Mitsubishi Electric Melsec-Q172DCPU Manuale utente
Q173D(S)CPU/Q172D(S)CPU
Motion Controller
User's Manual
-Q172DCPU
-Q173DCPU
-Q172DCPU-S1
-Q173DCPU-S1
-Q172DSCPU
-Q173DSCPU
A - 1
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 Q173D(S)CPU/Q172D(S)CPU Users manual
for a description of the Motion controller safety precautions.
In this manual, the safety instructions are ranked as "DANGER" and "CAUTION".
DANGER
Indicates that incorrect handling may cause hazardous
conditions, resulting in death or severe injury.
CAUTION
Indicates that incorrect handling may cause hazardous
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 - 2
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 servo motor. (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 servo motor. 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 servo motor 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, servo motor 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 - 3
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 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.
Always turn the power OFF before touching the servo motor 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, servo motor 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 servo motor, make sure that the safety standards are satisfied.
Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal
operation of the Motion controller or servo amplifier differ from the safety directive operation in the
system.
In systems where coasting of the servo motor 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 - 4
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 servo motor 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 servo
motor) used in a system must be compatible with the Motion controller, servo amplifier and servo
motor.
Install a cover on the shaft so that the rotary parts of the servo motor 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 servo motor are connected with a timing belt,
etc.). Install a stopping device to ensure safety on the machine side.
To maintain the safety of the programmable controller system against unauthorized access from
external devices via the network, take appropriate measures. To maintain the safety against
unauthorized access via the Internet, take measures such as installing a firewall.
(2) Parameter settings and programming
CAUTION
Set the parameter values to those that are compatible with the Motion controller, servo amplifier,
servo motor 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 servo motor 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 servo motor 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.
A - 5
CAUTION
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.
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 servo motor suspension bolts only for the transportation of the servo motor. Do not
transport the servo motor 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 servo motor, 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 servo motors that are damaged or
that have missing parts.
Do not block the intake/outtake ports of the Motion controller, servo amplifier and servo motor
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 servo motor.
A - 6
CAUTION
The Motion controller, servo amplifier and servo motor are precision machines, so do not drop or
apply strong impacts on them.
Securely fix the Motion controller, servo amplifier and servo motor to the machine according to
the instruction manual. If the fixing is insufficient, these may come off during operation.
Always install the servo motor 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.
Environment Conditions
Motion controller/Servo amplifier Servo motor
Ambient
temperature According to each instruction manual. 0°C to +40°C (With no freezing)
(32°F to +104°F)
Ambient humidity According to each instruction manual. 80% RH or less
(With no dew condensation)
Storage
temperature According to each instruction manual. -20°C to +65°C
(-4°F to +149°F)
Atmosphere Indoors (where not subject to direct sunlight).
No corrosive gases, flammable gases, oil mist or dust must exist
Altitude According to each instruction manual
Vibration According to each instruction manual
When coupling with the synchronous encoder or servo motor 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 servo motor
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 fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine
are used for disinfecting and protecting wooden packaging from insects, they cause malfunction
when entering our products.
Please take necessary precautions to ensure that remaining materials from fumigant do not
enter our products, or treat packaging with methods other than fumigation (heat method).
Additionally, disinfect and protect wood from insects before packing products.
A - 7
(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 servo motor.
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 servo motor to operate abnormally.
Do not connect a commercial power supply to the servo motor, 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.
DICOM
RA
Control output
signal
DOCOM
Servo amplifier 24VDC
Control output
signal
DICOM
DOCOM
Servo amplifier
RA
24VDC
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 coming 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 position 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 - 8
(6) Usage methods
CAUTION
Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the
Motion controller, servo amplifier or servo motor.
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 the User's 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 servo motor
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.
24VDC
B
RA1 EMG
Servo motor
Electromagnetic
brakes
Shut off with the
emergency stop
signal (EMG).
Shut off with servo ON signal OFF,
alarm, electromagnetic brake signal.
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 - 9
(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.
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