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INTRODUCTION
Thank you for choosing the Mitsubishi Motion controller Q173DCPU/Q172DCPU.
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-12
About Manuals ........................................................................................................................................A-14
1. OVERVIEW 1- 1 to 1-20
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 Q173DCPU/Q172DCPU ............................................................................. 1- 5
1.3 Hardware Configuration .................................................................................................................... 1- 8
1.3.1 Motion system configuration ............................................................................................................. 1- 8
1.3.2 Q173DCPU System overall configuration........................................................................................ 1-10
1.3.3 Q172DCPU System overall configuration........................................................................................ 1-12
1.3.4 Software packages............................................................................................................................ 1-14
1.3.5 Restrictions on motion systems........................................................................................................1-17
2. MULTIPLE CPU SYSTEM 2- 1 to 2-32
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- 5
2.1.6 Operation for CPU module stop error............................................................................................... 2- 6
2.2 Starting Up the Multiple CPU System............................................................................................... 2- 9
2.2.1 Startup Flow of the Multiple CPU System ........................................................................................ 2- 9
2.3 Communication between the PLC CPU and the Motion CPU in the Multiple CPU System............. 2-11
2.3.1 CPU shared Memory.........................................................................................................................2-11
2.3.2 Multiple CPU high speed transmission.............................................................................................2-14
2.3.3 Multiple CPU high speed refresh function........................................................................................2-25
2.3.4 Clock synchronization between Multiple CPU .................................................................................2-29
2.3.5 Multiple CPU synchronous startup ................................................................................................... 2-30
2.3.6 Control Instruction from PLC CPU to Motion CPU ..........................................................................2-31
3. COMMON PARAMETERS 3- 1 to 3-22
3.1 System Settings ................................................................................................................................ 3- 1
3.1.1 System data settings.........................................................................................................................3- 2
3.1.2 Common system parameters ........................................................................................................... 3- 4