| Control specifications |
|
| Number of control axes |
Up to 16 axes |
| Operation cycle (operation cycle settings) |
0.22 ms, 0.44 ms, 0.88 ms, 1.77 ms, 3.55 ms, 7.11 ms |
| Interpolation function |
Linear interpolation (up to 4 axes), 2-axis circular interpolation, helical interpolation (3 axes) |
| Control method |
Positioning control, speed control, speed-position switching control,
fixed-pitch feed, constant speed control, position follow-up control,
speed control with fixed position stop, speed switching control, high-speed oscillation control,
synchronous control (SV22 (advanced synchronous control method/virtual mode switching method)),
cam control (SV22), speed-torque control
|
| Acceleration/deceleration processing |
Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration, advanced S-curve
acceleration/deceleration
|
| Compensation function |
Backlash compensation, electronic gear, phase compensation (SV22) |
| Programming language |
Motion SFC, dedicated instruction, mechanical support language (SV22) |
| Servo program capacity |
16k steps |
| Number of positioning points |
3200 points (positioning data can be set indirectly) |
| PERIPHERAL I/F Motion CPU area |
PERIPHERAL I/F |
| PERIPHERAL I/F PLC CPU area |
USB, RS-232 |
| Home position return function |
Proximity dog method (2 types), count method (3 types), data set method (2 types),
dog cradle method, stopper method (2 types), limit switch combined method,
scale home position signal detection method, dogless home position signal reference method
|
| Home position return function |
(home position return re-try function provided, home position shift function provided) |
| JOG operation function |
Provided |
| Manual pulse generator operation function |
Possible to connect 3 modules (Q173DPX use), |
| Manual pulse generator operation function |
Possible to connect 1 module (internal I/F use)*4 |
| Speed-torque control |
Speed control not including position loop, torque control, continuous operation to torque control |
| Synchronous encoder operation function |
12 modules connectable (SV22) |
| Synchronous encoder operation function |
(via Q173DPX + internal I/F + device5 + servo amplifier5) |
| M-code function |
M-code output function provided, M-code completion wait function provided |
| Limit switch output function |
Number of output points: 64 points (Advanced synchronous control method),
32 points (virtual mode switching method (SV13))
|
| ROM operation function |
Watch data: Motion control data, word device |
| External input signal |
Provided |
| High-speed reading function*5 |
Q172DLX (FLS, RLS, STOP, DOG), |
| High-speed reading function*5 |
external input signals (FLS, RLS, DOG) of servo amplifier, internal I/F (DI), bit device |
| Mark detection function |
Available |
| Mark detection function |
(via input module, built-in interface in Motion CPU, tracking of Q173DPX) |
| Mark detection signal |
Continuous detection mode, specified number of detections mode, ring buffer mode |
| Mark detection setting |
4 points (via Internal I/F), bit device, Q172DLX (DOG) |
| Mark detection setting |
32 settings |
| Torque limit value change function |
Torque limit value (positive/negative direction) |
| Target position change function |
Provided |
| Servo parameter change function |
Provided |
| Servo amplifier control mode switching function |
Gain switching function, PI-PID control, control loop changing
(fully closed loop control, semi closed loop control)
|
| Optional data monitor function |
Up to 6 data/axis (MR-J4-B with SSCNET III/H use) |
| Forced stop |
Motion controller forced stop (EMI connector, system setting), forced stop terminal of servo amplifier |
| Number of I/O points |
Total of 256 points (internal I/F (4 input points) + I/O module + intelligent function module) |
| Clock function |
Provided |
| Security function |
Password registration, password for every Motion SFC program, software security key function |
| All clear function |
Delete all user data in Motion CPU |
| Remote operation |
Remote RUN/STOP, remote latch clear |
| Digital oscilloscope function |
Bit data: 16 channels, word data: 16 channels*3 |
| Driver communication function |
Provided |
| Amplifier-less operation function |
Provided |
| Absolute position system |
Made compatible by setting battery to servo amplifier.
(Possible to select the absolute data method or incremental method for each axis)
|
| Number of SSCNET III/H lines*1 |
1 line |
| Number of Motion modules |
Q172DLX: 2 modules usable |
| Number of Motion modules |
Q173DPX: 4 modules usable*2 |
| Module specifications |
|
| Number of control axes |
Up to 16 axes |
| PLC CPU area |
Q06UDHCPU or equivalent |
| Program capacity |
60k steps (240 k bytes) |
| Servo amplifier connection method |
SSCNET III/H (1 line) |
| Maximum overall cable distance [m] |
SSCNET III/H: 1600, SSCNET III: 800 |
| Maximum distance between stations [m] |
SSCNET III/H: 100, SSCNET III: 50 |
| PERIPHERAL I/F |
PERIPHERAL I/F (Motion CPU area control), USB/RS-232/Ethernet (PLC CPU area control) |
| Manual pulse generator operation function |
Possible to connect 3 modules of manual pulse generator |
| Synchronous encoder operation function |
Possible to connect 12 modules*6 (SV22 use) |
| Controllable modules Q172DLX |
Up to 2 modules |
| Controllable modules Q173DPX |
Up to 4 modules per CPU (incremental synchronous encoder use in SV22) |
| Controllable modules Input/output module |
Up to 1 module per CPU (only manual pulse generator use) |
| Controllable modules Analog module |
Total: up to 256 points per CPU |
| Controllable modules QI60 |
Up to 1 module |
| Input signal Number of input points |
4 points |
| Input method |
Positive common/negative common shared type (photocoupler isolation) |
| Rated input voltage/current |
24 V DC/Approx. 5 mA |
| Operating voltage range |
20.4 V DC to 26.4 V DC (+10 %/-15 %, ripple ratio 5 % or less) |
| ON voltage/current |
17.5 V DC or more/3.5 mA or more |
| OFF voltage/current |
5 V DC or less/0.9 mA or less |
| Input resistance |
Approx. 5.6 kΩ |
| Response time |
1 ms or less (OFF to ON, ON to OFF) |
| Recommended wire size |
AWG 18 to AWG 22 |
| Forced stop input signal Number of input points |
1 point |
| Input method |
Sink/source (photocoupler isolation) |
| Rated input voltage/current |
24 V DC/Approx. 2.4 mA |
| Operating voltage range |
20.4 V DC to 26.4 V DC (+10 %/-15 %, ripple ratio 5 % or less) |
| ON voltage/current |
17.5 V DC or more/2.0 mA or more |
| OFF voltage/current |
1.8 V DC or less/0.18 mA or less |
| Input resistance |
Approx. 10 kΩ |
| Response time |
1 ms or less (OFF to ON, ON to OFF) |
| Recommended wire size |
AWG 16 to AWG 22 |
|
Manual pulse generator/incremental synchronous
encoder signal Signal input form
|
Phase A/phase B (magnification by 4) |
| Maximum input pulse frequency |
Up to 1 Mpps (after magnification by 4, up to 4 Mpps) (differential-output type) |
| Maximum input pulse frequency |
Up to 200 kpps (after magnification by 4, up to 800 kpps) (voltage-output/open-collector type) |
| Memory card interface |
Internal interface |
| Number of stages of extension base |
Up to 7 stages |
| 24 V DC internal current consumption [A] |
1.4 |
| Mass [kg] |
0.8 |
| Exterior dimensions [mm] |
186.0 (H) × 52.0 (W) × 135.0 (D) |
