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Mitsubishi Electric QD70D4 User Manual

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  • Page 3: Safety Instructions

    SAFETY INSTRUCTIONS (Always read these instructions before using this equipment.) Before using this product, please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly. The instructions given in this manual are concerned with this product. For safety precautions for programmable controller systems, refer to the user’s manual of the CPU module used.
  • Page 4 [MOUNTING INSTRUCTIONS] CAUTION • Use the programmable controller under the environment specified in the User’s Manual of the CPU used. Using the programmable controller outside the general specification range environment could lead to electric shocks, fires, malfunctioning, product damage or deterioration. •...
  • Page 5 [STARTUP/MAINTENANCE INSTRUCTIONS] CAUTION • Never disassemble or modify the module. Failure to observe this could lead to trouble, malfunctioning, injuries or fires. • Before installing or removing the module, be sure to shut off all phases of the external power supply used in the system.

  • Page 6: Revisions

    This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

  • Page 7: Table Of Contents

    INTRODUCTION Thank you for purchasing the Mitsubishi programmable controller MELSEC-Q series. Always read through this manual, and fully comprehend the functions and performance of the Q series programmable controller before starting use to ensure correct usage of this product. CONTENTS SAFETY INSTRUCTIONS..........................A- 1 REVISIONS ..............................A- 4 INTRODUCTION............................A- 5...
  • Page 8 4 DATA USED FOR POSITIONING CONTROL(LIST OF BUFFER MEMORY ADDRESSES) 4- 1 to 4- 38 4.1 Type of data ............................. 4- 1 4.1.1 Parameters and data required for control..................4- 1 4.1.2 Setting items for parameters......................4- 3 4.1.3 Setting items for OPR data ....................... 4- 4 4.1.4 Setting items for JOG data........................
  • Page 9 7.3 Creating a program ..........................7- 7 7.3.1 General configuration of program..................... 7- 7 7.3.2 Positioning control operation program....................7- 8 7.4 Positioning control program examples ....................7- 10 7.5 Program details ............................7- 16 7.5.1 Initialization program ........................7- 16 7.5.2 Start method setting program ......................
  • Page 10 Appendix 1 External dimension drawing ....................App- 1 Appendix 2 Operation timing and processing time in each control ............App- 2 Appendix 3 Connection examples with servo amplifiers manufactured by MITSUBISHI Electric Corporation ..............................App- 6 Appendix 3.1 Connection example of QD70D and MR-J3- A.............App- 6 Appendix 3.2 Connection example of QD70D and MR-J2/J2S- A .............App- 7...

  • Page 11: Using This Manual

    Using This Manual The symbols used in this manual are shown below..Symbol indicating positioning parameter item. OPR..Symbol indicating OPR data item. JOG..Symbol indicating JOG data item..Symbol indicating positioning data item..Symbol indicating monitor data item..

  • Page 12: Generic Terms And Abbreviations

    Programmable controller Generic term for programmable controller CPU on which QD70D can be mounted. QD70D Generic term for type QD70D positioning module QD70D4/QD70D8. The module type is described to indicate a specific module. QD70P Generic term for type QD70P positioning module QD70P4/QD70P8.

  • Page 13: Section 1 Product Specifications And Handling

    SECTION 1 PRODUCT SPECIFICATIONS AND HANDLING Section 1 is configured for the following purposes (1) to (5). (1) To understand the outline of positioning control, and the QD70D specifications and functions (2) To carry out actual work such as installation and wiring (3) To set parameters and data required for positioning control (4) To create a sequence program required for positioning control Read "Section 2"...
  • Page 14 MEMO...

  • Page 15: Product Outline

    1 PRODUCT OUTLINE MELSEC-Q CHAPTER 1 PRODUCT OUTLINE This User's Manual provides the specifications, handling, programming methods and other information of the QD70D positioning module used with the MELSEC-Q series CPU module. When diverting any of the program examples introduced in this manual to the actual system, fully verify that there are no problems in the controllability of the target system.
  • Page 16 1 PRODUCT OUTLINE MELSEC-Q (3) Fast start processing Processing at a position control start has been speeded up to shorten the start processing time of one axis to 0.1ms. At a simultaneous start of multiple axes (the positioning start signals are turned ON at the same time within one scan), there are no starting delays between the axes.

  • Page 17: Mechanism Of Positioning Control

    1 PRODUCT OUTLINE MELSEC-Q 1.1.2 Mechanism of positioning control Positioning control using the QD70D is exercised using "pulse signals". (The QD70D is a module that outputs pulses.) In a positioning control system using the QD70D, a variety of software and external devices are used to play their roles as shown below.
  • Page 18 1 PRODUCT OUTLINE MELSEC-Q The principle of "position control" and "speed control" operation is shown below. Position control The total No. of pulses required to move the designated distance is obtained in the following manner. Total No. of pulses No. of pulses Designated distance required to move required for motor to...

  • Page 19: Outline Design Of Positioning Control System

    1 PRODUCT OUTLINE MELSEC-Q 1.1.3 Outline design of positioning control system The outline of the positioning control system operation and design, using the QD70D, is shown below. (1) Positioning control system using QD70D Programmable controller Positioning module Drive unit Servomotor QD70D Forward run pulse train...
  • Page 20 1 PRODUCT OUTLINE MELSEC-Q (b) Pulse train output from the QD70D 1) As shown in Fig. 1.3, the pulse frequency increases as the servomotor accelerates. The pulses are sparse when the servomotor starts and more frequent when the servomotor speed comes close to the target speed.
  • Page 21 1 PRODUCT OUTLINE MELSEC-Q (2) Movement amount and speed in a system using worm gears A : Movement amount per pulse (mm/pulse) Vs : Command pulse frequency (pulse/s) n : Pulse encoder resolution (pulse/rev) Workpiece L : Worm gear lead (mm/rev) Pulse encoder Worm pear (PLG)
  • Page 22 1 PRODUCT OUTLINE MELSEC-Q MEMO 1 - 8 1 - 8...

  • Page 23: Communicating Signals Between Qd70D And Each Module

    1 PRODUCT OUTLINE MELSEC-Q 1.1.4 Communicating signals between QD70D and each module The outline of the signal communication between the QD70D (positioning module) and programmable controller CPU, peripheral device (GX Configurator-PT) and drive unit, etc., is shown below. (A peripheral device communicates with the QD70D via the programmable controller CPU to which it is connected) Refer to Chapter 3 for details of the I/O signals.
  • Page 24 1 PRODUCT OUTLINE MELSEC-Q QD70D Programmable controller CPU The QD70D and programmable controller CPU communicate the following data via the base unit. Direction QD70D Programmable controller CPU QD70D Communication Programmable controller CPU Signal indication QD70D state. Signal related to commands. •...

  • Page 25: Positioning Control

    1 PRODUCT OUTLINE MELSEC-Q 1.2 Positioning control 1.2.1 Outline of starting The outline for starting each control is shown with the following flowchart. * It is assumed that each module is installed, and the required system configuration, etc., has been prepared. Flow of starting Installation and connection of module Preparation...
  • Page 26 1 PRODUCT OUTLINE MELSEC-Q MEMO 1 - 12 1 - 12...

  • Page 27: Outline Of Stopping

    1 PRODUCT OUTLINE MELSEC-Q 1.2.2 Outline of stopping The possible causes of a control stop are as follows. (1) Control ended normally (2) An error occurred in the programmable controller CPU (3) An error occurred in the QD70D (4) The axis stop signal from the programmable controller CPU turned ON Stop processings performed in the above cases are outlined in the following table.
  • Page 28 1 PRODUCT OUTLINE MELSEC-Q Pulse output operation at stop When the axis stops due to stop cause occurrence, if there is the pulse being output when the set deceleration stop time has elapsed from the start of deceleration stop, the output as much as 1 pulse will be done. The following shows the pulse output operation at deceleration stop.
  • Page 29 1 PRODUCT OUTLINE MELSEC-Q MEMO 1 - 15 1 - 15...

  • Page 30: System Configuration

    / Retry switch signal Drive Positioning module Connection Motor unit QD70D4/QD70D8 cable Extension system REMARK *1: For the usable CPU module, refer to "Section 2.3 Applicable system". *2: For the usable base unit and power supply module, refer to the CPU Module User's Manual.

  • Page 31: Component List

    MELSEC-Q 2.2 Component list A positioning system using the QD70D consists of the following components. Product Type Remarks QD70D QD70D4 No. of control axes Positioning module QD70D8 Differential output type GX Developer SW D5C-GPPW-E For details, refer to the GX Developer Operating Manual and "CHAPTER 6 UTILITY PACKAGE (GX Configurator-PT)".

  • Page 32: Applicable Systems

    2 SYSTEM CONFIGURATION MELSEC-Q 2.3 Applicable systems This section describes applicable systems. (1) Applicable modules and base units, and No. of modules (a) When mounted with a CPU module The table below shows the CPU modules and base units applicable to the QD70D and quantities for each CPU model.
  • Page 33 2 SYSTEM CONFIGURATION MELSEC-Q Applicable CPU module Base unit No. of modules Extension base CPU type CPU model Main base unit unit Programmable Safety CPU QS001CPU controller CPU Q06CCPU-V C Controller module Up to 32 Q06CCPU-V-B : Applicable : N/A *1 Limited within the range of I/O points for the CPU module.
  • Page 34 2 SYSTEM CONFIGURATION MELSEC-Q (3) Supported software packages Relation between the system containing the QD70D and software package is shown in the following table. GX Developer is necessary when using the QD70D. Software Version GX Developer GX Configurator-PT Single CPU system Version 7 or later Q00J/Q00/Q01CPU Multiple CPU system...

  • Page 35: About Use Of The Qd70D With The Q12Prh/Q25Prhcpu

    2 SYSTEM CONFIGURATION MELSEC-Q 2.4 About Use of the QD70D with the Q12PRH/Q25PRHCPU Here, use of the QD70D with the Q12PRH/Q25PRHCPU is explained. (1) GX Configurator-PT connection GX Configurator-PT cannot be used when accessing the Q12PRH/Q25PRHCPU via an intelligent function module on an extension base unit from GX Developer. Connect a personal computer with a communication path indicated below.

  • Page 36: About Use Of The Qd70D On The Melsecnet/H Remote I/O Station

    2 SYSTEM CONFIGURATION MELSEC-Q 2.5 About Use of the QD70D on the MELSECNET/H Remote I/O Station Here, use of the QD70D on the MELSECNET/H remote I/O station is explained. (1) Number of QD70D that can be installed when the remote I/O station is used See Section 2.3 concerning the number of QD70D that can be installed when the remote I/O station is used.

  • Page 37: How To Check The Function Version And The Software Version

    2 SYSTEM CONFIGURATION MELSEC-Q 2.6 How to check the function version and the software version The function version of the QD70D and the software version of the GX Configurator-PT can be checked in the following methods. [1] Checking the function version of the QD70D (a) Method using the rated plate on the module side face Check the alphabet at the end of "SERIAL".
  • Page 38 2 SYSTEM CONFIGURATION MELSEC-Q [2] Checking the software version of the GX Configurator-PT The software version of GX Configurator- PT can be checked in GX Developer’s "Product information" screen. [Operating procedure] GX Developer [Help] [Product information] <GX Developer display screen> Software version 2 - 9 2 - 9...

  • Page 39: Specifications And Functions

    I/O signals transferred to/from the programmable controller CPU and external device. For the general specifications of the QD70D, refer to the User's Manual (hardware) of the CPU module used. 3.1 Performance specifications Model QD70D4 QD70D8 Item No. of control axes 4 axes 8 axes...

  • Page 40: List Of Functions

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.2 List of functions The following table lists the functions of the QD70D. (Read "SECTION 2 CONTROL DETAILS AND SETTING" for details of the functions.) Function name Description Reference Mechanically establishes the positioning control start point Section Machine OPR control using a near-point dog or stopper.
  • Page 41 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q With the "positioning control", whether or not to continuously execute the positioning data can be set with the "operation pattern". Outlines of the "operation patterns" are given below. Da.1 Operation pattern Description Reference When "Positioning termination" is set for the operation pattern Positioning termination of the started positioning data, only the designated positioning data will be executed, and then the positioning control will end.

  • Page 42: Specifications Of Input/Output Signal With Programmable Controller Cpu

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.3 Specifications of input/output signal with Programmable Controller CPU 3.3.1 List of input/output signals with programmable controller CPU The table below shows I/O signals of the QD70D. For the QD70D I/O assignment, the first16 points and other 32 points are reserved for free space and for intelligent function modules accordingly.
  • Page 43 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.3.2 Details of input signal (QD70D Programmable controller CPU) The ON/OFF timing and conditions of the input signals are shown below. Device Signal name Description Module READY ON: Prepared • When the Programmable controller READY signal [Yn0] turns from OFF to ON, the OFF: Not parameter and the OPR data setting range is checked.

  • Page 44: Qd70D)

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.3.3 Details of output signals (Programmable controller CPU QD70D) The ON/OFF timing and conditions of the output signals are shown below. Device No. Signal name Description Programmable controller OFF: (a) This signal notifies the QD70D that the programmable controller READY Programmable CPU is normal.

  • Page 45: Specifications Of Input/Output Interfaces With External Device

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.4 Specifications of input/output interfaces with external device 3.4.1 Electrical specifications of input/output signals Input specifications Rated input Working voltage ON voltage/ OFF voltage/ Signal name Input resistance Response time voltage/current range current current 3.5VDC or more/ 1.0VDC or less/ Ω...

  • Page 46: Signal Layout For External Device Connection Connector

    3.4.2 Signal layout for external device connection connector The specifications of the connector section, which is the input/output interface for the QD70D and external device, are shown below. The signal layout for the QD70D external device connection connector is shown. QD70D8 QD70D4 QD70D4 QD70D8 ERR. ERR.
  • Page 47 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q Pin layout Pin No. Signal name Pin No. Signal name Pin No. Signal name Pin No. Signal name PULSE R1 PULSE R2 PULSE R3 PULSE R4 PULSE F1 PULSE F2 PULSE F3 PULSE F4 PULSE R1- PULSE R2- PULSE R3- PULSE R4-...

  • Page 48: List Of Input/Output Signal Details

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.4.3 List of input/output signal details The details of each QD70D external device connection connector are shown below: Signal details Signal name Pin No. Symbol (Negative logic is selected by external I/O signal logic selection) •...
  • Page 49 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q Signal details Signal name Pin No. Symbol (Negative logic is selected by external I/O signal logic selection) • This signal is output during machine OPR control. (Example) When carry out machine OPR control with stopper 2 . Speed OPR.

  • Page 50: Input/Output Interface Internal Circuit

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.4.4 Input/output interface internal circuit Shows summary image of the internal circuit of the interface for connection to external devices of the QD70D. Input/output External wiring Pin No. Internal circuit Signal name class 6.8k 1/3W Near-point dog signal 1/16W 6.8k...
  • Page 51 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q (1) Input signal ON/OFF status (a) Input signal ON/OFF status The input signal ON/OFF status is defied by the external wiring and logic setting. This is explained below with the example of near-point dog signal (DOG). (The other input signals also perform the same operations as the near-point dog signal (DOG).) ON/OFF status of near-point dog signal...
  • Page 52 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q (2) Output signal ON/OFF status In the QD70D, the logic setting for the output signal ON/OFF status is defined as described below. Before connecting the QD70D to a servo amplifier, confirm the input specifications of the servo amplifier and perform the logical setting on the QD70D.

  • Page 53: Data Used For Positioning Control(List Of Buffer Memory Addresses)

    4 DATA USED FOR POSITIONING CONTROL MELSEC-Q CHAPTER 4 DATA USED FOR POSITIONING CONTROL This chapter explains the specifications of the data to be set to the QD70D. 4.1 Type of data 4.1.1 Parameters and data required for control The parameters and data required to carry out control with the QD70D include the "setting data", "monitor data"...
  • Page 54 4 DATA USED FOR POSITIONING CONTROL MELSEC-Q Monitor data Data related to the operations of the running axes, e.g. the current positions Axis monitor data and speeds, are monitored. (Storage destination: QD70D buffer memory) ( Md. 1 to Md. 9 ) The error status and warning status of the QD70 are monitored.

  • Page 55: Setting Items For Parameters

    4 DATA USED FOR POSITIONING CONTROL MELSEC-Q 4.1.2 Setting items for parameters The table below lists items set to the positioning parameters. Setting of parameters is similarly done for individual axes for all controls achieved by the QD70D. For details of controls, refer to SECTION 2 "CONTROL DETAILS AND SETTING". For details of setting items, refer to "4.2 List of parameters".

  • Page 56: Setting Items For Opr Data

    4 DATA USED FOR POSITIONING CONTROL MELSEC-Q 4.1.3 Setting items for OPR data When carrying out "OPR control", the "OPR data" must be set. The setting items for the "OPR data" are shown below. The "OPR data" are set commonly for each axis. Refer to "Chapter 8 OPR CONTROL"...

  • Page 57: Setting Items For Jog Data

    4 DATA USED FOR POSITIONING CONTROL MELSEC-Q 4.1.4 Setting items for JOG data The "JOG data" must be set to perform "JOG operation". The following are the setting items of the "JOG data". The "JOG data" are set commonly for each axis. Refer to "CHAPTER 10 JOG OPERATION"...

  • Page 58: Setting Items For Positioning Data

    4 DATA USED FOR POSITIONING CONTROL MELSEC-Q 4.1.5 Setting items for positioning data Positioning data must be set for carrying out any "positioning control". The table below lists the items to be set for producing the positioning data. 1 to 10 positioning data items can be set for each axis. For details of the positioning controls, refer to "Chapter 9 POSITIONING CONTROL".

  • Page 59: Type And Roles Of Monitor Data

    4 DATA USED FOR POSITIONING CONTROL MELSEC-Q 4.1.6 Type and roles of monitor data The monitor data area in the buffer memory stores data relating to the control state of the positioning control system, which are monitored as required while the positioning system is operating.

  • Page 60: Type And Roles Of Control Data

    4 DATA USED FOR POSITIONING CONTROL MELSEC-Q 4.1.7 Type and roles of control data Operation of the positioning control system is achieved through the execution of necessary controls. (Data required for controls are given through the default values when the power is switched ON, which can be modified as required by the sequence program.) Controls are performed over system data or machine operation.

  • Page 61: List Of Parameters

    4 DATA USED FOR POSITIONING CONTROL MELSEC-Q 4.2 List of parameters Setting value buffer memory address Item Setting value, setting range Default value Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Pr. 1 Software stroke limit upper 2147483647 limit value -2147483648 to...
  • Page 62 4 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr. 1 Software stroke limit upper limit value Set the upper limit for the machine's movement range. Pr. 2 Software stroke limit lower limit value Set the lower limit for the machine's movement range. Software stroke Software stroke limit lower limit...
  • Page 63 4 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr. 6 Bias speed at start Set the minimum starting speed for OPR control, positioning control and JOG operation. When using a stepping motor or like, set this speed to start the motor smoothly.
  • Page 64 4 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr. 9 PULSE/SIGN method selection setup/hold time Set the setup/hold time when PULSE/SIGN is selected in the pulse output mode to output inverted pulses. 0: 10μs 1: 100μs 2: 1ms 3: 2ms The following is an example for negative logic. PULSE Set in Set in...
  • Page 65 4 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr. 10 Deceleration stop method Set how to stop the operation when an axis stop signal [Yn10 to Yn17] is input during position control including the one in the speed-position switching control. 0: Position match stop ..Deceleration starts when the axis stop signal is input, and the axis stops immediately when the address preset to the positioning data in execution is reached.
  • Page 66 4 DATA USED FOR POSITIONING CONTROL MELSEC-Q Precautions In the following cases, the operational behavior after the axis stop signal input is different from those shown in Fig. 4.4. (1) Deceleration stop when the axis stop signal is input during acceleration/deceleration Deceleration stop is an operation in which "...
  • Page 67 4 DATA USED FOR POSITIONING CONTROL MELSEC-Q (2) Deceleration stop when an axis stop signal is input during S-curve acceleration/deceleration When an axis stop signal is input during S-curve acceleration/deceleration, calculation is performed for S-curve deceleration from the speed at the time to "...
  • Page 68 4 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr. 11 Acceleration / Deceleration System Selection Specify Trapezoidal or S-curve acceleration/deceleration. For details, refer to "Section 11.6 Acceleration/deceleration processing function". 0: Trapezoidal acceleration/deceleration The acceleration and deceleration are liner. 1: S-curve acceleration/deceleration The acceleration and deceleration follow a Sin curve.
  • Page 69 4 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr. 12 Pulse Output Method (Stop Signal Enabled) For the case where an axis is stopped due to a stop factor, select whether to continue or stop outputting the current pulse at the time the specified deceleration stop time is elapsed.
  • Page 70 4 DATA USED FOR POSITIONING CONTROL MELSEC-Q *1: "Stop cause" indicates any of the following. • Error occurred in the programmable controller CPU or QD70D. • JOG start signal (Y(n+1)8 to Y(n+1)F) has turned OFF during JOG operation. • Axis stop signal (Y(n+1)0 to Y(n+1)7) has turned ON. •...

  • Page 71: List Of Opr Data

    4 DATA USED FOR POSITIONING CONTROL MELSEC-Q 4.3 List of OPR data Setting value, setting Setting value buffer memory address Item Default value range Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 0: Near-point dog method 1: Stopper 1...
  • Page 72 4 DATA USED FOR POSITIONING CONTROL MELSEC-Q OPR. 1 OPR method Set the "OPR method" for carrying out machine OPR control. 0 : Near-point dog method..After decelerating at the near-point dog ON, stop at the zero signal and complete the machine OPR control.
  • Page 73 4 DATA USED FOR POSITIONING CONTROL MELSEC-Q OPR method 0 : Near-point dog method (1) Start machine OPR control. (Start movement at the " OPR. 4 OPR speed" in the OPR. 4 OPR speed " OPR. 2 OPR direction".) OPR. 5 Creep speed (2) Detect the near-point dog ON, and start deceleration.
  • Page 74 4 DATA USED FOR POSITIONING CONTROL MELSEC-Q 3 : Stopper 3 (1) Start machine OPR control. (Start movement at the " OPR. 5 Creep speed" in the " OPR. 2 OPR direction". (At this time, a torque limit is OPR. 5 Creep speed needed for the motor.
  • Page 75 4 DATA USED FOR POSITIONING CONTROL MELSEC-Q OPR. 2 OPR direction Set the direction to start movement when starting machine OPR control. 0: Forward direction Moves in the direction that the address increments. (Arrow 2)) 1: Reverse direction Moves in the direction that the address decrements. (Arrow 1)) Normally, the OP is set near the lower limit or the upper limit, so "...
  • Page 76 4 DATA USED FOR POSITIONING CONTROL MELSEC-Q OPR. 4 OPR speed Set the speed for OPR control. Note) • Set the "OPR speed" to less than " Pr. 5 Speed limit value". If the "speed If the "speed limit value" is exceeded, the "Setting range outside OPR speed"...
  • Page 77 4 DATA USED FOR POSITIONING CONTROL MELSEC-Q OPR. 6 ACC/DEC time at OPR Set the time taken under machine OPR control to reach " OPR. 4 OPR speed" from " Pr. 6 Bias speed at start" or to reach " OPR. 5 Creep speed" from "...
  • Page 78 4 DATA USED FOR POSITIONING CONTROL MELSEC-Q OPR. 9 OPR dwell time Set the OPR dwell time in the following two cases: (a) When performing machine zero return by stopper 1 Set the time from when the near-point dog turns ON until machine OPR control is completed.

  • Page 79: List Of Jog Data

    4 DATA USED FOR POSITIONING CONTROL MELSEC-Q 4.4 List of JOG data Setting value, setting Setting value buffer memory address Item Default value range Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 JOG.

  • Page 80: List Of Positioning Data

    4 DATA USED FOR POSITIONING CONTROL MELSEC-Q 4.5 List of positioning data Before explaining the positioning data setting items Da. 1 to Da. 7 , the configuration of the positioning data will be shown below. The positioning data stored in the QD70D buffer memory has the following type of configuration.
  • Page 81 4 DATA USED FOR POSITIONING CONTROL MELSEC-Q Positioning data No. Positioning data No. 1290 1390 1280 1380 1220 1320 1210 1310 Da. 1 Operation pattern 1200 Da. 1 Operation pattern 1300 1291 1391 1281 1381 1221 1321 1211 1311 Da. 2 Control method 1201 1301 Da.
  • Page 82 4 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value, Setting value buffer memory address Item Default value setting range Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 0: Positioning termination 1: Continuous Da.
  • Page 83 4 DATA USED FOR POSITIONING CONTROL MELSEC-Q Da. 2 Control method Set the "control method" for positioning control. 0: No control method 1: 1-axis linear control (ABS) 2: 1-axis linear control (INC) 3: Speed.Position Ctrl. (Forward) ..Speed-position switching control (forward run) 4: Speed.Position Ctrl.
  • Page 84 4 DATA USED FOR POSITIONING CONTROL MELSEC-Q [" Da. 1 Operation pattern" is "2: Continuous path control"] Da. 3 ACC/DEC time : Set the time taken to reach " Da. 5 Command speed" set in the "positioning data to be executed next" from "...
  • Page 85 4 DATA USED FOR POSITIONING CONTROL MELSEC-Q (2) 1-axis linear control (INC) Set a signed movement amount as the setting value (movement amount) for 1- axis linear control (INC). When the movement amount is positive: The axis moves in the positive direction (address increasing direction).

  • Page 86: List Of Monitor Data

    Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 • The current position using the position when OPR is completed as the base is stored. Update timing: 1ms for QD70D4 2ms for QD70D8 • On completion of machine OPR control, the OP address is stored.
  • Page 87 4 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default Storage buffer memory address Item Storage details value Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 At axis warning occurrence, the warning code corresponding to the warning definition is stored. •...

  • Page 88: Module Information Monitor Data

    Axis 5 error Axis 6 error Axis 7 error Axis 8 error (For the QD70D4, b4 to b7 are "0" fixed.) At warning occurrence, the bit corresponding to the warning occurrence axis turns ON. 0: Normal (OFF) 1: Warning (ON) When "...

  • Page 89: List Of Control Data

    4 DATA USED FOR POSITIONING CONTROL MELSEC-Q 4.7 List of control data 4.7.1 Axis control data Default Setting buffer memory address Item Setting details value Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 By setting "1", the following operation is performed.
  • Page 90 4 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default Setting buffer memory address Item Setting details value Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Set "1" to request speed change processing after "...

  • Page 91: Setup And Procedures Before Operation

    5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q CHAPTER 5 SETUP AND PROCEDURES BEFORE OPERATION This chapter describes the procedure up to the operation of the QD70D and the part identification nomenclature and setting and wiring methods of the QD70D. 5.1 Handling precautions This section provides the precautions for handling the QD70D.
  • Page 92 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q (1) Main body • The main body case is made of plastic. Take care not to drop or apply strong impacts onto the case. • Do not remove the QD70D PCB from the case. Failure to observe this could lead to faults.

  • Page 93: Procedures Before Operation

    5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q 5.2 Procedures before operation This section gives the procedure up to the operation of the QD70D. Start Module installation Install the QD70D in the specified slot. Wiring Wire the external device to the QD70D. (Refer to Section 5.4.) Intelligent function module switch setting Make setting using GX Developer.

  • Page 94: Part Identification Nomenclature

    (1) The following are the part names of the QD70D. 1) RUN indicator LED, ERR. indicator LED QD70D8 2) Axis display LED ERR. (AX1 to AX4 only for the QD70D4) QD70D8 3) External device connection connector (40 pins) *For details, refer to "Section 3.4.2 Signal layout for external device connection connector"...
  • Page 95 ERR. ERR. The symbols in the Display column indicate the following statuses: : Turns OFF. : Illuminates. : Flashes. (3) The interface of each QD70D is as shown below. QD70D4 QD70D8 QD70D4 QD70D8 ERR. ERR. QD70D4 QD70D8...
  • Page 96 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q External device connection connector The connectors for use with the QD70D should be purchased separately by the user. The connector types and pressure displacement tool are listed below. (a) Connector types Type Model name Soldering type, straight out A6CON1 Pressure displacement type, straight out...

  • Page 97: Wiring

    5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q 5.4 Wiring This section explains how to wire the drive unit and mechanical system inputs to the QD70D. The following are the precautions for wiring the QD70D. Read these precautions together with "Section 5.1 Handling precautions" to ensure work safety. 5.4.1 Wiring precautions (1) Always confirm the terminal layout before connecting the wires to the QD70D.
  • Page 98 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q [Wiring example using shielded cables] The following are the wiring examples for noise reduction when the A6CON1 connector is used. Connector Connector (A6CON1) Shielded To external cable devices Drive unit To external device To drive unit Use the shortest possible length to To QD70D...
  • Page 99 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q Assembling of connector (A6CON1) Wrap the coated parts with a heat contractile tube. 5 - 9 5 - 9...
  • Page 100 (10) To comply with the EMC Directive and Low-Voltage Directive, always ground the QD70D to the control box using the shielded cables and AD75CK cable clamping (Mitsubishi Electric make). Inside control box 20cm (7.88 inch) to 30cm (11.82 inch)
  • Page 101 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q [Wiring examples using duct (improper example and improved example)] Wiring duct Relay Relay Drive Drive Relay unit unit Control panel The deive units are placed Programmable near the noise source. controller CPU The connection cable between Noise source the QD70D and drive units is (Power system,...

  • Page 102: Confirming The Wiring

    5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q 5.5 Confirming the wiring 5.5.1 Confirmation items at completion of wiring Check the following points when completed with the QD70D installation and wiring. • Is the module correctly wired? ......."Connection confirmation" By making "connection conformation", you can check whether the "QD70D recognizes the external I/O signals such as the near-point dog and speed-position switching signals", for example.
  • Page 103 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q (2) Method using GX Configurator-PT Monitor the external I/O signal states on the "Monitor/Test screen". (For details, refer to "Section 6.6 Monitor/test".) (Example) Checking the external I/O signals of Axis 1 (1 Axis OPR Monitor) <GX Configurator-PT display screen>...

  • Page 104: Switch Setting For Intelligent Function Module

    5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q 5.6 Switch setting for intelligent function module By making the intelligent function module switch setting, the QD70D allows you to set the pulse output mode, external I/O signal logic and rotation direction. However, setting the logic of the speed-position switching signal (CHG)/Retry switch signal (RTRY) is not allowed.
  • Page 105 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q [Switch 1] Pulse output mode Set the pulse output mode that matches the drive unit used. Use "Switch 2" to change between the positive logic and negative logic of the pulse. The following are pulse output mode examples. (1) CW/CCW mode During forward run, the forward run feed pulse (CW) will be output.
  • Page 106 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q (3) A phase/B phase mode Forward run and reverse run are controlled with the phase difference of the A phase and B phase. Positive logic Negative logic For multiple of 1 setting For multiple of 1 setting Forward run Reverse run Forward run...
  • Page 107 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q [Switch 3] Zero signal input logic selection, rotation direction setting <Zero signal input logic selection> Set the zero signal (PG0) input logic according to the externally connected device. <Rotation direction setting> Set the relation of the motor rotation direction and current value address increment/decrement.
  • Page 108 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q Operating procedure Using GX Developer, make settings starting with the QCPU PLC parameter "I/O assignment setting" screen. (a) I/O assignment setting screen Specify the following for the slot where the QD70D is mounted. Type : Select "Intelli."...

  • Page 109: Simple Reciprocating Operation

    5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q 5.7 Simple reciprocating operation Before operating the system, check the operation of the drive unit. (Make this check after making sure that the installation, wiring, intelligent function module switch setting and connection confirmation of the QD70D are normal. For details of the drive unit, refer to the manual of the drive unit used.) The following is the way to perform "simple reciprocating operation".
  • Page 110 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q 5 - 20 5 - 20...
  • Page 111 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q (4) Confirming the operation status (a) Method using GX Developer Read the following axis monitor data with the monitor function (Buffer memory batch). Buffer memory address Axis monitor data Monitor details Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Md.

  • Page 112: Utility Package (Gx Configurator-Pt)

    6 UTILITY PACKAGE (GX Configurator-PT) MELSEC-Q CHAPTER 6 UTILITY PACKAGE (GX Configurator-PT) The QD70D utility package (GX Configurator-PT) is software designed to make initial setting, auto refresh setting, monitor and others of the QD70D using dedicated screens, without being conscious of the I/O signals and buffer memory. Use the utility package with GX Developer (SW4D5C-GPPW-E or later).

  • Page 113: Installing And Uninstalling The Utility Package

    6 UTILITY PACKAGE (GX Configurator-PT) MELSEC-Q 6.2 Installing and Uninstalling the Utility Package For how to install or uninstall the utility package, refer to "Method of installing the MELSOFT Series" included in the utility package. 6.2.1 Handling precautions The following explains the precautions on using the Utility package: (1) For safety Since the utility is add-in software for GX Developer, read "Safety Precautions"...
  • Page 114 The number of parameters that can be set for one module in GX Configurator-PT is as shown below. Target module Initial setting Auto refresh setting QD70D4 12 (Fixed) 26 (Max.) QD70D8 24 (Fixed) 50 (Max.) Example) Counting the number of parameter settings in Auto refresh setting This one row is counted as one setting.

  • Page 115: Operating Environment

    6 UTILITY PACKAGE (GX Configurator-PT) MELSEC-Q 6.2.2 Operating environment This section explains the operating environment of the personal computer that runs GX Configurator-PT. Item Description Installation (Add-in) target Add-in to GX Developer Version 4 (English version) or later ® Computer Windows -based personal computer Refer to the following table "Used operating system and performance required for...
  • Page 116 6 UTILITY PACKAGE (GX Configurator-PT) MELSEC-Q Operating system and performance required for personal computer Performance required for personal computer Operating system Memory ® ® Windows Pentium 133MHz or more 32MB or more ® ® Windows Pentium 133MHz or more 32MB or more ®...

  • Page 117: Utility Package Operation

    6 UTILITY PACKAGE (GX Configurator-PT) MELSEC-Q 6.3 Utility Package Operation 6.3.1 Common utility package operations (1) Control keys Special keys that can be used for operation of the utility package and their applications are shown in the table below. Application Cancels the current entry in a cell.
  • Page 118 6 UTILITY PACKAGE (GX Configurator-PT) MELSEC-Q 3) From GX Developer, select: [Online] [Read from PLC] / [Write to PLC] "Intelligent function module parameters" Alternatively, from the intelligent function module selection screen of the utility, select: [Online] [Read from PLC] / [Write to PLC] <Text files>...

  • Page 119: Operation Overview

    6 UTILITY PACKAGE (GX Configurator-PT) MELSEC-Q 6.3.2 Operation overview GX Developer screen [Tools] - [Intelligent function utility] - [Start] Screen for selecting a target intelligent function module Refer to Section 6. 3. 3 Enter "Start I/O No.", and select "Module type" and "Module model name".
  • Page 120 6 UTILITY PACKAGE (GX Configurator-PT) MELSEC-Q [Online] - [Monitor/Test] Selecting monitor/test module screen Select a module to be monitored/tested. Monitor/Test Monitor/Test screen Refer to Section 6. 6 6 - 9 6 - 9...

  • Page 121: Starting The Intelligent Function Module Utility

    6 UTILITY PACKAGE (GX Configurator-PT) MELSEC-Q 6.3.3 Starting the Intelligent function module utility [Operating procedure] Intelligent function module utility is started from GX Developer. [Tools] [Intelligent function utility] [Start] [Setting screen] [Explanation of items] (1) Activation of other screens Following screens can be displayed from the intelligent function module utility screen.
  • Page 122 6 UTILITY PACKAGE (GX Configurator-PT) MELSEC-Q (3) Menu bar (a) File menu Intelligent function module parameters of the project opened by GX Developer are handled. [Open : Reads a parameter file. parameters] [Close : Closes the parameter file. If any data are modified, a parameters] dialog asking for file saving will appear.

  • Page 123: Initial Setting

    6 UTILITY PACKAGE (GX Configurator-PT) MELSEC-Q 6.4 Initial setting [Purpose] Make initial setting axis-by-axis for the QD70D to operate. The following items are data that need initial setting. • Parameters • OPR data • Positioning data This initial setting makes sequence program setting unnecessary. For more information on the setting details, refer to "CHAPTER 4 DATA USED FOR POSITIONING CONTROL".
  • Page 124 Axis #1 Parameter Setting Axis #1 OPR data Setting n indicates the axis No. Axis # n Parameter Setting QD70D4: 1 to 4 QD70D8: 1 to 8 Axis # n OPR data Setting Axis #1 Positioning Data Setting Axis #n Positioning Data Setting...

  • Page 125: Auto Refresh Setting

    6 UTILITY PACKAGE (GX Configurator-PT) MELSEC-Q 6.5 Auto refresh setting [Purpose] Configure the QD70D's buffer memory for automatic refresh. There are the following setting items as the auto refresh setting parameters. [Common to all axes] • Error status • Warning status [Axis by axis] •...
  • Page 126 Axis #1 Axis Error Code n indicates the axis No. Axis #1 Axis Warning Code Axis #1 Executing Positioning Data No. QD70D4: 1 to 4 QD70D8: 1 to 8 Axis #n Current Feed Value Axis #n Current Speed Axis #n Axis Operation Status...

  • Page 127: Monitoring/Test

    6 UTILITY PACKAGE (GX Configurator-PT) MELSEC-Q 6.6 Monitoring/Test 6.6.1 Monitoring/Test screen [Purpose] Start buffer memory monitoring/testing and I/O signal monitoring/testing from this screen. (Refer to "Section 4.6 List of monitor data" for details of monitor data.) [Operating procedure] Select monitor/test module screen "Start I/O No.
  • Page 128 Axis Warning Occurrence Axis #1 BUSY Axis #n BUSY Axis #1 Error Status n indicates the axis No. QD70D4: 1 to 4 QD70D8: 1 to 8 Axis #n Error Status Axis #1 Warning Status Axis #n Warning Status Axis #1 Monitor/test...
  • Page 129 6 UTILITY PACKAGE (GX Configurator-PT) MELSEC-Q (3) Command button Displays the current value of the item selected. Current value display (This is used to check the text that cannot be displayed in the current value field. However, in this utility package, all items can be displayed in the display fields).
  • Page 130 6 UTILITY PACKAGE (GX Configurator-PT) MELSEC-Q MEMO 6 - 19 6 - 19...

  • Page 131: Sequence Program Used For Positioning Control

    7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q CHAPTER 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL This chapter describes sequence programs of the positioning control system using the QD70D. 7.1 Precautions for creating program (1) System configuration Unless otherwise specified in this section and later, the sequence programs shown are those for the following system.
  • Page 132 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (c) When the circuit uses the "intelligent function device" for a COMPARISON command, change the command to a FROM command and a COMPARISON command. FROMP D102 Data read out D102 (d) When the circuit uses the "intelligent function device" for a WAND command, change the command to a FROM command and a WAND command.

  • Page 133: List Of Devices Used

    7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 7.2 List of devices used In "Section 7.4 Positioning control program examples", the used devices are assigned as indicated in the following table. The I/O numbers for QD70D indicate those when QD70D is mounted in the 0-slot of the main base.
  • Page 134 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (2) Internal relays Device Device name Application Details when ON Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Parameter/OPR data setting Parameter/OPR data setting complete complete OPR request OFF being...
  • Page 135 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (3) Data registers (for Axis 1) Device name Device Data stored Setting value ( Pr. 1 Software stroke limit upper limit value) 100000000pulse ( Pr. 2 Software stroke limit lower limit value) -100000000pulse ( Pr.
  • Page 136 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Device name Device Data stored Setting value – OPR request flag ( Md. 7 Status (bit 0)) ( Cd. 3 Start method) Refer to Section 7.5.2 ( Cd. 6 Speed change request) ( Cd.

  • Page 137: Creating A Program

    7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 7.3 Creating a program This section explains "positioning control operation programs" actually used. The programs designed to perform the functions described in "SECTION 2 CONTROL DETAILS AND SETTING" are installed in the "positioning control operation programs" explained in "Section 7.3.2".

  • Page 138: Positioning Control Operation Program

    7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 7.3.2 Positioning control operation program The following are individual programs which comprise the "positioning control operation programs". When creating a program, refer to the explanation item of the corresponding program and "Section 7.4 Positioning control program example" and create an operation program according to the positioning control system.
  • Page 139 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Continued from previous page Start method setting program * Programs needed to exercise "OPR control" No.6 "Positioning control" Start method setting program Start program No.7 Positioning control start program JOG operation program * Program needed to perform "JOG operation"...

  • Page 140: Positioning Control Program Examples

    7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 7.4 Positioning control program examples An example of the "Axis 1" positioning control program is given in this section. [No.1] to [No.3] parameter and data setting program * When setting the parameters or data with the sequence program, set them in the QD70 using the TO command from the PLC CPU.
  • Page 141 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 7 - 11 7 - 11...
  • Page 142 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 7 - 12 7 - 12...
  • Page 143 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 7 - 13 7 - 13...
  • Page 144 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 7 - 14 7 - 14...
  • Page 145 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 7 - 15 7 - 15...

  • Page 146: Program Details

    7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 7.5 Program details 7.5.1 Initialization program OPR request OFF program This program forcibly turns OFF the "OPR request flag" ( Md. 7 Status: b0) which is ON. When using a system that does not require OPR control, assemble the program to cancel the "OPR request"...

  • Page 147: Start Method Setting Program

    7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 7.5.2 Start method setting program This program sets which control, out of "OPR" control or "positioning control" to execute. Data requiring setting Set " Cd. 3 Start method" according to the control to be started. Buffer memory address Setting item Setting value...
  • Page 148 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Starting conditions To start the control, the following conditions must be satisfied. The necessary start conditions must be incorporated in the sequence program so that the control is not started when the conditions are not satisfied. Device Signal name Signal state...
  • Page 149 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Operation when starting (1) When the positioning start signal turns ON, the start complete signal and BUSY signal turn ON, and the OPR control or positioning control starts. It can be seen that the axis is operating when the BUSY signal is ON. (2) When the positioning start signal turns OFF, the start complete signal also turns OFF.
  • Page 150 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Starting time chart The time chart for starting each control is shown below. (1) Machine OPR control starting timing chart Near-point dog Zero signal Positioning start signal [Yn8 to YnF] Programmable controller READY signal [Yn0] Module READY signal...
  • Page 151 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (2) Fast OPR control starting timing chart Positioning start signal [Yn8 to YnF] Programmable controller READY signal [Yn0] Module READY signal [Xn0] Start complete signal [X(n+1)0 to X(n+1)7] BUSY signal [Xn8 to XnF] Axis error occurrence signal [Xn1] 9001...
  • Page 152 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (4) Speed-position switching control starting timing chart Operation pattern (0) Dwell time Speed control Position control Positioning data No. (1) Positioning start signal [Yn8 to YnF] OFF Programmable controller READY signal [Yn0] Module READY signal [Xn0] Start complete signal...

  • Page 153: Sub Program

    7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 7.5.4 Sub program Speed change program This program is used to change the speed within the " Pr. 5 Speed limit value" range at any point during speed control of speed-position switching control or during JOG operation.
  • Page 154 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Target position change program This program is used to change the target position at any given timing when the positioning pattern is set to Positioning termination. With a new positioning address/movement amount set in " Cd. 11 Target position change value", turning ON "...
  • Page 155 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Restart program This program is used to resume position control by " Cd. 4 Restart request" from the stop position to the end point of the positioning data when the axis has been stopped by the axis stop signal during operation under position control or speed control of speed-position switching control (excluding position control).
  • Page 156 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q MEMO 7 - 26 7 - 26...

  • Page 157: Section 2 Control Details And Setting

    SECTION 2 CONTROL DETAILS AND SETTING Section 2 is configured for the following purposes shown in (1) to (3). (1) Understanding of the operation and restrictions of each control. (2) Carrying out the required settings in each control (3) Dealing with errors The required settings in each control include parameter setting, positioning data setting, control data setting by a sequence program, etc.
  • Page 158 MEMO...

  • Page 159: Opr Control

    8 OPR CONTROL MELSEC-Q CHAPTER 8 OPR CONTROL This chapter details the OPR control of the QD70D. 8.1 Outline of OPR control 8.1.1 Two types of OPR control "OPR control" is exercised to set up a position (= OP) as a reference for carrying out positioning control.

  • Page 160: Machine Opr Control

    8 OPR CONTROL MELSEC-Q 8.2 Machine OPR control 8.2.1 Outline of the machine OPR operation Important (1) Always set the OP in the same direction as viewed from any position in the workpiece moving area (set the OP near the upper or lower limit of the machine).

  • Page 161: Machine Opr Method

    8 OPR CONTROL MELSEC-Q 8.2.2 Machine OPR method The method by which the machine OP is established (method for judging the OP position and machine OPR completion) is designated in the machine OPR control according to the configuration and application of the positioning control system. The following table shows the six methods that can be used for this OPR method.
  • Page 162 8 OPR CONTROL MELSEC-Q REMARK Creep speed The stopping accuracy is poor when the machine suddenly stops from fast speeds. To improve the machine's stopping accuracy, its must change over to a slow speed before stopping. This speed is set in the " OPR. 5 Creep speed". 8 - 4 8 - 4...

  • Page 163: Opr Method (1): Near-Point Dog Method

    8 OPR CONTROL MELSEC-Q 8.2.3 OPR method (1): Near-point dog method The following shows an operation outline of the "near-point dog method" OPR method. Operation chart Machine OPR control is started. (Acceleration starts in the direction set in " OPR. 2 OPR direction" at the time set in " OPR. 6 ACC/DEC time at OPR", and the axis moves at "...
  • Page 164 8 OPR CONTROL MELSEC-Q Restrictions A pulse generator with a zero signal is required. When using a pulse generator without a zero signal, generate a zero signal using an external signal. Precautions during operation (1) When the near-point dog is ON at start, an error, "Start during near-point dog ON"...
  • Page 165 8 OPR CONTROL MELSEC-Q (3) If the axis stop signal is turned ON during operation performed at " OPR. 4 OPR speed", the axis decelerates to a stop at the time set in "OPR. 7 DEC/ STOP time at OPR". 8 - 7 8 - 7...

  • Page 166: Opr Method (2): Stopper 1

    8 OPR CONTROL MELSEC-Q 8.2.4 OPR method (2): Stopper 1 The following shows an operation outline of the "stopper 1" OPR method. Operation chart Machine OPR control is started. (Acceleration starts in the direction set in " OPR. 2 OPR direction" at the time set in " OPR. 6 ACC/DEC time at OPR", and the axis moves at "...
  • Page 167 8 OPR CONTROL MELSEC-Q Restrictions (1) Always limit the motor torque after the " OPR. 5 Creep speed" is reached. If the torque is not limited, the motor may fail when the machine presses against the stopper. (Refer to section "12.4.2 Torque limit function".) (For a torque limit, refer to the manual of the drive unit used.) Precautions during operation (1) Set a value in the "OPR.

  • Page 168: Opr Method (3): Stopper 2

    8 OPR CONTROL MELSEC-Q 8.2.5 OPR method (3): Stopper 2 The following shows an operation outline of the "stopper 2" OPR method. Operation chart Machine OPR control is started. (Acceleration starts in the direction set in " OPR. 2 OPR direction" at the time set in " OPR. 6 ACC/DEC time at OPR", and the axis moves at "...
  • Page 169 8 OPR CONTROL MELSEC-Q Restrictions (1) Always limit the motor torque after the " OPR. 5 Creep speed" is reached. If the torque is not limited, the motor may fail when the machine presses against the stopper. (For a torque limit, refer to the manual of the drive unit used.) (2) Use an external input signal as the zero signal.

  • Page 170: Opr Method (4): Stopper 3

    8 OPR CONTROL MELSEC-Q 8.2.6 OPR method (4): Stopper 3 The following shows an operation outline of the "stopper 3" OPR method. The "stopper 3" method is effective when a near-point dog has not been installed. (Note that the operation is carried out from the start at the " OPR. 5 Creep speed", so it will take some time until the machine OPR control completion.) Operation chart Machine OPR control is started.
  • Page 171 8 OPR CONTROL MELSEC-Q Restrictions (1) Always limit the motor torque. If the torque is not limited, the motor may fail when the machine presses against the stopper. (For a torque limit, refer to the manual of the drive unit used.) (2) Use an external input signal as the zero signal.

  • Page 172: Opr Method (5): Count 1

    8 OPR CONTROL MELSEC-Q 8.2.7 OPR method (5): Count 1 The following shows an operation outline of the "count 1" OPR method. Operation chart Machine OPR control is started. (Acceleration starts in the direction set in " OPR. 2 OPR direction" at the time set in " OPR. 6 ACC/DEC time at OPR", and the axis moves at "...
  • Page 173 8 OPR CONTROL MELSEC-Q Restrictions A pulse generator with a zero signal is required. When using a pulse generator without a zero signal, generate a zero signal using an external signal. Precaution during operation (1) If " OPR. 8 Setting for the movement amount after near-point dog ON" is less than the deceleration distance from "OPR.

  • Page 174: Opr Method (6): Count 2

    8 OPR CONTROL MELSEC-Q 8.2.8 OPR method (6): Count 2 The following shows an operation outline of the "count 2" OPR method. The "count method 2)" method is effective when a "zero signal" cannot be received. Operation chart Machine OPR control is started. (Acceleration starts in the direction set in "...
  • Page 175 8 OPR CONTROL MELSEC-Q Precaution during operation (1) If " OPR. 8 Setting for the movement amount after near-point dog ON" is less than the deceleration distance from "OPR. 4 OPR speed" to "OPR. 5 Creep speed", machine OPR control is completed normally. (2) When the near-point dog is ON at start, an error, "Start during near-point dog ON"...

  • Page 176: Fast Opr Control

    8 OPR CONTROL MELSEC-Q 8.3 Fast OPR control 8.3.1 Outline of the fast OPR control operation Fast OPR operation In a fast OPR control, positioning control is carried out by a machine OPR control to the " Md. 1 Current feed value" stored in the QD70D. By setting "9001"...

  • Page 177: Opr Retry Function

    8 OPR CONTROL MELSEC-Q 8.4 OPR retry function The work may not move toward the original point even if machine zero return is attempted, depending on the work position such as a case where the work has passed the original point in positioning control. If this occurs, usually, the work must be moved to a position before the near-point dog by JOG operation and machine zero return must be restarted.
  • Page 178 8 OPR CONTROL MELSEC-Q [1] Control details The operation by the OPR retry function is shown below. (1) When the work is at a position beyond the near-point dog and before the Retry switch 1) Start the machine OPR to move the work in the " OPR. 2 OPR direction". 2) The Retry switch signal turns ON, and the movement is decelerated and stopped.* 3) At "...
  • Page 179 8 OPR CONTROL MELSEC-Q [2] Precautions (1) In the OPR retry function, the Retry switch (RTRY) is used to detect the work position when it has gone beyond the original point. Note that, while this function is used, turning ON the speed-position switching signal (CHG) is recognized as turning ON the Retry switch signal.

  • Page 180: Positioning Control

    9 POSITIONING CONTROL MELSEC-Q CHAPTER 9 POSITIONING CONTROL This chapter details the positioning control (control functions using positioning data) of the QD70D. 9.1 Outline of positioning controls "Positioning control" uses the "positioning data" stored in the QD70D. Position control, speed-position switching control and current value changing are executed by setting the necessary items of these "positioning data".

  • Page 181: Operation Patterns Of Positioning Controls

    9 POSITIONING CONTROL MELSEC-Q 9.1.2 Operation patterns of positioning controls "Positioning control" starts with positioning data No. 1 and allows you to set in " Da. 1 Operation pattern" whether the subsequent consecutive data will be executed continuously or not. There are the following three different "operation patterns" [1] to [3].
  • Page 182 9 POSITIONING CONTROL MELSEC-Q [1] Positioning termination Set this to carry out only the positioning control of the specified one piece of data. When the dwell time has been specified for position control, position control is completed after the specified time has elapsed. Positioning termination (0) Dwell time Time...
  • Page 183 9 POSITIONING CONTROL MELSEC-Q [2] Continuous positioning control (1) The machine always automatically decelerates each time the positioning control is completed. Acceleration is then carried out after the QD70D command speed reaches 0 to carry out the next positioning data operation. When the dwell time has been specified for position control, acceleration is started after specified time has elapsed.
  • Page 184 9 POSITIONING CONTROL MELSEC-Q [3] Continuous path control (1) Operation of continuous path control (a) A speed change is made between the command speeds of the "positioning data No. currently executed" and "positioning data No. to be executed next" without a deceleration stop. A speed change is not made if the current speed is equal to the next speed.
  • Page 185 9 POSITIONING CONTROL MELSEC-Q (2) Errors If any of the following errors occurs during operation in the operation pattern of "2: Continuous path control", the axis stops immediately on completion of executing the previous positioning data. (a) The moving direction in the currently executed positioning data differs from the moving direction in the next positioning data "Illegal direction for continuous path control"...
  • Page 186 9 POSITIONING CONTROL MELSEC-Q Speed changing Dwell time Dwell time Positioning control Operation pattern Da. 1 Positioning start signal [Yn8 to YnF] Start complete signal [X(n+1)0 to X(n+1)7] BUSY signal [Xn8 to XnF] Positioning complete signal [X(n+1)8 to X(n+1)F] Fig. 9.4 Speed changing operation (4) Stopping method for continuous path control When the axis stop signal is input during operation in the operation pattern of "2: Continuous path control", select the stopping method in "...

  • Page 187: Designating The Positioning Address

    9 POSITIONING CONTROL MELSEC-Q 9.1.3 Designating the positioning address The following shows the two methods for commanding the position in control using positioning data. Absolute system Positioning control is carried out to a designated position (absolute address) having the OP as a reference. This address is regarded as the positioning address. (The start point can be anywhere.) Address Start point...

  • Page 188: Confirming The Current Value

    Restrictions 1) If the "current feed value" stored is used for control, an error of 1ms (for the QD70D4) or 2ms (for the QD70D8) is produced at the update timing of the current value. 2) The "current feed value" is controlled by a signed numerical value.

  • Page 189: Setting The Positioning Data

    9 POSITIONING CONTROL MELSEC-Q 9.2 Setting the positioning data 9.2.1 Relation between each control and positioning data The setting requirements and details for the setting items of the positioning data to be set differ according to the " Da. 2 Control method". The following are the setting items of the positioning data for each control.

  • Page 190: 1-Axis Linear Control

    9 POSITIONING CONTROL MELSEC-Q 9.2.2 1-axis linear control In "1-axis linear control" (" Da. 2 Control method" = 1-axis linear control (ABS), 1-axis linear control (INC), one motor is used to carry out position control in a set axis direction. [1] 1-axis linear control (ABS linear 1) Operation chart In absolute system 1-axis linear control, addresses established by a machine OPR...
  • Page 191 9 POSITIONING CONTROL MELSEC-Q [2] 1-axis linear control (INC) Operation chart In incremental system 1-axis linear control, addresses established by a machine OPR control are used. Position control is carried out from the current stop position (start point address) to a position at the end of the movement amount set in " Da. 6 Positioning address/movement amount".

  • Page 192: Speed-Position Switching Control

    9 POSITIONING CONTROL MELSEC-Q 9.2.3 Speed-position switching control In "speed-position switching control" (" Da. 2 Control method" = Speed. Position Ctrl. (Forward), Speed. Position Ctrl. (Reverse)), the pulses of the speed set in " Da. 5 Command speed" are kept output on the axial direction set to the positioning data. When the "speed-position switching signal"...
  • Page 193 9 POSITIONING CONTROL MELSEC-Q Current feed value during speed-position switching control (INC mode) The following table shows the " Md. 1 Current feed value" during speed-position switching control corresponding to the " Pr. 4 Current feed value during speed control" settings. "...
  • Page 194 9 POSITIONING CONTROL MELSEC-Q (4) Under speed control of speed-position switching control, the software stroke limit range is checked only when "1: Update" has been set in " Pr. 4 Current feed value during speed control". If the movement amount has exceeded the software stroke limit range during speed control at the setting of other than "1: Update", the "Software stroke limit +, -"...

  • Page 195: Current Value Changing

    9 POSITIONING CONTROL MELSEC-Q 9.2.4 Current value changing Current value changing performs control to change " Md. 1 Current feed value" to any address. Operation chart The following chart shows the operation timing for a current value changing. The " Md. 1 Current feed value" is changed to the value set in " Da. 6 Positioning address/movement amount"...

  • Page 196: Multiple Axes Simultaneous Start Control

    9 POSITIONING CONTROL MELSEC-Q 9.3 Multiple axes simultaneous start control The QD70D allows the axes to be started simultaneously on a pulse level by turning ON the positioning start signals (Yn8 to YnF) within the same scan during positioning control. Precautions (1) The speed limit function is valid on an axis basis.
  • Page 197 9 POSITIONING CONTROL MELSEC-Q MEMO 9 - 18 9 - 18...

  • Page 198: Jog Operation

    10 JOG OPERATION MELSEC-Q CHAPTER 10 JOG OPERATION This chapter details the JOG operation of the QD70D. 10.1 Outline of JOG operation Important When performing JOG operation near the moving range, provide a safety circuit externally. * If an external safety circuit is not provided, the workpiece may exceed the moving range, causing accidents.
  • Page 199 10 JOG OPERATION MELSEC-Q JOG operation monitor When using GX Developer to directly monitor the buffer memory, refer to "Section 4.6 List of monitor data". When using the monitor function of GX Configurator-PT to monitor, refer to "Section 6.6 Monitor/test". Precautions during operation Before starting JOG operation, you must know the following information.

  • Page 200: Jog Operation Execution Procedure

    10 JOG OPERATION MELSEC-Q 10.2 JOG operation execution procedure The JOG operation is carried out by the following procedure. * Using the GX Developer, set the JOG Preparation STEP 1 Set the JOG data data and create a sequence program for executing the JOG operation.

  • Page 201: Jog Operation Example

    10 JOG OPERATION MELSEC-Q 10.3 JOG operation example (1) When "axis operation signal" is turned ON during JOG operation When the "axis operation signal" is turned ON during JOG operation, JOG operation results in a "deceleration stop". Turning ON the JOG start signal when the axis stop signal is ON results in the "Stop signal ON at start"...
  • Page 202 10 JOG OPERATION MELSEC-Q (2) When JOG direction flag is changed to reverse run JOG command during forward run JOG operation When " JOG. 4 JOG direction flag" is changed to the reverse run JOG command during forward run JOG operation, forward run JOG operation is continued. In this case, the reverse run JOG command is made valid when the JOG start signal turns ON after the BUSY signal of the QD70D turned OFF.
  • Page 203 10 JOG OPERATION MELSEC-Q (3) When the "JOG start signal" is turned ON again during deceleration caused by the ON OFF of the "JOG start signal" The JOG start signal is ignored when the "JOG start signal" is turned ON again during deceleration that was started by turning the "JOG start signal"...

  • Page 204: Sub Functions

    11 SUB FUNCTIONS MELSEC-Q CHAPTER 11 SUB FUNCTIONS This chapter details the sub functions of the QD70D. 11.1 Outline of sub functions The "sub functions" are used to limit control and add functions, for example, for execution of OPR control, positioning control and JOG operation. These sub functions are executed by parameter setting, sequence programs, etc.

  • Page 205: Speed Change Function

    11 SUB FUNCTIONS MELSEC-Q [2] Setting the speed limit function To use the "speed limit function", set the "speed limit value" in the parameters shown in the following table, and write it to the QD70D. (The "speed limit value" depends on the motor used. Set it according to the motor used.) The setting is made valid when the Programmable controller READY signal [Yn0] turns from OFF to ON.
  • Page 206 11 SUB FUNCTIONS MELSEC-Q [2] Precautions during control The time required to reach a new speed from an old speed at speed change is " Cd. 8 ACC/DEC time at speed change". For a deceleration stop made by axis stop signal ON or JOG start signal OFF after the new speed is reached following a speed change request, the time required to make a stop after reaching "...
  • Page 207 11 SUB FUNCTIONS MELSEC-Q (2) When "0" is set in " Pr. 6 Bias speed at start", making a speed change with the setting of "0" in " Cd. 7 New speed value" results in the following. • A deceleration stop is made and 0 speed ( Md. 7 Status: b2) turns ON. •...

  • Page 208: Software Stroke Limit Function

    11 SUB FUNCTIONS MELSEC-Q (6) If the axis is stopped by the axis stop signal after a speed change has been made during speed control of speed-position switching control, the speed at a restart is as set in " Da. 5 Command speed". Command speed Da.
  • Page 209 11 SUB FUNCTIONS MELSEC-Q The details shown below explain about the "software stroke limit function". [1] About movable range [2] Software stroke limit check details [3] Relation between the software stroke limit function and various controls [4] Precautions during software stroke limit check [5] Setting the software stroke limit function [1] About movable range The following drawing shows the moveable range of the workpiece when the...
  • Page 210 11 SUB FUNCTIONS MELSEC-Q [2] Software stroke limit check details Check details Processing at error " Md. 1 Current feed value" outside the software stroke limit range is defined as an "error". An "error" occurs. (Error code: 103, 104) " Da. 6 Positioning address/movement amount" (New current value) outside the software stroke limit range is defined as an "error".
  • Page 211 11 SUB FUNCTIONS MELSEC-Q [4] Precautions during software stroke limit check (1) A machine OPR control must be executed beforehand for the "software stroke limit function" to function properly. (2) If an error is detected in the "continuous path control" operation pattern of positioning control, the axis comes to an immediate stop upon completion of the execution of the positioning data that precedes the positioning data where the error occurred.

  • Page 212: Target Position Change Function

    11 SUB FUNCTIONS MELSEC-Q 11.5 Target position change function The "target position change function" allows the target position to be changed at any given timing during execution of position control (Operation pattern: Positioning termination). To use this function, set a new target position* in " Cd. 11 Target position change value"...
  • Page 213 11 SUB FUNCTIONS MELSEC-Q [2] Precautions during control When utilizing the target position change function, pay attention to the following: (1) The target position can be changed any number of times during a control. When changing the target position several times during 1-axis linear control (INC), a newly specified target position is always identified as the movement amount from the start address.

  • Page 214: Acceleration/Deceleration Processing Function

    11 SUB FUNCTIONS MELSEC-Q 11.6 Acceleration/deceleration processing function The "acceleration/deceleration processing function" is designed to adjust acceleration/deceleration when OPR control, positioning control or JOG operation is performed. Adjusting the acceleration/deceleration processing according to control enables finer control. The acceleration/deceleration adjusting items that can be set are "bias speed at start", "target speed", "acceleration time","deceleration time",and "...
  • Page 215 11 SUB FUNCTIONS MELSEC-Q Slope of acceleration/deceleration The slope of acceleration/deceleration is calculated by the following expression. (Target speed) - (bias speed at start) (Set acceleration time/set deceleration time) POINT For the QD70D, the acceleration/deceleration slope is determined by the three data of "bias speed at start", "target speed"...
  • Page 216 11 SUB FUNCTIONS MELSEC-Q The following is the operation of the acceleration/deceleration processing function during position control or speed changing in the operation pattern of continuous path control. <For position control in operation pattern of continuous path control> Positioning data Positioning data Positioning data Positioning data...
  • Page 217 11 SUB FUNCTIONS MELSEC-Q The following is the operation performed during machine OPR control in each OPR method. <When OPR method is any of "near-point dog method", "stopper 1", "stopper 2" and "count 1"> Near-point dog ON OPR. 4 OPR. 5 Machine OPR Pr.

  • Page 218: Restart Function

    11 SUB FUNCTIONS MELSEC-Q [2] Precautions for control (1) At the set speed of 1 (pulse/s), the set acceleration/deceleration time is ignored. (2) In the acceleration/deceleration pattern where the movement amount is small relative to the acceleration/deceleration time and a constant-speed part does not exist, operation is not performed at the set acceleration/deceleration time.
  • Page 219 11 SUB FUNCTIONS MELSEC-Q [1] Control details (1) Restart during position control Setting "1: With restart request" in " Cd. 4 Restart request" when " Md. 4 Axis operation status" is "Stopped" resumes position control from the stop position to the end point of the positioning data where the axis had stopped, independently of the absolute or incremental system.
  • Page 220 11 SUB FUNCTIONS MELSEC-Q [2] Precautions for control (1) Setting "1: With restart request" in " Cd. 4 Restart request" when " Md. 4 Axis operation status" is other than "Stopped" results in the "Restart not possible" warning (warning code: 11). (2) If "1: With restart request"...

  • Page 221: Common Functions

    12 COMMON FUNCTIONS MELSEC-Q CHAPTER 12 COMMON FUNCTIONS This chapter details the common functions of the QD70D. 12.1 Outline of common functions "Common functions" are executed according to the user's requirements, regardless of the control system, etc. These common functions are executed by GX Developer. For details of GX Developer, refer to the GX Developer Operating Manual.

  • Page 222: External I/O Signal Monitor Function

    12 COMMON FUNCTIONS MELSEC-Q 12.3 External I/O signal monitor function The "external I/O signal monitor function" monitors the module information, external I/O signal monitor information and intelligent function module switch setting states in the "H/W Information" of the module's detailed information that can be displayed on the system monitor of GX Developer (SW7D5C-GPPW-E or later).
  • Page 223 12 COMMON FUNCTIONS MELSEC-Q [H/W SW Information] The setting states of the intelligent function module switches are displayed. Item Signal name Corresponding switch Value PLS MODE Pulse output mode Switch 1 PLS OUT Pulse output logic selection 8 lower bits Switch 2 DCC CLR Deviation counter clear output signal logic selection 8 upper bits...

  • Page 224: Troubleshooting

    13 TROUBLESHOOTING MELSEC-Q CHAPTER 13 TROUBLESHOOTING This chapter describes the details of errors and warnings that may occur during use of the QD70D. 13.1 Error and warning details [1] Errors Types of errors Errors detected by the QD70D include parameter and OPR data setting range errors and errors at the operation start or during operation.
  • Page 225 13 TROUBLESHOOTING MELSEC-Q [2] Warnings Types of warnings A warning occurs during OPR control, positioning control or JOG operation. If a warning occurs, operation is continued. Also, if a warning occurs, " Md. 4 Axis operation status" remains unchanged. Warning storage If a warning occurs, the axis warning occurrence signal turns ON and the warning code (DEC.) corresponding to the warning definition is stored into "...

  • Page 226: List Of Errors

    13 TROUBLESHOOTING MELSEC-Q 13.2 List of errors The following table shows the error details and remedies to be taken when an error occurs. Error code Error name Error Operation status at error occurrence (DEC.) Normal status — — Faults Hardware is faulty. The system stops QD70D not prepared Start was made when the QD70D was not ready.
  • Page 227 13 TROUBLESHOOTING MELSEC-Q Related buffer memory address Setting range Remedy Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 — — — — — — — — — — • Check that there is no influence from —...
  • Page 228 13 TROUBLESHOOTING MELSEC-Q Error code Error name Error Operation status at error occurrence (DEC.) With " OPR. 1 OPR method" being any of near-point Start during near-point dog dog method, count 1 and count 2, machine OPR control was started when the near-point dog was ON. Machine OPR control is not carried out.
  • Page 229 13 TROUBLESHOOTING MELSEC-Q Related buffer memory address Setting range Remedy Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Perform JOG operation (Refer to Chapter 10) to move the axis to the position where the near-point dog turns —...
  • Page 230 13 TROUBLESHOOTING MELSEC-Q Error code Error name Error Operation status at error occurrence (DEC.) The setting value of " Cd. 3 Start method" is other than Setting range outside start Start is not made. method 0 to 10, 9000 and 9001. •...
  • Page 231 13 TROUBLESHOOTING MELSEC-Q Related buffer memory address Setting range Remedy Axis 1 Axis 2 Axis 3 Axis4 Axis 5 Axis 6 Axis 7 Axis 8 Cd. 3 Start method Set " Cd. 3 Start method" to within the 0 to 10: Positioning control 9000 : Machine OPR control setting range (Refer to Section 4.7).
  • Page 232 13 TROUBLESHOOTING MELSEC-Q Error code Error name Error Operation status at error occurrence (DEC.) The setting made for the QD70D is "Hold" in the "Error Hold error time output mode" parameter of the CPU module. Start is not made. The intelligent function module switch setting made on Switch setting error GX Developer is in error.
  • Page 233 13 TROUBLESHOOTING MELSEC-Q Related buffer memory address Setting range Remedy Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Change the setting of the "Error time output mode" of PLC parameter to — —...
  • Page 234 13 TROUBLESHOOTING MELSEC-Q Error code Error name Error Operation status at error occurrence (DEC.) Setting range outside OPR The setting value of " OPR. 1 OPR method" is outside method the setting range. The setting value of " OPR. 2 OPR direction" is Setting range outside OPR direction outside the setting range.
  • Page 235 13 TROUBLESHOOTING MELSEC-Q Related buffer memory address Setting range Remedy Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 OPR. 1 OPR method 0: Near-point dog method 1: Stopper 1 Change the setting to within the setting 2: Stopper 2, 3: Stopper 3 range and turn the Programmable 4: Count 1, 5: Count 2...

  • Page 236: List Of Warnings

    13 TROUBLESHOOTING MELSEC-Q 13.3 List of warnings The following table shows the warning details and remedies to be taken when a warning occurs. Warning code Warning name Warning Operation status at warning occurrence (DEC.) Normal status — — Start during operation The start request is issued while the axis is BUSY.
  • Page 237 13 TROUBLESHOOTING MELSEC-Q Related buffer memory address Setting range Remedy Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 — — — — — — — — — — — — — — —...

  • Page 238: Error Check By Led Indication

    13 TROUBLESHOOTING MELSEC-Q 13.4 Error check by LED indication The states of QD70D and each axis control can be confirmed by the LEDs located on the front panel of the QD70D main module. ERR. QD70D8 Each axis can be monitored by the states of the LEDs. The operation and indications of the LEDs are as shown below.

  • Page 239: Confirming The Error Definitions Using System Monitor Of Gx Developer

    13 TROUBLESHOOTING MELSEC-Q 13.5 Confirming the error definitions using system monitor of GX Developer Choosing Module's detailed information in the system monitor of GX Developer allows you to confirm the error code at axis error occurrence. (1) Operation of GX Developer Choose [Diagnostics] [System monitor] "QD70D module"...

  • Page 240: Appendix

    APPENDIX MELSEC-Q APPENDIX Appendix 1 External dimension drawing (1) QD70D4 QD70D4 ERR. QD70D4 55. 2 Unit: mm (2) QD70D8 QD70D8 ERR. QD70D8 55. 2 Unit: mm App - 1 App - 1...

  • Page 241: Appendix 2 Operation Timing And Processing Time In Each Control

    APPENDIX MELSEC-Q Appendix 2 Operation timing and processing time in each control (1) Operation timing and processing time of machine OPR control Positioning start signal [Yn8 to YnF] Pulse output to outside (PULSE) BUSY signal [Xn8 to XnF] Md. 4 Axis operation status Standby Standby...
  • Page 242 APPENDIX MELSEC-Q (3) Operation timing and processing time of position control Positioning start signal [Yn8 toYnF] Pulse output to outside (PULSE) BUSY signal [Xn8 to XnF] Standby Axis operation status Standby position control Md. 4 Start complete signal [X(n+1)0 to X(n+1)7] Machine OPR control operation Positioning complete signal...
  • Page 243 APPENDIX MELSEC-Q (4) Operation timing and processing time of speed-position switching control Positioning start signal [Yn8 to YnF] Pulse output to outside (PULSE) BUSY signal [Xn8 to XnF] Speed.Position Axis operation status Speed.Position Position Standby Md. 4 Standby Speed Start complete signal [X(n+1)0 to X(n+1)7] Speed control Position control...
  • Page 244 APPENDIX MELSEC-Q (5) Operation timing and processing time of JOG operation JOG start signal [Y(n+1)8 to Y(n+1)F] BUSY signal [Xn8 to XnF] Deceleration Md. 4 Axis operation Standby JOG operation Standby (JOG Start OFF) status Pulse output to outside (PULSE) JOG operation Positioning complete signal [X(n+1)8 to X(n+1)F]...

  • Page 245: Appendix 3 Connection Examples With Servo Amplifiers Manufactured By Mitsubishi Electric Corporation

    APPENDIX MELSEC-Q Appendix 3 Connection examples with servo amplifiers manufactured by MITSUBISHI Electric Corporation Appendix 3.1 Connection example of QD70D and MR-J3- A Configure a sequence to turn off MC at alarm or emergency stop. Motor MR-J3- A CNP1 CNP3 Power supply 3-phase 200VAC Electromagnetic...

  • Page 246: Appendix 3.2 Connection Example Of Qd70D And Mr-J2/J2S- A

    APPENDIX MELSEC-Q Appendix 3.2 Connection example of QD70D and MR-J2/J2S- A Configure a sequence to turn OFF the HC-MF, HA-FF MC at alarms and emergency stops. series motor MR-J2/J2S- A Power supply 3-phase 200VAC C TE2 Electromagnetic 24VDC brake Cutoff by servo ON signal OFF alarm signal.

  • Page 247: Appendix 3.3 Connection Example Of Qd70D And Mr-H A

    APPENDIX MELSEC-Q Appendix 3.3 Connection example of QD70D and MR-H A Configure a sequence to turn off MC Regeneration option at alarm or emergency stop. Servo motor N C P MR-H A Power supply 3-phase 200VAC Within 10m *4 Detector QD70D Near-point dog External emergency stop...

  • Page 248: Appendix 3.4 Connection Example Of Qd70D And Mr-C A

    APPENDIX MELSEC-Q Appendix 3.4 Connection example of QD70D and MR-C A Regenerative resistor connected Configure a sequence to turn off MC optionally and externally at alarm or emergency stop. HC-PQ series motor Power supply Single-phase 200VAC (A type) or Single-phase 100VAC (A1 type) MR-C A MR-C A1 Electromagnetic...

  • Page 249: Appendix 4 Comparisons With Conventional Positioning Modules

    APPENDIX MELSEC-Q Appendix 4 Comparisons with conventional positioning module Appendix 4.1 Comparisons with type QD70P positioning module Model QD70D QD70P Item Pulse output method Differential output Open callector output CW/CCW mode PULSE/SIGN mode CW/CCW mode Pulse output mode A phase/B phase mode (multiple of 1) PULSE/SIGN mode A phase/B phase mode (multiple of 4) Speed command value...

  • Page 250: Appendix 4.2 Comparisons With Type Qd75 Positioning Module

    APPENDIX MELSEC-Q Appendix 4.2 Comparisons with type QD75 positioning module Model QD75P1 QD75P2 QD75P4 QD70D4 QD70D8 Item QD75D1 QD75D2 QD75D4 Number of control axes 4 axes 8 axes 1 axis 2 axes 4 axes Control unit pulse mm, inch, degree, pulse...
  • Page 251 APPENDIX MELSEC-Q Model QD75P1 QD75P2 QD75P4 QD70D4 QD70D8 Item QD75D1 QD75D2 QD75D4 OPR sub function OPR retry OPR retry, OP shift Electronic gear, backlash compensation, near Compensation function pass Speed limit, Speed limit, torque limit, software stroke limit, Control limit function...
  • Page 252 APPENDIX MELSEC-Q Comparison of acceleration/deceleration processing function method QD70D (Refer to Section 11.5 for details) Position control in Item QD75 Other than the three Speed change operation pattern of Machine OPR control items on the left continuous path control Time taken to reach Time taken to reach Time taken to reach Time taken to reach...

  • Page 253: Appendix 5 List Of Buffer Memory Addresses

    APPENDIX MELSEC-Q Appendix 5 List of buffer memory addresses Buffer memory address Item Memory area Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Pr. 1 Software stroke limit upper limit value Pr. 2 Software stroke limit lower limit value Pr.
  • Page 254 APPENDIX MELSEC-Q Buffer memory address Item Memory area Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Cd. 1 Axis error reset Cd. 2 OPR request flag OFF request Cd. 3 Start method Cd.
  • Page 255 APPENDIX MELSEC-Q Buffer memory address Item Memory area Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 1000 1100 1200 1300 1400 1500 Da. 1 Operation pattern 1001 1101 1201 1301 1401 1501 Da. 2 Control method 1002 1102 1202...
  • Page 256 INDEX Confirming the current value ......9- 9 [Numeral] Confirming the wiring ........5-12 0 speed ............4-35 Connection confirmation........5-12 1-axis linear control (ABS) ......9-11 Connector............5- 4 1-axis linear control (INC) ......9-12 Continuous path control........9- 5 Continuous positioning control .......9- 4 Count 1 machine OPR control.......8-14 AD70...............
  • Page 257 Md. 4 Axis operation status ......4- 7 General configuration of program....7- 7 Md. 5 Axis error code........4- 7 General image of system ....... 2- 1 Md. 6 Axis warning code........4- 7 Md. 7 Status ...........4- 7 Md. 8 External I/O signal........4- 7 Handling precautions ........
  • Page 258 Operating environment ........6- 4 Pr. 9 PULSE/SIGN method selection setup/hold Operation pattern ........... 9- 2 time..............4- 3 Operation timing and processing time of JOG Pr. 10 Deceleration stop method....4- 3 operation.............App- 5 Pr. 11 Acceleration / deceleration system Operation timing and processing time of fast OPR selection ............4- 3 control ............App- 2 Pr.
  • Page 259 Restart function ........... 11-15 Sub functions ..........11- 1 Restart program ..........7-15 Switch setting for intelligent function module 5-14 Restarting timing chart ........7-25 Timing chart Fast OPR control starting timing chart ..7-21 Setting data ............ 4- 1 JOG operation starting timing chart...10-1 Setting items for OPR data ......
  • Page 260 MEMO Index - 5 Index - 5...
  • Page 261 WARRANTY Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company.
  • Page 262 Microsoft, Windows, Windows NT, and Windows Vista are registered trademarks of Microsoft Corporation in the United States and other countries. Pentium and Celeron are trademarks of Intel Corporation in the United States and other countries. Ethernet is a registered trademark of Xerox Corporation in the United States. Other company names and product names used in this document are trademarks or registered trademarks of respective companies.

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