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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