Mitsubishi Electric Q172DCPU User manual

Migration Guide of Motion Controller
[Q17nDCPU(-S1) යQ17nDSCPU]
MITSUBISHI ELECTRIC SERVO SYSTEM CONTROLLER

A - 1
SAFETY PRECAUTIONS
(Please read these instructions before using this equipment.)
Before using this product, please read this manual and the relevant manuals introduced in this manual
carefully and pay full attention to safety to handle the product correctly.
These precautions apply only to this product. Refer to the Q173D(S)CPU/Q172D(S)CPU Users manual
for a description of the Motion controller safety precautions.
In this manual, the safety instructions are ranked as "DANGER" and "CAUTION".
DANGER
Indicates that incorrect handling may cause hazardous
conditions, resulting in death or severe injury.
CAUTION
Indicates that incorrect handling may cause hazardous
conditions, resulting in medium or slight personal injury or
physical damage.
Depending on circumstances, procedures indicated by CAUTION may also be linked to serious
results.
In any case, it is important to follow the directions for usage.
Please save this manual to make it accessible when required and always forward it to the end user.

A - 2
For Safe Operations
1. Prevention of electric shocks
DANGER
Never open the front case or terminal covers while the power is ON or the unit is running, as this
may lead to electric shocks.
Never run the unit with the front case or terminal cover removed. The high voltage terminal and
charged sections will be exposed and may lead to electric shocks.
Never open the front case or terminal cover at times other than wiring work or periodic
inspections even if the power is OFF. The insides of the Motion controller and servo amplifier are
charged and may lead to electric shocks.
Completely turn off the externally supplied power used in the system before mounting or
removing the module, performing wiring work, or inspections. Failing to do so may lead to electric
shocks.
When performing wiring work or inspections, turn the power OFF, wait at least ten minutes, and
then check the voltage with a tester, etc. Failing to do so may lead to electric shocks.
Be sure to ground the Motion controller, servo amplifier and 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.

A - 3
3. For injury prevention
CAUTION
Do not apply a voltage other than that specified in the instruction manual on any terminal.
Doing so may lead to destruction or damage.
Do not mistake the terminal connections, as this may lead to destruction or damage.
Do not mistake the polarity ( + / - ), as this may lead to destruction or damage.
Do not touch the heat radiating fins of controller or servo amplifier, regenerative resistor and
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.

A - 4
CAUTION
The dynamic brakes must be used only on errors that cause the forced stop, emergency stop, or
servo OFF. These brakes must not be used for normal braking.
The brakes (electromagnetic brakes) assembled into the 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.
To maintain the safety of the programmable controller system against unauthorized access from
external devices via the network, take appropriate measures. To maintain the safety against
unauthorized access via the Internet, take measures such as installing a firewall.
(2) Parameter settings and programming
CAUTION
Set the parameter values to those that are compatible with the Motion controller, servo amplifier,
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.

A - 5
CAUTION
Set the servo amplifier capacity and type parameters to values that are compatible with the
system application. The protective functions may not function if the settings are incorrect.
Use the program commands for the program with the conditions specified in the instruction
manual.
Set the sequence function program capacity setting, device capacity, latch validity range, I/O
assignment setting, and validity of continuous operation during error detection to values that are
compatible with the system application. The protective functions may not function if the settings
are incorrect.
Some devices used in the program have fixed applications, so use these with the conditions
specified in the instruction manual.
The input devices and data registers assigned to the link will hold the data previous to when
communication is terminated by an error, etc. Thus, an error correspondence interlock program
specified in the instruction manual must be used.
Use the interlock program specified in the intelligent function module's instruction manual for the
program corresponding to the intelligent function module.
(3) Transportation and installation
CAUTION
Transport the product with the correct method according to the mass.
Use the 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.

A - 6
CAUTION
The Motion controller, servo amplifier and servomotor are precision machines, so do not drop or
apply strong impacts on them.
Securely fix the Motion controller, servo amplifier and servomotor to the machine according to the
instruction manual. If the fixing is insufficient, these may come off during operation.
Always install the servomotor with reduction gears in the designated direction. 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 According to each instruction manual
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.

A - 7
(4) Wiring
CAUTION
Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal
screws for tightness after wiring. Failing to do so may lead to run away of the 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 amplifie
r
24VDC
Control output
signal
DICOM
DOCOM
Servo amplifier
RA
24VDC
For the sink output interface For the source output interface
Do not connect or disconnect the connection cables between each unit, the encoder cable or
PLC expansion cable while the power is ON.
Securely tighten the cable connector fixing screws and fixing mechanisms. Insufficient fixing may
lead to the cables coming off during operation.
Do not bundle the power line or cables.
(5) Trial operation and adjustment
CAUTION
Confirm and adjust the program and each parameter before operation. Unpredictable
movements may occur depending on the machine.
Extreme adjustments and changes may lead to unstable operation, so never make them.
When using the absolute position system function, on starting up, and when the Motion controller
or absolute position motor has been replaced, always perform a home position return.
Before starting test operation, set the parameter speed limit value to the slowest value, and
make sure that operation can be stopped immediately by the forced stop, etc. if a hazardous
state occurs.

A - 8
(6) Usage methods
CAUTION
Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the
Motion controller, servo amplifier or 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.)

A - 9
(8) Maintenance, inspection and part replacement
CAUTION
Perform the daily and periodic inspections according to the instruction manual.
Perform maintenance and inspection after backing up the program and parameters for the Motion
controller and servo amplifier.
Do not place fingers or hands in the clearance when opening or closing any opening.
Periodically replace consumable parts such as batteries according to the instruction manual.
Do not touch the lead sections such as ICs or the connector contacts.
Before touching the module, always touch grounded metal, etc. to discharge static electricity from
human body. Failure to do so may cause the module to fail or malfunction.
Do not directly touch the module's conductive parts and electronic components.
Touching them could cause an operation failure or give damage to the module.
Do not place the Motion controller or servo amplifier on metal that may cause a power leakage
or wood, plastic or vinyl that may cause static electricity buildup.
Do not perform a megger test (insulation resistance measurement) during inspection.
When replacing the Motion controller or servo amplifier, always set the new module settings
correctly.
When the Motion controller or absolute value motor has been replaced, carry out a home
position return operation using one of the following methods, otherwise position displacement
could occur.
1) After writing the servo data to the Motion controller using programming software, switch on the
power again, then perform a home position return operation.
2) Using the backup function of the programming software, load the data backed up before
replacement.
After maintenance and inspections are completed, confirm that the position detection of the
absolute position detector function is correct.
Do not drop or impact the battery installed to the module.
Doing so may damage the battery, causing battery liquid to leak in the battery. Do not use the
dropped or impacted battery, but dispose of it.
Do not short circuit, charge, overheat, incinerate or disassemble the batteries.
The electrolytic capacitor will generate gas during a fault, so do not place your face near the
Motion controller or servo amplifier.
The electrolytic capacitor and fan will deteriorate. Periodically replace these to prevent secondary
damage from faults. Replacements can be made by our sales representative.
Lock the control panel and prevent access to those who are not certified to handle or install
electric equipment.
Do not burn or break a module and servo amplifier. Doing so may cause a toxic gas.

A - 10
(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 Electric sales
representative.
Although this product was manufactured under conditions of strict quality control, you are strongly
advised to install safety devices to forestall serious accidents when it is used in facilities where a
breakdown in the product is likely to cause a serious accident.
(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.

A - 11
REVISIONS
Print Date Manual No. Revision
Sep, 2019 L(NA)03189ENG-A First edition
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.
 2019 MITSUBISHI ELECTRIC CORPORATION

A - 12
INTRODUCTION
Please read this manual carefully so that equipment is used to its optimum.
CONTENTS
Safety Precautions ......................................................................................................................................... A- 1
Revisions ........................................................................................................................................................ A-11
Contents ......................................................................................................................................................... A-12
1. OVERVIEW OF MIGRATION FROM Q17nDCPU(-S1) TO Q17nDSCPU 1- 1 to 1-16
1.1 Benefits of Migration ............................................................................................................................... 1- 1
1.2 Main Target Models for Migration ........................................................................................................... 1- 2
1.3 System Configuration .............................................................................................................................. 1- 5
1.3.1 System configuration using Q17nDCPU(-S1) before migration ..................................................... 1- 5
1.3.2 System configuration using Q17nDSCPU after migration .............................................................. 1- 6
1.4 Case Study on Migration ........................................................................................................................ 1- 7
1.4.1 Whole system migration (recommended) ....................................................................................... 1- 8
1.4.2 Phased migration ............................................................................................................................. 1- 9
1.4.3 Separate repair ................................................................................................................................. 1-10
1.4.4 Precautions for powering off only a desired servo amplifier ........................................................... 1-12
1.4.5 Configuration when the MR-MV200 optical hub unit is used .......................................................... 1-13
1.5 Project Diversion ..................................................................................................................................... 1-14
1.6 Relevant Documents ............................................................................................................................... 1-15
1.6.1 Relevant catalogs ............................................................................................................................. 1-15
1.6.2 Relevant manuals ............................................................................................................................ 1-16
2. DETAILS OF MIGRATION FROM Q17nDCPU(-S1) TO Q17nDSCPU 2- 1 to 2-18
2.1 Table of Components and Software ....................................................................................................... 2- 1
2.1.1 Servo amplifiers and servo motors .................................................................................................. 2- 3
2.1.2 Operating system software .............................................................................................................. 2- 4
2.1.3 Engineering environment (required) ................................................................................................ 2- 4
2.2 Differences Between Q17nDCPU(-S1) and Q17nDSCPU ................................................................... 2- 5
2.3 Project Diversion ..................................................................................................................................... 2-10
2.3.1 List of divertible/Not divertible data (SV13/SV22) ........................................................................... 2-10
2.3.2 Project diversion procedures by engineering environment ............................................................ 2-11

1 - 1
1
1. OVERVIEW OF MIGRATION FROM Q17nDCPU(-S1) TO Q17nDSCPU
1. OVERVIEW OF MIGRATION FROM Q17nDCPU(-S1) TO Q17nDSCPU
1.1 Benefits of Migration
Migrating from the existing system using Q173DCPU(-S1)/Q172DCPU(-S1) Motion controllers to
a new system using iQ Platform Motion controllers Q173DSCPU/Q172DSCPU (hereinafter
called Q17nDSCPU), which support the programs on the Q173DCPU(-S1)/Q172DCPU(-S1), is
recommended. We also recommend migrating servo amplifiers to the MR-J4 series at the same
time.
Migrating not only allows the system to run for longer periods, but also has the following
advantages.
(1) High-speed operation and high functionality of the Motion controller
The Motion controller Q17nDSCPU achieves the operation cycle of 0.22 ms/4 axes, enabling
a dramatically fast operation.
The controller also achieves further advanced motion control with a wide variety of motion
control functions.
→ Increased productivity from higher speeds and functionality of the Motion controller
(2) High-speed communication by SSCNETIII/H
Speeding up and improving noise tolerance of servo system network communications are
achieved by optical communication. A long distance cable of 100 m can be also used.
→ Increased speeds over the entire facility
(3) Servo amplifier MR-J4 and servo motor
The servo amplifier MR-J4 series achieves high performance operation with a variety of
functions including one-touch tuning, a 22-bit high resolution encoder (4194304 pulse/rev),
and 2.5 kHz speed frequency response. The product line includes multi-axis servo amplifiers
that contribute to energy saving, space saving, and reduced wiring of a machine. The MR-J4
series compatible rotary servo motor, HG series enables to output high torque at high speed.
Linear servo motors and direct drive motors are also available. Select the motor type
according to your application from our extensive product lines.
→ Increase of applications, improved performance, energy saving, downsizing, and reduced
wiring of drive systems
(4) Lower maintenance cost
After 5 years of usage, the products will need maintenance, such as replacement of the whole
circuit board due to the life of components including electrolytic capacitors and memories.
To use the system the longest possible, an early migration to the latest model is
recommended in terms of performance and quality.
→ Increased equipment longevity

1 - 2
1. OVERVIEW OF MIGRATION FROM Q17nDCPU(-S1) TO Q17nDSCPU
1.2 Main Target Models for Migration
The main target models and operating system software for replacement described in this section
are as follows.
If you are using special operating system software or application-specific operating system
software, contact your local sales office.
(1) Modules
Product name Model
before migration
Model
after migration
Motion CPU module
Q172DCPU Q172DSCPU
Q173DCPU Q173DSCPU(Note-1)
Q172DCPU-S1 Q172DSCPU
Q173DCPU-S1 Q173DSCPU(Note-1)
Battery holder unit
Q170DBATC Unnecessary
(A battery is set in the Motion CPU
battery holder unit.)
Servo external signals
interface module
Q172DLX ← (same as the left)
Synchronous encoder
interface module
Q172DEX ← (same as the left)
Manual pulse generator
interface module
Q173DPX ← (same as the left)
Safety signal module Q173DSXY(Note-2) ← (same as the left)
Serial absolute synchronous
encoder
MR-HENC ← (same as the left)
Q170ENC Q171ENC-W8
Serial absolute synchronous
encoder cable(Note-3)
MR-JHSCBL M-H,L
(For MR-HENC)
← (same as the left)
Q170ENCCBL M
(For Q170ENC)
← (same as the left)
(For Q171ENC-W8)
Manual pulse generator MR-HDP01 ← (same as the left)
SSCNETIII cable(Note-3)
MR-J3BUS M
MR-J3BUS M-A
MR-J3BUS M-B(Note-4)
← (same as the left)
(Note-1): If the number of axes used in the system with Q173DCPU(-S1) is 16 or less, Q172DSCPU can be also
selected.
(Note-2): Q17nDCPU-S1 only
(Note-3): " " indicates the cable length.
(015: 0.15m, 03: 0.3m, 05: 0.5m, 1: 1m, 5: 5m, 10: 10m, 20: 20m, 30: 30m, 40: 40m, 50: 50m)
(Note-4): For a long distance cable of up to 100 m or an ultra-long bending life cable, contact Mitsubishi Electric
System & Service Co., Ltd.
OVERSEAS SERVICE SECTION (Email: [email protected])

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1. OVERVIEW OF MIGRATION FROM Q17nDCPU(-S1) TO Q17nDSCPU
(2) Operating system software
Before migration After migration
CPU model OS Type OS model CPU model OS Type OS model
Q173DCPU(-S1)
SV13
SW8DNC-SV13QB Q173DSCPU
SV13
SW8DNC-SV13QJ
Q172DCPU(-S1) SW8DNC-SV13QD Q172DSCPU SW8DNC-SV13QL
Q173DCPU(-S1)
SV22
SW8DNC-SV22QA Q173DSCPU
SV22
SW8DNC-SV22QJ
Q172DCPU(-S1) SW8DNC-SV22QC Q172DSCPU SW8DNC-SV22QL
(Note): The operating system software (SV22) is installed in Q17nDSCPU at the time of product purchase.
(3) Servo amplifiers/Rotary servo motors
Before migration from Q17nDCPU(-S1) After migration to Q17nDSCPU
Servo amplifier Rotary
servo motor Servo amplifier Rotary
servo motor
MR-J3
series
MR-J3- B
MR-J3W- B
MR-J3- BS
MR-J3- B-RJ006
HF-KP
HF-MP
HF-SP
HF-JP
HC-LP
HC-RP
HC-UP
HA-LP
MR-J4
series
MR-J4- B(-RJ)
MR-J4W2- B
MR-J4W3- B
HG-KR
HG-MR
HG-SR
HG-RR
HG-UR
HG-JR
(4) Servo amplifiers/Linear servo motors
Before migration from Q17nDCPU(-S1) After migration to Q17nDSCPU
Servo amplifier Linear
servo motor Servo amplifier Linear
servo motor
MR-J3
series
MR-J3- B-RJ004 LM-H2
LM-F
LM-K2
LM-U2
MR-J4
series
MR-J4- B(-RJ)
MR-J4W2- B
MR-J4W3- B
LM-H3
LM-F
LM-K2
LM-U2
(5) Servo amplifiers/Direct drive motors
Before migration from Q17nDCPU(-S1) After migration to Q17nDSCPU
Servo amplifier Direct
drive motor Servo amplifier Direct
drive motor
MR-J3
series
MR-J3- B-RJ080W TM-RFM MR-J4
series
MR-J4- B(-RJ)
MR-J4W2- B
MR-J4W3- B
TM-RFM

1 - 4
1. OVERVIEW OF MIGRATION FROM Q17nDCPU(-S1) TO Q17nDSCPU
(6) Servo system network
Item
Communications medium Optical fiber cable ← (same as SSCNETIII)
Communications speed 50 Mbps 150 Mbps
Communications
cycle
Send 0.44 ms/0.88 ms 0.22 ms/0.44 ms/0.88 ms
Receive 0.44 ms/0.88 ms 0.22 ms/0.44 ms/0.88 ms
Number of control axes Up to 16 axes/line ← (same as SSCNETIII)
Transmission distance [Standard code for inside panel]
Up to 3 m between stations
Maximum overall distance:
48 m (3 m × 16 axes)
[Standard cable for outside panel]
Up to 20 m between stations
Maximum overall distance:
320 m (20 m × 16 axes)
[Standard code for inside panel and standard cable for
outside panel]
Up to 20 m between stations
Maximum overall distance: 320 m (20 m × 16 axes)
[Long distance cable]
Up to 50 m between stations
Maximum overall distance:
800 m (50 m × 16 axes)
[Long distance cable]
Up to 100 m between stations
Maximum overall distance: 1600 m (100 m × 16 axes)
(7) Engineering environment (required)
Product name Model Version
MELSOFT MT Works2 SW1DND-MTW2-E Ver.1.34L or later
MELSOFT GX Works2 SW1DNC-GXW2-E Ver.1.84N or later
MELSOFT MR Configurator2 SW1DNC-MRC2-E Ver.1.12N or later

1 - 5
1. OVERVIEW OF MIGRATION FROM Q17nDCPU(-S1) TO Q17nDSCPU
1.3 System Configuration
1.3.1 System configuration using Q17nDCPU(-S1) before migration
Manual pulse generator
interface module
Q173DPX Manual pulse generator
MR-HDP01
Serial absolute
synchronous
encoder
Q170ENC
MR-HENC
Serial absolute
synchronous
encoder cable
Q170ENCCBL M
MR-JHSCBL M-H, L
Main base unit
Q3 DB
Power supply module
Q6 P
PLC CPU module
QnUD(E)(H)(V)CPU
Motion CPU module
Q17nDCPU(-S1)
Synchronous encoder
interface module
Q172DEX
Servo external signals
interface module
Q172DLX
(External signal input)
SSCNETIII cable
Servo motor
HC/HA/HF series
Servo amplifier
MR-J3-B
Q173DCPU(-S1)
: 2 lines (Up to 32 axes)
Q172DCPU(-S1)
: 1 line (Up to 8 axes)
USB communication
cable, RS-232
communication cable
or Ethernet
communication cable
(Note-1): Q17nDCPU-S1 only
PERIPHERAL I/F(Note-1)
(Note): Production
discontinued
in May 2019.
Panel personal
computer

1 - 6
1. OVERVIEW OF MIGRATION FROM Q17nDCPU(-S1) TO Q17nDSCPU
1.3.2 System configuration using Q17nDSCPU after migration
Manual pulse generator
interface module
Q173DPX Manual pulse generator
MR-HDP01
Serial absolute
synchronous
encoder
Q171ENC-W8
MR-HENC
Serial absolute
synchronous
encoder cable
Q170ENCCBL M
MR-JHSCBL M-H, L
Main base unit
Q3 DB
Power supply module
Q6 P
PLC CPU module
QnUD(E)(H)(V)CPU
Motion CPU module
Q17nDSCPU
Synchronous encoder
interface module
Q172DEX
Servo external signals
interface module
Q172DLX
(External signal input)
SSCNETIII cable
Servo motor
HG series
Servo amplifier
MR-J4-B
Q173DSCPU
: 2 lines (Up to 32 axes)
Q172DSCPU
: 1 line (Up to 16 axes)
USB communication
cable, RS-232
communication cable
or Ethernet
communication cable
PERIPHERAL I/F
Panel personal
computer