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Mitsubishi Electric Q172DCPU Migration Manual
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Mitsubishi Electric Q172DCPU Migration Manual

Motion controller
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MITSUBISHI ELECTRIC SERVO SYSTEM CONTROLLER
Migration Guide of Motion Controller
[Q17nDCPU(-S1)
Q17nDSCPU]

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Summary of Contents for Mitsubishi Electric Q172DCPU

  • Page 1 MITSUBISHI ELECTRIC SERVO SYSTEM CONTROLLER Migration Guide of Motion Controller [Q17nDCPU(-S1) Q17nDSCPU]...

  • Page 3: Safety Precautions

    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.
  • Page 4 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.
  • Page 5 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.
  • Page 6 CAUTION The dynamic brakes must be used only on errors that cause the forced stop, emergency stop, or servo OFF. These brakes must not be used for normal braking. The brakes (electromagnetic brakes) assembled into the servomotor are for holding applications, and must not be used for normal braking.
  • Page 7 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.
  • Page 8 CAUTION The Motion controller, servo amplifier and servomotor are precision machines, so do not drop or apply strong impacts on them. Securely fix the Motion controller, servo amplifier and servomotor to the machine according to the instruction manual. If the fixing is insufficient, these may come off during operation. Always install the servomotor with reduction gears in the designated direction.
  • Page 9 (4) Wiring CAUTION Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal screws for tightness after wiring. Failing to do so may lead to run away of the servomotor. After wiring, install the protective covers such as the terminal covers to the original positions. Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF) on the output side of the servo amplifier.
  • Page 10 (6) Usage methods CAUTION Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the Motion controller, servo amplifier or servomotor. Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection. Do not attempt to disassemble and repair the units excluding a qualified technician whom our company recognized.
  • Page 11 (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.
  • Page 12 When considering this product for operation in special applications such as machinery or systems used in passenger transportation, medical, aerospace, atomic power, electric power, or submarine repeating applications, please contact your nearest Mitsubishi Electric sales representative. Although this product was manufactured under conditions of strict quality control, you are strongly advised to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the product is likely to cause a serious accident.

  • Page 13: Revisions

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

  • Page 14: Table Of Contents

    INTRODUCTION Please read this manual carefully so that equipment is used to its optimum. CONTENTS Safety Precautions ............................A- 1 Revisions ................................ A-11 Contents ................................. A-12 1. OVERVIEW OF MIGRATION FROM Q17nDCPU(-S1) TO Q17nDSCPU 1- 1 to 1-16 1.1 Benefits of Migration ..........................1- 1 1.2 Main Target Models for Migration ......................

  • Page 15: Overview Of Migration From Q17Ndcpu(-S1) To Q17Ndscpu

    1. OVERVIEW OF MIGRATION FROM Q17nDCPU(-S1) TO Q17nDSCPU 1.1 Benefits of Migration Migrating from the existing system using Q173DCPU(-S1)/Q172DCPU(-S1) Motion controllers to a new system using iQ Platform Motion controllers Q173DSCPU/Q172DSCPU (hereinafter called Q17nDSCPU), which support the programs on the Q173DCPU(-S1)/Q172DCPU(-S1), is recommended.

  • Page 16: Main Target Models For Migration

    (015: 0.15m, 03: 0.3m, 05: 0.5m, 1: 1m, 5: 5m, 10: 10m, 20: 20m, 30: 30m, 40: 40m, 50: 50m) (Note-4): For a long distance cable of up to 100 m or an ultra-long bending life cable, contact Mitsubishi Electric System &...
  • Page 17 After migration Before migration OS Type CPU model OS model CPU model OS Type OS model Q173DCPU(-S1) SW8DNC-SV13QB Q173DSCPU SW8DNC-SV13QJ SV13 SV13 Q172DCPU(-S1) SW8DNC-SV13QD Q172DSCPU SW8DNC-SV13QL Q173DCPU(-S1) SW8DNC-SV22QA Q173DSCPU SW8DNC-SV22QJ SV22 SV22 Q172DCPU(-S1) SW8DNC-SV22QC Q172DSCPU SW8DNC-SV22QL (Note): The operating system software (SV22) is installed in Q17nDSCPU at the time of product purchase.
  • Page 18 1. OVERVIEW OF MIGRATION FROM Q17nDCPU(-S1) TO Q17nDSCPU (6) Servo system network Item ← (same as SSCNETIII) Communications medium Optical fiber cable Communications speed 50 Mbps 150 Mbps Send 0.44 ms/0.88 ms 0.22 ms/0.44 ms/0.88 ms Communications cycle Receive 0.44 ms/0.88 ms 0.22 ms/0.44 ms/0.88 ms ←...

  • Page 19: System Configuration

    Servo amplifier MR-J3-B (Note): Production Q173DCPU(-S1) discontinued in May 2019. : 2 lines (Up to 32 axes) PERIPHERAL I/F (Note-1) Q172DCPU(-S1) : 1 line (Up to 8 axes) Servo motor HC/HA/HF series Panel personal computer (Note-1): Q17nDCPU-S1 only 1 - 5...

  • Page 20: System Configuration Using Q17Ndscpu After Migration

    1. OVERVIEW OF MIGRATION FROM Q17nDCPU(-S1) TO Q17nDSCPU 1.3.2 System configuration using Q17nDSCPU after migration Manual pulse generator interface module Manual pulse generator Q173DPX MR-HDP01 Main base unit Serial absolute Q3 DB synchronous Power supply module encoder Q6 P Q171ENC-W8 PLC CPU module Synchronous encoder MR-HENC...

  • Page 21: Case Study On Migration

    1. OVERVIEW OF MIGRATION FROM Q17nDCPU(-S1) TO Q17nDSCPU 1.4 Case Study on Migration The following describes a case study for migrating the existing system using Q17nDCPU(-S1). Consideration of migration Whole system migration? Phased migration? (1) Whole system migration (2) Phased migration (3) Separate repair →...
  • Page 22 1. OVERVIEW OF MIGRATION FROM Q17nDCPU(-S1) TO Q17nDSCPU 1.4.1 Whole system migration (recommended) The following shows the system when the whole system migration takes place. [Model after migration] Q17nDSCPU [Current model] Q17nDCPU(-S1) MR-J3-B MR-J4-B (Note): Production discontinued in May 2019. HC/HA/HF servo motor servo motor...

  • Page 23: Phased Migration

    1. OVERVIEW OF MIGRATION FROM Q17nDCPU(-S1) TO Q17nDSCPU 1.4.2 Phased migration The following shows the procedure for the phased migration in which the controller is replaced with Q17nDSCPU in the first phase, and then the MR-J3-B servo amplifiers are gradually replaced with MR-J4-B in the following phases.

  • Page 24: Separate Repair

    1. OVERVIEW OF MIGRATION FROM Q17nDCPU(-S1) TO Q17nDSCPU 1.4.3 Separate repair The following shows the procedure for the separate repair. (1) When the controller has malfunctioned. Replace only the controller. + QnUD(E)(H)(V)CPU + Q17nDSCPU (Notes): MR-J3-B • MR-J3-B can operate with the replaced controller. (Note): Production The existing servo amplifiers and servo motors can be discontinued...
  • Page 25 1. OVERVIEW OF MIGRATION FROM Q17nDCPU(-S1) TO Q17nDSCPU (3) When the HC/HA/HF servo motor has malfunctioned Simultaneously replace the servo amplifier and the malfunctioned servo motor. Replacement with MR-J4-B (J3 compatibility mode) Replacement with HG servo motor 1 - 11...

  • Page 26: Precautions For Powering Off Only A Desired Servo Amplifier

    1. OVERVIEW OF MIGRATION FROM Q17nDCPU(-S1) TO Q17nDSCPU 1.4.4 Precautions for powering off only a desired servo amplifier Use the SSCNETIII/H compatible MR-MV200 optical hub unit for powering off only a desired servo amplifier. Refer to section 1.4.5 for details of the MR-MV200 optical hub unit. The system with the MR-MV200 is shown below.

  • Page 27: Configuration When The Mr-Mv200 Optical Hub Unit Is Used

    1. OVERVIEW OF MIGRATION FROM Q17nDCPU(-S1) TO Q17nDSCPU 1.4.5 Configuration when the MR-MV200 optical hub unit is used The MR-MV200 can branch a single SSCNETIII/H network line in three separate directions (three outputs per one input). A connection example when using the MR-MV200 and the specifications are shown below. Cascade topology Star topology Line topology...

  • Page 28: Project Diversion

    1. OVERVIEW OF MIGRATION FROM Q17nDCPU(-S1) TO Q17nDSCPU 1.5 Project Diversion The following functions can convert the projects of Q17nDCPU(-S1) into those of Q17nDSCPU. For the procedure for project diversion, refer to section “2.3.2 Project diversion procedures by engineering environment”. (1) Motion CPU project “Project diversion function”...

  • Page 29: Relevant Documents

    1. OVERVIEW OF MIGRATION FROM Q17nDCPU(-S1) TO Q17nDSCPU 1.6 Relevant Documents Refer to the following relevant documents for the replacement. 1.6.1 Relevant catalogs MITSUBISHI ELECTRIC SERVO SYSTEM SERVO AMPLIFIERS & MOTORS CONTROLLERS MELSERVO-J4 L(NA)03062 L(NA)03058 Series to J4 Replacement of Virtual mode with Advanced...

  • Page 30: Relevant Manuals

    1. OVERVIEW OF MIGRATION FROM Q17nDCPU(-S1) TO Q17nDSCPU 1.6.2 Relevant manuals (1) Motion controller Manual title Manual No. Q173D(S)CPU/Q172D(S)CPU Motion Controller User's Manual IB-0300133 Q173D(S)CPU/Q172D(S)CPU Motion Controller Programming Manual (COMMON) IB-0300134 Q173D(S)CPU/Q172D(S)CPU Motion Controller (SV13/SV22) Programming Manual IB-0300135 (Motion SFC) Q173D(S)CPU/Q172D(S)CPU Motion Controller (SV13/SV22) Programming Manual IB-0300136 (REAL MODE)

  • Page 31: Details Of Migration From Q17Ndcpu(-S1) To Q17Ndscpu

    2.1 Table of Components and Software Prepare modules, servo amplifiers, operating system software, and an engineering environment according to the following tables in this section. Model Model Product name before migration after migration Q172DCPU Q172DSCPU Q173DCPU Q173DSCPU (Note-1) Motion CPU module Q172DCPU-S1 Q172DSCPU...
  • Page 32 (015: 0.15m, 03: 0.3m, 05: 0.5m, 1: 1m, 5: 5m, 10: 10m, 20: 20m, 30: 30m, 40: 40m, 50: 50m) (Note-6): For a long distance cable of up to 100 m or an ultra-long bending life cable, contact Mitsubishi Electric System &...

  • Page 33: Servo Amplifiers And Servo Motors

    2. DETAILS OF MIGRATION FROM Q17nDCPU(-S1) TO Q17nDSCPU 2.1.1 Servo amplifiers and servo motors The servo system network is changed from SSCNETIII to SSCNETIII/H. Select a SSCNETIII/H compatible servo amplifier and a servo motor connectable to the selected servo amplifier. (1) Servo amplifiers/Rotary servo motors Before migration from Q17nDCPU(-S1) After migration to Q17nDSCPU...

  • Page 34: Operating System Software

    After migration Before migration CPU model OS Type OS model CPU model OS Type OS model Q173DCPU(-S1) SW8DNC-SV13QB Q173DSCPU SW8DNC-SV13QJ SV13 SV13 Q172DCPU(-S1) SW8DNC-SV13QD Q172DSCPU SW8DNC-SV13QL Q173DCPU(-S1) SW8DNC-SV22QA Q173DSCPU SW8DNC-SV22QJ SV22 SV22 Q172DCPU(-S1) SW8DNC-SV22QC Q172DSCPU SW8DNC-SV22QL (Note): The operating system software (SV22) is installed in Q17nDSCPU at the time of product purchase.

  • Page 35: Differences Between Q17Ndcpu(-S1) And Q17Ndscpu

    2. DETAILS OF MIGRATION FROM Q17nDCPU(-S1) TO Q17nDSCPU 2.2 Differences Between Q17nDCPU(-S1) and Q17nDSCPU (1) Performance and specifications ► An item that requires a setting change at migration. Models Q173DCPU(-S1) Q172DCPU(-S1) Q173DSCPU Q172DSCPU Points for migration Items Number of control...
  • Page 36 2. DETAILS OF MIGRATION FROM Q17nDCPU(-S1) TO Q17nDSCPU (Continued) Models Q173DCPU(-S1) Q172DCPU(-S1) Q173DSCPU Q172DSCPU Points for migration Items • Word 4CH, Bit 8CH • Word 16CH, Bit 16CH Digital oscilloscope • Real-time display • Real-time display − function • Sampling points: up to 8192 •...
  • Page 37 Set the servo amplifier’s rotary switch SSCNET configuration (Up to 16 axes/line) (Up to 16 axes/line) and connection according to the SSCNET configuration. Q172DCPU(-S1): 1 line Q172DSCPU: 1 line (Up to 8 axes/line) (Up to 16 axes/line) Electronic gear Change “Number of pulses per revolution”...
  • Page 38 2. DETAILS OF MIGRATION FROM Q17nDCPU(-S1) TO Q17nDSCPU (4) Operating system software (a) Motion SFC (SV13/SV22) Differences Items Q17nDCPU(-S1) Q17nDSCPU Code in total (Motion SFC chart + Operation 543k bytes 652k bytes Motion SFC control + Transition) program capacity Text in total 484k bytes 668k bytes (Operation control + Transition)
  • Page 39 Set an operation cycle where necessary by following the table below because the change in the operation cycle may change program execution timing. [Control axes and operation cycle at default] Model Q173DCPU(-S1) Q172DCPU(-S1) Q173DSCPU Q172DSCPU Item Number of control...

  • Page 40: Project Diversion

    2. DETAILS OF MIGRATION FROM Q17nDCPU(-S1) TO Q17nDSCPU 2.3 Project Diversion 2.3.1 List of divertible/not divertible data (SV13/SV22) Q17nDCPU(-S1) data name Divertible/not divertible Remarks System settings Basic settings ○ Base setting ○ Multiple CPU setting System basic setting ○ ○ SSCNET setting (Note-1) ○...

  • Page 41: Project Diversion Procedures By Engineering Environment

    2. DETAILS OF MIGRATION FROM Q17nDCPU(-S1) TO Q17nDSCPU 2.3.2 Project diversion procedures by engineering environment The following shows the project diversion procedures for Motion CPU. The contents of this manual are based on the specifications of the engineering environment (MELSOFT MT Works2 Ver.1.150G). Update to the latest version when replacing. (1) Procedures for Motion CPU projects diversion by MELSOFT MT Developer2 Motion CPU projects can be diverted by “Project diversion function”...
  • Page 42 2. DETAILS OF MIGRATION FROM Q17nDCPU(-S1) TO Q17nDSCPU 2) Click “Browse” on the “Divert MT Developer2 Format Project” screen. 3) Select the project to be diverted on the file selection window. Click [Open] to update the selected project (MT Developer2 Format Project). 2 - 12...
  • Page 43 2. DETAILS OF MIGRATION FROM Q17nDCPU(-S1) TO Q17nDSCPU 4) Select the replaced model for [Select Type/OS Type] (the setting example below: Q173DSCPU). When SV22 is selected for OS type, the “Operation Method” is required to set, however, there is no need to change the original setting because “Virtual Mode Switching Method”...
  • Page 44 2. DETAILS OF MIGRATION FROM Q17nDCPU(-S1) TO Q17nDSCPU 5) Check the box of the data to be diverted in the “File Selection”. Click “Divert”. 2 - 14...
  • Page 45 2. DETAILS OF MIGRATION FROM Q17nDCPU(-S1) TO Q17nDSCPU 6) When “System Setting/Servo Data Setting” is selected in “File Selection” in 5), execute the series conversion of the servo amplifier. Select the servo amplifiers and the servo motors to be used for the replaced controller. Click "OK". (Note): Refer to “Q173D(S)CPU/Q172D(S)CPU Motion Controller User's Manual”...
  • Page 46 2. DETAILS OF MIGRATION FROM Q17nDCPU(-S1) TO Q17nDSCPU (b) Change type/OS type change function 1) Start MELSOFT MT Developer2. Select [Change Type/OS Type…] in “Project” menu to open “Change Type/OS Type” screen. 2) Select the replaced Motion CPU (the setting example below: Q173DSCPU) for “Type” and the new operating system software model for “OS Type”.
  • Page 47 2. DETAILS OF MIGRATION FROM Q17nDCPU(-S1) TO Q17nDSCPU 3) Execute the series conversion of the servo amplifier. Select the servo amplifiers and the servo motors to be used for the replaced controller. Click "OK". (Note): Refer to “Q173D(S)CPU/Q172D(S)CPU Motion Controller User's Manual” for the servo system networks supported by the replaced servo amplifiers and SSCNETIII compatible devices (SSCNETIII or SSCNETIII/H).
  • Page 48 2. DETAILS OF MIGRATION FROM Q17nDCPU(-S1) TO Q17nDSCPU MEMO 2 - 18...
  • Page 49 WARRANTY Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company.
  • Page 50 Microsoft and Windows are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries. Ethernet is a registered trademark of Fuji Xerox Corporation in Japan. The company names, system names and product names mentioned in this document are either registered trademarks or trademarks of their respective companies.
  • Page 52 20 Waterford Office Park, 189 Witkoppen Road, Fourways, South Africa China Mitsubishi Electric Automation (China) Ltd. Tel : +86-21-2322-3030 Mitsubishi Electric Automation Center, No.1386 Hongqiao Road, Shanghai, China Taiwan SETSUYO ENTERPRISE CO., LTD. Tel : +886-2-2299-2499 6F, No.105, Wugong 3rd Road, Wugu District, New Taipei City 24889, Taiwan Korea Mitsubishi Electric Automation Korea Co., Ltd.

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