MELSERVO-J4
Controllers Features
Motion Controller
SSCNET III/H compatible Motion controller
SSCNET III/H compatible Stand-Alone Motion controller Q170MSCPU Q170MSCPU-S1
R16MTCPU R32MTCPU R64MTCPU Q172DSCPU Q173DSCPU
Multiple CPU system with PLC CPU
Integrates a power supply, a programmable controller, and a Motion controller Equipped with an incremental synchronous encoder interface and the mark detection function
Features of Motion Controller
The Motion controller is a CPU module used with PLC CPU for Motion control. Using Motion SFC programs, the Motion CPU separately operates controls from the PLC CPU. Thus CPU loads are distributed, achieving advanced Motion control. Various advanced Motion controls, such as tightening & press-fit, advanced synchronous, and cam controls can be performed
in addition to basic controls including positioning, speed and torque controls. COGNEX vision system can be directly connected to the controller via Ethernet.
PLC CPU
Motion CPU
Motion SFC program
Sequence program
20000 Axis 2
10: Transfer
[K10 : Real axis] 1 INC-2 (Vector speed) Axis
Start program No. specification
Motion SFC program start request instruction
1 Movement amount 10000 pulse 2 Movement amount 20000 pulse
Servo motor start
Start of Motion SFC
10000
Axis
Target CPU (No.2) specification
Vector speed
30000 PLS/s
M0
[G101] !M2001 * !M2002 //Start accept flag turn off check
Data exchange through CPU buffer memory, etc.
DP.SFCS H3E1
K10 RST M0
10000 Axis 1
Command execution instruction
[G200] SET M12000 // Axis1 starts synchronous control SET M12001 // Axis2 starts synchronous control M10880 * M10881 // Executing synchronous control [K201 : Command generation axis] 1 VF Axis 1 Speed 10000 PLS/s
(Main shaft gear)
(Main shaft gear)
Command generation axis start
Input axis module (Command generation axis)
Input axis module (Command generation axis)
(Clutch)
(Clutch)
Output axis module
Output axis module
END
(Cam)
(Cam)
R64MTCPU
R32MTCPU/Q173DSCPU
R16MTCPU/Q172DSCPU
Q170MSCPU-S1
Q170MSCPU
Max. number of control axes Operation cycle Programming language Control mode
64 axes
32 axes
16 axes
0.222 ms or longer
0.222 ms or longer Equivalent to Q06UDH 0.222 ms or longer Equivalent to Q03UD
Motion SFC
Tightening & press-fit control
Advanced synchronous control
Cam control
Pressure control* 1 Position control
Speed control
Torque control
Helical interpolation
Position follow-up control Speed control with fixed position stop
Linear interpolation
Circular interpolation Continuous trajectory control
Positioning control
Speed/position switching control High-speed oscillation control
Amplifier-less operation Unlimited length feed Absolute position system
Forced stop
Hardware stroke limit
Software stroke limit
Sub function
Optional data monitor
Mark detection
ROM operation
M-code output
Error history
Digital oscilloscope
Cam auto-generation
Vision system connection Software security key
High-speed reading
Limit switch output
*1. Not supported by Q170MSCPU(-S1)
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