MITSUBISHI Q series

Universal Model QCPU

Lineup

Model	Program capacity	Device capacity (Standard device +Standard RAM)	Standard ROM capacity	No. of I/O points	Basic operation processing speed (LD instruction)	Peripheral connection ports^*1	Memory card I/F
Q26UDVCPU	260K steps	700K words (60K+640K)	4102K bytes	4096 points	1.9ns		(SD memory card, SDHC memory card) ^*2
Q13UDVCPU	130K steps	572K words (60K+512K)	2051K bytes
Q06UDVCPU	60K steps	424K words (40K+384K)	1025.5K bytes
Q04UDVCPU	40K steps	168K words (40K+128K)
Q03UDVCPU	30K steps	126K words (30K+96K)
Q100UDEHCPU	1000K steps	925K words (29K+896K)	16384K bytes		9.5ns		(SRAM card, FLASH card, ATA card)
Q50UDEHCPU	500K steps	797K words (29K+768K)	8092K bytes
Q26UDEHCPU	260K steps	669K words (29K+640K)	4096K bytes
Q26UDHCPU	260K steps
Q20UDEHCPU	200K steps
Q20UDHCPU	200K steps
Q13UDEHCPU	130K steps	541K words (29K+512K)	2048K bytes
Q13UDHCPU	130K steps
Q10UDEHCPU	100K steps
Q10UDHCPU	100K steps
Q06UDEHCPU	60K steps	413K words (29K+384K)	1024K bytes
Q06UDHCPU	60K steps	413K words (29K+384K)
Q04UDEHCPU	40K steps	157K words (29K+128K)
Q04UDHCPU	40K steps	157K words (29K+128K)
Q03UDECPU	30K steps	125K words (29K+96K)			20ns
Q03UDCPU	30K steps	125K words (29K+96K)			20ns
Q02UCPU	20K steps	93K words (29K+64K)	512K bytes	2048 points	40ns
Q01UCPU	15K steps			1024 points	60ns		—
Q00UCPU	10K steps			1024 points	80ns
Q00UJCPU	10K steps	29K words	256K bytes	256 points	120ns

*1: The USB port terminal is mini-B.
*2: The operation of devices that are not manufactured or recommended as compatible products by Mitsubishi Electric cannot be guaranteed.

Input modules, Interrupt module

Point	DC input					DC/AC input	AC input
	5 V DC		5/12 V DC	24 V DC		48 V DC/AC	100...120 V AC	100...120 V AC
	Positive	Negative	Positive/ Negative	Positive	Negative	Positive/ Negative	100...120 V AC	100...120 V AC
8 points	—	—	—	QX48Y57^*1	—	—	—	QX28
16 points	QX70H	QX90H	QX70	QX40 QX40-TS QX40-S1 QX40H QI60	QX80 QX80H QX80-TS	QX50	QX10 QX10-TS	—
32 points	—	—	QX71	QX41 QX41-S1 QX41-S2 QH42P^1 QX41Y41P^1	QX81 QX81-S2	—	—	—
64 points	—	—	QX72	QX42 QX42-S1	QX82 QX82-S1	—	—	—

*1: Input specifications for I/O combined modules

Output modules

Point	Contact output	TRIAC output	Transistor output
	24 V DC, 240 V AC	100...240 V AC	5...12 V DC	5...24 V DC		12...24 V DC
	24 V DC, 240 V AC	100...240 V AC	Sink type	Sink type	Sink/Source type	Sink type	Source type
7 points	—	—	—	—	—	QX48Y57^*2	—
8 points	QY18A	—	—	—	QY68A	—	—
16 points	QY10 QY10-TS	QY22	QY70	—	—	QY40P QY40P-TS QY50	QY80 QY80-TS
32 points	—	—	QY71	QY41H	—	QY41P QH42P^2 QX41Y41P^2	QY81P
64 points	—	—	—	—	—	QY42P	QY82P

*2: Output specifications for I/O combined modules

●High speed DC input module (positive common type) QX40H QX70H

●High speed DC input module (negative common type) QX80H QX90H

Speed up control by catching the input signal variation at 0 ms^*3.
Two devices with differing power systems can be connected to the same module using different 8 point common terminals.

*3: The actual response time is 5 µs delay when turning ON, 10 µs delay when turning OFF, because the hardware response time is added.

Common type	Input voltage
Common type	24 V DC	5 V DC
Positive	QX40H	QX70H
Negative	QX80H	QX90H

●Spring clamp terminal block type input module QX10-TS QX40-TS QX80-TS

●Spring clamp terminal block type output module QY10-TS QY40P-TS QY80-TS

Spring clamp terminal blocks visually indicate the connection status. Also, by eliminating screws, wiring and maintenance work is made easier.

Advantages of spring clamp terminal blocks

Advantages of spring clamp terminal blocks

Impervious to vibration, secured wiring connections.
Eliminating screws greatly simplifies conventional maintenance.

Analog I/O

A wide range of application specific intelligent modules

A range of analog modules ideal for process control applications.

Isolated analog modules suitable for process control

index 04

●Channel isolated high resolution analog-digital converter module
Q64AD-GH

●Channel isolated high resolution analog-digital converter module (with signal conditioning function)
Q62AD-DGH

●Channel isolated high resolution digital-analog converter module
Q62DA-FG

●Channel isolated analog-digital converter module
Q68AD-G

●Channel isolated analog-digital converter module (with signal conditioning function)
Q66AD-DG

●Channel isolated digital-analog converter module
Q66DA-G

The channel isolated analog modules are specifically designed for process control applications by offering high accuracy conversion combined with high isolation voltage. Flow meters, pressure gauges, etc. can be directly connected to the analog input, and control valves to the analog output. Hardware and installation costs can be substantially reduced because external isolation amplifiers are not required.

When used with a general purpose controller, a low cost process control solution can be created.

High dielectric withstand voltage

High conversion speed analog modules

System configuration example

●High speed analog-digital converter module
Q64ADH

●Analog-digital converter module
Q68ADV
Q68ADI

●Analog-digital converter module
Q64DAH

●Digital-analog converter module
Q62DAN
Q64DAN
Q68DAVN
Q68DAIN

●Analog-digital/Digital-analog converter module
Q64AD2DA

Many high-speed A/D and D/A conversion (analog) modules are available.

These modules are feature packed to allow maximum flexibility when connecting to devices. Both speed and accuracy are great enough to control sensitive motion applications using servos or inverters.

Lineup

Number of channels	Channel isolated	Analog input			Analog output
Number of channels	Channel isolated	Voltage input	Current input	Signal conditioning	Voltage output	Current output
2	●	—	—	Q62AD-DGH	Q62DA-FG
2	—	—	—	—	Q62DAN Q64AD2DA
4	●	Q64AD-GH		—	—	—
4	—	Q64AD Q64ADH Q64AD2DA		—	Q64DAN Q64DAH
6	●	—	—	Q66AD-DG	Q66DA-G
8	●	Q68AD-G		—	—	—
8	—	Q68ADV	Q68ADI	—	Q68DAVN	Q68DAIN

Simple motion

Simple motion module for positioning control and synchronous control.

Advanced control but simple use as the positioning module

Speed/torque control and synchronous control are supported in addition to the traditional positioning control. Using the "simple motion module setting tool", operations such as positioning setting, monitoring and debugging can be performed easily. In addition, data synchronized with the motion controller can be collected and displayed in waveform.

HSC index 02

●CC-Link IE Field Network connection type
QD77GF4
QD77GF8
QD77GF16

The simple motion module supports the general purpose CC-Link IE Field Network, with its flexible wiring. This module can be used as the CC-Link IE Field's master station^*1 while retaining the simple motion module's functions. This realizes flexible networking supporting connection to various devices such as GOT(HMI), remote I/O, inverter, etc.

*1: QD77GF4, QD77GF8, QD77GF16 master station transmission style can use the line type or star type. Up to 104 slave devices can be connected to one network.

*2: The setting and diagnosis function using GX Works2 is disabled.

QD77GF4

QD77GF8

QD77GF16

Maximum number of control axes

4-axes

8-axes

16-axes

Servo amplifier connection method

CC-Link IE Field Network

Maximum distance between stations

100 m

Control system

PTP (Point to Point) control, path control (both linear and arc can be set), speed control, speed/position switching control, position/speed switching control, speed-torque control, synchronous control, electronic cam control

Starting time

1-axis linear control

Operation cycle	Starting time
0.88 ms	1.77 ms
1.77 ms	3.55 ms
3.55 ms	7.11 ms

1-axis speed control

2-axis linear interpolation control

2-axis circular interpolation control

2-axis speed control

3-axis linear interpolation control

3-axis speed control

4-axis linear interpolation control

4-axis speed control

hsc index 01

●Simple motion module SSCNET Ⅲ/H connection type
QD77MS2
QD77MS4
QD77MS16

The SSCNET Ⅲ/H connection reduces wiring, enables connections of up to 100 m between stations, and easily supports absolute position settings. The upper limit LS, lower limit LS, and near-point dog signals can be input from the servo amplifier, thus greatly reducing wiring. In addition to positioning control and speed control, processes such as synchronous control and electronic cam control can be performed.

High compatibility with conventional models, projects and sequence programs for the positioning module (QD75MH) can be used easily in the simple motion module (QD77MS) projects.

		QD77MS2	QD77MS4	QD77MS16
Maximum number of control axes		2-axes	4-axes	16-axes
Servo amplifier connection method		SSCNET Ⅲ/H
Maximum distance between stations		100 m
Control system		PTP (Point to Point) control, path control (both linear and arc can be set), speed control, speed/position switching control, position/speed switching control, speed-torque control (press-fit control), synchronous control, electronic cam control, torque control, tightening & press-fit control
Starting time	1-axis linear control	0.88 ms	0.88 ms	1.77 ms
	1-axis speed control
	2-axis linear interpolation control
	2-axis circular interpolation control
	2-axis speed control
	3-axis linear interpolation control	—
	3-axis speed control
	4-axis linear interpolation control
	4-axis speed control

Lineup

Number of axes	CC-Link IE Field	SSCNET Ⅲ/H
2	—	QD77MS2
4	QD77GF4	QD77MS4
8	QD77GF8	—
16	QD77GF16	QD77MS16

High-speed counter, Pulse input

A selection of high-speed counter modules and pulse counter module for accuracy intensive, high resolution control applications is available.

Pulse input modules capable of high-speed counting

positioning index 01

●High-speed counter module Standard type QD62 QD62E QD62D

●High-speed counter module
Multi-channel high-speed counter module QD63P6

●High-speed counter module
4 Mpps compatible high-speed counter module QD64D2

●High-speed counter module
Multi-function counter/timer module QD65PD2

Inputs may be connected to a variety of devices for positioning control, precision measurement, etc. The maximum counting speed may be adjusted via parameter (excluding QD64D2) for more reliable counting at lower frequencies.

External coincidence output (QD64D2 includes 2 per channel): Select coincidence output, continuous comparison (QD64D2 only), or the coincidence detection interrupt function for flexible high-speed external device control.
Many functions are available to satisfy application requirements including the coincidence output test function (QD64D2 only), latch counter function (excluding QD63P6), and preset function.
Calculate pulses at speeds up to 8 Mpps (4 multiples of 2 phases). Perform precise position tracking using a high-resolution encoder for demanding applications such as semiconductor and LCD manufacturing. (QD65PD2)

Model		QD62 (DC input sinking output type)	QD62E (DC input sourcing output type)	QD62D (differential input sinking output type)
Number of channels		2 channels
Count input signal	Phase	1-phase input, 2-phase input, CW/CCW
	Signal level	5/12/24 V DC 2...5 mA		EIA Standard RS-422-A Differential line driver level (AM26LS31 [manufactured by Texas Instruments] or equivalent)
	Pulse input	1-phase pulse input (x1, x2), CW/CCW, 2-phase (x1, x2, x4)
Counting speed (max.)		200 kpps		500 kpps
Function		·Linear counter function ·Ring counter function ·Coincidence output function ·Preset function ·Latch counter function ·Count disable function ·Sampling counter function ·Periodic pulse counter function

Model		QD63P6 (DC input)	QD64D2 (DC input sinking output type)	QD65PD2 (DC/Differential input, external output terminals)
Number of channels		6 channels	2 channels	2 channels
Count input signal	Phase	1-phase input, 2-phase input, CW/CCW
	Signal level	5 V DC 6.4...11.5 mA	EIA Standard RS-422-A, differential line driver level (AM26LS31 (manufactured by Texas Instruments Incorporated) or equivalent)	[Differential input] EIA Standards RS-422-A, differential line driver level (AM26LS31 [manufactured by Texas Instruments] or equivalent) [DC input] 5/12/24 V DC, 7...10 mA
	Pulse input	1-phase pulse input (x1, x2), CW/CCW, 2-phase (x1, x2, x4)
Counting speed (max.)		200 kpps	4 Mpps	[Differential input]···8 Mpps [DC input]···200 kpps
Function		·Linear counter function ·Ring counter function ·Coincidence detection function ·Preset function ·Periodic pulse counter function	·Linear counter function ·Ring counter function ·Coincidence detection function ·Continuous comparison function ·Preset function ·Latch counter function	·Linear counter function ·Ring counter function ·Coincidence output function ·Cam switch function ·Preset/replace function ·Latch counter function ·Count disable function ·Sampling counter function ·Periodic pulse counter function ·Count disable/preset/replace function ·Latch counter/preset/replace function ·Internal clock function ·Frequency measurement function ·Rotation speed measurement function ·Pulse measurement function ·PWM output function ·General input function ·General output function

positioning index 02

Perform extremely accurate position tracking!
Counting speed up to 8 Mpps (4 multiples of 2 phases)

Multiple functions designed for ease of use! Pulse measurement function
With a resolution of 100 ns, it is possible to perform highly accurate pulse measurement. PWM output function
Precisely control PWM output up to 200 kHz. With a resolution of 0.1 µs, superfine control of the duty cycle is possible.

Cam switch function
Configure up to 16 cam settings and use up to 8 dedicated outputs. The cam switch function enables highly accurate timing control.
Perform sophisticated control using coincidence detection! The coincidence output function allows complex applications to be supported. Depending on the situation, either the cam switch function or the coincidence output function can be used.

Channel isolated pulse input

●Channel isolated pulse input module QD60P8-G

This module is appropriate for the measurement of input pulse counts (related to speed, revolution, instantaneous flow rate, etc.) and the measurement of quantities (length, cumulative flow, and so forth). The QD60P8-G operates on a 10 ms control cycle, thus the minimum value refresh time is 10 ms. The count cycle setting can be changed to the desired time for cumulative count values and moving average pulse counts (sampling pulse counts).

Model		QD60P8-G
Number of channels		8 channels
Count input signal	Phase	1-phase input
	Signal level	5 V DC/12...24 V DC, ≥ 4 mA
	Pulse input	1-phase pulse input
Counting speed (max.)		30 k/10 k/1 k/100/50/10/1/0.1 pps

Lineup

Number of channels		Maximum counting speed	Channel isolated	Input specifications
Number of channels		Maximum counting speed	Channel isolated	5 V DC	12 V DC	24 V DC	Differential drive output
2	2-phase input	200 kpps	—	QD62 QD62E QD65PD2			—
		500 kpps		—	—	—	QD62D
		4 Mpps		—	—	—	QD64D2
		8 Mpps		—	—	—	QD65PD2
6	2-phase input	200 kpps	—	QD63P6	—	—	—
8	1-phase input	30 kpps	●	QD60P8-G			—

Seamless communication between upper-level information systems and lower-level field systems; scalable to fit any application size

Enhanced information communication by networking is the essential requirement in the automation industry. The MELSEC-Q Series provides an open and seamless network environment integrating the following different level of automation networks: CC-Link IE; high-speed and large capacity Ethernet-based integrated open network that connects shop floor and IT system as the core of e-F@ctory, CC-Link; SEMI certified global standard network originating from Japan and Asia, CC-Link/LT; wire-saving sensor level network inherited CC-Link design concept, and AnyWire; sensor level distributed control network.

Network Configurations

Seamless communication

Seamless communication

Seamless data communication through Ethernet, CC-Link IE, and CC-Link allow easy access to information, no matter where it resides on the network. Through this technology, it is possible to "drill down" from the Enterprise or IT layer through multiple networks accessing programming controllers using GX Works2 programming or other related software.
In addition, many devices supporting SLMP^*1 such as vision sensors and RFID controllers may be connected to the CC-Link IE.

*1: SLMP (SeamLess Message Protocol) is a protocol advocated by the CC-Link Partner Association.

CC-Link IE Control is a high-reliability distributed control network designed to handle very large data communications (128K word) over a high-speed (1 Gbps) dual loop optical cable topology.

*: Compatible modules: QJ71GP21-SX, QJ71GP21S-SX

CC-Link IE Field is an all-round versatile gigabit Ethernet based network integrating controller, I/O control, safety control, and motion control in a flexible wiring topology supporting star, ring, and line configurations.

*: Compatible modules: QJ71GF11-T2, QS0J71GF11-T2 (safety control), QD77GF4, QD77GF8, QD77GF16 (motion control)

CC-Link IE Field Network Basic realizes easier network integration, as its cyclic communications stack is software-based, without requiring a dedicated ASIC helping to reduce implementation costs for device partners. CC-Link IE Field Network Basic, which is a part of CC-Link IE, realizes easier connection of Ethernet devices.

*: Compatible modules: QnUDVCPU, QnUDPVCPU

CC-Link is a high-speed and high-reliable deterministic I/O control network which realizes reduced wiring whilst offering multi-vendor compatible products. This open field network is a global standard originating from Japan and Asia.

*: Compatible module: QJ61BT11N

CC-Link Safety is a safety field network that prevents risks on the shop floor.
This realizes a highly-reliable and a high-speed communication with less wiring.

*: Compatible modules: QS0J61BT12

CC-Link/LT is a wire-saving sensor level network which is designed for use in panels between simple discrete devices. Its wiring system is based on reducing incorrect wiring and is based on CC-Link realizing high-speed and robust noise resistance features.

*: Compatible module: QJ61CL12

AnyWireASLINK makes it possible to centrally monitor (visibility) the state of all sensors from the programmable controller, by that improving productivity and reducing operation steps.

*: Modules supporting AnyWireASLINK: QJ51AW12AL, NZ2AW1C2AL

SSCNET Ⅲ/H is a dedicated high-speed, high-performance, and highly reliable servo system control network which offers flexible long distance wiring capabilities based on optical fiber cable topology.

*: Compatible modules: QD77MS2, QD77MS4, QD77MS16

This network supports the communication protocol standard BACnet^® client function. This network is mainly used to monitor and control airconditioning, lighting and fire detection, etc. in building automation system applications.

*: Compatible modules: QnUDVCPU, QJ71E71-100 (client only)

Q-Series is now supporting the MODBUS^® protocol network, realizing easy communication, with various MODBUS^® slave devices compatible with Ethernet MODBUS^®/TCP or RS-232/422/485 serial communication.

*: Module supporting MODBUS^®/TCP : QJ71MT91 (master/slave functions), QnUDVCPU, QJ71E71-100 (master only)

*: Modules supporting MODBUS^®: QJ71MB91 (master/slave functions), QJ71C24N (-R2/R4) (master only)

Network	Enterprise level network	Control level network	Device level network			Sensor level network
Network	Information communication	Controller distributed control	I/O control	Safety control	Motion control	Control
Ethernet	●
CC-Link IE Control		●
CC-Link IE Field		●	●	●	●
CC-Link IE Field Network Basic			●
CC-Link			●
CC-Link Safety				●
CC-Link/LT						●
AnyWireASLINK						●
SSCNET Ⅲ/H					●
BACnet^®	●
MODBUS^®/TCP		●
MODBUS^®			●

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Universal Model QCPU

Lineup

Input modules, Interrupt module

Output modules

Analog I/O

Isolated analog modules suitable for process control

High conversion speed analog modules

Lineup

Simple motion

Advanced control but simple use as the positioning module

Lineup

High-speed counter, Pulse input

Pulse input modules capable of high-speed counting

Channel isolated pulse input

Lineup

Seamless communication between upper-level information systems and lower-level field systems; scalable to fit any application size

Network Configurations