q173 Manual

Q173CPU(N)/Q172CPU(N)
Motion Controller
User's Manual
-Q172CPU
-Q173CPU
-Q172CPUN
-Q173CPUN
SAFETY PRECAUTIONS
(Read these precautions before using.)
When using this equipment, thoroughly read this manual and the associated manuals introduced in this
manual. Also pay careful attention to safety and handle the module properly.
These precautions apply only to this equipment. Refer to the Users manual of the QCPU module to use
for a description of the PLC system safety precautions.
These SAFETY PRECAUTIONS classify the safety precautions into two categories: "DANGER" and
"CAUTION".
Indicates that incorrect handling may cause hazardous conditions,

! DANGER resulting in death or severe injury.
Indicates that incorrect handling may cause hazardous conditions,

! CAUTION 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.
Store this manual in a safe place so that you can take it out and read it whenever necessary. Always
forward it to the end user.
A-1
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.
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 servomotor. (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 servomotor. 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 servomotor 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, servomotor and regenerative resistor on
inflammable material. Direct installation on flammable material or near flammable material may
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.
A-2
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 servo amplifier's heat radiating fins, regenerative resistor and servomotor, 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 servomotor 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, servomotor and regenerative resistor with the combi-
nations listed in the instruction manual. Other combinations may lead to fire or faults.
If safety standards (ex., robot safety rules, etc.,) apply to the system using the Motion controller,
servo amplifier and servomotor, 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 servomotor 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.
A-3
! CAUTION
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.
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.
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
servomotor) used in a system must be compatible with the Motion controller, servo amplifier
and servomotor.
Install a cover on the shaft so that the rotary parts of the servomotor 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 servomotor are connected with a
timing belt, etc.). Install a stopping device to ensure safety on the machine side.
(2) Parameter settings and programming

! CAUTION
Set the parameter values to those that are compatible with the Motion controller, servo amplifier,
servomotor 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.
A-4
! CAUTION
Set the servomotor 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 servomotor 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
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 special function module's instruction manual for the
program corresponding to the special function module.
(3) Transportation and installation

! CAUTION
Transport the product with the correct method according to the mass.
Use the servomotor suspension bolts only for the transportation of the servomotor. Do not
transport the servomotor 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 servomotor, 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.
A-5
! CAUTION
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 servomotors that are damaged or
that have missing parts.
Do not block the intake/outtake ports of the servomotor 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 servomotor.
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 and servo amplifier 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. Failing to do so
may lead to oil leaks.
Store and use the unit in the following environmental conditions.
Conditions
Environment
Motion controller/Servo amplifier Servomotor
Ambient 0°C to +40°C (With no freezing)
According to each instruction manual.
temperature (32°F to +104°F)
80% RH or less
Ambient humidity According to each instruction manual.
(With no dew condensation)
Storage -20°C to +65°C
According to each instruction manual.
temperature (-4°F to +149°F)
Indoors (where not subject to direct sunlight).
Atmosphere
No corrosive gases, flammable gases, oil mist or dust must exist
Altitude 1000m (3280.84ft.) or less above sea level
Vibration According to each instruction manual
When coupling with the synchronization encoder or servomotor 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 servomotor 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.
A-6
(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.
Correctly connect the output side (terminals U, V, W). Incorrect connections will lead the
servomotor to operate abnormally.
Do not connect a commercial power supply to the servomotor, 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 Servo amplifier
brake signals, etc. Incorrect installation may lead to signals VIN

(24VDC)
not being output when trouble occurs or the protective
functions not functioning. Control output
RA
signal
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 combing 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 value motor has been replaced, always perform a home position return.
A-7
(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.
The units must be disassembled and repaired by a qualified technician.
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 "EMC Installation Guidelines"
(data number IB(NA)-67339) 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.
Conditions
Item
Q61P-A1 Q61P-A2 Q62P Q63P Q64P
+10% +10% +10% +30% +10%
100 to 120VAC 200 to 240VAC 100 to 240VAC 24VDC 100 to 120VAC /
-15% -15% -15% -35% -15%
+10%
Input power 200 to 240VAC
-15%
(85 to 132VAC) (170 to 264VAC) (85 to 264VAC) (15.6 to 31.2VDC) (85 to 132VAC/
170 to 264VAC)
Input frequency 50/60Hz ±5%
Tolerable
momentary 20ms or less
power failure
(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 servomotor
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.
Shut off with the
Shut off with servo ON signal OFF, emergency stop
alarm, magnetic brake signal. signal(EMG).
Servomotor
RA1 EMG
Electro-
magnetic 24VDC
brakes
A-8
! CAUTION
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.)
(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.
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 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.
A-9
(9) About processing of waste
When you discard Motion controller, servo amplifier, a battery (primary battery) and other option articles,
please follow the law of each country (area).
! CAUTION
This product is not designed or manufactured to be used in equipment or systems in situations
that can affect or endanger human life.
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 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.
(10) General cautions

! CAUTION
All drawings provided in the instruction manual show the state with the covers and safety
partitions removed to explain detailed sections. When operating the product, always return the
covers and partitions to the designated positions, and operate according to the instruction
manual.
A - 10
REVISIONS
The manual number is given on the bottom left of the back cover.
Print Date Manual Number Revision
Nov., 2001 IB(NA)-0300040-A First edition
May., 2002 IB(NA)-0300040-B [Addition model]
Q173CPUN/Q172CPUN, MR-J2M-B, A10BD-PCF
[Addition function]
• For Windows2000
• ROM operation
•MODE LED Installation mode/ROM writing mode
•BOOT LED Installation mode/ROM writing mode
[Partial correction]
Sep., 2003 IB(NA)-0300040-C [Addition model]
Q173CPUN-T/Q172CPUN-T, A31TU-D3K13/A31TU-DNK13,
Q172EX-S1, Q173PX-S1, Q64AD, Q68ADV, Q68ADI, Q62DA, Q64DA,
Q68DAV, Q68DAI, A6TBXY36, A6TBXY54, A6TBX70,
Q170TUD3CBL3M, Q170TUDNCBL3M, Q170TUDNCBL03M-A,
Q170TUTM, A31TUD3TM, FR-V5 0- , Software for SV43
[Addition function]
For WindowsXP, Home position return function
[Additional correction/partial correction]
Safety precautions, About processing of waste, Discard of internal
rechargeable battery, Instructions for installation of operation system
software, Troubleshooting, Precautions for air transportation of battery,
etc,
Mar., 2006 IB(NA)-0300040-D [Addition model]
Q62P, Q172EX-S2, Q172EX-S3, Q170ENC
[Additional correction/partial correction]
Safety precautions, Operating environment of personal computer, System
design circuit example, Operating system software installation procedure,
Warranty, Model code(1CT780 1XB780), etc.
Japanese Manual Number IB(NA)-0300021
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.
© 2001 MITSUBISHI ELECTRIC CORPORATION

A - 11
INTRODUCTION
Thank you for choosing the Q173CPU(N)/Q172CPU(N) Motion Controller.

Please read this manual carefully so that equipment is used to its optimum.
CONTENTS
Safety Precautions .........................................................................................................................................A- 1

Revisions ........................................................................................................................................................A-11
Contents .........................................................................................................................................................A-12
About Manuals ...............................................................................................................................................A-15
1. OVERVIEW 1- 1 to 1- 2
1.1 Overview................................................................................................................................................... 1- 1
2. SYSTEM CONFIGURATION 2- 1 to 2-100
2.1 Motion System Configuration .................................................................................................................. 2- 1

2.1.1 Q173CPU(N) System overall configuration...................................................................................... 2- 8
2.1.2 Q172CPU(N) System overall configuration...................................................................................... 2-10
2.1.3 Function explanation of the Q173CPU(N)/Q172CPU(N) Motion CPU modules ............................ 2-12
2.1.4 Restrictions on Motion systems........................................................................................................ 2-13
2.2 System Configuration Equipment............................................................................................................ 2-15
2.3 General Specifications ............................................................................................................................. 2-24
2.4 Specifications of Equipment and Settings............................................................................................... 2-26
2.4.1 Name of parts for CPU module ........................................................................................................ 2-26
2.4.2 Power supply module........................................................................................................................ 2-36
2.4.3 Base unit and extension cable.......................................................................................................... 2-43
2.4.4 Q172LX Servo external signals interface module............................................................................ 2-46
2.4.5 Q172EX Serial absolute synchronous encoder interface module................................................... 2-51
2.4.6 Q173PX Manual pulse generator interface module......................................................................... 2-61
2.4.7 Manual pulse generator/Serial absolute synchronous encoder ...................................................... 2-70
2.4.8 A31TU-D3 /A31TU-DN Teaching unit (Japanese version only) ................................................ 2-72
2.4.9 SSCNET cables, terminal connector and connection method ........................................................ 2-82
2.4.10 External battery ............................................................................................................................... 2-96
2.4.11 Cooling fan unit (Q170FAN) (Q173CPU/Q172CPU only) ............................................................. 2-99
3. DESIGN 3- 1 to 3-20
3.1 System Designing Procedure .................................................................................................................. 3- 1

3.2 External Circuit Design ............................................................................................................................ 3- 4
3.2.1 Power supply circuit design .............................................................................................................. 3-12
3.2.2 Safety circuit design .......................................................................................................................... 3-13
3.3 Layout Design within The Control Panel ................................................................................................. 3-15
3.3.1 Installation environment .................................................................................................................... 3-15
3.3.2 Layout design of the base units ........................................................................................................ 3-16
3.3.3 Calculating heat generation by Motion controller............................................................................. 3-17
3.4 Design Checklist ...................................................................................................................................... 3-20
A - 12
4. INSTALLATION AND WIRING 4- 1 to 4-20
4.1 Module Installation ................................................................................................................................... 4- 1

4.1.1 Instructions for handling .................................................................................................................... 4- 1
4.1.2 Instructions for installation of the base unit ...................................................................................... 4- 3
4.1.3 Installation and removal of module................................................................................................... 4- 5
4.2 Installation and Removal of Cable........................................................................................................... 4- 7
4.2.1 SSCNET cable .................................................................................................................................. 4- 7
4.2.2 SSC I/F communication cable .......................................................................................................... 4- 8
4.2.3 Battery cable...................................................................................................................................... 4- 9
4.2.4 Cable for teaching unit ...................................................................................................................... 4-10
4.3 Installation of the Serial Absolute Synchronous Encoder....................................................................... 4-12
4.4 Replacement of the Cooling fan unit (Q170FAN) (Q173CPU/Q172CPU only)..................................... 4-14
4.5 Wiring........................................................................................................................................................ 4-15
4.5.1 Instructions for wiring ........................................................................................................................ 4-15
4.5.2 Wiring to the power supply module .................................................................................................. 4-18
4.6 Installation/Wiring Checklist..................................................................................................................... 4-19
5. TRIAL OPERATION AND ADJUSTMENT 5- 1 to 5- 8
5.1 Checklist before Trial Operation .............................................................................................................. 5- 1

5.2 Trial Operation and Adjustment Procedure............................................................................................. 5- 2
5.3 Operating System Software Installation Procedure................................................................................ 5- 7
5.4 Trial Operation and Adjustment Checklist............................................................................................... 5- 8
6. INSPECTION AND MAINTENANCE 6- 1 to 6-28
6.1 Maintenance Works ................................................................................................................................. 6- 2

6.1.1 Instruction of Inspection works ......................................................................................................... 6- 2
6.2 Daily Inspection ........................................................................................................................................ 6- 4
6.3 Periodic Inspection................................................................................................................................... 6- 6
6.4 External Battery........................................................................................................................................ 6- 7
6.4.1 Battery service life time ..................................................................................................................... 6- 8
6.4.2 Battery replacement procedure ........................................................................................................ 6- 9
6.5 Discard of internal rechargeable battery ................................................................................................. 6-11
6.6 Troubleshooting ....................................................................................................................................... 6-13
6.6.1 Basics of troubleshooting.................................................................................................................. 6-13
6.6.2 Troubleshooting of Motion CPU module and I/O modules .............................................................. 6-14
6.6.3 I/O modules troubleshooting............................................................................................................. 6-25
6.7 Confirm method of Error Code ................................................................................................................ 6-28
A - 13
APPENDICES App- 1 to App-37
APPENDIX 1 Cables..................................................................................................................................App- 1
APPENDIX 1.1 SSCNET cables............................................................................................................App- 1
APPENDIX 1.2 Serial absolute synchronous encoder cable................................................................App-11
APPENDIX 1.3 Cable for the teaching unit ...........................................................................................App-14
APPENDIX 2 Exterior Dimensions ............................................................................................................App-20
APPENDIX 2.1 CPU module .................................................................................................................App-20
APPENDIX 2.2 Servo external signals interface module (Q172LX) ....................................................App-24
APPENDIX 2.3 Serial absolute synchronous encoder interface module
(Q172EX/Q172EX-S1/Q172EX-S2/Q172EX-S3).......................................................App-24
APPENDIX 2.4 Manual pulse generator interface module (Q173PX/Q173PX-S1).............................App-25
APPENDIX 2.5 Power supply module (Q61P-A1, Q61P-A2, Q62P, Q63P, Q64P) ............................App-26
APPENDIX 2.6 Dividing unit (Q173DV), Battery unit (Q170BAT) ........................................................App-27
APPENDIX 2.7 Connector .....................................................................................................................App-28
APPENDIX 2.8 Manual pulse generator (MR-HDP01) .........................................................................App-33
APPENDIX 2.9 Serial absolute synchronous encoder (MR-HENC/Q170ENC) ..................................App-34
APPENDIX 2.10 Teaching unit (A31TU-D3 /A31TU-DN ) ..............................................................App-35
APPENDIX 2.11 Cooling fan unit (Q170FAN) (Q173CPU/Q172CPU only) ........................................App-36
A - 14
About Manuals
This manual is only to explain hardware of the Motion controller.

The following manuals are related to this product.
Referring to this list, please request the necessary manuals.
This User's Manual do not describes hardware specification and handling methods of the PLC CPU
modules, power supply modules, base unit and I/O module in details.
The above contents, refer to the QCPU User's Manual and Building Block I/O Module User's Manual.
Related Manuals
(1) Motion controller

Manual Number
Manual Name
(Model Code)
Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual
(Motion SFC)
IB-0300042
This manual explains the Multiple CPU system configuration, performance specifications, functions, (1XB781)
programming, error codes and others of the Motion SFC.
(Optional)
Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual

(REAL MODE) IB-0300043
This manual explains the servo parameters, positioning instructions, device list, error list and others. (1XB782)
(Optional)
Q173CPU(N)/Q172CPU(N) Motion controller (SV22) Programming Manual

(VIRTUAL MODE)
This manual describes the dedicated instructions use to the synchronous control by virtual main shaft, IB-0300044
mechanical system program create mechanical module. (1XB783)
This manual explains the servo parameters, positioning instructions, device list, error list and others.
(Optional)
Q173CPU(N)/Q172CPU(N) Motion controller (SV43) Programming Manual

This manual describes the dedicated instructions to execute the positioning control by Motion program of
EIA language (G-code). IB-0300070
This manual explains the Multiple CPU system configuration, performance specifications, functions, (1CT784)
programming, debugging, servo parameters, positioning instructions device list and error list and others.
(Optional)
A - 15
(2) PLC
Manual Number
Manual Name
(Model Code)
QCPU User's Manual (Hardware Design, Maintenance and Inspection)
This manual explains the specifications of the QCPU modules, power supply modules, base modules, SH-080483ENG
extension cables, memory card battery and others. (13JR73)
(Optional)
QCPU User's Manual (Function Explanation, Program Fundamentals)

This manual explains the functions, programming methods and devices and others to create programs SH-080484ENG
with the QCPU. (13JR74)
(Optional)
QCPU User's Manual (Multiple CPU System)

This manual explains the functions, programming methods and cautions and others to construct the SH-080485ENG
Multiple CPU system with the QCPU. (13JR75)
(Optional)
QCPU (Q Mode)/QnACPU Programming Manual (Common Instructions)

This manual explains how to use the sequence instructions, basic instructions, application instructions and SH-080039
micro computer program. (13JF58)
(Optional)
QCPU (Q Mode)/QnACPU Programming Manual (PID Control Instructions)

SH-080040
This manual explains the dedicated instructions used to exercise PID control. (13JF59)
(Optional)
QCPU (Q Mode)/QnACPU Programming Manual (SFC)

This manual explains the system configuration, performance specifications, functions, programming, SH-080041
debugging, error codes and others of MELSAP3. (13JF60)
(Optional)
I/O Module Type Building Block User's Manual

This manual explains the specifications of the I/O modules, connector, connector/terminal block SH-080042
conversion modules and others. (13JL99)
(Optional)
A - 16
1 OVERVIEW
1. OVERVIEW
1.1 Overview 1
This User's Manual describes the hardware specifications and handling methods of the
Motion Controller's Model Q173CPU(N)/Q172CPU(N) for the Q series PLC Multiple
CPU system.
The Manual also describes those items related to the specifications of the option
module for the Motion controller, Manual pulse generator, Synchronous encoder,
Teaching unit and cables.
In this manual, the following abbreviations are used.
Generic term/Abbreviation Description
Q173CPU(N)/Q172CPU(N), Q173CPUN/Q172CPUN/Q173CPUN-T/Q172CPUN-T/Q173CPU/Q172CPU
Motion CPU or Motion CPU module Motion CPU module
Q172LX Servo external signals interface module/
Q172LX/Q172EX/Q173PX (Note-1)
Q172EX(-S1/-S2/-S3) Serial absolute synchronous encoder interface module /
or Motion module
Q173PX(-S1) Manual pulse generator interface module
MR-H-BN Servo amplifier model MR-H BN
MR-J2-B Servo amplifier model MR-J2S- B/MR-J2M-B/MR-J2- B/MR-J2-03B5
General name for "Servo amplifier model MR-H BN/MR-J2S- B/MR-J2M-B/
AMP or Servo amplifier
MR-J2- B/MR-J2-03B5, Vector inverter FREQROL-V500 series"
QCPU, PLC CPU
Qn(H)CPU
or PLC CPU module
Multiple CPU system
Abbreviation for "Multiple PLC system of the Q series"
or Motion system
Abbreviation for "CPU No.n (n= 1 to 4) of the CPU module for the Multiple CPU
CPUn
system"
Programming software package General name for "MT Developer" and "GX Developer"
Operating system software General name for "SW RN-SV Q "
Operating system software for conveyor assembly use (Motion SFC) :
SV13
SW6RN-SV13Q
Operating system software for automatic machinery use (Motion SFC) :
SV22
SW6RN-SV22Q
SV43 Operating system software for machine tool peripheral use: SW5RN-SV43Q
MT Developer Abbreviation for Integrated start-up support software package "MT Developer"
Abbreviation for MELSEC PLC programming software package "GX Developer
GX Developer
(Version 6 or later)"
Manual pulse generator
Abbreviation for "Manual pulse generator (MR-HDP01)"
or MR-HDP01
Serial absolute synchronous encoder
Abbreviation for "Serial absolute synchronous encoder (MR-HENC/Q170ENC)"
or MR-HENC/Q170ENC
(Note-2)
SSCNET High speed serial communication between Motion controller and servo amplifier
General name for "System using the servomotor and servo amplifier for absolute
Absolute position system
position"
Cooling fan unit Cooling fan unit (Q170FAN)
1-1
1 OVERVIEW
Generic term/Abbreviation Description

Dividing unit Dividing unit (Q173DV)
Battery unit Battery unit (Q170BAT)
A0BD-PCF A10BD-PCF/A30BD-PCF SSC I/F board
SSC I/F communication cable Abbreviation for "Cable for SSC I/F board/card"
Teaching Unit (Note-3)
A31TU-D3 /A31TU-DN Teaching unit
or A31TU-D3 /A31TU-DN
Abbreviation for "MELSECNET/H module/Ethernet module/CC-Link module/
Intelligent function module
Serial communication module"
Vector inverter (FR-V500) Vector inverter FREQROL-V500 series
(Note-1) : Q172EX can be used in SV22.
(Note-2) : SSCNET: Servo System Controller NETwork
(Note-3) : Teaching unit can be used in SV13.
REMARK
For information about the each module, design method for program and parameter,
refer to the following manuals relevant to each module.
Item Reference Manual
PLC CPU, peripheral devices for PLC program design, I/O modules
Manual relevant to each module
and intelligent function module
Operation method for MT Developer Help of each software
• Multiple CPU system configuration
• Performance specification Q173CPU(N)/Q172CPU(N) Motion controller
• Design method for common parameter (SV13/SV22) Programming Manual (Motion SFC)
SV13/SV22 • Auxiliary and applied functions
• Design method for positioning control program in
Q173CPU(N)/Q172CPU(N) Motion controller
the real mode
(SV13/SV22) Programming Manual (REAL MODE)
• Design method for positioning control parameter
SV22 Q173CPU(N)/Q172CPU(N) Motion controller
• Design method for mechanical system program
(Virtual mode) (SV22) Programming Manual (VIRTUAL MODE)
• Multiple CPU system configuration

• Performance specification
• Design method for common parameter Q173CPU(N)/Q172CPU(N) Motion controller
SV43
• Design method for Motion program (SV43) Programming Manual
• Motion dedicated PLC instruction
• Design method for positioning control parameter
1-2
2 SYSTEM CONFIGURATION
2. SYSTEM CONFIGURATION
This section describes the Q173CPU(N)/Q172CPU(N) system configuration,
precautions on use of system and configured equipments.
2.1 Motion System Configuration
This section describes the equipment configuration, configuration with peripheral 2

devices and system configuration in the Q173CPU(N)/Q172CPU(N) system.
(1) Equipment configuration in Q173CPU(N) system
Q173CPU(N) System configuration
YES Use a Q173CPUN-T.

Is the teaching unit used?
NO
(Note)
Is this system Refer to equipment configuration of "(a) When using
continuously power off for 1000 YES
the Dividing unit/external battery".
hours or more running?
Note : Set the battery (A6BAT/MR-BAT) to the Dividing
unit (Q173DV).
NO
Should the Refer to equipment configuration of "(a) When using

dividing unit be used to divide YES
the Dividing unit/external battery".
SSCNET Lines?
NO
Is the type NO Refer to equipment configuration of "(a) When using

of the amplifier used at 1st axis
of each SSCNET system the Dividing unit/external battery".
the same?
YES
Refer to equipment configuration of "(b) When using

Is only 1st YES the Dividing cable".
SSCNET system used?
Note : Use a Q173J2BCBL M/Q173HBCBL M.
NO

Is 1st and 2nd YES the Dividing cable".
SSCNET system used? Note : Use a Q173J2B2CBL M/Q173HB2CBL M.
NO

the Dividing cable".
Note : Use a Q173J2B4CBL M/Q173HB4CBL M.
(Note) : Continuous power failure time which can be backed up on the internal rechargeable battery
is different depending on the charge time. It is possible to continuously power off for 1100
hours because of charge of 40 hours. Refer to the section 2.4.1(8) for details.
2-1
(a) When using the Dividing unit/external battery

Extension of the Q series module
Power supply module/

Motion module
QCPU/ I/O module/ Intelligent
(Q172LX, Q172EX, Q173PX)
function module of the Q series
Motion module CPU base unit Extension cable Q6 B extension base unit
(Q172LX, Q172EX, Q173PX) (Q33B, Q35B, Q38B, Q312B) (QC B) (Q63B, Q65B, Q68B, Q612B)
(Note-5) (Note-2)
Short-circuit connector for Power supply module/

Motion CPU module
the teaching unit I/O module/Intelligent function
(Q173CPU(N))
(Q170TUTM) module of the Q series
(Note-3) (Note-5) (Note-6)
S VO ON
SSCNET cable Cable for the teaching unit Teaching unit

(Q173DVCBL M) (Q170TUD CBL M(-A)) (A31TU-D3 , A31TU-DN )
(Note-1)
(Note-4)
SSCNET CN1 SSCNET CN3

MITSUBISHI
LITHIUM B ATTE RY

MITSUBISHI Q173CPU
LITHIUM BATTERY
Battery Short-circuit connector for

Dividing unit
(A6BAT/MR-BAT) the teaching unit
(Q173DV)
(A31TUD3TM)
SSCNET cable SSCNET cable

for MR-H-BN for MR-J2 -B
(MR-J2HBUS M-A) (MR-J2HBUS M)
It is possible to select the best according to the system.
(Note-1) : When using the external battery, be sure to set the
MITSUBISHI Battery(A6BAT/MR-BAT) to the Dividing unit(Q173DV).
Battery(A6BAT/MR-BAT) is optional.
(Note-2) : It is possible to use only Q173CPUN-T.
It is packed together with Q173CPUN-T.
(Note-3) : It varies by the connecting teaching unit.
Servo amplifier Servo amplifier
(Note-4) : It is packed together with Q170TUD CBL M.
(MR-H-BN) (MR-J2 -B)
(Note-5) : When using the A31TU-D3 /A31TU-DN , be sure to use
the Q173CPUN-T.
(Note-6) : A31TU-D3 /A31TU-DN corresponds to only Japanese.
It does not correspond to display for English.
2-2
(b) When using the Dividing cable


Motion module
(Q172LX, Q172EX, Q173PX)
(Note-4) (Note-1)

Motion CPU module Short-circuit connector for
I/O module/Intelligent function
(Q173CPU(N)) the teaching unit
module of the Q series
(Q170TUTM)
SV O ON

for MR-J2 -B Cable for the teaching unit Teaching unit
for MR-H-BN
(Q170TUD CBL M(-A)) (A31TU-D3 , A31TU-DN )
(Q173HB CBL M) (Q173J2B CBL M)
(Note-3)
MITSUBISHI
Servo amplifier Servo amplifier Short-circuit connector for the

(MR-H-BN) (MR-J2 -B) teaching unit
(A31TUD3TM)

(Note-1) : It is possible to use only Q173CPUN-T. It is packed
together with Q173CPUN-T.
the Q173CPUN-T.
2-3
(2) Equipment configuration in Q172CPU(N) system
Q172CPU(N) System configuration
YES
Is the teaching unit used? Use a Q172CPUN-T.
NO
(Note) Is this system

continuously power off for 1000 YES Refer to equipment configuration of
hours or more running? "(a) When using the external battery".
NO
Refer to equipment configuration of

"(b) When not using the external battery".
(Note) : Continuous power off time which can be backed up on the internal
rechargeable battery is different depending on the charge time. It is
possible to continuously power off for 1100 hours because of charge of
40 hours. Refer to the section 2.4.1 (8) for details.
2-4
(a) When using the external battery


Motion module
(Q172LX, Q172EX, Q173PX)
(Note-5) (Note-2)
Motion CPU module Short-circuit connector for Power supply module/

(Q172CPU(N)) the teaching unit I/O module/Intelligent function
(Note-1)
BAT
MITSUBISHI S VO ON
LITHIUM BATTERY
CPU
Q17BAT
PASSED
DATE

Battery unit Cable for the teaching unit Teaching unit
(Q170BAT) (Q170TUD CBL M(-A)) (A31TU-D3 , A31TU-DN )
(Q172HBCBL -M) (Q172J2BCBL M-B)
(Note-4)
MITSUBISHI
MITSUBISHI
LITHIUM BATTERY
Battery Servo amplifier Servo amplifier Short-circuit connector for

(A6BAT/MR-BAT) (MR-H-BN) (MR-J2 -B) the teaching unit
(A31TUD3TM)
(Note-1) : When using the external battery, be sure to use the

SSCNET cable(Q172J2BCBL M-B/Q172HBCBL M-B)
and to set the battery (A6BAT/MR-BAT). Also install
the battery(A6BAT/MR-BAT)in the Battery unit(Q170BAT).
Battery(A6BAT/MR-BAT) is optional.
(Note-2) : It is possible to use only Q172CPUN-T.
It is packed together with Q172CPUN-T.
the Q172CPUN-T.
2-5
(b) When not using the external battery


Motion module
(Q172LX, Q172EX, Q173PX)
(Note-4) (Note-1)
Short-circuit connector for Power supply module/

Motion CPU module
the teaching unit I/O module/Intelligent function
(Q172CPU(N))
SVO ON
SSCNET cable SSCNET cable Cable for the teaching unit Teaching unit
(Q170TUD CBL M(-A)) (A31TU-D3 , A31TU-DN )
(Q172HBCBL M) (Q172J2BCBL M)
(Note-3)
MITSUBISHI
Servo amplifier Servo amplifier Short-circuit connector for

(MR-H-BN) (MR-J2 -B) the teaching unit
(A31TUD3TM)
(Note-1) : It is possible to use only Q172CPUN-T. It is packed

together with Q172CPUN-T.
the Q172CPUN-T.
2-6
(3) Peripheral device configuration for the Q173CPU(N)/ Q172CPU(N)

The following (a) (b) (c) can be used.
(a) RS-232 configuration (b) USB configuration (c) SSCNET configuration
Motion CPU module Motion CPU module Motion CPU module

(Q173CPU(N), Q172CPU(N)) (Q173CPU(N), Q172CPU(N)) (Q173CPU(N), Q172CPU(N))
RS-232 cable SSC I/F communication cable

(QC30R2) USB cable (Q170CDCBL M,
Q170BDCBL M)
MITSUBISHI
SSCNET
CARD
A30CD-PCF
Personal computer Personal computer SSC I/F Card/Board

(Windows 98/2000/XP only) (A30CD-PCF/A 0BD-PCF)
R
Personal computer
(Note) : For information about GPP functions of PLC CPU, refer to the operating
manual of PLC. Also, refer to the programming manual of the operating
system for information about creating Motion programs, and refer to the help
of each software for information about operation of each programming
software package.
2-7
2.1.1 Q173CPU(N) System overall configuration
Motion CPU control module
interface module
interface module
interface module
Servo external
Manual pulse
Synchronous
generator
encoder
signals
CPU base
unit PLC CPU/
(Q3 B) Motion CPU
Q61P-A Qn(H) Q173 Q172LX Q172EX Q172PX QI60 QX Q6 AD

CPU CPU(N)
QY Q6 DA I/O module of the Q Series or
Special function module
100/200VAC (Note-2)
Analogue input/output
Personal Computer Input/output (Up to 256 points)

IBM PC/AT Dividing unit
(Q173DV) Interrupt signals (16 points)
USB/RS-232
MITSUBISHI
LITHIUM BATTERY
Manual pulse generator 3/module

P
(MR-HDP01) (Up to 1 module)
Serial absolute synchronous encoder cable
(MR-JHSCBL M-H/Q170ENCCBL M)
Teaching unit (Note-1)
A31TU-D3 /A31TU-DN Serial absolute synchronous encoder 2/module
E
(MR-HENC/Q170ENC) (Up to 6 modules)
Cable for the teaching
unit
(Q170TUD CBL M(-A)) External input signals Number of Inputs
FLS : Upper stroke limit
SSC I/F RLS : Lower stroke limit 8 axes/module
Communication STOP : Stop signal
cable (Up to 4 modules)
(Q170CDCBL M/ DOG/CHANGE : Proximity dog/
Q170BDCBL M) Speed-position switching
SSC I/F Card/Board SSCNET cable SSCNET SYSTEM4

(A30CD-PCF/A 0BD-PCF)
SSCNET SYSTEM3
SSCNET SYSTEM2
Terminal Terminal Terminal Terminal
connector connector connector connector
Panel Personal Computer d1 d8 d1 d8 d1 d8 d1 d8

SSCNET SYSTEM1
(WinNT/Win98/Win2000/WinXP)
Computer link SSC
Extension base unit

(Q6 B) M M M M M M M M
E E E E E E E E
Power supply
Extension
cable
module
MR-H BN/MR-J2S- B/MR-J2M-B/MR-J2- B/MR-J2-03B5 model

Servo amplifier, Vector inverter(FR-V500), Up to 32 axes
UP to 7 extensions
(Note-1) : Be sure to use the Q173CPUN-T.

A31TU-D3 /A31TU-DN corresponds to only Japanese.
(Note-2) : QI60 can be used in SV13/SV22.
2-8
CAUTION
operation of the Motion controller or servo amplifier differ from the safety directive operation in the
system.
servomotor) used in a system must be compatible with the Motion controller, servo amplifier and
servomotor.
servomotor and regenerative resistor model and the system application. The protective functions may
not function if the settings are incorrect.
When a teaching unit is used, the cable for the teaching unit is necessary between the Motion CPU
(Q173CPUN-T/Q172CPUN-T) and teaching unit. And, connect the short-circuit connector for teaching
unit, after removing the teaching unit or when not using it.
2-9
2.1.2 Q172CPU(N) System overall configuration
Motion CPU control module
interface module
interface module
interface module
Servo external
Manual pulse
Synchronous
generator
encoder
signals
CPU base
unit PLC CPU/
(Q3 B) Motion CPU
Q61P-A Qn(H) Q172 Q172LX Q172EX Q172PX QI60 QX Q6 AD

CPU CPU(N)
QY Q6 DA I/O module of the Q Series or
Special function module
100/200VAC (Note-2)
Analogue input/output
Battery unit
(Q170BAT)
MITSUBISHI
Input/output (Up to 256 points)
LITHIUM BATTERY
Interrupt signals (16 points)

Personal Computer
IBM PC/AT Manual pulse generator 3/module
P
(MR-HDP01) (Up to 1 module)
USB/RS-232 Serial absolute synchronous encoder cable
Serial absolute synchronous encoder 2/module

E
(MR-HENC/Q170ENC) (Up to 4 modules)
Teaching unit (Note-1)

A31TU-D3 /A31TU-DN External input signals Number of Inputs
FLS : Upper stroke limit
Cable for the teaching RLS : Lower stroke limit
unit 8 axes/module
(Q170TUD CBL M(-A)) STOP : Stop signal (Up to 1 module)
DOG/CHANGE : Proximity dog/
Speed-position switching
SSC I/F
Communication
cable Terminal
(Q170CDCBL M/ SSCNET cable
Q170BDCBL M) connector
d1 d2 d3 d8
SSC I/F Card/Board SSCNET SYSTEM1
(A30CD-PCF/A 0BD-PCF)
M M M M
Panel Personal Computer E E E E
(WinNT/Win98/Win2000/WinXP)
Computer link SSC
MR-H BN/MR-J2S- B/MR-J2M-B/MR-J2- B/
MR-J2-03B5 model Servo amplifier,
Extension base unit Vector inverter(FR-V500), Up to 8 axes
(Q6 B)
Power supply
Extension
cable
module
(Note-1) : Be sure to use the Q172CPUN-T.

UP to 7 extensions A31TU-D3 /A31TU-DN corresponds to only Japanese.
(Note-2) : QI60 can be used in SV13/SV22.
2 - 10
CAUTION
operation of the Motion controller or servo amplifier differ from the safety directive operation in the
system.
servomotor) used in a system must be compatible with the Motion controller, servo amplifier and
servomotor.
servomotor and regenerative resistor model and the system application. The protective functions may
not function if the settings are incorrect.
When a teaching unit is used, the cable for the teaching unit is necessary between the Motion CPU
(Q173CPUN-T/Q172CPUN-T) and teaching unit. And, connect the short-circuit connector for teaching
unit, after removing the teaching unit or when not using it.
2 - 11
2.1.3 Function explanation of the Q173CPU(N)/Q172CPU(N) Motion CPU modules
(1) Up to 32 axes servo amplifiers per 4 systems (up to 8 axes per 1 system) can be
used in Q173CPU(N). Up to 8 axes servo amplifiers per 1 system can be used in
Q172CPU(N).
(2) It is possible to set the program which synchronized with the motion operation
cycle and executed at fixed cycle (0.88[ms], 1.77[ms], 3.55[ms], 7.11[ms],
14.2[ms]).
(3) It is possible to execute a download of servo parameters to servo amplifier, servo

ON/OFF to servo amplifier and position commands, etc. by connecting between
the Q173CPU(N)/Q172CPU(N) and servo amplifier with SSCNET cable.
(4) It is possible to select the servo control functions/programming languages by

installing the corresponding operating system software in the Q173CPU(N)/
Q172CPU(N).
(5) It is possible to use the signals such as stroke limit signals and synchronous
encoder connected to various Motion modules for motion control by setting the
Q173CPU(N)/Q172CPU(N) as the control CPU of various motion modules
(Q172LX/Q172EX, etc.).
(6) It is possible to execute not only servo control but also DI/O input/output control
according to programs described in Motion SFC program by setting the
Q173CPU(N)/Q172CPU(N) as the control CPU of Q series PLC I/O modules
(When the Motion SFC is used as the operating system software.).
(Refer to Section 2.2 (2) for Q series PLC I/O modules that can be controlled by
Motion CPU.)
(7) It is possible to exchange a data among CPUs such as automatic refresh, as the
Q series PLC Multiple CPU system.
(8) There is no restriction for installation position of Q172LX/Q173PX(-S1)/

Q172EX(-S1) among modules controlled by Motion CPU. The installation position
of Q172EX-S2/S3 is only CPU base unit.
Set the installation position in the system settings.
(9) It is possible to change a servo program, monitor or execute JOG operation by

connecting the teaching unit (A31TU-D3 /A31TU-DN ).
(Q173CPUN-T/Q172CPUN-T only).
(10) It is possible to execute the high-resolution (262144[PLS/rev]) synchronous

control by connecting the serial absolute synchronous encoder (Q170ENC) to
Q172EX-S2/S3.
2 - 12
2.1.4 Restrictions on Motion systems
(1) It is not allowed to use the Motion CPU as the control CPU of a module installed
on the QA1S6 B extension base unit. PLC CPU must be used as the control
CPU.
(2) The connector for installation of memory card on the Motion CPU module is for
future function expansion.
(3) Motion CPU module cannot be used as standalone module. It must always be
used in combination with the PLC CPU module (version that supports Multiple
CPU systems). Moreover, it must be installed on the right side of PLC CPU
module. PLC CPU module cannot be installed in a position to the right of Motion
CPU module.
(4) Personal computer CPU unit must be installed on the right side of Motion CPU
module. Motion CPU module cannot be installed in a position to the right of
personal computer CPU unit.
(5) Make sure to use the PLC CPU module in "Q mode".
(6) Motion CPU module cannot be set as the control CPU of intelligent function
module or Graphic Operation Terminal (GOT).
(7) SSCNET cable which connects the Motion CPU and servo amplifier, and the
teaching unit connecting cable which connects the Motion CPU and A31TU-
(Note-1)
D3 /A31TU-DN are pulled from the bottom part of unit. Make sure to
secure sufficient space for pulling out the cable when designing the control panel.
(8) Motion CPU module is one module element of Q series multiple PLC system. It
must be set the parameters of Q series multiple PLC system for each PLC CPU.
Motion CPU module must also be set to support the Multiple CPU system in the
system settings.
(9) Make sure to use the Motion CPU as the control CPU of motion modules
(Note-2)
dedicated for Motion CPU (Q172LX, Q172EX , Q173PX, etc.). They will not
operate correctly if PLC CPU is set and installed as the control CPU by mistake.
Motion CPU is treated as a 32-point intelligent module by PLC CPU of other CPU.
It cannot be accessed from other CPU.
(10) When a Multiple CPU system is configured, make sure to configure the modules
so that the total current consumption of individual modules on the CPU base does
not exceed the 5VDC output capacity of power supply module.
(Refer to Section 2.4.2 (3), (4) "Selection of the power supply module".)
(Note-2)
(11) Installation position of the Q172EX-S2/S3 is only CPU base unit.
(Note-1) : Teaching unit can be used in SV13. It cannot be used in SV22/SV43.
(Note-2) : Q172EX can be used in SV22. It cannot be used in SV13/SV43.
2 - 13
(12) Number of Motion CPU modules and temperature conditions

(Q173CPU/Q172CPU only)
(a) It is possible to remove the Cooling fan unit(Q170FAN) in order to disperse
heat from inside the Motion CPU module according to the number of the
Motion CPU module and ambient temperature conditions.
Removable/Not removable of the Cooling fan unit (Q170FAN) by number of
Motion CPU modules and ambient temperature is as follows.
1) When using only one Motion CPU module
It is possible to remove the Cooling fan unit if the ambient temperature
in which the Motion CPU module will be operating is 0 to 40°C (32 to
104°F).
2) When using two or more Motion CPU modules

Do not remove the Cooling fan unit(Q170FAN).
Ambient temperature
of the Motion CPU 0 to 40°C Over 40 to 55°C
(32 to 104°F) (Over 104 to 131°F)
Number of the Motion CPU
1 module Removable Not removable
2 modules or more Not removable
(13) When the backup time (when it is charged for 40 hours) for internal rechargeable
battery of Motion CPU is 1100 hours (Guaranteed time)/4300 hours (Actual time).
Set the external battery if the power failure time exceeds guaranteed time.
(Refer to Section 2.4.10 External battery)
Continuous power failure time [h]

Item
Guaranteed time (MIN) Actual time (TYP)
Internal rechargeable Charging time: 8 hours or more 200 500
(Note)
battery Charging time: 40 hours or more 1100 4300
External battery 60000 240000
(Note):Internal rechargeable battery is charged while power ON.
2 - 14
2.2 System Configuration Equipment
(1) Table of Motion controller related module

Current
Part name Model name (Note-1) Description consumption Remark
5VDC[A]
Q172CPUN Up to 8 axes control 1.14
Q172CPUN-T Up to 8 axes control, For teaching unit 1.45
Motion CPU Q172CPU Up to 8 axes control, With cooling fan unit 1.62
module Q173CPUN Up to 32 axes control 1.25
Q173CPU Up to 32 axes control, With cooling fan unit 1.75
Servo external
Servo external signal input 8 axes
signals Q172LX 0.05
(FLS, RLS, STOP, DOG/CHANGE×8)
interface module
Serial absolute synchronous encoder MR-HENC interface×2,
Q172EX
Tracking input 2 points
Serial absolute Serial absolute synchronous encoder MR-HENC interface×2,
Q172EX-S1 (Note-2)
synchronous Tracking input 2 points, Memory built-in for data exchange
0.07
encoder Serial absolute synchronous encoder Q170ENC interface×2,
interface module Q172EX-S2
Serial absolute synchronous encoder Q170ENC interface×2,
Q172EX-S3 (Note-2)
Tracking input 2 points, Memory built-in for data exchange
Manual pulse generator MR-HDP01/Incremental synchronous encoder
Manual pulse Q173PX
interface ×3, Tracking input 3 points
generator 0.11
interface module Q173PX-S1 (Note-2)
interface ×3, Tracking input 3 points, Memory built-in for data exchange
Q00CPU Program capacity 8k steps 0.25
PLC CPU module Q02HCPU Program capacity 28k steps 0.64
Q06HCPU Program capacity 60k steps 0.64
Q61P-A1 100 to 120VAC input, 5VDC 6A output
Q61P-A2 200 to 240VAC input, 5VDC 6A output
Power supply
Q62P 100 to 240VAC input, 5VDC 3A/24VDC 0.6A output ——
module (Note-3)
Q63P 24VDC input, 5VDC 6A output
Q64P 100 to 120VAC/200 to 240VAC input, 5VDC 8.5A output
Q33B Number of I/O modules installed 3 slots 0.105
CPU base unit
Extension base Q65B Number of I/O modules installed 5 slots 0.110
unit Q68B Number of I/O modules installed 8 slots 0.114
2 - 15
Table of Motion controller related module (continued)

Current
5VDC[A]
QC05B Length 0.45m(1.48ft.)
Extension cable ——
QC30B Length 3m(9.84ft.)
Pulse resolution: 25PLS/rev(100PLS/rev after magnification by 4)
Manual pulse Permitted axial loads Radial load: Up to 19.6N
MR-HDP01 0.06
generator Thrust load: Up to 9.8N
Permitted speed: 200r/min(Normal rotation), Voltage output
A31TU-D3K13 For SV13, With 3-position deadman switch, Only Japanese
Teaching unit 0.26
A31TU-DNK13 For SV13, Without deadman switch, Only Japanese
Q173CPUN-T/Q172CPUN-T A31TU-D3 , 3m(9.84ft.)
Q170TUD3CBL3M ——
(Attachment: Short-circuit connector (A31TUD3TM) for teaching unit)
Cable for the Q173CPUN-T/Q172CPUN-T A31TU-DN , 3m(9.84ft.)
Q170TUDNCBL3M ——
teaching unit (Attachment: Short-circuit connector (A31TUD3TM) for teaching unit)
Exchange cable for direct connection Q173CPUN-T/Q172CPUN-T
Q170TUDNCBL03M-A ——
A31TU-DN , 0.3m(0.98ft.)
Short-circuit connector for teaching unit for direct connection to
Q170TUTM Q173CPUN-T/Q172CPUN-T ——
Short-circuit
It is packed together with Q173CPUN-T/Q172CPUN-T.
connector for
Short-circuit connector for teaching unit for connection to connect with
teaching unit
A31TUD3TM Q170TUD3CBL3M/Q170TUDNCBL3M ——
It is packed together with Q170TUD3CBL3M/Q170TUDNCBL3M.
Resolution: 16384PLS/rev
Permitted axial loads Radial load: Up to 98N
MR-HENC 0.15
Thrust load: Up to 49N
Serial absolute
Permitted speed: 4300r/min
synchronous
encoder
Permitted axial loads Radial load: Up to 19.6N
Q170ENC 0..20
Thrust load: Up to 9.8N
Serial absolute synchronous encoder Q172EX
2m(6.56ft.), 5m(16.40ft.), 10m(32.81ft.), 20m(65.62ft.), 30m(98.43ft.)
MR-JHSCBL M-H
Serial absolute (Same as encoder cables for HC-SFS/RFS/UFS(2000r/min) series
synchronous motors) ——
encoder cable Serial absolute synchronous encoder Q170ENC Q172EX-S2/-S3
Q170ENCCBL M 2m(6.56ft.), 5m(16.40ft.), 10m(32.81ft.), 20m(65.62ft.), 30m(98.43ft.),
50m(164.04ft.)
2 - 16

Current
5VDC[A]
Q172EX(-S1) side connector
Connector :10120-3000VE
Connector case : 10320-52F0-008
MR-J2CNS
MR-HENC side connector
Connector set for Plug : MS3106B20-29S
serial absolute Cable clump : MS3057-12A
——
synchronous Q172EX-S2/-S3 side connector
encoder cable Connector :10120-3000VE
Connector case : 10320-52F0-008
Q170ENCCNS
Q170ENC side connector
Plug : MS3106B22-14S
Cable clump : MS3057-12A
• Q172CPU(N) Servo amplifier (MR-H BN)
Q172HBCBL M
• MR-H BN FR-V5NS (Note-5)
Q172CPU(N) Servo amplifier (MR-H BN) and Battery unit
Q172HBCBL M-B
(Q170BAT)
• Q172CPU(N) Servo amplifier (MR-J2 -B) (Note-4)
Q172J2BCBL M • Servo amplifier (MR-J2 -B) (Note-4) FR-V5NS (Note-5)
(Note-5)
• Dividing unit (Q173DV) FR-V5NS
Q172CPU(N) Servo amplifier (MR-J2 -B) (Note-4) and Battery unit
Q172J2BCBL M-B
(Q170BAT)
Q173HB CBL M Q173CPU(N) Servo amplifier (MR-H BN)
SSCNET cable ——
Q173J2B CBL M Q173CPU(N) Servo amplifier MR-J2 -B (Note-4)
Q173DVCBL M Q173CPU(N) Dividing unit(Q173DV)

• Q172CPU(N) FR-V5NS (Note-5)
FR-V5NSCBL (Note-5)
• FR-V5NS FR-V5NS (Note-5)
MR-HBUS M Servo amplifier (MR-H BN) Servo amplifier (MR-H BN)
• Servo amplifier (MR-H BN) Servo amplifier (MR-J2 -B) (Note-4)
MR-J2HBUS M-A
• Servo amplifier (MR-H BN) Dividing unit (Q173DV)
• Servo amplifier (MR-J2 -B) (Note-4) Servo amplifier (MR-J2 -B)(Note-4)
MR-J2HBUS M
• Servo amplifier (MR-J2 -B) (Note-4) Dividing unit (Q173DV)
SSC I/F board A30BD-PCF ISA bus loading type, 2ch/board
——
SSC I/F card A30CD-PCF PCMCIA TYPE II, 1ch/card
Cable for SSC I/F Q173CPU(N)/Q172CPU(N) SSC I/F board
Q170BDCBL M
board 3m(9.84ft.), 5m(16.40ft.), 10m(32.81ft.)
Cable for SSC I/F Q173CPU(N)/Q172CPU(N) SSC I/F card
Q170CDCBL M
card 3m(9.84ft.), 5m(16.40ft.), 10m(32.81ft.)
For dividing the SSCNET systems of Q173CPU(N) into 4.
Dividing unit Q173DV ——
(Attachment: Battery holder for IC-RAM memory backup)
Battery unit Q170BAT For IC-RAM memory backup of Q172CPU(N) ——
For IC-RAM memory backup of Q173CPU(N)/Q172CPU(N) module
Battery A6BAT (Motion SFC programs(SV13/SV22), Servo programs(SV13/SV22), ——
Motion programs(SV43), Parameters)
Cooling fan unit Q170FAN Cooling fan of the Motion CPU module 0.08
2 - 17

Current
5VDC[A]
Connector for Q172CPU(N) (Note-6)
Q172CPU(N)
Q172CON Connector : HDR-E14MG1 ——
connector set
Case : HDR-E14LPA5
Q173CPU(N) side connector set (Note-6)
Q173CPU(N)
Q173CON Connector : HDR-E26MG1 ——
connector set
Case : HDR-E26LPA5
Q173CPU(N) side connector set (Note-6)
Connector : HDR-E26MG1
Q173DV Case : HDR-E26LPA5
Q173DVCON ——
connector set Q173DV side connector set
Connector : 10126-3000VE
Case : 10326-52F0-008
For positive common sink type input module, sink type output module
A6TBXY36
Connector/terminal (standard type)
block conversion For positive common sink type input module, sink type output module (2- ——
A6TBXY54
module wire type)
A6TBX70 For positive common sink type input module (3-wire type)
AC05TB Length 0.5m (1.64ft.)
AC10TB Length 1m (3.28ft.)
Cable for
connector/terminal
AC30TB Length 3m (9.84ft.) ——
block conversion
module
AC100TB Length 10m(32.81ft.)
(Note-1) : =Number of systems (none: 1 system, 2: 2 systems, 4: 4 systems)
=Cable length (05: 0.5m(1.64ft.), 1: 1m(3.28ft.), 2: 2m(6.56ft.), 3: 3m(9.84ft.), 5: 5m(16.40ft.), 10: 10m(32.81ft.),
20: 20m(65.62ft.), 30: 30m(98.43ft.))
(Note-2) : Q172EX-S1 and Q173PX-S1 can be used is only the operating system software of special specification that
needs data exchange function.
(Note-3) : Be sure to use the power supply module within the range of power supply capacity.
(Note-4) : MR-J2S- B/MR-J2M-B/MR-J2- B/MR-J2-03B5 type servo amplifier
(Note-5) : SSCNET communication option for vector inverter
(Note-6) : Crimping terminal is not sold in Mitsubishi. The following jig is requested to be procured by customers.
Specified tool (Honda Connectors make) : FHAT-0029/FHPT-0004C
2 - 18
(2) Q series PLC module which can be control by Motion CPU

Model
Part name Description Remark
name
AC QX10 100-120VAC, 7-8mA, 16 points, Terminal block
QX40 24VDC/4mA, Positive common, 16 points, Terminal block
QX41 24VDC/4mA, Positive common, 32 points, Connector
QX42 24VDC/4mA, Positive common, 64 points, Connector
12VDC/5V, Positive common/Negative common shared, 16 points,
QX70
Input Terminal block
module DC 12VDC/5V, Positive common/Negative common shared, 32 points,
QX71
Terminal block
12VDC/5V, Positive common/Negative common shared, 64 points,
QX72
Terminal block
QX80 24VDC/4mA, Negative common, 16 points, Terminal block
QX81 24VDC/4mA, Negative common, 32 points, Connector
Contact output
QY10 240VAC/24VDC, 2A/point, 8A/common, 16 points/common, Terminal block
module
QY40P 12V/24VDC, 0.1A/point, 1.6A/common, 16 points/common Terminal block
QY41P 12V/24VDC, 0.1A/point, 2A/common, 32 points/common Connector
12V/24VDC, 0.1A/point, 2A/common, 64 points(32 points/common),
Sink Type QY42P
Connector
Transistor
Output 12V/24VDC, 0.5A/point, 4A/common, 16 points(16 points/common),

QY50
module Terminal block
QY80
Terminal block
Source Type
QY81P
Connector
QY70 5/12VDC, 16mA/point, 16 points(16 points/common), Terminal block
TTL•CMOS(Sink)
QY71 5/12VDC, 16mA/point, 32 points(32 points/common), Connector
24VDC Positive common: 32 points
QH42P DC12-24V/0.1A Output Sink type: 32 points, Connector,
Input/Output
DC Input/ Provided (Thermal protectors, protector against short circuit)
composite
Transistor output 24VDC Positive common: 8 points
module
QX48Y57 DC12-24V/0.5A Output Sink type: 7 points, Terminal block,
Provided (When face is broken, LED lights and signal is output to CPU)
Interrupt module QI60 DC24V/4mA, Positive common, 16 points, Terminal block
Q64AD 4ch, A/D conversion, Voltage • Current input
Q68ADV 8ch, A/D conversion, Voltage input
Q68ADI 8ch, A/D conversion, Current input
Analogue module Q62DA 2ch, D/A conversion, Voltage • Current output
Q64DA 4ch, D/A conversion, Voltage • Current output
Q68DAV 8ch, D/A conversion, Voltage output
Q68DAI 8ch, D/A conversion, Current output
Marked " ": connectors are not provided.
2 - 19
(3) Table of servo amplifier

The following servo amplifier series can be used.
(a) MR-H BN
Part name Model name Description
MR-H series MR-H BN
Refer to catalogue of the servo amplifier.
servo amplifier MR-H KBN
Battery MR-BAT Back-up for the absolute position detection
Terminal connector MR-TM Connected to the last servo amplifier (MR-H BN) by SSCNET.
MR-H BN MR-H BN
MR-HBUS M
0.5m(1.64ft.), 1m(3.28ft.), 5m(16.40ft.)
• Q173DV MR-H BN
SSCNET cable MR-J2HBUS M-A • MR-H BN MR-J2 -B (Note-1)
0.5m(1.64ft.), 1m(3.28ft.), 5m(16.40ft.)
MR-H BN FR-V5NS (Note-2)
Q172HBCBL M
0.5m(1.64ft.), 1m(3.28ft.), 5m(16.40ft.)
MR-HSCBL M HA-LH K, HC-SF/RF/UF(2000r/min) series motor MR-H BN
MR-EN1CBL M-H 2m(6.56ft.), 5m(16.40ft.), 10m(32.81ft.), 20m(65.62ft.), 30m(98.43ft.)
Encoder cable
MR-JCCBL M-L
HA-FF, HC-MF/UF(3000r/min) MR-H BN
MR-JCCBL M-H
MR-JSCNS Servo amplifier side connector for HA-LH K, HC-SF/RF/UF(2000r/min) series motor,
Encoder connector set
MR-EN1CNS Encoder side connector set
When the vector inverter (FR-V5 0- ) is connected, fix the ferrite core to the SSCNET cable.
2 - 20
(b) MR-J2S- B/MR-J2M-B/MR-J2- B/MR-J2-03B5

MR-J2-Super series MR-J2S- B
servo amplifier MR-J2S- B1
MR-J2M- DU Drive unit
MR-J2M series
MR-J2M-P8B Interface unit Refer to catalogue of the servo amplifier.
servo amplifier
MR-J2M-BU Base unit
MR-J2 series
MR-J2- B
servo amplifier
MR-J2-Jr series
MR-J2-03B5
servo amplifier
Battery MR-BAT Back-up for the absolute position detection.
Connected to the last servo amplifier(MR-J2S- B/MR-J2M-B/MR-J2- B/MR-J2-
Terminal connector MR-A-TM
03B5) by SSCNET
• Q173DV MR-H BN
MR-J2HBUS M-A • MR-H BN MR-J2 -B (Note-1)
0.5m(1.64ft.), 1m(3.28ft.), 5m(16.40ft.)
• MR-J2 -B (Note-1) MR-J2 -B (Note-1)
SSCNET cable (Note-1)
MR-J2HBUS M • MR-J2 -B Q173DV
0.5m(1.64ft.), 1m(3.28ft.), 5m(16.40ft.)
MR-J2 -B (Note-1) FR-V5NS (Note-2)
Q172J2BCBL M
0.5m(1.64ft.), 1m(3.28ft.), 5m(16.40ft.)
MR-JHSCBL M-L Standard cable • HC-SFS/RFS/UFS(2000r/min) series motor
MR-JHSCBL M-H MR-J2S- B/MR-J2M-B
Long fixing life
• HC-SF/RF/UF(2000r/min) series motor MR-J2- B
MR-ENCBL M-H encoder cable
MR-JCCBL M-L Standard cable • HC-MFS/KFS/UFS(3000r/min) series motor
MR-J2S- B/MR-J2M-B
Encoder cable MR-JCCBL M-H • HC-MF/UF(3000r/min) and HA-FF series motor MR-J2- B
Long fixing life HC-AQ series motor MR-J2-03B5
MR-JCCBL M-H
encoder cable 2m(6.56ft.), 5m(16.40ft.), 10m(32.81ft.), 20m(65.62ft.), 30m(98.43ft.)
HC-AQ series motor MR-J2-03B5
MR-JRBRCBL M-H 2m(6.56ft.), 5m(16.40ft.), 10m(32.81ft.), 20m(65.62ft.), 30m(98.43ft.)
(Motor cable for servomotor with electromagnetic brake)
MR-J2CNS Servo amplifier and junction side connector set for HC-SFS/RFS/UFS(2000r/min)
MR-ENCNS series motor, HC-SF/RF/UF(2000r/min) series motor.
MR-JRCNM Servo amplifier and Junction connector set for HC-AQ series motor.
Servo amplifier side(Motor cable for servomotor with electromagnetic brake) and HC-
Encoder connector set MR-JRBRCNM
AQ series motor. (Need MR-JRBRCN for electromagnetic brake contact)
MR-JRBRCN Electromagnetic brake contact connector for HC-AQ series motor.
Servo amplifier and junction side connector set for HC-MFS/KFS/UFS(3000r/min)
MR-J2CNM
series and HA-FF, HC-MF/UF(3000r/min) series motor.
2 - 21
(c) FR-V5 0-
FR-V500 series vector FR-V520- K
Refer to catalogue of the vector inverter.
inverter FR-V540- K
• MR-J2 -B (Note-1) FR-V5NS (Note-2)
Q172J2BCBL M
0.5m(1.64ft.), 1m(3.28ft.), 5m(16.40ft.)
SSCNET cable • Q172CPU(N) FR-V5NS (Note-2)
(Note-2)
FR-V5NSCBL • FR-V5NS FR-V5NS (Note-2)
0.5m(1.64ft.), 1m(3.28ft.), 5m(16.40ft.), 10m(32.81ft.), 20m(65.62ft.)
(4) Software packages

(a) Operating system software packages
Software package
Application
Q173CPU(N) Q172CPU(N)
For conveyor assembly SV13
SW6RN-SV13QB SW6RN-SV13QD
(Motion SFC)
For automatic machinery SV22
SW6RN-SV22QA SW6RN-SV22QC
(Motion SFC)
For machine tool peripheral SV43 SW5RN-SV43QA SW5RN-SV43QC
(b) Integrated start-up support software package

Part name Model name Details
Conveyor assembly software : SW6RN-GSV13P

Automatic machinery software : SW6RN-GSV22P
SW6RNC-GSVE Machine tool peripheral software : SW6RN-GSV43P
(Integrated start-up support Cam data creation software : SW3RN-CAMP
software Digital oscilloscope software : SW6RN-DOSCP
SW6RNC-GSVPROE
(1 CD-ROM) ) Communication system software : SW6RN-SNETP
MT Developer Document print software : SW3RN-DOCPRNP,
SW20RN-DOCPRNP
SW6RNC-GSVHELPE (Operation manual (1 CD-ROM) )
Installation manual
SW6RNC-GSVPROE
SW6RNC-GSVSETE A30CD-PCF (SSC I/F card (PCMCIA TYPE II 1CH/card) )
Q170CDCBL3M (A30CD-PCF cable 3m (9.84ft.) )
R R R R
(Note) : Operating environment of the MT Developer is WindowsNT 4.0/Windows 98/Windows 2000/ Windows XP
English version) only.
2 - 22
(5) Operating environment of personal computer

Operating environment is shown below.
IBM PC/AT with which WindowsNT4.0/98/2000/XP English version operates normally.
R
WindowsNT 4.0(Service Pack 2 R R
Item Windows 2000 Windows XP
or later) (Note) or Windows 98
R
CPU Pentium133MHz or more Pentium II 233MHz or more Pentium II 450MHz or more

Memory
Recommended 32MB or more Recommended 64MB or more Recommended 192MB or more
capacity
Hard disk free
Hard disk free space is as following list.
space
Disk drive 3.5inch (1.44MB) floppy disk drive, CD-ROM disk drive
Display 800×600 pixels, 256 colors or more
(Note) : Impossible to use USB connection.
It is necessary the following capacity depending on the installed software.

Size
Model name
SW6RNC-GSVE SW6RNC-GSVHELPE
SW6RN-GSV13P 60MB 38MB
SW3RN-CAMP 2MB 3MB
SW6RN-DOSCP 30MB 5MB
Standard 60MB
SW6RN-SNETP 3MB
Custom (When all selection) 60.5MB
SW3RN-DOCPRNP 30MB 5MB
SW20RN-DOCPRNP 30MB 5MB
R R
(Note-1) : WindowsNT , Windows are either registered trademarks or trademarks of Microsoft Corporation
in the United States and/or other countries.
R
(Note-2) : Pentium are trademarks or registered trademarks of Intel Corporation or its subsidiaries in the
United States and other countries.
(6) Related software packages

(a) PLC software package
Model name Software package
GX Developer SW D5C-GPPW-E
(Note) : =used "6" or later.
POINTS
(1) When the operation of Windows is not unclear in the operation of this software,
refer to the manual of Windows or guide-book from the other supplier.
(2) The screen might not be correctly displayed depending on the system font size
of WindowsNT 4.0/Windows 98/Windows 2000/ Windows XP.
R R R R
Be sure to use the small size fonts.
2 - 23
2.3 General Specifications
General specifications of Q173CPU(N)/Q172CPU(N) module are shown below.
Item Specification
Operating ambient 0 to 55°C

temperature (32 to 131°F)
Storage ambient -25 to 75°C (Note-3)

temperature (-13 to 167°F)
Operating ambient
5 to 95% RH, non-condensing
humidity
Storage ambient
5 to 95% RH, non-condensing
humidity
Frequency Acceleration Amplitude Sweep count
Under 0.075mm
10 to 57Hz ——
intermittent (0.003inch)
10 times each
2
Vibration resistance Conforming vibration 57 to 150Hz 9.8m/s —— in X, Y, Z
JIS B 3501,
0.035mm directions
IEC 61131-2 Under 10 to 57Hz ——
(0.001inch) (For 80 min.)
continuous
2
vibration 57 to 150Hz 4.9m/s ——
2
Shock resistance Conforming to JIS B 3501, IEC 61131-2(147m/s , 3 times in each of 3 directions X, Y, Z)
Operating ambience No corrosive gases
Operating altitude 2000m(6561.68ft.) or less
Installation location Inside control panel
Overvoltage category
II or less
(Note-1)
Pollution level (Note-2) 2 or less
(Note-1) : This indicates the section of the power supply to which the equipment is assumed to be connected between the
public electrical power distribution network and the machinery within premises.
Category II applies to equipment for which electrical power is supplied from fixed facilities.
The surge voltage withstand level for up to the rated voltage of 300V is 2500V.
(Note-2) : This index indicates the degree to which conductive material is generated in terms of the environment in which
the equipment is used.
Pollution level 2 is when only non-conductive pollution occurs. A temporary conductivity caused by condensing
must be expected occasionally.
(Note-3) : Do not use or store the Motion CPU module under pressure higher than the atmospheric pressure of altitude 0m.
Doing so can cause an operation failure. When using the PLC under pressure, please contact your sales
representative.
2 - 24
! CAUTION
The Motion controller must be stored and used under the conditions listed in the table of
specifications above.
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.
2 - 25
2.4 Specifications of Equipment and Settings
2.4.1 Name of parts for CPU module
This section explains the names and setting of the module.
(1) Q173CPUN(-T)/Q172CPUN(-T)
Front face With front cover open
Q17 CPUN T
MODE 2) MODE
RUN 9) RUN
ERR.
M.RUN
3) ERR.
M.RUN
BAT. BAT.
BOOT 4) BOOT
ON SW
5) 1
2
6) 3 13)
10) 4
FRONT 5
SSCNET 7) STOP RUN
CN2 14)
TU
RESET L CLR
PULL CN1 15)
USB
11)
RS-232 12)
20)
8)
Put your finger here to open the cover.
Side face Bottom

Q172CPUN(-T) Q173CPUN(-T)
1)
16)
19) 19)
20) 18) 20)
18)
17)
2 - 26
(2) Q173CPU/Q172CPU
Front face With front cover open
Q17 CPU
MODE 2) MODE
RUN 9) RUN
ERR.
M.RUN
3) ERR.
M.RUN
BAT. BAT.
BOOT 4) BOOT
ON SW
5) 1
2
6) 3 13)
FRONT
10) 4
5
SSCNET 7)
STOP RUN
CN2 14)
RESET L CLR
PULL CN1 15)
USB
11)
RS-232 12)
8)
Put your finger here to open the cover.
Side face Bottom

Q172CPU Q173CPU
22) 21)
1)
16)
19) 19)
18) 18)
17)
2 - 27
No. Name Application

1) Module fixing hook • Hook used to fix the module to the base unit.(Quick release installation)
• Lit(green) : Normal mode
2) MODE LED (Mode judging)
• Lit(orange) : Installation mode • mode written in ROM
• Lit : Motion CPU normal start
• Not lit : Motion CPU fault
3) RUN LED
LED turns off when the trouble occurred at Motion CPU start or WDT error
occurrence.
• Lit : LED turns on at following error occurrence.
1) WDT error
2) System setting error
3) Servo error
4) ERR. LED 4) Self diagnostic error which will not stop the operation (except battery error)
5) Operating system software is not installed.
• Flickers : Detection of self diagnostic error which will stop the operation.
• Not lit : Normal
• Lit : During motion control
• Flickers : Latch clear start
5) M. RUN LED
• Not lit : Not during motion control or detection of self diagnostic error which will stop the
operation
6) BAT. LED • Lit : Battery error occurrence (External battery use)
• Lit : Mode operated by ROM
7) BOOT LED
• Not lit : Mode operated by RAM/Installation mode • mode written in ROM
8) Module loading lever • Used to install the module to the base unit.
9) Memory card EJECT button • Used to eject the memory card from the Motion CPU.
• Connector used to connect the memory card to the Motion CPU. (The Motion CPU make use
10) Memory card loading connector
of the memory card by operating system software package.)
• Connector for connection with USB-compatible peripheral device. (Connector type B)
11) USB connector (Note)
• It can be connected by USB-dedicated cable.
• Connector for connection with a peripheral device.
12) RS-232 connector (Note)
• It can be connected by RS-232 connection cable (QC30R2)
(Note) : When normally connecting a cable to the USB or RS-232 connector, clamp the cable to prevent it from coming off due to the
dangling, moving or careless pulling of the cable. Q6HLD-R2 type RS-232C connector disconnection prevention holder is
available as a clamp for RS-232 connector.
CPU module
Q6HLD-R2
RS-232 cable
2 - 28
(3) Applications of switches, connectors on Q173CPU(N)/

Q172CPU(N)
Dip switch 1 Must not be used. (Shipped from the factory in OFF position)
• ROM operating setting (Shipped from the factory in OFF position)
Dip switches Dip switch 2 SW2 SW3
ON SW OFF OFF Mode operated by RAM
1 ON OFF Must not be set
Dip switch 3 OFF ON Must not be set
2
13) ON ON Mode operated by ROM
3 Dip switch 4 Must not be used. (Shipped from the factory in OFF position)
4 ON : Installation mode • mode written in ROM
Dip switch 5
5 OFF : Normal mode (Mode operated by RAM/Mode operated by ROM)
(Installation •
• Turn ON dip switch 5 when installed the operating system software into the
ROM writing
Motion CPU module from the peripheral device. After completing the installation,
switch)
move to switch and re-start.
Move to RUN/STOP.
14) RUN/STOP switch RUN : Motion SFC program(SV13/SV22)/Motion program(SV43) is started.
STOP : Motion SFC program(SV13/SV22)/Motion program(SV43) is stopped.
RESET : Set the switch to the "RESET" position once to reset the hardware.
Applies a reset after an operation error and initialized the operation.
L.CLR : Clear the latch area all data which set with the parameters.
(LATCH CLEAR also clears data outside the latch area at this time.)
RESET/L.CLR switch (Note-1) Latch clear operating method
15)
(Momentary switch) 1) Set the "RUN/STOP" switch to "STOP".
2) Move the "RESET/L.CLR" switch to "L.CLR" several times until the "M. RUN LED"
flickers.
("M. RUN LED" flickers : Latch clear completed. )
3) Move the "RESET/L.CLR" switch to "L.CLR" once more. ("M. RUN LED" turn off.)
16) Module fixing screw hole Hole for the screw used to fix to the base unit. (M3×12 screw : Purchase from the other supplier)
17) Module fixing hook Hook used to fix to the base unit
18) CN1 connector (Note-2) Connector connect between Motion CPU module and servo amplifier
19) CN2 connector Connector connect between personal computer via SSCNET
20) TU connector (Note-3)(Note-4) Connector connect between Motion CPU module and teaching unit
21) Cooling fan connector (Note-5) Connector connect between Motion CPU module and Cooling fan unit (Q170 FAN)
22) Cooling fan unit (Note-5) Cooling fan unit(Q170 FAN) designed exclusively for Motion CPU module
(Note-1) : It is not possible to reset the Multiple CPU system by each of the PLC CPU/Motion CPU No.2 to 4.
If it is reset, other CPU occurred to stop of the overall Multiple CPU system where “MULTI CPU DOWN (Error code : 7000).
The overall Multiple CPU system reset is resetting the CPU No.1 of PLC CPU.
(Note-2) : For example of the Q173CPU(N), the connector CN1 divide signals allocated each of SSCNET SYSTEM 1 to 4.
The Dividing unit (Q173DV) or the Dividing cable (Q173J2B CBL M/Q173HB CBL M) between the Motion CPU and
servo amplifiers divide signals allocated in CN1 of the Q173CPU(N) into each of the four systems.
(Note-3) : Q173CPUN-T/Q172CPUN-T only. Teaching unit corresponds to only Japanese.
(Note-4) : When connecting the teaching unit, be sure to use the cable which adjusts to the model name of teaching unit.
(Note-5) : Q173CPU/Q172CPU only. Teaching unit corresponds to only Japanese.
2 - 29
(4) Basic specifications of Q173CPU(N)/Q172CPU(N)

(a) Module specifications
Item Q173CPUN Q173CPUN-T Q173CPU Q172CPUN Q172CPUN-T Q172CPU
Teaching unit —— Usable —— —— Usable ——

Internal current (Note) (Note)
1.25 1.56 1.75 1.14 1.45 1.62
consumption(5VDC) [A]
Mass [kg] 0.23 0.24 0.22 0.22 0.23 0.21
118(4.65)(H) 118(4.65)(H)
Exterior dimensions 98(3.86)(H) 27.4(1.08)(W) 98(3.86)(H) 27.4(1.08)(W)
27.4(1.08)(W) 27.4(1.08)(W)
[mm(inch)] 114.3(4.50)(D) 114.3(4.50)(D)
89.3(3.52)(D) 89.3(3.52)(D)
(Note) : Current consumption 0.26[A] of the teaching unit is included.
(5) SV13/22 Motion control specifications/performance specifications

(a) Motion control specifications
Item Q173CPUN(-T) Q173CPU Q172CPUN(-T) Q172CPU
Number of control axes Up to 32 axes Up to 8 axes

0.88ms/ 1 to 8 axes
SV13 1.77ms/ 9 to 16 axes 0.88ms/1 to 8 axes
3.55ms/17 to 32 axes
Operation cycle
0.88ms/ 1 to 4 axes
(default)
1.77ms/ 5 to 12 axes 0.88ms/1 to 4 axes
SV22
3.55ms/13 to 24 axes 1.77ms/5 to 8 axes
Linear interpolation (Up to 4 axes), Circular interpolation (2 axes),
Interpolation functions
Helical interpolation (3 axes)
PTP(Point to Point) control, Speed control, Speed-position control, Fixed-pitch feed,
Control modes Constant speed control, Position follow-up control, Speed switching control,
High-speed oscillation control, Synchronous control (SV22)
Acceleration/ Automatic trapezoidal acceleration/deceleration,
deceleration control S-curve acceleration/deceleration
Compensation Backlash compensation, Electronic gear
Programming language Motion SFC, dedicated instruction, Mechanical support language (SV22)
Servo program capacity 14k steps
Number of positioning 3200 points
points (Positioning data can be designated indirectly)
Programming tool IBM PC/AT
Peripheral I/F USB/RS-232/SSCNET
Teaching operation
Provided (Q173CPUN-T/Q172CPUN-T, SV13 use)
function
Proximity dog type (2 types), Count type (3 types), Data set type (2 types), Dog cradle type,
Home position return
Stopper type(2 types), Limit switch combined type
function
(Home position return re-try function provided, home position shift function provided)
JOG operation function Provided
Possible to connect 3 modules
operation function
2 - 30
Motion control specifications (continued)

Item Q173CPUN(-T) Q173CPU Q172CPUN(-T) Q172CPU
Synchronous encoder
Possible to connect 12 modules Possible to connect 8 modules
operation function
M-code output function provided
M-code function
M-code completion wait function provided
Limit switch output Number of output points 32 points
function Watch data: Motion control data/Word device
Made compatible by setting battery to servo amplifier.
Absolute position system (Possible to select the absolute data method or incremental method for each axis)
(Note): When the vector inverter is used, only the increment method.
(Note-1)
Number of SSCNET I/F 5CH 2CH
Q172LX : 4 modules usable Q172LX : 1 module usable
Motion related interface
Q172EX : 6 modules usable Q172EX : 4 modules usable
module (Note-2) (Note-2)
Q173PX : 4 modules usable Q173PX : 3 modules usable
(Note-1) : Be sure to use the Dividing unit (Q170DV) or Dividing cable (Q173J2B CBL M/Q173HB CBL M).
(Note-2) : When using the incremental synchronous encoder by using SV22, you can use above number of modules.
When connecting the manual pulse generator, you can use only one module.
2 - 31
(b) Motion SFC performance specifications

Item Q173CPU(N)/Q172CPU(N)
Code total
(Motion SFC chart+ Operation control+ 287k bytes
Motion SFC program
Transition)
capacity
Text total
224k bytes
(Operation control+ Transition)
Number of Motion SFC programs 256(No.0 to 255)
Up to 64k bytes
Motion SFC chart size/program
(Included Motion SFC chart comments)
Motion SFC program Number of Motion SFC steps/program Up to 4094 steps
Number of selective branches/branch 255

Number of parallel branches/branch 255
Parallel branch nesting Up to 4 levels
4096 with F(Once execution type) and FS(Scan
Number of operation control programs
execution type) combined.(F/FS0 to F/FS4095)
Number of transition programs 4096(G0 to G4095)
Code size/program Up to approx. 64k bytes (32766 steps)
Operation control program ( ) nesting/block Up to 32
(F/FS) Number of characters/block Up to 128 (comment included)
/ Up to 64
Transition program Number of operand/block
(operand: constants, word device, bit devices)
(G) ( ) nesting/block Up to 32 levels
Operation control
Calculation expression/bit conditional expression
Descriptive program
Expression Calculation expression/bit conditional
Transition program
expression/comparison conditional expression
Number of multi execute programs Up to 256
Number of multi active steps Up to 256 steps/all programs
Normal task Execute in motion main cycle
Execute in fixed cycle
Fixed cycle
Event task (0.88ms, 1.77ms, 3.55ms, 7.11ms, 14.2ms)
Execute specification (Execution External Execute when input ON is set among interrupt
Executed
can be interrupt module QI60 (16 points).
task
masked.) Execute with interrupt instruction (S(P).GINT) from
PLC interrupt
PLC CPU.
Execute when input ON is set among interrupt module
NMI task
QI60 (16 points).
Number of I/O points (X/Y) 8192 points
2 - 32
(6) SV43 Motion control specifications/performance specifications

(a) Motion control specifications
Item Q173CPUN Q173CPU Q172CPUN Q172CPU
Number of control axes Up to 32 axes Up to 8 axes
0.88ms/ 1 to 4 axes
Operation cycle 1.77ms/ 5 to 12 axes 0.88ms/1 to 4 axes
(default) 3.55ms/13 to 24 axes 1.77ms/5 to 8 axes
Linear interpolation (Up to 4 axes), Circular interpolation (2 axes),
Interpolation functions
Helical interpolation (3 axes)
Control modes PTP(Point to Point) control, Constant-speed positioning, High-speed oscillation control
Acceleration/ Automatic trapezoidal acceleration/deceleration,
deceleration control S-curve acceleration/deceleration
Compensation Backlash compensation, Electronic gear
Programming language Dedicated instruction (EIA language)
Motion program capacity 248k bytes
Number of programs 1024
Number of simultaneous start Axis designation program: 32 Axis designation program: 8
programs Control program: 16 Control program: 16
Approx. 10600 points
Number of positioning points
(Positioning data can be designated indirectly)
Number of I/O (X/Y) points 8192 points
Number of real I/O (PX/PY)
Total of 256 points
points
Programming tool IBM PC/AT
Peripheral I/F USB/RS-232/SSCNET
Teaching operation function None
Proximity dog type (2 types), Count type (3 types), Data set type (2 types),
Home position return function Dog cradle type, Stopper type (2 types), Limit switch combined type
(Home position return re-try function provided, home position shift function provided)
JOG operation function Provided
Possible to connect 3 modules
operation function
M-code output function provided
M-code function
M-code completion wait function provided
Number of output points 32 points
Limit switch output function
Watch data: Motion control data/Word device
Skip function Provided
Override ratio setting function Override ratio setting : 0 to 100 [%]
Made compatible by setting battery to servo amplifier.
Absolute position system (Possible to select the absolute data method or incremental method for each axis)
(Note): When the vector inverter is used, only the increment method.
(Note-1)
Number of SSCNET I/F 5CH 2CH
Q172LX : 4 modules usable Q172LX : 1 module usable
Motion related interface module
Q173PX : 1 module usable Q173PX : 1 module usable
(Note-1) : Be sure to use the Dividing unit (Q170DV) or Dividing cable (Q173J2B CBL M/Q173HB CBL M).
2 - 33
(b) Motion program performance specifications

Item Q173CPU(N)/Q172CPU(N)
Total of program files 248k bytes
Program capacity
Number of programs Up to 1024 (No. 1 to 1024)
Unary operation, Additive operation,
Arithmetic operation
Multiplicative operation, Remainder operation
Operation controls Comparison operation Equal to, Not equal to
Logical shift operation, Logical negation, Logical AND,
Logical operation
Logical OR, Exclusive OR
G00, G01, G02, G03, G04, G09, G12, G13, G23, G24, G25,
G-codes Positioning command G26, G28, G30, G32, G43, G44, G49, G53, G54, G55, G56,
G61, G64, G90, G91, G92, G98, G99, G100, G101
M-codes Output command to data register M****
Special M-codes Program control command M00, M01, M02, M30, M98, M99, M100
Variable Device variable PX, PY, B, F, D, W, #
Trigonometric function SIN, COS, TAN, ASIN, ACOS, ATAN
Functions ABS, SQR, BIN, LN, EXP, BCD, RND, FIX, FUP, INT, FLT,
Numerical function
DFLT, SFLT
Start/end CALL, CLEAR
Home position return CHGA
Speed/torque setting TL, CHGV, CHGT
Motion control WAITON, WAITOFF, EXEON, EXEOFF
Instructions CALL, GOSUB, GOSUBE, IF…GOTO,
Jump/repetition processing
IF…THEN…ELSE…END, WHILE…DO
BMOV, BDMOV, FMOV, BSET, BRST, SET, RST, MULTW,
Data operation MULTR, TO, FROM, ON, OFF, IF…THEN…SET/RST/OUT,
PB
Number of program calls
Up to 8
Number of controls (GOSUB, GOSUBE)
Number of program calls (M98) Up to 8
2 - 34
(7) Selection of Q172EX, Q173PX

Synchronous encoder
Item Manual pulse generator
Serial absolute Incremental
Q173CPU(N) 12 modules
3 modules
Q172CPU(N) 8 modules
Module selection Q172EX Q173PX
(8) Q173CPU(N)/Q172CPU(N) internal rechargeable battery

• Initial charging of the Q173CPU(N)/Q172CPU(N)
Turn on the power supply and charge the internal rechargeable battery for
eight hours or more, before starting to use the Q173CPU(N)/Q172CPU(N).
It is possible to provide backup power for the IC-RAM memory for at least
200 hours by charging the internal rechargeable battery for eight hours or
more, even if it is empty.
If the battery is charged for five days while applying power eight hours a
day, i.e., 40 hours of normal operation, it will be able to provide backup
power for the IC-RAM memory for 1100 hours.
Battery backup by the external battery will be necessary if there is a
possibility that a continuous power off that lasts longer than the continuous
power failure hours for the internal rechargeable battery specified in the
table below may occur, for example when transporting the system on a
ship.
Continuous power failure time [h]

Item
Guaranteed time (MIN) Actual time (TYP)
Internal rechargeable Charging time: 8 hours or more 200 500
(Note)
battery Charging time: 40 hours or more 1100 4300
2 - 35
2.4.2 Power supply module
(1) Table of the power supply module specifications

This section describes the power supply modules specifications.
Performance specifications
Item
Q61P-A1 Q61P-A2 Q62P
Base loading position Power supply module loading slot
Applicable base unit Q33B, Q35B, Q38B, Q312B, Q65B, Q68B, Q612B
100 to 120VAC (+10%/-15%) 200 to 240VAC (+10%/-15%) 100 to 240VAC (+10%/-15%)
Input power supply
(85 to 132VAC) (170 to 264VAC) (85 to 264VAC)
Input frequency 50/60Hz ±5%
Input voltage distortion factor 5% or less
Max. input apparent power 105VA
Inrush current 20A 8ms or less
5VDC 6A 3A
Rated output current
24VDC —— 0.6A
External output voltage —— 24VDC±10%
Overcurrent 5VDC 6.6A or more 3.3A or more
protection (Note-1) 24VDC —— 0.66A or more
Overvoltage
5VDC 5.5 to 6.5V
protection (Note-2)
Efficiency 70% or more 65% or more
Permissible instantaneous power off
20ms or less
time (Note-3)
Across inputs/LG and outputs/FG
Dielectric withstand voltage
2,830VAC rms / 3 cycles (Altitude : 2000m (6561.68ft.) )
Across inputs and outputs (LG and FG separated), across inputs and LG/FG, across outputs and
Insulation resistance LG/FG.
10M or more by insulation resistance tester(500VDC)
• By noise simulator of 1,500Vp-p noise voltage, 1µs noise width and 25 to 60Hz noise
Noise immunity frequency
• Noise voltage IEC61000-4-4, 2kV
Operation indication LED indication (Lit at 5VDC output)
Fuse Built-in (Unchangeable by user)
ERR contact (contact switched off (opened: normally closed contact) at an error stop of CPU),
Application
for CPU module operating status output
Rated switching
24VDC, 0.5A
voltage/current
Contact
Minimum switching load 5VDC, 1mA
output
Response time OFF to ON: 10ms or less. ON to OFF: 12ms or less.
section
Mechanical : 2 million times or more
Life time
Electrical : 100 thousand times at rated switching voltage/current or more
Surge suppressor None
Fuse None
Terminal screw size M3.5 × 7
Applicable wire size 0.75 to 2mm2
Applicable crimping terminal RAV1.25 to 3.5, RAV2 to 3.5
Applicable tightening torque 0.59 to 0.78 N•m
98(H) × 55.2(W) × 90(D)
Exterior dimensions[mm(inch)]
(3.86(H) × 2.17(W) × 3.54(D) )
Mass [kg] 0.31 0.39
2 - 36
The power supply module specifications (continued)

Performance specifications
Item
Q63P Q64P
Base loading position Power supply module loading slot
Applicable base unit Q33B, Q35B, Q38B, Q312B, Q65B, Q68B, Q612B
24VDC (+30%/-35%) 100 to 120VAC/200 to 240VAC (+10%/-15%)
Input power supply
(15.6 to 31.2VDC) (85 to 132VAC/170 to 264VAC)
Input frequency —— 50/60Hz ±5%
Input voltage distortion factor —— 5% or less
Max. input apparent power 45W 160VA
Inrush current 100A 1ms or less 20A 8ms or less
5VDC 6A 8.5A
Rated output current
24VDC —— ——
Overcurrent 5VDC 6.6A or more 9.9 to 14.4A
protection (Note-1) 24VDC ——
Overvoltage 5VDC 5.5 to 6.5V
protection (Note-2) 24VDC ——
Efficiency 70% or more
Permissible instantaneous power off
10ms or less(at 24VDC input) 20ms or less
time (Note-3)
Across inputs/LG and outputs/FG
Dielectric withstand voltage 500VAC across primary and 5VDC 2,830VAC rms/3 cycles
(Altitude : 2000m (6561.68ft.) )
Across inputs and outputs (LG and FG
separated), across inputs and LG/FG, across
Insulation resistance 10M or more by insulation resistance tester
outputs and LG/FG 10 or more by insulation
resistance tester(500VDC)
• By noise simulator of 1,500Vp-p noise
• By noise simulator of 500Vp-p noise voltage,
voltage, 1µs noise width and 25 to 60Hz noise
Noise immunity 1µs noise width and 25 to 60Hz noise
frequency
frequency
• Noise voltage IEC61000-4-4, 2kV
Operation indication LED indication (Lit at 5VDC output)
Fuse Built-in (Unchangeable by user)
ERR contact (contact switched off (opened: normally closed contact) at an error stop of CPU),
Application
for CPU module operating status output
Rated switching
24VDC, 0.5A
voltage/current
Contact
Minimum switching load 5VDC, 1mA
output
Response time OFF to ON: 10ms or less. ON to OFF: 12ms or less
section
Mechanical : 2 million times or more
Life time
Electrical : 100 thousand times at rated switching voltage/current or more
Surge suppressor None
Fuse None
Terminal screw size M3.5 × 7
Applicable wire size 0.75 to 2mm2
Applicable crimping terminal RAV1.25 to 3.5, RAV2 to 3.5
Applicable tightening torque 0.59 to 0.78 N•m
98(H) × 55.2(W) × 90(D) 98(H) × 55.2(W) × 115(D)
Exterior dimensions[mm(inch)]
(3.86(H) × 2.17(W) × 3.54(D) ) (3.86(H) × 2.17(W) × 4.53(D) )
Mass [kg] 0.33 0.40
2 - 37
POINTS
(Note-1) : Overcurrent protection
The overcurrent protection device shuts off the 5VDC or 24VDC circuit
and stops the system if the current flowing in the circuit exceeds the
specified value. When this device is activated, the power supply module
LED is switched OFF or dimly lit. If this happens, eliminate the cause of
the overcurrent and start up the system again.
(Note-2) : Overvoltage protection

The overvoltage protection device shuts off the 5VDC circuit and stops
the system if a voltage of 5.5 to 6.5V is applied to the circuit. When this
device is activated, the power supply module LED is switched OFF. If
this happens, switch the input power OFF, then ON to restart the system.
The power supply module must be changed if the system is not booted
and the LED remains OFF.
(Note-3) : Permissible instantaneous power off time

Permissible instantaneous power off is selected to use the power supply
module.
2 - 38
(2) Names of Parts and Setting

This section describes the names of the parts of each power module.
(a) Q61P-A1, Q61P-A2, Q62P, Q63P, Q64P
Q61P-A1 Q61P-A2
9) 1)
9) 1)
POWER 8)
Q61P-A2 POWER 8)
INPUT
100-120VAC INPUT
50/60Hz 105VA 200-240VAC

OUTPUT 5VDC 6A 50/60Hz 105VA
OUTPUT 5VDC 6A
ERR. 2)
L ERR. 2)
24VDC 0.5A + - L
24VDC 0.5A + -
(FG) 3)
(FG) 3)
(LG) 4)
(LG) 4)
INPUT N 5)
100-120VAC INPUT N 5)
L 200-240VAC
L
10) 7)
Q61P-A2
10) 7)
Q62P Q63P
9) 1) 9) 1)
Q62P POWER 8) Q61P-A2

4 POWER 8)
INPUT INPUT
100-240VAC 100-120/200-240VAC
50/60Hz 105VA 50/60Hz 160VA
OUTPUT 5VDC 3A 24VDC 0.6A OUTPUT 5VDC 8.5A
6) ERR.
+24V 2) ERR. 2)
L L
24G
+ - 24VDC 0.5A + -
24VDC 0.5A
(FG) 3) (FG) 3)
(LG) 4) (LG) 4)
INPUT N 5) INPUT N 5)
100-240VAC 100-120/200-240VAC
L L
Q62P Q61P
4 -A2
10) 7) 10) 7)
Q64P
9) 1)
Q61P-A2
4 POWER 8)
INPUT
100-120/200-240VAC
50/60Hz 160VA
OUTPUT 5VDC 8.5A
ERR. 2)
L
24VDC 0.5A + -
(FG) 3)
(LG) 4)
INPUT N 5)
100-120/200-240VAC
L
4 -A2
Q61P
10) 7)
2 - 39

1) POWER LED 5VDC power indicator LED
Turned OFF (opened) when a stop error occurs in the CPU module.
2) ERR terminals
Normally off when loaded in an extension base unit.
3) FG terminal Ground terminal connected to the shield pattern of the printed circuit board.
4) LG terminal Grounding for the power supply filter.
• Used to connect a 100VAC or 200VAC power supply.(Q61P-A1, Q61P-A2, Q62P, Q64P)
5) Power input terminals
• Used to connect a 24VDC power supply.(Q63P)
6) +24V, 24G terminals Used to supply 24VDC power to inside the output module. (using external wiring)
7) Terminal screw M3.5 7
8) Terminal cover Protective cover of the terminal block
Used to fix the module to the base unit.
9) Module fixing screw
(M3 12 screw, tightening torque : 0.36 to 0.48 N•m)
10) Module loading lever Used to install the module into the base unit.
POINTS
(1) The Q61P-A1 is dedicated for inputting a voltage of 100VAC. Do not input a
voltage of 200VAC into it or trouble may occur on the Q61P-A1.
Power Supply power voltage
module type 100VAC 200VAC
Q61P-A1 Operates normally. Power module causes trouble.
Power module does not
Q61P-A2 cause trouble. Operates normally.
CPU cannot be operated.
(2) The Q63P is dedicated for inputting a voltage of 24VDC. Do not input a voltage of
except 24VDC into it or trouble may occur on the Q63P.
(3) Be sure to ground the earth terminal LG and FG. (Ground resistance: 100 or
less)
2 - 40
(3) Selection of the power supply module

The power supply module is selected according to the total of current
consumption of the I/O modules, special function module, and peripheral devices
supplied by its power module. (Select the power supply module in consideration
of the current consumption of the peripheral device connected to the MR-HENC,
MR-HDP01 or A31TU-D3 /A31TU-DN , etc.)
For information about the current consumption of 5VDC of the I/O modules,
special function module, and peripheral device, refer to the QCPU User's
Manual(Hardware Design, Maintenance and Inspection).
The current consumption of Motion controller is as follows.
Current
Part name Model name Description consumption
5VDC [A]
(Note-2)
Motion CPU module
(Note-2)
Servo external signal Servo external signal 8 axes
Q172LX 0.05
interface module (FLS, RLS, STOP, DOG/CHANGE×8)
Serial absolute synchronous encoder MR-HENC interface×2,
Q172EX
Serial absolute Serial absolute synchronous encoder MR-HENC interface×2,
Q172EX-S1
synchronous encoder Tracking input 2 points, Memory built-in for data exchange
interface module 0.07
(Note-1) Q172EX-S2
Q172EX-S3
Q173PX
interface×3, Tracking input 3 points
Manual pulse generator MR-HDP01/Incremental synchronous encoder 0.11
interface module (Note-1)
Q173PX-S1 interface×3,
Pulse resolution: 25PLS/rev (100 PLS/rev after magnification by 4)
Manual pulse generator MR-HDP01 Permitted axial loads Radial load: up to 19.6N/Thrust load: Up to 9.8N 0.06
Permitted speed: 200r/min (Normal rotation), Voltage output
A31TU-D3K13 For SV13, With 3-position deadman switch
Teaching unit 0.26
A31TU-DNK13 For SV13, Without deadman switch
MR-HENC Permitted axial loads Radial load: up to 98N/Thrust load: up to 49N 0.15
Serial absolute Permitted speed: 4300r/min
synchronous encoder Resolution: 262144PLS/rev
Q170ENC Permitted axial loads Radial load: up to 19.6N/Thrust load: up to 9.8N 0.20
Cooling fan unit Q170FAN Cooling fan of the Motion CPU module 0.08
(Note-1) : Select the power supply module in consideration of the current consumption of connecting peripheral device (MR-HENC/
Q170ENC or MR-HDP01).
(Note-2) : Current consumption of A31TU-D3 /A31TU-DN is included.
2 - 41
(4) Example of the power supply selection calculation

(When using the Q173CPUN-T.)
(a) System configuration
Q61P-A1 Q02H Q173 Q172LX Q172EX Q173PX QX40 QX40 QY10 QY10 Q38B
CPU CPUN-T
A31TU-D3K13 MR-HDP01
MR-HDP01
MR-HENC
(b) 5VDC current consumption of each module

Q02HCPU : 0.64 [A] Q173PX : 0.11 [A]
(Note)
Q173CPUN-T : 1.56 [A] MR-HDP01 : 0.06 [A]
Q172LX : 0.05 [A] QX40 : 0.05 [A]
Q172EX : 0.07 [A] QY10 : 0.43 [A]
MR-HENC : 0.15 [A] Q38B : 0.114 [A]
(Note) : Current consumption of A31TU-D3K13(0.26A) is included.
(c) Power consumption of overall modules

I5V = 0.64 + 1.56 + 0.05 + 0.07 + 0.15 + 0.11 + 0.06 2 + 0.05 2 + 0.43
2 + 0.114 = 3.774[A]
Select of the power supply module(Q61P-A1(100VAC)6A) according to this
internal current consumption 3.774[A].
(Note) : Configure the system in such a way that the total current
consumption at 5VDC of all the modules is less than the allowable
value.
2 - 42
2.4.3. Base unit and extension cable
This section describes the specifications of the extension cables for the base units
(CPU base unit or extension base unit) used in the system, and the specification
standards of the extension base unit.
(1) Table of the base unit specifications

(a) CPU base unit specifications
Type
Q33B Q35B Q38B Q312B
Item
Number of I/O modules 3 5 8 12
Possibility of extension Extendable
Applicable module Q series modules
5VDC internal current
0.105 0.110 0.114 0.121
consumption [A]
Fixing hole size M4 screw hole or 4.5 hole (for M4 screw)
189(W) 98(H) 245(W) 98(H) 328(W) 98(H) 439(W) 98(H)
Exterior dimensions 44.1(D) 44.1(D) 44.1(D) 44.1(D)
[mm(inch)] (7.44(W) 3.86(H) (9.65(W) 3.86(H) (12.91(W) 3.86(H) (17.28(W) 3.86(H)
1.74(D) ) 1.74(D) ) 1.74(D) ) 1.74(D) )
Mass [kg] 0.21 0.25 0.35 0.45
Attachment Fixing screw M4 14 4 pieces (DIN rail fixing adapter is optional)
DIN rail fixing adapter
Q6DIN3 Q6DIN2 Q6DIN1
type
(b) Extension base unit specifications

Type
Q63B Q65B Q68B Q612B
Item
Number of I/O modules 3 5 8 12
Possibility of extension Extendable
Applicable module Q series modules
5VDC internal current
0.105 0.110 0.114 0.121
consumption [A]
Fixing hole size M4 screw hole or 4.5 hole (for M4 screw)
189(W) 98(H) 245(W) 98(H) 328(W) 98(H) 439(W) 98(H)
Exterior dimensions 44.1(D) 44.1(D) 44.1(D) 44.1(D)
[mm(inch)] (7.44(W) 3.86(H) (9.65(W) 3.86(H) (12.91(W) 3.86(H) (17.28(W) 3.86(H)
1.74(D) ) 1.74(D) ) 1.74(D) ) 1.74(D) )
Mass [kg] 0.23 0.25 0.35 0.45
Attachment Fixing screw M4 14 4 pieces(DIN rail fixing adapter is optional)
DIN rail fixing adapter
Q6DIN3 Q6DIN2 Q6DIN1
type
2 - 43
(2) Table of the extension cable specifications

The list below describes the specifications of the extension cables which can
be used for the QCPU system.
Type
QC05B QC06B QC12B QC30B QC50B QC100B
Item
Cable length[m(ft.)] 0.45(1.48) 0.6(1.97) 1.2(3.94) 3.0(9.84) 5.0(16.40) 10.0(32.8)
Connection between the CPU base unit and extension base unit, or connection between the
Application
extension base units.
Mass [kg] 0.15 0.16 0.22 0.40 0.60 1.11
POINT
When the extension cables are used in combination, limit the overall length of the
combined cable to 13.2m (43.31ft.).
(3) Names of parts of the base unit

Names of parts of the base unit are described below.
(a) CPU base unit (Q33B, Q35B, Q38B, Q312B)
5) 4)
1)
5V
56
2) POWER CPU I/00 I/01 I/02 I/03 I/04 I/05 I/06 I/07 I/08 I/09 I/10 I/11
F6 0358
3) 6)

Extension cable Connector for sending and receiving signals from the extension base unit, to which the
1)
connector extension cables are connected.
Protective cover of extension cable connector. Before an extension cable is connected,
2) Base cover the area of the base cover surrounded by the groove under the word "OUT" on the base
cover must be removed with a tool such as nippers.
Connector for installing the power supply module, CPU module, I/O modules, and
intelligent function module.
3) Module connector
To the connectors located in the spare space where these modules are not installed, attach
the supplied connector cover or the blank cover module QG60 to prevent entry of dirt.
4) Module fixing screw hole Screw hole for fixing the module to the base. Screw size: M3 12
5) Base fixing hole Hole for fixing this base unit onto the panel of the control panel (for M4 14 screw)
DIN rail adapter fixing
6) Hole for fixing DIN rail adapter
hole
2 - 44
(4) I/O allocations

It is possible to allocate unique I/O No.s for each Motion CPU independently of
the PLC’s I/O No.s. (I/O No.s are unique between the Q series PLC CPU within a
given system, but the I/O No.s of the Motion CPU are unique for each Motion
CPU.)
ON/OFF data input to the Motion CPU is handled via input devices PX , while
ON/OFF data output from the Motion CPU is handled via output devices PY .
It is not mandatory to match the I/O device PX/PY No.s used in the Motion
program with the PLC I/O No.s; but it is recommended to make them match as
much as possible.
The following figure shows an example of I/O allocation.
I/O Allocations
0 1 2 3 4 5 6 7 8 9
Power supply
Q25H Q25H Q173 QX41 QY41 QY41 Q172LX QX41 QY41 QY41
CPU CPU CPU(N)
module
O
X0 to X1F Y20 to Y3F Y40 to Y5F Intelligent PX0 to PX1F PY20 to PY3F YC0 to YDF
U 32 points
T
(X60 to X7F) (Y80 to Y9F) (YA0 to YBF)
CPU No.1 CPU No.2 CPU No.3 Module of Module of Module of Module of Module of Module of Module of
control control control control control control control
CPU No.1 CPU No.1 CPU No.2 CPU No.3 CPU No.3 CPU No.3 CPU No.1
(Note-1) : When the number of modules to be installed is 32 points.

(Note-2) : When the PX/PY No. does not match the PLC I/O No.
Refer to the Programming Manual of the operating system software about the I/O
allocation setting method,.
Refer to the QCPU User's Manual(Function Explanation, Program Fundamentals)
about the I/O allocation setting method of the Qn(H)CPU.
POINT
I/O device of the Motion CPU can be set in the range PX/PY000 to PX/PYFFF.
The real I/O points must be 256 points or less. (As for the I/O No., it is possible not
to continue.)
2 - 45
2.4.4 Q172LX Servo external signals interface module
Q172LX receives external signals (servo external signals) required for positioning
control.
(1) Q172LX name of parts
1)
5) Q172LX
2)
3)
CTRL
6) Q172LX
4)

Hook used to fix the module to the base unit.
1) Module fixing hook
(Quick release installation)
Display the servo external input status from the external
equipment.
LED Details
2) Mode judging LED Indicates to display the servo external signal
0 to 1F
input status of each axis.
This LED is not turned on if it is not set the Q172LX in the
system settings.
3) CTRL connector The servo external signal input connector of each axis.
4) Module loading lever Used to install the module to the base unit.
Module fixing screw Hole for the screw used to fix to the base unit.
5)
hole (M3×12 screw : Purchase from the other supplier)
6) Module fixing hook Hook used to fix to the base unit.
POINT
Mode judging LED turns ON at the following conditions.
(1) DOG/CHANGE
(a) Q172LX is set on the system setting display of SW6RN-GSV P.
(b) DOG/CHANGE signal is input.
2 - 46
(2) Performance specifications

Item Specifications
Number of I/O occupying points 32 points(I/O allocation: Intelligent, 32 points)
Internal current consumption(5VDC) [A] 0.05
98(H) 27.4(W) 90(D)
Exterior dimensions [mm(inch)]
(3.86(H) 1.08(W) 3.54(D) )
Mass [kg] 0.15
(b) Input
Item Specifications
Servo external signals : 32 points
(Upper stroke limit, Lower stroke limit, Stop input,
Number of input points
Proximity dog/Speed-position switching signal)
(4 points 8 axes)
Input method Sink/Source type
Isolation method Photocoupler
Rated input voltage 12/24VDC
Rated input current 12VDC 2mA/24VDC 4mA
10.2 to 26.4VDC
Operating voltage range
(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. 5.6K
Response time of the OFF to ON
Upper/Lower stroke limit and 1ms
STOP signal ON to OFF
Response time of the OFF to ON 0.4ms/0.6ms/1ms

proximity dog, Speed-
ON to OFF (CPU parameter setting, Default 0.4ms)
position switching signal
Common terminal arrangement 32 points/common (Common terminal: B1, B2)
Indicates to display ON indication (LED)
External connector type 40 pin connector
2
Applicable wire size 0.3mm
Applicable connector for the external A6CON1 (Attachment),
connection A6CON2, A6CON3 (Optional)
Applicable connector/
A6TBXY36, A6TBXY54, A6TBXY70 (Optional)
Terminal block converter module
2 - 47
(3) Connection of servo external signals interface module

(a) Servo external signals
There are the following servo external signals.
(Upper stroke limit is limit value of address increase direction/lower stroke
limit is limit value of an address decrease direction.)
The Q172LX is assigned a set of input No.s per axis. Make the system
setting of the positioning software package to determine the I/O No.s
corresponding to the axis No.s.
Number of points
Servo external signal Application
on one Q172LX
Upper stroke limit input (FLS)
For detection of upper and lower stroke limits.
Lower stroke limit input (RLS)
Stop signal input (STOP) For stopping under speed or positioning control. 32 points
Proximity dog/ For detection of proximity dog at proximity dog or count (4 points/8 axes)
Speed-position switching input type home position return of for switching from speed to
(DOG/CHANGE) position switching control.
2 - 48
(b) The pin layout of the CTRL connector

Use the CTRL connector at the Q172LX module front to connect the servo
external signals.
The following pin layout of the Q172LX CTRL connector viewed from the
front.
The pin layout and connection description of the CTRL connector are
described below.
CTRL connector
Pin No. Signal Name Pin No. Signal Name Signal No.
Signal No.
B20 FLS1 A20 FLS5
B19 RLS1 A19 RLS5
1 5
B18 STOP1 A18 STOP5
B17 DOG1/CHANGE1 A17 DOG5/CHANGE5
B16 FLS2 A16 FLS6
B15 RLS2 A15 RLS6
2 6
B14 STOP2 A14 STOP6
B12 FLS3 A12 FLS7

B11 RLS3 A11 RLS7
3 7
B10 STOP3 A10 STOP7
B8 FLS4 A8 FLS8
B7 RLS4 A7 RLS8
4 8
B6 STOP4 A6 STOP8
B4 No connect A4 No connect
B2 COM A2 No connect
B1 COM A1 No connect
Applicable connector model name

A6CON1 type soldering type connector
FCN-361J040-AU connector (FUJITSU TAKAMISAWA (Attachment)
COMPONENT LIMITED)
FCN-360C040-B connector cover
A6CON2 type Crimp-contact type connector
(Optional)
A6CON3 type Pressure-displacement type connector
DOG/CHANGE, STOP, RLS, FLS functions of each axis(1 to 8) For information about
signal details, refer to
DOG/CHANGE Proximity dog/Speed-position
the programming manual.
switching signal
STOP Stop signal
RLS Lower stroke limit
FLS Upper stroke limit
(Note) : Connector/terminal block conversion modules and cables can be

used at the wiring of CTRL connector.
A6TBXY36/A6TBXY54/A6TBX70 : Connector/terminal block
conversion module
AC TB ( :Length [ft.]) : Connector/terminal block
conversion cable
POINT
Signal No. 1 to 8 can be assigned to the specified axis. To make assignment, make
the system settings of the positioning software package.
2 - 49
(4) Interface between CTRL connector and servo external signal

Input or CTRL
Signal name LED Wiring example Internal circuit Specification Description
Output connector
FLS1 B20 0 Supply voltage
FLS2 B16 4 12 to 24 VDC
FLS3 B12 8 Upper stroke (10.2 to 26.4 VDC,
FLS4 B8 C stabilized power
limit input 5.6K FLS
supply)
FLS5 A20 10
FLS6 A16 14
FLS7 A12 18
FLS8 A8 1C
RLS1 B19 1
RLS2 B15 5
RLS3 B11 9
RLS4 B7 D
Lower stroke RLS
RLS5 A19 11
limit input 5.6K
RLS6 A15 15
RLS7 A11 19
Input High level
RLS8 A7 1D
10.0 VDC or more/
STOP1 B18 2 2.0mA or more
STOP2 B14 6
STOP3 B10 A
STOP4 B6 E
Stop signal STOP
STOP5 A18 12
input 5.6K
STOP6 A14 16
STOP7 A10 1A
STOP8 A6 1E Low level
B17 3 1.8 VDC or less/
DOG/CHANGE1
0.18mA or less
DOG/CHANGE2 B13 7
Proximity dog
DOG/CHANGE3 B9 B
/Speed-position
DOG/CHANGE4 B5 F
switching signal DOG/CHANGE
DOG/CHANGE5 A17 13
DOG/CHANGE6 A13 17 5.6K
DOG/CHANGE7 A9 1B
DOG/CHANGE8 A5 1F
Common terminals
Power supply for motion control
B1 B2 signals, external
(Note)
12VDC to 24VDC signal.
(Note): As for the connection to power line (B1, B2), both "+" and "–" are possible.
CAUTION
Always use a shield cable for connection of the CTRL connector and external equipment, and
avoid running it close to or bundling it with the power and main circuit cables to minimize the
influence of electromagnetic interface. (Separate them more than 200mm (0.66ft.) away.)
Connect the shield wire of the connection cable to the FG terminal of the external equipment.
Make parameter setting correctly. Incorrect setting may disable the protective functions such as
stroke limit protection.
Always wire the cables when power is off. Not doing so may damage the circuit of modules.
Wire the cable correctly. Wrong wiring may damage the internal circuit.
2 - 50
2.4.5 Q172EX Serial absolute synchronous encoder interface module
Q172EX receive external signals required for serial absolute synchronous encoder.
(1) Q172EX/Q172EX-S1/Q172EX-S2/Q172EX-S3 name of parts
1)
5) Q172EX
SY.ENC TREN
1 1 2)
2 2
SY.ENC1 3)
8)
LITHIUM BATTERY
MITSUBISHI
SY.ENC2
6) Q172EX
9) 7) 4)
(Note): The installation position of Q172EX-S2/Q172EX_S3 is only CPU base unit.

Display the input status from the external equipment.
LED Details
Indicates to display the signal input status of
2) Mode judging LED SY.ENC each serial absolute synchronous encoder.
1, 2 (When the serial absolute synchronous encoder
cable connected property, LED is turned on.)
TREN Indicates to display the signal status of tracking
1, 2 enable.
3) SY. ENC connector Input connector of the serial absolute synchronous encoder.
4) Module loading lever Used to install the module to the base unit.
Module fixing screw Hole for the screw used to fix to the base unit
5)
7) Battery connector For connection of battery lead wire.
8) Battery holder Used to the Install the Battery (A6BAT/MR-BAT) to the holder.
Battery
9) For Serial absolute synchronous encoder battery backup.
(A6BAT/MR-BAT)
2 - 51

Specifications
Item
Q172EX Q172EX-S1 Q172EX-S2 Q172EX-S3
Memory for data exchange None Provided None Provided
Internal current consumption(5VDC)[A] 0.07
98(H) 27.4(W) 90(D)
(3.86(H) 1.08(W) 3.54(D) )
Mass [kg] 0.15
(b) Tracking enable signal input

Item Specifications
Number of input points Tracking enable signal : 2 points
10.2 to 26.4VDC
OFF to ON 0.4ms/0.6ms/1ms
Response time
Common terminal arrangement 1 point/common (Common terminal: TREN.COM)
Indicates to display ON indication (LED)
2 - 52
(c) Serial absolute synchronous encoder input

Item Specifications
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 2.5Mbps
Applicable types MR-HENC
Position detection method Absolute(ABS) method
Resolution 16384PLS/rev(14bit)
Number of modules 2/module
Applicable connector for
MR-J2CNS(Optional)
the external connection
Applicable wire UL20276 AWG#22 6Pair
MR-JHSCBL M-H
Connecting cable ( =cable length 2m(6.56ft.), 5m(16.40ft.), 10m(32.81ft.), 20m(65.62ft.),
30m(98.43ft.) ) (Note)
Cable length Up to 30m (98.43ft.)
Back up the absolute position. Depends on A6BAT/MR-BAT.
15000[ h ], (Example of encoders 2, Ambient temperature 40°C (104°F) )
Battery service life time(value in actual)
30000[ h ], (Example of encoders 1, Ambient temperature 40°C (104°F) )
(Note) : You can use these cables when the tracking enable signal is not used.
When the tracking enable signal is used, fabricate the cable on the customer side.
2 - 53
(3) Select to number of the synchronous encoder modules

Synchronous encoders are available in voltage output type(incremental),
differential output type(incremental) and serial absolute output type(MR-HENC).
Q172EX(-S1) can be connected to only serial absolute output type(MR-HENC).
Q172EX-S2/-S3 can be connected to only serial absolute output type
(Q170ENC). When using the incremental synchronous encoder of voltage output
type or differential output type, must be used Q173PX. (The synchronous
encoders are used only in the SV22 virtual mode.)
In addition, the usable numbers of synchronous encoders differ depending on the
modules.
The following number of serial absolute synchronous encoders and incremental
synchronous encoders combined can be used.
Motion CPU module Synchronous encoder

Up to 12 modules
Q173CPU(N)
( Q172EX: Up to 6 modules )
Up to 8 modules
Q172CPU(N)
( Q172EX: Up to 4 modules )
• Tracking enable signal

Tracking enable signal of Q172EX is used as a high-speed reading
function. It cannot be used, as the input start signal which start the input
form serial absolute synchronous encoders.
When using the inputs start signal which start the input from synchronous
encoder, must be used Q173PX. (Type of synchronous encoder is voltage
output(incremental)or differential output(incremental). )
The external input signal of the synchronous encoder is indicated below.
External input signal of the Number of points

Item
synchronous encoder on one Q172EX
Tracking enable signal input High-speed reading function 2 points
2 - 54
(4) Connection of synchronous encoder interface module.

(a) Connection with serial absolute synchronous encoder
(MR-HENC/Q170ENC)
Use the SY.ENC connector at the Q172EX module front to connect the
serial absolute synchronous encoder(MR-HENC/Q170ENC).
When tracking enable signal is not used, use the MR-JHSCBL M-H/
Q170ENCCBLM encoder cable between the serial absolute synchronous
encoder (MR-HENC/Q170ENC) and SY.ENC connector.
The following pin layout of the Q172EX SY.ENC connector viewed from the
front.
The pin layout and connection description of the SY.ENC connector are
described below.
SY.ENC connector
Signal Signal Applicable connector
Pin No. Pin No. model names
name name
10120-3000VE connector
1 LG 11 LG 10320-52F0-008 connector cover
2 LG 12 LG (3M make)
3 LG 13 No connect
4 TREN 14 TREN.CO
5 No connect 15 No connect
6 MD 16 MDR
7 MR 17 MRR
8 No connect 18 P5
9 BAT 19 P5
10 P5 20 P5
(Note) : Do not connect a wire to MD(6Pin), MDR(16Pin).
(b) Interface with external equipment

The interface between the SY.ENC connector and external equipment is
described below.
1) Wiring precautions
Ensure the connector lock after connecting the connector.
Q173CPU(N)/Q172CPU(N) : Motion CPU module
Q173CPU(N)/ Q172EX
Q172CPU(N) Q172EX : Serial absolute synchronous
encoder interface module
SY.ENC connector
Serial absolute synchronous encoder cable

Serial absolute synchronous encoder

(MR-HENC/Q170ENC)
2 - 55
(5) Interface between SY.ENC connector and external equipment

Input or Signal Pin No.
Wiring example Internal circuit Specification Description
Output name SY.ENC connector
Transmission method:
MR 7 Serial serial communications
absolute
Position detection
synchronous method: absolute
encoder
MRR 17
P5 10 18 19 20
5VDC
LG 1 2 3 11 12
Input Battery
BAT 9
(Note)
TREN 4 5.6K
(Note)
TREN.
14
COM 12VDC to 24VDC
SD plate
(Note) : As for the connection to power line (TREN, TREN.COM), both "+" and "–" are possible.
CAUTION
Always use a shield cable for connection of the SY.ENC connector and external equipment, and
avoid running it close to or bundling it with the power and main circuit cables to minimize the
influence of electromagnetic interface. (Separate them more than 200mm (0.66 ft.) away.)
Connect the shield wire of the connection cable to the FG terminal of the external equipment.
When increasing the cable length, use the cable 30m(98.43ft.) or less. Note that the cable should
be run in the shortest possible distance to avoid induced noise.
Always wire the cables when power is off. Not doing so may damage the circuit of modules.
Wire the cable correctly. Wrong wiring may damage the internal circuit.
2 - 56
(6) Details of encoder cable connections

(a) Q172EX(-S1)
1) When not using tracking enable signal
Synchronous Synchronous
SY.ENC side encoder side SY.ENC side encoder side
10120-3000VE MS3106B20-29S 10120-3000VE MS3106B20-29S
P5 19 S P5 19 S
LG 11 LG 11
P5 20 P5 20
LG 12 R LG 12
MR 7 C P5 18
MRR 17 D LG 3
P5 10
LG 2 R
MR 7 C
MRR 17 D
BT 9 F BT 9 F
LG 1 G LG 1 G
SD Plate SD Plate
N N
:Twisted pair cable :Twisted pair cable
MR-JHSCBL5M-H (Note-1),(Note-3) MR-JHSCBL10M-H to MR-JHSCBL30M-H (Note-1),(Note-4)

(Less than 10m(32.81ft.) ) (10 to 30m (32.81 to 98.43ft.))
(Note-5)
2) When using tracking enable signal
Synchronous Synchronous
SY.ENC side encoder side SY.ENC side encoder side
10120-3000VE MS3106B20-29S 10120-3000VE MS3106B20-29S
P5 19 S P5 19 S
LG 11 LG 11
P5 20 P5 20
LG 12 R LG 12
MR 7 C P5 18
MRR 17 D LG 3
P5 10
LG 2 R
MR 7 C
MRR 17 D
9 F BT 9 F
BT G
G LG 1
LG 1
SD Plate N SD Plate N
TREN 4 TREN 4
TREN.COM 14 TREN.COM 14
24VDC 24VDC
:Twisted pair cable :Twisted pair cable
(Note-3)
Cable length 10m (32.81ft.) Cable length 10 to 30m (32.81 to 98.43ft.) (Note-4)
Model name for encoder connector set (MR-J2CNS) (Note-2)
(Note-1) : Encoder cables are the same as HC-SFS/HC-RFS/HC-UFS(2000r/min) series motor cable.
(Note-2) : Encoder connector sets are the same as HC-SFS/HC-RFS/HC-UFS(2000r/min) series motor encoder connector set.
(Note-3) : Be sure to use a wire model name AWG#24.
(Note-4) : Be sure to use a wire model name AWG#22.
(Note-5) : When using tracking enable signal, fabricate the encoder cable by customer side.
2 - 57
(b) Q172EX-S2/Q172EX-S3
(Note-1)
1) When not using tracking enable signal
SY.ENC side connector Synchronous encoder side connector(plug)
10120-3000VE (connector)
10320-52F0-008(connector case) MS3106B22-14S(cable clump)
P5 19 S
LG 11 R
P5 20
LG 12
P5 18
LG 2
BAT 9 E
LG 1
MR 7 K
MRR 17 L
MD 6 H
MDR 16 J
SDplate N
:Twisted pair cable
Q170ENCCBL2M to Q170ENCCBL50M(50m (164.04ft.) or less)

(Note-1), (Note-2)
2) When using tracking enable signal
SY.ENC side connector Synchronous encoder side connector(plug)
10120-3000VE (connector)
10320-52F0-008(connector case) MS3106B22-14S(cable clump)
P5 19 S
LG 11 R
P5 20
LG 12
P5 18
LG 2
BAT 9 E
LG 1
MR 7 K
MRR 17 L
MD 6 H
MDR 16 J
SDplate
TREN 4 N
TREN.COM 14
24VDC
:Twisted pair cable
Cable length 50m(164.04ft.) or less
(Note-1) : Be sure to use a wire model name AWG24.

(Note-2) : When using tracking enable signal, fabricate the encoder cable by customer side.
2 - 58
(7) Connection of the battery

This section describes the battery specifications, handling precautions and
installation of the Q172EX.
(a) Specifications
The specifications of the battery for memory back-up are shown in the table
below.
Battery Specifications
Model name
A6BAT/MR-BAT
Item
Classification Manganese dioxide lithium primary battery
Normal voltage[V] 3.6
Battery discharge capacity [mAh] 1600
Battery warranty period 5 years
Lithium content [g] 0.48
For backup absolute positioning data of the serial absolute
Applications
synchronous encoder (MR-HENC/Q170ENC)
Exterior dimensions[mm(inch)] 16(0.63) × 30(1.18)
(Note) : The 44th Edition of the IATA (International Air Transportation Association) Dangerous Goods Regulations
was effected in January 1st, 2003 and administered immediately.
In this edition, the provisions relating to lithium and lithium ion batteries have been revised to strengthen
regulations on the air transportation of battery.
This battery is not dangerous goods (not class 9). Therefore, these batteries of 24 units or less are not
subject to the regulations.
These batteries more than 24 units require packing based on Packing Instruction 903.
If you need the self-certification form for the battery safety test, contact Mitsubishi.
For more information, contact Mitsubishi.
(b) Battery replacement

For Battery replacement procedure, refer to section 6.4.2.
Battery is supplied to the

serial absolute synchronous
encoder by the encoder
cable. Battery connector
A6BAT
LITHIUM BATTERY
/MR-BAT
MITSUBISHI
2 - 59
(c) Battery service life time

Battery service life time
Guaranteed time(MIN) [h] Actual time(TYP) [h]
MR-HENC 1 pcs. 10000 30000
MR-HENC 2 pcs. 5000 15000
Q170ENC 1 pcs. 8000 24000
Q170ENC 2 pcs. 4000 12000
CAUTION
Do not short a battery.
Do not charge a battery.
Do not disassemble a battery.
Do not burn a battery.
Do not overheat a battery.
Do not solder the battery terminals.
2 - 60
2.4.6 Q173PX Manual pulse generator interface module
Q173PX receive external signals required for Manual pulse generator and Incremental
synchronous encoder (Voltage-output/Open collector type/Differential-output type).
(1) Q173PX/Q173PX-S1 name of parts

1)
5) Q173PX-S1
PLS.A PLS.B TREN
1 1 1 2)
2 2 2
3 3 3
PULSER
3)
ON
1 2 3 4 5 6
6)
KSD06S
7) Q173PX
4)

Display the input status from the external equipment.
LED Details
Input signal status of the Manual pulse
PLS.A 1 to 3
2) Mode judging LED generator/Incremental synchronous
PLS.B 1 to 3
encoder phases A and B
TREN 1 to 3 Tracking enable signal
This LED is not turned on if it is not set the Q173PX in
the system settings.
Input connector of the Manual pulse generator/Incremental
3) PULSER connector
synchronous encoder.
4) Module loading lever Used to load the module to the base unit.
Module fixing screw Hole for the screw used to fix to the base unit
5)
2 - 61

Detection setting of TREN1 signal
Dip switch 1 SW1 SW2
OFF OFF
TREN is detected when
ON ON
TREN signal turns off to on.
ON OFF
Dip switch 2
Dip switches TREN is detected when TREN
(Note-1)(Note-2) OFF ON
signal turns on to off.
Detection setting of TREN2 signal
ON
1 2 3 4 5 6
Dip switch 3 SW3 SW4

OFF OFF
6) ON ON
ON OFF
Dip switch 4
TREN is detected when TREN
OFF ON
(Shipped from the signal turns on to off.
factory in OFF Detection setting of TREN3 signal
position) Dip switch 5 SW5 SW6
OFF OFF
ON ON
ON OFF
Dip switch 6
TREN is detected when TREN
OFF ON
signal turns on to off.
(Note-1) : When using the Q173PX-S1 only.
(Note-2) : The function is different according to the operating system software installed.
POINTS
The lighting condition of input display LED is shown below.
(1) PLS.A 1 to 3, PLS.B 1 to 3
• Q173PX is set on the system setting display of SW6RN-GSV P.
• All axes servo ON command (M2042) turned on.
• Manual pulse generator enable flag (M2051, M2052, M2053) turned on.
• Manual pulse generator signal is input.
(2) TREN 1 to 3
• Q173PX is set on the system setting display of SW6RN-GSV P.
• Tracking signal is input.
2 - 62

Specifications
Item
Q173PX Q173PX-S1
Memory for data exchange None Provided
Internal current consumption(5VDC)[A] 0.11
98(H) 27.4(W) 90(D)
(3.86(H) 1.08(W) 3.54(D) )
Mass [kg] 0.15
(b) Tracking enable signal input

Item Specifications
Number of input points Tracking enable signal : 3 points
10.2 to 26.4VDC
OFF to ON 0.4ms/0.6ms/1ms
Response time
Common terminal arrangement 1 point/common(Common contact: TREN.COM)
Indicates to display ON indication(LED)
2 - 63
(c) Manual pulse generator/Incremental synchronous encoder

input
Item Specifications
Number of modules 3/module
Voltage-output/ High-voltage 3.0 to 5.25VDC
Open collector type Low-voltage 0 to 1.0VDC
Differential-output type High-voltage 2.0 to 5.25VDC
(26LS31 or equivalent) Low-voltage 0 to 0.8VDC
Input frequency Up to 200kpps (After magnification by 4)
Voltage-output type/Open-collector type (5VDC), Recommended
Applicable types product: MR-HDP01
Differential-output type: (26LS31 or equivalent)
2
Applicable wire size 0.3mm
Applicable connector for the external A6CON1(Attachment)
connection A6CON2, A6CON3(Optional)
Voltage-output/
30m (98.43ft.)
Cable length Open collector type
(Open collector type: 10m (32.81ft.) )
Differential-output type
2 - 64
(3) Connection of manual pulse generator

Manual pulse generators are available in voltage output/open collector type and
differential output type. Since these types differ in connection method, design
according to the connection method of section 2.4.6 (5).
In addition the usable numbers of manual pulse generator which can be used
with each CPU modules are up to 3 modules.
Motion CPU module Manual pulse generator
Q173CPU(N) Up to 3 modules
Q172CPU(N) ( Up to 1 module )
(4) Connection of incremental synchronous encoder

Incremental synchronous encoders are available in voltage output/Open collector
type and differential output type. Since these types differ in connection method,
design according to the connection method of section 2.4.6 (5).
Serial type absolute synchronous encoder (MR-HENC/Q170ENC) not connected
to Q173PX. Then connect to Q172EX.
In addition, the usable numbers of synchronous encoders differ depending on the
modules.
The following number of serial absolute synchronous encoders and incremental
synchronous encoders combined can be used.
Motion CPU module Synchronous encoder

Up to 12 modules
Q173CPU(N)
( Q173PX: Up to 4 modules )
Up to 8 modules
Q172CPU(N)
( Q173PX: Up to 3 modules )
• Tracking enable signal

Tracking enable signal of Q173PX is used to start the input from
incremental synchronous encoders.
The external input signal of the incremental synchronous encoder is
indicated below.
This signal is used as the input start signal or high-speed reading function
from incremental synchronous encoder.
External input signal of the Number of points on

Item
incremental synchronous encoder one Q173PX
Input start function from incremental Each 1 point

Tracking enable signal input
synchronous encoder ( Total 3 points )
2 - 65
(5) Connection of manual pulse generator interface module

(a) The pin layout of the PULSER connector
Use the PULSER connector at the Q173PX module front to connect the
manual pulse signals, incremental synchronous encoder signals.
The following pin layout of the Q173PX PULSER connector viewed from
the front.
The pin layout and connection description of the PULSER connector are
described below.
PULSER connector
Pin No. Signal Name Pin No. Signal Name
2) B20 HB1 A20 HA1 2)
B19 SG A19 SG
B18 5V A18 HPSEL1 1)
B17 HA1N A17 HA1P
3) 3)
B16 HB1N A16 HB1P
2) B15 HB2 A15 HA2 2)
B14 SG A14 SG
B13 5V A13 HPSEL2 1)
B12 HA2N A12 HA2P
3) 3)
B11 HB2N A11 HB2P
2) B10 HB3 A10 HA3 2)
B9 SG A9 SG
B8 5V A8 HPSEL3 1)
B7 HA3N A7 HA3P
3) 3)
B6 HB3N A6 HB3P
B4 TREN1 A4 TREN1
B3 TREN2 A3 TREN2
B2 TREN3 A2 TREN3
4) B1 FG A1 FG 4)
Applicable connector model name

A6CON1 type soldering type connector
FCN-361J040-AU connector (FUJITSU TAKAMISAWA (Attachment)
COMPONENT LIMITED)
FCN-360C040-B connector cover
A6CON2 type Crimp-contact type connector
(Optional)
A6CON3 type Pressure-displacement type connector
1) : Input type from manual pulse generator/incremental synchronous

encoder switched by HPSEL .
Not connection : Voltage-output type/open collector type.
HPSEL -SG connection : Differential-output type.
(Switching is possible for each input 1 to 3)
2) : Voltage output/open collector type
Connect the A-phase signal to HA1P/HA2P/HA3P, and the B-phase
signal to HB1P/HB2P/HB3P.
3) : Differential output type
Connect the A-phase signal to HA1P/HA2P/HA3P, and the A-phase
inverse signal to HA1N/HA2N/HA3N.
Connect the B-phase signal to HB1P/HB2P/HB3P, and the B-phase
inverse signal to HB1N/HB2N/HB3N.
4) : Connect the shield cable between manual pulse generator/incremental
synchronous encoder and Q173PX at the FG signal.
5) : Connector/terminal block conversion modules cannot be used.
2 - 66
(b) Interface between PULSER connector and manual pulse

generator (Differential output type)/Incremental synchronous
encoder
Interface between Manual pulse generator (Differential output type)/
Incremental synchronous encoder
Pin No.
PULSER connector
Input or
Signal name Voltage-Output Wiring example Internal circuit Specification Description
Output type
1 2 3
Rated input voltage For connection
Manual A A17 A12 A7 5.5VDC or less
A manual pulse
pulse HA P
generator
generator, A HIGH level
A Phases A, B
phase A B17 B12 B7 2.0 to 5.25VDC
HA N Manual pulse Pulse width
20 s or more
generator/
B synchronous LOW level
Manual A16 A11 A6 5 s 5 s
encoder 0.8VDC or less
Input pulse HB P B or more or more
(Duty ratio: 50% 25%)

generator,
B 26LS31 or Rise, fall time
phase B B B16 B11 B6
equivalent 1 s or less.
HB N
Phase difference
Phase A
Select type
(Note-2) Phase B
signal A18 A13 A8 2.5 s or
more
HPSEL (1) Positioning address
increases if Phase A
leads Phase B.
(Note-1) Power supply (2) Positioning address
P5 B18 B13 B8 5VDC decreases if Phase B
5V leads Phase A.
Power
supply SG
A19 A14 A9
SG
B19 B14 B9
(Note-1) : The 5V(P5)DC power supply from the Q173PX must not be connected if a separated power
supply is used as the Manual pulse generator/Incremental synchronous encoder power supply.
Use a 5V stabilized power supply as a separated power supply. Any other power supply may
cause a failure.
(Note-2) : Connect HPSEL to the SG terminal if the manual pulse generator (differential output type)
/incremental synchronous encoder is used.
2 - 67
(c) Interface between PULSER connector and manual pulse

generator (Voltage output/Open collector type)/
Incremental synchronous encoder.
Interface between Manual pulse generator (Voltage-output/Open collector
type)/Incremental synchronous encoder
Pin No.
PULSER connector
Input or
Signal name Voltage-Output Wiring example Internal circuit Specification Description
Output
type
1 2 3
Manual Rated input voltage For connection
pulse A 5.5VDC or less manual pulse
generator, A20 A15 A10 generator
HIGH level Phases A, B
phase A 3 to 5.25VDC/
Pulse width
HA Manual pulse 2mA or less 20 s or more
generator/
Manual synchronous LOW level 5 s 5 s
Input pulse encoder
B 1VDC or less/ or more or more
(Duty ratio: 50% 25%)

generator, B20 B15 B10 5mA or more
Rise, fall time
phase B 1 s or less
Phase difference
HB
Phase A
Select type Phase B
2.5 s or
signal A18 A13 A8 No connect more
(1) Positioning address
HPSEL
increases if Phase A
leads Phase B.
(2) Positioning address
(Note) decreases if Phase B
Power supply
P5 B18 B13 B8 leads Phase A.
5V 5VDC
Power
supply SG
A19 A14 A9
SG
B19 B14 B9
(Note) : The 5V(P5)DC power supply from the Q173PX must not be connected if a separated power
supply is used as the Manual pulse generator/Incremental synchronous encoder power supply.
Use a 5V stabilized power supply as a separated power supply. Any other power supply
may cause a failure.
(d) Interface between PULSER connector and tracking enable

signal
Interface between tracking enable signal
Pin No.
Input or
Signal name PULSER connector Wiring example Internal circuit Specification Description
Output 1 2 3
Tracking enable
TREN A4 A3 A2
signal input.
Input Tracking
enable
(Note)
TREN B4 B3 B2
12V to 24VDC
(Note) : As for the connection to tracking enable (TREN+, TREN–), both "+" and "–" are possible.
2 - 68
(6) Connection examples of manual pulse generator

Connection of manual pulse generator Connection of manual pulse generator
(Voltage-output/Open collector type) (Differential-output type)
Q173PX Manual pulse Q173PX Manual pulse

Signal name generator side Signal name generator side
HA A HA P A
HB B HA N A
SG 0V HB P B
SG 5V HB N B
(Note-2)
SG (Note-1) SG 0V
P5 P5 5V
(Note-2)
FG shield FG (Note-1)
: 1 to 3 :Twisted pair cable SG
HPSEL
:Twisted pair cable
: 1 to 3
(Note-1) : The 5V(P5)DC power supply from the Q173PX must not be connected if a separated
power supply is used as the Manual pulse generator/Incremental synchronous
encoder power supply.
Use a 5V stabilized power supply as a separated power supply. Any other power supply
may cause a failure.
(Note-2) : Connect HPSEL to the SG terminal if the manual pulse generator (differential output
type/incremental synchronous encoder is used.
CAUTION
If a separate power supply is used as the manual pulse generator/incremental synchronous
encoder power supply, use a 5V stabilized power supply. Any other power supply may cause a
failure.
2 - 69
2.4.7 Manual pulse generator/Serial absolute synchronous encoder
(1) Table of the Manual pulse generator specifications

Item Specifications
Model name MR-HDP01
Ambient temperature -10 to 60°C(14 to 140°F)
Pulse resolution 25PLS/rev(100 PLS/rev after magnification by 4)
Voltage-output(power supply voltage -1V or more),
Output method
Output current = Up to 20mA
Power supply voltage 4.5 to 13.2VDC
Current consumption [mA] 60
Life time 1,000,000 revolutions (at 200r/min)
Radial load : Up to 19.6N
Permitted axial loads
Thrust load : Up to 9.8N
Mass [kg] 0.4
Number of max. revolution Instantaneous Up to 600r/min. normal 200r/min
Pulse signal status 2 signals : A phase, B : phase, 90° phase
Friction torque 0.1N/m(at 20°C (68°F) )
2 - 70
(2) Table of the Serial absolute synchronous encoder specifications

Specifications
Item
(Note-1)
MR-HENC Q170ENC
Ambient temperature -5 to 55°C(23 to 131°F)
Resolution 16384PLS/rev 262144PLS/rev
Connectable encoder Q172EX(-S1) Q172EX-S2/-S3
Transmission method Serial communications
Direction of increasing addresses CCW(viewed from end of shaft)
Dustproof/Waterproof
Protective construction IP52 (IP65: Except for the shaft-
through portion.)
Permitted speed at power ON 4300r/min 3600r/min
(Note-1)
Permitted speed at power OFF 500r/min
Radial load : Up to 98N Radial load : Up to 19.6N

Permitted axial loads
Thrust load : Up to 49N Thrust load : Up to 9.8N
Runout at input shaft tip 0.02mm(0.00079 inch) or less,15mm(0.59 inch) from tip
Recommended coupling Bellows coupling
2
Permitted angular acceleration 40000rad/s
Internal current consumption [A] 0.15 0.2
Mass [kg(lb)] 1.5 0.6
MR-JHSCBL M-H Q170ENCCBL M
=Cable length : =Cable length:
Connecting cable 2m(6.56ft.), 5m(16.40ft.), 2m(6.56ft.), 5m(16.40ft.),
10m(32.81ft.), 20m(65.62ft.), 10m(32.81ft.), 20m(65.62ft.),
30m(98.43ft.) 30m(98.43ft.), 50m(164.04ft.)
Communications method Differential driver/receiver conforming to RS422A
Transmission distance Up to 30m(98.43ft.) Up to 50m(164.04ft.)
(Note-1): When "o-ring" is required, please purchase separately by customers.
(Note-2): If it exceeds a permitted speed at power OFF, a position displacement is generated.
2 - 71
2.4.8 A31TU-D3 /A31TU-DN Teaching unit (Japanese version only)
Teaching unit A31TU-D3 /A31TU-DN can be easily set the teaching of positioning
point, each parameter settings, creation of servo program, servo monitor, servo test,
and so on without the peripheral devices. (Motion CPU module Q173CPUN-T/
Q172CPUN-T is usable only. Refer to the A31TU-D Teaching Unit Operating Manual
for the usable operating system software and version.)
(1) Selection of the teaching unit

There are no deadman switch and emergency stop terminal for the external
safety circuit in a A31TU-DN .
Use the A31TU-D3 to raise safety more by the deadman switch or external
(Note)
safety circuit .
Refer to the following table for selection of the teaching unit.
Item A31TU-D3 A31TU-DN
Provided
(Normally open contact, double contact)
3-position deadman switch ——
Normally open contact is connected by
gripping/releasing this switch.
Provided Provided
(Normally closed contact, double contact) (Normally closed contact, double contact)
Emergency stop switch Normally closed contact is released by Normally closed contact is released by
(Push lock return reset type) pushing switch. pushing switch.
Normally closed contact is connected by Normally closed contact is connected by
turning to the right this switch. turning to the right this switch.
Provided
(Emergency stop switch × 2,
Terminal for external safety circuit ——
Deadman switch × 2,
Emergency stop input to Motion CPU × 1)
Connect to the external safety circuit. Connect directly the emergency stop
(Normally closed contact input) switch of A31TU-DN .
The emergency stop state of Motion CPU (Normally closed contact input)
Emergency stop input to Motion CPU
occurs by releasing the normally closed The emergency stop state of Motion CPU
contact of external safety circuit. occurs by pushing the emergency stop
switch of A31TU-DN .
Q170TUDNCBL3M
Q170TUD3CBL3M
(Control panel connecting type)
Connecting cable with Motion CPU (Control panel connecting type)
Q170TUDNCBL03M-A
(Direct connecting type)
It is used as the following cases. It is used as the following cases.

• When the deadman switch is used. • When the deadman switch is not used.
Remark
• When the double contact raises safety by • When the teaching unit is used with
attaching the external safety circuit. simple connecting.
2 - 72
REMARK
External safety circuit
Construct the circuit (power supply OFF of servomotor, etc.) of parts which may
occur machine breakdown and accidents due to abnormal operations outside of the
Motion CPU in a fail-safe viewpoint, to avoid abnormal operations of whole system.
! CAUTION
If the teaching unit A31TU-D3 is released during operation, the emergency stop state of Motion
CPU occurs, and the servomotor becomes coasting state.
2 - 73
(2) A31TU-D3 /A31TU-DN Name of parts
5) 1)
DISABLE ENABLE
A31TU
2)
7)
DATA PROGRAM MONITOR TEST
STOP 3)
INSTRUCTION
ITEM CLEAR EMG.STOP
; # SP
7 8 9
OVERRIDE
WRITE DELETE INDIRECT
D E F
4 5 6
STEP -
STORE
1
A
2
B
3
C 4)
FUNCTION
MDI
-
STEP +
6)
. 0
RETURN
SHIFT ERROR
RESET CAN
AXIS GO
JOG - JOG +
NO.

4 lines × 16 characters LCD display
1) Display
(With back-lighted auto light off)
DISABLE/ENABLE key Switch the operation of teaching unit to DISABLE/ENABLE
2)
select switch
Input the emergency stop signal to the Motion CPU.
The emergency stop state of Motion CPU occurs by pushing the switch,
Emergency stop switch
3) and the servomotor stops and becomes coasting state.
EMG.STOP button
The emergency stop state is released by turning to the right this switch.
4) Operation keys Operation key of the teaching unit

Adjust the contrast of display.
5) Contrast adjusting switch
The emergency stop signal is input to the Motion CPU by the external
safety circuit.
3-position deadman switch The Motion CPU will be in the state which can be operated by holding the
6)
(A31TU-D3 only) middle position of enable switch.
The emergency stop state of Motion CPU occurs by gripping or releasing
this switch, and the servomotor stops and becomes coasting state.
Buzzer sounds at the operation key input or any alarm occurrence.
7) Internal buzzer
(It is possible to switch off the buzzer at the key input by setting.)
2 - 74
(3) Teaching unit specifications
Specifications
Items
A31TU-D3 A31TU-DN
Language Japanese
Tact switch 28 keys for SV
ENABLE/DISABLE switch Operation enable/disable
Operation
Emergency stop switch Push lock return reset type
Deadman switch 3-position switch None
Contrast adjusting switch Shade/light
Display method 4 lines × 16 characters LCD display
Interface Conforming RS-422
Protective construction IP54 equivalent
Ambient temperature 0 to 40°C (32 to 104°F)
5VDC power supply Supplied from Motion CPU
5VDC consumption current [A] 0.26
Mass [kg] 1.74 (Including cable 5m (16.40ft.))
POINTS
(1) The total extended distance of cable between the Motion CPU and teaching
unit is within [30m(98.43ft.)] including the A31TU-D3 /A31TU-DN cable
[5m(16.40ft.)]
(2) The teaching unit is shipped, a protection sheet is attached in the surface of
the display and operation key to prevent the crack for conveyance. Remove a
protection sheet to use. Operation and display check without removing a
protection sheet are possible, however adhesives may remain in a teaching
unit by secular change.
(3) When the servomotor is operated by the JOG feed, etc. using the teaching unit
(A31TU-D3 ) with deadman switch, operate it pushing the deadman switch at
middle position. The emergency stop state of Motion CPU occurs by gripping
or releasing this switch, and the servomotor stops and becomes coasting
state.
(4) Connection between the teaching unit and Motion CPU

(a) Connection between the teaching unit (A31TU-D3 ) and
Motion CPU (Q173CPUN-T/Q172CPUN-T)
1) Connect the cable for teaching unit (Q170TUD3CBL3M) between the
TU connector of Motion CPU (Q173CPUN-T/Q172CPUN-T) and
control panel. (Refer to the exterior dimensions of "APPENDIX 1.3
Cable for the teaching unit" and "APPENDIX 2.7 Connector", when it is
fit to the control panel.)
2) Connect the connector for external safety circuit (connector for
emergency stop switch × 2 sets, connector for deadman switch × 2
sets and connector for emergency stop input to Motion CPU × 1 set) to
the external safety circuit.
3) Connect the teaching unit (A31TU-D3 ) to the cable for teaching unit
(Q170TUD3CBL3M) connected to the control panel.
2 - 75
4) When the teaching unit (A31TU-D3 ) is not used, connect the short-
circuit connector for teaching unit (A31TUD3TM) to the control panel
side connector of the cable for teaching unit (Q170TUD3CBL3M).
Connection example between the cable for teaching unit (Q170TUD3CBL3M) and
external safety circuit is shown below.
A31TU-D3
Control panel Q173CPUN-T/Q172CPUN-T
DISABLE ENABLE
A31TU
MELSEC Q02HCPU Q173C PUN-T QX40 Q172EX Q173PX-S1

Q61P- A1 0 1 2 3 4 5 6 7 SY.ENC TREN PLS.A PLS.B TREN
POWER MODE MODE 1 1 1
1 1
RUN RUN 8 9 A B C D E F 2 2 2
2 2
ERR. ERR. 3 3 3
MONITOR
U SER M.RUN DATA PROGRAM TEST
BAT. BAT. STOP
BOOT BOOT
INSTRUCTION EMG.STOP
ITEM CLEAR
; # SP
FRONT
7 8 9
SY.ENC1 OVERRIDE
SSCNET
INDIRECT
WRITE DELETE
C N2 D E F
TU 4 5 6
PULSER STEP -
PULL PULLC N1 STOR E
A B C
1 2 3
STEP +
PULL USB USB MDI
FUNCTION
-
. 0
SY.ENC2 RETURN
SHIFT ERROR
CAN
RESET
RS-232 RS-232
AXIS GO
Q173PX JOG - JOG +
Q172EX NO.
Q170TUD3CBL3M
Deadman switch
Emergency stop input Deadman
contact point
Emergency stop A31TUD3TM
Servo amplifier contact point
MITSUBISHI
MITSUBISHI
When the A31TU-D3

is not used.
Main circuit
power supply
External safety circuit
(Relay, MC, etc.)
! CAUTION
Do not use it in the combination of the teaching unit without deadman switch (A31TU-DN ) and
cable for teaching unit with deadman switch (Q170TUD3CBL3M). The protective function stops
working.
When the teaching unit (A31TU-D3 ) is not used in the Motion CPU (Q173CPUN-T/
Q172CPUN-T), connect the short-circuit connector for teaching unit (A31TUD3TM) to the control
panel side connector of the cable for teaching unit (Q170TUD3CBL3M). If it is not connected,
the emergency stop state of Motion CPU occurs, and the servomotor becomes coasting state.
2 - 76
(b) Connection between the teaching unit (A31TU-DN ) and

Motion CPU (Q173CPUN-T/Q172CPUN-T)
There are following two connecting method.
• When the connector is connected to the control panel.
• When the connector is connected directly in the control panel.
1) When the connector is connected to the control panel.

a) Connect the cable for teaching unit (Q170TUDNCBL3M) between
the TU connector of Motion CPU (Q173CPUN-T/Q172CPUN-T) and
control panel. (Refer to the exterior dimensions of "APPENDIX 1.3
Cable for the teaching unit" and "APPENDIX 2.7 Connector", when
it is fit to the control panel.)
b) Connect the teaching unit (A31TU-DN ) to the cable for teaching
unit (Q170TUDNCBL3M) connected to the control panel.
c) When the teaching unit (A31TU-DN ) is not used, connect the
short-circuit connector for teaching unit (A31TUD3TM) to the control
panel side connector of the cable for teaching unit
(Q170TUDNCBL3M).
2 - 77
Connection example between the cable for teaching unit (Q170TUDNCBL3M) is

shown below.
A31TU-DN
DISABLE ENABLE
A31TU
MELSEC Q02HCPU Q173C PUN-T QX40 Q172EX Q173PX-S1

Q61P- A1 0 12 3 45 6 7 SY.ENC TREN PLS.A PLS.B TREN
POWER MOD E MODE 1 1 1 1 1
R UN RUN 8 9A B C D E F 2 2 2
2 2
ERR. ERR. 3 3 3
MONITO R
USER M.RUN DATA PROGRAM TEST
BAT. BAT. STOP
BOOT BOOT
ITEM CLEAR
; # SP
7 8 9
FRONT
SY.ENC1 OVERRIDE
SSC NET INDIRECT
WRITE DELETE
D E F
CN2
TU 4 5 6
STEP -
PULSER
PULL PULL CN1 STORE
A B C
1 2 3
STEP +
PULL USB USB FUNCTION
MDI
-
. 0
SY.ENC2 RETURN
SHIFT ERROR
CAN
RESET
RS-232 RS-232
AXIS GO
Q173PX
JOG - JOG +
Q172EX NO.
Q170TUDNCBL3M
No deadman switch
Servo amplifier
MITSUBISHI
MITSUBISHI
A31TUD3TM
Main circuit When the A31TU-DNK

is not used.
power supply
! CAUTION
Do not use it in the combination of the teaching unit with deadman switch (A31TU-D3 ) and cable for
teaching unit without deadman switch (Q170TUDNCBL3M). The protective function stops working.
When the teaching unit (A31TU-DN ) is not used in the Motion CPU (Q173CPUN-T/
Q172CPUN-T), connect the short-circuit connector for teaching unit (A31TUD3TM) to the control
panel side connector of the cable for teaching unit (Q170TUDNCBL3M). If it is not connected, the
emergency stop state of Motion CPU occurs, and the servomotor becomes coasting state.
2 - 78
2) When the connector is connected directly in the control panel.

a) Connect the cable for teaching unit (Q170TUDNCBL03M-A) to the
TU connector of Motion CPU (Q173CPUN-T/Q172CPUN-T) after
connecting to the teaching unit (A31TU-DN ).
b) When the teaching unit (A31TU-DN ) is not used, connect the
short-circuit connector for teaching unit (Q170TUTM) after removing
a TU connector of cable for teaching unit (Q170TUDNCBL03M-A)
from a TU connector of Motion CPU (Q173CPUN-T/Q172CPUN-T).
Connection example between the cable for teaching unit (Q170TUDNCBL03M-A) is

shown below.
A31TU-DN
DISABLE ENABLE
A31TU
MELSEC
Q02HCPU Q173C PUN-T QX40 Q172EX Q173PX-S1
POWER MOD E MODE 1 1 1
1 1
RUN RUN 8 9A B C D E F 2 2 2
2 2
ERR . ERR. 3 3 3
PROGRAM MONITOR
USER M.RUN DATA TEST
BAT. BAT. STOP
BOOT BOOT
ITEM CLEAR
; # SP
7 8 9
FRONT
SY.ENC1 OVERRIDE
SSC NET
CN2 D E F
TU 4 5 6
PULSER STEP -
CN1 STOR E
PULL PULL A B C
1 2 3
STEP +
PULL
USB USB FUNCTION
MDI
-
. 0
SY.ENC2 RETURN
SHIFT ERROR
RESET CAN
RS-232 RS-232
AXIS GO
Q173PX JOG - JOG +
Q172EX NO.
Q170TUDNCBL03M-A
Q170TUTM
When the A31TU-DN No deadman switch
is not used.
Servo amplifier
MITSUBISHI
MITSUBISHI
Main circuit
power supply
2 - 79
! CAUTION
Do not connect the A31TU-D3 to the cable for teaching unit (Q170TUDNCBL03M-A). The protective
function stops working.
Be sure to fix the relay portion of a connector which has connected the cable for teaching unit
(Q170TUDNCBL03M-A) with teaching unit (A31TU-DN ) so that impossible power is not applied
for the connector of Motion CPU (Q173CPUN-T/Q172CPUN-T). A connector may be damaged.
Do not pull a teaching unit (A31TU-DN ). A connector may be damaged.
When a teaching unit (A31TU-DN ) is removed, first be sure to remove a TU connector of Motion
CPU (Q173CPUN-T/Q172CPUN-T) so that impossible power is not applied for the connector.
If a connector of teaching unit (A31TU-DN ) is removed connecting a TU connector of Motion
CPU (Q173CPUN-T/Q172CPUN-T), a TU connector of Motion CPU (Q173CPUN-T/
Q172CPUN-T) may be damaged.
When the teaching unit (A31TU-DN ) is not used in the Motion CPU (Q173CPUN-T/
Q172CPUN-T), connect the short-circuit connector for teaching unit (Q170TUTM) after removing
a TU connector of cable for teaching unit (Q170TUDNCBL03M-A) from a TU connector of Motion
CPU (Q173CPUN-T/Q172CPUN-T). If it is not connected, the emergency stop state of Motion
CPU occurs, and the servomotor becomes coasting state.
2 - 80
(c) When not using a teaching unit (A31TU-D3 /A31TU-DN )

Connect a short-circuit connector for teaching unit (Q170TUTM) to a TU
connector of Motion CPU (Q173CPUN-T/Q172CPUN-T).
Connection example without teaching unit (A31TU-D3 /A31TU-DN ) is

shown below.
MELSEC
Q02HCPU Q173C PUN-T QX40 Q172EX Q173PX-S1
POWER MOD E MODE 1 1 1
1 1
R UN RUN 8 9A B C D E F 2 2 2
2 2 3 3 3
ERR. ERR.
USER M.R UN
BAT. BAT.
BOOT BOOT
FRONT
SY.ENC1
SSC NET
CN2
TU
PULSER
PULL PULL CN1
PULL
USB USB
SY.ENC2
RS-232 RS-232
Q172EX Q173PX
Q170TUTM
When the A31TU-D3 /
A31TU-DN is not used.
Servo amplifier
MITSUBISHI
MITSUBISHI
Main circuit
power supply
! CAUTION
When the teaching unit (A31TU-D3 /A31TU-DN ) is not used in the Motion CPU (Q173CPUN-T/
Q172CPUN-T), connect the short-circuit connector for teaching unit (Q170TUTM) to a TU connector
of Motion CPU (Q173CPUN-T/Q172CPUN-T). If it is not connected, the emergency stop state of
Motion CPU occurs, and the servomotor becomes coasting state.
2 - 81
2.4.9 SSCNET cables, terminal connector and connection method
This section describes how to connect between the Motion CPU module and servo
amplifiers.
Between the Motion CPU module and servo amplifiers is connected by SSCNET
cable. When using the Q172CPU(N), only 1 SSCNET cable for connection to servo
amplifier can be used. (Connect to CN1.) When using the Q173CPU(N), up to 4
SSCNET cables for connection to servo amplifier can be used. (Connect to CN1.)
Up to 8 servo amplifies can be connected to 1 SSCNET cable.
Also, SSCNET cables or terminal connector are different depending on the servo
amplifiers.
(1) Connection between the Q173CPU(N) and servo amplifiers

(a) When using the Dividing unit/external battery
Q173CPU(N)
Motion
CPU module
SSCNET cable over all length per 1 system

1)+total of 3) 30m(98.43ft.)
CN1
SSCNET SYSTEM1
MITSUBISHI MITSUBISHI
1)
3) 3) 4)
Dividing unit (Note-1) CN1A CN1B CN1A CN1B
(Q173DV)
MITSUBISHI
LITHIUM BATTERY

BAT
Q173CPU
SSCNET SYSTEM2
3) 3) 4)
CN1A CN1B CN1A CN1B

(Note-1) : When using the external battery, set the Battery (A6BAT/MR-BAT) into
the Dividing unit (Q173DV).
2 - 82
(b) When using the Dividing cable

Q173CPU(N)
Motion CPU
module

2)+total of 3) 30m(98.43ft.)
CN1
SSCNET SYSTEM1
2)
3) 4)
CN1A CN1B CN1A CN1B
SSCNET SYSTEM2
3) 4)
CN1A CN1B CN1A CN1B
2 - 83
List of SSCNET cable model name

No. Part name Model name (Note-2) Cable length Description
Q173CPU(N)
1) Motion CPU Dividing unit Q173DVCBL M 0.5m(1.64ft.), 1m(3.28ft.)
Dividing unit (Q173DV)
Q173J2B CBL M 0.5m(1.64ft.), 1m(3.28ft.), Q173CPU(N)

(Note-3)
5m(16.40ft.) Servo amplifier (MR-J2 -B)
2) Motion CPU Servo amplifier (Note-1)
Q173HB CBL M 0.5m(1.64ft.), 1m(3.28ft.), Q173CPU(N)
(Note-3)
5m(16.40ft.) Servo amplifier (MR-H-BN)
Servo amplifier (MR-J2 -B)
0.5m(1.64ft.), 1m(3.28ft.), Servo amplifier (MR-J2 -B),
MR-J2HBUS M
5m(16.40ft.) Dividing unit (Q173DV)
Servo amplifier (MR-J2 -B)
Servo amplifier (MR-H-BN)
0.5m(1.64ft.), 1m(3.28ft.), Servo amplifier (MR-J2 -B),
MR-J2HBUS M-A
Servo amplifier (MR-H-BN)
0.5m(1.64ft.), 1m(3.28ft.), Servo amplifier (MR-H-BN)
MR-HBUS M
Servo amplifier Servo amplifier 5m(16.40ft.) Servo amplifier (MR-H-BN)
3)
Dividing unit Servo amplifier Servo amplifier (MR-J2 -B)
0.5m(1.64ft.), 1m(3.28ft.), FR-V5NS (Note-4) ,
Q172J2BCBL M
FR-V5NS (Note-4)
Q172HBCBL M
5m(16.40ft.) FR-V5NS (Note-4)
0.5m(1.64ft.), 1m(3.28ft.),
FR-V5NSCBL 5m(16.40ft.), 10m(32.81ft.), FR-V5NS (Note-4) FR-V5NS (Note-4)
20m(65.62ft.)
Connected to the last MR-H-BN by

MR-TM ——
SSCNET
4) Terminal connector
Connected to the last MR-J2 -B by
MR-A-TM ——
SSCNET
(Note-1) : Branch from a connector on the Q173CPU(N) side according to the number of systems.
(Note-2) : =cable length
(Note-3) : =SSCNET SYSTEM No.(none(SYSTEM 1), 2(SYSTEM 1/2), 4(SYSTEM 1/2/3/4))
2 - 84
(2) Connection between the Q172CPU(N) and servo amplifiers

(a) When using the external battery
Q172CPU(N)
Motion CPU
module

1)+total of 3) 30m(98.43ft.)
CN1
SSCNET SYSTEM1
1)
3) 4)
CN1A CN1B CN1A CN1B

BAT MITSUBISHI
LITHIUM BATTERY
CPU
Battery unit (Note-1) Servo amplifier Servo amplifier

(Q170BAT)
(Note-1) : When using the external battery, set the Battery (A6BAT/MR-BAT) into
the battery unit (Q170BAT).
(b) When not using the external battery

Q172CPU(N)
Motion CPU
module

2)+total of 3) 30m(98.43ft.)
CN1
2) 3) 4)
CN1A CN1B CN1A CN1B
2 - 85
List of SSCNET cable model name

No. Part name Model name (Note-1) Cable length Description
Servo 0.5m(1.64ft.), 1m(3.28ft.), Servo amplifier (MR-J2 -B)
amplifier Q172J2BCBL M-B Q172CPU(N)
Motion 5m(16.40ft.) Battery unit (Q170BAT)
1)
CPU 0.5m(1.64ft.), 1m(3.28ft.), Servo amplifier (MR-H-BN)
Battery Q172HBCBL M-B Q172CPU(N)
unit 5m(16.40ft.) Battery unit (Q170BAT)
0.5m(1.64ft.), 1m(3.28ft.),
Q172J2BCBL M Q172CPU(N) Servo amplifier (MR-J2 -B)
5m(16.40ft.)
Motion CPU 0.5m(1.64ft.), 1m(3.28ft.),

2) Q172HBCBL M Q172CPU(N) Servo amplifier (MR-H-BN)
Servo amplifier 5m(16.40ft.)
0.5m(1.64ft.), 1m(3.28ft.),
FR-V5NSCBL 5m(16.40ft.), 10m(32.81ft.), Q172CPU(N) FR-V5NS (Note-2)
20m(65.62ft.)
0.5m(1.64ft.), 1m(3.28ft.), Servo amplifier (MR-J2 -B)
MR-J2HBUS M

MR-J2HBUS M-A

MR-HBUS M
5m(16.40ft.) Servo amplifier (MR-H-BN)
Servo amplifier
3) 0.5m(1.64ft.), 1m(3.28ft.),
Servo amplifier Q172J2BCBL M Servo amplifier (MR-J2 -B) FR-V5NS (Note-2)
5m(16.40ft.)
0.5m(1.64ft.), 1m(3.28ft.),
Q172HBCBL M Servo amplifier (MR-H-BN) FR-V5NS (Note-2)
5m(16.40ft.)
0.5m(1.64ft.), 1m(3.28ft.),
FR-V5NSCBL 5m(16.40ft.), 10m(32.81ft.), FR-V5NS (Note-2) FR-V5NS (Note-2)
20m(65.62ft.)
MR-TM —— Connected to the last MR-H-BN by SSCNET

4) Terminal connector
MR-A-TM —— Connected to the last MR-J2 -B by SSCNET
(Note-1) : =cable length

2 - 86
(3) Cable specifications

(a) Q172J2BCBL M (-B)
Model name
Q172J2BCBL05M(-B) Q172J2BCBL1M(-B) Q172J2BCBL5M(-B)
Item
Cable length [m(ft.)] 0.5(1.64) 1(3.28) 5(16.40)
(b) Q172HBCBL M (-B)

Model name
Q172HBCBL05M(-B) Q172HBCBL1M(-B) Q172HBCBL5M(-B)
Item
Cable length [m(ft.)] 0.5(1.64) 1(3.28) 5(16.40)
(c) Q173J2B CBL M

Model name
Q173J2B CBL05M Q173J2B CBL1M Q173J2B CBL5M
Item
Cable length [m(ft.)] 0.5(1.64) 1(3.28) 5(16.40)
= SSCNET SYSTEM No. : none(SYSTEM 1), 2(SYSTEM 2), 4(SYSTEM 4)
(d) Q173HB CBL M

Model name
Q173HB CBL05M Q173HB CBL1M Q173HB CBL5M
Item
Cable length [m(ft.)] 0.5(1.64) 1(3.28) 5(16.40)
= SSCNET SYSTEM No. : none(SYSTEM 1), 2(SYSTEM 2), 4(SYSTEM 4)
(e) Q173DVCBL M
Model name
Q173DVCBL05M Q173DVCBL1M
Item
Cable length [m(ft.)] 0.5(1.64) 1(3.28)
(f) MR-HBUS M
Model name
MR-HBUS05M MR-HBUS1M MR-HBUS5M
Item
Cable length [m(ft.)] 0.5(1.64) 1(3.28) 5(16.40)
(g) MR-J2HBUS M (-A)

Model name
MR-J2HBUS05M(-A) MR-J2HBUS1M(-A) MR-J2HBUS5M(-A)
Item
Cable length [m(ft.)] 0.5(1.64) 1(3.28) 5(16.40)
2 - 87
(h) FR-V5NSCBL
Model name
FR-V5NSCBL005 FR-V5NSCBL01 FR-V5NSCBL05 FR-V5NSCBL10 FR-V5NSCBL20
Item
Cable length [m(ft.)] 0.5(1.64) 1(3.28) 5(16.40) 10(32.81) 20(65.62)
(4) Connection example with servo amplifiers

As the SSCNET cables or terminal connector is different depending on the servo
amplifiers, refer to the following connection example.
The SSCNET cables and terminal connector used in the connection example are
any of the models shown in the following table.
When absolute position detection control is executed, installed battery(MR-BAT/
A6BAT) to servo amplifier.
When the vector inverter (FR-V5 0- ) is connected, fix the ferrite core to the
SSCNET cable. (Refer to "SSCNET communication option FR-V5NS operating
manual" for details.)
Part name Model name Depiction in connection example
MR-HBUS M
MR-J2HBUS M
Servo amplifier to servo amplifier

SSCNET cable
MR-J2HBUS M-A
FR-V5NSCBL
Q173HB CBL M/
Q172HBCBL M(-B)
Motion CPU to servo amplifier
SSCNET cable
Q173J2B CBL M/
Q172J2BCBL M(-B)
Motion CPU to Dividing unit

Q173DVCBL M
SSCNET cable
MR-TM
Terminal connector
MR-A-TM
2 - 88
(a) MR-H-BN configuration

Motion
CPU module MR-H-BN MR-H-BN MR-H-BN
Q173CPU(N) Terminal
/Q172CPU(N) connector
Battery Battery Battery

MR-BAT, MR-BAT, MR-BAT,
A6BAT A6BAT A6BAT
Q172CPU(N) configuration : Q172HBCBL M

Q173CPU(N) configuration : Q173HB CBL M
(b) MR-J2 -B configuration

Motion
CPU module MR-J2 -B MR-J2 -B MR-J2 -B
Q173CPU(N) Terminal

A6BAT A6BAT A6BAT
Q172CPU(N) configuration : Q172J2BCBL M

Q173CPU(N) configuration : Q173J2B CBL M
(c) MR-J2 -B/MR-H-BN configuration

Motion
CPU module MR-J2 -B MR-J2 -B MR-H-BN
Q173CPU(N) Terminal

A6BAT A6BAT A6BAT

Motion
CPU module MR-H-BN MR-J2 -B MR-H-BN
Q173CPU(N) Terminal

A6BAT A6BAT A6BAT

Motion
CPU module MR-J2 -B MR-H-BN MR-J2 -B
Q173CPU(N) Terminal

A6BAT A6BAT A6BAT

2 - 89
(d) FR-V5 0- + FR-V5 0- configuration

Motion CPU
module FR-V5 0- FR-V5 0-
Q172CPU(N) Terminal connector

setting is set by
connector in FR-V5NS.
SSCNET SSCNET
communication communication
option option
FR-V5NS FR-V5NS
(e) FR-V5 0- + MR-J2 -B configuration

Motion CPU
module FR-V5 0- MR-J2 -B
Q172CPU(N) Terminal
connector
SSCNET Battery
communication
MR-BAT,
option
FR-V5NS A6BAT
Q172J2BCBL M
(f) FR-V5 0- + MR-H-BN configuration

Motion CPU
module FR-V5 0- MR-H-BN
Q172CPU(N) Terminal
connector
SSCNET Battery
communication
MR-BAT,
option
FR-V5NS A6BAT
Q172HBCBL M
(g) MR-J2 -B + FR-V5 0- configuration

Motion CPU
module MR-J2 -B FR-V5 0-

/Q172CPU(N) setting is set by
SSCNET
Battery
communication
MR-BAT, option
A6BAT FR-V5NS
Q172J2BCBL M
2 - 90
(h) MR-H-BN + FR-V5 0- configuration

Motion CPU
module MR-H-BN FR-V5 0-

/Q172CPU(N) setting is set by
SSCNET
Battery
communication
MR-BAT, option
A6BAT FR-V5NS
Q172HBCBL M
(i) When using the external battery

As the SSCNET cable used depend on the servo amplifiers, when using
the external battery, refer to the following connection example.
1) Example of Q173CPU(N)
• MR-H-BN + MR-J2 -B + MR-H-BN configuration
Q173DVCBL M
Motion
CPU module Q173DV MR-H-BN MR-J2 -B MR-H-BN
Q173CPU(N) Terminal
Battery
connector
MR-BAT,
A6BAT
A6BAT A6BAT A6BAT
• MR-J2 -B + MR-H-BN + MR-J2 -B configuration

Q173DVCBL M
Motion
CPU module Q173DV MR-J2 -B MR-H-BN MR-J2 -B
Q173CPU(N) Terminal
Battery
connector
MR-BAT,
A6BAT
A6BAT A6BAT A6BAT
• FR-V5 0- + FR-V5 0- configuration

Q173DVCBL M
Motion CPU
module Q173DV FR-V5 0- FR-V5 0-
Battery
setting is set by
MR-BAT, connector in FR-V5NS.
A6BAT SSCNET SSCNET
communication communication
option option
FR-V5NS FR-V5NS
Q172J2BCBL M
2 - 91
• FR-V5 0- + MR-J2 -B configuration

Q173DVCBL M
Motion CPU
module Q173DV FR-V5 0- MR-J2 -B
Battery
setting is set by
A6BAT SSCNET
Battery
communication
option
MR-BAT,
FR-V5NS A6BAT
Q172J2BCBL M
• FR-V5 0- + MR-H-BN configuration

Q173DVCBL M
Motion CPU
module Q173DV FR-V5 0- MR-H-BN
Q173CPU(N) Battery Terminal
connector
MR-BAT,
A6BAT SSCNET Battery
communication
option
MR-BAT,
FR-V5NS A6BAT
Q172J2BCBL M Q172HBCBL M
• MR-J2 -B + FR-V5 0- configuration

Q173DVCBL M
Motion CPU
module Q173DV MR-J2 -B FR-V5 0-
Battery
setting is set by
A6BAT SSCNET
Battery
communication
MR-BAT, option
A6BAT FR-V5NS
Q172J2BCBL M
• MR-H-BN + FR-V5 0- configuration

Q173DVCBL M
Motion CPU
module Q173DV MR-H-BN FR-V5 0-
Q173CPU(N) Battery
Terminal connector
setting is set by
A6BAT Battery SSCNET
communication
MR-BAT,
option
A6BAT FR-V5NS
Q172HBCBL M
2 - 92
2) Example of Q172CPU(N)
• MR-H-BN + MR-J2 -B + MR-H-BN configuration
Q172HBCBL M-B
Motion
CPU module MR-H-BN MR-J2 -B MR-H-BN
Q172CPU(N) Terminal
connector

A6BAT A6BAT A6BAT
Q170BAT
MR-BAT,
A6BAT
Battery
• MR-J2 -B + MR-H-BN + MR-J2 -B configuration

Q172J2BCBL M-B
Motion
CPU module MR-J2 -B MR-H-BN MR-J2 -B
Q172CPU(N) Terminal
connector

A6BAT A6BAT A6BAT
Q170BAT
MR-BAT,
A6BAT
Battery
2 - 93
(5) Setting of the axis No. and axis select switch of servo amplifier
Axis No. is used to set the axis numbers of servo amplifiers connected to
SSCNET connector(CN ) in the program.
Axis No. of 1 to 32 can be set for Q173CPU(N), and axis No. of 1 to 8 can be set
for Q172CPU(N).
Axis No. is set for each system of SSCNET in the system setting of programming
software. Axis No. (Q173CPU(N):1 to 32/Q172CPU(N):1 to 8) is allocated and
set for the setting axis number (d01 to d8) of servo amplifier.
Since the axis number (d01 to d8) of servo amplifier on the system setting screen
corresponds to axis select switch (0 to 7) of servo amplifier, set the axis select
switch referring to the table of next page.
• System setting (Allocation of axis No.) • Axis select switch (Servo amplifier)
7 8 9
3 4 5 6
A
B C DE
2
F 0 1
Set the axis No. relative to axis number (dno.).
(Note) : Correspondence between dno. and axis select switch of servo amplifiers is shown in the next
page.
2 - 94
Correspondences between dno.s and axis select switches of servo amplifier

SSCNET Servo amplifier's SSCNET Servo amplifier's
dno. (Note) dno. (Note)
SYSTEM rotary switch SYSTEM rotary switch
1 1 "0" 1 2 "0"
2 1 "1" 2 2 "1"
3 1 "2" 3 2 "2"
4 1 "3" 4 2 "3"
5 1 "4" 5 2 "4"
6 1 "5" 6 2 "5"
7 1 "6" 7 2 "6"
8 1 "7" 8 2 "7"
SSCNET Servo amplifier's SSCNET Servo amplifier's

dno.(Note) dno. (Note)
SYSTEM rotary switch SYSTEM rotary switch
1 3 "0" 1 4 "0"
2 3 "1" 2 4 "1"
3 3 "2" 3 4 "2"
4 3 "3" 4 4 "3"
5 3 "4" 5 4 "4"
6 3 "5" 6 4 "5"
7 3 "6" 7 4 "6"
8 3 "7" 8 4 "7"
(Note) : The dno. is axis number of servo amplifier axis displayed in the system settings of
programming software. Axis No. is set relative to dno. in the system settings.
The Dividing unit (Q173DV) and the SSCNET cables (Q173J2B CBL M/
Q173HB CBL M) between the Motion CPU and servo amplifiers divide signals
allocated in CN1 of the Q173CPU(N) into each of the four systems.
Corresponding between connector No. after division and SSCNET system No. is
shown below.
Correspondences between SSCNET SYSTEM No. and connector No. of CPU

SSCNET SYSTEM No. Connector No. of Dividing unit Connector No. of SSCNET cable
1 SSCNET CN1 1
2 SSCNET CN2 2
3 SSCNET CN3 3
4 SSCNET CN4 4
(Note) : SSCNET SYSTEM No. Q173CPU(N) : 4 systems / Q172CPU(N) : 1 system.
2 - 95
2.4.10 External battery
This section describes the battery specifications used in the Motion CPU, handling
precautions and equipments.
(1) External battery specifications(For Motion CPU module)

Model name
A6BAT/MR-BAT
Item
Classification Manganese dioxide lithium primary battery
Initial voltage [V] 3.6
Nominal capacity [mAh] 1600
Storage life Actually 5 years (Room temperature)
Lithium content [g] 0.48
For long continuous power failure
Applications
(For IC-RAM memory back-up of Q173CPU(N)/Q172CPU(N))
Exterior dimensions [mm(inch)] 16(0.63)×30(1.18)
(Note) : The 44th Edition of the IATA (International Air Transportation Association) Dangerous Goods Regulations was effected in
January 1st, 2003 and administered immediately.
In this edition, the provisions relating to lithium and lithium ion batteries have been revised to strengthen regulations on
the air transportation of battery.
This battery is not dangerous goods (not class 9). Therefore, these batteries of 24 units or less are not subject to the
regulations.
These batteries more than 24 units require packing based on Packing Instruction 903.
If you need the self-certification form for the battery safety test, contact Mitsubishi.
For more information, contact Mitsubishi.
(2) Q173CPU(N)/Q172CPU(N) back-up by the external battery

When using the external battery, set the external battery(A6BAT/MR-BAT) in the
system settings.
Guaranteed time (MIN) Actual time(TYP)
Item
[h] [h]
Continuous power failure time External battery use 60000 240000

(Note) : The self-discharge influences the service life time of battery. The external battery should be exchanged approximately
every for or five years.
(3) External battery and SSCNET cable

When using the external battery, install A6BAT/MR-BAT to the Dividing unit or
Battery unit. Also be sure the following cables.
Installation location of
Item SSCNET cable
the external battery
Q173CPU(N) Q173DV Q173DVCBL M
Q172J2BCBL M-B (For MR-J2 -B)/

Q172CPU(N) Q170BAT
Q172HBCBL M-B (For MR-H-BN)
2 - 96
CAUTION
Do not short a battery.
Do not charge a battery.
Do not disassemble a battery.
Do not burn a battery.
Do not overheat a battery.
Do not solder the battery terminal.
When using the external battery, be sure to select "the external battery use" in the system
settings. If not setting the external battery, the back-up data of Motion CPU may not back up,
since the battery voltage detection error is not detected.
(a) Connection with Q173CPU(N)

Connection procedure of Q173CPU(N) and A6BAT/MR-BAT
1) Set the A6BAT/MR-BAT to the Dividing unit (Q173DV).
2) Connect the A6BAT/MR-BAT connector to the BAT connector of
Q173DV.
3) Connect between Q173CPU(N) and Q173DV by the SSCNET cable
(Q173DVCBL M).
Q173CPU(N)
Motion
CPU Module
CN1
Q173CPU(N) Dividing unit(Q173DV)
Q173DVCBL M MITSUBISHI
Dividing unit CN1A CN1B

A6BAT/MR-BAT
(Q173DV)
MITSUBISHI
LITHIUM BATTERY
Servo amplifier
BAT
Q173CPU
2 - 97
(b) Connection with Q172CPU(N)

Connection procedure of Q172CPU(N) and A6BAT/MR-BAT
1) Set the A6BAT/MR-BAT to the Battery unit (Q170BAT).
2) Connect the A6BAT/MR-BAT connector to the BAT connector of
Q170BAT.
3) Connect between Q172CPU(N) and Q170BAT by the SSCNET cable.
Q172CPU(N)
Motion CPU
Module
CN1
Battery unit
Servo amplifier(MR-J2 -B) 500
m (Q170BAT)
Q172J2BCBL M-B (1.6 m
4ft.)
BAT MITSUBISHI
Servo amplifier(MR-H-BN) LITHIUM BATTERY
Q172HBCBL M-B CPU
(Note) : Connection cable length of Q170BAT A6BAT/MR-BAT

can use to 0.5m(1.64ft.).
MITSUBISHI
CN1A CN1B
Servo amplifier
2 - 98
2.4.11 Cooling fan unit (Q170FAN) (Q173CPU/Q172CPU only)
This section explains the specifications of the Cooling fan unit (Q170FAN) used for the
Motion CPU module.
(1) Removable conditions of the Cooling fan unit

It is possible to remove the Cooling fan unit (Q170FAN) in order to disperse heat
from inside the Motion CPU module according to the number of Motion CPU
module and ambient temperature conditions.
Removable/Not removable of the Cooling fan unit (Q170FAN) by number of
Motion CPU module and ambient temperature is as follows.
(a) When using only one Motion CPU module

It is possible to remove the Cooling fan unit if the ambient temperature in
which the Motion CPU module will be operating is 0 to 40°C (32 to 104°F) .
(b) When using two or more Motion CPU module

Do not remove the Cooling fan unit( Q170FAN).
Ambient temperature
of the Motion CPU 0 to 40°C Over 40 to 55°C
(32 to 104°F) (Over 104 to 131°F)
Number of the Motion CPU
1 module Removable Not removable
2 modules or more Not removable
(2) Cooling fan unit specifications

Model name
Q170FAN
Item
Type Cooling fan
Ambient temperature 0 to 55°C (32 to 131°F)
Operating voltage range [V] 4.3 to 5.8
Rated current [A] 0.08
3
Air capacity 0.033 [m /min]
Rated rotational speed [r/min] 7000
Service life time 30000 hours rated voltage continuous operation (at 40°C (104°F) )
Application For cooling Motion CPU module
Mass [kg] 0.01
As a guideline for preventive maintenance, the module should be inspected
every six months and replaced approximately every two or three years even if the
accumulated number of operating hours is less than the service life time shown
above (Refer to section 6.3 Periodic Inspection.)
2 - 99
(3) In point of the layout design within the control panel

Leave 50mm (1.97inch) or more clearance between the top of the modules and
structures or parts.
Top of panel or wiring duct
The wind blows lies 50mm

Cooling fan unit
(1.97inch) min.
(Q170FAN)
Power supply
Motion CPU
PLC CPU
2 - 100
3 DESIGN
3. DESIGN
3.1 System Designing Procedure
Design the system which uses the Multiple CPU system in the following procedure.
Motion control system design
Select the Motion CPU module according to number of control axes

and whether teaching unit is required or not.
Select the motion functions to be installed according to the machinery 3

and equipment to be controlled (selection of the programming software
packages according to the operating system software).
Refer to section 2.4.4

Select the number of Q172LX's and design according to the each
axis control system and whether servo external signals are required
or not.
When there is mechanical home position and dog type home position
return is made: Proximity dog required
For speed control: Speed-position switching control signal required
When overrun prevention is necessary: Stroke limit required
When each axis stop is necessary: STOP signal required
Select Q173PX, Q172EX and design according to whether manual Refer to section 2.4.5
pulse generators and synchronous encoders are required or not. Refer to section 2.4.6
Select interrupt module QI60 according to whether interrupt input are

required or not.
Select I/O modules according to the specifications of the external Refer to MELSEC-Q
equipment to be controlled. series manual.
Select the CPU base unit, extension base units, extension power Refer to section 2.4.4
supply module and extension cables, and make I/O assignment Refer to section 2.4.5
according to necessary number of Q172LX's, Q172EX's, Q173PX's, Refer to section 2.4.6
QX 's, QY P's and the number of I/O modules.
Select the servo amplifier and servo motor according to the motor Refer to the servo
capacity and number of revolution from the machine mechanism to be amplifier manual.
controlled each axis.
Refer to section 2.4.9

Set the servo amplifier connection by SSCNET and axis numbers
(dno.) and axis No.
3-1
3 DESIGN
Refer to section 3.2

External circuit design
Power supply circuit design
Design the power supply circuit which supplies power to such system Refer to section 3.2.1
components as the Motion controller, I/O equipment and servo
amplifiers, etc., taking into consideration the protective coordination
and noise suppression techniques.
Safety circuit design
Design the operation-ready circuit which stops the system at Refer to section 3.2.2
occurrence of any alarm such as a Motion controller or servo amplifier
alarm or the emergency stop, the circuit which avoids a malfunction
while power is unstable at power-on, and the electromagnetic brake
circuit for servomotors.
Layout design within control panel
Layout design based on the design environment such as temperatures Refer to section 3.3
and vibrations in consideration of heat generated from modules and
handling of module installation.
! CAUTION
Provide appropriate circuits external to the Motion CPU to prevent cases where danger may result from
abnormal operation of the overall system in the event of an external power supply fault or Motion CPU
failure.
Install the Motion controller, servo amplifier, servomotor, and regenerative resistor on inflammable
material. Direct installation on flammable material or near flammable material may 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.
3-2
3 DESIGN
! CAUTION
Do not touch the servo amplifier's heat radiating fins, regenerative resistor and servomotor, 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 servomotor 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.
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 an emergency stop circuit externally so that the operation can be stopped immediately and the
power shut off.
Use the Motion controller, servo amplifier, servomotor and regenerative resistor with the combinations
listed in the instruction manual. Other combinations may lead to fire or faults.
If safety standards (ex., robot safety rules, etc.,) apply to the system using the Motion controller,
servo amplifier and servomotor, make sure that the safety standards are satisfied.
operation of the Motion controller or servo amplifier differ from the safety directive operation in
the system.
In systems where coasting of the servomotor will be a problem during the forced stop, the emergency
stop, servo OFF or when the power is shut 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, the emergency
stop, servo OFF or when the power is shut OFF, use both dynamic brakes and electromagnetic brakes.
The dynamic brakes must be used only during the forced stop, the emergency stop and errors where
servo OFF occurs. 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.
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, servomotor)
used in a system must be compatible with the Motion controller, servo amplifier and servomotor.
Install a cover on the shaft so that the rotary parts of the servomotor are not touched during operation.
There may be some cases where holding by the electromagnetic brakes is not possible due to the
service life time or mechanical structure (when the ball screw and servomotor are connected with a
timing belt, etc.). Install a stopping device to ensure safety on the machine side.
3-3
3 DESIGN
3.2 External Circuit Design
As to the ways to design the external circuits of the Motion system, this section
explains the method and instructions for designing the power supply circuits and
safety circuits, etc.
(1) Sample system circuit design for motion control 1
3-phase
200/220VAC
Power Supply PLC CPU Motion CPU Servo external Input module Output module
signals interface
Q61P-A2 Qn(H)CPU Q173CPU(N)/ module QX40 QY10
NFB
Q172CPU(N) Q172LX
R S T CP1
200VAC
FLS1
200VAC Forced stop PYm
Xn
DOG8/ Ra1
CHANGE8
Servo normal output
COM (Servo normal:ON
Alarm:OFF)
FG
LG
COM G24
FLS1
Number of inputs:
8 axes/module DOG8/
CHANGE8
CP2 EMG
24VDC 24V
Power
supply 24G
Emergency Stop
EMG
Operation Ready
CP3 OFF ON
Ra1
MC
MC
SK
3-4
3 DESIGN
POINT < Example> For control axis 1 and axis 2
Servo error detection

1) (Note-1) : The following is the Motion SFC program example.
2) (Note-2) : It is also possible to use a full wave rectified power supply as the power
supply for the electromagnetic brake. [F 1]
PYm ON with initial
SET PYm
3) (Note-3) : It is also possible to use forced stop signal of the servo amplifier. (ON : normal)
4) (Note-4) : It recommends using one leakage breaker for one servo amplifier. When electric
power is supplied to multiple servo amplifiers for one leakage breaker, select the [G 1]
wire connected to the servo amplifier according to the capacity of the leakage M2408 M2428 Servo error detection of
the axis 1, axis 2.
breaker.
5) (Note-5) : Only the point has described the servo amplifier MR-J2M-B. [F 2]
RST PYm OFF : abnormal(error)
Refer to "MR-J2M-B Servo amplifier Instruction Manual" for details.
6) Refer to Section 2.4.9 (4) for the connection of SSCNET cable and terminal connector.
END
Circuit example when using MR-H-BN

(Note-4) U
R M R -H -BN U
V
S V SM
T W
W Ra2
CP4 Electro-
(Note-4) Ground magnetic
R1 24VDC
brake
S1
COM (Note-2)
MBR Ra2
EM1
EM2
(Note-3)
Circuit example when using MR-J2-B/MR-J2S-B

(Note-4) U
L1 MR-J2-B/ U
V
L2 MR-J2S-B V SM
L3 W
W Ra3
CP5 Electro-
(Note-4)
L11 Ground magnetic
L21 brake
COM (Note-2)
MBR Ra3
EM1
SG
(Note-3) 24VDC
Circuit example when using MR-J2M-B (Note-5)

(Note-4) U
L1 MR-J2M-B U
V
L2 V SM
W Ra4
L3 W
CP6 Electro-
(Note-4)
L11 Ground magnetic
L21 brake
VIN (Note-2)
MBR Ra4
EM1
SG
(Note-3) 24VDC
Circuit example when using MR-J2-03B5

CP7 MC
U
P24M U
MR-J2-03B5 V
P24G V SM
MC P24L W
W
Ra1 E
EM1 Ground
B1
Electro-
B2 magnetic
brake
+24V 24G
(Note-2)
24VDC
Power
supply
3-5
3 DESIGN

(For A31TU-DN )
3-phase
200/220VAC
signals interface
Q61P-A2 Qn(H)CPU Q173CPUN-T/ module QX40 QY10
NFB
Q172CPUN-T
R S T CP1 Q172LX
200VAC
FLS1
Xn
DOG8/ Ra1
CHANGE8
Servo normal output
(Internal connection) COM (Servo normal:ON
Alarm:OFF)
FG EMG
LG SG
G24
COM
Q170TUDNCBL3M
Number of inputs:
8 axes/module FLS1
DOG8/
CHANGE8
CP2 EMG
24VDC +24V
Power
supply 24G
Emergency Stop
EMG
Operation Ready
CP3 OFF ON
Ra1
MC
MC
SK
3-6
3 DESIGN

1) (Note-1) : The following is the Motion SFC program example. Servo error detection
2) (Note-2) : It is also possible to use a full wave rectified power supply as the power
supply for the electromagnetic brake. [F 1]
3) (Note-3) : It is also possible to use forced stop signal of the servo amplifier. SET PYm PYm ON with initial
(ON : normal)
4) (Note-4) : It recommends using one leakage breaker for one servo amplifier. When electric
power is supplied to multiple servo amplifiers for one leakage breaker, select the
[G 1]
wire connected to the servo amplifier according to the capacity of the leakage M2408 M2428 Servo error detection of
breaker. the axis 1, axis 2.
5) (Note-5) : Only the point has described the vector inverter FR-V5 0- .
Refer the "FR-V5 0- INSTRUCTION MANUAL(BASIC)" for details. [F 2]
RST PYm OFF : abnormal(error)
6) (Note-6) : Select the brake unit of inverter according to the necessity.
7) Refer to Section 2.4.9 (4) for the connection of SSCNET cable and terminal connector .
END
Out of control panel Teaching unit

(A31TU-DN use)
Short-circuit connector for A31TU
DISABLE ENABLE
teaching unit
A31TUD3TM(A31TU-D3 /
A31TU-DN not use) DATA PROGRAM MONITOR TEST
STOP
INSTRUCTION
ITEM CLEAR EMG.STOP
; # SP
7 8 9
A31TUD3TM
OVERRIDE
D E F
4 5 6
STEP -
STORE
A B C
1 2 3
STEP +
MDI
FUNCTION -
. 0
RETURN
SHIFT ERROR
RESET CAN
AXIS GO
JOG - JOG +
NO.

(Note-4)
U
R M R-H -B N U
V
S V SM
W Ra2
T W
CP4 (Note-4) Electro-
24VDC Ground magnetic
R1
brake
S1
COM (Note-2)
MBR Ra2
EM1
EM2
(Note-3)

(Note-4) U
L1 MR-J2-B/ U
V
L2 MR-J2S-B V SM
W Ra3
L3 W
CP5 Electro-
(Note-4)
L11 Ground magnetic
L21 brake
COM (Note-2)
MBR Ra3
EM1
SG
(Note-3) 24VDC
Circuit example when using FR-V520- (Note-5)
(Note-4) U
R FR-V520- U
V
S V IM (Note-6)
MC W
T W
CP6
(Note-4)
R1 Ground
S1
3-7
3 DESIGN

(For A31TU-D3 )
3-phase
200/220VAC
Qn(H)CPU signals interface
Q61P-A2 Q173CPUN-T/
NFB module QX40 QY10
Q172CPUN-T
R S T CP1 Q172LX
200VAC
FLS1
Xn
DOG8/ Ra4
CHANGE8
Servo normal output
(Servo normal:ON
(Internal connection) COM Alarm:OFF)
FG EMG
LG SG
COM G24
Q170TUD3CBL3M
EMG1
DC24VE
DED1
Number of inputs:
DC24VD
8 axes/module FLS1 EMG
SG
DOG8/
CHANGE8
CP2 Ra1
24VDC +24V
Power
supply
24G
Emergency stop
EMG
Ra2 Ra3
Ra1
A31TU-D3 Internal circuit SK
Emergency stop switch
DC24VE EMG1
Ra2
(Cable) (Cable)
SK
Dead-man switch
DC24VD DED1
Ra3
(Cable) (Cable)
SK
Operation Ready
CP3 OFF ON
Ra1 Ra2 Ra3 Ra4
MC
Ra2 Ra3 MC
EMG SG SK
(Cable) (Cable)
3-8
3 DESIGN

1) (Note-1) : The following is the Motion SFC program example.
2) (Note-2) : It is also possible to use a full wave rectified power supply as the power supply for the Servo error detection
electromagnetic brake.
3) (Note-3) : It is also possible to use forced stop signal of the servo amplifier.
[F 1]
4) (Note-4) : It recommends using one leakage breaker for one servo amplifier. When electric power is SET PYm PYm ON with initial
supplied to multiple servo amplifiers for one leakage breaker, select the wire connected to the (ON : normal)
servo amplifier according to the capacity of the leakage breaker.
5) (Note-5) : Only the point has described the vector inverter FR-V5 0- .
Refer to the "FR-V5 0- INSTRUCTION MANUAL(BASIC)" for details. [G 1]
M2408 M2428 Servo error detection
6) (Note-6) : Select the brake unit of inverter according to the necessity. of the axis 1, axis 2.
7) Refer to Section 2.4.9 (4) for the connection of SSCNET cable and terminal connector .
8) Please contact your nearest Mitsubishi sales representative, when you construct a double circuit by [F 2]
external safety circuit. RST PYm OFF : abnormal (error)
9) Sample system circuit design is not based on JIS B9705-1/ISO 13849-1/EN954-1 (Safety of
machinery - Safety related parts of control systems), ansi/RIA R15.06 (American National Standard
for industrial Robots and Robot systems - Safety requirements revision), and JIS B8433 (Manipulating END
industrial robots - Safety).
Out of control panel Teaching unit

(A31TU-D3 use)
Short-circuit connector for A31TU
DISABLE ENABLE
teaching unit
A31TUD3TM(A31TU-D3 /
A31TU-DN not use) DATA PROGRAM MONITOR TEST
STOP
INSTRUCTION ITEM CLEAR

EMG.STOP
; # SP
A31TUD3TM
7 8 9
OVERRIDE
D E F
4 5 6
STEP -
STORE
A B C
1 2 3
STEP +
MDI
FUNCTION -
. 0
RETURN
SHIFT ERROR
RESET CAN
AXIS GO
JOG - JOG +
NO.

(Note-4) U
R M R-H -B N U
V
S V SM
W Ra5
T W
CP4 (Note-4) Electro-
24VDC Ground magnetic
R1
brake
S1
COM (Note-2)
MBR Ra5
EM1
EM2
(Note-3)

(Note-4) U
L1 MR-J2-B / U
V
L2 MR-J2S-B V SM
W Ra6
L3 W
CP5 Electro-
(Note-4)
L11 Ground magnetic
L21 brake
COM (Note-2)
MBR Ra6
EM1
SG
(Note-3) 24VDC
Circuit example when using FR-V520- (Note-5)
(Note-4) U
R FR-V520- U
V
S V IM (Note-6)
W
T W
MC CP6
(Note-4)
R1 Ground
S1
3-9
3 DESIGN
(4) System design circuit example of the PLC I/O

(a) System design circuit example(when not using ERR contact of
power supply module)
Power supply
Using AC Using AC and DC
Power supply
Transformer Transformer Transformer

DC power supply
Fuse Fuse
Fuse established signal input
CPU
CPU
SM52 DC power
START/STOP circuit supply
SM52 Ym
Ym Starting possible
SM403
(-) (+)
when the PLC RUN
SM403 Yn
Fuse
Yn output RA1 is ON XM
TM
Set TM to time
to establish
Program TM
Start Stop
MC1 N0 M10
DC input signal
switch switch N0
RA1
MC M10
MC
Start Stop Program
Input module switch switch
RA1
MC
MC
RA2
Output module A voltage relay
Alarm output
is recommended
Ym (lamp or buzzer) Input module
RA2 XM
L
RA1 switched
Yn ON by SM403
RA1
Alarm output
MC Output module
(lamp or buzzer)
Output module
Ym
MC Turns output equipment L RA1 switched
power off when STOP ON by SM403
Yn
occurs. RA1
on emergency stop,
MC2
on stop at upper/lower
MC1
limit switch Output module
MC MC
MC1 Interlock circuits as necessary.
MC2
Provide external interlock Turns output
circuits for conflicting equipment
operations, such as forward power off when
MC2 STOP occurs
rotation and reverse rotation,
MC1
and for parts that could on emergency
damage the machine or MC1 stop, on stop at
MC2
cause accidents if no upper/lower limit
interlock were used. switch
The power-ON procedure is as follows:

For AC For AC/DC
1) Switch power ON. 1) Switch power ON.
2) Set CPU to RUN. 2) Set CPU to RUN.
3) Turn ON the start switch. 3) When DC power is established, RA2 goes ON.
4) When the electromagnetic contactor (MC) comes on, the 4) Timer (TM) times out after the DC power reaches 100[%].
output equipment is powered and may be driven by the (The TM set value should be the period of time from when
program. RA2 goes ON to the establishment of 100[%] DC voltage.
Set this value to approximately 0.5 seconds.)
5) Turn ON the start switch.
6) When the electromagnetic contactor (MC) comes on, the
output equipment is powered and may be driven by the
program. (If a voltage relay is used at RA2, no timer (TM) is
required in the program.)
3 - 10
3 DESIGN
(b) System design circuit example(when using ERR contact of

power supply module)
Power supply
Using AC and DC
Transformer Transformer
DC power supply
established signal input Fuse Fuse
CPU
SM52 DC power
START/STOP circuit supply
Ym
Starting possible
SM403 (-) (+)
when the PLC RUN
Yn Fuse
output RA1 is ON
XM
Set TM to time
TM
to establish
N0 TM DC input signal
MC1 N0 M10
M10
Start Stop Program
switch switch
RA1 RA3
MC
MC
RA2
A voltage relay
is recommended
Input module
RA2 XM
output module
Ym Alarm output
L
(lamp or buzzer)
Yn
RA1
RA3 switched
Power supply module ERR OFF by ERR
RA3
output module MC MC
Interlock circuits as
Turns output equipment
necessary. Provide
power off when ERR
external interlock
switch OFF
circuits for conflicting
MC2 on emergency stop,
operations, such as
MC1 on stop at upper/lower
forward rotation and
MC1 limit switch
reverse rotation,
MC2
and for parts that could
damage the machine or
cause accident if no
interlock were used.
The power-ON procedure is as follows:

For AC/DC
1) Switch power ON.
2) Set CPU to RUN.
3) When DC power is established, RA2 goes ON.
4) Timer (TM) times out after the DC power reaches 100[%]. (The TM set value should be the period of time
from when RA2 goes ON to the establishment of 100[%] DC voltage. Set this value to approximately 0.5
seconds.)
5) Turn ON the start switch.
6) When the electromagnetic contactor (MC) comes on, the output equipment is powered and may be driven
by the program. (If a voltage relay is used at RA2, no timer (TM) is required in the program.)
3 - 11
3 DESIGN
3.2.1 Power supply circuit design
This section describes the protective coordination and noise suppression techniques of
the power supply circuit.
(1) Separation and protective coordination (leakage current protection,
over current protection) of power supply systems
When wiring, separate the lines of Multiple CPU system power supplies from
those of the I/O equipment and servo amplifier as shown below.
When there is much noise, connect an insulation transformer.
Insulation
Main power PLC power
transformer
supply supply
Multiple CPU
100/200VAC
NFB CP system
I/O power
T1
supply
I/O devices
CP
Main circuit
power supply
Main circuit device
CP
Servo amplifier
power supply
200VAC Servo amplifier
NFB
(2) Grounding
The Motion system may malfunction as it is affected by various noises such as
electric path noises from the power supply systems, radiated and induced noises
from other equipment, servo amplifiers and their cables, and electromagnetic
noises from conductors. To avoid such troubles, connect the earthing ground of
each equipment and the shield grounds of the shielded cables to the earth.
Also use ferrite cores (ex., ZCAT3035-1330(TDK make)) to prevent the sneak
noises from the SSCNET.
For grounding, use the exclusive ground terminal wire of each equipment or a
single-point earth method to avoid grounding by common wiring, where
possible, since noises may sneak from other equipment due to common
impedances.
Panel personal
computer
100/200VAC Multiple CPU

Line noise filter system
Ferrite cores
SSCNET
Servo amplifier Servo-

motor
(Note): Be sure to ground the line noise filter, Multiple CPU system, servo
amplifier and servomotor. (Ground resistance : 100 or less)
3 - 12
3 DESIGN
3.2.2 Safety circuit design
(1) Concept of safety circuits

When the Motion controller is powered on-off, proper outputs may not be
provided temporarily due to the delays and rise times of the Motion controller
power supply and external I/O control power supplies (especially DC).
Also, abnormal operations may be performed when the
external power supply becomes faulty or the Motion controller fails.
Construct the circuit (emergency stop, protective and interlock circuits, etc.) of
parts which may occur machine breakdown and accidents due to abnormal
operations outside of the Motion controller in a fail-safe viewpoint, to avoid
abnormal operations of whole system.
(2) Emergency stop circuit

The circuit should be constructed outside of the Motion controller or servo
amplifier. Shut off the power supply to the external servo amplifier by this circuit,
make the electromagnetic brakes of the servomotor operated.
(3) Forced stop circuit

(a) It is possible to effect the forced stop all axes of the servo amplifier
(MR-H-BN/MR-J2 -B) at once via the forced stop input of the input
modules. After the forced stop, remove the forced stop factor and cancel the
forced stop. (The servo error detection signal does not turn on with the
forced stop.)
It is possible to set the forced stop input No. by the parameter setting of the
system setting.
The forced stop wiring example is shown below.
Input module (Example : QX10)

Forced stop
LED
TB1
R
Internal
R
R
circuit
TB16
TB17
100VAC
(Note): It is possible to set the forced stop (Xn)

of the system settings at the user side.
3 - 13
3 DESIGN
(b) It is also possible to use the forced stop signal of the servo amplifier.
Refer to manual of the servo amplifier about servomotor capacity.
Operation status of the emergency stop and the forced stop are as follows.
Operation of
Item Remark
the signal ON
Shut off the power supply to the external servo amplifier by
Emergency stop
external circuit, make the servomotor stopped.
Servo OFF
The servomotor is stopped according to the stop instruction
Forced stop
from Motion controller to the servo amplifier.
3 - 14
3 DESIGN
3.3 Layout Design within The Control Panel
3.3.1 Installation environment
Install the Motion controller system in the following environment conditions.

(1) Ambient temperature is within the range of following conditions.
Q173CPU/Q172CPU
Number of Q173CPUN(-T)/
With Cooling fan unit
the Motion CPU Q172CPUN(-T) Without Cooling fan unit
(Shipped from the factory)
1 0 to 40°C (32 to 104°F)
0 to 55°C (32 to 131 °F) (Note-1)
2 or more —
(Note-1) : It is need to install the Cooling fan unit(Q170FAN).
(2) Ambient humidity is within the range of 5 to 95[%] RH.
(3) No condensing from sudden temperature changes
(4) No corrosive or inflammable gas
(5) There must not be a lot of conductible dust, iron filings, oil mist, or salt, organic
solvents.
(6) No direct sunlight
(7) No strong electrical or magnetic fields
(8) No direct vibrations or shocks on the Motion controller
3 - 15
3 DESIGN
3.3.2 Layout design of the base units
This section describes the precautions related to install a Motion controller in

an enclosure.
(1) To improve ventilation and permit easy replacement of the module, leave a space
of the following table between the top, bottom, side of the module and any other
object.
(For details on layout design refer to section 4.1.2 "Instructions for installation of
the base unit".)
Top Bottom Side
Q173CPUN/Q172CPUN Duct height : 40mm(1.57inch)

Q173CPUN-T/Q172CPUN-T over 50mm(1.97inch) or more
Q173CPU/Q172CPU 100mm(3.94inch) 5mm(0.20inch)
Duct height : 30mm(1.18inch)
(Without Cooling fan unit) or more or more
50mm(1.97inch) or less or more
Q173CPU/Q172CPU 50mm(1.97inch)
(With Cooling fan unit (Shipped from the factory)) or more
(2) Provide a wiring duct, if required.
! CAUTION
Due to ventilation problems, do not install the base units vertically or horizontally.
Install the base units on a flat surface. Unevenness or warping of the surface can apply undue
force to printed circuit boards and lead to operation failures.
Avoid installing the base units close to a vibration source, such as a large electromagnetic
contactor or no-fuse breaker. Install them on a separate panel or at a safe distance.
To limit the effects of reflected noise and heat, leave 100mm(3.94inch) or more clearance to
instruments fitted in front of the Motion controller (on the rear of the door).
Similarly, leave 50mm(1.97inch) or more clearance between instruments and the left and right sides of
the base units.
3 - 16
3 DESIGN
3.3.3 Calculating heat generation by Motion controller
The ambient temperature inside the control panel storing the Motion controller must be
suppressed to a Motion controller operating ambient temperature of 55°C(131°F).
It is possible to remove the Cooling fan unit(Q170FAN) depending on the number of
CPU modules or operating ambient temperature conditions.(Refer to section 2.4.11
Cooling fan unit (Q170FAN).)
For the design of radiation from the storing panel, it is necessary to know the average
power consumption (heating value) of the devices and instruments stored in the control
panel. Here the method of obtaining the average power consumption of Q173CPU(N)/
Q172CPU(N) system is described. From the power consumption, calculate a rise in
ambient temperature inside the control panel.
Calculating average power consumption
The power consuming parts of the Motion controller are roughly classified into six
blocks as shown below.
(1) Power consumption of the power supply module

The power conversion efficiency of the power module is approx. 70 [%], i.e., 30
[%] of the output power is consumed by heating. As a result, 3/7 of the output
power becomes the power consumption.
Therefore the calculation formula is as follows.
3
Wpw= (I5V 5)[W]
7
I5V: Current consumption of logic 5 VDC circuit of each module
(2) Power consumption of a total of 5 VDC logic section of each

module
The power consumption of the 5 VDC output circuit section of the power module
is the power consumption of each module (including the current consumption of
the base unit).
W5V = I5V 5 [W]
(3) A total of 24 VDC average power consumption of the output module

(power consumption for simultaneous ON points)
The average power of the external 24 VDC power is the total power consumption
of each module.
W24V = I24V 24 [W]
I24V: Current consumption of the output module
(4) Average power consumption due to voltage drop in the output

section of the output module
(Power consumption for simultaneous ON points)
WOUT = IOUT Vdrop Number of output points Simultaneous ON rate [W]
IOUT : Output current (Current in actual use) [A]
Vdrop : Voltage drop in each output module [V]
(5) Average power consumption of the input section of the input

module(Power consumption for simultaneous ON points)
WIN = IIN E Number of input points Simultaneous ON rate [W]
IIN : Input current (Effective value for AC) [A]
E : Input voltage (Voltage in actual use) [V]
3 - 17
3 DESIGN
(6) Power consumption of the power supply section of the intelligent

function module
WS = I5V 5 + I24V 24 + I100V 100 [W]
The total of the power consumption values calculated for each block becomes
the power consumption of the overall Motion system.
W = W PW + W 5V + W 24V + WOUT + W IN + W S [W]
From this overall power consumption (W), calculate the heating value and a rise
in ambient temperature inside the control panel.
The outline of the calculation formula for a rise in ambient temperature inside the
control panel is shown below.
W
T= [C]
UA
W : Power consumption of overall Motion system (value obtained above)
2
A : Surface area inside the control panel[m ]
U : When the ambient temperature inside the control panel
is uniformed by a fan................................................................................. 6
When air inside the control panel is not circulated.................................. 4
POINT
When a rise in ambient temperature inside the control panel exceeds the specified
limit, it is recommended that you install a heat exchanger in the control panel to
lower the ambient temperature inside the control panel.
If a normal ventilating fan is used, dust will be sucked into the Motion controller
together with the external air, and it may affect the performance of the Motion
controller.
(7) Example of average power consumption calculation

(Q173CPUN use)
(a) System configuration
Q38B
Q173CPUN
Q02HCPU
Q61P-A1
Q172EX
Q173PX
Q172LX
QX40
QX40
QY10
QY10
(b) 5 VDC current consumption of each module

Q02HCPU : 0.64 [A]
Q173CPUN : 1.25 [A]
Q172LX : 0.05 [A]
Q172EX : 0.07 [A]
Q173PX : 0.11 [A]
QX40 : 0.05 [A]
QY10 : 0.43 [A]
Q38B : 0.114 [A]
(c) Power consumption of power module

WPW = 3/7 (0.64 + 1.25 + 0.05 + 0.07 + 0.11 + 0.05 + 0.05 + 0.43 + 0.43 +
0.114) 5 = 6.84 [W]
(d) Power consumption of a total of 5 VDC logic section of each module

W5V = (0.64 + 1.25 + 0.05 + 0.07 + 0.11 + 0.05 + 0.05 + 0.43 + 0.43 +
0.114) 5) = 15.97 [W]
3 - 18
3 DESIGN
(e) A total of 24 VDC average power consumption of the output module

W24V = 192 [W] (8A/common)
(f) Average power consumption due to voltage drop in the output section of the
output module
WOUT = 0 [W]
(g) Average power consumption of the input section of the input module
WIN = 0.004 24 32 1 = 3.07 [W]
(h) Power consumption of the power supply section of the intelligent function
module.
WS = 0 [W]
(i) Power consumption of overall system

W = 6.84 + 15.97 + 192 + 0 + 3.07 + 0 = 217.88 [W]
3 - 19
3 DESIGN
3.4 Design Checklist
At the worksite, copy the following table for use as a check sheet.
Item Sub Item Design confirmation Check

Number of axes axes
Number of I/O points points
CPU module selection
Motion CPU module selection
PLC CPU module selection
Manual pulse generator pcs.
Synchronous encoder pcs.
Teaching unit
Upper limit point points
Lower limit point points
Motion module STOP input point points
selection Proximity dog input point points
Module
Speed switching input point points
selection
Tracking enable signal point points
Q172LX modules
Q172EX modules
Q173PX modules
Motion CPU module modules
CPU base unit
I/O module installed to CPU base modules
selection
CPU base unit selection
I/O module installed to extension base modules
Extension base unit
Distance between CPU base and extension base mm
and extension cable
Extension base unit selection
selection
Extension cable selection
External Avoidance of operation failure at power-on
Fail-safe circuit design
circuit design Avoidance of hazard at Motion controller failure
Conformance with general specifications such as ambient

temperature, humidity, dust, etc.
Total power consumption of base unit
Layout W
Module layout design (Calculate the heating value)
design
Layout in consideration of clearances between enclosure's inside
walls, other structures and modules and heats generated by
modules within the control panel.
3 - 20
4 INSTALLATION AND WIRING
4. INSTALLATION AND WIRING
4.1 Module Installation
4.1.1 Instructions for handling
! CAUTION
Use the Motion controller in an environment that meets the general specifications contained in this
manual. Using this Motion controller in an environment outside the range of the general specifications
could result in electric shock, fire, operation failure, and damage to or deterioration of the product.
Hold down the module loading lever at the module bottom, and securely install the module fixing hook
into the fixing hole in the base unit. Incorrect loading of the module can cause an operation failure,
failure or drop. When using the Motion controller in the environment of much vibration, tighten the
module with a screw. 4
Tighten the screw in the specified torque range. Under tightening may cause a drop, short circuit
or operation failure. Over tightening may cause a drop, short circuit or operation failure due to
damage to the screw or module.
Be sure to install the extension cable to connectors of the base unit correctly. After installation, check
them for looseness. Poor connections could cause an input or output failure.
Completely turn off all lines of power supply externally before loading or unloading the module. Not
doing so could result in electric shock or damage to the product.
Do not directly touch the module's conductive parts. Touching the conductive parts could cause an
operation failure or give damage to the module.
This section describes instructions for handling the CPU modules, I/O modules,
intelligent function modules, power supply modules and base units, etc.
(1) Do not drop or apply strong impact on the CPU modules, I/O modules, intelligent
function modules, power supply modules, base units and memory card, etc.
(2) Do not remove modules printed circuit boards from the case in order to avoid
failure.
(3) The module fixing screws and terminal block screws within the tightening torque
range specified below.
Location of screw Tightening torque range
Module fixing screw (M3 12 screw) 0.36 to 0.48 N•m
I/O module terminal block screw (M3 screw) 0.42 to 0.58 N•m
I/O module terminal block fixing screw (M3.5 screw) 0.66 to 0.89 N•m
Power supply module terminal screw (M3.5 screw) 0.66 to 0.89 N•m
(4) Make sure to install the power supply module on the CPU base unit and extension
base unit. When the power supply module is not installed and if the I/O modules
and intelligent function module installed on the base units are light load type, the
modules may be operated. In this case, because a voltage becomes unstable,
we cannot guarantee the operation.
4-1
(5) When an extension cable is used, do not bind the cable together with the main
circuit (high voltage, heavy current) line or lay them close to each other.
(6) Install the CPU base unit (by screwing) in the following procedure.
1) Fit the two fixing screws for top of the CPU base unit to the panel.
Panel
2) Place the right-hand side notch of the CPU base unit onto the right-hand side
screw.
Panel
3) Place the left-hand side pear-shaped hole of the CPU base unit onto the left-
hand side screw.
Panel
4) Fit the fixing screws into the fixing screw holes in the CPU base unit bottom and
re-tighten the four fixing screws.
(Note) : Install the CPU base unit to a panel, with no module installed in the
rightmost slot.
Remove the CPU base unit after unloading the module from the rightmost
slot.
4-2
4.1.2 Instructions for installation of the base unit
Install the Motion controller module to a panel, etc. , considering enough about
operability, maintainability and environmental resistance.
(1) Fitting dimensions

Fitting dimensions of each base unit are as follows:
4 fixing screw (M4 14)
5V
56
H
Hs
POWER CPU I/00 I/01 I/02 I/03 I/04 I/05 I/06 I/07 I/08 I/09 I/10 I/11
F6 0358
Ws
W
Q35B Q38B Q312B Q65B Q68B Q612B

W 245 (9.65) 328 (12.91) 439 (17.28) 245 (9.65) 328 (12.91) 439 (17.28)
Ws 224.5 (8.84) 308 (12.13) 419 (16.50) 222.5 (8.76) 306 (12.05) 417 (16.42)
H 98 (3.86)
Hs 80 (3.15)
[Unit: mm (inch)]
(2) Motion controller installation position

For enhanced ventilation and ease of module replacement, leave the following
space between the module top/bottom and structure/parts.
Top of panel or wiring duct
Base unit
30mm (Note-2)
The wind blows lies Motion
20mm (1.18inch)
(0.79inch) or more controller
Control Door
panel
100mm
(3.94inch)
Motion CPU module 100mm or more
(3.94inch)
98mm (Note-3)
or more
(3.86inch)
5mm (Note-1) 5mm

(0.20inch) (0.20inch)
or more or more
(Note-1) : When the extension cable is connected without removing the adjacent module: 20mm (0.79 inch) or more.
(Note-2) : Q173CPU/Q172CPU : 50mm (1.97 inch) or more
Q173CPUN(-T)/Q172CPUN(-T)(Height of a wiring duct is 50mm (1.97 inch) or more) :
40mm (1.57 inch) or more
(Note-3) : Q173CPUN(-T)/Q172CPUN(-T) : 123mm (4.84 inch)
4-3
(3) Motion controller installation orientation

(a) Since the Motion controller generates heat, it should be fitted on a well
ventilated location in the orientation shown below.
(b) Do not use it in either of the orientations shown below.
Vertical Flat
(4) Installation surface

Fit the base unit on a flat surface. If the installation surface is not even, this may
strain the printed circuit boards and cause malfunctions.
(5) Installation of Motion controller in an area where the other devices

are installed
Avoid fitting base unit in proximity to vibration sources such as large
electromagnetic contractors and no-fuse circuit breakers; fit them on a separate
panel or at a distance.
(6) Distances from the other devices

In order to avoid the effects of radiated noise and heat, provide the clearances
indicated below between the Motion controller and the other devices (contactors
and relays).
• In front of Motion controller: 100 mm (3.94 inch) or more
• On the right and left of Motion controller: 50 mm (1.97 inch) or more
50mm(1.97inch)
or more
100mm(3.94inch) 50mm(1.97inch)
or more or more
Contactor, relay, etc.
4-4
4.1.3 Installation and removal of module
This section explains how to install and remove a power supply module, PLC CPU
module, Motion CPU module, Motion module, I/O module, intelligent function module
or another module to and from the base unit.
(1) Installation and removal of the module from Q3 B,Q6 B

The installation and removal procedure of the module from Q3 B/Q6 B base
unit are described below.
(a) Installation of the module to Q3 B and Q6 B
Base unit
Base unit Module
Module
Insert the module fixing hook connector
into the module fixing hole of
Module loading
the base unit.
lever
Module
Module fixing hook fixing hook
Module fixing hole
Push the module in the
direction of arrow to install it Module fixing hole
into the base unit.
Make sure that the module

is installed in the base unit
correctly.
Completion
POINTS
(1) Always insert the module fixing hook of the module into the module fixing hole.
Forcing the hook into the hole will damage the module connector and module.
(2) When using the modules in a place where there is large vibration or impact,
screw the module to the base unit.
Module fixing screw : M3 12 (purchase from the other supplier)
4-5
(b) Removal from Q3 B and Q6 B
Hold the module with both Base unit

hands, and push the hook on
the top of the module with a
finger until it stops.
Module
connector
Module
While pushing the hook, and
using the bottom of the module
as a support, pull the module
toward you.
Module fixing hole
Lift the module upwards and

remove the module fixing
hook from the module fixing
hole.
Completion
POINT
When the module fixing screw is used, always remove the module by removing the
module fixing screw and then taking the module fixing hook off the module fixing
hole of the base unit.
Forcibly removal the module will damage the module.
4-6
4.2 Installation and Removal of Cable
4.2.1 SSCNET cable
(1) Precautions for handling the SSCNET cable

• Do not stamp the SSCNET cable.
• When laying the SSCNET cable, be sure to secure the minimum cable bend
radius of 30 mm(1.18 inch) or more.
If the minimum cable bend radius is less than 30 mm(1.18 inch), it may cause
malfunctions due to characteristic deterioration, wire breakage, etc.
• For installation or removal of the SSCNET cable, hold surely a tab of cable
connector.
Motion CPU
module
CN1 CN2
(2) Installation of the SSCNET cable

• For installation of the SSCNET cable to the Motion CPU, connect it to the
SSCNET connector CN1 or CN2 of Motion CPU while holding a tab of
SSCNET cable connector. Be sure to insert it until it clicks.
(3) Removal of the SSCNET cable

• For removal of the SSCNET cable, pull out it while holding a tab of SSCNET
cable connector after making sure that the fixing hook have been removed
completely.
POINT
Forcibly removal the SSCNET cable from the Motion CPU module will damage the
Motion CPU modules and SSCNET cables.
4-7
4.2.2 SSC I/F communication cable
(1) Precautions for handling the SSC I/F communication cable

• Do not stamp the SSC I/F communication cable.
• When laying the SSC I/F communication cable, be sure to secure the minimum
cable bend radius of 30 mm(1.18 inch) or more.
• For installation or removal of the SSC I/F communication cable, hold surely a
tab of cable connector.
Motion CPU
module
PC connector
(2) Installation of the SSC I/F communication cable

• For installation of the SSC I/F communication cable to the Motion CPU, connect
it to the PC connector of Motion CPU while holding a tab of SSC I/F
communication cable connector. Be sure to insert it until it clicks.
(3) Removal of the SSC I/F communication cable

• For removal of the SSC I/F communication cable, pull out it while holding a tab
of SSC I/F communication cable connector after making sure that the fixing
hook have been removed completely.
POINT
Forcibly removal the SSC I/F communication cable from the Motion CPU module
will damage the Motion CPU modules and SSC I/F communication cables.
4-8
4.2.3 Battery cable
(1) Precautions for handling the battery cable

• For installation or removal of the battery cable, hold surely a cable connector.
Battery cable
CPU/BAT connector
Battery unit
(Q170BAT)
(2) Installation of the battery cable

• For installation of the battery cable to the Dividing unit/Battery unit, connect it to
the BAT connector of Dividing unit/Battery unit while holding the battery cable
connector.
Be sure to insert it until it clicks.
(3) Removal of the battery cable

• For removal of the battery cable, pull out it while holding the tab of battery cable
connector after making sure that the fixing hook have been removed
completely.
POINT
Forcibly removal the battery cable from the dividing unit/battery unit will damage the
dividing unit/battery unit and battery cable.
4-9
4.2.4 Cable for teaching unit
(1) Precautions for handling the cable for teaching unit

• Do not stamp the cable for teaching unit.
• When laying the cable for teaching unit, be sure to secure the minimum cable
bend radius of 30 mm(1.18 inch) or more.
• For installation or removal of the cable for teaching unit, hold surely a tab of
cable connector.
• When the teaching unit is removed, the emergency stop and servomotor
become coasting state.
Motion CPU
module
TU connector
(2) Installation of the cable for teaching unit

• For installation of the cable for teaching unit to the Motion CPU (Q173CPUN-T/
Q172CPUN-T), connect it to the TU connector of Motion CPU (Q173CPUN-T/
Q172CPUN-T) while holding a tab of cable for teaching unit. Be sure to insert it
until it clicks.
(3) Removal of the cable for teaching unit

• For removal of the cable for teaching unit, pull out the connector while holding a
tab of connector connected to the TU connector of Motion CPU (Q173CPUN-T/
Q172CPUN-T) after making sure that the fixing hook have been removed
completely. (First be sure to remove the TU connector of Motion CPU
(Q173CPUN-T/Q172CPUN-T for removal.)
If the connector of teaching unit is removed first, load may be applied and
damaged to a connector of Motion CPU.
POINTS
(1) Forcibly removal the cable for teaching unit from the Motion CPU module will
damage the Motion CPU modules and the cable for teaching unit.
(2) When the cable for teaching unit or short-circuit connector is connected to the
connector for teaching unit, screw them to the connector for teaching unit.
Under tightening can cause a drop, short circuit or operation failure.
4 - 10
! CAUTION
When a teaching unit is removed, the emergency stop and servomotor become coasting state. In
systems where coasting of the servomotor will be a problem, use dynamic brakes.
Do not connect the Motion CPU module side connector of the cable for teaching unit
(Q170TUD CBL(-A)) and the connecting cable for SSCNET dividing unit (Q173DVCBL) each other.
The Motion CPU and servo amplifier are damaged.
Q173CPUN-T side Q173CPUN-T side
Q173DV
TU
A31TU-D K13 side
side
Q173DVCBL Q170TUD CBL(-A)

Do not connect
4 - 11
4.3 Installation of the Serial Absolute Synchronous Encoder
This section described instructions for handling the Serial absolute synchronous
encoder (MR-HENC/Q170ENC).
(1) If the serial absolute synchronous encoder is linked to a chain, timing belt, or
gears, the machine rotating shaft should be supported by a separate bearing
and connected to MR-HENC/Q170ENC through a coupling. Ensure that excessive
force
(greater than the permitted shaft load) is not applied to the shaft of MR-HENC/
Q170ENC.
Table 4.1 Permitted Shaft Loads

Gear
Bearing
MR-HENC/Q170ENC Radial direction Thrust direction
Coupling
MR-HENC Up to 98N Up to 49N
Q170ENC Up to 19.6N Up to 9.8N
Fig. 4.1 Example of Encoder Linked to a Gear
(2) Large errors in eccentricity and angle of deviation during installation can apply
an excessive force to the MR-HENC/Q170ENC shaft, which can cause
deterioration in
performance drastically reduce encoder service time.
Minimize loads applied to the shaft such that they lie within the permitted shaft
load range.
4 - 12
! CAUTION
The MR-HENC/Q170ENC contains a glass disk and precision mechanism. Take care when handling
it. The encoder performance may deteriorate if it is dropped or subjected to shocks or vibration
exceeding the prescribed limits.
Do not connect the shaft of MR-HENC/Q170ENC directly to machine side rotary shaft. Always after
connecting the shaft of MR-HENC/Q170ENC to another bearing once, connect the shaft of MR-
HENC/Q170ENC through a flexible coupling.
Gear
Bearing
MR-HENC/Q170ENC
Coupling
Fig 4.2 Connecting the shaft of MR-HENC/Q170ENC to a machine side rotary shaft.
Never hit the end of the MR-HENC/Q170ENC coupling shaft with a hammer when connecting the
coupling to it.
The large loads applied to MR-HENC/Q170ENC will damage it.
The MR-HENC/Q170ENC uses optical parts. Install it in an atmosphere where there are extremely
few water drops and little oil and dust.
In any place where the MR-HENC/Q170ENC is exposed to water and/or oil, provide protection from
oil and water, e.g. install a cover. In addition, run the cable downward to prevent oil and/or water from
running on the cable into the MR-HENC/Q170ENC. When it is inevitable to install the MR-HENC/
Q170ENC vertically or obliquely, trap for the cable.
Use the MR-HENC/Q170ENC within the specified temperature range (-5 to 55°C (23 to 131°F) ).
4 - 13
4.4 Replacement of the Cooling fan unit (Q170FAN) (Q173CPU/Q172CPU only)
(1) Removal and installation of the cooling fan unit (Q170FAN)

(a) Removal of cooling fan unit from Q173CPU/Q172CPU
The removal of the cooling fan unit are described below.
Remove the cooling fan con-

nector from the Motion CPU
connector. Cooling fan unit
(Q170FAN)
Insert the screwdriver be-

Q173CPU/
tween the cooling fan unit
Q172CPU
and the Motion CPU module
module
holding the cooling fan unit,
lift the cooling fan unit
upwards and remove the The screwdriver
front side fixing hook of the insert this point,
cooling fan unit from the slit lift upwards and
of the Motion CPU. removed the
cooling fan unit.
Completion
(b) Installation of cooling fan unit on Q173CPU/Q172CPU

The installation of the cooling fan unit are described below.
Cooling fan unit (Q170FAN)
Connect the cooling fan unit
connector to the connector
in the top of the Motion CPU.
Connector
Make sure that the connector
correctly connected in the
connector of the Motion CPU.
Insert the front side fixing

hook to the slit of the cooling
fan unit connector in the top Q173CPU
of the Motion CPU.
While rear side hook of the

cooling fan unit pushing from
the top, and insert another
hook into the slit of the
Motion CPU.
Completion
! CAUTION
Forcibly installation or removal the cooling fan unit will damage the cover or printed circuit board of
modules.
When install the cooling fan unit, do not pinch the wire.
4 - 14
4.5 Wiring
4.5.1 Instructions for wiring
! DANGER
Completely turn off the all lines of the power supply externally before wiring. Not completely turning off
all power could result in electric shock or damage to the product.
When turning on the power supply or operating the module after wiring, be sure that the module's
terminal covers are correctly attached. Not attaching the terminal cover could result in electric
shock.
! CAUTION
Be sure to ground of the earth terminal FG and LG. Not doing so could result in electric shock or
operation failure. (Ground resistance: 100 or less)
When wiring in the Motion controller, be sure that it is done correctly by checking the product's rated
voltage and the terminal layout. Connecting a power supply that is different from the rating or
incorrectly wiring the product could result in fire or damage.
External connections shall be crimped or pressure welded with the specified tools, or correctly
soldered. Imperfect connections could result in short circuit, fire, or operation failure.
Tighten the terminal screws within the specified torque range. If the terminal screws are loose, it could result in
short circuit, fire, or operation failure. Tightening the terminal screws too far may cause damages to the screws
and/or the module, resulting in drop, short circuit, or operation failure.
Be sure there are no foreign matters such as sawdust or wiring debris inside the module. Such debris
could cause fire, damage, or operation failure.
The module has an ingress prevention label on its top to prevent foreign matter, such as wiring
debris, from entering the module during wiring.
Do not remove this label during wiring.
Before starting system operation, be sure to remove this label because of heat dissipation.
This section described instructions for the wiring of the power supply.
(1) Power supply wiring
(a) 100VAC, 200VAC and 24VDC wires should be twisted as dense as possible
respectively. Connect the modules with the shortest distance.
Also, to reduce the voltage drop to the minimum, use the thickest wires
possible.
Use the wires of the following core size for wiring.
Application Recommended core size
100VAC, 200VAC, 24VDC wires 2.0mm2 or less
I/O equipment 0.75mm2(0.75 to 1.5mm2 usable)
Ground wire 2.0mm2 or more
4 - 15
(b) Do not bunch or lay them closely the main circuit (high voltage, large
current) cables of the 100VAC and 24VDC with the I/O signal cables. If
possible, separate them 100mm (3.94inch) or more away.
(c) As a countermeasure to power surge due to thunder, connect a surge

absorber for thunder as shown below.
Multiple CPU
AC
system
E2
E1 Surge absorber for thunder
POINTS
(1) Separate the ground of the surge absorber for thunder (E1) from that of the
PLC (E2).
(2) Select a surge absorber for thunder whose power supply voltage does not
exceed the maximum allowable circuit voltage even if at the time of maximum
power supply voltage elevation.
(2) Wiring of I/O equipment

(a) Insulation-sleeved crimping terminals cannot be used with the terminal
block.
It is recommended to cover the wire connections of the crimping terminals
with mark or insulation tubes.
(b) The wires used for connection to the terminal block should be 0.3 to
2
0.75mm in core and 2.8mm (0.11inch) or less in outside diameter.
(c) Run the input and output lines away from each other.
(d) When the wiring cannot be run away from the main circuit and power lines,
use a batch-shielded cable and ground it on the Motion controller side.
In some cases, ground it in the opposite side.
Multiple CPU system
Shielded cable
Input
RA
Output Shield
DC
(e) Where wiring runs through piping, ground the piping without fail.
(f) Run the 24VDC input line away from the 100VAC and 200VAC lines.
4 - 16
(g) Wiring of 200m (656.17ft.) or more distance will give rise to leakage currents
due to the wiring capacity, resulting in a fault.
Refer to the troubleshooting chapter of the I/O Module User's Manual.
(3) Grounding
To ground the cable, follow the steps (a) to (c) shown below.
(a) Use the dedicated grounding as independent as possible.
(Ground resistance: 100 or less)
(b) When the Multiple CPU system and the another equipment cannot be
departed to ground the cable each other, use (2) Common Grounding
shown below.
Multiple CPU Another Multiple CPU Another Multiple CPU Another

system equipment system equipment system equipment
grounding grounding
(1) Independent grounding.....Best (2) Common grounding.....Good (3) Joint grounding.....Not allowed
2
(c) Use the grounding cable of 2 mm or more.
Position the ground-contact point as nearly to the Multiple CPU system as
possible, and use the total length of the grounding cable as short as
possible.
4 - 17
4.5.2 Wiring to the power supply module
The following diagram shows the wiring example of power lines, grounding lines, etc.
to the CPU and extension base units.
100/110VAC CPU base unit

(Q38B)
AC Q61P-A1 CPU
Fuse
ERR
AC
DC FG
24VDC
LG
INPUT
100-120VAC
Connect to 24VDC terminals

of I/O module that requires
24VDC internally.
Extension base unit
(Q68B)
Extension cable Q61P-A1 I/O
ERR
100VAC FG
LG
INPUT
100-120VAC
Ground wire
Grounding
POINT
2
(1) Use the thickest possible (up to 2 mm ) wires for the 100/200 VAC and 24
VDC power cables. Be sure to twist these wires starting at the connection
terminals. To prevent a short circuit should any screws loosen, use crimping
terminals with insulation sleeves.
(2) When the LG terminals and FG terminals are connected, be sure to ground the
wires. If LG terminals and FG terminals are connected without grounding the
wires, the Motion controller may be susceptible to noise. In addition, since the
LG terminals have potential of ½ input voltage, the operator may receive an
electric shock when touching terminal parts.
4 - 18
4.6 Installation/Wiring Checklist
Item Sub Item Installation/wiring confirmation Check
Check for looseness, rattling or distorted installation.
Installation of
Check that the fixing screw tightening torque is as specified.
base unit
Check the unit for damage.
Check that the installation module model names are correct.
Check that the Q173CPU(N)/Q172CPU(N) and PLC CPU are
Installation of installed to the Motion CPU slots/PLC CPU slots.
modules to Check that the Q172LX/Q172EX and Q173PX are installed to the
base unit Motion CPU control slots.
Check for looseness, rattling or distorted installation.
Check that the module fixing screw tightening torque is as specified.
Check that the combination Q173CPU(N) and Dividing unit are
Installation of correct.
dividing unit Check for looseness, rattling or distorted installation.
Installation Check that the module fixing screw tightening torque is as specified.
of module Check that the combination Q172CPU(N) and the Battery unit are
Installation of correct.
battery unit Check for looseness, rattling or distorted installation.
Check that the module fixing screw tightening torque is as specified.
Check that the amplitude, eccentricity and axial displacement
relative to the machine side rotary shaft are within the permissible
values.
Installation of
Check that a flexible coupling is used for coupling with the machine
synchronous encoder
side rotary shaft.
Check the module for damage.
Check that excessive impact was not given during installation.
Check the teaching unit for damage.
Installation of
Check that the combination of teaching unit and the connecting
teaching unit
cable are correct.
Check that the 100VAC, 200VAC and 24VDC wires are twisted as
closely as possible respectively and run in the shortest distance.
Check that the 100VAC, 200VAC and 24VDC wires are not bind the
Wiring of power cable together with and run close to the power and I/O wires.
Wiring supply modules and
Check that each wiring is of the specified wire size.
I/O modules wires
Check for looseness of terminal block screw.
Check that the terminal block screw tightening torque is as specified.
Check that grounding of the earth terminal FG and LG.
4 - 19
At the worksite, copy the following table for use as a check sheet. (Continued)
Item Sub Item Installation/wiring confirmation Check
When using Q173DV, check that the Q173CPU(N) and Q173DV are
connected to the SSCNET cable.
When using the external battery, check that the Q172CPU(N) and

Q170BAT are connected to the SSCNET cable.
Check that SSCNET cable model names for connection between
Wiring of
Q173CPU(N)/Q172CPU(N) and servo amplifier (when using the
SSCNET cable
Dividing cable)/Q173DV and servo amplifier (when using Q173DV)/
Wiring servo amplifier and servo amplifier are correct.
Check for looseness, rattling or distorted connector and connective.
Check that the ferrite core is connected to wiring of the SSCNET

cable from FR-V5NS.
Check that impossible power does not apply to the relay portion of

Wiring of teaching cable attached teaching unit and cable connects CPU.
unit cable Check that impossible power does not apply to the TU connector of

Q173CPUN-T/Q172CPUN-T.
4 - 20
5 TRIAL OPERATION AND ADJUSTMENT
5. TRIAL OPERATION AND ADJUSTMENT
5.1 Checklist before Trial Operation
Table 5.1 Checklists before Trial Operation

Model name Confirmation Items Reference
(1) Check that the battery lead connector is connected into the BAT connector of the
Q173CPU(N)/Q172CPU(N) 2.4.10
Dividing unit correctly.
Motion CPU module
(2) Check that the battery voltage is normal. (Normal value: 3.6V) 2.4.10 (1)
(1) Check that the installation position of module corresponds to the system setting. Refer to the
Q172LX Servo external programming
signals interface module/ manual of
Q172EX Serial absolute operating system
synchronous encoder software.
interface module/ (2) Check that the external equipment are connected to the Q172LX/Q172EX/
2.4.4/2.4.5/2.4.6
Q173PX correctly.
Q173PX Manual pulse
(3) Check that the battery is connected to the battery connector. 6.4.2
generator interface module
(4) Check that the battery voltage of Q172EX is normal. (Normal value: 3.6V) 2.4.5 (7)
(1) Check that the installation module model names are correct. 2.4.3 (1)
CPU base unit (2) Check that the installation orders are correct. 2.1.4
(3) Check that the modules are installed correctly. 4.1.3 (1) 5
(1) Check that the power supply module model name installed on base unit is correct. 2.4.2 (1)
(2) Check that FG and LG are wired correctly. 4.5.2
Power supply module
(3) Check that the terminal screws are tightened correctly. 4.1.1 (3)
(4) Check that the cable sizes are correct. 4.5.1 (1)
(1) Check that the cables connected to each terminal of terminal block correspond to
the signal names. Refer to the
(2) Check that the terminal screws are tightened correctly. I/O Module Type
I/O module
(3) Check that the cable sizes are correct. Building Block
(4) Check that the external power supply are connected correctly. User's Manual
(24 VDC, 5 VDC)
(1) Check that the installation module model names are correct. 2.4.3 (1) (b)
(2) Check that the total I/O points of the output module and special function module Refer to the
does not exceed the number I/O points of the CPU module. programming
Extension base unit manual of
operating system
software.
(3) Check that the installation modules are connected correctly. 4.1.3 (1)
(1) Check that the installation SSCNET cable model names are correct.
(2) Check that the installation positions of the connector for SSCNET cables are 2.4.9
SSCNET cable
correct.
(3) Check that the SSCNET cables are connected correctly. 4.2.1
(1) Check that the installation SSCNET cable model names are correct.
(2) Check that the installation positions of the connector for SSCNET cables are
2.4.9
Dividing unit(Q173DV) correct.
(3) Check that the SSCNET cables are connected correctly.
(4) Check that the battery is connected to the battery connector. 6.4.2 (2)
(1) Check that the battery cables are connected correctly. 4.2.3
Battery unit(Q170BAT)
(2) Check that the battery is connected to the battery connector. 6.4.2 (2)
SSC I/F communication (1) Check that the installation SSC I/F communication cable model names are correct. 2.2
cable (2) Check that the SSC I/F communication cables are connected correctly. 4.2.2
(1) Check that the combination of teaching unit and the connecting cable are correct.
Teaching unit
(2) Check that short-circuit connector for teaching unit is connected, when teaching 2.4.8
(A31TU-D3 / A31TU-DN )
unit is not using.
5-1
5.2 Trial Operation and Adjustment Procedure

The mode indicated in the brackets [ ] at top left of
Servo start-up procedure each step is the mode for checking or setting by the
peripheral device.
Turn OFF Multiple CPU system power supply

PLC CPU Check that the power supply of Multiple
Motion CPU CPU system is OFF.
Check wiring and module installation

(1) Check the installation position and Refer to Section 2.1.4 for installation method and
condition of each modules. installation position.
(2) Check the installation condition of Refer to Section 4.1.3 for installation of modules.
connectors.
(3) Check that all terminal screws are tight.
DANGER
(4) Check the ground wires of servo
amplifier, etc.. Be sure to ground the Motion controllers, servo
amplifiers and servomotors.
(5) Check the servomotor wiring (U, V, W).
(Ground resistance: 100 or less)
(6) Check the regenerative resistor wiring.
Do not ground commonly with other devices.
(7) Check the circuit of emergency stop or
forced stop.
Servo amplifier setting Refer to Section 2.4.9 (5)

Servo amplifier
Set the axis number of servo amplifier.
Turn ON power supply CAUTION

PLC CPU Set the RUN/STOP key of CPU module to
STOP. Turn ON the power supply of CPU When using a regenerative resistor, shut the
Motion CPU power OFF with an error signal. The
module.
regenerative resistor may abnormally overheat
due to a fault in the regenerative transistor, etc.,
and may lead to fires.
Always take heat measure 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
[Install mode] may lead to fires.
Install operating system software
Install the operating system software to
the CPU module by the peripheral device. Refer to Section 5.3
: The operating system software is not installed at
the time of Motion CPU module purchase.
Be sure to install the operating system software to
[System setting
Motion CPU be used before a system start.
mode]
Multiple CPU parameters setting
Setthe
Set thefollowing
followingpositioning
positioningparameters
parameters
from
by thethe peripheral
peripheral devise.
device.
(a)Multiple
(1) marutiple CPU
CPU parameter
setting
(b)Automatic refresh setting
(2)
(Note) : An error may occur if the power is turned on
(3) System setting
before system setting. If it happens, reset the
CPU after the system setting.
Turn ON power supply again

Turn ON again the power supply or reset
of Multiple CPU system.
1)
5-2
1)
Check external inputs to Q172LX Refer to Section 2.4.4
Check the wiring of following external

inputs by monitoring of the peripheral
device.
(1) FLS
(Upper stroke limit input)
(2) RLS
(Lower stroke limit input)
(3) STOP
(Stop signal)
Check external inputs to Q172EX Refer to Section 2.4.5

inputs by monitoring of the peripheral
device or LED indicators.
(1) Serial absolute synchronous
encoder setting
Check external inputs to Q173PX Refer to Section 2.4.6

Motion CPU inputs by monitoring of the peripheral
device or LED indicators.
(1) Manual pulse generator/
incremental synchronous
encoder setting
CAUTION
I/O module
Do not install a phase advancing capacitor,
Check the I/O module wiring. 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,
[Servo data setting W). Incorrect connections will lead the
mode] servomotor to operate abnormally.
Positioning parameters setting
Set the following positioning parameters CAUTION
by the peripheral device.
(1) Fixed parameters Set parameter values to those that are
compatible with the Motion controller, servo
(2) Servo parameters
amplifier, servomotor and regenerative resistor
(3) Home position return data model name and the system name application.
(4) Limit switch The protective functions may not function if the
2)
5-3
2)
DANGER
[Programming mode]
Never open the front case or terminal cover at
Create Motion programs
times other than wiring work or periodic
Motion CPU
Create the Motion programs by GSV P. inspections even if the power is OFF. The
insides of the Motion controller and servo
amplifier are charged and may lead to electric
[Parameter setting shocks.
mode]
PLC parameter setting When performing wiring work or inspections,
turn the power OFF, wait at least ten minutes,
Set the parameter setting and system setting by and then check the voltage with a tester, etc..
the peripheral device with the GX Developer. Failing to do so may lead to electric shocks.
Wire the units after installing the Motion

controller, servo amplifier and servomotor.
[Programming mode]
Failing to do so may lead to electric shocks or
Create PLC programs damage.
PLC CPU Create the PLC programs to start of Motion
programs by the peripheral device with the GX
Developer. CAUTION
Always install a leakage breaker on the Motion
controller and servo amplifier power source.
Write PLC programs Install emergency stop circuit externally so that

operation can be stopped immediately and the
Write the PLC programs created by the peripheral power shut off.
device to the PLC CPU module.
Use the program commands for the program
with the conditions specified in the instruction
manual.
Write Motion programs Some devices used in the program have fixed
applications, so use these with the conditions
Write the positioning data and Motion programs specified in the programming manual.
Motion CPU created by the peripheral device to the Motion
CPU module.
CAUTION
Turn ON power supply again If safety standards (ex., robot safety rules, etc., )
apply to the system using the Motion controller,
Turn ON again the power supply or reset of servo amplifier and servomotor, make sure that
Multiple CPU system. the safety standards are satisfied.
Construct a safety circuit externally of the
Motion controller or servo amplifier if the
Turn ON servo amplifiers power supply abnormal operation of the Motion controller or
Check the emergency stop ON and forced stop servo amplifier differ from the safety directive
ON, and turn ON the power supply of servo operation in the system.
amplifiers and servomotors.
3)
5-4
[Test mode 3)
servo start-up
(Initial check) ]
Check servo amplifier Axis No. and error description of servo amplifier which
detected errors are displayed on initial check screen.
Check that the installed servo amplifiers
operate correctly.
[Test mode
servo start-up
(Model name check) ]
Check servo amplifier communication Compare the set servomotor and servo amplifier
model names with the displayed model names.
Read and displays the servo amplifier and
servomotor model names from the servo
amplifier after they have been transferred to
the servo amplifier during initial
communications with it.
[Test mode
servo start-up
(Motor rotation
Motion CPU direction check) ]
Check servomotor rotation directions Release brake on motor with brake.
If an error occurs, reset the emergency stop
Check that motor rotation directions are
and forced stop in a status where the emergency
correct for increased addresses and forward stop and forced stop can be applied.
JOG operation.
[Test mode
servo start-up
(Upper/lower stroke
limit check) ]
Check upper/lower stroke limits
Check that the upper/lower stroke limits
operate correctly.
[Test mode
servo start-up
(Motor speed check) ]
Check motor speed
Check that motor does not exceed rated
speed at maximum commanded. number of
revolution.
[Test mode
JOG operation ]
Check machine operation CAUTION
Check the followings by making the machine The system must have a mechanical allowance so
operate with the JOG operation of peripheral that the machine itself can stop even if the stroke
device.
limits switch is passed through at the max. speed.
(1) Machine operates correctly
(no vibration, hunting, etc. )
(2) Stroke limits operate correctly
(3) Machine stops by the emergency
stop or forced stop.
4)
5-5
4)
[Test mode
home position return ]
Check home position return
Check the followings by executing the home
position return.
(1) Home position return direction
(2) Home position return data
(3) Proximity dog position
Motion CPU
[Programming mode]
Check Motion program
Set the RUN/STOP key of PLC/Motion CPU
module to RUN, and check that all positioning
controls by Motion programs are correct.
[Monitor mode]
Check by automatic operation
PLC CPU Check the sequence operation by executing
the PLC program using an actual external
input.
End
POINTS
(1) Make note of motor module names before the motor is installed on a machine.
The motor name plate may not be visible after the motor is installed.
(2) When the servo amplifier, servomotor is first turned on, check the operation
before the servomotor is installed on a machine to avoid an unexpected
accidents such as machine breakage.
5-6
5.3 Operating System Software Installation Procedure
The operating system software must be installed to the Motion CPU module by using
the peripheral device and programming software package.
Start installation
Open the cover at the front of the

Motion CPU and turn ON the install Refer to Section 2.4.1(3) for install switch.
switch.
Turn ON the Motion CPU power supply. RUN/STOP key switch is ignored.
Install of operating system software

according to the programming software
package instructions.
After installation, turn OFF the Motion

CPU power supply.
Turn OFF the install switch and close

the cover at the front of the Motion
CPU.
End
POINTS
(1) The operating system software was not installed at the time of Motion CPU
module purchase. Be sure to install the operating system software to be used
before a system start.
(2) Even if the operating system software is installed, the positioning data and
servo programs written in the Motion CPU module does not be rewritten.
(3) Do not turn off the power supply during installation. The Motion CPU module
may break down.
(4) When the operating system software is installed at set the Multiple not installed
Motion CPU modules in one base unit, be sure to turn ON the install switches
of all not installed Motion CPU modules to install.
(Note): If the power supply is turned ON in the state of the install switch OFF
of all not installed Motion CPU modules, it does not operate normally.
Be sure to install the operating system software after system start.
5-7
5.4 Trial Operation and Adjustment Checklist
Work Step Item Trial Operation and Adjustment Confirmation Check
Check that the each module is installed correctly.
Check that the each connector is connected correctly.
Check the each terminal screw for looseness.
Installation of Check that the earth wires of power supply module or servo amplifiers, etc.
Before power supply
unit/module are correct.
ON
and basic wiring Check that the servomotor wiring is correct.
Check that the regenerative option wiring are correct.
Check that the circuit of emergency stop and forced stop are correct.
Check that the wiring of each power supply and I/O are correct.
OS installation Check that the operating system software is compatible.
System setting Check that the system setting is correct.
Power supply ON/ Check that the upper/lower stroke limit inputs are correct.
Q172LX external Check that the STOP signal input is correct.
Motion CPU module signals Check that the proximity dog and speed/position switching signal inputs are
in STOP status/ correct.
Program/positioni Check that the Motion program, PLC program and positioning data are stored
PLC CPU module in ng data in the PLC/Motion CPU module correctly.
STOP status Check the communications with servo amplifiers.
Check that the rotation direction for JOG operation is correct.
Check that the upper/lower limit switches operate correctly.
Basic axis Check that the rotation at maximum command speed is motor rating or less.
Motion CPU module in
operations Check that the machine operates correctly by the JOG operation.
RUN status/
(Check each axis) Check that the machine stops by the upper/lower stroke limit.
Check that the machine stops by the emergency stop or forced stop.
PLC CPU module in
Check that the home position return is executed correctly.
STOP status
Check that each positioning control of Motion program is operates correctly.
Check the each operation in manual operation mode of system during Motion program
execution.
Check that the machine operation stops immediately by the emergency stop
or forced stop.
Manual operation Check the operation of each actuator and confirmation limit switch.
Check that the emergency stop, forced stop and equipment alarm signals are
correct.
Checks in compliance with control specifications specific to system and
Motion CPU module in equipment.
RUN status/ Check the each operation in manual operation mode of system during Motion program
execution.
PLC CPU module in Check that the automatic operation motions.
RUN status Check that the machine operation stops immediately by the emergency stop
Automatic or forced stop.
operation Check that the module or equipment alarm causes an immediate stop or cycle
stop.
Check that the restoring operation can be performed after an alarm stop.
Make other checks in compliance with control specifications specific to system
and equipment.
Check that the acceleration/deceleration torque is maximum torque or less.
Torque check
Check that the continuous effective load torque is rated torque or less.
5-8
6 INSPECTION AND MAINTENANCE
6. INSPECTION AND MAINTENANCE
! DANGER
Do not touch the terminals while power is on. Doing so could cause electric shock.
Correctly connect the battery. Also, do not charge, disassemble, heat, place in fire, short circuit, or
solder the battery.
Mishandling of a battery may cause overheating, cracks or ignition which could result in injury and
fire.
Turn off the all lines of the power supply externally when cleaning the module, tightening the terminal
screws or module fixing screws. Not doing so could result in electric shocks.
Under tightening the terminal screws may cause a drop, short circuit or operation failure. Over
tightening may cause a drop, short circuit or operation failure due to damage to the screw or module.
! CAUTION
Read the manual carefully and pay careful attention to safety for the on-line operation (especially
program change, forced stop or operation change) performed by connecting peripheral devices to
the CPU module during operation.
Erroneous operation may cause machine breakage or accident.
Never try to disassemble or modify module. It may cause product failure, operation failure, injury or
fire. 6
When using cellular phone, keep them away from the Motion controller 25 cm (9.84 inch) or more. It
may cause an operation failure.
Turn off the all lines of the power supply externally when installing or removing the modules. Not doing
so could damage the module or result in operation failure.
In order that you can use the Motion controller in normal and optimal condition at all
times, this section describes those items that must be maintained or inspected daily or
at regular intervals.
6-1
6.1 Maintenance Works
6.1.1 Instruction of inspection works
In order that can use the Motion controller in safety and normal, those items that must
be inspected list below.
! CAUTION
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 remove 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.
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 servomotor. Do not ground commonly with
other devices. (Ground resistance : 100 or less)
The wiring work and inspections must be done by a qualified technician.
Wire the units after installing the Motion controller, servo amplifier and servomotor. 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 servomotor 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.
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.
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 unit settings correctly.
After maintenance and inspections are completed, confirm that the position detection of the
absolute position detector function is correct.
6-2
! CAUTION
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 change these to prevent secondary
damage from faults. Replacements can be made by our sales representative.
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, in order to prevent that
state, use a servomotor with electromagnetic brakes for maintenance 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.
Shut off with the
Shut off with servo ON signal OFF, emergency stop
alarm, electromagnetic brake signal. signal(EMG).
Servomotor
RA1 EMG
Electro-
magnetic 24VDC
brakes
If an error occurs, remove the cause, secure the safety and then resume operation after alarm release.
The unit may suddenly restart 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.)
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.
Do not mistake the terminal connections, as this may lead to destruction or damage.
Do not touch the servo amplifier's heat radiating fins, regenerative resistor and servomotor, 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 servomotor shaft or coupled machines, as these parts
Do not go near the machine during test operations or during operations such as teaching. Doing so
Do not bunch the control wires or communication cables with the main circuit or power wires, or lay
them closely. They should be installed 100 mm (3.94 inch) or more from each other.
Trying to bunch or install could result in noise that would cause operation failure.
6-3
6.2 Daily Inspection
The items that must be inspected daily are listed below.

Table 6.1 Daily Inspection
Item Inspection item Inspection Criterion Action
Check that the fixing
Installation of the base The screws and cover must be installed Retighten the
1 screws are not loose and
unit correctly. screws.
the cover is not dislocated.
Check that the module is
Correctly
Installation of the I/O not dislocated and the unit The unit fixing hook must be engaged and
2 engaged the
module, etc. fixing hook is engaged installed correctly.
unit fixing hook.
correctly.
Check that terminal screws Retighten the
Screws should not be loose.
are not loose. terminal screws.
Check distance between of Crimping terminals must be positioned at
3 Connecting condition Correct.
crimping terminals. proper intervals.
Retighten the
Check connectors of
Connector must not be loose. connector fixing
extension cable.
screws.
Power supply module
Power supply The LED must be ON (green).

Check that the LED is ON.
[POWER] LED (Abnormal if the LED is OFF.)
Refer to
CPU Check that the LED is ON The LED must be ON. "QCPU User's
[RUN] LED in RUN state. (Abnormal if the LED is OFF.) Manual
CPU The LED must be OFF. (Function
Check that the LED is OFF.
[ERR.] LED (Abnormal if the LED is ON or flickers.) Explanation
PLC CPU module
/Program
CPU The LED must be ON in the detection of CHK
Check that the LED is ON. Fundamentals)".
[USER] LED instruction or annunciator [F] is ON.
Module indication LED
The LED must be ON in the mode operated by

ROM.
CPU Check that the LED is
The LED must be OFF in the mode operated
[BOOT] LED ON/OFF.
4 by RAM/Installation mode • mode written in
ROM.
CPU
Check that the LED is OFF. The LED must be OFF.
[BAT.] LED (Abnormal if the LED is ON.)
The LED must be ON (green).
(Abnormal if the LED is OFF.)
CPU
Check that the LED is ON. The LED must be ON (orange) in the
[MODE] LED
Installation mode • Mode written in ROM.
Motion CPU module
CPU
Check that the LED is ON. The LED must be ON.
[RUN] LED (Abnormal if the LED is OFF.) Refer to Section
CPU The LED must be OFF. 2.4.1
Check that the LED is OFF.
[ERR.] LED (Abnormal if the LED is ON or flickers.)
The LED must be ON during operation in
CPU Check that the LED is ON
motion control.
[M.RUN] LED in RUN state.
CPU
Check that the LED is OFF. The LED must be OFF.
[BAT.] LED (Abnormal if the LED is ON.)
6-4
Daily Inspection(continued)
Item Inspection item Inspection Criterion Action
The LED must be ON at input signal ON.

Module indication LED
Check that the LED is The LED must be OFF at input signal OFF.
Input LED ON/OFF. (Abnormal if the LED does not turn ON or Refer to
I/O module
turn OFF as indicated above.) "I/O Module Type

4
Building Block
The LED must be ON at output signal ON.
User's Manual".
Check that the LED is The LED must be OFF at output signal OFF.
Output LED
ON/OFF. (Abnormal if the LED does not turn ON or
turn OFF as indicated above.)
Replace it with a
No vibration, howl and noise.
new one if a
Check for vibration, howl (A service life time of the cooling fan unit :
service life time of
and noise. when the number of the revolution lower than
the cooling fan
Cooling fan unit the 20% of the initial time.)
unit is exceeded,
5 (Q173CPU/Q172CPU
Check that the connectors
only)
for cooling fan unit is not The connectors for cooling fan unit and hooks Engage the
dislocated and the hooks of cooling fan unit must be engaged and connectors and
of cooling fan unit is installed correctly. hooks correctly.
engaged correctly.
6-5
6.3 Periodic Inspection
The items that must be inspected one or two times every 6 months to 1 year are listed
below. When the equipment is moved or modified, or layout of the wiring is changed,
also implement this inspection.
Table 6.2 Periodic Inspection

Item Inspection item Inspection method Criterion Action
Ambient
Ambient environment
0 to 55 °C (32 to 131 °F)

temperature
If the controller is used in the
Measure with a thermometer control panel, temperature
1 Ambient humidity and a hygrometer. 5 to 95 % RH within the control panel is
Measure corrosive gas. equivalent to ambient
temperature.
Atmosphere No corrosive gases
Measure a voltage across the 85 to 132VAC

2 Power voltage terminals of 100/200VAC and 170 to 264VAC Change the power supply.
24VDC. 15.6 to 31.2VDC
Retighten the screws.
Move the module to check for The module must be installed If the CPU, I/O, or power
Looseness, rattling
looseness and rattling. fixedly. supply module is loose, fix it
Installation
with screws.
3
Adhesion of dirt and Dirt and foreign matter must
Check visually. Remove and clean.
foreign matter not be present.
Looseness of Try to further tighten screws

Screws must not be loose. Further tighten.
Connection
terminal screws with a screwdriver.

Distance between of Crimping terminals must be
4 Check visually. Correct.
crimping terminals positioned at proper intervals.
Looseness of Retighten the connector
Check visually. Connectors must not be loose.
connectors fixing screws.
Even if the lowering of a
battery capacity is not
shown, replace the battery
5 Battery Preventive maintenance
with a new one if a service
life time of the battery is
exceeded.
No vibration, howl and noise.
(The service life time of the
Cooling fan unit Replace it with a new one. If
cooling fan unit: when the
6 (Q173CPU/Q172CPU Check visually. a service life time of the
number of the revolution
only) cooling fan unit is exceeded,
lower than the 20% of the
initial time. )
6-6
6.4 External Battery
The special relays (M9006, M9007) turn ON due to the Motion CPU program or the
decrease in voltage of memory back-up battery.
Even if these special relays turn ON, the program and the contents of memory back-up
are not erased immediately.
However, if these relays are overlooked, the contents may be erased.
While a total of the memory back-up time after the M9006, M9007 turn ON is within a
specified time, replace the battery with a new one.
POINT
M9007 turns ON due to the decrease in voltage of battery. Even if M9007 turns ON,
it holds the data within a specified time.
However, for safety, replace the battery with a new one as soon as possible.
When the external battery voltage is lowered, the M9006 and M9007 turn ON.
M9006 always detects the battery decrease, and it turns ON when the battery voltage
becomes normal.
M9007 detects the battery decrease, and it holds an alarm until the power supply is
turned ON again or reset even if the battery voltage becomes normal.
Set the available/not available of external battery in the system settings.
6-7
6.4.1 Battery service life time
(1) Q173CPU(N)/Q172CPU(N), Q172EX module battery service life

time
The battery service life time corresponding to the type is shown below.
(Note-1)
Battery service life time (Total power failure time) [h]
Type Classification Guaranteed time Actual time After the battery
(MIN) (TYP) decrease
Charging time:
Internal 200 500
8 hours or more No battery decrease
rechargeable
Q173CPU(N)/ (Note-3) Charging time: detection
battery 1100 4300
Q172CPU(N) 40 hours or more
External battery 120
(Note-2) 60000 240000
(A6BAT/MR-BAT) (After M9006, M9007 on)
MR-HENC 1 10000 30000
Internal battery MR-HENC 2 5000 15000 40

Q172EX
(A6BAT/MR-BAT) (After Error code 1152)
Q170ENC 1 8000 24000
Q170ENC 2 4000 12000
(Note-1) : The actual time in use means the averaged time, and the guaranteed time means the minimum time.
(Note-2) : The external battery for Q173CPU(N) is installed to the Dividing unit(Q173DV).
The external battery for Q172CPU(N) is installed to the Battery unit(Q170BAT).
(Note-3) : The internal rechargeable battery for Q173CPU(N)/Q172CPU(N) can not be replaced.
Even if the A6BAT/MR-BAT is not connected to the

Q173CPU(N)/Q172CPU(N)/Q172EX or a total power failure time does not
exceed the guaranteed value, replace it with a new one in 4 to 5 years.
If a total of power failure time exceeds the guaranteed value specified above the
M9006, M9007 is turned on, replace the battery with a new one immediately.
6-8
6.4.2 Battery replacement procedure
(1) Q172EX module battery replacement procedure

When the Q172EX module battery has been exhausted, replace the battery with
a new one in accordance with the procedure shown below. Before removing the
battery, turn ON the power supply for 10 minutes or longer.
Even when the battery is removed, the memories are backed up by the capacitor
for a while. However, if the replacement time exceeds the guaranteed value
specified in the table below, the contents stored in the memories may be erased.
To prevent this trouble, replace the battery speedily.
Backup time by capacitor

Backup time by capacitor[min]
3
Replacing Battery
Turn on the power supply of the power

supply module for 10 minutes or longer.
Turn off the power supply of the power

supply module.
Remove the encoder cable from Q172EX. Side of the Q172EX
Remove the Q172EX from the base unit.
Remove the old battery from its holder of

the Q172EX.
Front
LITHIUM BATTERY
MITSUBISHI
Install a new battery into the holder in the

correct direction.
Connect the lead connector to the
connector.
Encoder cable
Install the Q172EX into the base unit.
Battery Connector
(A6BAT/MR-BAT)
Connect the encoder cable to the Q172EX.

supply module.
End
6-9
(2) Battery replacement procedure of the Dividing unit, Battery unit

When the battery has been exhausted, replace the battery with a new one in
accordance with the procedure shown below.
POINTS
Replace the battery taking care of the following.
(1) Start the replacement operation after backing up the data to the personal
computer which is installed the GSV P.
(2) Firstly back up the data stored in the Motion CPU to the personal computer
which is installed the GSV P then replace the battery with a new one. After
installation the battery in the Dividing unit or Battery unit, verify the backing up
the data to the personal computer which is installed the GSV P and the data
in the Motion CPU module, confirm the data is not changing.
Replacing Battery
Turn off the power supply of the power

supply module.
Dividing unit (Q173DV)
Dividing unit
Battery connector
Remove the old battery from its holder. for A6BAT/MR-BAT
SSCNET CN1
MITSUBISHI
Install a new battery into the holder in the LITHIUM BATTERY
correct direction.
BAT
Connect the lead connector to the BAT SSCNET CN2

connector.
Q173CPU
supply module.
End Battery unit (Q170BAT)

Battery connector
for A6BAT/MR-BAT
MITSUBISHI
BAT LITHIUM BATTERY
Q172J2BCBL M-B/ CPU

Q172HBCBL M-B
6 - 10
6.5 Discard of internal rechargeable battery
(1) Discard procedure of internal rechargeable battery
The rechargeable lithium battery is built-in in the Motion CPU module.

When you discard the Motion CPU module, discard an internal rechargeable
battery according to the following procedure.
Discard procedure
1)
2) 3)
1)
1) 2) Push in 4 hooks of the Motion CPU module 3) Take out a printed circuit board from a case.
side and remove a front cover.
4)
Memory card socket
5)
Lithium battery
Cut
4) Turn up a printed circuit board which has install 6) Check that the internal rechargeable battery is
the memory card socket, and then remove 6 set on a surface of printed circuit board which
fixing screws (M3) from circuit board. has install the memory card socket, and cut
5) Separate printed circuit boards. lead sections of internal rechargeable battery.
7) When you discard an internal rechargeable
battery, please follow the law of each country
(area).
6 - 11
! CAUTION
Do not disassemble the modules except the time of discard.
6 - 12
6.6 Troubleshooting
This section describes the various types of trouble that occur when the system is
operated, and causes and corrective actions of these troubles.
6.6.1 Basics of troubleshooting
In order to increase the reliability of the system, not only highly reliable devices are
used but also the speedy startup of the system after the occurrence of trouble
becomes an important factor.
To start up the system speedily, the cause of the trouble must be located and
eliminated correctly.
The basic three points that must be followed in the troubleshooting are as follows.
(1) Visual inspection

Visually check the following.
(a) Movement of machine (stopped condition, operating condition)
(b) Power supply on/off
(c) State of I/O devices
(d) Installation condition of the Power supply module, Q173CPU(N)/Q172CPU(N)
module, PLC CPU module, I/O module, Q172LX/Q172EX/Q173PX Motion
module, SSCNET cable, SSC I/F communication cable, Synchronous
encoder cable and cable for the teaching unit.
(e) State of wiring (I/O cables, cables)
(f) Display states of various types of indicators (MODE LED, RUN LED, M.RUN
LED, ERR. LED, I/O LED,etc.)
(g) Setting states of various types of set switches (Number of extension bases
setting, memory back-up, etc.)
After confirming items (a) to (g), Motion CPU module connect the SW6RN-GSV
P, PLC CPU module connect the GX Developer and check the operating
conditions of the servomotors and the error code.
(2) Check of trouble

Check to see how the operating condition varies while the Motion controller is
operated is operated as follows.
(a) Set the RUN/STOP switch to STOP.
(b) Reset the trouble with the RESET/L.CLR switch.
(c) Turn ON and OFF the power supply.
(3) Reduction in area

Estimate the troubled part in accordance with items (1) and (2) above.
(a) Multiple CPU system or external devices?
(b) Motion CPU or PLC CPU?
(c) I/O module or others?
(d) Servo program or Motion SFC program?
(e) PLC program?
6 - 13
6.6.2 Troubleshooting of Motion CPU module and I/O modules
This section describes the contents of troubles for the error codes and corrective
actions of the troubles.
As for troubleshooting of PLC CPU, refer to the QCPU User's Manual (Function
Explanation, Program Fundamentals) of their respective modules.
POINT
Check that the operating system software is installed at the time of Motion CPU
module start.
(1) Troubleshooting flowchart

The followings show the contents of the troubles classified into a variety of
groups according to the types of events.
Error-occurrence description
"POWER" LED is OFF (a)

"Flowchart for when "POWER" LED is turned off."
"MODE" LED is OFF (b)

"Flowchart for when "MODE" LED is turned off."
(c)
"RUN" LED is OFF
"Flowchart for when "RUN" LED is turned off."
(d)
"ERR." LED is ON/ flickers "Flowchart for when "ERR." LED is turned on/
flickered."
(e)
「M. RUN」LED
"M.RUN" LED is OFF
が点灯している
"Flowchart for when "M.RUN" LED is turned off."
"BAT." LED is ON (f)

"Flowchart for when "BAT." LED is turned on."
(g)
I/O module is not operating correctly "Flowchart for when output load of output module
is not turned on."
(h)
The peripheral devices cannot
"Flowchart for when the peripheral device cannot
communicate to the Motion CPU.
communicate to the Motion CPU."
(i)
The power supply of teaching unit "Flowchart for when the power supply of teaching
is not turned on. unit is not turned on."
6 - 14
(a) Flowchart for when "POWER" LED is turned off.

The following shows the flowchart when the "POWER" LED is turned off at
the power supply ON or during operation.
"POWER" LED is turned off
NO
Is there a power supply? Supply power supply.
YES
NO Is "POWER"LED YES
turned on?
Is the wiring/
terminal block screws NO Connect the wiring/terminal block
connection correct? screws correctly.
YES
turned on?
Is the power
supply voltage reaching 85 to NO The supply voltage should be within
132VAC or 170 to 264VAC? the rated range.
YES
turned on?
Is the power supply NO Fix the power supply module

module fixed? correctly.
YES
turned on?
Is overcurrent 1) Check the current capacity and

YES reduce the amount of overcurrent.
protection and overvoltage
protection working? 2) Turn the input power supply off and
then immediately turn it on.
NO
turned on?
Explain the error symptom and get

advice from our sales representative.
Completion
6 - 15
(b) Flowchart for when "MODE" LED is turned off.

The following shows the flowchart when the "MODE" LED is turned off at
the power supply ON.
"MODE" LED is turned off
Is the power
supply for all the power
NO Check the wiring and turn on the
supplies modules turned on?
Is the wiring of the power supply all power supplies.
module correct?
YES NO Is "MODE" LED YES

turned on?
Is the LED of
NO Replace the power supply module,
power supply
and check that the LED is ON.
module turned on?
YES
NO Is "MODE" LED YES
turned on?
Is the
connecting direction of
extension cable correctly? NO
(Isn't IN- IN or OUT-OUT
Connect the extension cable correctly.
connection?)
YES
turned on?
Is the
CPU module of the No.1 "RESET" position
and corresponding CPU module Set the RESET/ L.CLR switch in the
RESET/L.CLR switch in the
neutral position.
neutral position?
Neutral position

turned on?
H/W error
Confirm the operation in the order
starting from the minimum system.
Explain the error symptom and get Completion
advice from our sales representative
for the modules with failure.
(Note) : Lit (green) : Normal
Lit (orange) : Installation mode mode written in ROM
6 - 16
(c) Flowchart for when "RUN" LED is turned off.

The following shows the flowchart when the "RUN" LED is turned off during
operation.
"RUN" LED is turned off.
(d)
Is "ERR." LED YES
"Flowchart for when "ERR." LED
turned on/flickered? is turned on/flickered."
NO
"RUN" LED
Reset the PLC CPU module turned on 1) Motion CPU parts/connection
of the CPU No.1 with RESET/ L.CLR fault
switch. 2) By excessive noise
"RUN" LED turned off
For the case of 1) For the case of 2)
Set the RUN/STOP switch to STOP Explain the error symptom and get
and write the servo setting data to the advice from our sales representative.
Motion CPU module with the GSV P.
Specify the noise source, and remove

it.
NO Is "RUN" LED
turned on?
YES
Completion
6 - 17
(d) Flowchart for when "ERR." LED is turned on/flickered.

The following shows the flowchart to be followed when the "ERR." LED is
turned on/flickered at the power supply ON or operation start or during
operation.
"ERR." LED is turned on/flickered.
H/W error Confirm error contents for self CPU by

PC diagnostics of the GX Developer.
Refer to the help of the GX Developer

and correct error contents.
H/W error Confirm error contents by GSV P

error history.
Refer to the help of the GSV P

and correct error contents.
Reset by the RESET/L.CLR switch.
Set the RUN/STOP switch to RUN.
Is the"ERR." LED NO
advice from our sales representative. turned off?
YES
Completion
6 - 18
(e) Flowchart for when "M.RUN" LED is turned off.

The following shows the flowchart when the "M.RUN" LED is turned off
during operation.
"M.RUN" LED is turned off.
Is "ERR." LED YES (d)

turned on/flickered? "Flowchart for when "ERR." LED
is turned on/flickered."
NO
RESET position
Is the RESET/L.CLR
switch of the CPU module in Set the RESET/L.CLR switch to
the neutral position? the neutral position.
When started the latch clear,
"M.RUN" LED is flickered.(Note-1)
Neutral position
NO Is "M.RUN" LED YES
turned on?
OFF
Is M2000 turned on? M2000 is turned on.
ON YES
NO Is "M.RUN" LED
turned on?
H/W error
advice from our sales representative .
Completion
REMARK
(Note-1) : When the RUN/STOP switch is stop position and the RESET/L.CLR is
tilted to L.CLR several times for latch clear operation, the "M.RUN" LED
flashes to indicate that the latch clear processing is under operation.
When the RESET/L.CLR switch is further tilted to L.CLR while the
"M.RUN" LED flickers, "M.RUN" LED turned off and terminates the latch
clear processing.
6 - 19
(f) Flowchart for when "BAT." LED is turned on.

In the Motion CPU, when the external battery capacity of the Dividing unit
or Battery unit is lowered, the LED is turned on.
After replacing the battery with a new one, "BAT." LED is turned off with the
executing reset by the RESET/L.CLR switch.
When it is selected "used the external battery", though the external battery
in the system settings is not used, the LED is also turned on.
"BAT." LED is turned on.
Is the "used
the external battery" NO
Reset by the RESET/ L.CLR switch.
in the system settings?
YES NO Is the "BAT." LED YES

1)
turned off?
NO Set "Not used the external

Is the external battery used? battery" in the system settings.
YES Reset by the RESET/ L.CLR switch.
NO Is the "BAT." LED YES

1)
turned off?
Is the voltage of NO
the external battery correct ? Replace the external battery.
Reset by the RESET/ L.CLR switch.

YES
1)
NO Is the "BAT." LED YES

turned off?
H/W error
Completion
6 - 20
(g) Flowchart for when output load of output module is not turned
on.
The following shows the flowchart when the output load of the output
module is not turned on during operation.
Output load of output module is

not turned on.
Is the operation NO Check the output conditions with the

indicator of output
monitor mode of the GSV P.
module lit?
Check the output condition, then
YES execute to the output programs.
Is voltage for the Are the output NO Voltage measurement among the
NO
power supply load conditions completed or the output
modules input and COM terminals.
added? programs executed?
0V
YES YES
Supply voltage value

What is the voltage Is the operation OFF
among the various output 0V
indicator of input
COM terminals of the
output module? module lit?
Is it reaching the
supply voltage ON
value? OK
Confirm rush current when the load Confirm input-signal off to the Check the external wiring and
is at the maximum simultaneous on. monitor mode of the GSV P. external input devices.
NG
(Monitor signal off)
Input-signal
turned on.
Change the output relay number and

let the load maximum simultaneous Check the wiring for power supply
on current to within the specification. load and recover the power supply.
NG
Check the wiring for load and load,

and recover the power supply.

Output module failure. advice from our sales representative.
Replace the output module.
POINT
For information about input signal of the input module is not turned off, refer to
section 6.6.3 I/O modules troubleshooting.
6 - 21
(h) Flowchart for when the peripheral device cannot communicate

to the Motion controller.
The following shows the flowchart when the Motion CPU cannot
communicate with the GSV P during the power supply ON.
The peripheral device cannot
communicate to the Motion controller.
Is the
operating system software NO
installed to the Motion
CPU module?
YES
Turn the installation switch ON.
Are all the

connecting cable connected to NO
Connect the connecting cable correctly.
the connecting connector
correctly?
YES Can the CPU

NO YES
communicate with
the GSV P?
Can the CPU
communicate with the YES
GSV P by replacing the
connecting cable?
NO
Is the Is the
connection type YES NO
connecting setting The connecting setting is SSCNET.
SSCNET? correct?
NO YES
NO Can the CPU YES
communicate with
the GSV P?
Is the
connection type USB
1)
USB or RS-232?
RS-232
Is the connecting NO
setting correct? The connecting setting is RS-232.
YES
NO Can the CPU YES
communicate with
the GSV P?

Completion
　　
6 - 22
1)
Is the communication NO The communication setting is

setting correct? USB.
YES
Can the CPU

YES
communicate with
the GSV P?
NO

Is the
USB driver installed NO Install the USB driver into the
in the personal computer with
personal computer.
Win 98/2000/XP?
YES
Can the CPU YES

communicate with
the GSV P?
NO
Completion
6 - 23
(i) Flowchart for when the power supply of teaching unit is not
turned on.
The following shows the flowchart when the power supply of teaching unit
is not turned on during the power supply of Motion CPU ON.
The power supply of teaching
unit is not turned on.
Does
the current
consumption of the system YES
added teaching unit exceed the rated Review the system.
output current of power
supply module?
NO
Are all the connecting NO

cable connected to the Connect the connector correctly.
connector correctly?
YES NO YES
Is the power supply of
teaching unit turned on?
Are all the connecting NO

cable wired to the Wiring the connecting cable correctly.
correct connector?
YES
NO Is the power supply of YES
teaching unit turned on?
If the
connecting cable is
Is the connecting YES replaced or the wiring is corrected, YES
cable made by the user? is the power supply of teaching
unit turned on?
NO
NO
If the
connecting cable is
Connecting cable error
replaced or the wiring is corrected, YES
is the power supply of teaching
unit turned on?
NO
Teaching unit H/W error

If the teaching unit is
YES Explain the error symptom and get
replaced, is the power supply of
teaching unit turned advice from our sales representative.
on?
NO
If the Motion CPU Motion CPU H/W error

YES
module is replaced, is the power Explain the error symptom and get
supply of teaching unit advice from our sales representative.
turned on?
NO
H/W error
advice from our sales representative. Completion
6 - 24
6.6.3 I/O modules troubleshooting
This section describes troubleshooting with I/O circuits and their corrective actions.
(1) Input circuit troubleshooting and corrective action

This section describes troubleshooting with input circuits and their corrective
actions.
Input Circuit Troubleshooting and Corrective Action

Condition Cause Corrective action
• Leakage current of input switch • Connect an appropriate resistor which will
(e.g. drive by non-contact switch). make the voltage across the terminals of the
AC input input module lower than the OFF voltage
value.
Input signal
Example 1
Leakage AC input
is not Input module
current
turned
OFF. Input module
Power supply
It is recommended to use 0.1 to 0.47µF + 47 to

120 (1/2W) for the CR constant.
• Drive by a limit switch with neon lamp. • Same as Example 1.
AC input • Or make up another independent display
Input signal
Example 2
circuit.
is not
turned Leakage Input module
current
OFF.
Power supply
• Leakage current due to wiring capacity of • Same as Example 1.
wiring cable. • However, leakage current is not generated
(Wiring capacity C of twisted pair wire is when the power supply is located in the input
Input signal approx. 100 PF/m). equipment side as shown below.
Example 3
is not AC input AC input

turned
OFF. Leakage Input module Input module
current
Power supply Power supply

• Drive by switch with LED indicator. • Connect a register which will make the voltage
between the input module terminal and
common higher than the OFF voltage value,
as shown below.
DC input DC input
(plus common) (plus common)
Input signal
Example 4
is not
Leakage
turned current Resistor
Input module Input module
OFF.
(Note-1) : A calculation example of a value for a

connected resistor is given on the
following page.
6 - 25
Input Circuit Troubleshooting and Corrective Action (Continued)

• Sneak path due to the use of two power • Use only one power supply.
supplies. • Connect a sneak path prevention diode.
(Figure below)
Example 5
Input signal
does not
E1 E2 Input module
turn OFF.
E1 E2 Input module
E1 >E2
Depending on short response time setting, noise Change response time setting.
Example 6
False input is imported as input. Example : 10ms 20ms

due to
noise
<Calculation example of Example 4>

For the case with a switch with LED indicator connected to Q172LX,
causing 4 mA leakage current.
Q172LX
Leakage
Motion CPU
current 4mA
module
3.6K
24VDC
(a) The 0.18 mA OFF current of the Q172LX is not satisfied. Connect a resistor as
shown below.
Q172LX
4mA
Iz=0.18mA
IR=3.82mA Input impedance

5.6K
3.6K
24VDC
(b) Calculate the connecting resistor value R as indicated below.

To satisfy the 0.18 mA OFF current of the Q172LX, the resistor R to be connected
may be the one where 3.82 mA or more will flow.
IR: IZ=Z(Input impedance): R
IZ 0.18 3
R Z(Input impedance)= 5.6 10 =264[ ]
IR 3.82
R<264 .
Assuming that resistor R is 220 , the power capacity W of resistor R is:
2 2
W = (Input voltage) ÷ R = 26.4 ÷ 220 = 3.168 [W]
(c) The power capacity of the resistor selected is 3 to 5 times greater than the actual
current consumption. 220 [ ], 10 to 15 [W] resistor may therefore be connected to
the terminal in question.
6 - 26
(2) Output circuit troubleshooting and corrective action

This section describes troubleshooting with output circuits and their corrective
actions.
Output Circuit Troubleshooting and Corrective Action

• If load is internally half-wave rectified • Connect a resistor between several tens k
(some solenoids are like this). and several hundreds k across the load.
D1 1) This method causes no problems with

Output module output terminals but lead to deterioration
or burnout of load internal diodes.
Overvoltage
Example 1
applied to Load
Resistor
load when
output turns 2)
OFF
• With polarity of power supply 1), C is charged.
With polarity 2),the C charge voltage plus the Load
power supply voltage is applied across D1.

Max. voltage is approx. 2.2E.
• Leakage current due to built-in surge • Connect a resistor across the load.
suppressor. If long wiring exists between the output
card and the load, leakage currents also
arise due to wiring capacity.
Output module
Example 2
Load does Load Resistor

not turn OFF
(Triac output). Leakage current
Load
• Drive a relay and use the contacts to drive

the CR timer.
Output module Be careful of example 1, as some
CR timer
Time period timers are half-wave rectified
Example 3
fluctuates internally.
when load is Leakage current Resistor
a CR timer
(Triac output)
CR
Calculate resistor
timer
constant from load.
6 - 27
6.7 Confirm method of Error Code
When an error occurs, the error code and error message can be read by the personal
computer(IBM PC/AT) installation of the SW6RN-GSV P.
The procedure for reading error codes by the SW6RN-GSV P is as follows.
(1) Start the SW6RN-GSV P.

(2) Connect the Motion CPU to the personal computer(IBM PC/AT) .
(3) Select [ Create a new project ] - [ Motion CPU Read ] Menu by the SW6RN-
GSV P, and also read the project data from the Motion CPU.
(4) Select the [ Monitor ] - [ PV Enlarged Monitor ] Menu.
(5) Confirm the error code and error message that is displayed on the screen.
For details of the SW6RN-GSV P operating method, refer to help of each

programming software package.
6 - 28
APPENDICES
APPENDICES
APPENDIX 1 Cables
In this cable connection diagram, maker names of connectors are omitted. Refer to
"APPENDIX 2.7 Connector" for maker names of connectors.
APPENDIX 1.1 SSCNET cables
Generally use the SSCNET cables available as our options. If the required length is
not found in our options, fabricate the cable on the customer side.
(1) Selection
The following table indicates the SSCNET cables used with each Motion
controller and the servo amplifiers. Make selection according to your operating
conditions.
Table 1 SSCNET cables
Type (Note-1) Length [m(ft.)] Description
• Q172CPU(N) MR-J2 -B
(Note-2)
Q172J2BCBL M • MR-J2 -B FR-V5NS
(Note-2)
• Q173DV FR-V5NS
Q172J2BCBL M-B 0.5(1.64), 1(3.28), 5(16.40) • Q172CPU(N) MR-J2 -B + Q170BAT
• Q172CPU(N) MR-H-BN
Q172HBCBL M (Note-2)
• MR-H-BN FR-V5NS
Q172HBCBL M-B • Q172CPU(N) MR-H-BN + Q170BAT
Q173DVCBL M 0.5(1.64), 1(3.28) • Q173CPU(N) Q173DV
Q173J2B CBL M • Q173CPU(N) MR-J2 -B App.
Q173HB CBL M • Q173CPU(N) MR-H-BN
• MR-J2 -B MR-J2 -B
MR-J2HBUS M
0.5(1.64), 1(3.28), 5(16.40) • Q173DV MR-J2 -B
• MR-H-BN MR-J2 -B
MR-J2HBUS M-A
• Q173DV MR-H-BN
MR-HBUS M • MR-H-BN MR-H-BN
(Note-2)
0.5(1.64), 1(3.28), 5(16.40), • Q172CPU(N) FR-V5NS
FR-V5NSCBL (Note-2) (Note-2)
10(32.81), 20(65.62) • FR-V5NS FR-V5NS
(Note-1) : = Number of systems (none: 1 SYSTEM, 2: 2 SYSTEMS, 4: 4 SYSTEMS)
= Cable length (05: 0.5m(1.64ft.), 1: 1m(3.28ft.), 5: 5m(16.40ft.), 10: 10m(32.81ft.),
20: 20m(65.62ft.))
App - 1
APPENDICES
Use the following or equivalent twisted pair cables as the SSCNET cables.
Table 2 Wire models
Type Length [m(ft.)] Wire model
Q172J2BCBL M(-B)
0.5(1.64), 1(3.28), 5(16.40) UL20276 AWG#28 7pair(CREAM)
Q172HBCBL M(-B)
Q173DVCBL M 0.5(1.64), 1(3.28) UL20276 AWG#28 13pair(CREAM)
Q173J2B CBL M
UL20276 AWG#28 7pair(CREAM)
Q173HB CBL M
MR-J2HBUS M 0.5(1.64), 1(3.28), 5(16.40)
UL20276 AWG#28 10pair(CREAM)
MR-J2HBUS M-A
MR-HBUS M A14B2343 6P
Table 3 Wire specifications

Characteristics of one core
Finished
Core Insulating
Number of Structure Conductor OD
Wire model size sheath OD
2 cores [Number of resistance [mm]
[mm ] d[mm]
wires/mm] [ /km] (Note-2)
(Note-1)
UL20276 AWG#28 7pair(CREAM) 0.08 14(7 pairs) 7/0.127 222 or less 0.38 5.5
A14B2343 6P 0.2 12(6 pairs) 40/0.08 105 or less 0.88 7.2
(Note-1): "d" is as shown below.

d
Insulation sheath
Conductor
(Note-2): Standard OD (Outside Diameter). Maximum OD is about 10% larger.
! CAUTION
When fabricating the bus cable, do not make incorrect connection. Wrong connection will cause
runaway or explosion.
App - 2
APPENDICES
(a) Q172J2BCBL M(-B)

1) Model explanation
Type: Q172J2BCBL M-
Symbol Connect Battery unit
None No
B Yes
Symbol Cable length [m(ft.)]

05 0.5(1.64)
1 1(3.28)
5 5(16.40)
2) Connection diagram
When fabricating a cable, use the recommended wire given on
APPENDIX 1.1, and make the cable as show in the following
connection diagram. The overall distance of SSCNET cables is
30m(98.43ft.) .
• Q172J2BCBL M
Q172J2BCBL M
HDR-E14MG1 (connector) 10120-6000EL (connector)
HDR-E14-LPA5 (connector case) 10320-3210-000 (shell kit)
TD1 1 2 RD
TD1* 8 12 RD*
LG 2 1 LG
LG 9 11 LG
RD 3 4 TD
RD* 10 14 TD*
LG 6 5 LG
BT 13 9 BT
EMG 4 7 EMG
EMG* 11 17 EMG*
SD shell shell SD
:Twisted pair cable
• Q172J2BCBL M-B
Q172J2BCBL M-B
HDR-E14-LPA5 (connector case) 10320-3210-000 (shell kit)
TD1 1 2 RD
TD1* 8 12 RD*
LG 2 1 LG
LG 9 11 LG
RD 3 4 TD
RD* 10 14 TD*
LG 6 5 LG
BT 13 9 BT
EMG 4 7 EMG
EMG* 11 17 EMG*
SD shell shell SD
:Twisted pair cable
BAT 1
LG 2 HNC2-2.5S-2 (socket)
HNC2-2.5S-D-B (terminal block)
App - 3
APPENDICES
(b) Q172HBCBL M(-B)

Type: Q172HBCBL M-
Symbol Connect Battery unit
None No
B Yes

05 0.5(1.64)
1 1(3.28)
5 5(16.40)
30m(98.43ft.) .
• Q172HBCBL M
Q172HBCBL M
HDR-E14MG1 (connector) PCR-S20FS (connector)
HDR-E14-LPA5 (connector case) PCR-LS20LA1 (connector case)
TD1 1 2 RD
TD1* 8 12 RD*
LG 2 1 LG
LG 9 11 LG
RD1 3 4 TD
RD1* 10 14 TD*
LG 6 5 LG
BT 13 9 BT
EMG 4 6 EMG
EMG* 11 16 EMG*
SD shell 20 SD
:Twisted pair cable
• Q172HBCBL M-B
Q172HBCBL M-B
TD1 1 2 RD
TD1* 8 12 RD*
LG 2 1 LG
LG 9 11 LG
RD1 3 4 TD
RD1* 10 14 TD*
LG 6 5 LG
BT 13 9 BT
EMG 4 6 EMG
EMG* 11 16 EMG*
SD shell 20 SD
:Twisted pair cable
BAT 1
LG 2 HNC2-2.5S-2 (socket)
HNC2-2.5S-D-B (terminal block)
App - 4
APPENDICES
(c) Q173DVCBL M
Type: Q173DVCBL M

05 0.5(1.64)
1 1(3.28)
30m(98.43ft.) .
Q173DVCBL M
HDR-E26-LPA5 (connector case) 10326-3210-000 (connector case)
TD1 1 1 TD1
TD1* 14 14 TD1*
LG 3 3 LG
LG 16 16 LG
RD1 2 2 RD1
RD1* 15 15 RD1*
LG 13 13 LG
BT 26 26 BT
EMG12 6 6 EMG12
EMG12* 19 19 EMG12*
TD2 4 4 TD2
TD2* 17 17 TD2*
RD2 5 5 RD2
RD2* 18 18 RD2*
TD3 7 7 TD3
TD3* 20 20 TD3*
LG 9 9 LG
LG 22 22 LG
RD3 8 8 RD3
RD3* 21 21 RD3*
EMG34 12 12 EMG34
EMG34* 25 25 EMG34*
TD4 10 10 TD4
TD4* 23 23 TD4*
RD4 11 11 RD4
RD4* 24 24 RD4*
SD shell shell SD
:Twisted pair cable
App - 5
APPENDICES
(d) Q173J2B CBL M

Type: Q173J2B CBL M
Symbol Number of SSCNET SYSTEM Symbol Cable length [m(ft.)]

none SSCNET SYSTEM1 05 0.5(1.64)
2 SSCNET SYSTEM2 1 1(3.28)
4 SSCNET SYSTEM4
30m(98.43ft.) .
Q173J2B CBL M Example: =4
HDR-E26-LPA5 (connector case) 10320-3210-000 (connector case)
SSCNET SYSTEM1
TD1 1 2 RD
TD1* 14 12 RD*
LG 3 1 LG
LG 16 11 LG
RD1 2 4 TD = none
RD1* 15 14 TD*
LG 13 5 LG
BT 26 9 BT
EMG12 6 7 EMG
EMG12* 19 17 EMG*
shell SD
SSCNET SYSTEM2
=2
TD2 4 2 RD
TD2* 17 12 RD*
1 LG
11 LG
RD2 5 4 TD
RD2* 18 14 TD*
5 LG
9 BT
7 EMG
17 EMG*
shell SD
SSCNET SYSTEM3
TD3 7 2 RD
TD3* 20 12 RD* =3
LG 9 1 LG
LG 22 11 LG
RD3 8 4 TD
RD3* 21 14 TD*
5 LG
9 BT
EMG34 12 7 EMG
EMG34* 25 17 EMG*
shell SD
SSCNET SYSTEM4
TD4 10 2 RD
12 RD* =4
TD4* 23
1 LG
11 LG
RD4 11 4 TD
RD4* 24 14 TD*
5 LG
9 BT
7 EMG
17 EMG*
SD shell shell SD
:Twisted pair cable
App - 6
APPENDICES
(e) Q173HB CBL M

Type: Q173HB CBL M
Symbol Number of SSCNET SYSTEM Symbol Cable length [m(ft.)]

none SSCNET SYSTEM1 05 0.5(1.64)
4 SSCNET SYSTEM4
30m(98.43ft.) .
Q173HB CBL M Example: =4
SSCNET SYSTEM1
TD1 1 2 RD
TD1* 14 12 RD*
LG 3 1 LG
LG 16 11 LG
RX1 2 4 TD = none
RX1* 15 14 TD*
LG 13 5 LG
BT 26 9 BT
EMG12 6 6 EMG
EMG12* 19 16 EMG*
shell SD
SSCNET SYSTEM2
=2
TX2 4 2 RD
TX2* 17 12 RD*
LG 9 1 LG
11 LG
RX2 5 4 TD
RX2* 18 14 TD*
5 LG
9 BT
6 EMG
16 EMG*
shell SD
SSCNET SYSTEM3
TD3 7 2 RD
TD3* 20 12 RD* =3
LG 9 1 LG
LG 22 11 LG
RD3 8 4 TD
RD3* 14 TD*
21
5 LG
9 BT
EMG34 12 6 EMG
EMG34* 25 16 EMG*
shell SD
SSCNET SYSTEM4
TD4 10 2 RD
=4
TD4* 23 12 RD*
LG 22 1 LG
11 LG
RD4 11 4 TD
RD4* 24 14 TD*
5 LG
9 BT
6 EMG
16 EMG*
SD plate shell SD
:Twisted pair cable
App - 7
APPENDICES
(f) MR-J2HBUS M
Type: MR-J2HBUS M

05 0.5(1.64)
1 1(3.28)
5 5(16.40)
30m(98.43ft.) .
MR-J2HBUS M
10120-6000EL (connector) 10120-6000EL (connector)
10320-3210-000 (shell kit) 10320-3210-000 (shell kit)
LG 1 1 LG
LG 11 11 LG
RD 2 2 RD
RD* 12 12 RD*
3 3
13 13
TD 4 4 TD
TD* 14 14 TD*
LG 5 5 LG
LG 15 15 LG
6 6
16 16
EMG 7 7 EMG
EMG* 17 17 EMG*
8 8
18 18
BT 9 9 BT
19 19
10 10
20 20
SD shell shell SD
:Twisted pair cable
App - 8
APPENDICES
(g) MR-J2HBUS M-A

Type: MR-J2HBUS M-A

05 0.5(1.64)
1 1(3.28)
5 5(16.40)
30m(98.43ft.) .
MR-J2HBUS M-A
PCR-S20FS (connector) 10120-6000EL (connector)
PCR-LS20LA1 (connector case) 10320-3210-000 (shell kit)
LG 1 1 LG
LG 11 11 LG
RD 2 2 RD
RD* 12 12 RD*
TD 4 4 TD
TD* 14 14 TD*
LG 5 5 LG
LG 15 15 LG
EMG 6 7 EMG
EMG* 16 17 EMG*
SD 20 shell SD
:Twisted pair cable
App - 9
APPENDICES
(h) MR-HBUS M
Type: MR-HBUS M

05 0.5(1.64)
1 1(3.28)
5 5(16.40)
30m(98.43ft.).
MR-HBUS M
PCR-S20FS (connector) PCR-S20FS (connector)

PCR-LS20LA1 (connector case) PCR-LS20LA1 (connector case)
LG 1 1 LG
LG 11 11 LG
RD 2 2 RD
RD* 12 12 RD*
TD 4 4 TD
TD* 14 14 TD*
LG 5 5 LG
LG 15 15 LG
EMG 6 6 EMG
EMG* 16 16 EMG*
BT 9 9 BT
SD 20 20 SD
:Twisted pair cable
App - 10
APPENDICES
APPENDIX 1.2 Serial absolute synchronous encoder cable
Generally use the serial absolute synchronous encoder cables available as our
options. If the required length is not found in our options, fabricate the cable on the
customer side.
(1) Selection
The following table indicates the serial absolute synchronous encoder cables
used with the serial absolute synchronous encoder.
Connector sets are also available for your fabrication.
Table 4 Wire models
Type Length [m(ft.)] Wire model Application
2(6.56), 5(16.40) UL20276 AWG#28 4pair(BLACK)
MR-JHSCBL M-L
10(32.81), 20(65.62), 30(98.43) UL20276 AWG#22 6pair(BLACK)
MR-HENC
2(6.56), 5(16.40) A14B2339 4P
MR-JHSCBL M-H
10(32.81), 20(65.62), 30(98.43) A14B2343 6P
2(6.56), 5(16.40), 10(32.81),
Q170ENCCBL M M14B0023 12pair(BLACK) Q170ENC
20(65.62), 30(98.43), 50(164.04)
Use the following or equivalent twisted pair cables as the serial absolute
synchronous encoder cables.
Table 5 Connector sets
Connector sets type Description Application
MR-J2CNS • Connector shell kits MR-JHSCBL M-L, H
Q170ENCCNS • Plug cable clump Q170ENCCBL M

Core Finishe
Number of Structure Insulating d OD
Wire model size Conductor Application
cores [Number sheath OD [mm]
[mm ]
2
resistance
of d[mm] (Note-2)
[ /km]
wires/mm] (Note-1)
UL20276 AWG#28 4pair(BLACK) 0.08 8(4 pairs) 4/0.127 222 or less 0.38 4.7
MR-JHSCBL M-L
UL20276 AWG#22 6pair(BLACK) 0.3 12(6 pairs) 12/0.127 62 or less 1.2 8.2
A14B2339 4P 0.2 8(4 pairs) 40/0.08 105 or less 0.88 6.5
MR-JHSCBL M-H
A14B2343 6P 0.2 12(6 pairs) 40/0.08 105 or less 0.88 7.2
M14B0023 12pair(BLACK) 0.2 24(12 pairs) 40/0.08 105 or less 0.88 11.0 Q170ENCCBL M

d
Insulation sheath
Conductor
! CAUTION
When fabricating the encoder cable, do not make incorrect connection. Wrong connection will cause
runaway or explosion.
App - 11
APPENDICES
(2) MR-JHSCBL M-L/H

Synchronous encoder cable is the same encoder cables of the HC-SFS/HC-
RFS/HC-UFS 2000 r/min series servomotors.
(a) Model explanation
Type: MR-JHSCBL M-
Symbol Specifications
L Standard flexing life
H Long flexing life
2 2(6.56)
5 5(16.40)
10 10(32.81)
20 20(65.62)
30 30(98.43)
(b) Connection diagram

When fabricating a cable, use the recommended wire and connector set for
encoder cable given on APPENDIX 1.2, and make the cable as show in the
following connection diagram. Maximum cable length is 30m(98.43ft.).
SY.ENC connector
Q172EX
1 11 Encoder connector
Encoder connector
2 LG 12 Synchronous Pin Signal Pin Signal
LG MR-HENC A MD
3 LG 13 LG encoder cable K
M A B B MDR L
LG 4 14 L C
TREN. N C MR M
5 TREN 15 COM K T D
6 16 SY.ENC Synchro- P D MRR N SHD
J S R E E P
7 MD 17 MDR 1 or 2 nous
8 18
encoder H G F F BAT R LG
MR MRR
P5 G LG S P5
9 19
10 20
H T
BAT P5
30m(98.43ft.) or less J
P5 P5
MR-JHSCBL2M-L,MR-JHSCBL5M-L MR-JHSCBL10M-L to MR-JHSCBL30M-L MR-JHSCBL10M-H to MR-JHSCBL30M-H

MR-JHSCBL2M-H,MR-JHSCBL5M-H
Q172EX side Encoder side Q172EX side Encoder side Q172EX side Encoder side
10120-3000VE (connector) MS3106B20-29S (plug) 10120-3000VE (connector) MS3106B20-29S(plug) 10120-3000VE (connector) MS3106B20-29S (plug)
10320-52F0-008 MS-3057-12A (cable clump) 10320-52F0-008 MS-3057-12A(cable clump) 10320-52F0-008 MS-3057-12A(cable clump)
(connector case) (connector case) (connector case)
P5 19 S P5 19 S P5 19 S
LG 11 LG 11 LG 11
P5 20 P5 20 P5 20
LG 12 R LG 12 LG 12
MR 7 C P5 18 P5 18
MRR 17 D LG 2 LG 2
P5 18
LG 2 R R
BAT 9 MR 7 C MR 7 C
F
LG 1 MRR 17 D MRR 17 D
G
SD shell N
BAT 9 F BAT 9 F
(Note) LG 1 G LG 1 G
AWG24 used
(for less than 10[m](32.81[ft.]))
SD shell N shell
(Note) : AWG28 can be used for 5m(16.40[ft.]) or less. SD N
:Twisted pair cable
App - 12
APPENDICES
(3) Q170ENCCBL M
(a) Model explanation
Type: Q170ENCCBL M

2 2(6.56)
5 5(16.40)
10 10(32.81)
20 20(65.62)
30 30(98.43)
50 50(164.04)
(b) Connection diagram

When fabricating a cable, use the recommended wire and connector set
Q170ENCCNS for encoder cable given on APPENDIX 1.2, and make the
cable as show in the following connection diagram. Maximum cable length
is 50m(164.04ft.).
SY.ENC connector
Q172EX
1 11 Encoder connector
Encoder connector
2 LG 12 Synchronous Pin Signal Pin Signal
LG Q170ENC A MD
3 LG 13 LG encoder cable K
M A B B MDR L
LG 4 14 L C
TREN. N C MR M
5 TREN 15 COM K T D
6 16 SY.ENC Synchro- P D MRR N SHD
J S R E E P
7 MD 17 MDR 1 or 2 nous
8 18
encoder H G F F BAT R LG
MR MRR
P5 G LG S P5
9 19
10 20
H T
BAT P5
50m(164.04ft.) or less J
P5 P5
Q172EX side Encoder side

10120-3000VE(connector) MS3106B22-14S(plug)
10320-52F0-008(connector case) MS3057-12A(cable clump)
P5 19 S
LG 11 R
P5 20
LG 12
P5 18
LG 2
BAT 9 E
LG 1
MR 7 K
MRR 17 L
MD 6 H
MDR 16 J
SD plate N
:Twisted pair cable
Cable length 50m(164.04[ft.]) or less
App - 13
APPENDICES
APPENDIX 1.3 Cable for the teaching unit
Generally use the cables for the teaching unit available as our options. If the required
length is not found in our options, fabricate the cable on the customer side.
(1) Selection
The following table indicates the cables used with the cable for the teaching unit.
Make selection according to your operating conditions.
Table 7 Wire models
Type Length [m(ft.)] Wire model
Q170TUD3CBL3M
3(9.84)
Q170TUDNCBL3M UL20276 AWG#28 13pair(CREAM)
Q170TUDNCBL03M-A 0.3(0.98)
(Note)
A31TU-D extended cable —— UL20276 AWG#24 18pair(CREAM)
(Note) : The cable overall distance between the Motion CPU and teaching unit is
within 30m (98.43ft.) include the A31TU-D cable (5m(16.40ft.)).
Use the following cables or equivalent twisted pair cables as the cables for the
teaching unit.
Table 8 Connector models

Cable models for the
Description
teaching unit
• TU connector side
HDR-E26FG1 : Connector
HDR-E26-LPA5 : Connector case
Q170TUD3CBL3M/
• Teaching unit side
Q170TUDNCBL3M
DB-25SF-N : Connector
D20418-J3 : Screw lock
DB20962 : Circular clamp
• TU connector side
HDR-E26FG1 : Connector
HDR-E26-LPA5 : Connector case
Q170TUDNCBL03M-A
• Teaching unit side
17JE-13250-02(D8A) : Connector
17L-002A : Stud
• Q170TUD CBL M(-A) side
A31TU-D extended cable • Teaching unit side
17L-002A : Stud
App - 14
APPENDICES

Core Finished
Number of Insulating OD
Wire model size Structure Conductor
cores sheath OD [mm]
[mm ]
2
[Number of resistance
d[mm] (Note-2)
wires/mm] [ /km]
(Note-1)
UL20276 AWG#24 18pair(CREAM) 0.08 36(18 pairs) 7/0.203 92.3 or less 0.85 15.5

d
Insulation sheath
Conductor
! CAUTION
When fabricating the cable for teaching unit, do not make incorrect connection. The protective function
stops working.
App - 15
APPENDICES
(2) Q170TUD3CBL3M
(a) Connection diagram
When fabricating a cable, use the recommended wire and connector
given on APPENDIX 1.3, and make the cable as show in the following
connection diagram. Make the cable within 3m(9.84ft.).
Q170TUD3CBL3M
HDR-E26FG1 (connector) DB-25SF-N (connector)
HDR-E26-LPA5(connector case) DB-20962 (cover)
BB 1 2 BB
BBL 14 15 BBL
BA 2 3 BA
BAL 15 16 BAL
CB 4 4 CB
CBL 17 17 CBL
CA 5 5 CA
CAL 18 18 CAL
5V 6 12 5V
SG 3 7 SG
5V 7 13 5V
SG 9 8 SG
5V 8 25 5V
SG 10 20 SG
5V 19 24 5V
SG 16
5V 20
SG 22
5V 21
SG 23
AB 11 21 AB
EMG 25
FG 13 1 FG
SD shell
(Red)
EMG
(White)
SG
(Red) 19 EMG2 (Note)
EMG2
(White) 23 DC24GE (Note)
DC24GE
(Red)
EMG1 22 EMG1
(White)
DC24VE 9 DC24VE
(Red)
DED2 6 DED2 (Note)
DC24GD (White) 14 DC24GD (Note)
(Red) 10
DED1 DED1
DC24VD
(White) 11 DC24VD
shell SD
:Twisted pair cable
(Note) : These terminals are used to construct a double circuit by external safety circuit.
Please contact your nearest Mitsubishi sales representative for a double circuit.
App - 16
APPENDICES
(3) Q170TUDNCBL3M
Q170TUDNCBL3M
HDR-E26FG1 (connector) DB-25SF-N (connector)
HDR-E26-LPA5 (connector case) DB-20962 (cover)
BB 1 2 BB
BBL 14 15 BBL
BA 2 3 BA
BAL 15 16 BAL
CB 4 4 CB
CBL 17 17 CBL
CA 5 5 CA
CAL 18 18 CAL
5V 6 12 5V
SG 3 7 SG
5V 7 13 5V
SG 9 8 SG
5V 8 25 5V
SG 10 20 SG
5V 19 24 5V
SG 16
5V 20
SG 22
5V 21
SG 23
AB 11 21 AB
EMG 25
FG 13 1 FG
22 EMG1
SD shell 9 DC24VE
6 DED2
14 DC24GD
shell SD
:Twisted pair cable
App - 17
APPENDICES
(4) Q170TUDNCBL03M-A
Q170TUDNCBL03M-A
HDR-E26FG1 (connector) 17JE-13250-02(D8A) (connector)
HDR-E26-LPA5 (connector case)
BB 1 2 BB
BBL 14 15 BBL
BA 2 3 BA
BAL 15 16 BAL
CB 4 4 CB
CBL 17 17 CBL
CA 5 5 CA
CAL 18 18 CAL
5V 6 12 5V
SG 3 7 SG
5V 7 13 5V
SG 9 8 SG
5V 8 25 5V
SG 10 20 SG
5V 19 24 5V
SG 16
5V 20
SG 22
5V 21
SG 23
AB 11 21 AB
EMG 25
FG 13 1 FG
22 EMG1
SD shell 9 DC24VE
6 DED2
14 DC24GD
shell SD
:Twisted pair cable
App - 18
APPENDICES
(5) A31TU-D extended cable

When fabricating a cable, use the recommended wire and connector given
on APPENDIX 1.3, and make the cable as show in the following connection
diagram. The cable overall distance between the Motion CPU and teaching
unit is within 30m (98.43ft.) include the A31TU-D cable (5m(16.40ft.)).
(Make the cable within 14m(45.93ft.) when using Q170TUD CBL3M.)
A31TU-D extended cable (Note)
17JE-23250-02(D8A) (connector) 17JE-13250-02(D8A) (connector)

17L-002A (stud)
BB 2 2 BB
BBL 15 15 BBL
BA 3 3 BA
BAL 16 16 BAL
CB 4 4 CB
CBL 17 17 CBL
CA 5 5 CA
CAL 18 18 CAL
5V 12 12 5V
SG 7 7 SG
5V 13 13 5V
5V 24 24 5V
SG 8 8 SG
5V 25 25 5V
FG 1 1 FG
EMG1 22 22 EMG1
DC24VE 9 9 DC24VE
EMG2 19 19 EMG2
DC24GE 23 23 DC24GE
DED1 10 10 DED1
DC24VD 11 11 DC24VD
DED2 6 6 DED2
DC24GD 14 14 DC24GD
AB 21 21 AB
SG 20 20 SG
shell shell
:Twisted pair cable
(Note) : Use a cable of wire size AWG24.
App - 19
APPENDICES
APPENDIX 2 Exterior Dimensions
APPENDIX 2.1 CPU module
(1) Q172CPUN Module

[Unit: mm (inch)]
Q172CPUN
MODE
RUN
ERR.
M.RUN
BAT.
BOOT
FRONT
98(3.86)
SSCNET
CN2
PULL CN1
USB
RS-232
17.5 27.4(1.08)
(0.69) 79.5(3.13)
114.3(4.50)
(2) Q173CPUN Module

[Unit: mm (inch)]
Q173CPUN
MODE
RUN
ERR.
M.RUN
BAT.
BOOT
FRONT
SSCNET
98(3.86)
CN2
CN1
PULL
USB
RS-232
46(1.81)
79.5(3.13) 27.4(1.08)
114.3(4.50)
App - 20
APPENDICES
(3) Q172CPUN-T Module

[Unit: mm (inch)]
Q172CPUN-T
MODE
RUN
ERR.
M.RUN
BAT.
BOOT
98(3.86)
FRONT
SSCNET
TU
CN2
PULL CN1
USB
RS-232
17.5(0.69)
27.4(1.08)
46(1.81)
79.5(3.13)
114.3(4.50)
(4) Q173CPUN-T Module

[Unit: mm (inch)]
Q173CPUN-T
MODE
RUN
ERR.
M.RUN
BAT.
BOOT
98(3.86)
FRONT
SSCNET
CN2
TU
CN1
PULL
USB
RS-232
46(1.81)
79.5(3.13) 27.4(1.08)
114.3(4.50)
App - 21
APPENDICES
(5) Q172CPU Module

[Unit: mm (inch)]
Cooling fan unit
(0.79)
20
26(1.02)
Q172CPU
MODE
RUN
ERR.
M.RUN
BAT.
BOOT
FRONT
SSCNET
98(3.86)
CN2
PULL CN1
USB
RS-232
17.5
27.4(1.08)
(0.69)
48.5(1.91)
89.3(3.52)
(6) Q173CPU Module

[Unit: mm (inch)]
Cooling fan unit
(0.79)
20
26(1.02)
Q173CPU
MODE
RUN
ERR.
M.RUN
BAT.
BOOT
FRONT
SSCNET
98(3.86)
CN2
CN1
PULL
USB
RS-232
17.5 27.4(1.08)
(0.69)
48.5(1.91)
89.3(3.52)
App - 22
APPENDICES
(7) Q173CPUN(-T)/Q172CPUN(-T) Module (with SSCNET cable)

[Unit: mm (inch)]
Q173CPUN
MODE
RUN
Q173CPUN(-T)/ ERR.
M.RUN
Q172CPUN(-T) BAT.
Motion module BOOT
98(3.86)
FRONT
SSCNET
CN2
CN1
PULL
USB
RS-232
100(3.94)
SSCNET cable
27.4(1.08)
114.3(4.50)
(8) Q173CPU/Q172CPU Module (with SSCNET cable)

[Unit: mm (inch)]
Cooling fan unit
(0.79)
20
26(1.02)
Q173CPU
MODE
RUN
Q173CPU/ ERR.
Q172CPU M.RUN
BAT.
Motion module BOOT
FRONT
SSCNET
98(3.86)
CN2
CN1
PULL
USB
RS-232
100(3.94)
SSCNET cable
27.4(1.08)
89.3(3.52)
App - 23
APPENDICES
APPENDIX 2.2 Servo external signals interface module (Q172LX)
[Unit: mm (inch)]
Q172LX
98(3.86)
CTRL
Q172LX
90(3.54) 45(1.77) 27.4(1.08)
APPENDIX 2.3 Serial absolute synchronous encoder interface module

(Q172EX/Q172EX-S1/Q172EX-S2/Q172EX-S3)
[Unit: mm (inch)]
Q172EX
SY.ENC TREN
1 1
2 2
SY.ENC1
98(3.86)
LITHIUM BATTERY
MITSUBISHI
SY.ENC2
Q172EX
4.2(0.17)
90(3.54) 39.0(1.54) 27.4(1.08)
App - 24
APPENDICES
APPENDIX 2.4 Manual pulse generator interface module (Q173PX/Q173PX-S1)
(1) Q173PX
[Unit: mm (inch)]
Q173PX
PLS.A PLS.B TREN
1 1 1
2 2 2
3 3 3
98(3.86)
PULSER
Q173PX
90(3.54) 45(1.77) 27.4(1.08)
(2) Q173PX-S1
[Unit: mm (inch)]
Q173PX-S1
PLS.A PLS.B TREN
1 1 1
2 2 2
3 3 3
98(3.86)
PULSER
ON
1 2 3 4 5 6
KSD06S
Q173PX
90(3.54) 45(1.77) 27.4(1.08)
App - 25
APPENDICES
APPENDIX 2.5 Power supply module (Q61P-A1, Q61P-A2, Q62P, Q63P, Q64P)
[Unit: mm (inch)]
(1) Q61P-A1, Q61P-A2, Q62P, Q63P
Q61P-A1
POWER
98(3.86)
PULL
90(3.54) 55.2(2.17)
(2) Q64P
[Unit: mm (inch)]
Q64P
POWER
98(3.86)
PULL
115(4.53) 55.2(2.17)
App - 26
APPENDICES
APPENDIX 2.6 Dividing unit (Q173DV), Battery unit (Q170BAT)
(1) Dividing unit (Q173DV)

[Unit: mm (inch)]
4- 5.3(0.21)
(Fixing screw M5 14)

BAT
45(1.77)
60(2.36)
Q173CPU
Q173DV
PASSED
DATE
125(4.92) 7.5
140(5.51) (0.30)
(0.77)
19.5
(0.39)
10
(2) Battery unit (Q170BAT)

[Unit: mm (inch)]
2- 5.3(0.21)
(Fixing screw M5 14)
45(1.77)
60(2.36)
BAT
CPU
Q170BAT
PASSED
DATE
(0.30)
7.5
40(1.57)
80(3.15)
(0.39) (0.65)
10 16.5
App - 27
APPENDICES
APPENDIX 2.7 Connector
(1) Honda connectors make(HDR model)

(Cable connector for the teaching unit)
Type
Number of pins
Connector Connector case
14 HDR-E14MG1 HDR-E14LPA5
HDR-E26MG1
26 HDR-E26LPA5
HDR-E26FG1
Specified tool: FHAT-0029/FHPT-0004C
Maker: Honda connectors
These tools are not sold in Mitsubishi. Please purchase them by customers.
Type Connector : HDR-E14MG1 Type Connector : HDR-E26MG1

Connector case: HDR-E14LPA5 : HDR-E26FG1
Connector case: HDR-E26LPA5
[Unit: mm (inch)]
17(0.67) 21.8(0.86)
5.6 6 7
(0.22) (0.24 0.28)
(0.39)
(0.39)
10
10
(0.98)
(0.98)
25
25
21 25.8
(0.83) (1.02)
(0.31)
(0.31)
8.0
8.0
App - 28
APPENDICES
(2) Sumitomo 3M make(MDR type)

(Cable connector for the serial absolute synchronous encoder)
Type
Number of pins Type
Connector Connector case
Solder connection type
10120-3000VE 10320-52F0-008
(Quick release metal latch type)
20 10120-3000VE 10320-52A0-008
(Threaded type)
Insulation displacement type
10120-6000EL(Note) 10320-3210-000(Note)
10126-3000VE 10326-52F0-008
26 10126-3000VE(Note) 10326-52A0-008(Note)
(Threaded type)
Insulation displacement type
10126-6000EL(Note) 10326-3210-000(Note)
(Note): These connectors are not options. Please purchase them by customer.
(a) Solder connection type(Quick release metal latch type)

Type Connector : 10120-3000VE/10126-3000VE
Connector case: 10320-52F0-008/10326-52F0-008
[Unit: mm (inch)]
12.0(0.47)
10.0(0.39)
A 14.0
(0.55)
39.0(1.54)
23.8(0.94)
Number of pins A B
20 pin 22.0(0.87) 33.3(1.31)
B 12.7 26 pin 25.8(1.02) 37.2(1.46)
(0.50)
App - 29
APPENDICES
(b) Solder connection type(Threaded type)

Type Connector : 10120-3000VE/10126-3000VE
Connector case: 10320-52A0-008/10326-52A0-008
[Unit: mm (inch)]
10.0(0.39)
12.0(0.47)
C
14.0(0.55)
A
23.8(0.94)
39.0(1.54)
Number of pins A B C
20 pin 22.0(0.87) 33.3(1.31) 27.4(1.08)
26 pin 25.8(1.02) 37.2(1.46) 31.3(1.23)
B 12.7
(0.22)
5.7
(0.50)
(c) Insulation displacement type(Quick release metal latch type)

Type Connector : 10120-6000EL/10126-6000EL
Connector case: 10320-3210-000/10326-3210-000
[Unit: mm (inch)]
11.5(0.45)
Position where e.g.

B logo is indicated
2- 0.5(0.02)
(1.65)
42.0
Number of pins A B C D
C
20 pin 29.7(1.17) 20.9(0.82) 33.0(1.30) 6.7

26 pin 33.5(1.32) 24.8(0.98) 33.0(1.30) 6.7
(3) Hirose Electric make (Battery cable connector)

Type Connector : HNC2-2.5S-2
Terminal : HNC2-2.5S-D-B
[Unit: mm (inch)]
6.0
(0.24)
15.2(0.60)
12.5(0.49)
12.4(0.49) 4.5
(0.18)
App - 30
APPENDICES
(4) Q170TUD3CBL(A31TU-D3 side connector)

Type Connector : DB-25SF-N (Maker : Japan Aviation Electronics
Industry)
Screw lock : D20418-J3 (Maker : Japan Aviation Electronics
Industry)
Installation plate : Not for sale
Circular clamp : DB20962 (Maker : Japan Aviation Electronics
Industry)
(a) Connector
[Unit: mm (inch)]
76.0(2.99)
65.0(2.56) 5.5 (0.22)
47.1 0.2
(1.85 0.01)
0)
.1
.5
24.0(0.94)
5.0(0.20)
(0
R2
2-
12.0(0.47)
(0.50)
12.6
6.1 1.6(0.06)
(0.24) 35.9(1.41)
(b) Control panel fixing processing dimension

[Unit: mm (inch)]
66.0(2.60)
6.0 (0.24) 54.0(2.13) 6.0 (0.24)
2- 5.3(0.21) (Fixing screw M5 14)
(0.59)
15.0
Hole
(5) Japan Aviation Electronics Industry make

(Cable connector for the teaching unit)
Type Connector : DB-25SF-N

[Unit: mm (inch)]
53.0(2.09)
47.04(1.85) 2- 3.05 0.13(0.12 0.01)
38.3(1.51)
1.2(0.05)
(0.50)
12.6
6.1(0.24) 8.0(0.31) or less

10.8
(0.43)
(Note) : Give the processing of the control panel referring to the above chart at cable producing.
App - 31
APPENDICES
(6) A31TUD3TM
Type Connector : 17JE-23250-02(D8A) (Maker : DDK)
[Unit: mm (inch)]
(0.59)
15.0
Cable outside diameter 9(0.35) or less
35.0(1.38)
(0.75)
19.0
(0.75)
19.0
A31TUD3TM
54.0(2.13)
6.1
(0.24)
App - 32
APPENDICES
APPENDIX 2.8 Manual pulse generator (MR-HDP01)
[Unit: mm (inch)]
3.6(0.14) Packing t =2.0

3 Studs (M4 10)
PCD72, equi-spaced
0 90
10
NP
50(1.97)
70(2.76)
80(3.15) 1
60(2.36) 0.5
20
80
5 to
12V 0V A B
30
70
60
40
50
M3 6
16 20 27.0 0.5 8.89 7.6

3- 4.8(0.19) (0.63)(0.79) (1.06) (0.35) (0.30)
equi-spaced
Space
4) 2
-0
4
(2.
72(2.8
3)
62
0.2
The figure of processing a disc
App - 33
APPENDICES
APPENDIX 2.9 Serial absolute synchronous encoder (MR-HENC/Q170ENC)
(1) MR-HENC
[Unit: mm (inch)]
14.3(0.56) -0.11
-0.006
-0.017
14.3(0.56) -0.11
0
0
68(2.68)
15(0.59)
16(0.63)
56(2.20)
N.P
-0.009
50(1.97) -0.025
56(2.20)
67(2.64)
68(2.68)
68(2.68)
B
20 +0.14
1.15(0.05) 0 91(3.58)
(0.79) 4- 5.4(0.21)
2(0.08)
19.5 Effective dimension
1.15(0.05)+0.14
0 20(0.79) 5(0.20) -0.042
-0.012
(0.77) 21(0.83)
2(0.08) 28(1.10)
3(0.12) +0.1
0
5(0.20) 3(0.12)
102(4.02) 33(1.30)
135(5.31) Shaft cross-section Cross-section B-B
Keyway Dimensional Diagram
(2) Q170ENC
[Unit: mm (inch)]
84(3.31) 58.5(2.30)
70.7(2.78) 28(1.10) 30(1.18)
45
7(0.28) 2(0.08)
40(1.57)
14(0.55)
8.72(0.34)
9.52(0.37)
75(2.95)
A
70.7(2.78)
(0.34)
8.72
122.5(4.82)
A' Cross-section diagram AA'

58(2.28)
4- 5.5(0.22)
22.5(0.89)
40(1.57) 36.5(1.44)
App - 34
APPENDICES
APPENDIX 2.10 Teaching unit (A31TU-D3 /A31TU-DN )
[Unit: mm (inch)]
153(6.02)
DISABLE ENABLE
A31TU
203(7.99)
DATA PROGRAM MONITOR TEST
STOP
INSTRUCTION
ITEM CLEAR EMG.STOP
; # SP
7 8 9
OVERRIDE
D E F
4 5 6
STEP -
STORE
A B C
1 2 3
STEP +
MDI
FUNCTION -
. 0
RETURN
SHIFT ERROR
RESET CAN
AXIS GO
JOG - JOG +
NO.
136(5.35)
<Front face> <Back face>

(1.34) (0.87)
22
<Side face>
34
68(2.68)
(19(0.75))
<Bottom>
App - 35
APPENDICES
APPENDIX 2.11 Cooling fan unit (Q170FAN) (Q173CPU/Q172CPU only)
[Unit: mm (inch)]
25
(0.98)
(0.98 0.02)
25 0.5
(0.39 0.02)
10 0.5
18
(0.71)
(0.12) (0.08) (0.31)
8
3 2
1 6
(0.04) (0.24)
App - 36
APPENDICES
MEMO
App - 37
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.
However, if repairs are required onsite at domestic or overseas location, expenses to send an engineer will be
solely at the customer's discretion. Mitsubishi shall not be held responsible for any re-commissioning, maintenance,
or testing on-site that involves replacement of the failed module.
[Gratis Warranty Term]

Note that an installation period of less than one year after installation in your company or your customer’s premises
or a period of less than 18 months (counted from the date of production) after shipment from our company,
whichever is shorter, is selected.
[Gratis Warranty Range]

(1) Diagnosis of failure
As a general rule, diagnosis of failure is done on site by the customer.
However, Mitsubishi or Mitsubishi service network can perform this service for an agreed upon fee upon the
customer’s request.
There will be no charges if the cause of the breakdown is found to be the fault of Mitsubishi.
(2) Breakdown repairs

There will be a charge for breakdown repairs, exchange replacements and on site visits for the following four
conditions, otherwise there will be a charge.
1) Breakdowns due to improper storage, handling, careless accident, software or hardware design by the
customer
2) Breakdowns due to modifications of the product without the consent of the manufacturer
3) Breakdowns resulting from using the product outside the specified specifications of the product
4) Breakdowns that are outside the terms of warranty
Since the above services are limited to Japan, diagnosis of failures, etc. are not performed abroad.
If you desire the after service abroad, please register with Mitsubishi. For details, consult us in advance.
2. Exclusion of Loss in Opportunity and Secondary Loss from Warranty Liability

Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi; opportunity
loss or lost profits caused by faults in the Mitsubishi products; damage, secondary damage, accident compensation
caused by special factors unpredictable by Mitsubishi; damages to products other than Mitsubishi products; and to
other duties.
3. Onerous Repair Term after Discontinuation of Production

Mitsubishi shall accept onerous product repairs for seven years after production of the product is discontinued.
4. Delivery Term
In regard to the standard product, Mitsubishi shall deliver the standard product without application settings or
adjustments to the customer and Mitsubishi is not liable for on site adjustment or test run of the product.
5. Precautions for Choosing the Products

(1) These products have been manufactured as a general-purpose part for general industries, and have not been
designed or manufactured to be incorporated in a device or system used in purposes related to human life.
(2) Before using the products for special purposes such as nuclear power, electric power, aerospace, medicine,
passenger movement vehicles or under water relays, contact Mitsubishi.
(3) These products have been manufactured under strict quality control. However, when installing the product where
major accidents or losses could occur if the product fails, install appropriate backup or failsafe functions in the
system.
(4) When exporting any of the products or related technologies described in this catalogue, you must obtain an
export license if it is subject to Japanese Export Control Law.
IB(NA)-0300040-D(0603)MEE
MODEL: Q173-U-E
MODEL CODE: 1XB780
HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN
When exported from Japan, this manual does not require application to the
Ministry of Economy, Trade and Industry for service transaction permission.
Specifications subject to change without notice.

q173 Manual

Uploaded by

Copyright:

Available Formats

q173 Manual

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

q173 Manual

Uploaded by

Copyright:

Available Formats

Q173CPU(N)/Q172CPU(N)

Indicates that incorrect handling may cause hazardous conditions,

Indicates that incorrect handling may cause hazardous conditions,

Depending on circumstances, procedures indicated by ! CAUTION may also be linked to serious

2. For fire prevention

(2) Parameter settings and programming

(3) Transportation and installation

brake signals, etc. Incorrect installation may lead to signals VIN

(5) Trial operation and adjustment

(7) Corrective actions for errors

(8) Maintenance, inspection and part replacement

(10) General cautions

Japanese Manual Number IB(NA)-0300021

© 2001 MITSUBISHI ELECTRIC CORPORATION

Thank you for choosing the Q173CPU(N)/Q172CPU(N) Motion Controller.

Safety Precautions .........................................................................................................................................A- 1

2. SYSTEM CONFIGURATION 2- 1 to 2-100

2.1 Motion System Configuration .................................................................................................................. 2- 1

3.1 System Designing Procedure .................................................................................................................. 3- 1

4.1 Module Installation ................................................................................................................................... 4- 1

5. TRIAL OPERATION AND ADJUSTMENT 5- 1 to 5- 8

5.1 Checklist before Trial Operation .............................................................................................................. 5- 1

6. INSPECTION AND MAINTENANCE 6- 1 to 6-28

6.1 Maintenance Works ................................................................................................................................. 6- 2

This manual is only to explain hardware of the Motion controller.

(1) Motion controller

Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual

Q173CPU(N)/Q172CPU(N) Motion controller (SV22) Programming Manual

Q173CPU(N)/Q172CPU(N) Motion controller (SV43) Programming Manual

QCPU User's Manual (Function Explanation, Program Fundamentals)

QCPU User's Manual (Multiple CPU System)

QCPU (Q Mode)/QnACPU Programming Manual (Common Instructions)

QCPU (Q Mode)/QnACPU Programming Manual (PID Control Instructions)

QCPU (Q Mode)/QnACPU Programming Manual (SFC)

I/O Module Type Building Block User's Manual

Generic term/Abbreviation Description

• Multiple CPU system configuration

2.1 Motion System Configuration

This section describes the equipment configuration, configuration with peripheral 2

Q173CPU(N) System configuration

YES Use a Q173CPUN-T.

Should the Refer to equipment configuration of "(a) When using

Is the type NO Refer to equipment configuration of "(a) When using

Refer to equipment configuration of "(b) When using

Refer to equipment configuration of "(b) When using

Refer to equipment configuration of "(b) When using

(a) When using the Dividing unit/external battery

Power supply module/

Short-circuit connector for Power supply module/

(Note-3) (Note-5) (Note-6)

SSCNET cable Cable for the teaching unit Teaching unit

SSCNET CN1 SSCNET CN3

SSCNET CN2 SSCNET CN4

Battery Short-circuit connector for

SSCNET cable SSCNET cable

(b) When using the Dividing cable

Power supply module/

Power supply module/

(Note-2) (Note-4) (Note-5)