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Embedded type servo system controllers


  • Various existing assets such as boards and programs for PC can be effectively used.
  • Event-driven programs, which use interrupts, can be created.
  • Equipped with Positioning functionality using Point table.
  • The SSCNETIII/H Head module allows the Position Board to connect remotely with various modules (I/O, analog, high-speed counter, etc.) via SSCNETIII/H.
  • An API library is available for more efficient software development.
  • Real-time OS (INtime®, RTX, etc.) is supported.
    (Note): Contact your local Mitsubishi Electric office for more details.
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Software Development Environment MR-MCseries

Create a user program by adding the positioning control API library to the project of Microsoft Visual Studio® which is running on a Windows® OS PC.

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The utility for C Controller Interface Module/Position Board includes the following software that is necessary for application development.

Test tool

This tool supports parameter and point data settings for application development, operation check such as servo adjustment and error analysis. MR Configurator2 can be started from the test tool, so servo adjustment is easily performed.

Easy test operation check

Test operation is easily performed by using Positioning test operation functions and Parameter/Point data setting functions.
These functions are useful for checking SSCNETIII/H wiring and motor movement.


You can confirm the sampled waveform of monitor data (32 items) and bit data (16 items) to check the sequence of user programs and startup timing.
Error analysis is carried out with ease by reading the alarm history stored on the non-volatile memory.

API library

The API library is the API functions for creating applications for C Controllers or on a personal computer.
Servo amplifier initialization, parameter change, startup in various operation modes, and monitor, etc. are available.

Device driver

The device driver is software required when a C Controller/a personal computer accesses to the Interface Module/Position Board from a user program via PCI Express®/Compact PCI® bus/PCI bus. You do not have to separately prepare a device driver.

High-speed Synchronous Network SSCNETIII/HQ173SCCFMR-MCseries

  • Communications speed is increased to 150 Mbps full duplex (equivalent to 300 Mbps half duplex), three times faster than the conventional speed.
    System response is dramatically improved.
  • Smooth control of a machine is possible using high-speed serial communications with a cycle time of 0.222 ms.
  • Synchronous communications are achieved with SSCNETIII/H, offering technical advantages for machines that require deterministic control.
  • Long distance wiring is possible up to 3200 m (10498.69 ft.) per system (maximum of 100 m (328.08 ft.) between stations x control axes up to 32 axes), suitable for large-scale systems.
  • SSCNETIII/H compatible and SSCNETIII compatible servo amplifiers can be used together.
    (The communications speed when SSCNETIII compatible products are used together in the same system: 150 Mbps full duplex)
  • (Note): SSCNET (Servo System Controller Network)

Sensing Module MR-MT2000 Series NEW Q173SCCFMR-MCseries

The sensing module MR-MT2000 series consists of one head module and four types of extension modules, the I/O module, pulse I/O module, analog I/O module, and encoder I/F module. The required extension modules can be selected according to your application.
Each I/O signal connected to the sensing module is synchronized with the Motion control cycle, enabling a processing with little variation to achieve high speed and high accuracy of equipment.

LJ72MS15 SSCNETIII/H Head Module Q173SCCFMR-MCseries

The SSCNETIII/H Head module allows the controller to connect remotely with various modules (I/O, analog, high-speed counter, etc.) via SSCNETIII/H.
Those remotely connected modules serve as the controller's remote stations, transmitting the inputs/outputs.
This results in reduced wiring since the controller receives the I/O and analog I/O signals directly from the servo amplifier side.
(Note): MELSOFT GX Works2 is required to set the Head module.

(Note-1): Sensor input/output signals for inspection devices, etc. can be read/written via the Head module.
(Note-2): Outputs the hand open/close signals.

Positioning Control Q173SCCFMR-MCseries

Positioning operation is performed using the API library in a C language user program.
The operation is started with positioning data from the point data table and waits until an event occurs by interrupts.

Other Axes Start Function Q173SCCFMR-MCseries

This function automatically starts other axes according to its startup condition and its operation pattern.
Tact time of assembly machines, etc. is shortened with this automatic startup via controllers.

Pass Position Interrupt Function Q173SCCFMR-MCseries

During automatic operation, interrupts are outputted when axes pass the specified position.
After that, the corresponding interrupt process of the user program is started.

  • High-speed event processing start on host side (OS) is possible based on the servo axis position
  • A total of 64 points can be specified for pass position data of all axes

Operation example

  1. As the axes are moving to P2 from P1, the interrupt occurs.
  2. The vision camera takes photos of the workpiece according to the interrupts.
  3. The position data is read. The vision camera takes photo responding to the interrupts. Thus by taking photos periodically with interrupts, more accurate position data is available.

Tightening & Press-fit Control Q173SCCFMR-MCseries

The motor can be switched to torque control (tightening & press-fit mode) during positioning without stopping. Since the current position is controlled even during the tightening & press-fit control, positioning operation based on the absolute position coordinates can be performed smoothly after switching back to positioning control.

Interface Mode Function Q173SCCFMR-MCseries

This standard feature realizes unique control based on a C-language user program using SSCNETIII/H

The interface mode function transmits the position commands received from a user program to servo amplifiers every operation cycle. This allows servo amplifier to be controlled using a user program.
Speed and torque controls are also available in this method.
So, a MR-J4-B can be controlled based on user programs created with your programming know-how of position/speed/torque commands while taking advantage of SSCNETIII/H servo system synchronous network performance.

  • The C Controller Interface Module or Position Board controls the SSCNETIII/H processing. This allows the user-program side to focus on information processing, human machine interface, and Motion control.
  • A personal computer with a real-time OS can perform fixed-cycle Motion control using interrupts at every operation cycle.
  • Thanks to the position command buffers of up to 64 phases, even non-real-time OS (Windows® only) can perform at 0.22 ms (the fastest rate) cycle command operation; This enables further increase in accuracy in trajectory control.


Control specifications

  Standard Mode Interface Mode
Number of control axes Up to 20 Up to 20 UP to 32 The same specification as the standard mode
Control cycle[ms] 0.22/0.44/0.88 (Select using parameters.)
Software development environment Microsoft Visual Studio®
JOG operation Provided
Incremental feed Provided
Automatic operation Point table method, 1-axis control,
Tightening & press-fit control
Linear interpolation Point table method, Up to 4 axes interpolation (Note-1)
Home position return Dog cradle method, Dog method,
Dog front end method, Data set method,
Stopper method, Z-phase detection method,
Limit switch combined method,
Limit switch front end method,
Scale home position signal detection method,
Scale home position signal detection method 2
Electronic gear Electronic gear numerator : 1 to 5242879
Electronic gear denominator : 1 to 589823
Speed units Command unit/min, command unit/s, and r/min Command unit/min, command unit/s, and r/min
(the unit for speed of monitor output)
Acceleration/deceleration method Linear acceleration/deceleration,
smoothing filter, start up speed,
S-curve acceleration/deceleration
(sine acceleration/deceleration)
Stop function Forced stop, Operation stop, Rapid stop Forced stop
Command change Position change, Speed change, Time constant change
Application functions Hardware stroke limit, Software stroke limit,
Interlock, Rough match output, Torque limit,
Backlash compensation, Position switch,
Interference check (Note-1), Home position search limit,
Gain switching, PI-PID switching,
Absolute position detection system,
Home position return request, Other axes start,
Digital input/output,
Servo amplifier general input/output,
Pass position interrupt, Tandem operation,
Mark detection
Torque limit, Gain switching, PI-PID switching,
Absolute position detection system, Digital input/output,
Servo amplifier general input/output, Mark detection,
Event detection
Auxiliary function Monitor, High speed monitor, Interrupt, Host PC watchdog, Parameter backup, Test mode,
Connect/disconnect, Sampling, Log, Alarm history, External forced stop disabled

(Note-1): Unavailable when the control cycle is 0.22 ms.

Module specifications

Position Board specifications

  MR-MC240 MR-MC241 MR-MC220U3
MR-MC210 MR-MC211
Servo amplifier connection system SSCNETIII/H
Number of SSCNETIII/H lines 1 line 2 lines 1 line 1 line 1 line 2 lines
Maximum overall cable distance [m(ft.)] SSCNETIII/H: 2000 (6561.68)
Maximum distance between stations [m(ft.)] SSCNETIII/H: 100 (328.08)
Peripheral I/F USB
Forced stop
input signal
(EMI) (Note-1)
Number of input points 1 point
Input method Positive Common/ Negative Common Shared Type (Photocoupler isolation)
Rated input voltage/current 24 V DC/approx. 2.4 mA
Operating voltage range 20.4 to 26.4 V DC (24 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. 10kΩ
Response time 1ms or less (OFF to ON, ON to OFF)
Recommended wire size AWG22 to 28 (0.08 to 0.32 mm2)
Number of Position Boards for one computer 4
Bus specification   PCI Express®1.1 × 1 (Note-2) Compact PCI® bus PCI bus
  Size [mm] Short sized version
(111.2 × 167.6)
3U size
(128.7 × 160.0)
6U size
(262.05 × 160.0)
Short sized version
(106.7 × 167.6)
Power supply voltage 3.3 V DC 5 V DC
Current consumption [A] 1.1 1.5 0.45 0.7
Mass [kg] 0.11 0.17 0.19 0.11

(Note-1): Crimping tools and connectors are needed for cable fabrication. Be sure to prepare ones separately.

(Note-2): Depending on the specifications of the personal computer, the PCI Express® slot may be directly connected to the CPU of the personal computer.
If the PCI Express® compatible Position Board is mounted to a PCI Express® slot that is directly connected to the CPU of the host controller, it may not be able to operate.
Mount the PCI Express® compatible Position Board to a PCI Express® slot that is not directly connected to the CPU of the personal computer (connected to a chipset).

Position Board connector for forced stop input (cable-side)

Manufacturer Name Model Description
Molex Housing 51103-0300
Terminal 50351-8100 Applicable wire size (AWG): 22, 24, 26, 28
Two terminals are needed for one housing
Hand crimp tool 57295-5000 Applicable terminal: 50351