MOTION CONTROLLERSQ series

New product newsSV0205-1

Mitsubishi Electric Corporation Nagoya Works is a factory certified for ISO14001(standards for environmental management systems) and ISO9001(standards for quality assurance managememt systems)

Q Series Multiple CPU Systems - ProvidingNext-Generation Balance

● The Q Series PLC power supply module, base unit, and I/O module are shared.Q Series PLC CPU

PLC intelligentfunction module(A/D, D/A, etc.)

Motion CPU

Q Series PLC high-speed system bus SSCNET

Motion control dedicated I/F(DOG signal, pulse generator)

Sensor, solenoid, etc.(DI/O)

Servoamplifier

Servoamplifier

Servomotor Servomotor

Motion controlprocessor

Device memory

Common memory

Device memory

Common memory

Sequence control processor

Introducing the Motion controller Q Series, which meets needs for higher performIntroducing the Motion controller Q Series, which meets needs for higher performance

and smaller size - all with high-speed motion control!and smaller size - all with high-speed motion control!

Compatible with the Q Series PLC and multiple CPU system, motion CPU and PLC Compatible with the Q Series PLC and multiple CPU system, motion CPU and PLC

CPU matching needs can be flexibly selected.CPU matching needs can be flexibly selected.

The large-scale control system - 96 axes per system -- is equivalent to the compThe large-scale control system - 96 axes per system -- is equivalent to the compact Q

Series PLC.

Introducing the Motion controller Q Series, which meets needs for higher performance

and smaller size - all with high-speed motion control!

Compatible with the Q Series PLC and multiple CPU system, motion CPU and PLC

CPU matching needs can be flexibly selected.

The large-scale control system - 96 axes per system -- is equivalent to the compact Q

Series PLC.

Achieving multiple CPU func-

tions and Q Series PLC in a

small body to realize a compact

yet large-scale control system

and flexible system configura-

tion with SSCNET.

Mitsubishi high-performance

motion controller is reaching

new regions.

Fast and expanding servo control!

Next-generation high-speed motion control● Cam speed has increased and operation tact time is shortened with a motion operation cycle of 0.88 ms -- 4

times the conventional cycle. For the Q173CPU/Q172CPU: SV13, 8-axis control --● The cycle for communicating commands to the servo amplifier is reduced to 0.88 ms -- 4 times the conventional

cycle - improving synchronization and speed/position control accuracy.● The motion model contains a 64-bit RISC motion control processor and information processing processor.

Large volumes of data can be exchanged with a personal computer without affecting motion control perfor-mance.

● Compatible with high-speed sequence processes using the Q Series PLC CPU.At PLC basic command 34 ns: Q25HCPU

● A variety of motion functions, including interpolation functions, speed control, software CAM, and tracing control are included.

● Control with suppressed variation in response time is realized with the Motion SFC program described as a flowchart.

Realizing compact size and savings in space with next-generation controller size● The industry's smallest footprints have been realized with the same size as the Q Series PLC. Volume: 1/3,

area: 60%● Realize savings in space and cost with the 12-slot base.

Controlling next-generation control functions with SSCNET● A synchronization or absolute system is easily set up for the servomotor using high-speed serial communication.

Only INC is available for the MR-J2-03B5.● The controller and servoamplifier can be connected with a single touch using cables, simplifying wiring work.● Servo amplifiers for up to 32 axes can be batch controlled with 1 CPU.● A variety of servomotor functions from 10 W to 55 kW can be controlled.● The digital oscilloscope enables motor information such as torque, speed, and position to be batch monitored

with the controller.SSCNET:Servo System Controller NETwork

Next-generation flexibility● Optimum modules that match specifications required for sequence and motion control can be economically se-

lected by using modules for the PLC CPU and Motion CPU.● Compatibility with the multiple CPU allows up to 4 CPUs to be selected. The PLC CPU must be used.● With the motion multiple CPU configuration, up to 96 axes can be controlled with 1 system when using three

Q173CPU modules.

The Long Awaited New Face - the Motion Controller Q Series!!Here's the answer to all your needs!

The Long Awaited New Face - the Motion Controller Q Series!!Here's the answer to all your needs!

1 2

Q Series Multiple CPU Systems - ProvidingNext-Generation Balance

● The Q Series PLC power supply module, base unit, and I/O module are shared.Q Series PLC CPU

PLC intelligentfunction module(A/D, D/A, etc.)

Motion CPU

Q Series PLC high-speed system bus SSCNET

Motion control dedicated I/F(DOG signal, pulse generator)

Sensor, solenoid, etc.(DI/O)

Servoamplifier

Servoamplifier

Servomotor Servomotor

Motion controlprocessor

Device memory

Common memory

Device memory

Common memory

Sequence control processor

Introducing the Motion controller Q Series, which meets needs for higher performIntroducing the Motion controller Q Series, which meets needs for higher performance

and smaller size - all with high-speed motion control!and smaller size - all with high-speed motion control!

Compatible with the Q Series PLC and multiple CPU system, motion CPU and PLC Compatible with the Q Series PLC and multiple CPU system, motion CPU and PLC

CPU matching needs can be flexibly selected.CPU matching needs can be flexibly selected.

The large-scale control system - 96 axes per system -- is equivalent to the compThe large-scale control system - 96 axes per system -- is equivalent to the compact Q

Series PLC.

Introducing the Motion controller Q Series, which meets needs for higher performance

and smaller size - all with high-speed motion control!

Compatible with the Q Series PLC and multiple CPU system, motion CPU and PLC

CPU matching needs can be flexibly selected.

The large-scale control system - 96 axes per system -- is equivalent to the compact Q

Series PLC.

Achieving multiple CPU func-

tions and Q Series PLC in a

small body to realize a compact

yet large-scale control system

and flexible system configura-

tion with SSCNET.

Mitsubishi high-performance

motion controller is reaching

new regions.

Fast and expanding servo control!

Next-generation high-speed motion control● Cam speed has increased and operation tact time is shortened with a motion operation cycle of 0.88 ms -- 4

times the conventional cycle. For the Q173CPU/Q172CPU: SV13, 8-axis control --● The cycle for communicating commands to the servo amplifier is reduced to 0.88 ms -- 4 times the conventional

cycle - improving synchronization and speed/position control accuracy.● The motion model contains a 64-bit RISC motion control processor and information processing processor.

Large volumes of data can be exchanged with a personal computer without affecting motion control perfor-mance.

● Compatible with high-speed sequence processes using the Q Series PLC CPU.At PLC basic command 34 ns: Q25HCPU

● A variety of motion functions, including interpolation functions, speed control, software CAM, and tracing control are included.

● Control with suppressed variation in response time is realized with the Motion SFC program described as a flowchart.

Realizing compact size and savings in space with next-generation controller size● The industry's smallest footprints have been realized with the same size as the Q Series PLC. Volume: 1/3,

area: 60%● Realize savings in space and cost with the 12-slot base.

Controlling next-generation control functions with SSCNET● A synchronization or absolute system is easily set up for the servomotor using high-speed serial communication.

Only INC is available for the MR-J2-03B5.● The controller and servoamplifier can be connected with a single touch using cables, simplifying wiring work.● Servo amplifiers for up to 32 axes can be batch controlled with 1 CPU.● A variety of servomotor functions from 10 W to 55 kW can be controlled.● The digital oscilloscope enables motor information such as torque, speed, and position to be batch monitored

with the controller.SSCNET:Servo System Controller NETwork

Next-generation flexibility● Optimum modules that match specifications required for sequence and motion control can be economically se-

lected by using modules for the PLC CPU and Motion CPU.● Compatibility with the multiple CPU allows up to 4 CPUs to be selected. The PLC CPU must be used.● With the motion multiple CPU configuration, up to 96 axes can be controlled with 1 system when using three

Q173CPU modules.

The Long Awaited New Face - the Motion Controller Q Series!!Here's the answer to all your needs!

The Long Awaited New Face - the Motion Controller Q Series!!Here's the answer to all your needs!

1 2

Operating system software(FD)

SW6RN-SV Q

USB/RS-232

SSC I/F cardA30CD-PCF

Servo amplifierMR-H-BN*2

MR-J2S-BMR-J2-BMR-J2-03B5MR-J2M

Servomotor

Number of servo amplifier SSCNET systems (8 axes per system)· Q173CPU: 4 systems (max. 32 axes) · Q172CPU: 1 system (max. 8 axes)

Manual pulse generator (3 units per module)MR-HDP01

Serial absolute synchronous encoder (2 units per module)MR-HENC

SSCNET *3

USB/RS-232

SSCNET *3

USB/RS-232

SSCNET(System 1)

SSCNET(System 2)

SSCNET(System 4)

SSCNET(System 3)

Laptop personal computer (WinNT/Win98)Integrated startup support environment

Desktop personal computer (WinNT/Win98)Personal computer link SSC environment

Graphic operationterminal (GOT) *4

Integrated startup support software(CD-ROM)SW6RNC-GSVPRO

GX Developer(CD-ROM)SW6D5C-GPPW

SSC I/F boardA30BD-PCF

Q6 BExtension base (max. 7 stages) Motion CPU/PLC CPU

control module

*1. The digital oscilloscope cannot be used with USB or RS-232 communication.*2. The operation cycle is 1.77 ms and higher when using MR-H-BN.*3. Only 1 personal computer can be connected with SSCNET.*4. Only the PLC CPU can be used for the GOT control CPU.*5. With the Q173CPU, the conventional amplifier-to-amplifier cable can be used

with the branching module (Q173DV).

Servo external signal(FLS, RLS, STOP, DOG/CHANGE) × 8 axes

Main baseQ3 B

Q61P-A Q CPU Q17 CPU Q172LX Q172EX Q173PX QI60 QX/Y

PLC CPU/motion CPU(max. 4 modules)

Motion CPU controlmodules

PLC CPU controlmodules

System configuration Programming methods

Multiple CPU control using PLC CPU and motion CPU

Motion SFC description

Control flow

By processing complicated servo control with the motion CPU and other machine control and information control with the PLC CPU, the processing load is dispersed, realizing a flexible system.The motion program is described with motion SFC.

Flow chart description which easy-to-view and understand.● As the outline operation of the process control is described as a flow chart, the entire operations can be viewed at a glance.● The operation details can be described as a comment so an easy-to-understand program can be created.● The program has a hierarchical structure, so detailed operations can be described for each step.

Ample operation functions● Programs can be described with arithmetic or logical operators.● Compatible with 64-bit floating point operation.● Various arithmetic functions, including trigonometric functions,

square root, and natural logarithm are provided.

Seal processing

F10

F20

G100

F30

G200

K100

G150

G160

G120

F40

K200

G210

G300

F150

P10

P20

P10

P20

F : Operation control stepG : Transition (condition wait)K : Motion control step

K0SFCS

Drive module(Virtual servo motor)

Transmissionmodule

Output module

Sample sequence program Sample Motion SFC program

(Roller)(Cam)

Sample mechanical system program

Motion SFCprogram startrequest instruction

Numberof start program designation

20000

10000

10000 20000 Axis 1

Axis 2

[G 100]

[G 200]

[K 10 : Real]

1 VF Axis 1 Speed D 0 PLS/s

[K 100 : Virtual]

[F 100]

END

Transfer

M2009 // Servo ON reception flag?

1 INC-2 Axis 1, 10000 PLS Axis 2, 20000 PLS Combined speed 30000 PLS/s

// Command speed calculationDOL=#100L+#102L+#104L

M2044 // On virtual mode?

Servo motor start

Virtual servomotor start

SV13/SV22real mode

SV22virtual mode

*Motion SFC program also can be automaticallystarted by the parameter setting.

MELSECI/O module

MELSECintelligentmodule

MELSECcommunication

module

MELSECdisplay unit

PLC CPUMELSEC

I/O module(PX/PY)

Motion relatedmodule

SSCNETrelated device

● Ladder description suitable for scan process (Importance laid on condition control)

● Motion SFC description suitable for event process (Importance laid on sequential control, pursuit of event responsiveness)

Motion CPU

● Sequence control -- compatible with multiin-put/output points, multiple operations

● Servo stop processing at error detection

● Servo high-speed response (start)● Positioning address, speed data operation, speed change● High functionality with multitasking and branching

Multiple CPUto

Multiple CPU

Sharedmemory

Reduceddisplay

Q Series PLC CPU

MotionCPU

Motion CPU input/output(max. 256 points)

External interrupt input (16 points)

Device configuration

Peripheral device configuration

Device configuration

Peripheral device configuration

For PLC CPU

For motion CPU

[G 200]

[F 30]

[K 100]

PXO //Work ready completion sensor ON?

1 ABS-2Axis 1, D 100 µmAxis 2, D 200 µmCombined speed D 300 mm/min

// 1 axis real processing data calculationDOL = LONG ((SIN(#100) + 110F)*300)// Processing status setSET M100 = X12 + M120

G100Beginning wait

G120Cancellation wait

F40Cancellation data set

F30Data calculation

G200Work ready

K100Operation start

Extendeddisplay

Commentdisplay

*1

*1

3 4

Externalbattery

*5

Provides simultaneous control multiple servo motors and offers software cam control. Ideal for use in automatic machinery.

Offer constant-speed control, speed control, 1 to 4-axes linear interpolation and 2-axes circular interpolation, etc. Ideal for use in conveyors and assembly machines.

OS Software Line-upAutomatic Machinery UseConveyor Assembly Use

Dedicated language Mechanical supportlanguage

Linear interpolation(1 to 4-axes)Circular interpolationConstant-speed controlFixed-pitch feedSpeed change controlSpeed controlSpeed-positionswitchingTeaching function

Electronic component assemblyInserterFeederMolderConveying equipmentPaint applicatorChip mounterWafer slicerLoader/UnloaderBonding machineX-Y table

Synchronous controlElectronic shaftElectronic clutchElectronic cam Draw control

Press feederFood processingFood packagingWinding machineSpinning machineTextile machinePrinting machineBook binderTire molderPaper-making machine

SV22SV13SV22SV13

Motion SFCMotion SFC

Operating system software(FD)

SW6RN-SV Q

USB/RS-232

SSC I/F cardA30CD-PCF

Servo amplifierMR-H-BN*2

MR-J2S-BMR-J2-BMR-J2-03B5MR-J2M

Servomotor

Number of servo amplifier SSCNET systems (8 axes per system)· Q173CPU: 4 systems (max. 32 axes) · Q172CPU: 1 system (max. 8 axes)

Manual pulse generator (3 units per module)MR-HDP01

Serial absolute synchronous encoder (2 units per module)MR-HENC

SSCNET *3

USB/RS-232

SSCNET *3

USB/RS-232

SSCNET(System 1)

SSCNET(System 2)

SSCNET(System 4)

SSCNET(System 3)

Laptop personal computer (WinNT/Win98)Integrated startup support environment

Desktop personal computer (WinNT/Win98)Personal computer link SSC environment

Graphic operationterminal (GOT) *4

Integrated startup support software(CD-ROM)SW6RNC-GSVPRO

GX Developer(CD-ROM)SW6D5C-GPPW

SSC I/F boardA30BD-PCF

Q6 BExtension base (max. 7 stages) Motion CPU/PLC CPU

control module

*1. The digital oscilloscope cannot be used with USB or RS-232 communication.*2. The operation cycle is 1.77 ms and higher when using MR-H-BN.*3. Only 1 personal computer can be connected with SSCNET.*4. Only the PLC CPU can be used for the GOT control CPU.*5. With the Q173CPU, the conventional amplifier-to-amplifier cable can be used

with the branching module (Q173DV).

Servo external signal(FLS, RLS, STOP, DOG/CHANGE) × 8 axes

Main baseQ3 B

Q61P-A Q CPU Q17 CPU Q172LX Q172EX Q173PX QI60 QX/Y

PLC CPU/motion CPU(max. 4 modules)

Motion CPU controlmodules

PLC CPU controlmodules

System configuration Programming methods

Multiple CPU control using PLC CPU and motion CPU

Motion SFC description

Control flow

By processing complicated servo control with the motion CPU and other machine control and information control with the PLC CPU, the processing load is dispersed, realizing a flexible system.The motion program is described with motion SFC.

Flow chart description which easy-to-view and understand.● As the outline operation of the process control is described as a flow chart, the entire operations can be viewed at a glance.● The operation details can be described as a comment so an easy-to-understand program can be created.● The program has a hierarchical structure, so detailed operations can be described for each step.

Ample operation functions● Programs can be described with arithmetic or logical operators.● Compatible with 64-bit floating point operation.● Various arithmetic functions, including trigonometric functions,

square root, and natural logarithm are provided.

Seal processing

F10

F20

G100

F30

G200

K100

G150

G160

G120

F40

K200

G210

G300

F150

P10

P20

P10

P20

F : Operation control stepG : Transition (condition wait)K : Motion control step

K0SFCS

Drive module(Virtual servo motor)

Transmissionmodule

Output module

Sample sequence program Sample Motion SFC program

(Roller)(Cam)

Sample mechanical system program

Motion SFCprogram startrequest instruction

Numberof start program designation

20000

10000

10000 20000 Axis 1

Axis 2

[G 100]

[G 200]

[K 10 : Real]

1 VF Axis 1 Speed D 0 PLS/s

[K 100 : Virtual]

[F 100]

END

Transfer

M2009 // Servo ON reception flag?

1 INC-2 Axis 1, 10000 PLS Axis 2, 20000 PLS Combined speed 30000 PLS/s

// Command speed calculationDOL=#100L+#102L+#104L

M2044 // On virtual mode?

Servo motor start

Virtual servomotor start

SV13/SV22real mode

SV22virtual mode

*Motion SFC program also can be automaticallystarted by the parameter setting.

MELSECI/O module

MELSECintelligentmodule

MELSECcommunication

module

MELSECdisplay unit

PLC CPUMELSEC

I/O module(PX/PY)

Motion relatedmodule

SSCNETrelated device

● Ladder description suitable for scan process (Importance laid on condition control)

● Motion SFC description suitable for event process (Importance laid on sequential control, pursuit of event responsiveness)

Motion CPU

● Sequence control -- compatible with multiin-put/output points, multiple operations

● Servo stop processing at error detection

● Servo high-speed response (start)● Positioning address, speed data operation, speed change● High functionality with multitasking and branching

Multiple CPUto

Multiple CPU

Sharedmemory

Reduceddisplay

Q Series PLC CPU

MotionCPU

Motion CPU input/output(max. 256 points)

External interrupt input (16 points)

Device configuration

Peripheral device configuration

Device configuration

Peripheral device configuration

For PLC CPU

For motion CPU

[G 200]

[F 30]

[K 100]

PXO //Work ready completion sensor ON?

1 ABS-2Axis 1, D 100 µmAxis 2, D 200 µmCombined speed D 300 mm/min

// 1 axis real processing data calculationDOL = LONG ((SIN(#100) + 110F)*300)// Processing status setSET M100 = X12 + M120

G100Beginning wait

G120Cancellation wait

F40Cancellation data set

F30Data calculation

G200Work ready

K100Operation start

Extendeddisplay

Commentdisplay

*1

*1

3 4

Externalbattery

*5

Provides simultaneous control multiple servo motors and offers software cam control. Ideal for use in automatic machinery.

Offer constant-speed control, speed control, 1 to 4-axes linear interpolation and 2-axes circular interpolation, etc. Ideal for use in conveyors and assembly machines.

OS Software Line-upAutomatic Machinery UseConveyor Assembly Use

Dedicated language Mechanical supportlanguage

Linear interpolation(1 to 4-axes)Circular interpolationConstant-speed controlFixed-pitch feedSpeed change controlSpeed controlSpeed-positionswitchingTeaching function

Electronic component assemblyInserterFeederMolderConveying equipmentPaint applicatorChip mounterWafer slicerLoader/UnloaderBonding machineX-Y table

Synchronous controlElectronic shaftElectronic clutchElectronic cam Draw control

Press feederFood processingFood packagingWinding machineSpinning machineTextile machinePrinting machineBook binderTire molderPaper-making machine

SV22SV13SV22SV13

Motion SFCMotion SFC

Programming environment

Operating environment

Integrated start-up support software packages

Software package list

Motion module specifications

Motion control specificationsAmple programming environmentsAmple programming environments Motion SFC performance specifications

OS

CPU

Memory capacity

Hard disk capacity

Display

Application software

WindowsNT 4.0 (Service Pack 2 and above) / Windows 98

More than pentium 133MHz

More than 32M bytes

SW3RNC-GSVE : more than 51MB + SW3RNC-GSVHELPE : more than 108MB (possible to select installation)

More than 800 × 600 pixels

More than 256 colors

Word 97, Excel 97 (for document printing)

More than Visual C++4.0, more than Visual Basic 4.03 (32 bit) (When communication API function use.)

Conveyor assembly software : SW6RN-GSV13PAutomatic machinery software : SW6RN-GSV22PCam data creation software : SW3RN-CAMPDigital oscilloscope software : SW6RN-DOSCPCommunication system software : SW6RN-SNETPDocument print software : SW3RN-DOCPRNP, SW20RN-DOCPRNP

SW6RNC-GSVE(Integrated start-up support software (1 CD-ROM))

(When using the A30CD-PCF, the PC card driver for Windows NT / Windows 98, provided by the personal computer manufacturer must be used.)

(Note) : Windows, Word, Excel, Visual C++ and Visual Basic is a trade-mark of the Microsoft Corporation.: Before exporting the personal computer as a single unit or assembled into a device, consult with the manufacturer and check that the OS (Windows, etc.) and network browser incorporated in the personal computer

comply with the foreign exchange control laws.

SW6RNC-GSVHELPE (Operation manual (1 CD-ROM))

Installation manual

SW6RNC-GSVPROE

A30CD-PCF (SSC I/F card (PCMCIA TYPE II 1CH/card))

Q170CDCBL3M (A30CD-PCF cable 3m(9.84ft.))

Resolution

Colors

SW6RN-GSVPROE

SW6RNC-GSVSETE

5

Model name Details

Main OS software operating system software

Peripheral software

Main OS software

Peripheral software

Peripheral software Programming software

For conveyor assembly

For automatic machinery

For digital oscilloscope

Application Part name

PC/AT compatible with which WindowsNT 4.0 / Windows 98 operates normally and the following use is filled.

Use with Q PLC

● Color display of step in execution on flow chart● Device monitoring and testing of execution and designated step

● Greatly reduced debugging time with powerful debug function(one-step execution, forced shift, brake, forced end)

● Current value monitor, axis monitor, error history monitor● Various tests such as zeroing and JOG by clicking mouse

● Data sampling synchronized with motion control cycle● Waveform display, dump display, file save, printing

Monitor.Test Digital oscilloscope

Motion SFC debugging modeMotion SFC monitor

6*The mark indicates the number of SSCNET lines (None: 1 line, 2: 2 lines, 3: 3 lines, 4: 4 lines)

Package type

Q173CPU Q172CPU

SW6RN-SV13QB SW6RN-SV13QD

SW6RN-GSV13P

SW6RN-SV22QA SW6RN-SV22QC

SW6RN-GSV22P

SW3RN-CAMP

SW3RN-DOSCP

Device configuration

*The digital oscilloscope cannot be used with USB or RS-232 communication.

Item

Number. of control axes

Operation cycle

Interpolation functions

Number of Motion SFC programs 256 (No.0 to 255)

Max. 4094 steps

255

255

Up to 4 levels

4096 (G0 to G4095)

Max. approx. 64k bytes (32766 steps)

Max. 8192 blocks (in the case of 4 steps (min)/blocks)

Max. 128 (comment included)

Max. 64 (operand : constants, word device, bit devices)

Max. 32

Max. 256

Max. 256 steps/all programs

Executed in motion main cycle

Calculation expression/bit conditional expression

Calculation expression/bit conditional expression/comparison conditional expression

Executed in fixed cycle(0.88ms, 1.77ms, 3.55ms, 7.11ms, 14.2ms)

Executed when input ON is set among interrupt module (16 points).

Executed with interrupt from PLC CPU.(When PLC CPU dedicated command S(P). GINT is executed)

Max. 64k bytes (Included Motion SFC chart comments)

Number of transition programs

Code size/program

Number of blocks (line)/programs

Number of characters/programs

Number of operand/programs

Number of multi executed programs

8192 points

Total 256 points

Number of multi active steps

Internal relay (M)

Latch relay (L)

Link relay (B)

Annunciators (F)

Special relay (M)

Data register (D)

Link register (W)

Special register (D)

Motion register (#)

Coasting timer (FT)

Total M+L:8192 points

2048 points

8192 points

256 points

8192 points

8192 points

256 points

8192 points

1 point (888µs)

( ) nesting/block

Operation control program

External interrupt

Executed when input ON is set among interrupt module (16 points).NMI task

Normal task

Number of I/O (X/Y)

Number of real I/O (PX/PY)

Descriptiveexpression

Executedtask

Event task (Execution can be masked.)

Transition program

Fixed cycle

PLC interrupt

Motion SFC chart size/program

Number of Motion SFC steps/program

Number of selective branches/branch

Number of parallel branches/branch

Parallel branch nesting

287k bytes

224k bytes

Code total (Motion SFC chart + Operation control + Transition)

Text total(Operation control + Transition)

4096 with F (Once execution type) and FS (Scan execution type) combined. (F/FS0 to F/FS4095)

Number of operation control programs

Control modes

32 axes 8 axes

0.88ms~

Backlash compensation, Electronic gear

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

14k steps

Provided

Maximum 64 slots (Number of Q Series extension stages: Maximum 7 stages)

Possible to connect 12 modules. Possible to connect 8 modules.

5CH 2CH

Linear interpolation (4 axes max.), circular interpolation (2 axes), Helical interpolation (3 axes)

Automatic trapezoidal acceleration/deceleration, S-curve acceleration/deceleration

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

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

3200 points(Positioning data can be designated indirectly)

Proximity dog type, Count type, Data set type (2 types)

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

Compensation

Programming language

Program capacity

JOG operation function

Synchronous encoderoperation function

M-code function

Number of SSCNET I/F

Number of motion slots

Absolute position system

Manual pulse generator/Synchronous encoder/Servo external signalsinterface module

Q172LX : 4 modules usableQ172EX : 6 modules usable

Q173PX : 4 modules usable

Q172LX : 1 module usableQ172EX : 4 modules usable

Q173PX : 3 modules usable

Acceleration/deceleration control

Number of positioningpoints

Home position returnfunction

Q173CPU Q172CPU Item Q173CPU/Q172CPU

Program capacity

Motion SFC program

Operation control program (F/FS)/Transition program(G)

Executed specification

Number of devices(Device in the Motion CPU only)(Included the positioning dedicated device)

Q172CPU

Q173CPU

Q02CPU

Q02HCPU

Q06HCPU

Q12HCPU

Q25HCPU

Q33B

Q35B

Q38B

Q312B

Q63B

Q65B

Q68B

Q612B

QC B

Q61P-A1

Q61P-A2

Q63P

Q172LX

Q172EX

Q173PX

MR-HENC

MR-JHSCBL M-H, L

Q173DV

Q170BAT

MR-BAT/A6BAT

MR-HDP01

Q172HBCBL M

Q172HBCBL M-B

Q172J2BCBL M

Q172J2BCBL M-B

Q173HB CBL M*

Q173J2B CBL M*

Q173DVCBL M

MR-HBUS M

MR-J2HBUS M-A

MR-J2HBUS M

A30BD-PCF

A30CD-PCF

Q170BDCBL M

Q170CDCBL M

Motion CPU module

PLC CPU module

CPU base module

Extension base module

Extension cable

Power supply cable

Servo external signals input module

Serial absolute synchronous encoder interface module

Manual pulse generator interface module

Serial ABS synchronous encoder

Serial ABS synchronous encoder cable

Dividing unit

Battery unit

Battery

Manual pulse generator

SSCNET cable between CPU-amplifier

SSCNET cable between amplifier-amplifier

SSC I/F board

SSC I/F card

SSC I/F board cable

SSC I/F card cable

For maximum 8 axis control, operation cycle 1.77ms and above

For maximum 32 axis control, operation cycle 0.88ms and above

Program 28k steps

Program 28k steps

Program 60k steps

Program 124k steps

Program 252k steps

Power supply + CPU + 3-I/O slot, for Q Series module mounting

Power supply + CPU + 5-I/O slot, for Q Series module mounting

Power supply + CPU + 8-I/O slot, for Q Series module mounting

Power supply + CPU + 12-I/O slot, for Q Series module mounting

Power supply + 3-I/O slot, for Q Series module mounting

Power supply + 5-I/O slot, for Q Series module mounting

Power supply + 8-I/O slot, for Q Series module mounting

Power supply + 12-I/O slot, for Q Series module mounting

Length 0.6m, 1.2m, 3m, 5m, 10m

100 to 120VAC, Input/5VDC 6A output

200 to 240VAC, Input/5VDC 6A output

24VDC Input/5VDC 6A output

Servo external signal input 32 points (FLS·RLS·STOP·DOG/CHANGE×8)

Serial ABS synchronous encoder MR-HENC interface × 2 modules, tracking input: 2 points

Manual pulse generator MR-HDP01/INC synchronous encoder interface: 3 modules, tracking input: 3 points

Resolution: 16384PLS/rev, tolerable rotation speed: 4300r/min

For connecting serial ABS synchronous encoder and Q172EX (when not using tracking enable)

SSCNET signal branching for Q173CPU, with external battery holder

External battery holder

For serial ABS synchronous encoder back, for motion CPU external battery

Resolution: 25PLS/rev, maximum speed: 200r/min, open collector output

0.5m, 1m, 5m for connection between Q172CPU ,/ MR-H-BN

0.5m, 1m, 5m for connection between Q172CPU ,/ MR-H-BN/Q170BAT

0.5m, 1m, 5m for connection between Q172CPU ,/ MR-J2S-B/MR-J2-B/MR-J2-03B5

0.5m, 1m, 5m for connection between Q172CPU ,/ MR-J2S-B/MR-J2-B/MR-J2-03B5/Q170BAT

0.5m, 1m, 5m for connection between Q173CPU ,/ MR-H-BN

0.5m, 1m, 5m for connection between Q173CPU ,/ MR-J2S-B/MR-J2-B/MR-J2-03B5

0.5, 1m for connection between Q173CPU ,/ branching module Q173DV

0.5m, 1m, 5m for connection between MR-H-BN ,/ MR-H-BN

0.5m, 1m, 5m for connection between MR-H-BN ,/ MR-J2S-B/MR-J2-B/MR-J2-03B5

0.5m, 1m, 5m for connection between MR-J2S-B/MR-J2-B/MR-J2-03B5 ,/ MR-J2S-B/MR-J2-B/MR-J2-03B5

ISA bus mounted type 2CH/board

PCMCIA TYPE II 1CH/card

3m, 5m, 10m for A30BD-PCF

3m, 5m, 10m for A30CD-PCF

Part name Type Details

Programming environment

Operating environment

Integrated start-up support software packages

Software package list

Motion module specifications

Motion control specificationsAmple programming environmentsAmple programming environments Motion SFC performance specifications

OS

CPU

Memory capacity

Hard disk capacity

Display

Application software

WindowsNT 4.0 (Service Pack 2 and above) / Windows 98

More than pentium 133MHz

More than 32M bytes

SW3RNC-GSVE : more than 51MB + SW3RNC-GSVHELPE : more than 108MB (possible to select installation)

More than 800 × 600 pixels

More than 256 colors

Word 97, Excel 97 (for document printing)

More than Visual C++4.0, more than Visual Basic 4.03 (32 bit) (When communication API function use.)

Conveyor assembly software : SW6RN-GSV13PAutomatic machinery software : SW6RN-GSV22PCam data creation software : SW3RN-CAMPDigital oscilloscope software : SW6RN-DOSCPCommunication system software : SW6RN-SNETPDocument print software : SW3RN-DOCPRNP, SW20RN-DOCPRNP

SW6RNC-GSVE(Integrated start-up support software (1 CD-ROM))

(When using the A30CD-PCF, the PC card driver for Windows NT / Windows 98, provided by the personal computer manufacturer must be used.)

(Note) : Windows, Word, Excel, Visual C++ and Visual Basic is a trade-mark of the Microsoft Corporation.: Before exporting the personal computer as a single unit or assembled into a device, consult with the manufacturer and check that the OS (Windows, etc.) and network browser incorporated in the personal computer

comply with the foreign exchange control laws.

SW6RNC-GSVHELPE (Operation manual (1 CD-ROM))

Installation manual

SW6RNC-GSVPROE

A30CD-PCF (SSC I/F card (PCMCIA TYPE II 1CH/card))

Q170CDCBL3M (A30CD-PCF cable 3m(9.84ft.))

Resolution

Colors

SW6RN-GSVPROE

SW6RNC-GSVSETE

5

Model name Details

Main OS software operating system software

Peripheral software

Main OS software

Peripheral software

Peripheral software Programming software

For conveyor assembly

For automatic machinery

For digital oscilloscope

Application Part name

PC/AT compatible with which WindowsNT 4.0 / Windows 98 operates normally and the following use is filled.

Use with Q PLC

● Color display of step in execution on flow chart● Device monitoring and testing of execution and designated step

● Greatly reduced debugging time with powerful debug function(one-step execution, forced shift, brake, forced end)

● Current value monitor, axis monitor, error history monitor● Various tests such as zeroing and JOG by clicking mouse

● Data sampling synchronized with motion control cycle● Waveform display, dump display, file save, printing

Monitor.Test Digital oscilloscope

Motion SFC debugging modeMotion SFC monitor

6*The mark indicates the number of SSCNET lines (None: 1 line, 2: 2 lines, 3: 3 lines, 4: 4 lines)

Package type

Q173CPU Q172CPU

SW6RN-SV13QB SW6RN-SV13QD

SW6RN-GSV13P

SW6RN-SV22QA SW6RN-SV22QC

SW6RN-GSV22P

SW3RN-CAMP

SW3RN-DOSCP

Device configuration

*The digital oscilloscope cannot be used with USB or RS-232 communication.

Item

Number. of control axes

Operation cycle

Interpolation functions

Number of Motion SFC programs 256 (No.0 to 255)

Max. 4094 steps

255

255

Up to 4 levels

4096 (G0 to G4095)

Max. approx. 64k bytes (32766 steps)

Max. 8192 blocks (in the case of 4 steps (min)/blocks)

Max. 128 (comment included)

Max. 64 (operand : constants, word device, bit devices)

Max. 32

Max. 256

Max. 256 steps/all programs

Executed in motion main cycle

Calculation expression/bit conditional expression

Calculation expression/bit conditional expression/comparison conditional expression

Executed in fixed cycle(0.88ms, 1.77ms, 3.55ms, 7.11ms, 14.2ms)

Executed when input ON is set among interrupt module (16 points).

Executed with interrupt from PLC CPU.(When PLC CPU dedicated command S(P). GINT is executed)

Max. 64k bytes (Included Motion SFC chart comments)

Number of transition programs

Code size/program

Number of blocks (line)/programs

Number of characters/programs

Number of operand/programs

Number of multi executed programs

8192 points

Total 256 points

Number of multi active steps

Internal relay (M)

Latch relay (L)

Link relay (B)

Annunciators (F)

Special relay (M)

Data register (D)

Link register (W)

Special register (D)

Motion register (#)

Coasting timer (FT)

Total M+L:8192 points

2048 points

8192 points

256 points

8192 points

8192 points

256 points

8192 points

1 point (888µs)

( ) nesting/block

Operation control program

External interrupt

Executed when input ON is set among interrupt module (16 points).NMI task

Normal task

Number of I/O (X/Y)

Number of real I/O (PX/PY)

Descriptiveexpression

Executedtask

Event task (Execution can be masked.)

Transition program

Fixed cycle

PLC interrupt

Motion SFC chart size/program

Number of Motion SFC steps/program

Number of selective branches/branch

Number of parallel branches/branch

Parallel branch nesting

287k bytes

224k bytes

Code total (Motion SFC chart + Operation control + Transition)

Text total(Operation control + Transition)

4096 with F (Once execution type) and FS (Scan execution type) combined. (F/FS0 to F/FS4095)

Number of operation control programs

Control modes

32 axes 8 axes

0.88ms~

Backlash compensation, Electronic gear

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

14k steps

Provided

Maximum 64 slots (Number of Q Series extension stages: Maximum 7 stages)

Possible to connect 12 modules. Possible to connect 8 modules.

5CH 2CH

Linear interpolation (4 axes max.), circular interpolation (2 axes), Helical interpolation (3 axes)

Automatic trapezoidal acceleration/deceleration, S-curve acceleration/deceleration

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

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

3200 points(Positioning data can be designated indirectly)

Proximity dog type, Count type, Data set type (2 types)

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

Compensation

Programming language

Program capacity

JOG operation function

Synchronous encoderoperation function

M-code function

Number of SSCNET I/F

Number of motion slots

Absolute position system

Manual pulse generator/Synchronous encoder/Servo external signalsinterface module

Q172LX : 4 modules usableQ172EX : 6 modules usable

Q173PX : 4 modules usable

Q172LX : 1 module usableQ172EX : 4 modules usable

Q173PX : 3 modules usable

Acceleration/deceleration control

Number of positioningpoints

Home position returnfunction

Q173CPU Q172CPU Item Q173CPU/Q172CPU

Program capacity

Motion SFC program

Operation control program (F/FS)/Transition program(G)

Executed specification

Number of devices(Device in the Motion CPU only)(Included the positioning dedicated device)

Q172CPU

Q173CPU

Q02CPU

Q02HCPU

Q06HCPU

Q12HCPU

Q25HCPU

Q33B

Q35B

Q38B

Q312B

Q63B

Q65B

Q68B

Q612B

QC B

Q61P-A1

Q61P-A2

Q63P

Q172LX

Q172EX

Q173PX

MR-HENC

MR-JHSCBL M-H, L

Q173DV

Q170BAT

MR-BAT/A6BAT

MR-HDP01

Q172HBCBL M

Q172HBCBL M-B

Q172J2BCBL M

Q172J2BCBL M-B

Q173HB CBL M*

Q173J2B CBL M*

Q173DVCBL M

MR-HBUS M

MR-J2HBUS M-A

MR-J2HBUS M

A30BD-PCF

A30CD-PCF

Q170BDCBL M

Q170CDCBL M

Motion CPU module

PLC CPU module

CPU base module

Extension base module

Extension cable

Power supply cable

Servo external signals input module

Serial absolute synchronous encoder interface module

Manual pulse generator interface module

Serial ABS synchronous encoder

Serial ABS synchronous encoder cable

Dividing unit

Battery unit

Battery

Manual pulse generator

SSCNET cable between CPU-amplifier

SSCNET cable between amplifier-amplifier

SSC I/F board

SSC I/F card

SSC I/F board cable

SSC I/F card cable

For maximum 8 axis control, operation cycle 1.77ms and above

For maximum 32 axis control, operation cycle 0.88ms and above

Program 28k steps

Program 28k steps

Program 60k steps

Program 124k steps

Program 252k steps

Power supply + CPU + 3-I/O slot, for Q Series module mounting

Power supply + CPU + 5-I/O slot, for Q Series module mounting

Power supply + CPU + 8-I/O slot, for Q Series module mounting

Power supply + CPU + 12-I/O slot, for Q Series module mounting

Power supply + 3-I/O slot, for Q Series module mounting

Power supply + 5-I/O slot, for Q Series module mounting

Power supply + 8-I/O slot, for Q Series module mounting

Power supply + 12-I/O slot, for Q Series module mounting

Length 0.6m, 1.2m, 3m, 5m, 10m

100 to 120VAC, Input/5VDC 6A output

200 to 240VAC, Input/5VDC 6A output

24VDC Input/5VDC 6A output

Servo external signal input 32 points (FLS·RLS·STOP·DOG/CHANGE×8)

Serial ABS synchronous encoder MR-HENC interface × 2 modules, tracking input: 2 points

Manual pulse generator MR-HDP01/INC synchronous encoder interface: 3 modules, tracking input: 3 points

Resolution: 16384PLS/rev, tolerable rotation speed: 4300r/min

For connecting serial ABS synchronous encoder and Q172EX (when not using tracking enable)

SSCNET signal branching for Q173CPU, with external battery holder

External battery holder

For serial ABS synchronous encoder back, for motion CPU external battery

Resolution: 25PLS/rev, maximum speed: 200r/min, open collector output

0.5m, 1m, 5m for connection between Q172CPU ,/ MR-H-BN

0.5m, 1m, 5m for connection between Q172CPU ,/ MR-H-BN/Q170BAT

0.5m, 1m, 5m for connection between Q172CPU ,/ MR-J2S-B/MR-J2-B/MR-J2-03B5

0.5m, 1m, 5m for connection between Q172CPU ,/ MR-J2S-B/MR-J2-B/MR-J2-03B5/Q170BAT

0.5m, 1m, 5m for connection between Q173CPU ,/ MR-H-BN

0.5m, 1m, 5m for connection between Q173CPU ,/ MR-J2S-B/MR-J2-B/MR-J2-03B5

0.5, 1m for connection between Q173CPU ,/ branching module Q173DV

0.5m, 1m, 5m for connection between MR-H-BN ,/ MR-H-BN

0.5m, 1m, 5m for connection between MR-H-BN ,/ MR-J2S-B/MR-J2-B/MR-J2-03B5

0.5m, 1m, 5m for connection between MR-J2S-B/MR-J2-B/MR-J2-03B5 ,/ MR-J2S-B/MR-J2-B/MR-J2-03B5

ISA bus mounted type 2CH/board

PCMCIA TYPE II 1CH/card

3m, 5m, 10m for A30BD-PCF

3m, 5m, 10m for A30CD-PCF

Part name Type Details

SV0205-1 Printed in Japan <MDOC>New publication, effective May. 2002

Specifications subject to change without notice.

HEAD OFFICE : MITSUBISHI DENKI BLDG., 2-2-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN