage

0 to 1.0VDC

Differential-Output Type (26LS31 or Equivalent)

High Voltage

2.0 to 5.25VDC

Low Voltage

0 to 0.8VDC

Input Frequency

Max. 200kpps (After magnification by 4)

Applicable Types

Voltage-output type/Open-collector type (5VDC), Recommended product: MR-HDP01; Differential-output type: (26LS31 or equivalent)

External Connector Type

40 pin connector

Applicable Wire Size

0.3mm²

Applicable Connector for the External Connection

A6CON1 (Attachment) A6CON2, A6CON3 (Optional)

Applicable Connector/ Terminal Block Converter Module

A6TBXY36, A6TBXY54, A6TBXY70 (Optional)

Cable Length

Voltage-Output/Open Collector Output Type

30m (98.43 ft.)
(Open collector output type: 10m (32.81 ft.) )

Differential-Output Type

Number of I/O Occupying Points

32 points (I/O allocation: Intelligent, 32 points)

Internal Current Consumption

0.38

Dimensions W x H x D mm (in)

27.4 x 98 x 90 (1.08 x 3.86 x 3.54)

Weight (kg)

0.15


MRHDP01

Miscellaneous Parts, Cables and Connectors

Connection between Q172DSCPU and MR-J4 Servo Amplifiers

Q172DCPUMRJ4_Connection2014

Connection between Q173DSCPU and MR-J4 Servo Amplifiers

Q173DCPU_Connection_2014

Miscellaneous Parts

Model Number

Description

Stocked Item

Q6BAT

Battery for memory data backup of SRAM built-in Motion CPU

S

A6BAT

Battery for data backup of the Q170ENC

S

MR-J3USBCBL3M

USB cable from PC to PLC CPU (3M)

S

SC-Q

RS-232 cable from PC to PLC CPU

S

Q173DSDO-1M

Interface Cable, Differential Type, 1.0m

S

Q173DSDO-2M

Interface Cable, Differential Type, 2.0m

S

Q173DSDO-5M

Interface Cable, Differential Type, 5.0m

S

Q173DSVO-1M

Interface Cable, Voltage Type, 1.0m

S

Q173DSVO-2M

Interface Cable, Voltage Type, 2.0m

S

Q173DSVO-5M

Interface Cable, Voltage Type, 5.0m

S


SSCNETIII and SSCNETIII/H Cables

Model Number

Description

Stocked Item

MR-J3BUS015M

0.15M SSCNET III (plastic) cable

S

MR-J3BUS03M

0.3M SSCNET III (plastic) cable

S

MR-J3BUS05M

0.5M SSCNET III (plastic) cable

S

MR-J3BUS1M

1M SSCNET III (plastic) cable

S

MR-J3BUS3M

3M SSCNET III (plastic) cable

S

MR-J3BUS5M-A

5M SSCNET III (plastic) cable

S

MR-J3BUS10M-A

10M SSCNET III (plastic) cable

S

MR-J3BUS20M-A

20M SSCNET III (plastic) cable

S

MR-J3BUS30M-B

30M SSCNET III (glass) cable

S

MR-J3BUS40M-B

40M SSCNET III (glass) cable

-

MR-J3BUS50M-B

50M SSCNET III (glass) cable

-


Cables and Connectors for Special Function Modules

Model Number

Description

Stocked Item

A6CON1

Q173DPX connector to use the manual pulse generator and incremental synchronous encoder or Q172DLX connector to use the servo external input signals

S

A6TBXY36

Q172DLX terminal block conversion module - Sink Type I/O (Standard type)

S

A6TBXY54

Q172DLX terminal block conversion module - Sink Type I/O (2-wire type)

-

A6TBXY70

Q172DLX terminal block conversion module - Sink Type I/O (3-wire type)

-

AC05TB

0.5M cable from Q172DLX to A6TBXY_ _ terminal block conversion module

S

AC10TB

1M cable from Q172DLX to A6TBXY_ _ terminal block conversion module

S

AC20TB

2M cable from Q172DLX to A6TBXY_ _ terminal block conversion module

S

AC30TB

3M cable from Q172DLX to A6TBXY_ _ terminal block conversion module

S

AC50TB

5M cable from Q172DLX to A6TBXY_ _ terminal block conversion module

S

AC80TB

8M cable from Q172DLX to A6TBXY_ _ terminal block conversion module

-

AC100TB

10M cable from Q172DLX to A6TBXY_ _ terminal block conversion module

-

Q170ENCCNS

Connector set for the Q170ENC absolute synchronous encoder

S

Q170ENCCBL2M

2M cable from the Q172DEX to the Q170ENC absolute synchronous encoder

S

Q170ENCCBL5M

5M cable from the Q172DEX to the Q170ENC absolute synchronous encoder

S

Q170ENCCBL10M

10M cable from the Q172DEX to the Q170ENC absolute synchronous encoder

S

Q170ENCCBL20M

20M cable from the Q172DEX to the Q170ENC absolute synchronous encoder

-

Q170ENCCBL30M

30M cable from the Q172DEX to the Q170ENC absolute synchronous encoder

-

Q170ENCCBL50M

50M cable from the Q172DEX to the Q170ENC absolute synchronous encoder

-


Cables for Forced Stop Input Connector (EMI)

Model Number

Description

Stocked Item

Q170DEMICBL05M

0.5M cable for EMI connector on CPU

S

Q170DEMICBL1M

1M cable for EMI connector on CPU

S

Q170DEMICBL3M

3M cable for EMI connector on CPU

S

Q170DEMICBL5M

5M cable for EMI connector on CPU

S

Q170DEMICBL10M

10M cable for EMI connector on CPU

S

Q170DEMICBL15M

15M cable for EMI connector on CPU

S

Q170DEMICBL20M

20M cable for EMI connector on CPU

S

Q170DEMICBL25M

25M cable for EMI connector on CPU

S

Q170DEMICBL30M

30M cable for EMI connector on CPU

S


Operating and Programming Software

Motion Controller Engineering Software
Motion SFC programming, parameter setting, and the digital oscilloscope function, etc. are available. With these various features, this software supports all necessary steps including system configuration, programming, debugging, and maintenance of Motion controllers.

Model Number

Stocked Item

Description

MT-WORKS2-C1

S

Single user license - can be used on 1 computer at a time; Installation manual included

MT-WORKS2-C5

-

5 user license - can be used on up to 5 computers at a time

MT-WORKS2-C10

-

10 user license - can be used on up to 10 computers at a time

MT-WORKS2-C25

-

25 user license - can be used on up to 25 computers at a time

MT-WORKS2-C50

-

50 user license - can be used on up to 50 computers at a time