Mitsubishi Electric Q Series Owner's manual

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SAFETY PRECAUTIONS
(Please read these instructions before using this equipment.)
Before using this product, please read this manual and the relevant manuals introduced in this manual
carefully and pay full attention to safety to handle the product correctly.
These precautions apply only to this product. Refer to the Q173D(S)CPU/Q172D(S)CPU Users manual
for a description of the Motion controller safety precautions.
In this manual, the safety instructions are ranked as "DANGER" and "CAUTION".
DANGER
Indicates that incorrect handling may cause hazardous
conditions, resulting in death or severe injury.
CAUTION
Indicates that incorrect handling may cause hazardous
conditions, resulting in medium or slight personal injury or
physical damage.
Depending on circumstances, procedures indicated by CAUTION may also be linked to serious
results.
In any case, it is important to follow the directions for usage.
Please save this manual to make it accessible when required and always forward it to the end user.

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For Safe Operations
1. Prevention of electric shocks
DANGER
Never open the front case or terminal covers while the power is ON or the unit is running, as this
may lead to electric shocks.
Never run the unit with the front case or terminal cover removed. The high voltage terminal and
charged sections will be exposed and may lead to electric shocks.
Never open the front case or terminal cover at times other than wiring work or periodic
inspections even if the power is OFF. The insides of the Motion controller and servo amplifier are
charged and may lead to electric shocks.
Completely turn off the externally supplied power used in the system before mounting or
removing the module, performing wiring work, or inspections. Failing to do so may lead to electric
shocks.
When performing wiring work or inspections, turn the power OFF, wait at least ten minutes, and
then check the voltage with a tester, etc. Failing to do so may lead to electric shocks.
Be sure to ground the Motion controller, servo amplifier and 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
incombustible. Installing them directly or close to combustibles will lead to fire.
If a fault occurs in the Motion controller or servo amplifier, shut the power OFF at the servo
amplifier’s power source. If a large current continues to flow, fire may occur.
When using a regenerative resistor, shut the power OFF with an error signal. The regenerative
resistor may abnormally overheat due to a fault in the regenerative transistor, etc., and may lead
to fire.
Always take heat measures such as flame proofing for the inside of the control panel where the
servo amplifier or regenerative resistor is installed and for the wires used. Failing to do so may
lead to fire.
Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this
may lead to fire.

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3. For injury prevention
CAUTION
Do not apply a voltage other than that specified in the instruction manual on any terminal.
Doing so may lead to destruction or damage.
Do not mistake the terminal connections, as this may lead to destruction or damage.
Do not mistake the polarity ( + / - ), as this may lead to destruction or damage.
Do not touch the heat radiating fins of controller or servo amplifier, regenerative resistor and
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 correct
combinations listed in the instruction manual. Other combinations may lead to fire or faults.
Use the Motion controller, base unit and motion module with the correct combinations listed in the
instruction manual. Other combinations may lead to faults.
If safety standards (ex., robot safety rules, etc.,) apply to the system using the Motion controller,
servo amplifier and 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.
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.

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CAUTION
The dynamic brakes must be used only on errors that cause the forced stop, emergency stop, or
servo OFF. These brakes must not be used for normal braking.
The brakes (electromagnetic brakes) assembled into the servomotor are for holding applications,
and must not be used for normal braking.
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.
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
settings are incorrect.
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.

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CAUTION
Set the sequence function program capacity setting, device capacity, latch validity range, I/O
assignment setting, and validity of continuous operation during error detection to values that are
compatible with the system application. The protective functions may not function if the settings
are incorrect.
Some devices used in the program have fixed applications, so use these with the conditions
specified in the instruction manual.
The input devices and data registers assigned to the link will hold the data previous to when
communication is terminated by an error, etc. Thus, an error correspondence interlock program
specified in the instruction manual must be used.
Use the interlock program specified in the intelligent function module's instruction manual for the
program corresponding to the intelligent function module.
(3) Transportation and installation
CAUTION
Transport the product with the correct method according to the mass.
Use the 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.
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 Motion controller, servo amplifier and 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, servo amplifier and servomotor to the machine according to
the instruction manual. If the fixing is insufficient, these may come off during operation.

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CAUTION
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.
Environment Conditions
Motion controller/Servo amplifier Servomotor
Ambient
temperature According to each instruction manual. 0°C to +40°C (With no freezing) (32°F to +104°F)
Ambient humidity According to each instruction manual. 80% RH or less
(With no dew condensation)
Storage
temperature According to each instruction manual. -20°C to +65°C (-4°F to +149°F)
Atmosphere Indoors (where not subject to direct sunlight).
No corrosive gases, flammable gases, oil mist or dust must exist
Altitude 1000m (3280.84ft.) or less above sea level
Vibration According to each instruction manual
When coupling with the synchronous 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 synchronous encoder and 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.
Also, execute a trial operation.
When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine
are used for disinfecting and protecting wooden packaging from insects, they cause malfunction
when entering our products.
Please take necessary precautions to ensure that remaining materials from fumigant do not
enter our products, or treat packaging with methods other than fumigation (heat method).
Additionally, disinfect and protect wood from insects before packing products.

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(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 (terminal U, V, W) and ground. 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 brake signals, etc. Incorrect installation may lead to signals not being output
when trouble occurs or the protective functions not functioning.
DICOM
RA
Control output
signal
DOCOM
Servo amplifier 24VDC
Control output
signal
DICOM
DOCOM
Servo amplifier
RA
24VDC
For the sink output interface For the source output interface
Do not connect or disconnect the connection cables between each unit, the encoder cable or
PLC expansion cable while the power is ON.
Securely tighten the cable connector fixing screws and fixing mechanisms. Insufficient fixing may
lead to the cables coming off during operation.
Do not bundle the power line or cables.
(5) Trial operation and adjustment
CAUTION
Confirm and adjust the program and each parameter before operation. Unpredictable
movements may occur depending on the machine.
Extreme adjustments and changes may lead to unstable operation, so never make them.
When using the absolute position system function, on starting up, and when the Motion controller
or absolute value motor has been replaced, always perform a home position return.
Before starting test operation, set the parameter speed limit value to the slowest value, and
make sure that operation can be stopped immediately by the forced stop, etc. if a hazardous
state occurs.

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(6) Usage methods
CAUTION
Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the
Motion controller, servo amplifier or servomotor.
Always execute a test operation before starting actual operations after the program or
parameters have been changed or after maintenance and inspection.
Do not attempt to disassemble and repair the units excluding a qualified technician whom our
company recognized.
Do not make any modifications to the unit.
Keep the effect or electromagnetic obstacles to a minimum by installing a noise filter or by using
wire shields, etc. Electromagnetic obstacles may affect the electronic devices used near the
Motion controller or servo amplifier.
When using the CE Mark-compliant equipment, refer to the User's manual for the Motion
controllers and refer to the corresponding EMC guideline information for the servo amplifiers,
inverters and other equipment.
Use the units with the following conditions.
Item Conditions
Input power According to each instruction manual.
Input frequency According to each instruction manual.
Tolerable momentary power failure According to each instruction manual.
(7) Corrective actions for errors
CAUTION
If an error occurs in the self diagnosis of the Motion controller or servo amplifier, confirm the
check details according to the instruction manual, and restore the operation.
If a dangerous state is predicted in case of a power failure or product failure, use a 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.
24VDC
B
RA1 EMG
Servo motor
Electromagnetic
brakes
Shut off with the
emergency stop
signal (EMG).
Shut off with servo ON signal OFF,
alarm, electromagnetic brake signal.
If an error occurs, remove the cause, secure the safety and then resume operation after alarm
release.
The unit may suddenly resume operation after a power failure is restored, so do not go near the
machine. (Design the machine so that personal safety can be ensured even if the machine
restarts suddenly.)

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(8) Maintenance, inspection and part replacement
CAUTION
Perform the daily and periodic inspections according to the instruction manual.
Perform maintenance and inspection after backing up the program and parameters for the Motion
controller and servo amplifier.
Do not place fingers or hands in the clearance when opening or closing any opening.
Periodically replace consumable parts such as batteries according to the instruction manual.
Do not touch the lead sections such as ICs or the connector contacts.
Before touching the module, always touch grounded metal, etc. to discharge static electricity from
human body. Failure to do so may cause the module to fail or malfunction.
Do not directly touch the module's conductive parts and electronic components.
Touching them could cause an operation failure or give damage to the module.
Do not place the Motion controller or servo amplifier on metal that may cause a power leakage
or wood, plastic or vinyl that may cause static electricity buildup.
Do not perform a megger test (insulation resistance measurement) during inspection.
When replacing the Motion controller or servo amplifier, always set the new module settings
correctly.
When the Motion controller or absolute value motor has been replaced, carry out a home
position return operation using one of the following methods, otherwise position displacement
could occur.
1) After writing the servo data to the Motion controller using programming software, switch on the
power again, then perform a home position return operation.
2) Using the backup function of the programming software, load the data backed up before
replacement.
After maintenance and inspections are completed, confirm that the position detection of the
absolute position detector function is correct.
Do not drop or impact the battery installed to the module.
Doing so may damage the battery, causing battery liquid to leak in the battery. Do not use the
dropped or impacted battery, but dispose of it.
Do not short circuit, charge, overheat, incinerate or disassemble the batteries.
The electrolytic capacitor will generate gas during a fault, so do not place your face near the
Motion controller or servo amplifier.
The electrolytic capacitor and fan will deteriorate. Periodically replace these to prevent secondary
damage from faults. Replacements can be made by our sales representative.
Lock the control panel and prevent access to those who are not certified to handle or install
electric equipment.
Do not burn or break a module and servo amplifier. Doing so may cause a toxic gas.

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(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
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.

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REVISIONS
The manual number is given on the bottom left of the back cover.
Print Date Manual Number Revision
Sep., 2007 IB(NA)-0300134-A First edition
Sep., 2010 IB(NA)-0300134-B [Additional model/function]
Software for SV43, Amplifier-less operation function, Q10UD(E)HCPU,
Q13UD(E)HCPU, Q20UD(E)HCPU, Q26UD(E)HCPU, QX40H, QX70H,
QH80H, QX90H, MR-J3- BS
[Additional correction/partial correction]
Safety precautions, About Manuals, Restrictions by the software's
version, Checking serial number and operating system software version,
Servo parameters, Warranty
Sep., 2011 IB(NA)-0300134-C [Additional model]
Q173DCPU-S1, Q172DCPU-S1, Q50UDEHCPU, Q100UDEHCPU,
GX Works2, MR Configurator2
[Additional function]
External input signal (DOG) of servo amplifier, Communication via
PERIPHERAL I/F
[Additional correction/partial correction]
Safety precautions, About Manuals, Restrictions by the software's
version
Mar., 2012 IB(NA)-0300134-D [Additional model]
Q173DSCPU, Q172DSCPU, MR-J4- B, MR-J4W- B,
[Additional function]
Servo external signal parameters, Software security key, Mark
detection function
[Additional correction/partial correction]
About Manuals, Manual Page Organization, Restrictions by the
software's version, Programming software version, Individual
parameters, Servo parameter change function, Optional data monitor
function, Special relays/Special registers list, System setting errors,
Differences between Motion CPU
Sep., 2012 IB(NA)-0300134-E [Additional function]
Advanced synchronous control, High-speed input request signal setting
[Additional correction/partial correction]
About Manuals, Restrictions by the software's version, Programming
software version, Individual parameters, Limit switch output function,
Protection by password, Mark detection function, Special relays/
Special registers list, Self-diagnosis error, Differences between Motion
CPU
Apr., 2013 IB(NA)-0300134-F [Additional model]
LJ72MS15, Intelligent function module
[Additional function]
Driver communication function, Connection of SSCNET /H head
module
[Additional correction/partial correction]
About Manuals, Restrictions by the software's version, System data
setting list, Individual parameters, Special relays/Special registers list,
System setting error, Self-diagnosis error, Differences between Motion
CPU

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Print Date Manual Number Revision
Nov., 2013 IB(NA)-0300134-G [Additional correction/partial correction]
Safety precautions, Restrictions by the software's version, System
data setting list, Optional data monitor function, Driver communication
function (SSCNET /H), Special registers list, System setting error,
Self-diagnosis error, Differences between Motion CPU
Japanese Manual Number IB(NA)-0300126
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.
© 2007 MITSUBISHI ELECTRIC CORPORATION

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INTRODUCTION
Thank you for choosing the Mitsubishi Motion controller Q173D(S)CPU/Q172D(S)CPU.
Before using the equipment, please read this manual carefully to develop full familiarity with the functions
and performance of the Motion controller you have purchased, so as to ensure correct use.
CONTENTS
Safety Precautions .........................................................................................................................................A- 1
Revisions ........................................................................................................................................................A-11
Contents .........................................................................................................................................................A-13
About Manuals ...............................................................................................................................................A-16
Manual Page Organization ............................................................................................................................A-18
1. OVERVIEW 1- 1 to 1-32
1.1 Overview................................................................................................................................................... 1- 1
1.2 Features ................................................................................................................................................... 1- 3
1.2.1 Features of Motion CPU ................................................................................................................... 1- 3
1.2.2 Basic specifications of Q173D(S)CPU/Q172D(S)CPU.................................................................... 1- 5
1.3 Hardware Configuration........................................................................................................................... 1-11
1.3.1 Motion system configuration ............................................................................................................. 1-11
1.3.2 Q173DSCPU/Q172DSCPU System overall configuration .............................................................. 1-14
1.3.3 Q173DCPU(-S1)/Q172DCPU(-S1) System overall configuration................................................... 1-16
1.3.4 Software packages............................................................................................................................ 1-17
1.3.5 Restrictions on motion systems........................................................................................................ 1-19
1.4 Checking Serial Number and Operating System Software Version....................................................... 1-23
1.4.1 Checking serial number .................................................................................................................... 1-23
1.4.2 Checking operating system software version................................................................................... 1-26
1.5 Restrictions by the Software's Version.................................................................................................... 1-28
1.6 Programming Software Version............................................................................................................... 1-32
2. MULTIPLE CPU SYSTEM 2- 1 to 2-36
2.1 Multiple CPU System ............................................................................................................................... 2- 1
2.1.1 Overview............................................................................................................................................ 2- 1
2.1.2 Installation position of CPU module.................................................................................................. 2- 2
2.1.3 Precautions for using I/O modules and intelligent function modules............................................... 2- 3
2.1.4 Modules subject to installation restrictions ....................................................................................... 2- 4
2.1.5 How to reset the Multiple CPU system............................................................................................. 2- 6
2.1.6 Operation for CPU module stop error............................................................................................... 2- 7
2.2 Starting Up the Multiple CPU System ..................................................................................................... 2-10
2.2.1 Startup Flow of the Multiple CPU system......................................................................................... 2-10
2.3 Communication Between the PLC CPU and the Motion CPU in the Multiple CPU System................. 2-12
2.3.1 CPU shared memory......................................................................................................................... 2-12
2.3.2 Multiple CPU high speed transmission............................................................................................. 2-15
2.3.3 Multiple CPU high speed refresh function ........................................................................................ 2-30
2.3.4 Clock synchronization between Multiple CPU ................................................................................. 2-34
2.3.5 Multiple CPU synchronous startup ................................................................................................... 2-35
2.3.6 Control instruction from PLC CPU to Motion CPU........................................................................... 2-36

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3. COMMON PARAMETERS 3- 1 to 3-28
3.1 System Settings ....................................................................................................................................... 3- 1
3.1.1 System data settings......................................................................................................................... 3- 2
3.1.2 Common system parameters ........................................................................................................... 3- 5
3.1.3 Individual parameters........................................................................................................................ 3-11
3.2 I/O Number Assignment. ......................................................................................................................... 3-21
3.2.1 I/O number assignment of each module .......................................................................................... 3-21
3.2.2 I/O number of each CPU modules ................................................................................................... 3-23
3.2.3 I/O number setting............................................................................................................................. 3-24
3.3 Servo Parameters .................................................................................................................................... 3-25
3.4 Servo External Signal Parameters .......................................................................................................... 3-26
4. AUXILIARY AND APPLIED FUNCTIONS 4- 1 to 4-114
4.1 Limit Switch Output Function ................................................................................................................... 4- 1
4.1.1 Operations ......................................................................................................................................... 4- 1
4.1.2 Limit output setting data.................................................................................................................... 4- 4
4.1.3 Operations (SV22 advanced synchronous control only) ................................................................. 4- 8
4.1.4 Limit output setting data (SV22 advanced synchronous control only) ............................................ 4-10
4.2 Absolute Position System ........................................................................................................................ 4-17
4.2.1 Current value control......................................................................................................................... 4-19
4.3 High-Speed Reading of Specified Data .................................................................................................. 4-20
4.4 ROM Operation Function......................................................................................................................... 4-22
4.4.1 Specifications of 7-segment LED/switches ...................................................................................... 4-22
4.4.2 Outline of ROM operation ................................................................................................................. 4-24
4.4.3 Operating procedure of the ROM operation function....................................................................... 4-29
4.5 Security Function ..................................................................................................................................... 4-31
4.5.1 Protection by password..................................................................................................................... 4-31
4.5.2 Protection by software security key .................................................................................................. 4-38
4.6 All Clear Function..................................................................................................................................... 4-43
4.7 Communication Via Network ................................................................................................................... 4-44
4.7.1 Specifications of the communications via network........................................................................... 4-44
4.8 Monitor Function of the Main Cycle......................................................................................................... 4-45
4.9 Servo Parameter Read/Change Function............................................................................................... 4-46
4.10 Optional Data Monitor Function............................................................................................................. 4-48
4.11 SSCNET Control Function..................................................................................................................... 4-51
4.11.1 Connect/disconnect function of SSCNET communication ............................................................ 4-52
4.11.2 Amplifier-less operation function .................................................................................................... 4-56
4.12 Remote Operation.................................................................................................................................. 4-60
4.12.1 Remote RUN/STOP........................................................................................................................ 4-60
4.12.2 Remote latch clear .......................................................................................................................... 4-62
4.13 Communication Function via PERIPHERAL I/F ................................................................................... 4-63
4.13.1 Direct connection............................................................................................................................. 4-63
4.13.2 Connection via HUB........................................................................................................................ 4-66
4.13.3 MC protocol communication ........................................................................................................... 4-72
4.14 Mark Detection Function........................................................................................................................ 4-79
4.15 High-speed Input Request Signal Setting (SV22 advanced synchronous control only) ..................... 4-91
4.16 Driver Communication Function ............................................................................................................ 4-94

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4.16.1 Control details.................................................................................................................................. 4-95
4.16.2 Precautions during control .............................................................................................................. 4-96
4.16.3 Servo parameter............................................................................................................................ 4-100
4.17 Intelligent Function Modules Controlled by Motion CPU ....................................................................4-101
4.18 Connection of SSCNET /H Head Module ......................................................................................... 4-104
4.18.1 System configuration..................................................................................................................... 4-104
4.18.2 SSCNET /H head module parameters .......................................................................................4-105
4.18.3 Data operation of intelligent function module by Motion SFC program....................................... 4-113
4.18.4 Data of refresh device ................................................................................................................... 4-113
4.18.5 Precautions when using SSCNET /H head module................................................................... 4-113
APPENDICES APP- 1 to APP-48
APPENDIX 1 Special Relays/Special Registers ......................................................................................APP- 1
APPENDIX 1.1 Special relays ..............................................................................................................APP- 1
APPENDIX 1.2 Special registers .................................................................................................... APP- 6
APPENDIX 1.3 Replacement of special relays/special registers ........................................................APP-13
APPENDIX 2 System Setting Errors ........................................................................................................APP-16
APPENDIX 3 Self-diagnosis Error............................................................................................................APP-19
APPENDIX 4 Differences Between Q173DSCPU/Q172DSCPU/Q173DCPU(-S1)/Q172DCPU(-S1)/
Q173HCPU/Q172HCPU....................................................................................................APP-32
APPENDIX 4.1 Differences between Q173DSCPU/Q172DSCPU/Q173DCPU(-S1)/Q172DCPU(-S1)/
Q173HCPU/Q172HCPU .............................................................................................APP-32
APPENDIX 4.2 Comparison of devices................................................................................................APP-36
APPENDIX 4.3 Differences of the operating system software ............................................................APP-45

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About Manuals
The following manuals are also related to this product.
In necessary, order them by quoting the details in the tables below.
Related Manuals
(1) Motion controller
Manual Name Manual Number
(Model Code)
Q173D(S)CPU/Q172D(S)CPU Motion controller User's Manual
This manual explains specifications of the Motion CPU modules, Q172DLX Servo external signal interface
module, Q172DEX Synchronous encoder interface module, Q173DPX Manual pulse generator interface
module, Power supply modules, Servo amplifiers, SSCNET cables and Synchronous encoder, and the
maintenance/inspection for the system, trouble shooting and others.
IB-0300133
(1XB927)
Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (COMMON)
This manual explains the Multiple CPU system configuration, performance specifications, common
parameters, auxiliary/applied functions, error lists and others.
IB-0300134
(1XB928)
Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual
(Motion SFC)
This manual explains the functions, programming, debugging, error lists for Motion SFC and others.
IB-0300135
(1XB929)
Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual
(REAL MODE)
This manual explains the servo parameters, positioning instructions, device lists, error lists and others.
IB-0300136
(1XB930)
Q173D(S)CPU/Q172D(S)CPU Motion controller (SV22) Programming Manual
(VIRTUAL MODE)
This manual explains the dedicated instructions to use the synchronous control by virtual main shaft,
mechanical system program create mechanical module, servo parameters, positioning instructions, device
lists, error lists and others.
IB-0300137
(1XB931)
Q173DSCPU/Q172DSCPU Motion controller (SV22) Programming Manual
(Advanced Synchronous Control)
This manual explains the dedicated instructions to use the synchronous control by synchronous control
parameters, device lists, error lists and others.
IB-0300198
(1XB953)
Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (Safety Observation)
This manual explains the details, safety parameters, safety sequence program instructions, device lists
and error lists and others for safety observation function by Motion controller.
IB-0300183
(1XB945)
Motion controller Setup Guidance (MT Developer2 Version1)
This manual explains the items related to the setup of the Motion controller programming software
MT Developer2.
IB-0300142
( — )

A - 17
(2) PLC
Manual Name Manual Number
(Model Code)
QCPU User's Manual (Hardware Design, Maintenance and Inspection)
This manual explains the specifications of the QCPU modules, power supply modules, base units,
extension cables, memory card battery, and the maintenance/inspection for the system, trouble shooting,
error codes and others.
SH-080483ENG
(13JR73)
QnUCPU User's Manual (Function Explanation, Program Fundamentals)
This manual explains the functions, programming methods and devices and others to create programs
with the QCPU.
SH-080807ENG
(13JZ27)
QCPU User's Manual (Multiple CPU System)
This manual explains the Multiple CPU system overview, system configuration, I/O modules,
communication between CPU modules and communication with the I/O modules or intelligent function
modules.
SH-080485ENG
(13JR75)
QnUCPU User's Manual (Communication via Built-in Ethernet Port)
This manual explains functions for the communication via built-in Ethernet port of the CPU module.
SH-080811ENG
(13JZ29)
MELSEC-Q/L Programming Manual (Common Instruction)
This manual explains how to use the sequence instructions, basic instructions, application instructions and
micro computer program.
SH-080809ENG
(13JW10)
MELSEC-Q/L/QnA Programming Manual (PID Control Instructions)
This manual explains the dedicated instructions used to exercise PID control.
SH-080040
(13JF59)
MELSEC-Q/L/QnA Programming Manual (SFC)
This manual explains the system configuration, performance specifications, functions, programming,
debugging, error codes and others of MELSAP3.
SH-080041
(13JF60)
I/O Module Type Building Block User's Manual
This manual explains the specifications of the I/O modules, connector, connector/terminal block
conversion modules and others.
SH-080042
(13JL99)
MELSEC-L SSCNET /H Head Module User's Manual
This manual explains specifications of the head module, procedures before operation, system
configuration, installation, wiring, settings, and troubleshooting.
SH-081152ENG
(13JZ78)

A - 18
(3) Servo amplifier
Manual Name Manual Number
(Model Code)
SSCNET /H interface MR-J4- B Servo amplifier Instruction Manual
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for
MR-J4- B Servo amplifier.
SH-030106
(1CW805)
SSCNET /H interface Multi-axis AC Servo MR-J4W- B Servo amplifier Instruction Manual
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Multi-
axis AC Servo MR-J4W -B Servo amplifier.
SH-030105
(1CW806)
SSCNET interface MR-J3- B Servo amplifier Instruction Manual
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for
MR-J3- B Servo amplifier.
SH-030051
(1CW202)
SSCNET interface 2-axis AC Servo Amplifier MR-J3W- B Servo amplifier Instruction
Manual
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for 2-axis
AC Servo Amplifier MR-J3W- B Servo amplifier.
SH-030073
(1CW604)
SSCNET Compatible Linear Servo MR-J3- B-RJ004 Instruction Manual
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Linear
Servo MR-J3- B-RJ004 Servo amplifier.
SH-030054
(1CW943)
SSCNET Compatible Fully Closed Loop Control MR-J3- B-RJ006 Servo amplifier
Instruction Manual
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Fully
Closed Loop Control MR-J3- B-RJ006 Servo amplifier.
SH-030056
(1CW304)
SSCNET Interface Direct Drive Servo MR-J3- B-RJ080W Servo amplifier Instruction
Manual
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Direct
Drive Servo MR-J3- B-RJ080W Servo amplifier.
SH-030079
(1CW601)
SSCNET interface Drive Safety integrated MR-J3- B Safety Servo amplifier Instruction
Manual
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for safety
integrated MR-J3- B Safety Servo amplifier.
SH-030084
(1CW205)
Manual Page Organization
The symbols used in this manual are shown below.
Symbol Description
QDS Symbol that indicates correspondence to only Q173DSCPU/Q172DSCPU.
QD Symbol that indicates correspondence to only Q173DCPU(-S1)/Q172DCPU(-S1).

1 - 1
1
1 OVERVIEW
1. OVERVIEW
1.1 Overview
This programming manual describes the common items of each operating system
software, such as the Multiple CPU system of the operating system software packages
"SW7DNC-SV Q" and "SW8DNC-SV Q" for Motion CPU module
(Q173D(S)CPU/Q172D(S)CPU).
In this manual, the following abbreviations are used.
Generic term/Abbreviation Description
Q173D(S)CPU/Q172D(S)CPU or
Motion CPU (module)
Q173DSCPU/Q172DSCPU/Q173DCPU/Q172DCPU/Q173DCPU-S1/
Q172DCPU-S1 Motion CPU module
Q172DLX/Q172DEX/Q173DPX/
Q173DSXY or Motion module
Q172DLX Servo external signals interface module/
Q172DEX Synchronous encoder interface module(Note-1)/
Q173DPX Manual pulse generator interface module/
Q173DSXY Safety signal module
MR-J4(W)- B Servo amplifier model MR-J4- B/MR-J4W- B
MR-J3(W)- B Servo amplifier model MR-J3- B/MR-J3W- B
AMP or Servo amplifier General name for "Servo amplifier model MR-J4- B/MR-J4W- B/MR-J3- B/
MR-J3W- B"
QCPU, PLC CPU or PLC CPU module QnUD(E)(H)CPU/QnUDVCPU
Multiple CPU system or Motion system Abbreviation for "Multiple PLC system of the Q series"
CPUn Abbreviation for "CPU No.n (n= 1 to 4) of the CPU module for the Multiple CPU
system"
Operating system software General name for "SW7DNC-SV Q/SW8DNC-SV Q"
SV13 Operating system software for conveyor assembly use (Motion SFC) :
SW8DNC-SV13Q
SV22 Operating system software for automatic machinery use (Motion SFC) :
SW8DNC-SV22Q
SV43 Operating system software for machine tool peripheral use :
SW7DNC-SV43Q
Programming software package General name for MT Developer2/GX Works2/GX Developer/MR Configurator
MELSOFT MT Works2 Abbreviation for "Motion controller engineering environment MELSOFT
MT Works2"
MT Developer2(Note-2) Abbreviation for "Motion controller programming software MT Developer2
(Version 1.00A or later)"
GX Works2 Abbreviation for "Programmable controller engineering software
MELSOFT GX Works2 (Version 1.15R or later)"
GX Developer Abbreviation for "MELSEC PLC programming software package
GX Developer (Version 8.48A or later)"
MR Configurator (Note-2) General name for "MR Configurator/MR Configurator2"
MR Configurator Abbreviation for "Servo setup software package
MR Configurator (Version C0 or later)"
MR Configurator2 Abbreviation for "Servo setup software package
MR Configurator2 (Version 1.01B or later)"
Manual pulse generator or MR-HDP01 Abbreviation for "Manual pulse generator (MR-HDP01)"
Serial absolute synchronous encoder
or Q171ENC-W8/Q170ENC
Abbreviation for "Serial absolute synchronous encoder (Q171ENC-W8/
Q170ENC)"