Mitsubishi Electric QD77MS User Manual
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Mitsubishi Electric QD77MS User Manual

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Table of Contents

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MELSEC-Q
QD77MS Simple Motion Module
User's Manual (Positioning Control)
-QD77MS2
-QD77MS4
-QD77MS16

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Summary of Contents for Mitsubishi Electric QD77MS

  • Page 1 MELSEC-Q QD77MS Simple Motion Module User's Manual (Positioning Control) -QD77MS2 -QD77MS4 -QD77MS16...

  • Page 3: Safety Precautions

    SAFETY PRECAUTIONS (Please 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 precautions given in this manual are concerned with this product only. Refer to the user's manual of the CPU module to use for a description of the PLC system safety precautions.
  • Page 4 For Safe Operations 1. Prevention of electric shocks DANGER Never open the front case or terminal covers while the power is ON or the unit is running, as this may lead to electric shocks. Never run the unit with the front case or terminal cover removed. The high voltage terminal and charged sections will be exposed and may lead to electric shocks.
  • Page 5 3. For injury prevention CAUTION Do not apply a voltage other than that specified in the instruction manual on any terminal. Doing so may lead to destruction or damage. Do not mistake the terminal connections, as this may lead to destruction or damage. Do not mistake the polarity (+ / -), as this may lead to destruction or damage.
  • Page 6 CAUTION The system must have a mechanical allowance so that the machine itself can stop even if the stroke limits switch is passed through at the max. speed. Use wires and cables that have a wire diameter, heat resistance and bending resistance compatible with the system.
  • Page 7 DANGER The input devices and data registers assigned to the link will hold the data previous to when communication is terminated by an error, etc. Thus, an error correspondence interlock program specified in the instruction manual must be used. Use the interlock program specified in the intelligent function module's instruction manual for the program corresponding to the intelligent function module.
  • Page 8 CAUTION Store and use the unit in the following environmental conditions. Conditions Environment Module/Servo amplifier Servomotor Ambient 0°C to +40°C (With no freezing) According to each instruction manual. temperature (32°F to +104°F) 80% RH or less According to each instruction manual. Ambient humidity (With no dew condensation) Storage...
  • Page 9 (4) Wiring CAUTION Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal screws for tightness after wiring. Failing to do so may lead to run away of the servomotor. After wiring, install the protective covers such as the terminal covers to the original positions. Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF) on the output side of the servo amplifier.
  • Page 10 (6) Usage methods CAUTION Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the module, servo amplifier or servomotor. Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection. Do not attempt to disassemble and repair the units excluding a qualified technician whom our company recognized.
  • Page 11 (7) Corrective actions for errors CAUTION If an error occurs in the self diagnosis of the module or servo amplifier, confirm the check details according to the instruction manual, and restore the operation. If a dangerous state is predicted in case of a power failure or product failure, use a servomotor with an electromagnetic brake or install a brake mechanism externally.
  • Page 12 CAUTION When the module or absolute position motor has been replaced, carry out a home position return operation using the following method, otherwise position displacement could occur. • After writing the servo data to the Simple Motion module using programming software, switch on the power again, then perform a home position return operation.

  • Page 13: Conditions Of Use For The Product

    CONDITIONS OF USE FOR THE PRODUCT (1) Mitsubishi programmable controller ("the PRODUCT") shall be used in conditions; i) where any problem, fault or failure occurring in the PRODUCT, if any, shall not lead to any major or serious accident; and ii) where the backup and fail-safe function are systematically or automatically provided outside of the PRODUCT for the case of any problem, fault or failure occurring in the PRODUCT.

  • Page 14: Introduction

    INTRODUCTION Thank you for purchasing our MELSEC-Q series programmable controllers. This manual describes the functions and programming of the Simple Motion module. Before using this product, please read this manual and the relevant manuals carefully and develop familiarity with the functions and performance of the MELSEC-Q series programmable controller to handle the product correctly.

  • Page 15: Revisions

    Restrictions by the SERIAL No. and version, Types of data, Parameters, Monitor data, Control data, Configuration and roles of QD77MS memory, Optional data monitor function, List of errors Japanese Manual Version IB-0300184 This manual confers no industrial property 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 16: Table Of Contents

    3.2.3 QD77MS sub functions ........................3- 9 3.2.4 QD77MS common functions ......................3-11 3.2.5 Combination of QD77MS main functions and sub functions ............3-14 3.3 Specifications of input/output signals with PLC CPU ................3-16 3.3.1 List of input/output signals with PLC CPU ..................3-16...

  • Page 17: Table Of Contents

    3.3.2 Details of input signals (QD77MS PLC CPU) ................3-19 3.3.3 Details of output signals (PLC CPU QD77MS) ................3-21 3.4 Specifications of interfaces with external devices ................... 3-23 3.4.1 Electrical specifications of input signals ................... 3-23 3.4.2 Signal layout for external input connection connector ..............3-25 3.4.3 List of input signal details ........................

  • Page 18: Table Of Contents

    6.5.6 Stop program ............................. 6-73 7. Memory Configuration and Data Process 7- 1 to 7-20 7.1 Configuration and roles of QD77MS memory ..................7- 2 7.1.1 Configuration and roles of QD77MS memory .................. 7- 2 7.1.2 Buffer memory area configuration ....................7- 5 7.2 Data transmission process ........................

  • Page 19: Table Of Contents

    Section 2 Control Details and Setting 8. OPR Control 8- 1 to 8-20 8.1 Outline of OPR control ..........................8- 2 8.1.1 Two types of OPR control ......................... 8- 2 8.2 Machine OPR ............................8- 6 8.2.1 Outline of the machine OPR operation ..................... 8- 6 8.2.2 Machine OPR method ........................

  • Page 20: Table Of Contents

    9.2.22 LOOP ............................. 9-130 9.2.23 LEND ............................. 9-132 10. High-Level Positioning Control 10- 1 to 10-30 10.1 Outline of high-level positioning control ....................10- 2 10.1.1 Data required for high-level positioning control ................10- 3 10.1.2 "Block start data" and "condition data" configuration ..............10- 4 10.2 High-level positioning control execution procedure ................

  • Page 21: Table Of Contents

    12.1.2 Setting the required parameters for speed-torque control ............12- 4 12.1.3 Setting the required data for speed-torque control ..............12- 5 12.1.4 Operation of speed-torque control ....................12- 7 12.2 Synchronous control ..........................12-33 13. Control Sub Functions 13- 1 to 13-108 13.1 Outline of sub functions ........................

  • Page 22: Table Of Contents

    16.2 Troubleshooting ........................... 16- 5 16.3 Error and warning details ........................16- 9 16.4 List of errors ............................16-16 16.4.1 QD77MS detection error ....................... 16-16 16.4.2 Servo amplifier detection error ...................... 16-52 16.5 List of warnings ............................ 16-54 16.5.1 QD77MS detection warning ......................16-54 16.5.2 Servo amplifier detection warning ....................
  • Page 23 Appendix 6.3 AlphaStep/5-phase stepping motor driver manufactured by ORIENTAL MOTOR Co., Ltd................Appendix-82 Appendix 6.4 IAI electric actuator controller manufactured by IAI Corporation ....... Appendix-91 Appendix 6.5 Connection with MR-JE-B ..................Appendix-99 Appendix 7 External dimension drawing ..................Appendix-100 A - 21...

  • Page 24: Compliance With The Emc And Low Voltage Directives

    Manual Name Description <Manual number (model code)> MELSEC-Q QD77MS Simple Motion Module User's Manual Specifications of the QD77MS and information on how to (Positioning Control) establish a system, maintenance and inspection, and troubleshooting Functions, programming and buffer memory for the <IB-0300185, 1XB947>...
  • Page 25 (3) Programming tool Manual Name Description <Manual number (model code)> GX Works2 Version1 Operating Manual System configuration, parameter settings, and online (Common) operations (common to Simple project and Structured <SH-080779ENG, 13JU63> project) of GX Works2 GX Works2 Version1 Operating Manual Parameter settings, monitoring, and operations of the (Intelligent Function Module) predefined protocol support function of intelligent function...

  • Page 26: Manual Page Organization

    MANUAL PAGE ORGANIZATION The symbols used in this manual are shown below. A serial No. is inserted in the "*" mark. Symbol Description Reference [Pr. * ] Symbol that indicates positioning parameter and OPR parameter item. Symbol that indicates positioning data, block start data and condition [Da.

  • Page 27: Terms

    Another term for the MELSEC-Q series PLC CPU module Simple Motion module The abbreviation for the MELSEC-Q series Simple Motion module QD77MS Another term for the MELSEC-Q series QD77MS Simple Motion module MR-J4(W)-B MR-J4-_B_(-RJ)/MR-J4W_-_B servo amplifier series MR-J3(W)-B MR-J3-_B_(-RJ)/MR-J3W-_B servo amplifier series...

  • Page 28: Packing List

    PACKING LIST The following items are included in the package of this product. Before use, check that all the items are included. (1) QD77MS2 QD77MS2 ERR. QD77MS2 QD77MS2 Before Using the Product (2) QD77MS4 QD77MS4 ERR. QD77MS4 QD77MS4 Before Using the Product (3) QD77MS16 QD77MS16 ERR.
  • Page 29 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 Simple Motion module 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 (5) To understand the memory configuration and data transmission process...
  • Page 30 MEMO...
  • Page 31 Overview of positioning control functions............1- 9 1.1.5 Outline design of positioning system ............. 1-19 1.1.6 Communicating signals between QD77MS and each module ..... 1-20 1.2 Flow of system operation ..................... 1-24 1.2.1 Flow of all processes ..................1-24 1.2.2 Outline of starting ....................

  • Page 32: Positioning Control

    Chapter 1 Product Outline 1.1 Positioning control 1.1.1 Features of QD77MS The QD77MS has the following features. (1) High-speed starting time High-speed starting time "0.88ms" (QD77MS4 use) during positioning control is achieved. (2) Wide variety of positioning control functions The main functions (such as OPR control, positioning control and manual control) which are required for any positioning system and the sub functions which limit and add functions to those controls are supported.
  • Page 33 (b) Module error collection function The QD77MS notifies error details to the PLC CPU when an error occurs. Storing the error information in the PLC CPU allows the user to check the error from the programming tool even after the module is powered off or reset.
  • Page 34 (Optical communication), influence of electromagnetic noise and others from servo amplifier, etc. are reduced. (c) The servo parameters can be set on the QD77MS side to write or read them to/from the servo amplifier using the SSCNET communication. (d) The actual current value and error description contained in the servo can be checked by the buffer memory of the QD77MS.
  • Page 35 Chapter 1 Product Outline (11) Easy application to the absolute position system (a) The MR-J4-B/MR-JE-B/MR-J3-B series servo amplifiers and servo motors correspond to the absolute position system. It can be realized only at connecting the battery for absolute position system to the servo amplifier. (b) Once the OP have been established, the OPR operation is unnecessary at the system's power supply ON.

  • Page 36: Purpose And Applications Of Positioning Control

    Gear and rack & pinion amplifier press.  When the material type or shape changes, the X axis press head die is changed, and the positioning servomotor QD77MS pattern is changed. Servo amplifier Y axis X axis Palletizer  Using the servo for one axis, the palletizer is...
  • Page 37 Lifter position of the aging rack is positioned with the 2-axis servo. C conveyor Counter- A conveyor Servo weight amplifier Reduction QD77MS gear Loader Servomotor Servo Servomotor amplifier (with a brake) Index table (High-accuracy indexing of angle)  The index table is positioned at a high accuracy QD77MS using the 1-axis servo.

  • Page 38: Mechanism Of Positioning Control

    PLC CPU, GX Works2, external signals and manual pulse generator. Servo amplifier Receives positioning commands and control commands from QD77MS, and drives the servo motor. Outputs the positioning data such as the servo motor to the QD77MS by the SSCNET (/H). Servo motor Moves the machine according to commands from the servo amplifier.

  • Page 39: Overview Of Positioning Control Functions

    Chapter 1 Product Outline 1.1.4 Overview of positioning control functions The outline of the "overview of positioning control", "overview of independent positioning control and continuous positioning control", "overview of block positioning control" and "overview of acceleration/deceleration processing control" is shown below. ositioning control An overview of positioning using positioning data is described below.
  • Page 40 Chapter 1 Product Outline (Note-1) (b) 2-axis linear interpolation control This controls interpolation along a linear locus from the start point address (current stop position) defined by two axes. [Control using the absolute system] 1) This performs linear interpolation using two axes from the start point address to the specified address.
  • Page 41 Chapter 1 Product Outline (Note-1) (2) Circular interpolation control There are two types of circular interpolation controls: circular interpolation with a specified sub point and circular interpolation with the specified center point. (a) Circular interpolation with a specified sub point Circular interpolation is performed using the specified endpoint address and sub point (passing point) address.
  • Page 42 Chapter 1 Product Outline (3) Fixed-feed control This performs positioning for the specified increment of travel. Positioning direction Operation timing [1-axis fixed-feed control] Stop position Reverse direction Forward direction Movement direction for Movement direction for a negative movement amount a positive movement amount Start [2-axis fixed-feed control] Forward...
  • Page 43 Chapter 1 Product Outline (5) Speed-position switching control This starts positioning under speed control, and switches to position control according to the input of the Simple Motion module speed-position switching signal and perform positioning for the specified increment of travel. Specified travel Speed control Position control...
  • Page 44 Chapter 1 Product Outline Independent positioning control and continuous positioning control The Simple Motion module performs positioning according to the user-set positioning data, which is a set of information comprised of the control method (position control, speed control, speed-position switching control), positioning address, operation pattern, and so on.
  • Page 45 Chapter 1 Product Outline (2) Continuous positioning control (operation pattern = 01: positioning continue) The operation stops temporarily upon the completion of positioning for the specified positioning data, and then continues with the next positioning data number. This is specified when performing positioning in which the direction changes because of multiple positioning data items having consecutive positioning data numbers.
  • Page 46 Chapter 1 Product Outline (3) Continuous path control (operation pattern = 11: positioning continue) After executing positioning using the specified positioning data, the operation changes its speed to that of the next positioning data number and continues positioning. This is specified when continuously executing multiple positioning data items having consecutive positioning data numbers at a specified speed.
  • Page 47 Chapter 1 Product Outline Block positioning control Block positioning is a control that continuously executes the positioning of specified blocks. One block equivalent to a series of positioning data up to the completion of positioning (operation pattern = 00) by Independent or continuous positioning control. A maximum of 50 blocks per axis can be specified.
  • Page 48 Chapter 1 Product Outline Overview of acceleration/deceleration processing control Acceleration/deceleration processing for the positioning processing, manual pulse- generator processing, OPR processing and JOG processing is performed using the user-specified method, acceleration time and deceleration time. (1) Acceleration/deceleration method There are two types of acceleration and deceleration processing: the trapezoidal acceleration/deceleration processing method and S-curve acceleration/ deceleration processing method.

  • Page 49: Outline Design Of Positioning System

    (Note) (Note): The external input signal of QD77MS, external input signal of servo amplifier, or external input signal via CPU (buffer memory of QD77MS) can be used in the parameter setting. (Refer to Section 5.2.3.) Fig. 1.1 Outline of the operation of positioning system using Simple Motion module...

  • Page 50: Communicating Signals Between Qd77Ms And Each Module

    Chapter 1 Product Outline 1.1.6 Communicating signals between QD77MS and each module The outline of the signal communication between the Simple Motion module and PLC CPU, GX Works2 and servo amplifier, etc., is shown below. (GX Works2 communicates with the Simple Motion module via the PLC CPU to which it is connected.)
  • Page 51 Chapter 1 Product Outline (2) QD77MS16 QD77MS16 PLC CPU PLC READY signal READY signal SSCNET (/H) All axis servo ON signal Operating information of the servo amplifier Synchronization flag Positioning command Servo Control command amplifier Servo parameter External input signal of the servo amplifier External interface...
  • Page 52 Chapter 1 Product Outline Simple Motion module PLC CPU The Simple Motion module and PLC CPU communicate the following data. Direction Simple Motion module PLC CPU PLC CPU Simple Motion module Communication Signal indicating Simple Motion module Signal related to commands state •...
  • Page 53 Chapter 1 Product Outline Simple Motion module Manual pulse generator/Incremental synchronous encoder The Simple Motion module and manual pulse generator/incremental synchronous encoder communicate the following data via the external input connection connector. Direction Simple Motion module Manual pulse generator/Incremental Manual pulse generator/Incremental synchronous encoder synchronous encoder Simple Motion module...

  • Page 54: Flow Of System Operation

    PLC CPU amplifiers, etc. Understand the functions and performance, and determine the positioning operation method (system design) Installation, wiring Setting of parameters and data for QD77MS Creation of sequence Writing of setting data program for operation Writing of program Connection confirmation...
  • Page 55 Chapter 1 Product Outline The following work is carried out with the processes shown on the previous page. Details Reference  Chapter 1  Chapter 2 Understand the product functions and usage methods, the configuration devices and specifications required for positioning control, and design the system. ...

  • Page 56: Outline Of Starting

    Input the start signal. Start signal Turn the QD77MS JOG Operate the Method (1) Turn ON the QD77MS start signal from the PLC CPU start signal ON from the manual pulse Method (2) Issue the ZP.PSTRT instruction from the PLC CPU.
  • Page 57 <GX Works2> Write Set with sequence program for PLC CPU setting data Create this program as necessary. Write QD77MS Set the acceleration/ Set the torque time Set the acceleration/ <GX Works2> deceleration time at constant (forward deceleration time, speed control mode.

  • Page 58: Outline Of Stopping

    Chapter 1 Product Outline 1.2.3 Outline of stopping Each control is stopped in the following cases. (1) When each control is completed normally (2) When the servo READY signal is turned OFF (3) When a PLC CPU error occurs (4) When the PLC READY signal is turned OFF (5) When an error occurs in the Simple Motion module (6) When control is intentionally stopped (Stop signal from PLC CPU turned ON, "Stop signal"...
  • Page 59 Chapter 1 Product Outline Stop process Axis operation OPR control Manual control M code status Stop Major High-level Manual Stop cause ON signal Machine Fast JOG/ after axis positioning positioning pulse after stop Inching stopping control control generator control control operation ([Md.26]) operation...

  • Page 60: Outline For Restarting

    Chapter 1 Product Outline 1.2.4 Outline for restarting When a stop cause has occurred during operation with position control causing the axis to stop, positioning to the end point of the positioning data can be restarted from the stopped position by using the "[Cd.6] Restart command". If issued during a continuous positioning or continuous path control operation, the restart command will cause the positioning to be re-executed using the current position (pointed by the positioning data No.
  • Page 61 Chapter 2 System Configuration Chapter 2 System Configuration In this chapter, the general image of the system configuration of the positioning control using Simple Motion module, the configuration devices, applicable CPU and the precautions of configuring the system are explained. Prepare the required configuration devices to match the positioning control system.

  • Page 62: General Image Of System

    Chapter 2 System Configuration 2.1 General image of system The general image of the system, including such as the QD77MS, PLC CPU and peripheral devices is shown below. Main base unit Expansion cable Expansion system Power supply module CPU module...
  • Page 63 Chapter 2 System Configuration REMARK (Note-1): Refer to Section "2.3 Applicable system" for the CPU modules that can be used. (Note-2): Refer to the CPU module User's Manual for the base units that can be used. (Note-3): The external input signal cannot be used depending on the connected device. Confirm the specification of the connected device.

  • Page 64: Component List

    Refer to the "GX Works2 Version1 Operating Manual (Common)" for details. (Prepared by user) Servo amplifier – (Prepared by user) Manual pulse Recommended: MR-HDP01 (Manufactured by Mitsubishi Electric – generator Corporation) (Prepared by user) SSCNET Cables are needed for connecting the Simple Motion module with a servo –...
  • Page 65 Chapter 2 System Configuration [External input wiring connector] Part name Specification Applicable connector A6CON1, A6CON2, A6CON3, A6CON4 (Sold separately) 0.3mm (When A6CON1 and A6CON4 are used), AWG28 to AWG24 (When A6CON2 is used), Applicable wire size AWG28 (twisted)/AWG30 (single wire) (When A6CON3 is used) Specifications of recommended manual pulse generator Item Specification...
  • Page 66 Chapter 2 System Configuration Serial absolute synchronous encoder specifications Item Specifications (Note-1) Model name Q171ENC-W8 Ambient temperature -5 to 55°C (23 to 131°F) Resolution 4194304PLS/rev Serial communications Transmission method (Connected to MR-J4-B-RJ) Direction of increasing addresses CCW (viewed from end of shaft) Dustproof/Waterproof Protective construction (IP67: Except for the shaft-through portion.)
  • Page 67 Chapter 2 System Configuration Specifications of serial absolute synchronous encoder input (CN2L) of servo amplifier Item Specifications Applicable types Q171ENC-W8 Applicable signal types Differential-output type : (SN75C1168 or equivalent) Transmission method Serial communications Synchronous method Counter-clock-wise (viewed from end of shaft) Communication speed 2.5Mbps Position detection method...

  • Page 68: Applicable System

    Chapter 2 System Configuration 2.3 Applicable system (1) Number of applicable modules Pay attention to the power supply capacity before mounting modules because power supply capacity may be insufficient depending on the combination with other modules or the number of mounted modules. If the power supply capacity is insufficient, change the combination of the modules.
  • Page 69 REMARK The basic model QCPU cannot configure the MELSECNET/H remote I/O network. (2) Compatibility with multiple CPU system When using the QD77MS in a multiple CPU system, refer to the QCPU User's Manual (multiple CPU system). (3) Programming tool The applicable programming tool's versions of the QD77MS are shown below.

  • Page 70: How To Check The Function Version And Serial No

    Chapter 2 System Configuration 2.4 How to check the function version and SERIAL No. The function version and the SERIAL No. of the Simple Motion module can be checked in the following methods. (1) Checking on the front of the module The serial No.

  • Page 71: Restrictions By The Serial No. And Version

    1.550Y or later Section 14.11 Module power consumption (Used point: 2 words) (Note-1): The serial number can be checked on the "Product Information List" screen in GX Works2. (Note-2): "MELSEC-Q/L QD77MS/QD77GF/LD77MS/LD77MH Simple Motion Module User’s Manual (Synchronous Control)" 2 - 11...
  • Page 72 Chapter 2 System Configuration MEMO 2 - 12...
  • Page 73 QD77MS sub functions ................3- 9 3.2.4 QD77MS common functions ..............3-11 3.2.5 Combination of QD77MS main functions and sub functions ..... 3-14 3.3 Specifications of input/output signals with PLC CPU ..........3-16 3.3.1 List of input/output signals with PLC CPU ..........3-16 3.3.2...

  • Page 74: Performance Specifications

    Chapter 3 Specifications and Functions 3.1 Performance specifications Model QD77MS2 QD77MS4 QD77MS16 Item Number of control axes 2 axes 4 axes 16 axes Operation cycle 0.88ms/1.77ms 2-axis linear interpolation, 2-, 3-, or 4-axis linear interpolation, Interpolation function 2-axis circular interpolation 2-axis circular interpolation PTP (Point To Point) control, path control (both linear and arc can be set), speed control, Control method...
  • Page 75 (When A6CON1 and A6CON4 are used), AWG28 to AWG24 (When A6CON2 is used), Applicable wire size AWG28 (twisted) /AWG30 (single wire) (When A6CON3 is used) External input wiring connector A6CON1, A6CON2, A6CON3, A6CON4 (Sold separately) • QD77MS MR-J4(W)-B/MR-JE-B/MR-J3(W)-B/ MR-J3BUS_M MR-J4(W)-B/MR-JE-B/MR-J3(W)-B MR-J4(W)-B/MR-JE-B/MR-J3(W)-B (Note-4) •...

  • Page 76: List Of Functions

    Chapter 3 Specifications and Functions 3.2 List of functions 3.2.1 QD77MS control functions The Simple Motion module has several functions. In this manual, the Simple Motion module functions are categorized and explained as follows. Main functions (1) OPR control "OPR control" is a function (Fast OPR) that established the start point for carrying out positioning control (Machine OPR), and carries out positioning toward that start point.
  • Page 77 Chapter 3 Specifications and Functions Sub functions When executing the main functions, control compensation, limits and functions can be added. (Refer to Chapter 13 "Control Sub Functions".) Common functions Common control using the Simple Motion module for "parameter initialization" or "backup of execution data"...
  • Page 78 Chapter 3 Specifications and Functions Main functions Sub functions Control registered in QD77MS OPR control <Functions characteristic to machine OPR> [Positioning start No.] OPR retry function [9001] Machine OPR OP shift function [9002] Fast OPR <Functions that compensate control> Control using "Positioning data"...

  • Page 79: Qd77Ms Main Functions

    Chapter 3 Specifications and Functions 3.2.2 QD77MS main functions The outline of the main functions for positioning control with the Simple Motion module is described below. (Refer to "Section 2" for details on each function.) Reference Main functions Details section Mechanically establishes the positioning start point using a near-point dog, etc.
  • Page 80 Chapter 3 Specifications and Functions Reference Main functions Details section With one start, executes the positioning data in a random block with the Block start (Normal start) 10.3.2 set order. Carries out condition judgment set in the "condition data" for the designated positioning data, and then executes the "block start data".

  • Page 81: Qd77Ms Sub Functions

    Chapter 3 Specifications and Functions 3.2.3 QD77MS sub functions The outline of the functions that assist positioning control using the Simple Motion module is described below. (Refer to "Section 2" for details on each function.) Reference Sub function Details section This function retries the machine OPR with the upper/lower limit switches during the machine OPR.
  • Page 82 Chapter 3 Specifications and Functions Reference Sub function Details section This function restores the absolute position of designated axis. Absolute position system 13.6 If the OPR is executed at the start of system, after that, it is unnecessary to carry out the OPR when the power is turned ON. This function temporarily stops the operation to confirm the positioning operation during debugging, etc.

  • Page 83: Qd77Ms Common Functions

    14.4 • External input signal of QD77MS • External input signal of servo amplifier • External input signal via CPU (buffer memory of QD77MS) This function switches I/O signal logic according to externally connected devices. External I/O signal logic switching function 14.5...
  • Page 84 This function is used to exchange the servo amplifiers or SSCNET cables. This function is used to set the factory-set initial value of QD75MH for the setting data set in the QD77MS buffer QD75MH initial value setting function 14.14 memory/internal memory and flash ROM/internal memory (nonvolatile).
  • Page 85 Chapter 3 Specifications and Functions MEMO 3 - 13...

  • Page 86: Combination Of Qd77Ms Main Functions And Sub Functions

    Chapter 3 Specifications and Functions 3.2.5 Combination of QD77MS main functions and sub functions With positioning control using the Simple Motion module, the main functions and sub functions can be combined and used as necessary. A list of the main function and sub function combinations is given below.
  • Page 87 Chapter 3 Specifications and Functions Functions that limit control Functions that change control details Other functions : Always combine, : Combination possible, : Combination limited, : Combination not possible 3 - 15...

  • Page 88: Specifications Of Input/Output Signals With Plc Cpu

    Chapter 3 Specifications and Functions 3.3 Specifications of input/output signals with PLC CPU 3.3.1 List of input/output signals with PLC CPU The Simple Motion module uses 32 input points and 32 output points for exchanging data with the PLC CPU. The input/output signals when the head I/O number of Simple Motion module is set to "0H"...
  • Page 89 Chapter 3 Specifications and Functions (2) QD77MS4 Signal direction: QD77MS4 PLC CPU Signal direction: PLC CPU QD77MS4 Device No. Signal name Device No. Signal name READY PLC READY Synchronization flag All axis servo ON Use prohibited Use prohibited Axis 1 Axis 1 Axis 2 Axis 2...
  • Page 90 Chapter 3 Specifications and Functions (3) QD77MS16 Signal direction: QD77MS16 PLC CPU Signal direction: PLC CPU QD77MS16 Device No. Signal name Device No. Signal name READY PLC READY Synchronization flag All axis servo ON Use prohibited Use prohibited Axis 1 Axis 1 Axis 2 Axis 2...
  • Page 91 Chapter 3 Specifications and Functions 3.3.2 Details of input signals (QD77MS PLC CPU) The ON/OFF timing and conditions of the input signals are shown below. (1) QD77MS2/QD77MS4 Device Signal name Details READY ON: READY • When the PLC READY signal [Y0] turns from OFF to ON, the parameter setting range is checked.
  • Page 92 Chapter 3 Specifications and Functions Important (Note-1): The BUSY signal turns ON even when position control of movement amount 0 is executed. However, since the ON time is short, the ON status may not to be detected in the sequence program. (Note-2): "Positioning complete"...
  • Page 93 Chapter 3 Specifications and Functions 3.3.3 Details of output signals (PLC CPU QD77MS) The ON/OFF timing and conditions of the output signals are shown below. (1) QD77MS2/QD77MS4 Device No. Signal name Details PLC READY OFF: (a) This signal notifies the Simple Motion module that the PLC CPU PLC READY OFF is normal.
  • Page 94 Chapter 3 Specifications and Functions (2) QD77MS16 Device No. Signal name Details PLC READY OFF: (a) This signal notifies the Simple Motion module that the PLC CPU PLC READY OFF is normal. • It is turned ON/OFF with the sequence program. PLC READY ON •...

  • Page 95: Specifications Of Interfaces With External Devices

    Chapter 3 Specifications and Functions 3.4 Specifications of interfaces with external devices 3.4.1 Electrical specifications of input signals (1) External input signals (a) Specifications of external input signals Item Specifications Upper limit signal Near-point dog signal Signal name Lower limit signal External command signal/ Switching signal STOP signal...
  • Page 96 Chapter 3 Specifications and Functions (3) Manual pulse generator/Incremental synchronous encoder input (a) Specifications of manual pulse generator/incremental synchronous encoder Item Specifications Phase A/Phase B (Magnification by 4/ (Note-1) Signal input form Magnification by 2/Magnification by 1), PLS/SIGN (Note-2) Maximum input pulse frequency 1Mpps (After magnification by 4, up to 4Mpps) Pulse width 1µs or more...

  • Page 97: Signal Layout For External Input Connection Connector

    Chapter 3 Specifications and Functions 3.4.2 Signal layout for external input connection connector The specifications of the connector section, which is the input/output interface for the Simple Motion module and external device, are shown below. QD77MS2 QD77MS4 QD77MS16 ERR. ERR. ERR.
  • Page 98 Chapter 3 Specifications and Functions The signal layout for the external input connection connector of Simple Motion module is shown. Axis 4 Axis 3 Axis 2 Axis 1 Pin layout (External input signal 4) (External input signal 3) (External input signal 2) (External input signal 1) Pin No.

  • Page 99: List Of Input Signal Details

    Chapter 3 Specifications and Functions 3.4.3 List of input signal details The details of each external input connection connector of Simple Motion module are shown below. Signal name Pin No. Signal details 1A17 (A+) (1) Phase A/Phase B Manual pulse •...
  • Page 100 Chapter 3 Specifications and Functions Signal name Pin No. Signal details 1A17 (A+) Manual pulse (2) PLS/SIGN generator/Incremental Input the pulse signal for counting the increased/decreased pulse in the synchronous encoder pulse input (PLS). Input the signal for controlling forward run and reverse A phase/PLS run in the direction sign (SIGN).
  • Page 101 • Input this signal to stop positioning. • When this signal turns ON, the QD77MS will stop the positioning being executed. Stop signal (STOP) After that, even if this signal is turned from ON to OFF, the system will not start.

  • Page 102: Interface Internal Circuit

    Chapter 3 Specifications and Functions 3.4.4 Interface internal circuit The outline diagrams of the internal circuits for the external device connection interface (for the Simple Motion module, axis 1) are shown below. (1) Interface between external input signals/forced stop input signals Input or Signal name Pin No.
  • Page 103 Chapter 3 Specifications and Functions (2) Manual pulse generator/Incremental synchronous encoder input (a) Interface between manual pulse generator/incremental synchronous encoder (Differential-output type) Input or Signal name Pin No. Wiring example Internal circuit Output Manual 1A17 pulse (A+) generator, phase A/ 1B17 (A-) Manual pulse...
  • Page 104 Chapter 3 Specifications and Functions (3) Wiring example for manual pulse generator/incremental synchronous encoder Wire the manual pulse generator/incremental synchronous encoder of differential output type and voltage output type/open-collector type as follows. Switch the input type of the Simple Motion module by "[Pr.89] Manual pulse generator/Incremental synchronous encoder input type selection".
  • Page 105 Chapter 3 Specifications and Functions (b) Manual pulse generator/Incremental synchronous encoder of voltage output type/open-collector type When using the external When using the internal power supply (Recommended) power supply Manual pulse generator/ Manual pulse generator/ Simple Motion Simple Motion Incremental synchronous Incremental synchronous module module...

  • Page 106: External Circuit Design

    When designing the main circuit of the power supply, make sure to use a circuit breaker (MCCB). The outline diagrams for the external device connection interface are shown below. (1) Example when using the forced stop of the QD77MS (For MR-J4-B) 3-phase...
  • Page 107 Chapter 3 Specifications and Functions POINT 1: Configure up the power supply circuit which switch off the electromagnetic contactor (MC) after detection alarm occurrence on the PLC CPU. 2: It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake. 3: It is also possible to perform the forced stop using forced stop terminal of the servo amplifier.
  • Page 108 Chapter 3 Specifications and Functions (Note-1): When the control power supply of servo amplifier is shut off, it is not possible to communicate with the servo amplifier after that. Example) When the control power supply L11/L21 of the servo amplifier B in the figure is shut off, it is also not possible to communicate with the servo amplifier C .
  • Page 109 Chapter 3 Specifications and Functions MEMO 3 - 37...
  • Page 110 Chapter 3 Specifications and Functions (2) Example when using the forced stop of the QD77MS (For MR-JE-B) Important  The hot line forced stop function is enabled at the MR-JE-B factory-set. (Only MR-JE-B)  This function is used to execute deceleration stop for all axes by outputting the hot line forced stop signal to all axes and generating "E7.1"...
  • Page 111 Chapter 3 Specifications and Functions POINT 1: Configure up the power supply circuit which switch off the electromagnetic contactor (MC) after detection alarm occurrence on the PLC CPU. 2: It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake. 3: It is also possible to perform the forced stop using forced stop terminal of the servo amplifier.
  • Page 112 Chapter 3 Specifications and Functions (3) Example when using the forced stop of the QD77MS and MR-J4-B 3-phase 200 to 230VAC Power Supply PLC CPU Simple Motion Output module module Q61P QnCPU QY41P MCCB1 QD77MS R S T Forced stop INPUT EMI.COM...
  • Page 113 Chapter 3 Specifications and Functions POINT 1: Configure up the power supply circuit which switch off the electromagnetic contactor (MC) after detection alarm occurrence on the PLC CPU. 2: It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake. 3: Set the axis selection rotary switch of servo amplifier as follows to set the axis No.
  • Page 114 Chapter 3 Specifications and Functions (Note-1): When the control power supply of servo amplifier is shut off, it is not possible to communicate with the servo amplifier after that. Example) When the control power supply L11/L21 of the servo amplifier B in the figure is shut off, it is also not possible to communicate with the servo amplifier C .
  • Page 115 Chapter 3 Specifications and Functions MEMO 3 - 43...
  • Page 116 Chapter 3 Specifications and Functions (4) Example when using the forced stop of the QD77MS and MR-JE-B Important  The hot line forced stop function is enabled at the MR-JE-B factory-set. (Only MR-JE-B)  This function is used to execute deceleration stop for all axes by outputting the hot line forced stop signal to all axes and generating "E7.1"...
  • Page 117 Chapter 3 Specifications and Functions POINT 1: Configure up the power supply circuit which switch off the electromagnetic contactor (MC) after detection alarm occurrence on the PLC CPU. 2: It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake. 3: Set the axis selection rotary switch of servo amplifier as follows to set the axis No.
  • Page 118 Chapter 3 Specifications and Functions MEMO 3 - 46...
  • Page 119 Chapter 4 Installation, Wiring and Maintenance of the Product Chapter 4 Installation, Wiring and Maintenance of the Product The installation, wiring and maintenance of the Simple Motion module are explained in this chapter. Important information such as precautions to prevent malfunctioning of the Simple Motion module, accidents and injuries as well as the proper work methods are described.

  • Page 120: Outline Of Installation, Wiring And Maintenance

    The outline and procedures for Simple Motion module installation, wiring and maintenance are shown below. Start Module mounting Refer to Section 4.2 "Installation". Mount the QD77MS to the base unit. Wiring Refer to Section 4.3 "Wiring". Connect external devices to the QD77MS. Checking wiring Refer to Section 4.4 "Confirming the installation and wiring".

  • Page 121: Names Of Each Part

    Chapter 4 Installation, Wiring and Maintenance of the Product 4.1.2 Names of each part (1) The part names of the Simple Motion module are shown below. QD77MS2 QD77MS4 QD77MS16 QD77MS2 QD77MS4 QD77MS16 ERR. ERR. ERR. QD77MS4 QD77MS16 QD77MS2 Name Description RUN indicator LED, ERR indicator LED Axis display LED (AX1 to AX2) Refer to this section (2).
  • Page 122 Chapter 4 Installation, Wiring and Maintenance of the Product (2) The LED display indicates the following operation statuses of the Simple Motion module and axes. QD77MS2 QD77MS4 QD77MS16 QD77MS2 QD77MS4 QD77MS16 ERR. ERR. ERR. LED Display Description QD77MS2 QD77MS4 QD77MS16 Hardware failure, RUN LED is OFF.

  • Page 123: Handling Precautions

    Chapter 4 Installation, Wiring and Maintenance of the Product 4.1.3 Handling precautions Handle the Simple Motion module and cable while observing the following precautions. [1] Handling precautions CAUTION Use the programmable controller in an environment that meets the general specifications in the manual "Safety Guidelines", the manual supplied with the main base unit.
  • Page 124 Chapter 4 Installation, Wiring and Maintenance of the Product [2] Other precautions (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 PCB of Simple Motion module from the case. Failure to observe this could lead to faults.

  • Page 125: Installation

    Chapter 4 Installation, Wiring and Maintenance of the Product 4.2 Installation 4.2.1 Precautions for installation The precautions for installing the Simple Motion module are given below. Refer to this section as well as Section 4.1.3 "Handling precautions" when carrying out the work. Precautions for installation DANGER Completely turn off the externally supplied power used in the system before installing or...

  • Page 126: Wiring

    Chapter 4 Installation, Wiring and Maintenance of the Product 4.3 Wiring The precautions for wiring the Simple Motion module are given below. Refer to this section as well as Section 4.1.3 "Handling precautions" when carrying out the work. 4.3.1 Precautions for wiring DANGER Completely turn off the externally supplied power used in the system before installation or wiring.
  • Page 127 Chapter 4 Installation, Wiring and Maintenance of the Product CAUTION Forcibly removal the SSCNET cable from the Simple Motion module will damage the Simple Motion module and SSCNET cables. After removal of the SSCNET cable, be sure to put a cap on the SSCNET connector.
  • Page 128 Chapter 4 Installation, Wiring and Maintenance of the Product CAUTION If the adhesion of solvent and oil to the cord part of SSCNET cable may lower the optical characteristic and machine characteristic. If it is used such an environment, be sure to do the protection measures to the cord part.
  • Page 129 Chapter 4 Installation, Wiring and Maintenance of the Product [1] Precautions for wiring (1) Use separate cables for connecting to the Simple Motion module and for the power cable that create surge and inductance. (2) The cable for connecting the Simple Motion module can be placed in the duct or secured in place by clamps.
  • Page 130 Chapter 4 Installation, Wiring and Maintenance of the Product Grounding of FG wire Base unit Panel Ground the FG wire securely to the panel. 4 - 12...
  • Page 131 Chapter 4 Installation, Wiring and Maintenance of the Product [Processing example of shielded cables] Connections of FG wire and each shielded cable Remove the covering from all shielded cables and bind the appeared shield with a conductive tape. Coat the wire with insulating tape.
  • Page 132 (6) To make this product conform to the EMC directive instruction and Low Voltage Directives, be sure to use an AD75CK type cable clamp (manufactured by Mitsubishi Electric) for grounding connected to the control box and the shielded cable. Inside control box...
  • Page 133 Chapter 4 Installation, Wiring and Maintenance of the Product [2] Precautions for SSCNET cable wiring SSCNET cable is made from optical fiber. If optical fiber is added a power such as a major shock, lateral pressure, haul, sudden bending or twist, its inside distorts or breaks, and optical transmission will not be available.
  • Page 134 SSCNET connector. Leave the following space for wiring. • Putting in the duct Top of panel or wiring duct Base unit 30mm 80mm QD77MS (1.18inch) (3.15inch) or more (Note-1) or more Door Panel...
  • Page 135 Optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius, and it should not be twisted. When laying cable, fix and hold it in position with using cushioning such as sponge or rubber which does not contain plasticizing material. QD77MS Base unit Panel Optical cord...
  • Page 136 (1) Refer to this chapter or "EMC and Low Voltage Directives" of "QCPU User's Manual (Hardware Design, Maintenance and Inspection)" for basic wire. We examined QD77MS by the above example. (2) In wiring inside the panel, the power line connected to the power or servo amplifier and the communication cable such as an expansion cable or a network cable must not be mixed.

  • Page 137: Confirming The Installation And Wiring

    Chapter 4 Installation, Wiring and Maintenance of the Product 4.4 Confirming the installation and wiring 4.4.1 Items to confirm when installation and wiring are completed Check the following points when completed with the installation of Simple Motion module and wiring. ...

  • Page 138: Maintenance

    Chapter 4 Installation, Wiring and Maintenance of the Product 4.5 Maintenance 4.5.1 Precautions for maintenance The precautions for servicing the Simple Motion module are given below. Refer to this section as well as Section 4.1.3 "Handling precautions" when carrying out the work. DANGER Completely turn off the externally supplied power used in the system before clearing or tightening the connector screws.
  • Page 139 Chapter 5 Data Used for Positioning Control Chapter 5 Data Used for Positioning Control The parameters and data used to carry out positioning control with the Simple Motion module are explained in this chapter. With the positioning system using the Simple Motion module, the various parameters and data explained in this chapter are used for control.

  • Page 140: Types Of Data

    Chapter 5 Data Used for Positioning Control 5.1 Types of data 5.1.1 Parameters and data required for control The parameters and data required to carry out control with the Simple Motion module include the "setting data", "monitor data" and "control data" shown below. Setting data The data is set beforehand according to the machine and application.
  • Page 141 Chapter 5 Data Used for Positioning Control Setting data Positioning Parameters Basic parameters 1 parameters Set according to the machine and applicable motor when the system is started up. Basic parameters 2 Note) If the setting of the basic parameters 1 is incorrect, the rotation direction may be reversed, or no operation may take place.
  • Page 142 Chapter 5 Data Used for Positioning Control The following methods are available for data setting: • Set using GX Works2. • Create the sequence program for data setting using GX Works2 and execute it. In this manual, the method using the GX Works2 will be explained. (Refer to "POINT"...
  • Page 143 Chapter 5 Data Used for Positioning Control Monitor data The data indicates the control status. The data is stored in the buffer memory. Monitor the data as necessary. The monitor data is classified as follows. Monitor data Monitors the specifications and the operation history System monitor data of Simple Motion module.

  • Page 144: Setting Items For Positioning Parameters

    Chapter 5 Data Used for Positioning Control 5.1.2 Setting items for positioning parameters The table below lists items set to the positioning parameters. The "positioning parameters" are set for each axis for all controls achieved by the Simple Motion module. For details of controls, refer to "Section 2".
  • Page 145 Chapter 5 Data Used for Positioning Control Expansion Control Major positioning control Manual control control Position control Other control Positioning parameter [Pr.25] Acceleration time 1 – – – – – [Pr.26] Acceleration time 2 – – – – – [Pr.27] Acceleration time 3 –...

  • Page 146: Setting Items For Opr Parameters

    Chapter 5 Data Used for Positioning Control 5.1.3 Setting items for OPR parameters When carrying out "OPR control", the "OPR parameters" must be set. The setting items for the "OPR parameters" are shown below. The "OPR parameters" are set for each axis. Refer to Chapter 8 "OPR control"...

  • Page 147: Setting Items For Expansion Parameters

    Chapter 5 Data Used for Positioning Control 5.1.4 Setting items for expansion parameters The setting items for the "expansion parameters" are shown below. The "expansion parameters" are set for each axis. Refer to "Section 2" for details on the each control, and refer to Section 5.2 "List of parameters"...

  • Page 148: Setting Items For Positioning Data

    Chapter 5 Data Used for Positioning Control 5.1.6 Setting items for positioning data Positioning data must be set for carrying out any "major positioning control". The table below lists the items to be set for producing the positioning data. One to 600 positioning data items can be set for each axis. For details of the major positioning controls, refer to Chapter 9 "Major Positioning Control".
  • Page 149 Chapter 5 Data Used for Positioning Control Major positioning control Position control Other control Positioning data Axis to be interpolated 1 [Da.20] : 2 axes, 3 axes, 4 axes –: 1 axis – – – – – – – QD77MS16 Axis to be interpolated 2 [Da.21] : 3 axes, 4 axes –: 1 axis, 2 axes...

  • Page 150: Setting Items For Block Start Data

    Chapter 5 Data Used for Positioning Control 5.1.7 Setting items for block start data The "block start data" must be set when carrying out "high-level positioning control". The setting items for the "block start data" are shown below. Up to 50 points of "block start data" can be set for each axis. Refer to Chapter 10 "High-Level Positioning Control"...

  • Page 151: Setting Items For Condition Data

    Chapter 5 Data Used for Positioning Control 5.1.8 Setting items for condition data When carrying out "high-level positioning control" or using the JUMP instruction in the "major positioning control", the "condition data" must be set as required. The setting items for the "condition data" are shown below. Up to 10 "condition data"...

  • Page 152: Types And Roles Of Monitor Data

    Chapter 5 Data Used for Positioning Control 5.1.9 Types and roles of monitor data The monitor data area in the buffer memory stores data relating to the operating state of the positioning system, which are monitored as required while the positioning system is operating.
  • Page 153 Chapter 5 Data Used for Positioning Control Monitoring details Corresponding item [Md.14] Axis in which the warning occurred Axis in which the warning occurred [Md.15] Axis warning No. Axis warning No. [Md.58] Servo warning Servo warning [Md.56] Year: month Axis warning occurrence (Year: month) History of all warnings Axis warning [Md.16]...
  • Page 154 Chapter 5 Data Used for Positioning Control [2] Monitoring the axis operation state Monitoring the position Monitor details Corresponding item [Md.21] Monitor the current machine feed value Machine feed value [Md.20] Monitor the current "current feed value" Current feed value [Md.32] Monitor the current target value Target value...
  • Page 155 Chapter 5 Data Used for Positioning Control Monitoring the status of servo amplifier Monitor details Corresponding item Monitor the real current value (current feed value - deviation [Md.101] Real current value counter). [Md.102] Deviation counter value Monitor the pulse droop. [Md.103] Motor rotation speed Monitor the motor speed of servo motor.
  • Page 156 Chapter 5 Data Used for Positioning Control Monitor details Corresponding item [Md.45] Monitor the block No. Block No. being executed Torque limit stored value/forward torque [Md.35] limit stored value Monitor the current torque limit value [Md.120] Reverse torque limit stored value Monitor the command torque at torque control mode or continuous [Md.123] Torque during command operation to torque control mode in the speed-torque control.

  • Page 157: Types And Roles Of Control Data

    Chapter 5 Data Used for Positioning Control 5.1.10 Types and roles of control data Operation of the positioning 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.) Items that can be controlled are described below.
  • Page 158 Chapter 5 Data Used for Positioning Control [2] Controlling the operation Controlling the operation Control details Corresponding item [Cd.3] Set which positioning to execute (start No.). Positioning start No. [Cd.5] Clear (reset) the axis error ([Md.23]) and warning ([Md.24]). Axis error reset [Cd.6] Issue instruction to restart (When axis operation is stopped).
  • Page 159 Chapter 5 Data Used for Positioning Control Controlling the speed Control details Corresponding item [Cd.14] Set new speed when changing speed during operation. New speed value Issue instruction to change speed in operation to [Cd.14] value. [Cd.15] Speed change request (Only during positioning operation and JOG operation).
  • Page 160 Chapter 5 Data Used for Positioning Control Control details Corresponding item Set "same setting/individual setting" of the forward torque limit value [Cd.112] Torque change function switching request or reverse torque limit value in the torque change function. Change "[Md.35] Torque limit stored value/forward torque limit New torque value/forward new torque [Cd.22] stored value".

  • Page 161: List Of Parameters

    Chapter 5 Data Used for Positioning Control 5.2 List of parameters The setting items of the setting data are explained in this section. • Guide to buffer memory address In the buffer memory address, "n" in "1+150n", etc. indicates a value corresponding to axis No.
  • Page 162 Chapter 5 Data Used for Positioning Control [Pr.1] Unit setting Set the unit used for defining positioning operations. Choose from the following units depending on the type of the control target: mm, inch, degree, or PLS. Different units can be defined for different axes. (Example) Different units (mm, inch, degree, and PLS) are applicable to different systems: •...
  • Page 163 Chapter 5 Data Used for Positioning Control POINT (1) Set the electronic gear within the following range. If the value outside the setting range is set, the error "Outside electronic gear setting range" (error code: 907) will occur. • Product information is before 150320000000000. ...
  • Page 164 Chapter 5 Data Used for Positioning Control [Pr.2] Number of pulses per rotation (AP) Set the number of pulses required for a complete rotation of the motor shaft. If you are using the Mitsubishi servo amplifier MR-J4(W)-B/MR-JE-B/MR-J3(W)-B, set the value given as the "resolution per servomotor rotation" in the speed/position detector specifications.
  • Page 165 Chapter 5 Data Used for Positioning Control [Pr.7] Bias speed at start Set the bias speed (minimum speed) upon starting. When using a stepping motor, etc., set it to start the motor smoothly. (If the motor speed at start is low, the stepping motor does not start smoothly.) The specified "bias speed at start"...
  • Page 166 Chapter 5 Data Used for Positioning Control POINT For the 2-axis or more interpolation control, the bias speed at start is applied by the setting of "[Pr.20] Interpolation speed designation method".  "0: Composite speed" : Bias speed at start set to the reference axis is applied to the composite command speed.

  • Page 167: Basic Parameters 2

    Chapter 5 Data Used for Positioning Control 5.2.2 Basic parameters 2 Setting value, setting range Buffer memory address Default Item Value set with sequence QD77MS2 value Value set with GX Works2 QD77MS16 program QD77MS4 [Pr.8] 10+150n 200000 The setting range differs depending on the "[Pr.1] Unit setting". Speed limit value 11+150n [Pr.9]...

  • Page 168: Detailed Parameters 1

    Chapter 5 Data Used for Positioning Control 5.2.3 Detailed parameters 1 Setting value, setting range Buffer memory address Item Default value Value set with sequence QD77MS2 Value set with GX Works2 QD77MS16 program QD77MS4 [Pr.11] Backlash compensation 17+150n amount [Pr.12] The setting value range differs according to the "[Pr.1] Unit 18+150n Software stroke limit...
  • Page 169 (Note-1): (Note-1) Only the value specified Not used against the axis 1 is valid. 0: External input signal of QD77MS QD77MS2 QD77MS4 1: External input signal of servo amplifier 2: Buffer memory of QD77MS 3: External input signal 1 of [Pr.80]...
  • Page 170 Chapter 5 Data Used for Positioning Control [Pr.11] Backlash compensation amount The error that occurs due to backlash when moving the machine via gears can be compensated. (When the backlash compensation amount is set, commands equivalent to the compensation amount will be output each time the direction changes during positioning.) OPR direction Pr.44...
  • Page 171 Chapter 5 Data Used for Positioning Control Value set with GX Works2 Value set with sequence program [Pr.1] setting value (unit) (unit) 0 to 65535 (  10 0 to 6553.5 (  m)  m) 0 : mm 0 to 65535 (  10 1 : inch 0 to 0.65535 (inch) inch)
  • Page 172 Chapter 5 Data Used for Positioning Control [Pr.14] Software stroke limit selection Set whether to apply the software stroke limit on the "current feed value" or the "machine feed value". The software stroke limit will be validated according to the set value.
  • Page 173 Chapter 5 Data Used for Positioning Control [Pr.18] M code ON signal output timing This parameter sets the M code ON signal output timing. Choose either WITH mode or AFTER mode as the M code ON signal output timing. [QD77MS4 operation example] WITH mode ....
  • Page 174 Chapter 5 Data Used for Positioning Control [Pr.19] Speed switching mode Set whether to switch the speed switching mode with the standard switching or front-loading switching mode. 0 : Standard switching ....Switch the speed when executing the next positioning data. 1 : Front-loading switching ..
  • Page 175 Chapter 5 Data Used for Positioning Control [Pr.21] Current feed value during speed control Specify whether you wish to enable or disable the update of "[Md.20] Current feed value" while operations are performed under the speed control (including the speed control in speed-position and position-speed switching control). 0: The update of the current feed value is disabled The current feed value will not change.
  • Page 176 1: At MR-JE-B use, refer to Appendix 6.5 "Connection with MR-JE-B". POINT (1) When "2: Buffer memory of QD77MS" is set, operation is affected by the PLC scan time. (2) When "3" to "6" is set in the QD77MS2/QD77MS4, the error "External signal selection error"...
  • Page 177 Chapter 5 Data Used for Positioning Control [Pr.24] Manual pulse generator/Incremental synchronous encoder input selection Set the manual pulse generator/incremental synchronous encoder input pulse mode. (Only the value specified against the axis 1 is valid.) 0: A-phase/B-phase multiplied by 4 1: A-phase/B-phase multiplied by 2 2: A-phase/B-phase multiplied by 1 3: PLS/SIGN...
  • Page 178 Chapter 5 Data Used for Positioning Control (2) PLS/SIGN [Pr.22] Input signal logic selection Positive logic Negative logic Forward run and reverse run are controlled with the ON/OFF Forward run and reverse run are controlled with the ON/OFF of the direction sign (SIGN). of the direction sign (SIGN).

  • Page 179: Detailed Parameters 2

    Chapter 5 Data Used for Positioning Control 5.2.4 Detailed parameters 2 Setting value, setting range Buffer memory address Default Item Value set with sequence QD77MS2 value Value set with GX Works2 QD77MS16 program QD77MS4 36+150n [Pr.25] Acceleration time 1 37+150n 38+150n [Pr.26] Acceleration time 2 39+150n...
  • Page 180 Chapter 5 Data Used for Positioning Control Setting value, setting range Buffer memory address Default Item Value set with sequence QD77MS2 value Value set with GX Works2 QD77MS16 program QD77MS4 [Pr.41] The setting value range differs depending on the "[Pr.1] Unit 60+150n Allowable circular setting".
  • Page 181 Chapter 5 Data Used for Positioning Control [Pr.28] Deceleration time 1 to [Pr.30] Deceleration time 3 These parameters set the time for the speed to decrease from the "[Pr.8] Speed limit value" ("[Pr.31] JOG speed limit value" at JOG operation control) to zero during a positioning operation.
  • Page 182 Chapter 5 Data Used for Positioning Control [Pr.34] Acceleration/deceleration process selection Set whether to use trapezoid acceleration/deceleration or S-curve acceleration/ deceleration for the acceleration/deceleration process. Note) Refer to Section 13.7.6 "Acceleration/deceleration processing function" for details. Velocity Velocity The acceleration and deceleration The acceleration and deceleration are linear.
  • Page 183 Chapter 5 Data Used for Positioning Control [Pr.36] Sudden stop deceleration time Set the time to reach speed 0 from "[Pr.8] Speed limit value" ("[Pr.31] JOG speed limit value" at JOG operation control) during the sudden stop. The illustration below shows the relationships with other parameters. 1) Positioning start 2) Sudden stop cause occurrence 3) Positioning stop...
  • Page 184 Motion module had terminated the command output. For the interpolation control, the positioning completed signal of interpolation axis is output only during the time set to the reference axis. [QD77MS4 operation example] Positioning PLC CPU QD77MS start signal [Y10, Y11, Y12, Y13] Positioning Positioning complete signal...
  • Page 185 Chapter 5 Data Used for Positioning Control [Pr.41] Allowable circular interpolation error width The allowable error range of the calculated arc path and end point address is set. If the error of the calculated arc path and end point address is within the set range, circular interpolation will be carried out to the set end point address while compensating the error with spiral interpolation.
  • Page 186 Chapter 5 Data Used for Positioning Control [Pr.42] External command function selection Select a command with which the external command signal should be associated. 0: External positioning start The external command signal input is used to start a positioning operation. 1: External speed change request The external command signal input is used to change the speed in the current positioning operation.
  • Page 187 Chapter 5 Data Used for Positioning Control [Pr.84] Restart allowable range when servo OFF to ON (1) Restart function at switching servo OFF to ON The restart function at switching servo OFF to ON performs continuous positioning operation (positioning start, restart) when switching servo OFF to ON while the Simple Motion module is stopped (including forced stop, servo forced stop).
  • Page 188 Chapter 5 Data Used for Positioning Control (2) Setting method For performing restart at switching servo OFF to ON, set the restart allowable range in the following buffer memory. Buffer memory address Default value QD77MS2 Item Setting range QD77MS16 QD77MS4 64+150n [Pr.84] Restart allowable range 0, 1 to 327680 (PLS)
  • Page 189 Chapter 5 Data Used for Positioning Control (g) Restart can also be executed while the positioning start signal is ON. However, do not set the positioning start signal from OFF to ON during a stop. If the positioning start signal is switched from OFF to ON, positioning is performed from the positioning data number set in "[Cd.3] Positioning start No."...
  • Page 190 Chapter 5 Data Used for Positioning Control [Pr.90] Operation setting for speed-torque control mode Operation setting of the speed control mode, torque control mode or continuous operation to torque control mode at the speed-torque control is executed. (1) Torque initial value selection Set the torque initial value at switching to torque control mode or to continuous operation to torque control mode.

  • Page 191: Opr Basic Parameters

    Chapter 5 Data Used for Positioning Control [Pr.95] External command signal selection QD77MS16 Set the external command signal. 0: Not used ..External command signal is not used. 1: DI1 ....DI1 is used as external command signal. 2: DI2 ....DI2 is used as external command signal. 3: DI3 ....
  • Page 192 Chapter 5 Data Used for Positioning Control [Pr.43] OPR method Set the "OPR method" for carrying out machine OPR. 0: Near-point dog method ..After decelerating at the near-point dog ON, stop at the zero signal and complete the machine OPR. 4: Count method 1) ....
  • Page 193 Chapter 5 Data Used for Positioning Control 0 : Near-point dog method (1) Start machine OPR. (Start movement at the "[Pr.46] OPR speed" in the "[Pr.44] OPR direction".) (2) Detect the near-point dog ON, and start deceleration. OPR speed Pr.46 (3) Decelerate to "[Pr.47] Creep speed", and move with the creep speed.
  • Page 194 Chapter 5 Data Used for Positioning Control 5 : Count method 2) (1) Start machine OPR. (Start movement at the "[Pr.46] OPR speed" in the "[Pr.44] OPR speed Pr.46 Pr.50 OPR direction".) Setting for the movement amount after near-point dog ON (2) Detect the near-point dog ON, and start deceleration.
  • Page 195 Chapter 5 Data Used for Positioning Control [Pr.44] OPR direction Set the direction to start movement when starting machine OPR. 0: Positive direction (address increment direction) Moves in the direction that the address increments. (Arrow 2)) 1: Negative direction (address decrement direction) Moves in the direction that the address decrements.
  • Page 196 Chapter 5 Data Used for Positioning Control [Pr.45] OP address Set the address used as the reference point for positioning control (ABS system). (When the machine OPR is completed, the stop position address is changed to the address set in "[Pr.45] OP address". At the same time, the "[Pr.45] OP address" is stored in "[Md.20] Current feed value"...
  • Page 197 Chapter 5 Data Used for Positioning Control [Pr.47] Creep speed Set the creep speed after near-point dog ON (the low speed just before stopping after decelerating from the OPR speed). The creep speed is set within the following range. ([Pr.46] OPR speed) ([Pr.47] Creep speed) ([Pr.7] Bias speed at start) OPR speed...
  • Page 198 Chapter 5 Data Used for Positioning Control [Pr.48] OPR retry Set whether to carry out OPR retry. When the OPR retry function is validated and the machine OPR is started, first the axis will move in the OPR direction (1)). If the upper/lower limit signal turns OFF before the near-point dog signal ON is detected (2)), the axis will decelerate to a stop, and then will move in the direction opposite the OPR direction (3)).

  • Page 199: Opr Detailed Parameters

    Chapter 5 Data Used for Positioning Control 5.2.6 OPR detailed parameters Setting value, setting range Buffer memory address Default Item Value set with sequence QD77MS2 value Value set with GX Works2 QD77MS16 program QD77MS4 [Pr.50] The setting value range differs depending on the "[Pr.1] Unit Setting for the movement 80+150n amount after near-point dog...
  • Page 200 Chapter 5 Data Used for Positioning Control [Pr.50] Setting for the movement amount after near-point dog ON When using the count method 1) or 2), set the movement amount to the OP after the near-point dog signal turns ON. (The movement amount after near-point dog ON should be equal to or greater than the sum of the "distance covered by the deceleration from the OPR speed to the creep speed"...
  • Page 201 Chapter 5 Data Used for Positioning Control [Pr.52] OPR deceleration time selection Set which of "deceleration time 0 to 3" to use for the deceleration time during OPR. 0 : Use the value set in "[Pr.10] Deceleration time 0". 1 : Use the value set in "[Pr.28] Deceleration time 1". 2 : Use the value set in "[Pr.29] Deceleration time 2".
  • Page 202 Chapter 5 Data Used for Positioning Control [Pr.54] OPR torque limit value Set the value to limit the servomotor torque after reaching the creep speed during machine OPR. Refer to Section 13.4.2 "Torque limit function" for details on the torque limits. [Pr.55] Operation setting for incompletion of OPR Set whether the positioning control is executed or not (When the OPR request flag is ON.).
  • Page 203 Chapter 5 Data Used for Positioning Control [Pr.56] Speed designation during OP shift Set the operation speed for when a value other than "0" is set for "[Pr.53] OP shift amount". Select the setting from "[Pr.46] OPR speed" or "[Pr.47] Creep speed". 0 : Designate "[Pr.46] OPR speed"...

  • Page 204: Expansion Parameters

    Chapter 5 Data Used for Positioning Control 5.2.7 Expansion parameters Setting value, setting range Buffer memory address Item Default value Value set with QD77MS2 Value set with GX Works2 QD77MS16 sequence program QD77MS4 0 : No setting (Note-2) 1 : Effective load ratio 2 : Regenerative load ratio 3 : Peak load ratio [Pr.91]...
  • Page 205 Chapter 5 Data Used for Positioning Control [Pr.91] Optional data monitor: Data type setting 1 to [Pr.94] Optional data monitor: Data type setting 4 Set the data type monitored in optional data monitor function. Setting value Data type Used point (Note-1) No setting (Note-2)
  • Page 206 Chapter 5 Data Used for Positioning Control POINT (1) The monitor address of optional data monitor is registered to servo amplifier with initialized communication after power supply ON or PLC CPU reset. (2) Set the data type of "used point: 2 words" in "[Pr.91] Optional data monitor: Data type setting 1"...
  • Page 207 Chapter 5 Data Used for Positioning Control [Pr.96] Operation cycle setting Set the operation cycle. (Only the value specified against the axis 1 is valid.) 0: 0.88ms 1: 1.77ms POINT (1) In this parameter, the value set in flash ROM of Simple Motion module is valid at power supply ON or PLC CPU reset.
  • Page 208 Chapter 5 Data Used for Positioning Control POINT In this parameter, the value set in flash ROM of Simple Motion module is valid at power supply ON or PLC CPU reset. Fetch by PLC READY signal OFF to ON is not executed.

  • Page 209: Servo Parameters

    Chapter 5 Data Used for Positioning Control 5.2.8 Servo parameters (1) Servo series Buffer memory address Default Item Setting details Setting range QD77MS2 value QD77MS16 QD77MS4 0: Servo series is not set 1: MR-J3-_B_, MR-J3W-_B (2-axis type) 3: MR-J3-_B_-RJ006 (For fully closed loop control) MR-J3-_BS_ (For safety servo) 4: MR-J3-_B_-RJ004 (For linear servo)
  • Page 210 Chapter 5 Data Used for Positioning Control (a) Basic setting parameters Buffer memory address Buffer memory address Servo amplifier Servo amplifier QD77MS2 QD77MS2 Parameter No. Parameter No. QD77MS16 QD77MS16 QD77MS4 QD77MS4 PA01 30101+200n 28401+100n PA18 30118+200n 28418+100n PA02 30102+200n 28402+100n Set with PA19 30932+50n...
  • Page 211 Chapter 5 Data Used for Positioning Control (b) Gain/filter setting parameters Buffer memory address Buffer memory address Servo amplifier Servo amplifier QD77MS2 QD77MS2 Parameter No. Parameter No. QD77MS16 QD77MS16 QD77MS4 QD77MS4 PB01 30119+200n 28419+100n PB33 30151+200n 28451+100n PB02 30120+200n 28420+100n PB34 30152+200n 28452+100n...
  • Page 212 Chapter 5 Data Used for Positioning Control (c) Extension setting parameters Buffer memory address Buffer memory address Servo amplifier Servo amplifier QD77MS2 QD77MS2 Parameter No. Parameter No. QD77MS16 QD77MS16 QD77MS4 QD77MS4 PC01 30164+200n 28464+100n PC33 64432+250n 64432+70n PC02 30165+200n 28465+100n PC34 64433+250n 64433+70n...
  • Page 213 Chapter 5 Data Used for Positioning Control (d) I/O setting parameters Buffer memory address Buffer memory address Servo amplifier Servo amplifier QD77MS2 QD77MS2 Parameter No. Parameter No. QD77MS16 QD77MS16 QD77MS4 QD77MS4 PD01 30196+200n PD25 30220+200n PD02 30197+200n PD26 30221+200n PD03 30198+200n PD27 30222+200n...
  • Page 214 Chapter 5 Data Used for Positioning Control (e) Extension setting 2 parameters Buffer memory address Buffer memory address Servo amplifier Servo amplifier QD77MS2 QD77MS2 Parameter No. Parameter No. QD77MS16 QD77MS16 QD77MS4 QD77MS4 PE01 30228+200n PE33 30260+200n PE02 30229+200n PE34 30261+200n PE03 30230+200n PE35...
  • Page 215 Chapter 5 Data Used for Positioning Control (f) Special setting parameters Buffer memory address Buffer memory address Servo amplifier Servo amplifier QD77MS2 QD77MS2 Parameter No. Parameter No. QD77MS16 QD77MS16 QD77MS4 QD77MS4 PS01 30268+200n PS17 30284+200n PS02 30269+200n PS18 30285+200n PS03 30270+200n PS19 30286+200n...
  • Page 216 Chapter 5 Data Used for Positioning Control (h) Option setting parameters Buffer memory address Buffer memory address Servo amplifier Servo amplifier QD77MS2 QD77MS2 Parameter No. Parameter No. QD77MS16 QD77MS16 QD77MS4 QD77MS4 Po01 30916+50n Po17 64536+250n Po02 30917+50n Po18 64537+250n Po03 30918+50n Po19 64538+250n...
  • Page 217 Chapter 5 Data Used for Positioning Control (3) Parameters of MR-J3(W)-B The parameter list for MR-J3(W)-B is shown below. Refer to each servo amplifier instruction manual for details of setting items. Do not change other than the buffer memory addresses of the parameters described in each servo amplifier instruction manual.
  • Page 218 Chapter 5 Data Used for Positioning Control (a) Basic setting parameters Buffer memory address Buffer memory address Servo amplifier Servo amplifier QD77MS2 QD77MS2 Parameter No. Parameter No. QD77MS16 QD77MS16 QD77MS4 QD77MS4 PA01 30101+200n 28401+100n PA11 30111+200n 28411+100n PA02 30102+200n 28402+100n PA12 30112+200n 28412+100n...
  • Page 219 Chapter 5 Data Used for Positioning Control (c) Expansion setting parameters Buffer memory address Buffer memory address Servo amplifier Servo amplifier QD77MS2 QD77MS2 Parameter No. Parameter No. QD77MS16 QD77MS16 QD77MS4 QD77MS4 PC01 30164+200n 28464+100n PC17 30180+200n 28480+100n PC02 30165+200n 28465+100n PC18 30181+200n 28481+100n...
  • Page 220 Chapter 5 Data Used for Positioning Control (e) Extension control parameters Buffer memory address Buffer memory address Servo amplifier Servo amplifier QD77MS2 QD77MS2 Parameter No. Parameter No. QD77MS16 QD77MS16 QD77MS4 QD77MS4 PE01 30228+200n PE21 30248+200n PE02 30229+200n PE22 30249+200n PE03 30230+200n PE23 30250+200n...
  • Page 221 Chapter 5 Data Used for Positioning Control (g) Other setting parameters Buffer memory address Buffer memory address Servo amplifier Servo amplifier QD77MS2 QD77MS2 Parameter No. Parameter No. QD77MS16 QD77MS16 QD77MS4 QD77MS4 PF01 30900+50n PF09 30908+50n PF02 30901+50n PF10 30909+50n PF03 30902+50n PF11 30910+50n...

  • Page 222: List Of Positioning Data

    Chapter 5 Data Used for Positioning Control 5.3 List of positioning data Before explaining the positioning data setting items [Da.1] to [Da.10], [Da.20] to [Da.22] the configuration of the positioning data will be shown below. The positioning data stored in the buffer memory of Simple Motion module has the following type of configuration.
  • Page 223 Chapter 5 Data Used for Positioning Control The descriptions that follow relate to the positioning data set items [Da.1] to [Da.10], [Da.20] to [Da.22]. (The buffer memory addresses shown are those of the "positioning data No. 1".) • Guide to buffer memory address In the buffer memory address, "n"...
  • Page 224 Chapter 5 Data Used for Positioning Control Setting value Buffer memory address Default Item QD77MS2 value Value set with GX Works2 Value set with sequence program QD77MS16 QD77MS4 00: Positioning complete [Da.1] Operation pattern Operation 01: Continuous positioning control pattern 11: Continuous path control : ABS Linear 1 : INC Linear 1...
  • Page 225 Chapter 5 Data Used for Positioning Control Setting value, setting range Buffer memory address Default Item Value set with sequence QD77MS2 value Value set with GX Works2 QD77MS16 program QD77MS4 [Da.6] 2006+6000n 6006+1000n Positioning address/ 2007+6000n 6007+1000n The setting value range differs according to the "[Da.2] Control movement amount method".
  • Page 226 Chapter 5 Data Used for Positioning Control [Da.1] Operation pattern The operation pattern designates whether positioning of a certain data No. is to be ended with just that data, or whether the positioning for the next data No. is to be carried out in succession.
  • Page 227 Chapter 5 Data Used for Positioning Control [Da.4] Deceleration time No. Set which of "deceleration time 0 to 3" to use for the deceleration time during positioning. 0: Use the value set in "[Pr.10] Deceleration time 0". 1: Use the value set in "[Pr.28] Deceleration time 1". 2: Use the value set in "[Pr.29] Deceleration time 2".
  • Page 228 Chapter 5 Data Used for Positioning Control (2) Incremental (INC) system, fixed-feed 1, fixed-feed 2, fixed-feed 3, fixed-feed 4  The setting value (movement amount) for the INC system is set as a movement amount with sign. When movement amount is positive: Moves in the positive direction (address increment direction) When movement amount is negative: Moves in the negative direction (address decrement direction)
  • Page 229 Chapter 5 Data Used for Positioning Control When "[Pr.1] Unit setting" is "mm" The table below lists the control methods that require the setting of the positioning address or movement amount and the associated setting ranges. (With any control method excluded from the table below, neither the positioning address nor the movement amount needs to be set.) Value set with sequence program Value set with GX Works2...
  • Page 230 Chapter 5 Data Used for Positioning Control When "[Pr.1] Unit setting" is "degree" The table below lists the control methods that require the setting of the positioning address or movement amount and the associated setting ranges. (With any control method excluded from the table below, neither the positioning address nor the movement amount needs to be set.) Value set with sequence program Value set with GX Works2...
  • Page 231 Chapter 5 Data Used for Positioning Control When "[Pr.1] Unit setting" is "PLS" The table below lists the control methods that require the setting of the positioning address or movement amount and the associated setting ranges. (With any control method excluded from the table below, neither the positioning address nor the movement amount needs to be set.) Value set with GX Works2 Value set with sequence program...
  • Page 232 Chapter 5 Data Used for Positioning Control When "[Pr.1] Unit setting" is "inch" The table below lists the control methods that require the setting of the positioning address or movement amount and the associated setting ranges. (With any control method excluded from the table below, neither the positioning address nor the movement amount needs to be set.) Value set with sequence program Value set with GX Works2...
  • Page 233 Chapter 5 Data Used for Positioning Control When "[Pr.1] Unit setting" is "mm" The table below lists the control methods that require the setting of the arc address and shows the setting range. (With any control method excluded from the table below, the arc address does not need to be set.) Value set with sequence program Value set with GX Works2...
  • Page 234 Chapter 5 Data Used for Positioning Control When "[Pr.1] Unit setting" is "inch" The table below lists the control methods that require the setting of the arc address and shows the setting range. (With any control method excluded from the table below, the arc address does not need to be set.) Value set with sequence program Value set with GX Works2...
  • Page 235 Chapter 5 Data Used for Positioning Control [Da.9] Dwell time/JUMP designation positioning data No. Set the "dwell time" or "positioning data No." corresponding to the "[Da.2] Control method".  When a method other than "JUMP instruction" is set for "[Da.2] Control method" ..
  • Page 236 Chapter 5 Data Used for Positioning Control [Da.10] M code/Condition data No./Number of LOOP to LEND repetitions Set an "M code", a "condition data No.", or the "Number of LOOP to LEND repetitions" depending on how the "[Da.2] Control method" is set. ...
  • Page 237 Chapter 5 Data Used for Positioning Control [Da.20] Axis to be interpolated No.1 to [Da.22] Axis to be interpolated No.3 QD77MS16 Set the axis to be interpolated to execute the 2 to 4-axis interpolation operation. • 2-axis interpolation ..Set the target axis number in "[Da.20] Axis to be interpolated No.1".

  • Page 238: List Of Block Start Data

    Chapter 5 Data Used for Positioning Control 5.4 List of block start data The illustrations below show the organization of the block start data stored in the buffer memory of Simple Motion module. The block start data setting items [Da.11] to [Da.14] are explained in the pages that follow.
  • Page 239 Chapter 5 Data Used for Positioning Control The following pages explain the block start data setting items [Da.11] to [Da.14]. (The buffer memory addresses shown are those of the "1st point block start data (block No. 7000)".) • Guide to buffer memory address In the buffer memory address, "n"...
  • Page 240 Chapter 5 Data Used for Positioning Control REMARK To perform a high-level positioning control using block start data, set a number between 7000 and 7004 to the "[Cd.3] Positioning start No." and use the "[Cd.4] Positioning starting point No." to specify a point number between 1 and 50, a position counted from the beginning of the block.
  • Page 241 Chapter 5 Data Used for Positioning Control Setting value Buffer memory address Default Item QD77MS2 value Value set with GX Works2 Value set with sequence program QD77MS16 QD77MS4 0 : End [Da.11] Shape 0 0 0 1 : Continue 0000 26000+1000n 22000+400n Shape Positioning data No.:...
  • Page 242 Chapter 5 Data Used for Positioning Control [Da.11] Shape Set whether to carry out only the local "block start data" and then end control, or to execute the "block start data" set in the next point. Setting value Setting details 0 : End Execute the designated point's "block start data", and then complete the control.

  • Page 243: List Of Condition Data

    Chapter 5 Data Used for Positioning Control 5.5 List of condition data The illustrations below show the organization of the condition data stored in the buffer memory of Simple Motion module. The condition data setting items [Da.15] to [Da.19] and [Da.23] to [Da.26] are explained in the pages that follow.
  • Page 244 Chapter 5 Data Used for Positioning Control The following pages explain the condition data setting items [Da.15] to [Da.19] and [Da.23] to [Da.26]. (The buffer memory addresses shown are those of the "condition data No. 1 (block No. 7000)".) • Guide to buffer memory address In the buffer memory address, "n"...
  • Page 245 Chapter 5 Data Used for Positioning Control REMARK To perform a high-level positioning control using block start data, set a number between 7000 and 7004 to the "[Cd.3] Positioning start No." and use the "[Cd.4] Positioning starting point No." to specify a point number between 1 and 50, a position counted from the beginning of the block.
  • Page 246 Chapter 5 Data Used for Positioning Control Setting value Buffer memory address Default Item QD77MS2 value Value set with GX Works2 Value set with sequence program QD77MS16 QD77MS4 01 : Device X 02 : Device Y [Da.15] Condition target Condition 03 : Buffer memory (1-word) target 04 : Buffer memory (2-word)
  • Page 247 Chapter 5 Data Used for Positioning Control Setting value Buffer memory address Default Item QD77MS2 value Value set with GX Works2 Value set with sequence program QD77MS16 QD77MS4 [Da.23] 2: 2 axes Number of 3: 3 axes simultaneous starting axes 4: 4 axes QD77MS16 [Da.24]...
  • Page 248 Chapter 5 Data Used for Positioning Control [Da.15] Condition target Set the condition target as required for each control. Setting value Setting details 01H : Device X Set the input/output signal ON/OFF as the conditions. 02H : Device Y 03H : Buffer memory (1-word) Set the value stored in the buffer memory as the condition. 03H: The target buffer memory is "1-word (16 bits)"...
  • Page 249 Chapter 5 Data Used for Positioning Control [Da.18] Parameter 1 • QD77MS2/QD77MS4 Set the parameters as required for the "[Da.16] Condition operator". Setting value Setting details [Da.16] Condition operator 01H :  =P1 02H :   P1 The value of P1 should be equal to or smaller than the value of 03H : ...
  • Page 250 Chapter 5 Data Used for Positioning Control [Da.19] Parameter 2 • QD77MS2/QD77MS4 Set the parameters as required for the "[Da.16] Condition operator". Setting value Setting details [Da.16] Condition operator 01H :  =P1 02H :   P1 — Not used. (No need to be set.) 03H : ...
  • Page 251 Chapter 5 Data Used for Positioning Control [Da.23] Number of simultaneous starting axes QD77MS16 Set the number of simultaneous starting axes to execute the simultaneous start. 2: Simultaneous start by 2 axes of the starting axis and axis set in "[Da.24] Simultaneous starting axis No.1".

  • Page 252: List Of Monitor Data

    Chapter 5 Data Used for Positioning Control 5.6 List of monitor data The setting items of the monitor data are explained in this section. • Guide to buffer memory address In the buffer memory address, "n" in "2406+100n", etc. indicates a value corresponding to axis No.
  • Page 253 Chapter 5 Data Used for Positioning Control Buffer memory address (common for all axes) Reading the monitor value Default value QD77MS2 QD77MS16 QD77MS4 Monitoring is carried out with a decimal. Monitor Storage value 1200 4000 value 0: Not in test mode 1: In test mode (Unless noted in particular, the monitor value is saved as binary data.) 5 - 115...
  • Page 254 Chapter 5 Data Used for Positioning Control Storage item Storage details Reading the monitor value [Storage details] This area stores the start information (restart flag, start origin, and start axis):  Restart flag: Indicates whether the operation has or has not been halted and restarted.
  • Page 255 Chapter 5 Data Used for Positioning Control Buffer memory address (common for all axes) Default value QD77MS2/QD77MS4 QD77MS16 QD77MS2/QD77MS4 Md.8 1292 Start history pointer Indicates a pointer No. that is next to the pointer No. assigned to the latest of the existing starting history records. Pointer No.
  • Page 256 Chapter 5 Data Used for Positioning Control Storage item Storage details Reading the monitor value Monitoring is carried out with a hexadecimal display. The starting time (Year: month) is Buffer memory (stored with BCD code) [Md.54] stored. Monitor value Start Year: month 0 0 0 1 0 0 0 0 0 0 0 1 1 0...
  • Page 257 Chapter 5 Data Used for Positioning Control Buffer memory address (common for all axes) Default value QD77MS2/QD77MS4 QD77MS16 0000H QD77MS2/QD77MS4 Md.8 1292 Start history pointer Indicates a pointer No. that is next to the pointer No. assigned to the latest of the existing starting history records. Pointer No.
  • Page 258 Chapter 5 Data Used for Positioning Control Storage item Storage details Reading the monitor value Monitoring is carried out with a decimal display. Monitor Storage value Stores an axis No. in which an [Md.9] value 1: Axis 1 5: Axis 5 9: Axis 9 13 : Axis 13 error occurred.
  • Page 259 Chapter 5 Data Used for Positioning Control Buffer memory address (common for all axes) Default value QD77MS2/QD77MS4 QD77MS16 Each history record is assigned a pointer No. in the range between 0 and 15. If the pointer No. 15 has been assigned to a new record, the next record will be assigned the pointer number 0. (A new record replaces an older record when a pointer No.
  • Page 260 Chapter 5 Data Used for Positioning Control Storage item Storage details Reading the monitor value Monitoring is carried out with a decimal display. Monitor Storage value Stores an axis No. in which a [Md.14] value 1: Axis 1 5: Axis 5 9: Axis 9 13 : Axis 13 warning occurred.
  • Page 261 Chapter 5 Data Used for Positioning Control Buffer memory address (common for all axes) Default value QD77MS2/QD77MS4 QD77MS16 QD77MS2/QD77MS4 Md.18 1422 Warning history pointer Indicates a pointer No. that is next to the pointer No. assigned to the latest of the existing warning history records. Pointer No.
  • Page 262 Module Refresh cycle: At power supply Storage value Storage value information 1: QD77MS 0: 2 axes 1: 4 axes 2: 16 axes Monitoring is carried out with a hexadecimal display. Stores the first five digits of the Buffer memory (stored with BCD code) module product information.
  • Page 263 Chapter 5 Data Used for Positioning Control Buffer memory address (common for all axes) Default value QD77MS2/QD77MS4 QD77MS16 1424 4224 1425 4225 1431 4231 1432 4232 1434 4234 1433 4233 QD77MS2: 1000H QD77MS4: 31332 1001H (Monitors this buffer memory address too. QD77MS2/QD77MS4: 1435, QD77MS16: 4235) QD77MS16: 1002H Factory-set...
  • Page 264 Chapter 5 Data Used for Positioning Control Storage item Storage details Reading the monitor value Stores the current operation Monitoring is carried out with a decimal display. cycle. [Md.132] Monitor Operation cycle Storage value value 0: 0.88ms setting Refresh cycle: At power supply 1: 1.77ms Monitoring is carried out with a decimal display.
  • Page 265 Chapter 5 Data Used for Positioning Control Buffer memory address (common for all axes) Default value QD77MS2/QD77MS4 QD77MS16 1438 4238 1439 4239 1208 4008 1209 4009 5 - 127...

  • Page 266: Axis Monitor Data

    Chapter 5 Data Used for Positioning Control 5.6.2 Axis monitor data Storage item Storage details The currently commanded address is stored. (Different from the actual motor position during operation) The current position address is stored. If "degree" is selected as the unit, the addresses will have a ring structure for values between 0 and 359.99999 degrees.
  • Page 267 Chapter 5 Data Used for Positioning Control Buffer memory address Default Reading the monitor value value QD77MS2 QD77MS16 QD77MS4 800+100n 2400+100n 0000H 801+100n 2401+100n Monitoring is carried out with a hexadecimal. Low-order buffer memory Example) 800 Monitor value High-order buffer memory Example) 801 Sorting (High-order buffer memory) (Low-order buffer memory) 802+100n...
  • Page 268 Chapter 5 Data Used for Positioning Control Storage item Storage details When an axis error is detected, the error code corresponding to the error details is stored.  The latest error code is always stored. (When a new axis error occurs, the error code is overwritten.) [Md.23] Axis error No.
  • Page 269 Chapter 5 Data Used for Positioning Control Buffer memory address Default Reading the monitor value value QD77MS2 QD77MS16 QD77MS4 Monitoring is carried out with a hexadecimal. Monitor Axis error value 0000H 806+100n 2406+100n For details of error codes, refer to Section 16.4 "List of errors".
  • Page 270 Chapter 5 Data Used for Positioning Control Storage item Storage details The "[Da.8] Command speed" used by the positioning data currently being executed is stored.  If "[Da.8] Command speed" is set to "-1", this area stores the command speed set by the positioning data used one step earlier.
  • Page 271 Chapter 5 Data Used for Positioning Control Buffer memory address Default Reading the monitor value value QD77MS2 QD77MS16 QD77MS4 Monitoring is carried out with a decimal display. Monitor Decimal integer value value Unit conversion table Md.27 Unit conversion Unit 10 810+100n 2410+100n mm/min...
  • Page 272 (servo amplifier) or buffer memory of QD77MS set by "[Pr.80] External input signal selection". : This area stores the states of the external input signal (QD77MS) or buffer memory of QD77MS set by "[Pr.80] External input signal selection".
  • Page 273 Chapter 5 Data Used for Positioning Control Buffer memory address Default Reading the monitor value value QD77MS2 QD77MS16 QD77MS4 Monitoring is carried out with a hexadecimal. Monitor value Buffer memory 0000H 816+100n 2416+100n Not used D e fau lt Stored items Meaning va lu e Lower limit signal...
  • Page 274 Chapter 5 Data Used for Positioning Control Storage item Storage details This area stores the states (ON/OFF) of various flags. Information on the following flags is stored. In speed control flag This signal that comes ON under the speed control can be used to judge whether the operation is performed under the speed control or position control.
  • Page 275 Chapter 5 Data Used for Positioning Control Buffer memory address Default Reading the monitor value value QD77MS2 QD77MS16 QD77MS4 Monitoring is carried out with a hexadecimal display. Monitor value Buffer 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 memory Not used Default...
  • Page 276 Chapter 5 Data Used for Positioning Control Storage item Storage details This area stores the target value ([Da.6] Positioning address/movement amount) for a positioning operation.  At the beginning of positioning control and current value changing: Stores the value of "[Da.6] Positioning address/movement amount". [Md.32] Target value ...
  • Page 277 Chapter 5 Data Used for Positioning Control Buffer memory address Default Reading the monitor value value QD77MS2 QD77MS16 QD77MS4 Monitoring is carried out with a decimal display. Monitor Decimal integer value value Unit conversion table Md.32 818+100n 2418+100n Unit conversion Unit 819+100n 2419+100n...
  • Page 278 Chapter 5 Data Used for Positioning Control Storage item Storage details "[Pr.17] Torque limit setting value", "[Cd.101] Torque output setting value", "[Cd.22] New torque value/forward new torque value" or "[Pr.54] OPR torque limit value" is stored.  During positioning start, JOG operation start, manual pulse generator operation : "[Pr.17] Torque limit setting value"...
  • Page 279 Chapter 5 Data Used for Positioning Control Buffer memory address Default Reading the monitor value value QD77MS2 QD77MS16 QD77MS4 Monitoring is carried out with a decimal display. Monitor value 826+100n 2426+100n Storage value 1 to 1000 (%) Monitoring is carried out with a decimal display. Monitor Storage value value...
  • Page 280 Chapter 5 Data Used for Positioning Control Storage item Storage details  If the speed exceeds the "[Pr.8] Speed limit value" ("[Pr.31] JOG speed limit value" at JOG operation control) due to a speed change or override, the speed limit functions, and the in speed limit flag turns ON. ...
  • Page 281 Chapter 5 Data Used for Positioning Control Buffer memory address Default Reading the monitor value value QD77MS2 QD77MS16 QD77MS4 Monitoring is carried out with a decimal display. Monitor Storage value 830+100n 2430+100n value 0: Not in speed limit (OFF) 1: In speed limit (ON) Monitoring is carried out with a decimal display.
  • Page 282 Chapter 5 Data Used for Positioning Control Storage item Storage details  This area stores the positioning data No. attached to the positioning data that was executed last time.  [Md.46] Last executed positioning The value is retained until a new positioning operation is executed. data No.
  • Page 283 Chapter 5 Data Used for Positioning Control Buffer memory address Default Reading the monitor value value QD77MS2 QD77MS16 QD77MS4 Monitoring is carried out with a decimal display. Storage value 837+100n 2437+100n 1 to 600, 9001 to 9003 Monitor value Information is stored in the following addresses: Stored address Reference (Monitor value)
  • Page 284 Chapter 5 Data Used for Positioning Control Storage item Storage details  This area stores the travel distance during the OPR travel to the zero point that was executed last time. "0" is stored at machine OPR start. For setting units [Md.100] OPR re-travel value Example) mm (Buffer memory...
  • Page 285 Chapter 5 Data Used for Positioning Control Buffer memory address Default Reading the monitor value value QD77MS2 QD77MS16 QD77MS4 Monitoring is carried out with a hexadecimal display. Low-order buffer memory Example) 848 Monitor 848+100n 2448+100n value 0000H 849+100n 2449+100n High-order buffer memory Example) 849 Sorting 850+100n 2450+100n...
  • Page 286 Chapter 5 Data Used for Positioning Control Storage item Storage details  When a servo parameter error occurs, the area that corresponds to the parameter number affected by the error comes ON.  When the "[Cd.5] Axis error reset" (axis control data) is set to ON after remove the [Md.107] Parameter error No.
  • Page 287 Chapter 5 Data Used for Positioning Control Buffer memory address Default Reading the monitor value value QD77MS2 QD77MS16 QD77MS4 Monitoring is carried out with a decimal display. Monitor value Storage value When SSCNET setting is SSCNET When SSCNET setting is SSCNET Storage value Parameter No.
  • Page 288 Chapter 5 Data Used for Positioning Control Storage item Storage details  The rate of regenerative power to the allowable regenerative power is indicated as a percentage.  When the regenerative option is used, the rate to the allowable regenerative power of the option is indicated.
  • Page 289 Chapter 5 Data Used for Positioning Control Buffer memory address Default Reading the monitor value value QD77MS2 QD77MS16 QD77MS4 Monitoring is carried out with a decimal display. Monitor 878+100n 2478+100n value Regenerative load ratio/ Optional data monitor output 1 Monitoring is carried out with a decimal display. Monitor 879+100n 2479+100n...
  • Page 290 Chapter 5 Data Used for Positioning Control Storage item Storage details  The option information of encoder is indicated. [Md.116] Encoder option information Refresh cycle: Servo amplifier's power supply ON "[Pr.17] Torque limit setting value", "[Cd.101] Torque output setting value", "[Cd.113] New reverse torque value", or "[Pr.54] OPR torque limit value"...
  • Page 291 Chapter 5 Data Used for Positioning Control Buffer memory address Default Reading the monitor value value QD77MS2 QD77MS16 QD77MS4 Monitoring is carried out with a hexadecimal display. Stored items Details ABS/INC mode distinction for 0: INC mode magnetism type 1: ABS mode encoder 0: Multi-revolution Connecting to...
  • Page 292 Chapter 5 Data Used for Positioning Control Storage item Storage details  This area stores the command speed during speed control mode.  This area stores the command speed during continuous operation to torque control mode.  "0" is stored other than during speed control mode or continuous operation to [Md.122] Speed during command torque control mode.
  • Page 293 Chapter 5 Data Used for Positioning Control Buffer memory address Default Reading the monitor value value QD77MS2 QD77MS16 QD77MS4 Monitoring is carried out with a decimal display. Monitor value 892+100n 2492+100n Unit conversion table 893+100n 2493+100n Md.122 Unit conversion Unit ...
  • Page 294 Chapter 5 Data Used for Positioning Control Storage item Storage details  This area stores the driver operation alarm number. [Md.502] Driver operation alarm number Refresh cycle: Immediate 5 - 156...
  • Page 295 Chapter 5 Data Used for Positioning Control Buffer memory address Default Reading the monitor value value QD77MS2 QD77MS16 QD77MS4 Monitoring is carried out with a hexadecimal display. Monitor value 0000H 59302+100n Driver Detailed number operation alarm Example) When the driver operation alarm is "10H" and the detailed number is "23H", "1023H"...

  • Page 296: List Of Control Data

    Chapter 5 Data Used for Positioning Control 5.7 List of control data The setting items of the control data are explained in this section. • Guide to buffer memory address In the buffer memory address, "n" in "4303+100n", etc. indicates a value corresponding to axis No.
  • Page 297 Chapter 5 Data Used for Positioning Control Buffer memory address (common for all axes) Default Setting value value QD77MS2 QD77MS16 QD77MS4 Set with a decimal. Setting value Flash ROM write request 1: Requests write access to flash ROM. 1900 5900 The Simple Motion module resets the value to "0"...
  • Page 298 Chapter 5 Data Used for Positioning Control Setting item Setting details  Set whether "[Md.48] Deceleration start flag" is made valid or invalid. Fetch cycle: At PLC READY ON [Cd.41] Deceleration start flag valid [POINT] The "[Cd.41] Deceleration start flag valid" become valid when the PLC READY signal [Y0] turns from OFF to ON.
  • Page 299 Chapter 5 Data Used for Positioning Control Buffer memory address (common for all axes) Default Setting value value QD77MS2 QD77MS16 QD77MS4 Set with a decimal. Setting value 1905 5905 Deceleration start flag valid 0: Deceleration start flag invalid 1: Deceleration start flag valid Set with a decimal.
  • Page 300 Chapter 5 Data Used for Positioning Control Setting item Setting details  Operate the stop signal input status of QD77MS when "1" is set in "[Pr.80] External input signal selection".  Operate the external input signal status (Upper/lower limit signal, near-point dog [Cd.44] External input signal operation...
  • Page 301 Chapter 5 Data Used for Positioning Control Buffer memory address (common for all axes) Default Setting value value QD77MS2 QD77MS16 QD77MS4 Set with a hexadecimal. Setting value Buffer memory QD77MS2/QD77MS4 Buffer Default Setting items Meaning memory value Axis 1 Upper limit signal (FLS) Axis 1 Lower limit signal (RLS) "...
  • Page 302 Chapter 5 Data Used for Positioning Control Setting item Setting details  Request to set the initial value of QD75MH in setting data. Refer to Section 14.14 for initialized setting data. [Cd.47] QD75MH initial value setting Fetch cycle: 103[ms] request Note: After completing the initialization of setting data, switch the power ON or reset the PLC CPU.
  • Page 303 Chapter 5 Data Used for Positioning Control Buffer memory address (common for all axes) Default Setting value value QD77MS2 QD77MS16 QD77MS4 Set with a decimal. Setting value 1909 5909 QD75MH initial value setting request 1: Requests QD75MH initial value setting. The Simple Motion module resets the value to "0"...

  • Page 304: Axis Control Data

    Chapter 5 Data Used for Positioning Control 5.7.2 Axis control data Setting item Setting details  Set the positioning start No. (Only 1 to 600 for the Pre-reading start function. For details, refer to Section 13.7.7 "Pre-reading start function".) [Cd.3] Positioning start No. Fetch cycle: At start ...
  • Page 305 Chapter 5 Data Used for Positioning Control Buffer memory address Default Setting value value QD77MS2 QD77MS16 QD77MS4 Set with a decimal. Setting value 1500+100n 4300+100n Positioning data No. : Positioning data No. 1 to 600 : Block start designation 7000 to7004 : Machine OPR 9001 : Fast-OPR...
  • Page 306 Chapter 5 Data Used for Positioning Control Setting item Setting details  The M code ON signal turns OFF. [Cd.7] M code OFF request Fetch cycle: Operation cycle  Validates or invalidates external command signals. [Cd.8] External command valid Fetch cycle: At request by external command signal ...
  • Page 307 Chapter 5 Data Used for Positioning Control Buffer memory address Default Setting value value QD77MS2 QD77MS16 QD77MS4 Set with a decimal. Setting value M code OFF request 1504+100n 4304+100n 1: M code ON signal turns OFF After the M code ON signal turns OFF, "0" is stored by the Simple Motion module automatically.
  • Page 308 Chapter 5 Data Used for Positioning Control Setting item Setting details  Enables or disables modifications to the acceleration/deceleration time during a [Cd.12] Acceleration/deceleration time speed change. change value during speed change, enable/disable Fetch cycle: At change request  To use the positioning operation speed override function, use this data item to specify an "override"...
  • Page 309 Chapter 5 Data Used for Positioning Control Buffer memory address Default Setting value value QD77MS2 QD77MS16 QD77MS4 Set with a decimal. Setting value Acceleration/deceleration time change 1512+100n 4312+100n value during speed change, enable/disable : Enables modifications to acceleration/deceleration time Other than 1: Disables modifications to acceleration/deceleration time Set with a decimal.
  • Page 310 Chapter 5 Data Used for Positioning Control Setting item Setting details  Use this data item to set the amount of movement by inching.  The machine performs a JOG operation if "0" is set.  Set a value within the following range: inch degree [Pr.1] Unit...
  • Page 311 Chapter 5 Data Used for Positioning Control Buffer memory address Default Setting value value QD77MS2 QD77MS16 QD77MS4 Set with a decimal. Actual value Cd.16 Inching movement amount Conversion into an integer value Unit conversion table ( Cd.16 ) Unit Setting value 1517+100n 4317+100n inch...
  • Page 312 Chapter 5 Data Used for Positioning Control Setting item Setting details  The sequence program can use this data item to forcibly turn the OPR request flag from ON to OFF. Fetch cycle: 14.2[ms] [Cd.19] OPR request flag OFF request [POINT] This parameter is made valid when the increment system is valid.
  • Page 313 Chapter 5 Data Used for Positioning Control Buffer memory address Default Setting value value QD77MS2 QD77MS16 QD77MS4 Set with a decimal. Setting value OPR request flag OFF request 1521+100n 4321+100n 1: Turns the "OPR request flag" from ON to OFF. The Simple Motion module resets the value to "0"...
  • Page 314 Chapter 5 Data Used for Positioning Control Setting item Setting details  During the speed control stage of the speed-position switching control (INC mode), it is possible to change the specification of the movement amount during the position control stage. For that, use this data item to specify a new movement amount.
  • Page 315 Chapter 5 Data Used for Positioning Control Buffer memory address Default Setting value value QD77MS2 QD77MS16 QD77MS4 Set with a decimal. Speed-position switching Cd.23 Actual value control movement amount change register Conversion into an integer value Unit conversion table ( Cd.23 ) Unit 1526+100n 4326+100n...
  • Page 316 Chapter 5 Data Used for Positioning Control Setting item Setting details  Set whether the switching signal set in "[Cd.45] Speed-position switching device selection" is enabled or not. [Cd.26] Position-speed switching enable flag Fetch cycle: At switching request  When changing the target position during a positioning operation, use this data item to specify a new positioning address.
  • Page 317 Chapter 5 Data Used for Positioning Control Buffer memory address Default Setting value value QD77MS2 QD77MS16 QD77MS4 Set with a decimal. Setting value Position-speed switching enable flag 0: Position control will not be taken over by 1532+100n 4332+100n speed control even when the signal set in "...
  • Page 318 Chapter 5 Data Used for Positioning Control Setting item Setting details Simultaneous starting axis  Use these data items to specify an axis 1 start data No. for start data No. (axis 1 start each axis that has to start simultaneously. data No.) ...
  • Page 319 Chapter 5 Data Used for Positioning Control Buffer memory address Default Setting value value QD77MS2 QD77MS16 QD77MS4 1540+100n 4340+100n Set with a decimal. 1541+100n Setting value 4341+100n QD77MS2 use Cd.30 Cd.31 Simultaneous starting axis start data No. 1 to 600 1542+100n QD77MS4 use Cd.30...
  • Page 320 Chapter 5 Data Used for Positioning Control Setting item Setting details  This data item validates or invalidates step operations. [Cd.35] Step valid flag Fetch cycle: At start  To continue the step operation when the step function is used, set "1" in the data item.
  • Page 321 Chapter 5 Data Used for Positioning Control Buffer memory address Default Setting value value QD77MS2 QD77MS16 QD77MS4 Set with a decimal. Setting value 1545+100n 4345+100n Step valid flag 0: Invalidates step operations 1: Validates step operations Set with a decimal. Setting value 1546+100n...
  • Page 322 Chapter 5 Data Used for Positioning Control Setting item Setting details  This data item specifies the ABS moving direction carrying out the position control when "degree" is selected as the unit. [Cd.40] ABS direction in degrees Fetch cycle: At start ...
  • Page 323 Chapter 5 Data Used for Positioning Control Buffer memory address Default Setting value value QD77MS2 QD77MS16 QD77MS4 Set with a decimal. Setting value 1550+100n 4350+100n ABS direction in degrees 0: Takes a shortcut. (Specified direction ignored.) 1: ABS circular right 2: ABS circular left Set with a hexadecimal.
  • Page 324 Chapter 5 Data Used for Positioning Control Setting item Setting details  Executes servo OFF for each axis. Fetch cycle: Operation cycle [Cd.100] Servo OFF command [POINT] To execute servo ON for axes other than axis 1 being servo OFF, write "1" to storage buffer memory address of axis 1 and then turn ON all axis servo ON [Y1] signal.
  • Page 325 Chapter 5 Data Used for Positioning Control Buffer memory address Default Setting value value QD77MS2 QD77MS16 QD77MS4 Set with a decimal. Setting value 1551+100n 4351+100n Servo OFF command 0: Servo ON 1: Servo OFF Valid only during servo ON for all axes. Set with a decimal.
  • Page 326 Chapter 5 Data Used for Positioning Control Setting item Setting details  "1" is set in "[Cd.112] Torque change function switching request", a new reverse torque limit value is set. (when "0" is set in "[Cd.112] Torque change function switching request", the setting value is invalid.) ...
  • Page 327 Chapter 5 Data Used for Positioning Control Buffer memory address Default Setting value value QD77MS2 QD77MS16 QD77MS4 Set with a decimal. Setting value 1564+100n 4364+100n New reverse torque value 0 to Pr.17 Torque limit setting value (%) Set with a decimal. Set "1"...
  • Page 328 Chapter 5 Data Used for Positioning Control Setting item Setting details  Set the change value of servo parameter set in "[Cd.131] Parameter No.". [Cd.132] Change data Fetch cycle: At change request  Set the switching of semi closed control and fully closed control. [Cd.133] Semi/Fully closed loop switching request Fetch cycle: Operation cycle (Fully closed loop control servo amplifier only)
  • Page 329 Chapter 5 Data Used for Positioning Control Buffer memory address Default Setting value value QD77MS2 QD77MS16 QD77MS4 Set with a decimal or hexadecimal. [1 word write request] When "1" is set in "[Cd.130] Servo parameter write request", set the change value to low-order buffer memory.
  • Page 330 Chapter 5 Data Used for Positioning Control Setting item Setting details  Set the PI-PID switching to servo amplifier. [Cd.136] PI-PID switching request Fetch cycle: Operation cycle  Request the control mode switching. Set "1" after setting "[Cd.139] Control mode setting". [Cd.138] Control mode switching ...
  • Page 331 Chapter 5 Data Used for Positioning Control Buffer memory address Default Setting value value QD77MS2 QD77MS16 QD77MS4 Set with a decimal. Setting value 1565+100n 4365+100n PI-PID switching request : PID control switching request Other than 1: Not request Set with a decimal. Setting value 1574+100n...
  • Page 332 Chapter 5 Data Used for Positioning Control Setting item Setting details  Set the deceleration time at speed control mode. (Set the time for the speed to decrease from "[Pr.8] Speed limit value" to "0".) [Cd.142] Deceleration time at speed 0 to 65535 (ms) control mode Fetch cycle: At control mode switching...
  • Page 333 Chapter 5 Data Used for Positioning Control Buffer memory address Default Setting value value QD77MS2 QD77MS16 QD77MS4 Set with a decimal. Setting value 1000 1579+100n 4379+100n Deceleration time at speed control mode (ms) 0 to 65535 Set with a decimal. Setting value 1580+100n...
  • Page 334 Chapter 5 Data Used for Positioning Control Setting item Setting details  Set the speed limit value at continuous operation to torque control mode.  The setting value range differs according to the "[Pr.1] Unit setting". inch degree [Pr.1] Unit ...
  • Page 335 Chapter 5 Data Used for Positioning Control Buffer memory address Default Setting value value QD77MS2 QD77MS16 QD77MS4 Set with a decimal. Cd.147 Speed limit value at continuous Actual value operation to torque control mode Conversion into an integer value Unit conversion table ( Cd.147 1586+100n 4386+100n...
  • Page 336 Chapter 5 Data Used for Positioning Control Setting item Setting details  Set the time constant at regeneration during continuous operation to torque control mode. [Cd.152] Torque time constant at (Set the time for the torque to decrease from "[Pr.17] Torque limit setting value" to continuous operation to "0".) torque control mode...
  • Page 337 Chapter 5 Data Used for Positioning Control Buffer memory address Default Setting value value QD77MS2 QD77MS16 QD77MS4 Set with a decimal. Setting value 1000 1592+100n 4392+100n Torque time constant at continuous operation torque control mode (Negative direction) (ms) 0 to 65535 Set with a decimal.
  • Page 338 Chapter 5 Data Used for Positioning Control Setting item Setting details  When the axis stop signal turns ON, the OPR control, positioning control, JOG operation, inching operation, manual pulse generator operation, speed-torque control, etc. will stop.  By turning the axis stop signal ON during positioning operation, the positioning operation will be "stopped".
  • Page 339 Chapter 5 Data Used for Positioning Control Buffer memory address Default Setting value value QD77MS2 QD77MS16 QD77MS4 Set with a decimal. Setting value 30100+10n Axis stop : Axis stop requested Other than 1: Axis stop not requested Set with a decimal. 30101+10n Setting value...
  • Page 340 Chapter 5 Data Used for Positioning Control MEMO 5 - 202...
  • Page 341 Chapter 6 Sequence Program Used for Positioning Control Chapter 6 Sequence Program Used for Positioning Control The programs required to carry out positioning control with the Simple Motion module are explained in this chapter. The sequence program required for control is created allowing for the "start conditions", "start time chart", "device settings"...

  • Page 342: Precautions For Creating Program

    Chapter 6 Sequence Program Used for Positioning Control 6.1 Precautions for creating program The common precautions to be taken when writing data from the PLC CPU to the buffer memory of Simple Motion module are described below. 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 343 Chapter 6 Sequence Program Used for Positioning Control (4) System configuration Unless particularly designated, the sequence program for the following system using QD77MS4 is shown in this chapter and subsequent. Refer to Section 6.2 for the application of the devices to be used. Q35B X40 to X4F External...
  • Page 344 Chapter 6 Sequence Program Used for Positioning Control (b) When the circuit uses the "intelligent function device" on the source(s) side and the destination (D) side of a MOV command, change the command to a FROM command and a TO command. MOVP G826 Set the...
  • Page 345 Chapter 6 Sequence Program Used for Positioning Control (7) Conversion of sequence program from QD77MS2/QD77MS4 to QD77MS16 When the sequence program is changed from QD77MS2/QD77MS4 to QD77MS16, change the I/O signals with different arrangement as follows. (a) When not using index modification Stop com BUSY sig Axis sto...

  • Page 346: List Of Devices Used

    Device name Application Details when ON Axis 1 Axis 2 Axis 3 Axis 4 READY signal QD77MS preparation completed Synchronization flag QD77MS buffer memory accessible M code ON signal M code outputting Error detection signal Error detected Input BUSY signal...
  • Page 347 Chapter 6 Sequence Program Used for Positioning Control Device Device Application Details when ON name Axis 1 Axis 2 Axis 3 Axis 4 M code OFF command Commanding M code OFF JOG operation speed setting Commanding JOG operation speed command setting Commanding forward run JOG/inching Forward run JOG/inching command...
  • Page 348 Chapter 6 Sequence Program Used for Positioning Control Device Device Application Details when ON name Axis 1 Axis 2 Axis 3 Axis 4 OPR request OFF command Commanding OPR request OFF OPR request OFF command pulse OPR request OFF commanded OPR request OFF command storage OPR request OFF command held Fast OPR command Commanding fast OPR...
  • Page 349 Chapter 6 Sequence Program Used for Positioning Control Device Device Application Details when ON name Axis 1 Axis 2 Axis 3 Axis 4 ZP.TEACH1 instruction complete device ZP.TEACH1 instruction completed ZP.TEACH1 instruction error complete ZP.TEACH1 instruction error device completed ZP.PINIT instruction complete device ZP.PINIT instruction completed ZP.PINIT instruction error complete ZP.PINIT instruction error completed...
  • Page 350 Chapter 6 Sequence Program Used for Positioning Control Device Device Application Details of storage name Axis 1 Axis 2 Axis 3 Axis 4 Acceleration time setting (low-order 16 bits) [Cd.10] New acceleration time value Acceleration time setting (high-order 16 bits) Deceleration time setting (low-order 16 bits) [Cd.11] New deceleration time value...
  • Page 351 Chapter 6 Sequence Program Used for Positioning Control Device Device Application Details of storage name Axis 1 Axis 2 Axis 3 Axis 4 Number of pulses per rotation (low-order 16 bits) [Pr.2] Number of pulses per rotation (AP) Number of pulses per rotation (high-order 16 bits) Movement amount per rotation (low-order 16 bits)
  • Page 352 Chapter 6 Sequence Program Used for Positioning Control Device Device Application Details of storage name Axis 1 Axis 2 Axis 3 Axis 4 D110 Positioning identifier Data No.2 [Da.1] Operation pattern D111 M code [Da.2] Control method D112 Dwell time [Da.3] Acceleration time No.
  • Page 353 Chapter 6 Sequence Program Used for Positioning Control Device Device Application Details of storage name Axis 1 Axis 2 Axis 3 Axis 4 Data No.5 D140 Positioning identifier [Da.1] Operation pattern D141 M code [Da.2] Control method [Da.3] Acceleration time No. D142 Dwell time [Da.4] Deceleration time No.
  • Page 354 Chapter 6 Sequence Program Used for Positioning Control Device Device Application Details of storage name Axis 1 Axis 2 Axis 3 Axis 4 D200 Positioning identifier Data No.11 [Da.1] Operation pattern D201 M code [Da.2] Control method D202 Dwell time [Da.3] Acceleration time No.
  • Page 355 Chapter 6 Sequence Program Used for Positioning Control Device Device Application Details of storage name U0\G806 Error code [Md.23] Axis error No. U0\G809 Axis operation status [Md.26] Axis operation status U0\G817 Status [Md.31] Status U0\G1500 Positioning start No. [Cd.3] Positioning start No. U0\G1501 Positioning starting point No.

  • Page 356: Creating A Program

    Chapter 6 Sequence Program Used for Positioning Control 6.3 Creating a program The "positioning control operation program" actually used is explained in this chapter. The functions and programs explained in "Section 2" are assembled into the "positioning control operation program" explained here. (To monitor the control, add the required monitor program that matches the system.

  • Page 357: Positioning Control Operation Program

    Chapter 6 Sequence Program Used for Positioning Control 6.3.2 Positioning control operation program The various programs that configure the "positioning control operation program" are shown below. When creating the program, refer to the explanation of each program and Section 6.4 "Positioning program examples", and create an operation program that matches the positioning system.
  • Page 358 Chapter 6 Sequence Program Used for Positioning Control Continued from previous page Initialization program Not carried out OPR is... No.5 Refer to Section 6.5.1 OPR request OFF program Carried out No.6 External command function valid Refer to Section 6.5.1 setting program No.7 PLC READY signal [Y0] ON : Required...
  • Page 359 Chapter 6 Sequence Program Used for Positioning Control Continued from previous page Start details setting program Program required to carry out • "OPR control" • "Major positioning control" No.9 • "High-level positioning control" Cd.3 Positioning start No. Refer to Section 6.5.2 •...
  • Page 360 Chapter 6 Sequence Program Used for Positioning Control Continued from previous page Sub program Program added according to control details. (Create as required.) No.16 Speed change program Refer to Section 13.5.1 No.17 Override program Refer to Section 13.5.2 No.18 Acceleration/deceleration time Refer to Section 13.5.3 change program No.19...

  • Page 361: Positioning Program Examples

    Chapter 6 Sequence Program Used for Positioning Control 6.4 Positioning program examples An example of the "Axis 1" positioning program using QD77MS4 is given in this section. [No. 1] to [No. 4] parameter and data setting program When setting the parameters or data with the sequence program, set them in the Simple Motion module using the TO command from the PLC CPU.
  • Page 362 Chapter 6 Sequence Program Used for Positioning Control *<Creep speed setting > DTOP K1200 *<Basic parameters 1 setting compl > Paramete r settin g comple te devic * Unit "Degree" setting program * No.21 Continuous operation interrupt program * <For axis 1> * Speed-position change control (ABS mode) execution and etc.
  • Page 363 Chapter 6 Sequence Program Used for Positioning Control * No.2-1 Positioning data setting program * (For positioning data No.1 <Axis 1>) * <Positioning identifier> Operation pattern: Positioning terminated Control method: 1 axis linear control (ABS) Acceleration time No. : 1, deceleration time No. :2 * <Setting of positioning indetifie >...
  • Page 364 Chapter 6 Sequence Program Used for Positioning Control * <Setting of arc address > DMOVP K0 D108 Arc addr * <Setting of positioning data No. > K2000 D100 Position ing iden tifier * No.2-2 Positioning data setting program * (For positioning data No.2 <Axis 1>) * <Positioning identifier>...
  • Page 365 Chapter 6 Sequence Program Used for Positioning Control * <Setting of Positioning address > DMOVP K25000 D116 Position ing addr * <Positioning address > DMOVP K9000000 D116 For Unit Position (degree ing addr * <Setting of arc address > DMOVP K0 D118 Arc addr * <Setting of positioning data No.
  • Page 366 Chapter 6 Sequence Program Used for Positioning Control * <Setting of command speed > DMOVP K18000 D124 Command speed * <Command speed > DMOVP K3600000 D124 For Unit Command (degree speed * <Setting of positioning address > DMOVP K200000 D126 Position ing addr * <Positioning address...
  • Page 367 Chapter 6 Sequence Program Used for Positioning Control * <Setting of dwell time > MOVP K300 D132 Dwell ti * < (Dummy data) > MOVP D133 (Dummy) * <Setting of command speed > DMOVP K9000 D134 Command speed * <Command speed >...
  • Page 368 Chapter 6 Sequence Program Used for Positioning Control * No.2-5 Positioning data setting program * (For positioning data No.5 <Axis 1>) * <Positioning identifier> Operation pattern: Positioning terminated Control method: 1-axis liner control (INC) Acceleration time No. : 0, deceleration time No. : 0 * <Setting of positioning identifie >...
  • Page 369 Chapter 6 Sequence Program Used for Positioning Control * <Setting of arc address > DMOVP K0 D148 Arc addr * <Setting of positioning data No. > K2040 D140 Position ing iden tifier * No.2-6 Positioning data setting program * (For positioning data No.6 <Axis 1>) * <Positioning identifier>...
  • Page 370 Chapter 6 Sequence Program Used for Positioning Control * <Setting of positioning address > DMOVP K50000 D156 Position ing addr * <Positioning address > DMOVP K18000000 D156 For Unit Position (degree ing addr * <Setting of arc address > DMOVP K0 D158 Arc addr * <Setting of positioning data No.
  • Page 371 Chapter 6 Sequence Program Used for Positioning Control * <Setting of command speed > DMOVP K18000 D194 Command speed * <Command speed > DMOVP K3600000 D194 For Unit Command (degree speed * <Setting of positioning address > DMOVP K10000 D196 Position ing addr * <Positioning address...
  • Page 372 Chapter 6 Sequence Program Used for Positioning Control * <Setting of dwell time > MOVP K300 D202 Dwell ti * < (Dummy data) > MOVP D203 (Dummy) * <Setting of command speed > DMOVP K18000 D204 Command speed * <Command speed >...
  • Page 373 Chapter 6 Sequence Program Used for Positioning Control * No.2-9 Positioning data setting program * (For positioning data No.15 <Axis 1>) * <Positioning identifier> Operation pattern: Positioning terminated Control method: 1-axis liner control (INC) Acceleration time No. : 0, deceleration time No. : 0 * <Setting of positioning identifie >...
  • Page 374 Chapter 6 Sequence Program Used for Positioning Control * <Setting of arc address > DMOVP K0 D248 Arc addr * <Setting of positioning data No. > K2140 D240 Position ing iden tifier * No.3 Block start data setting program Block start data of start block 0 (Axis1) For setting of points 1 to 5 (Conditions) Shape: Continued at points 1 to 4, ended at points 5...
  • Page 375 Chapter 6 Sequence Program Used for Positioning Control *<Setting block start data to QD77 > K26000 Point 1 *<Special start instruction to normal start > *<Setting of normal start > SM402 MOVP ON for 1 Point 1 scan onl y after *<Setting of normal start >...
  • Page 376 Chapter 6 Sequence Program Used for Positioning Control *No.4 Servo parameter *<Absolute position system valid > SM402 K30103 ON for 1 scan onl y after *<Servo series(MR-J3-B) > K30100 *No.5 OPR request OFF program *<OPR request OFF command pulse > OPR requ OPR requ est OFF...
  • Page 377 Chapter 6 Sequence Program Used for Positioning Control *No.6 External command function valid setting program *<External command valid write > MOVP K1 G1505 External External command command valid c valid ommand *<External command invalid write > MOVP K0 G1505 External External command command...
  • Page 378 Chapter 6 Sequence Program Used for Positioning Control *<Fast OPR start enable > OPR requ Fast OPR est flag signal *<Fast OPR write > MOVP K9002 Start No *<Fast OPR command hold > Fast OPR command hold * (3) Positioning with positioning data No.1 *<Setting of positioning data No.1 >...
  • Page 379 Chapter 6 Sequence Program Used for Positioning Control * (5) Position-speed switching operation (Positioning data No.3) *<Setting of positioning data No.3 > MOVP Position Start No -speed s witching operati *<Setting of position-speed switch > MOVP G1532 Position Position Position -speed s -speed s -speed s...
  • Page 380 Chapter 6 Sequence Program Used for Positioning Control Speed-po sition s witching operati Position -speed s witching operati High-lev el posit ioning c ontrol c Position ing star t comman d storag * No.10 Positioning start program * (1) When dedicated instruction (ZP.PSTRT1) is used (When fast OPR is not made, contacts of M3 and M4 are not needed) (When M code is not used, contact of X04 is not needed)
  • Page 381 Chapter 6 Sequence Program Used for Positioning Control *<Positioning start command storag > Position ing star t comman d storag *(2) When positioning start signal [Y10] is used (When fast OPR is not made, contacts of M3 and M4 are not needed) (When M code is not used, contact of X04 is not needed) (When JOG operation/inching operation is not performed,...
  • Page 382 Chapter 6 Sequence Program Used for Positioning Control * No.11 M code OFF program * (7) Fast OPR command and fast OPR command storage OFF (Not required when M code is not used) *<M code OFF request > MOVP G1504 M code O M code O M code O...
  • Page 383 Chapter 6 Sequence Program Used for Positioning Control *No.14 JOG operation/inching operation program *<In-JOG/inching operation flag ON > 1022 Forward READY co BUSY sig In-JOG/i run JOG/ mpletion nal (Axi nching o inching signal s 1) peration operatio flag Reverse run JOG/ inching operatio...
  • Page 384 Chapter 6 Sequence Program Used for Positioning Control *<Manual pulse generator operating > Manual p ulse gen erator o peration *<Manual pulse generator operation > 1068 Manual p Manual p ulse gen ulse gen erator o erator o peration peration *<Manual pulse generator operation >...
  • Page 385 Chapter 6 Sequence Program Used for Positioning Control *<Speed changing write > K1514 Speed ch ange val *<Speed change request storage OFF > G1516 Speed ch Speed ch ange req ange com uest mand sto rage * No.17 Override program *<Override command >...
  • Page 386 Chapter 6 Sequence Program Used for Positioning Control * No.18 Acceleration/deceleration time change program *<Accel./decel. time change comman > 1151 Accel./d Accel./d Accel./d ecel. ti ecel. ti ecel. ti me chang me chang me chang e comman e disabl e comman *<Setting of accel.
  • Page 387 Chapter 6 Sequence Program Used for Positioning Control *<Setting of torque limit value > 1195 MOVP G1525 Torque c BUSY sig Torque c hange va hange co nal (Axi mmand s 1) * No.20 Step operation program *<Step operation command pulse >...
  • Page 388 Chapter 6 Sequence Program Used for Positioning Control * No.21 Skip operation program *<Setting of positioning start No. > 1235 MOVP Position Start No ing star t comman d k10 *<Skip operation pulse > 1242 Skip com Skip com mand mand pul *<Skip command ON storage >...
  • Page 389 Chapter 6 Sequence Program Used for Positioning Control *<Setting of positioning data No. > MOVP Position ing data *<Teaching execution > ZP.TEACH1 "U0" TEACH1 i TEACH1 i nstructi nstructi on contr on compl ol data ete devi *<Teaching command storage OFF >...
  • Page 390 Chapter 6 Sequence Program Used for Positioning Control *<Setting of Target position addre > DMOVP K30000000 For Unit target p (degree osition (low-ord er 16bi *<New speed value > DMOVP K0 Target s peed (lo w-order 16bits) *<Setting of Target position chang >...
  • Page 391 Chapter 6 Sequence Program Used for Positioning Control *No.26 Parameter initialization program *<Parameter initialization command > 1383 Paramete Paramete r initia r initia lization lization command command *<Parameter initialization command > 1390 Paramete BUSY sig Paramete r initia nal (Axi r initia lization s 1)
  • Page 392 "0" is not stored in axis error r comman reset by QD77MS. It remains "1". Set "0" in axis error reset and then set "1" to execute the error reset again. *No.29 Stop program *<Stop command pulse...

  • Page 393: Program Details

    Chapter 6 Sequence Program Used for Positioning Control 6.5 Program details 6.5.1 Initialization program [1] OPR request OFF program This program forcibly turns OFF the "OPR request flag" ([Md.31] Status: b3) which is ON. When using a system that does not require OPR, assemble the program to cancel the "OPR request"...

  • Page 394: Start Details Setting Program

    Chapter 6 Sequence Program Used for Positioning Control 6.5.2 Start details setting program This program sets which control, out of "OPR", "major positioning control", "high-level positioning control" or "expansion control" to execute. For "high-level positioning control", "fast OPR", "speed-position switching control" and "position-speed switching control", add the respectively required sequence program.
  • Page 395 Chapter 6 Sequence Program Used for Positioning Control (4) For "position-speed switching control", set the control data shown below. (As required, set the "[Cd.25] Position-speed switching control speed change register".) Buffer memory address Setting Setting item Setting details QD77MS2 value QD77MS16 QD77MS4 Position-speed switching...

  • Page 396: Start Program

    This program is used to start the control with start commands. The control can be started with the following two methods. [1] Starting by inputting positioning start signal [2] Starting by inputting external command signal [QD77MS4 operation example] QD77MS Buffer memory Servo amplifier Control with positioning data No.
  • Page 397 Signal name Signal state QD77MS2 QD77MS16 QD77MS4 PLC READY signal ON PLC CPU preparation completed READY signal ON QD77MS preparation completed All axis servo ON ON All axis servo ON QD77MS buffer memory Synchronization flag Accessible Interface Axis stop signal...
  • Page 398 Chapter 6 Sequence Program Used for Positioning Control [1] Starting by inputting positioning start signal Operation when starting (1) When the positioning start signal turns ON, the start complete signal and BUSY signal turn ON, and the positioning operation starts. It can be seen that the axis is operating when the BUSY signal is ON.
  • Page 399 Chapter 6 Sequence Program Used for Positioning Control POINT The BUSY signal turns ON even when position control of movement amount 0 is executed. However, since the ON time is short, the ON status may not be detected in the sequence program. (The ON status of the start complete signal, positioning complete signal and M code ON signal can be detected in the sequence program.) Starting time chart...
  • Page 400 Chapter 6 Sequence Program Used for Positioning Control (2) Time chart for starting "fast OPR" [QD77MS4 operation example] [Y10] Positioning start signal All axis servo ON [Y1] Md. 26 Axis operation status Servo OFF Standby PLC READY signal [Y0] [X0] READY signal [X10] Start complete signal...
  • Page 401 Chapter 6 Sequence Program Used for Positioning Control (3) Time chart for starting "major positioning control" [QD77MS4 operation example] Operation pattern Positioning data No. 1(11) Dwell time 2(00) Positioning start signal [Y10] All axis servo ON [Y1] Md. 26 Axis operation status Servo OFF Standby PLC READY signal...
  • Page 402 Chapter 6 Sequence Program Used for Positioning Control (4) Time chart for starting "speed-position switching control" [QD77MS4 operation example] Operation pattern(00) Speed control Position control Dwell time Positioning data No.(1) Positioning start signal [Y10] All axis servo ON [Y1] Md. 26 Axis operation status Servo OFF Standby PLC READY signal...
  • Page 403 Chapter 6 Sequence Program Used for Positioning Control (5) Time chart for starting "position-speed switching control" [QD77MS4 operation example] Operation pattern (00) Position control Speed control Positioning data No. (1) Positioning start signal [Y10] All axis servo ON [Y1] Md. 26 Axis operation status Servo OFF Standby PLC READY signal...
  • Page 404 Chapter 6 Sequence Program Used for Positioning Control Machine OPR operation timing and process time [QD77MS4 operation example] Positioning start [Y10, Y11, Y12, Y13] signal BUSY signal [XC, XD, XE, XF] Start complete signal [X10, X11, X12, X13] Standby Standby Md.
  • Page 405 Chapter 6 Sequence Program Used for Positioning Control Position control operation timing and process time [QD77MS4 operation example] Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [XC, XD, XE, XF] M code ON signal (WITH mode) [X4, X5, X6, X7] Cd.
  • Page 406 Chapter 6 Sequence Program Used for Positioning Control [2] Starting by inputting external command signal When starting positioning control by inputting the external command signal, the start command can be directly input into the Simple Motion module. This allows the variation time equivalent to one scan time of the PLC CPU to be eliminated. This is an effective procedure when operation is to be started as quickly as possible with the start command or when the starting variation time is to be suppressed.
  • Page 407 Chapter 6 Sequence Program Used for Positioning Control Starting time chart [QD77MS4 operation example] Operation pattern Dwell time Positioning data No. 1(00) Positioning start signal [Y10] All axis servo ON [Y1] Servo OFF Standby Md. 26 Axis operation status PLC READY signal [Y0] READY signal [X0]...

  • Page 408: Continuous Operation Interrupt Program

    Chapter 6 Sequence Program Used for Positioning Control 6.5.4 Continuous operation interrupt program During positioning control, the control can be interrupted during continuous positioning control and continuous path control (continuous operation interrupt function). When "continuous operation interruption" is execution, the control will stop when the operation of the positioning data being executed ends.
  • Page 409 Chapter 6 Sequence Program Used for Positioning Control (2) Even if the stop command is turned ON after executing the "continuous operation interrupt request", the "continuous operation interrupt request" cannot be canceled. Thus, if "restart" is executed after stopping by turning the stop command ON, the operation will stop when the positioning data No.

  • Page 410: Restart Program

    Chapter 6 Sequence Program Used for Positioning Control 6.5.5 Restart program When a stop factor occurs during position control and the operation stops, the positioning can be restarted from the stopped position to the position control end point by using the "restart command" ([Cd.6] Restart command). ("Restarting"...
  • Page 411 Chapter 6 Sequence Program Used for Positioning Control (6) When stopped with interpolation operation, write "1: Restarts" into "[Cd.6] Restart command" for the reference axis, and then restart. (7) If the PLC READY signal is changed from OFF to ON while stopped, restarting is not possible.
  • Page 412 Signal name Signal state QD77MS2 QD77MS16 QD77MS4 PLC READY signal ON PLC CPU preparation completed READY signal ON QD77MS preparation completed All axis servo ON ON All axis servo ON QD77MS buffer memory Synchronization flag Accessible Interface Axis stop signal...

  • Page 413: Stop Program

    Chapter 6 Sequence Program Used for Positioning Control 6.5.6 Stop program The axis stop signal or stop signal from external input signal is used to stop the control. Create a program to turn ON the axis stop signal as the stop program. Signal QD77MS2 QD77MS4...
  • Page 414 Chapter 6 Sequence Program Used for Positioning Control [2] Types of stop processes The operation can be stopped with deceleration stop, sudden stop or immediate stop. (1) Deceleration stop The operation stops with "deceleration time 0 to 3" ([Pr.10], [Pr.28], [Pr.29], [Pr.30]).
  • Page 415 Chapter 6 Sequence Program Used for Positioning Control [3] Order of priority for stop process The order of priority for the Simple Motion module stop process is as follows. Deceleration stop < Sudden stop < Immediate stop (1) If the deceleration stop command ON (stop signal ON) or deceleration stop cause occurs during deceleration to speed 0 (including automatic deceleration), operation changes depending on the setting of "[Cd.42] Stop command processing for deceleration stop selection".
  • Page 416 Chapter 6 Sequence Program Used for Positioning Control [4] Inputting the stop signal during deceleration (1) Even if stop is input during deceleration (including automatic deceleration), the operation will stop at that deceleration speed. (2) If stop is input during deceleration for OPR, the operation will stop at that deceleration speed.
  • Page 417 OFF to ON", can be easily understood. This also allows the transmission process to be carried out correctly when saving or changing the data. 7.1 Configuration and roles of QD77MS memory ............. 7- 2 7.1.1 Configuration and roles of QD77MS memory..........7- 2 7.1.2...

  • Page 418: Configuration And Roles Of Qd77Ms Memory

    Chapter 7 Memory Configuration and Data Process 7.1 Configuration and roles of QD77MS memory 7.1.1 Configuration and roles of QD77MS memory The Simple Motion module is configured of the following four memories. Area configuration Memory Model Role configuration Area that can be directly...
  • Page 419 Area where cam data, etc., are set and stored. There are cam storage area and cam open area. (Note-1): Refer to "MELSEC-Q/L QD77MS/QD77GF/LD77MS/LD77MH Simple Motion Module User's Manual (Synchronous Control)" for details of synchronous control area and cam area. 7 - 3...
  • Page 420 Servo parameter area Internal memory Monitor data area (nonvolatile) Control data area Servo parameter area QD77MS Area name Description Parameter area (a) Parameters validated when PLC READY signal [Pr.1] to [Pr.7], [Pr.11] to [Pr.24], [Pr.43] to [Pr.57], [Y0] changes from OFF to ON [Pr.80] to [Pr.83], [Pr.89] to [Pr.95], [Pr.801], [Pr.805]...

  • Page 421: Buffer Memory Area Configuration

    Chapter 7 Memory Configuration and Data Process 7.1.2 Buffer memory area configuration The buffer memory of Simple Motion module is configured of the following types of areas. Buffer memory address Writing Buffer memory area configuration possibility QD77MS2/QD77MS4 QD77MS16 Basic parameter 0+150n to 15+150n Detailed parameter 17+150n to 69+150n...
  • Page 422 Mark detection setting No.-1 j: Synchronous encoder axis No.-1 1: Use of address Nos. skipped above is prohibited. If used, the system may not operate correctly. 2: Refer to "MELSEC-Q/L QD77MS/QD77GF/LD77MS/LD77MH Simple Motion Module User's Manual (Synchronous Control)" for details. POINT...

  • Page 423: Data Transmission Process

    : The data transmission patterns correspond to the numbers (1) to (10) in the following drawings. PLC CPU (4) FROM command (2) TO command QD77MS (1) Power supply ON/ Buffer memory/Internal memory PLC CPU reset: Valid Parameter area (c) Parameter area (a)
  • Page 424 The value stored in the flash ROM is valid for "[Pr.96] Operation cycle setting". 1: For details of area, refer to Section 7.1.1 "Configuration and roles of QD77MS memory". (2) Transmitting data with TO command from PLC CPU ( The parameters or data is written from the PLC CPU to the buffer memory using the TO command .
  • Page 425 Chapter 7 Memory Configuration and Data Process POINT The setting values of the parameters that correspond to parameter area (b) are valid when written into the buffer memory with the TO command. However, the setting values of the parameters that correspond to parameter area (a) are not validated until the PLC READY signal [Y0] changes from OFF to ON.
  • Page 426 PLC CPU (6) Flash ROM write request (7) Flash ROM write request (Set "1" in Cd.1 with TO command) QD77MS Buffer memory/Internal memory Parameter area (a) Parameter area (b) Parameter area (c) Positioning data area (No.1 to 600) Block start data area (No.7000 to 7004)
  • Page 427 Chapter 7 Memory Configuration and Data Process (6) Writing the flash ROM by a PLC CPU request ( The following transmission process is carried out by setting "1" in "[Cd.1] Flash ROM write request". 1) The "parameters", "positioning data (No. 1 to 600)", "block start data (No. 7000 to 7004)"...
  • Page 428 Chapter 7 Memory Configuration and Data Process GX Works2 (8) Data read (9) Data write PLC CPU (9) Data write (8) Data read QD77MS Buffer memory/Internal memory Parameter area (a) Parameter area (b) Parameter area (c) Positioning data area (No.1 to 600) Block start data area (No.7000 to 7004)
  • Page 429 (8) Reading data from buffer memory/internal memory to GX Works2 The following transmission processes are carried out with the [Read from module (Read from QD77MS)] from the GX Works2. 1) The "parameters", "positioning data (No. 1 to 600)", "block start data (No.
  • Page 430 Chapter 7 Memory Configuration and Data Process QD77MS Buffer memory/Internal memory Parameter area (a) Parameter area (b) Parameter area (c) Positioning data area (No.1 to 600) Block start data area (No.7000 to 7004) Servo parameter area Monitor data area Flash ROM...
  • Page 431 Chapter 7 Memory Configuration and Data Process (10) Transmitting servo parameter from the buffer memory/internal memory area to servo amplifier ( The servo parameter in the buffer memory/internal memory area is transmitted to the servo amplifier by the following timing. 1) The servo parameter is transmitted to the servo amplifier when communications with servo amplifier start.
  • Page 432 Chapter 7 Memory Configuration and Data Process How to transfer the servo parameter setup from sequence program/GX Works2 to the servo amplifier The servo series of servo parameter "[Pr.100] Servo series" inside the internal memory (nonvolatile) set to "0". (Initial value: "0") The setting value of the parameters that correspond to the servo parameter "[Pr.100] Servo series"...
  • Page 433 Buffer memory/ Initialization QD77MS internal memory completion power ON data setting of QD77MS (A) Axis connection completion Servo parameter of buffer memory/internal Value of internal memory (nonvolatile) Indefinite value memory Transfer the servo parameter at this point to the servo amplifier...
  • Page 434 Initialization PLC READY QD77MS internal memory completion signal [Y0] PLC CPU power ON data setting of QD77MS ON (B) Axis connection completion PLC READY [Y0] READY [X0] Servo parameter of buffer memory/internal Write value by sequence program/GX Works2 Indefinite value...
  • Page 435 Chapter 7 Memory Configuration and Data Process How to change individually the servo parameter after transfer of servo parameter The servo parameters can be individually changed from Simple Motion module with the following axis control data. Buffer memory address Setting item Setting details QD77MS2 QD77MS16...
  • Page 436 Chapter 7 Memory Configuration and Data Process MEMO 7 - 20...
  • Page 437 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 438 MEMO...
  • Page 439 Chapter 8 OPR Control Chapter 8 OPR Control The details and usage of "OPR control" are explained in this chapter. OPR control includes "machine OPR" that establish a machine OP without using address data, and "fast OPR" that store the coordinates established by the machine OPR, and carry out positioning to that position.

  • Page 440: Outline Of Opr Control

    Chapter 8 OPR Control 8.1 Outline of OPR control 8.1.1 Two types of OPR control In "OPR control", a position is established as the starting point (or "OP") when carrying out positioning control, and positioning is carried out toward that starting point. It is used to return a machine system at any position other than the OP to the OP when (Note-1) the Simple Motion module issues an "OPR request"...
  • Page 441 Chapter 8 OPR Control REMARK (Note-1) OPR request The "OPR request flag" ([Md.31] Status: b3) must be turned ON in the Simple Motion module, and a machine OPR must be executed in the following cases. (1) When not using an absolute position system (a) This flag turns on in the following cases: •...
  • Page 442 Servo amplifier (DOG) DICOM 24 V DC Fig. 8.2 Wiring when using the near-point dog (3) External input signal via CPU (buffer memory of QD77MS) Refer to the manual of the input module to be used for wiring. 8 - 4...
  • Page 443 Chapter 8 OPR Control OPR sub functions Refer to Section 3.2.5 "Combination of QD77MS main functions and sub functions" for details on "sub functions" that can be combined with OPR control. Also refer to Chapter 13 "Control Sub Functions" for details on each sub function.

  • Page 444: Machine Opr

    Chapter 8 OPR Control 8.2 Machine OPR 8.2.1 Outline of the machine OPR operation Machine OPR operation In a machine OPR, OP is established. None of the address information stored in the Simple Motion module, PLC CPU, or servo amplifier is used at this time. The position mechanically established after the machine OPR is regarded as the "OP"...

  • Page 445: Machine Opr Method

    Chapter 8 OPR Control 8.2.2 Machine OPR method The method by which the machine OP is established (method for judging the OP and machine OPR completion) is designated in the machine OPR according to the configuration and application of the positioning method. The following table shows the methods that can be used for this OPR method.

  • Page 446: Opr Method (1): Near-Point Dog Method

    Chapter 8 OPR Control 8.2.3 OPR method (1): Near-point dog method The following shows an operation outline of the OPR method "near-point dog method". Operation chart The machine OPR is started. (The machine begins the acceleration designated in "[Pr.51] OPR acceleration time selection", in the direction designated in "[Pr.44] OPR direction".
  • Page 447 Chapter 8 OPR Control Precautions during operation (1) The error "Start at OP" (error code: 201) will occur if another machine OPR is attempted after a machine OPR completion when the OPR retry function is not set ("0" is set in "[Pr.48] OPR retry"). (2) Machine OPR carried out from the near-point dog ON position will start at the "[Pr.47] Creep speed".

  • Page 448: Opr Method (2): Count Method 1)

    Chapter 8 OPR Control 8.2.4 OPR method (2): Count method 1) The following shows an operation outline of the OPR method "count method 1)". In the OPR with the "count method 1)", the following operations can be performed:  The machine OPR on the near-point dog ...
  • Page 449 Chapter 8 OPR Control Precautions during operation (1) The error "Count method movement amount fault "(error code: 206) will occur if the "[Pr.50] Setting for the movement amount after near-point dog ON" is smaller than the deceleration distance from the "[Pr.46] OPR speed" to "[Pr.47] Creep speed".

  • Page 450: Opr Method (3): Count Method 2)

    Chapter 8 OPR Control 8.2.5 OPR method (3): Count method 2) The following shows an operation outline of the OPR method "count method 2)". The "count method 2)" method is effective when a "zero signal" cannot be received. (Note that compared to the "count method 1)" method, using this method will result in more deviation in the stop position during machine OPR.) Operation chart The machine OPR is started.
  • Page 451 Chapter 8 OPR Control Restrictions When this method is used, a deviation will occur in the stop position (OP) compared to other OPR methods because an error of about 1 ms occurs in taking in the near-point dog ON. Precautions during operation (1) The error "Count method movement amount fault"...

  • Page 452: Opr Method (4): Data Set Method

    Chapter 8 OPR Control 8.2.6 OPR method (4): Data set method The following shows an operation outline of the OPR method "data set method". The "Data set method" method is effective when a "Near-point dog" is not used. It can be used with absolute position system. With the data set method OPR, the position where the machine OPR has been carried out, is registered into the Simple Motion module as the OP, and the current feed value and feed machine value is overwritten to an OP address.

  • Page 453: Opr Method (5): Scale Origin Signal Detection Method

    Chapter 8 OPR Control 8.2.7 OPR method (5): Scale origin signal detection method The following shows an operation outline of the OPR method "scale origin signal detection method". POINT Set "0: Need to pass servo motor Z-phase after power on" in "Function selection C- 4 (PC17)".
  • Page 454 Chapter 8 OPR Control Precautions during operation (1) The error "Start at OP" (error code: 201) will occur if another machine OPR is attempted immediately after a machine OPR completion when the OP is in the near-point dog ON position. (2) The following shows the operation when a machine OPR is started from the near-point dog ON position.
  • Page 455 Chapter 8 OPR Control (6) When the zero signal is detected again during deceleration ( 4) of Fig. 8.13) with detection of zero signal, the operation stops at the zero signal detected lastly to complete the OPR. Pr.44 OPR direction Pr.46 OPR speed Pr.47 Creep speed Near-point dog...

  • Page 456: Fast Opr

    Chapter 8 OPR Control 8.3 Fast OPR 8.3.1 Outline of the fast OPR operation Fast OPR operation After establishing OP by a machine OPR, positioning control to the OP is executed without using a near-point dog or a zero signal. The following shows the operation during a basic fast OPR start.
  • Page 457 Chapter 8 OPR Control Operation timing and processing time of fast OPR The following shows details about the operation timing and time during fast OPR. [QD77MS4 operation example] Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [XC, XD, XE, XF] Start complete signal [X10, X11, X12, X13] Standby...

  • Page 458: Selection Of The Opr Setting Condition

    Chapter 8 OPR Control 8.4 Selection of the OPR setting condition 8.4.1 Outline of the OPR setting condition If executing the home position return (OPR) when selecting "0: Need to pass servo motor Z-phase after power on" with the servo parameter of the servo amplifier "Function selection C-4 (PC17)", it is necessary that the servomotor has been rotated more than one revolution and passed the Z phase (Motor reference position signal) and that the zero point pass signal ([Md.108] Servo status (low-order buffer memory...
  • Page 459 Chapter 9 Major Positioning Control Chapter 9 Major Positioning Control The details and usage of the major positioning controls (control functions using the "positioning data") are explained in this chapter. The major positioning controls include such controls as "positioning control" in which positioning is carried out to a designated position using the address information, "speed control"...

  • Page 460: Outline Of Major Positioning Controls

    Chapter 9 Major Positioning Control 9.1 Outline of major positioning controls "Major positioning controls" are carried out using the "positioning data" stored in the Simple Motion module. The basic controls such as position control and speed control are executed by setting the required items in this "positioning data", and then starting that positioning data.
  • Page 461 Chapter 9 Major Positioning Control Major positioning control Details [Da.2] Control method Forward run speed 1 1-axis speed The speed control of the designated 1 axis is carried out. control Reverse run speed 1 2-axis speed Forward run speed 2 The speed control of the designated 2 axes is carried out.

  • Page 462: Data Required For Major Positioning Control

    "[Da.2] Control method". (Refer to Section 9.2 "Setting the positioning data".) Major positioning control sub functions Refer to Section 3.2.5 "Combination of QD77MS main functions and sub functions" for details on "sub functions" that can be combined with the major positioning control.

  • Page 463: Operation Patterns Of Major Positioning Controls

    Chapter 9 Major Positioning Control 9.1.2 Operation patterns of major positioning controls In "major positioning control" (high-level positioning control), "[Da.1] Operation pattern" can be set to designate whether to continue executing positioning data after the started positioning data. The "operation pattern" includes the following 3 types. Positioning complete (1) Independent positioning control (operation pattern: 00)
  • Page 464 Chapter 9 Major Positioning Control POINT (1) When the operation pattern is continuous positioning control or continuous path control, the same address as the last value is specified in absolute system or the movement amount 0 is specified in incremental system, positioning control of movement amount 0 is executed.
  • Page 465 Chapter 9 Major Positioning Control [2] Continuous positioning control (1) The machine always automatically decelerates each time the positioning is completed. Acceleration is then carried out after the Simple Motion module command speed reaches 0 to carry out the next positioning data operation. If a dwell time is designated, the acceleration is carried out after the designated time elapses.
  • Page 466 Chapter 9 Major Positioning Control [3] Continuous path control (1) Continuous path control (a) The speed is changed without deceleration stop between the command speed of the "positioning data No. currently being executed" and the speed of the "positioning data No. to carry out the next operation".
  • Page 467 Chapter 9 Major Positioning Control [QD77MS4 operation example] Positioning continue (11) Dwell time Positioning continue (11) Positioning Address (+) direction complete (00) Address (-) direction Positioning start signal [Y10, Y11, Y12, Y13] Start complete signal [X10, X11, X12, X13] BUSY signal [XC, XD, XE, XF] Positioning complete signal [X14, X15, X16, X17]...
  • Page 468 Chapter 9 Major Positioning Control (b) During operation by step operation. (Refer to Section 13.7.1 "Step function".) (c) When there is an error in the positioning data to carry out the next operation. POINTS (1) The movement direction is not checked during interpolation operations. Thus, automatic deceleration to a stop will not be carried out even if the movement direction is changed (See the figures below).
  • Page 469 Chapter 9 Major Positioning Control (3) Speed handling (a) Continuous path control command speeds are set with each positioning data. The Simple Motion module carries out the positioning at the speed designated with each positioning data. (b) The command speed can be set to "–1" in continuous path control. The control will be carried out at the speed used in the previous positioning data No.
  • Page 470 Chapter 9 Major Positioning Control (4) Speed switching (Refer to "[Pr.19] Speed switching mode".) The two modes for changing the speed are shown below. • Standard speed switching………Switch the speed when executing the next positioning data. • Front-loading speed switching….The speed switches at the end of the positioning data currently being executed.
  • Page 471 Chapter 9 Major Positioning Control Speed switching condition If the movement amount is small in regard to the target speed, the current speed may not reach the target speed even if acceleration/deceleration is carried out. In this case, the machine is accelerated/decelerated so that it nears the target speed.
  • Page 472 Chapter 9 Major Positioning Control [QD77MS4 operation example] Dwell time Dwell time Positioning Da. 1 Operation pattern Positioning start signal [Y10, Y11, Y12, Y13] Start complete signal [X10, X11, X12, X13] BUSY signal [XC, XD, XE, XF] Positioning complete signal [X14, X15, X16, X17] (Note): Refer to Section 3.3 for input/output signal of QD77MS16.

  • Page 473: Designating The Positioning Address

    Chapter 9 Major Positioning Control 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 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 474: Confirming The Current Value

    Chapter 9 Major Positioning Control 9.1.4 Confirming the current value Values showing the current value The following two types of addresses are used as values to show the position in the Simple Motion module. These addresses ("current feed value" and "machine feed value") are stored in the monitor data area, and used in monitoring the current value display, etc.
  • Page 475 Chapter 9 Major Positioning Control Monitoring the current value The "current feed value" and "machine feed value" are stored in the following buffer memory addresses, and can be read using a "DFRO(P) instruction" or "DMOV(P) instruction" from the PLC CPU. Buffer memory addresses QD77MS2/QD77MS4 QD77MS16...

  • Page 476: Control Unit "Degree" Handling

    Chapter 9 Major Positioning Control 9.1.5 Control unit "degree" handling When the control unit is set to "degree", the following items differ from when other control units are set. [1] Current feed value and machine feed value addresses The address of "[Md.20] Current feed value" becomes a ring address from 0 to 359.99999 °...
  • Page 477 Chapter 9 Major Positioning Control POINT (1) When the upper/lower limit value of the axis which set the software stroke limit as valid are changed, perform the machine OPR after that. (2) When the software stroke limit is set as valid in the incremental data system, perform the machine OPR after power supply on.
  • Page 478 Chapter 9 Major Positioning Control (b) When the software stroke limit is valid The positioning is carried out in a clockwise/counterclockwise direction depending on the software stroke limit range setting method. Because of this, positioning with "shortcut control" may not be possible. Example When the current value is moved from 0°...

  • Page 479: Interpolation Control

    Chapter 9 Major Positioning Control 9.1.6 Interpolation control Meaning of interpolation control In "2-axis linear interpolation control", "3-axis linear interpolation control", "4-axis linear interpolation control", "2-axis fixed-feed control", "3-axis fixed-feed control", "4-axis fixed-feed control", "2-axis speed control", "3-axis speed control", "4-axis speed control", and "2-axis circular interpolation control", control is carried out so that linear and arc paths are drawn using a motor set in two to four axis directions.
  • Page 480 Chapter 9 Major Positioning Control Setting the positioning data during interpolation control When carrying out interpolation control, the same positioning data Nos. are set for the "reference axis" and the "interpolation axis". The following table shows the "positioning data" setting items for the reference axis and interpolation axis.
  • Page 481 Chapter 9 Major Positioning Control Starting the interpolation control The positioning data Nos. of the reference axis (axis in which interpolation control was set in "[Da.2] Control method") are started when starting the interpolation control. (Starting of the interpolation axis is not required.) The following errors or warnings will occur and the positioning will not start if both reference axis and the interpolation axis are started.
  • Page 482 Chapter 9 Major Positioning Control POINT When the "reference axis speed" is set during interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the "[Pr.8] Speed limit value". Limits to interpolation control There are limits to the interpolation control that can be executed and speed ([Pr.20] Interpolation speed designation method) that can be set, depending on the...
  • Page 483 Chapter 9 Major Positioning Control MEMO 9 - 25...

  • Page 484: Setting The Positioning Data

    Chapter 9 Major Positioning Control 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 table shows the positioning data setting items corresponding to the different types of control.
  • Page 485 Chapter 9 Major Positioning Control Other control Speed-position Position- speed Current value switching control switching control NOP instruction JUMP instruction LOOP LEND changing – – – – – – – – – – – – Forward run Forward run speed/position position/speed Current value JUMP instruction...

  • Page 486: Axis Linear Control

    Chapter 9 Major Positioning Control 9.2.2 1-axis linear control In "1-axis linear control" ("[Da.2] Control method" = ABS linear 1, INC linear 1), 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, positioning is carried out from the current stop position (start point address) to the address (end point address) set in "[Da.6]...
  • Page 487 Chapter 9 Major Positioning Control Positioning data setting example [When "1-axis linear control (ABS linear 1)" is set in positioning data No. 1 of axis 1.] Setting example Setting item Setting details QD77MS2 QD77MS16 QD77MS4 Set "Positioning complete" assuming the next positioning data [Da.1] Operation pattern Positioning complete will not be executed.
  • Page 488 Chapter 9 Major Positioning Control [2] 1-axis linear control (INC linear 1) Operation chart In incremental system 1-axis linear control, positioning 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 489 Chapter 9 Major Positioning Control Positioning data setting example [When "1-axis linear control (INC linear 1)" is set in positioning data No. 1 of axis 1] Setting example Setting item Setting details QD77MS2 QD77MS16 QD77MS4 Set "Positioning complete" assuming the next positioning data [Da.1] Operation pattern Positioning complete will not be executed.

  • Page 490: Axis Linear Interpolation Control

    Chapter 9 Major Positioning Control 9.2.3 2-axis linear interpolation control In "2-axis linear interpolation control" ("[Da.2] Control method" = ABS linear 2, INC linear 2), two motors are used to carry out position control in a linear path while carrying out interpolation for the axis directions set in each axis. (Refer to Section 9.1.6 "Interpolation control"...
  • Page 491 Chapter 9 Major Positioning Control Restrictions An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is detected during a positioning control.  If the movement amount of each axis exceeds "1073741824 (=2 )"...
  • Page 492 Chapter 9 Major Positioning Control POINT  When the "reference axis speed" is set during 2-axis linear interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the "[Pr.8] Speed limit value".
  • Page 493 Chapter 9 Major Positioning Control [2] 2-axis linear interpolation control (INC linear 2) Operation chart In incremental system 2-axis linear interpolation control, the designated 2 axes are used. Linear interpolation positioning 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 494 Chapter 9 Major Positioning Control Restrictions An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is detected during a positioning operation.  If the movement amount of each axis exceeds "1073741824 (=2 )"...
  • Page 495 Chapter 9 Major Positioning Control POINT  When the "reference axis speed" is set during 2-axis linear interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the "[Pr.8] Speed limit value".
  • Page 496 Chapter 9 Major Positioning Control 9.2.4 3-axis linear interpolation control In "3-axis linear interpolation control" ("[Da.2] Control method" = ABS linear 3, INC linear 3), three motors are used to carry out position control in a linear path while carrying out interpolation for the axis directions set in each axis. (Refer to Section 9.1.6 "Interpolation control"...
  • Page 497 Chapter 9 Major Positioning Control Restrictions An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is detected during a positioning control.  If the movement amount of each axis exceeds "1073741824 (=2 )"...
  • Page 498 Chapter 9 Major Positioning Control POINTS  When the "reference axis speed" is set during 3-axis linear interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the "[Pr.8] Speed limit value".
  • Page 499 Chapter 9 Major Positioning Control [2] 3-axis linear interpolation control (INC linear 3) Operation chart In the incremental system 3-axis linear interpolation control, the designated 3 axes are used. Linear interpolation positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in the "[Da.6] Positioning address/movement amount".
  • Page 500 Chapter 9 Major Positioning Control Restrictions An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is detected during a positioning operation.  If the movement amount of each axis exceeds "1073741824 (=2 )"...
  • Page 501 Chapter 9 Major Positioning Control POINTS  When the "reference axis speed" is set during 3-axis linear interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the "[Pr.8] Speed limit value".
  • Page 502 Chapter 9 Major Positioning Control 9.2.5 4-axis linear interpolation control In "4-axis linear interpolation control" ("[Da.2] Control method" = ABS linear 4, INC linear 4), four motors are used to carry out position control in a linear path while carrying out interpolation for the axis directions set in each axis. (Refer to Section 9.1.6 "Interpolation control"...
  • Page 503 Chapter 9 Major Positioning Control Positioning data setting example [When "4-axis linear interpolation control (ABS linear 4)" is set in positioning data No. 1 of axis 1] • Reference axis ..... Axis 1 • Interpolation axis..Axis 2, Axis3, Axis4 (The required values are also set in positioning data No.
  • Page 504 Chapter 9 Major Positioning Control POINTS  When the "reference axis speed" is set during 4-axis linear interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the "[Pr.8] Speed limit value".
  • Page 505 Chapter 9 Major Positioning Control Positioning data setting example [When "4-axis linear interpolation control (INC linear 4)" is set in positioning data No. 1 of axis 1] • Reference axis ..... Axis 1 • Interpolation axis..Axis 2, Axis3, Axis4 (The required values are also set in positioning data No.
  • Page 506 Chapter 9 Major Positioning Control POINT  When the "reference axis speed" is set during 4-axis linear interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the "[Pr.8] Speed limit value".

  • Page 507: Axis Fixed-Feed Control

    Chapter 9 Major Positioning Control 9.2.6 1-axis fixed-feed control In "1-axis fixed-feed control" ("[Da.2] Control method" = fixed-feed 1), one motor is used to carry out fixed-feed control in a set axis direction. In fixed-feed control, any remainder of below control accuracy is rounded down to convert the movement amount designated in the positioning data into the command value to servo amplifier.
  • Page 508 Chapter 9 Major Positioning Control POINT  When the movement amount is converted to the actual number of command pulses, a fraction appears after the decimal point, according to the movement amount per pulse. This fraction is normally retained in the Simple Motion module and reflected at the next positioning.
  • Page 509 Chapter 9 Major Positioning Control Positioning data setting example [When "1-axis fixed-feed control (fixed-feed 1)" is set in positioning data No.1 of axis 1] Setting example Setting item Setting details QD77MS2 QD77MS16 QD77MS4 Set "Positioning complete" assuming the next positioning data [Da.1] Operation pattern Positioning complete will not be executed.

  • Page 510: Axis Fixed-Feed Control (Interpolation)

    Chapter 9 Major Positioning Control 9.2.7 2-axis fixed-feed control (interpolation) In "2-axis fixed-feed control" ("[Da.2] Control method" = fixed-feed 2), two motors are used to carry out fixed-feed control in a linear path while carrying out interpolation for the axis directions set in each axis. In fixed-feed control, any remainder of below control accuracy is rounded down to convert the movement amount designated in the positioning data into the command value to servo amplifier.
  • Page 511 Chapter 9 Major Positioning Control Positioning data setting example [When "2-axis fixed-feed control (fixed-feed 2)" is set in positioning data No. 1 of axis 1] • Reference axis ..... Axis 1 • Interpolation axis..Axis 2 (The required values are also set in positioning data No.
  • Page 512 Chapter 9 Major Positioning Control POINTS  When the movement amount is converted to the actual number of command pulses, a fraction appears after the decimal point, according to the movement amount per pulse. This fraction is normally retained in the Simple Motion module and reflected at the next positioning.
  • Page 513 Chapter 9 Major Positioning Control Operation chart In incremental system 3-axis fixed-feed control, the addresses ([Md.20] Current feed value) of the current stop position (start addresses) of every axes are set to "0". Linear interpolation positioning is then carried out from that position to a position at the end of the movement amount set in "[Da.6] Positioning address/movement amount".
  • Page 514 Chapter 9 Major Positioning Control Restrictions (1) The error "Continuous path control not possible" (error code: 516) will occur and the operation cannot start if "continuous path control" is set in "[Da.1] Operation pattern". ("Continuous path control" cannot be set in fixed-feed control.) (2) If the movement amount of each axis exceeds "1073741824 (=2 )"...
  • Page 515 Chapter 9 Major Positioning Control Positioning data setting example [When "3-axis fixed-feed control (fixed-feed 3)" is set in positioning data No. 1 of axis 1] • Reference axis ..... Axis 1 • Interpolation axis..Axis 2, Axis3 (The required values are also set in positioning data No.
  • Page 516 Chapter 9 Major Positioning Control POINTS  When the movement amount is converted to the actual number of command pulses, a fraction appears after the decimal point, according to the movement amount per pulse. This fraction is normally retained in the Simple Motion module and reflected at the next positioning.
  • Page 517 Chapter 9 Major Positioning Control 9.2.9 4-axis fixed-feed control (interpolation) In "4-axis fixed-feed control" ("[Da.2] Control method" = fixed-feed 4), four motors are used to carry out fixed-feed control in a linear path while carrying out interpolation for the axis directions set in each axis. In fixed-feed control, any remainder of below control accuracy is rounded down to convert the movement amount designated in the positioning data into the command value to servo amplifier.
  • Page 518 Chapter 9 Major Positioning Control Positioning data setting example [When "4-axis fixed-feed control (fixed-feed 4)" is set in positioning data No.1 of axis 1] • Reference axis ..... Axis 1 • Interpolation axis..Axis 2, Axis3, Axis4 (The required values are also set in positioning data No.
  • Page 519 Chapter 9 Major Positioning Control POINTS  When the movement amount is converted to the actual number of command pulses, a fraction appears after the decimal point, according to the movement amount per pulse. This fraction is normally retained in the Simple Motion module and reflected at the next positioning.

  • Page 520: Axis Circular Interpolation Control With Sub Point Designation

    Chapter 9 Major Positioning Control 9.2.10 2-axis circular interpolation control with sub point designation In "2-axis circular interpolation control" ("[Da.2] Control method" = ABS circular sub, INC circular sub), two motors are used to carry out position control in an arc path passing through designated sub points, while carrying out interpolation for the axis directions set in each axis.
  • Page 521 Chapter 9 Major Positioning Control Restrictions (1) 2-axis circular interpolation control cannot be set in the following cases.  When "degree" is set in "[Pr.1] Unit setting"  When the units set in "[Pr.1] Unit setting" are different for the reference axis and interpolation axis.
  • Page 522 Chapter 9 Major Positioning Control Positioning data setting example [When "2-axis circular interpolation control with sub point designation (ABS circular sub)" is set in positioning data No. 1 of axis 1] • Reference axis ..... Axis 1 • Interpolation axis..Axis 2 (The required values are also set in positioning data No.
  • Page 523 Chapter 9 Major Positioning Control [2] 2-axis circular interpolation control with sub point designation (INC circular sub) Operation chart In the incremental system, 2-axis circular interpolation control with sub point designation, positioning 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 524 Chapter 9 Major Positioning Control Restrictions (1) 2-axis circular interpolation control cannot be set in the following cases.  When "degree" is set in "[Pr.1] Unit setting"  When the units set in "[Pr.1] Unit setting" are different for the reference axis and interpolation axis.
  • Page 525 Chapter 9 Major Positioning Control Positioning data setting example [When "2-axis circular interpolation control with sub point designation (INC circular sub)" is set in positioning data No. 1 of axis 1] • Reference axis ..... Axis 1 • Interpolation axis..Axis 2 (The required values are also set in positioning data No.

  • Page 526: Axis Circular Interpolation Control With Center Point Designation

    Chapter 9 Major Positioning Control 9.2.11 2-axis circular interpolation control with center point designation In "2-axis circular interpolation control" ("[Da.2] Control method" = ABS circular right, INC circular right, ABS circular left, INC circular left), two motors are used to carry out position control in an arc path having an arc address as a center point, while carrying out interpolation for the axis directions set in each axis.
  • Page 527 Chapter 9 Major Positioning Control Circular interpolation error compensation In circular interpolation control with center point designation, the arc path calculated from the start point address and center point address may deviate from the position of the end point address set in "[Da.6] Positioning address/movement amount".
  • Page 528 Chapter 9 Major Positioning Control [1] 2-axis circular interpolation control with center point designation (ABS circular right, ABS circular left) Operation chart In the absolute system, 2-axis circular interpolation control with center point designation positioning is carried out from the current stop position (start point address) to the address (end point address) set in "[Da.6] Positioning address/ movement amount", in an arc path having as its center the address (arc address) of the center point set in "[Da.7] Arc address".
  • Page 529 Chapter 9 Major Positioning Control In circular interpolation control with center point designation, an angular velocity is calculated on the assumption that operation is carried out at a command speed on the arc using the radius calculated from the start point address and center point address, and the radius is compensated in proportion to the angular velocity deviated from that at the start point.
  • Page 530 Chapter 9 Major Positioning Control Positioning data setting examples [When "2-axis circular interpolation control with center point designation (ABS circular right, ABS circular left)" is set in positioning data No. 1 of axis 1] • Reference axis ..... Axis 1 •...
  • Page 531 Chapter 9 Major Positioning Control [2] 2-axis circular interpolation control with center point designation (INC circular right, INC circular left) Operation chart In the incremental system, 2-axis circular interpolation control with center point designation, positioning 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", in an arc path having as its center the address (arc address) of the center point set in "[Da.7] Arc address".
  • Page 532 Chapter 9 Major Positioning Control In circular interpolation control with center point designation, an angular velocity is calculated on the assumption that operation is carried out at a command speed on the arc using the radius calculated from the start point address and center point address, and the radius is compensated in proportion to the angular velocity deviated from that at the start point.
  • Page 533 Chapter 9 Major Positioning Control Positioning data setting examples [When "2-axis circular interpolation control with center point designation (INC circular right, INC circular left)" is set in positioning data No. 1 of axis 1] • Reference axis ..... Axis 1 •...

  • Page 534: Axis Speed Control

    Chapter 9 Major Positioning Control 9.2.12 1-axis speed control In "1-axis speed control" ("[Da.2] Control method" = Forward run: speed 1, Reverse run: speed 1), control is carried out in the axis direction in which the positioning data has been set by continuously outputting pulses for the speed set in "[Da.8] Command speed"...
  • Page 535 Chapter 9 Major Positioning Control Current feed value during 1-axis speed control The following table shows the "[Md.20] Current feed value" during 1-axis speed control corresponding to the "[Pr.21] Current feed value during speed control" settings. "[Pr.21] Current feed value during speed [Md.20] Current feed value control"...
  • Page 536 Chapter 9 Major Positioning Control Positioning data setting examples [When "1-axis speed control (forward run: speed 1)" is set in the positioning data No. 1 of axis 1] Setting example Setting item Setting details QD77MS2 QD77MS16 QD77MS4 Setting other than "Positioning complete" is not possible in [Da.1] Operation pattern Positioning complete speed control.
  • Page 537 Chapter 9 Major Positioning Control 9.2.13 2-axis speed control In "2-axis speed control" ("[Da.2] Control method" = Forward run: speed 2, Reverse run: speed 2), control is carried out in the 2-axis direction in which the positioning data has been set by continuously outputting pulses for the speed set in "[Da.8] Command speed"...
  • Page 538 Chapter 9 Major Positioning Control Current feed value during 2-axis speed control The following table shows the "[Md.20] Current feed value" during 2-axis speed control corresponding to the "[Pr.21] Current feed value during speed control" settings. (Note that the reference axis setting values are used for parameters.) "[Pr.21] Current feed value during speed [Md.20] Current feed value control"...
  • Page 539 Chapter 9 Major Positioning Control (4) When either of two axes exceeds the speed limit, that axis is controlled with the speed limit value. The speeds of the other axes are limited at the ratios of "[Da.8] Command speed". (Examples) Axis Axis 1 setting Axis 2 setting...
  • Page 540 Chapter 9 Major Positioning Control Positioning data setting examples [When "2-axis speed control (forward run: speed 2)" is set in the positioning data No. 1 of axis 1] • Reference axis ..... Axis 1 • Interpolation axis..Axis 2 (The required values are also set in positioning data No.1 of axis 2.) QD77MS2/QD77MS4 QD77MS16...
  • Page 541 Chapter 9 Major Positioning Control 9.2.14 3-axis speed control In "3-axis speed control" ("[Da.2] Control method" = Forward run: speed 3, Reverse run: speed 3), control is carried out in the 3-axis direction in which the positioning data has been set by continuously outputting pulses for the speed set in "[Da.8] Command speed"...
  • Page 542 Chapter 9 Major Positioning Control Current feed value during 3-axis speed control The following table shows the "[Md.20] Current feed value" during 3-axis speed control corresponding to the "[Pr.21] Current feed value during speed control" settings. (Note that the reference axis setting values are used for parameters.) "[Pr.21] Current feed value during speed [Md.20] Current feed value control"...
  • Page 543 Chapter 9 Major Positioning Control (4) When either of three axes exceeds the speed limit, that axis is controlled with the speed limit value. The speeds of the other axes are limited at the ratios of "[Da.8] Command speed". (Examples) Axis Axis 1 setting Axis 2 setting...
  • Page 544 Chapter 9 Major Positioning Control Positioning data setting examples [When "3-axis speed control (forward run: speed 3)" is set in the positioning data No. 1 of axis 1] • Reference axis ..... Axis 1 • Interpolation axis..Axis 2, Axis 3 (The required values are also set in positioning data No.1 of axis 2 and axis 3.) QD77MS4 setting example QD77MS16 setting example...
  • Page 545 Chapter 9 Major Positioning Control 9.2.15 4-axis speed control In "4-axis speed control" ("[Da.2] Control method" = Forward run: speed 4, Reverse run: speed 4), control is carried out in the 4-axis direction in which the positioning data has been set by continuously outputting pulses for the speed set in "[Da.8] Command speed"...
  • Page 546 Chapter 9 Major Positioning Control Operation chart The following chart shows the operation timing for 4-axis speed control with axis 1 as the reference axis. The "in speed control" flag ([Md.31] Status: b0) is turned ON during speed control. The "positioning complete signal" is not turned ON. [QD77MS4 operation example] Interpolation axis (axis 4) Da.
  • Page 547 Chapter 9 Major Positioning Control Current feed value during 4-axis speed control The following table shows the "[Md.20] Current feed value" during 4-axis speed control corresponding to the "[Pr.21] Current feed value during speed control" settings. (Note that the reference axis setting values are used for parameters.) "[Pr.21] Current feed value during speed [Md.20] Current feed value control"...
  • Page 548 Chapter 9 Major Positioning Control (4) When either of four axes exceeds the speed limit, that axis is controlled with the speed limit value. The speeds of the other axes are limited at the ratios of "[Da.8] Command speed". (Examples) Axis Axis 1 Axis 2...
  • Page 549 Chapter 9 Major Positioning Control Positioning data setting examples [When "4-axis speed control (forward run: speed 4)" is set in the positioning data No. 1 of axis 1] • Reference axis ..... Axis 1 • Interpolation axis..Axis 2 to Axis 4 (The required values are also set in positioning data No.

  • Page 550: Speed-Position Switching Control (Inc Mode)

    Chapter 9 Major Positioning Control 9.2.16 Speed-position switching control (INC mode) In "speed-position switching control (INC mode)" ("[Da.2] Control method" = Forward run: speed/position, Reverse run: speed/position), the pulses of the speed set in "[Da.8] Command speed" are kept output on the axial direction set to the positioning data.
  • Page 551 Chapter 9 Major Positioning Control (2) "[Cd.24] Speed-position switching enable flag" must be turned ON to switch over from speed control to position control. (If the "[Cd.24] Speed-position switching enable flag" turns ON after the speed-position switching signal turns ON, the control will continue as speed control without switching over to position control.
  • Page 552 Chapter 9 Major Positioning Control Operation chart The following chart (Fig.9.13) shows the operation timing for speed-position switching control (INC mode). The "in speed control flag" ([Md.31] Status: b0) is turned ON during speed control of speed-position switching control (INC mode). [QD77MS4 operation example] •...
  • Page 553 Chapter 9 Major Positioning Control [Operation example] The following operation assumes that the speed-position switching signal is input at the position of the current feed value of 90.00000 [degree] during execution of "[Da.2] Control method" "Forward run: speed/ position" at "[Pr.1] Unit setting" of "2: degree" and "[Pr.21] Current feed value during speed control" setting of "1: Update current feed value".
  • Page 554 Chapter 9 Major Positioning Control Operation timing and processing time during speed-position switching control (INC mode) [QD77MS4 operation example] Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [XC, XD, XE, XF] M code ON signal [X4, X5, X6, X7](WITH mode) Cd.7 M code OFF request Start complete signal [X10, X11, X12, X13]...
  • Page 555 Chapter 9 Major Positioning Control Normal timing time Unit: [ms] Operation cycle 0.88 0.2 to 0.3 0 to 0.9 0 to 0.9 1.8 to 2.7 0 to 0.9 Follows parameters QD77MS2 1.77 0.2 to 0.3 0 to 1.8 0 to 1.8 2.5 to 3.9 0 to 1.8 Follows parameters 0.88...
  • Page 556 Chapter 9 Major Positioning Control Current feed value during speed-position switching control (INC mode) The following table shows the "[Md.20] Current feed value" during speed-position switching control (INC mode) corresponding to the "[Pr.21] Current feed value during speed control" settings. "[Pr.21] Current feed value during [Md.20] Current feed value speed control"...
  • Page 557 Chapter 9 Major Positioning Control (2) The following table shows the items that must be set to use the near-point dog signal (DOG) as speed-position switching signals. Buffer memory address Setting Setting item Setting details QD77MS2 value QD77MS16 QD77MS4 Speed-position Use the near-point dog signal [Cd.45] switching device...
  • Page 558 Chapter 9 Major Positioning Control Speed control Position control Position control start Speed-position switching control (INC mode) start Movement amount change possible Speed-position switching signal Setting after the speed-position switching signal ON is ignored Cd.23 Speed-position switching control movement amount change register P2 becomes the position control movement amount Speed-position switching latch flag ( Md.31 Status : b1)
  • Page 559 Chapter 9 Major Positioning Control Restrictions (1) The error "Continuous path control not possible" (error code: 516) will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is set in "[Da.1] Operation pattern". (2) "Speed-position switching control" cannot be set in "[Da.2] Control method" of the positioning data when "continuous path control"...
  • Page 560 Chapter 9 Major Positioning Control Positioning data setting examples [When "speed-position switching control (INC mode) by forward run" is set in positioning data No. 1 of axis 1] Setting example Setting item Setting details QD77MS2 QD77MS16 QD77MS4 Set "Positioning complete" assuming the next positioning data [Da.1] Operation pattern Positioning complete will not be executed.

  • Page 561: Speed-Position Switching Control (Abs Mode)

    Chapter 9 Major Positioning Control 9.2.17 Speed-position switching control (ABS mode) In case of "speed-position switching control (ABS mode)" ("[Da.2] Control method" = Forward run: speed/position, Reverse run: speed/position), the pulses of the speed set in "[Da.8] Command speed" are kept output in the axial direction set to the positioning data.
  • Page 562 Chapter 9 Major Positioning Control Switching over from speed control to position control (1) The control is selected the switching method from speed control to position control by the setting value of "[Cd.45] Speed-position switching device selection". Buffer memory address Setting Setting item Setting details...
  • Page 563 Chapter 9 Major Positioning Control Operation chart The following chart (Fig.9.16) shows the operation timing for speed-position switching control (ABS mode). The "in speed control flag" ([Md.31] Status: b0) is turned ON during speed control of speed-position switching control (ABS mode). [QD77MS4 operation example] •...
  • Page 564 Chapter 9 Major Positioning Control [Operation example] The following operation assumes that the speed-position switching signal is input at the position of the current feed value of 90.00000 [degree] during execution of "[Da.2] Control method" "Forward run: speed/position" at "[Pr.1] Unit setting" of "2: degree" and "[Pr.21] Current feed value during speed control"...
  • Page 565 Chapter 9 Major Positioning Control Operation timing and processing time during speed-position switching control (ABS mode) [QD77MS4 operation example] Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [XC, XD, XE, XF] M code ON signal [X4, X5, X6, X7](WITH mode) Cd.7 M code OFF request Start complete signal [X10, X11, X12, X13]...
  • Page 566 Chapter 9 Major Positioning Control Current feed value during speed-position switching control (ABS mode) The following table shows the "[Md.20] Current feed value" during speed-position switching control (ABS mode) corresponding to the "[Pr.21] Current feed value during speed control" settings. "[Pr.21] Current feed value during [Md.20] Current feed value speed control"...
  • Page 567 Chapter 9 Major Positioning Control Speed-position switching signal setting (1) The following table shows the items that must be set to use the external command signals [DI] as speed-position switching signals. Buffer memory address Setting Setting item Setting details QD77MS2 value QD77MS16 QD77MS4...
  • Page 568 Chapter 9 Major Positioning Control Restrictions (1) The error "Continuous path control not possible" (error code: 516) will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is set in "[Da.1] Operation pattern". (2) "Speed-position switching control" cannot be set in "[Da.2] Control method" of the positioning data when "continuous path control"...
  • Page 569 Chapter 9 Major Positioning Control Positioning data setting examples [When "speed-position switching control (ABS mode) by forward run" is set in positioning data No. 1 of axis 1] Setting example Setting item Setting details QD77MS2 QD77MS16 QD77MS4 Set "Positioning complete" assuming the next positioning data [Da.1] Operation pattern Positioning complete will not be executed.

  • Page 570: Position-Speed Switching Control

    Chapter 9 Major Positioning Control 9.2.18 Position-speed switching control In "position-speed switching control" ("[Da.2] Control method" = Forward run: position/speed, Reverse run: position/speed), before the position-speed switching signal is input, position control is carried out for the movement amount set in "[Da.6] Positioning address/movement amount"...
  • Page 571 Chapter 9 Major Positioning Control (2) "[Cd.26] Position-speed switching enable flag" must be turned ON to switch over from position control to speed control. (If the "[Cd.26] Position-speed switching enable flag" turns ON after the position-speed switching signal turns ON, the control will continue as position control without switching over to speed control.
  • Page 572 Chapter 9 Major Positioning Control Operation chart The following chart shows the operation timing for position-speed switching control. The "in speed control" flag ([Md.31] Status: b0) is turned ON during speed control of position-speed switching control. [QD77MS4 operation example] • When using the external command signal [DI] as position-speed switching signal Da.
  • Page 573 Chapter 9 Major Positioning Control Operation timing and processing time during position-speed switching control [QD77MS4 operation example] Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [XC, XD, XE, XF] M code ON signal [X4, X5, X6, X7](WITH mode) Cd. 7 M code OFF request Start complete signal [X10, X11, X12, X13]...
  • Page 574 Chapter 9 Major Positioning Control Normal timing time Unit: [ms] Operation cycle 0.88 0.2 to 0.3 0 to 0.9 0 to 0.9 1.8 to 2.7 – QD77MS2 1.77 0.2 to 0.3 0 to 1.8 0 to 1.8 2.5 to 3.5 –...
  • Page 575 Chapter 9 Major Positioning Control Current feed value during position-speed switching control The following table shows the "[Md.20] Current feed value" during position-speed switching control corresponding to the "[Pr.21] Current feed value during speed control" settings. "[Pr.21] Current feed value during [Md.20] Current feed value speed control"...
  • Page 576 Chapter 9 Major Positioning Control Position-speed switching signal setting (1) The following table shows the items that must be set to use the external command signals [DI] as position-speed switching signals. Buffer memory address Setting Setting item Setting details QD77MS2 value QD77MS16 QD77MS4...
  • Page 577 Chapter 9 Major Positioning Control Changing the speed control command speed In "position-speed switching control", the speed control command speed can be changed during the position control. (1) The speed control command speed can be changed during the position control of position-speed switching control.
  • Page 578 Chapter 9 Major Positioning Control Restrictions (1) The error "Continuous path control not possible" (error code: 516) will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is set in "[Da.1] Operation pattern". (2) "Position-speed switching control" cannot be set in "[Da.2] Control method" of the positioning data when "continuous path control"...
  • Page 579 Chapter 9 Major Positioning Control Positioning data setting examples [When "position-speed switching control (forward run: position/speed)" is set in positioning data No. 1 of axis 1] Setting example Setting item Setting details QD77MS2 QD77MS16 QD77MS4 Set "Positioning complete" assuming the next positioning data will not be executed.

  • Page 580: Current Value Changing

    Chapter 9 Major Positioning Control 9.2.19 Current value changing When the current value is changed to a new value, control is carried out in which the "[Md.20] Current feed value" of the stopped axis is changed to a random address set by the user.
  • Page 581 Chapter 9 Major Positioning Control (3) The error "Outside new current value range" (error code: 514) will occur and the operation cannot start if "degree" is set in "[Pr.1] Unit setting" and the value set in "[Da.6] Positioning address/movement amount (0 to 359.99999 [degree])"...
  • Page 582 Chapter 9 Major Positioning Control [2] Changing to a new current value using the current value changing start No. (No. 9003) In "current value changing" ("[Cd.3] Positioning start No." = 9003), "[Md.20] Current feed value" is changed to the address set in "[Cd.9] New current value". Operation chart The current value is changed by setting the new current value in the current value changing buffer memory "[Cd.9] New current value", setting "9003"...
  • Page 583 Chapter 9 Major Positioning Control Setting method for the current value changing function The following shows an example of a sequence program and data setting to change the current value to a new value with the positioning start signal. (The "[Md.20] Current feed value"...
  • Page 584 Chapter 9 Major Positioning Control (3) Add the following sequence program to the control program, and write it to the PLC CPU. [QD77MS4 program example] Current value changing Store new current feed value in D106 and D107 M103 <Pulsate current value changing command> M103 DTOP K1506...

  • Page 585: Nop Instruction

    Chapter 9 Major Positioning Control 9.2.20 NOP instruction The NOP instruction is used for the nonexecutable control method. Operation The positioning data No. to which the NOP instruction is set transfers, without any processing, to the operation for the next positioning data No. Positioning data setting examples [When "NOP instruction"...

  • Page 586: Jump Instruction

    Chapter 9 Major Positioning Control 9.2.21 JUMP instruction The JUMP instruction is used to control the operation so it jumps to a positioning data No. set in the positioning data during "continuous positioning control" or "continuous path control". JUMP instruction includes the following two types of JUMP. (1) Unconditional JUMP When execution conditions are not set for the JUMP instruction (When "0"...
  • Page 587 Chapter 9 Major Positioning Control (2) Set JUMP instruction to positioning data No. that "continuous positioning control" or "continuous path control" is set in operation pattern. It cannot set to positioning data No. that "positioning complete" is set in operation pattern. (3) Positioning control such as loops cannot be executed by conditional JUMP instructions alone until the conditions have been established.

  • Page 588: Loop

    Chapter 9 Major Positioning Control 9.2.22 LOOP The LOOP is used for loop control by the repetition of LOOP to LEND. Operation The LOOP to LEND loop is repeated by set repeat cycles. Positioning data setting examples [When "LOOP" is set in positioning data No. 1 of axis 1] Setting example Setting item Setting details...
  • Page 589 Chapter 9 Major Positioning Control POINT The setting by this control method is easier than that by the special start "FOR loop" of "High-level Positioning Control" (refer to Chapter 10). • For special start: Positioning start data, special start data, condition data, and positioning data •...

  • Page 590: Lend

    Chapter 9 Major Positioning Control 9.2.23 LEND The LEND is used to return the operation to the top of the repeat (LOOP to LEND) loop. Operation When the repeat cycle designated by the LOOP becomes 0, the loop is terminated, and the next positioning data No.
  • Page 591 Chapter 9 Major Positioning Control Restrictions (1) Ignore the "LEND" before the "LOOP" is executed. (2) When the operation pattern "Positioning complete" has been set between LOOP and LEND, the positioning control is completed after the positioning data is executed, and the LOOP control is not executed. 9 - 133...
  • Page 592 Chapter 9 Major Positioning Control MEMO 9 - 134...
  • Page 593 Chapter 10 High-Level Positioning Control Chapter 10 High-Level Positioning Control The details and usage of high-level positioning control (control functions using the "block start data") are explained in this chapter. High-level positioning control is used to carry out applied control using the "positioning data".

  • Page 594: Outline Of High-Level Positioning Control

    High-level positioning control sub functions "High-level positioning control" uses the "positioning data" set with the "major positioning control". Refer to Section 3.2.5 "Combination of QD77MS main functions and sub functions" for details on sub functions that can be combined with the major positioning control.

  • Page 595: Data Required For High-Level Positioning Control

    Chapter 10 High-Level Positioning Control 10.1.1 Data required for high-level positioning control "High-level positioning control" is executed by setting the required items in the "block start data" and "condition data", then starting that "block start data". Judgment about whether execution is possible, etc., is carried out at execution using the "condition data"...

  • Page 596: Block Start Data" And "Condition Data" Configuration

    Chapter 10 High-Level Positioning Control 10.1.2 "Block start data" and "condition data" configuration The "block start data" and "condition data" corresponding to "block No. 7000" can be stored in the buffer memory. • QD77MS2/QD77MS4 50th point Buffer memory Setting item address 2nd point 1st point...
  • Page 597 Chapter 10 High-Level Positioning Control • QD77MS16 50th point Buffer memory Setting item address 2nd point 1st point Buffer memory Setting item address Buffer memory 22049+400n Setting item address 22001+400n 22000+400n Da.11 Shape Da.12 Start data No. 22099+400n 22051+400n 22050+400n Da.14 Parameter Da.13...

  • Page 598: High-Level Positioning Control Execution Procedure

    Chapter 10 High-Level Positioning Control 10.2 High-level positioning control execution procedure High-level positioning control is carried out using the following procedure. "High-level positioning control" executes each control Preparation STEP 1 ("major positioning control") set in the positioning data Carry out the "major positioning control" setting. Refer to Chapter 9 with the designated conditions, so first carry out preparations so that "major positioning control"...

  • Page 599: Setting The Block Start Data

    Chapter 10 High-Level Positioning Control 10.3 Setting the block start data 10.3.1 Relation between various controls and block start data The "block start data" must be set to carry out "high-level positioning control". The setting requirements and details of each "block start data" item to be set differ according to the "[Da.13] Special start instruction"...

  • Page 600: Block Start (Normal Start)

    Chapter 10 High-Level Positioning Control 10.3.2 Block start (normal start) In a "block start (normal start)", the positioning data groups of a block starting from the positioning data set in "[Da.12]Start data No." are continuously executed with the set order by starting once.. Section [2] shows a control example where the "block start data"...
  • Page 601 Chapter 10 High-Level Positioning Control [2] Control examples The following shows the control executed when the "block start data" of the 1st point of axis 1 is set as shown in section [1] and started. <1> The positioning data is executed in the following order before stopping. Axis 1 positioning data No.

  • Page 602: Condition Start

    Chapter 10 High-Level Positioning Control 10.3.3 Condition start In a "condition start", the "condition data" conditional judgment designated in "[Da.14] Parameter" is carried out for the positioning data set in "[Da.12] Start data No.". If the conditions have been established, the "block start data" set in "1: condition start" is executed.

  • Page 603: Wait Start

    Chapter 10 High-Level Positioning Control 10.3.4 Wait start In a "wait start", the "condition data" conditional judgment designated in "[Da.14] Parameter" is carried out for the positioning data set in "[Da.12] Start data No.". If the conditions have been established, the "block start data" is executed. If the conditions have not been established, the control stops (waits) until the conditions are established.

  • Page 604: Simultaneous Start

    Chapter 10 High-Level Positioning Control 10.3.5 Simultaneous start In a "simultaneous start", the positioning data set in the "[Da.12] Start data No." and positioning data of other axes set in the "condition data" are simultaneously executed (commands are output with the same timing). (The "condition data"...

  • Page 605: Repeated Start (For Loop)

    Chapter 10 High-Level Positioning Control 10.3.6 Repeated start (FOR loop) In a "repeated start (FOR loop)", the data between the "block start data" in which "4: FOR loop" is set in "[Da.13] Special start instruction" and the "block start data" in which "6: NEXT start"...

  • Page 606: Repeated Start (For Condition)

    Chapter 10 High-Level Positioning Control 10.3.7 Repeated start (FOR condition) In a "repeated start (FOR condition)", the data between the "block start data" in which "5: FOR condition" is set in "[Da.13] Special start instruction" and the "block start data" in which "6: NEXT start"...

  • Page 607: Restrictions When Using The Next Start

    Chapter 10 High-Level Positioning Control 10.3.8 Restrictions when using the NEXT start The "NEXT start" is an instruction indicating the end of the repetitions when executing Section 10.3.6 "Repeated start (FOR loop)" and Section 10.3.7 "Repeated start (FOR condition)". The following shows the restrictions when setting "6: NEXT start" in the "block start data".

  • Page 608: Setting The Condition Data

    Chapter 10 High-Level Positioning Control 10.4 Setting the condition data 10.4.1 Relation between various controls and the condition data "Condition data" is set in the following cases. (1) When setting conditions during execution of Section 9.2.21 "JUMP instruction" (major positioning control) (2) WHEN SETTING conditions during execution of "high-level positioning control"...
  • Page 609 Chapter 10 High-Level Positioning Control The setting requirements and details of the following "condition data" [Da.16] to [Da.19] and [Da.23] setting items differ according to the "[Da.15] Condition target" setting. The following shows the [Da.16] to [Da.19] and [Da.23] setting items corresponding to the "[Da.15] Condition target".
  • Page 610 Chapter 10 High-Level Positioning Control • QD77MS16 Other setting [Da.23] item [Da.16] [Da.17] [Da.18] [Da.19] Number of Condition operator Address Parameter 1 Parameter 2 [Da.15] simultaneous starting axes Condition target 01H: Device X X: 0H, 1H, 10H to 1FH 07H : DEV=ON —...

  • Page 611: Condition Data Setting Examples

    Chapter 10 High-Level Positioning Control 10.4.2 Condition data setting examples The following shows the setting examples for "condition data". (1) QD77MS2/QD77MS4 (a) Setting the device ON/OFF as a condition [Condition] Device "XC" (Axis 1 BUSY signal) is OFF. [Da.16] [Da.15] [Da.17] [Da.18] [Da.19]...
  • Page 612 Chapter 10 High-Level Positioning Control (2) QD77MS16 (a) Setting the device ON/OFF as a condition [Condition] Device "X10" (Axis 1 BUSY signal) is OFF. [Da.23] [Da.24] [Da.25] [Da.26] [Da.15] [Da.16] Number of Simultaneous Simultaneous Simultaneous [Da.17] [Da.18] [Da.19] Condition Condition Address Parameter 1 Parameter 2...

  • Page 613: Multiple Axes Simultaneous Start Control

    Chapter 10 High-Level Positioning Control 10.5 Multiple axes simultaneous start control The "multiple axes simultaneous start" starts outputting the command to the specified simultaneous starting axis at the same timing as the started axis. The maximum of four axes can be started simultaneously. [1] Control details The multiple axes simultaneous start control is carried out by setting the simultaneous start setting data to the multiple axes simultaneous start control...
  • Page 614 Chapter 10 High-Level Positioning Control [3] Multiple axes simultaneous start control procedure The procedure for multiple axes simultaneous start control is as follows. When QD77MS2 When QD77MS4 When QD77MS16 Set the following axis control data. Set the following axis control data. Set the following axis control data.
  • Page 615 Chapter 10 High-Level Positioning Control [4] Multiple axes simultaneous start control function setting method The following shows the setting of the data used to execute the multiple axes simultaneous start control with positioning start signals (The axis control data on the start axis is set).
  • Page 616 Chapter 10 High-Level Positioning Control [5] Setting examples (1) The following shows the setting examples in which the QD77MS4 [axis 1] is used as the start axis and the simultaneously started axes are used as the axes 2 and 4. Buffer memory address Setting Setting item...
  • Page 617 Chapter 10 High-Level Positioning Control POINTS (1) The "multiple axes simultaneous start control" carries out an operation equivalent to the "simultaneous start" using the "block start data". (2) The setting of the "multiple axes simultaneous start control" is easier than that of the "simultaneous start"...

  • Page 618: Start Program For High-Level Positioning Control

    The following shows the procedure for starting the "1st point block start data" (regarded as block No. 7000) set in axis 1. [QD77MS4 use] QD77MS Buffer memory Servo amplifier Control by designated...

  • Page 619: Example Of A Start Program For High-Level Positioning Control

    Signal state QD77MS2 QD77MS16 QD77MS4 PLC READY signal ON PLC CPU preparation completed READY signal ON QD77MS preparation completed All axis servo ON ON All axis servo ON QD77MS buffer memory Synchronization flag The access is possible. Interface Axis stop signal...
  • Page 620 Chapter 10 High-Level Positioning Control Start time chart The following chart shows a time chart in which the positioning data No. 1, 2, 10, 11, and 12 of QD77MS4 [axis 1] are continuously executed as an example. (1) Block start data setting example [Da.13] [Da.11] [Da.12]...
  • Page 621 Chapter 10 High-Level Positioning Control Creating the program [QD77MS4 program example] Set the block start data beforehand. Positioning start command <Pulse the positioning start command.> M104 M104 <Write the positioning data No. 7000 K1500 K7000 for block positioning.> K1501 <Write the positioning start point No.> <Turn ON the positioning start signal.>...
  • Page 622 Chapter 10 High-Level Positioning Control MEMO 10 - 30...
  • Page 623 Chapter 11 Manual Control Chapter 11 Manual Control The details and usage of manual control are explained in this chapter. In manual control, commands are issued during a JOG operation and an inching operation executed by the turning ON of the JOG START signal, or from a manual pulse generator connected to the Simple Motion module.

  • Page 624: Outline Of Manual Control

    Chapter 11 Manual Control 11.1 Outline of manual control 11.1.1 Three manual control methods "Manual control" refers to control in which positioning data is not used, and a positioning operation is carried out in response to signal input from an external device. The three types of this "manual control"...
  • Page 625 Fig. 11.3 Manual pulse generator control Manual control sub functions Refer to Section 3.2.5 "Combination of QD77MS main functions and sub functions" for details on "sub functions" that can be combined with manual control. Also refer to Chapter 13 "Control Sub Functions" for details on each sub function.

  • Page 626: Jog Operation

    Chapter 11 Manual Control 11.2 JOG operation 11.2.1 Outline of JOG operation JOG operation In JOG operation, the forward run JOG start signal or reverse run JOG start signal turns ON, causing pulses to be output to the servo amplifier from the Simple Motion module while the signal is ON.
  • Page 627 Chapter 11 Manual Control Important Use the hardware stroke limit function when carrying out JOG operation near the upper or lower limits. (Refer to Section "13.4.4".) If the hardware stroke limit function is not used, the workpiece may exceed the moving range, causing an accident.
  • Page 628 Chapter 11 Manual Control JOG operation timing and processing time The following drawing shows details of the JOG operation timing and processing time. [QD77MS4 operation example] Forward run JOG start signal [Y8, YA, YC, YE] Reverse run JOG start signal [Y9, YB, YD, YF] BUSY signal [XC, XD, XE, XF] Md.

  • Page 629: Jog Operation Execution Procedure

    Chapter 11 Manual Control 11.2.2 JOG operation execution procedure The JOG operation is carried out by the following procedure. Preparation One of the following two methods can be used. STEP 1 Set the parameters. <Method 1> Pr.1 Pr.39 Refer to Chapter 5 Directly set (write) the parameters in the Simple Motion and Section 11.2.3.

  • Page 630: Setting The Required Parameters For Jog Operation

    Chapter 11 Manual Control 11.2.3 Setting the required parameters for JOG operation The "Positioning parameters" must be set to carry out JOG operation. The following table shows the setting items of the required parameters for carrying out JOG operation. Parameters not shown below are not required to be set for carrying out only JOG operation.
  • Page 631 Chapter 11 Manual Control REMARK  Parameter settings work in common for all controls using the Simple Motion module. When carrying out other controls ("major positioning control", "high-level positioning control", "OPR positioning control"), set the respective setting items as well. ...

  • Page 632: Creating Start Programs For Jog Operation

    Start complete signal OFF Start complete signal is OFF X10 to X13 [Md.31] Status: b14 BUSY signal OFF QD77MS is not operating XC to XF X10 to X1F Error detection signal OFF There is no error X8 to XB [Md.31] Status: b13...
  • Page 633 Chapter 11 Manual Control Start time chart [QD77MS4 operation example] Forward JOG run Reverse JOG run [Y8] Forward run JOG start signal Reverse run JOG start signal [Y9] [Y0] PLC READY signal All axis servo ON [Y1] READY signal [X0] BUSY signal [XC] Error detection signal...

  • Page 634: Jog Operation Example

    Chapter 11 Manual Control 11.2.5 JOG operation example When the "stop signal" is turned ON during JOG operation When the "stop signal" is turned ON during JOG operation, the JOG operation will stop by the "deceleration stop" method. If the JOG start signal is turned ON while the stop signal is ON, the error "Stop signal ON at start"...
  • Page 635 Chapter 11 Manual Control When both the "forward run JOG start signal" and "reverse run JOG start signal" are turned ON simultaneously for one axis When both the "forward run JOG start signal" and "reverse run JOG start signal" are turned ON simultaneously for one axis, the "forward run JOG start signal" is given priority.
  • Page 636 Chapter 11 Manual Control When the "JOG start signal" is turned ON again during deceleration caused by the ON OFF of the "JOG start signal" When the "JOG start signal" is turned ON again during deceleration caused by the OFF of the "JOG start signal", the JOG operation will be carried out from the time the "JOG start signal"...

  • Page 637: Inching Operation

    Chapter 11 Manual Control 11.3 Inching operation 11.3.1 Outline of inching operation Inching operation In inching operation, pulses are output to the servo amplifier at operation cycle to move the workpiece by a designated movement amount after the forward run JOG start signal or reverse JOG start signal is turned ON.
  • Page 638 Chapter 11 Manual Control Important When the inching operation is carried out near the upper or lower limit, use the hardware stroke limit function (Refer to Section 13.4.4). If the hardware stroke limit function is not used, the workpiece may exceed the movement range, and an accident may result.
  • Page 639 Chapter 11 Manual Control Inching operation timing and processing times The following drawing shows the details of the inching operation timing and processing time. [QD77MS4 operation example] Forward run JOG start signal [Y8, YA, YC, YE] Reverse run JOG start signal [Y9, YB, YD, YF] BUSY signal [XC, XD, XE, XF]...

  • Page 640: Inching Operation Execution Procedure

    Chapter 11 Manual Control 11.3.2 Inching operation execution procedure The inching operation is carried out by the following procedure. Preparation One of the following two methods can be used. STEP 1 Set the parameters. <Method 1> Pr.1 Pr.31 Refer to Chapter 5 Directly set (write) the parameters in the Simple Motion and Section 11.3.3.

  • Page 641: Setting The Required Parameters For Inching Operation

    Chapter 11 Manual Control 11.3.3 Setting the required parameters for inching operation The "Positioning parameters" must be set to carry out inching operation. The following table shows the setting items of the required parameters for carrying out inching operation. Parameters not shown below are not required to be set for carrying out only inching operation.

  • Page 642: Creating A Program To Enable/Disable The Inching Operation

    Start complete signal OFF Start complete signal is OFF X10 to X13 [Md.31] Status: b14 BUSY signal OFF QD77MS is not operating XC to XF X10 to X1F Positioning complete Positioning complete signal is X14 to X17 [Md.31] Status: b15...
  • Page 643 Chapter 11 Manual Control Start time chart [QD77MS4 operation example] Forward run inching operation Reverse run inching operation Forward run JOG start signal [Y8] Reverse run JOG start signal [Y9] PLC READY signal [Y0] All axis servo ON [Y1] OFF READY signal [X0] BUSY signal...

  • Page 644: Inching Operation Example

    Chapter 11 Manual Control 11.3.5 Inching operation example When executing inching operation while stop signal is turned ON If the JOG start signal is turned ON while the stop signal is ON, the error "Stop signal ON at start" (error code: 106) will occur. The inching operation can be re-started when the stop signal is turned OFF and the JOG start signal is turned ON from OFF.
  • Page 645 Chapter 11 Manual Control When the "JOG start signal" is turned ON while the test function of GX Works2 is used When the "JOG star signal" is turned ON while the test function is used, it will be ignored and the inching operation will not be carried out. [QD77MS4 operation example] Inching operation not possible because this...

  • Page 646: Manual Pulse Generator Operation

    Chapter 11 Manual Control 11.4 Manual pulse generator operation 11.4.1 Outline of manual pulse generator operation Manual pulse generator operation In manual pulse generator operations, pulses are input to the Simple Motion module from the manual pulse generator. This causes the same number of input command to be output from the Simple Motion module to the servo amplifier, and the workpiece is moved in the designated direction.
  • Page 647 Chapter 11 Manual Control Restricted items A pulse generator such as a manual pulse generator is required to carry out manual pulse generator operation. Precautions during operation The following details must be understood before carrying out manual pulse generator operation. (1) The speed during manual pulse generator operation is not limited by the "[Pr.8] Speed limit value".
  • Page 648 Chapter 11 Manual Control Operations when stroke limit error occurs When the hardware stroke limit error or the software stroke limit error is detected (Note-1) during operation, the operation will decelerate to a stop. However, in case of "[Md.26] Axis operation status", "Manual pulse generator operation" will (Note-1) continue .
  • Page 649 Chapter 11 Manual Control Normal timing times Unit : [ms] Operation cycle 0.88 0.6 to 0.9 10.0 to 15.0 18.0 to 25.0 QD77MS2 1.77 0.6 to 1.8 10.0 to 15.0 18.0 to 25.0 0.88 0.6 to 0.9 10.0 to 15.0 18.0 to 25.0 QD77MS4 1.77...

  • Page 650: Manual Pulse Generator Operation Execution Procedure

    Chapter 11 Manual Control 11.4.2 Manual pulse generator operation execution procedure The manual pulse generator operation is carried out by the following procedure. Preparation One of the following two methods can be used. STEP 1 Set the parameters. <Method 1> Pr.1 Pr.24 Pr.89...

  • Page 651: Setting The Required Parameters For Manual Pulse Generator Operation

    Chapter 11 Manual Control 11.4.3 Setting the required parameters for manual pulse generator operation The "Positioning parameters" must be set to carry out manual pulse generator operation. The following table shows the setting items of the required parameters for carrying out manual pulse generator operation.

  • Page 652: Creating A Program To Enable/Disable The Manual Pulse Generator Operation

    [Cd.180] Axis stop Start complete signal OFF Start complete signal is OFF X10 to X13 [Md.31] Status: b14 BUSY signal OFF QD77MS is not operating XC to XF X10 to X1F Error detection signal OFF There is no error X8 to XB [Md.31] Status: b13...
  • Page 653 Chapter 11 Manual Control Start time chart [QD77MS4 operation example] Forward run Reverse run Pulse input A phase Pulse input B phase [Y0] PLC READY signal [Y1] All axis servo ON [X0] READY signal [X10] Start complete signal [XC] BUSY signal Error detection signal [X8] Cd.
  • Page 654 Chapter 11 Manual Control MEMO 11 - 32...
  • Page 655 Chapter 12 Expansion Control Chapter 12 Expansion Control The details and usage of expansion control are explained in this chapter. Expansion control includes the speed-torque control to execute the speed control and torque control not including position loop and the synchronous control to synchronize with input axis using software with "synchronous control parameter"...

  • Page 656: Speed-Torque Control

    Chapter 12 Expansion Control 12.1 Speed-torque control 12.1.1 Outline of speed-torque control This function is used to execute the speed control or torque control that does not include the position loop for the command to servo amplifier. "Continuous operation to torque control mode" that switches the control mode to torque control mode without stopping the servomotor during positioning operation is also available for tightening a bottle cap or a screw.
  • Page 657 Chapter 12 Expansion Control CAUTION If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servomotor stop status (servo lock status) or in a 30r/min or less low-speed operation status, the servo amplifier may malfunction regardless of the electronic thermal relay protection.

  • Page 658: Setting The Required Parameters For Speed-Torque Control

    Chapter 12 Expansion Control 12.1.2 Setting the required parameters for speed-torque control The "Positioning parameters" must be set to carry out speed-torque control. The following table shows the setting items of the required parameters for carrying out speed-torque control. Parameters not shown below are not required to be set for carrying out only speed-torque control.

  • Page 659: Setting The Required Data For Speed-Torque Control

    Chapter 12 Expansion Control 12.1.3 Setting the required data for speed-torque control Required control data setting for the control mode switching The control data shown below must be set to execute the control mode switching. Buffer memory address Setting Setting item Setting details QD77MS2 value...
  • Page 660 Chapter 12 Expansion Control Required control data setting for the torque control mode The control data shown below must be set to execute the torque control. Buffer memory address Setting Setting item Setting details QD77MS2 value QD77MS16 QD77MS4 Command torque at Set the command torque at torque control [Cd.143] 1580+100n 4380+100n...

  • Page 661: Operation Of Speed-Torque Control

    Chapter 12 Expansion Control 12.1.4 Operation of speed-torque control [1] Switching of control mode (Speed control/Torque control) Switching method of control mode To switch the control mode to the speed control or the torque control, set "1" in "[Cd.138] Control mode switching request" after setting the control mode in "[Cd.139] Control mode setting".
  • Page 662 Chapter 12 Expansion Control The history of control mode switching is stored to the start history at request of control mode switching. (Refer to Section 5.6.1 "System monitor data".) Confirm the control mode with "control mode (high-order buffer memory address: b2, b3)"...
  • Page 663 Chapter 12 Expansion Control The following chart shows the operation timing for axis 1. [QD77MS4 operation example] Position control mode Speed control mode Position control mode 30000 20000 6 to 11ms 6 to 11ms Cd.138 Control mode switching request Cd.139 Control mode setting Command speed at speed Cd.140...
  • Page 664 Chapter 12 Expansion Control Operation for "Position control mode ↔ Torque control mode switching" When the position control mode is switched to the torque control mode, the command torque immediately after the switching is the torque set in "Torque initial value selection (b4 to b7)"...
  • Page 665 Chapter 12 Expansion Control Operation for "Speed control mode ↔ Torque control mode switching" When the speed control mode is switched to the torque control mode, the command torque immediately after the switching is the torque set in "Torque initial value selection (b4 to b7)"...
  • Page 666 Chapter 12 Expansion Control When the torque control mode is switched to the speed control mode, the command speed immediately after the switching is the motor speed at switching. The following chart shows the operation timing for axis 1. [QD77MS4 operation example] Speed control mode Torque control mode Speed control mode...
  • Page 667 Chapter 12 Expansion Control [2] Switching of control mode (Continuous operation to torque control) Switching method of control mode To switch the control mode to the continuous operation to torque control mode, set "1" in "[Cd.138] Control mode switching request" after setting the control mode to switch to "[Cd.139] Control mode setting"...
  • Page 668 Chapter 12 Expansion Control The history of control mode switching is stored to the start history at request of control mode switching. (Refer to Section 5.6.1 "System monitor data".) Confirm the status of the continuous operation to torque control mode with "b14: Continuous operation to torque control mode"...
  • Page 669 Chapter 12 Expansion Control Operation for "Position control mode ↔ Continuous operation to torque control mode switching" To switch to the continuous operation to torque control mode, set the control data used in the control mode before setting "1" in "[Cd.138] Control mode switching request".
  • Page 670 Chapter 12 Expansion Control The following chart shows the operation timing for axis 1. [QD77MS4 operation example] Position control mode Continuous operation to torque control mode Position control mode Contact with target 1000 Torque 30.0% 6 to 11 6 to 11 Cd.138 Control mode switching request Cd.139 Control mode setting...
  • Page 671 Chapter 12 Expansion Control Operation for "Speed control mode ↔ Continuous operation to torque control mode switching" To switch to the continuous operation to torque control mode, set the control data used in the control mode before setting "1" in "[Cd.138] Control mode switching request".
  • Page 672 Chapter 12 Expansion Control The following chart shows the operation timing for axis 1. [QD77MS4 operation example] Speed control mode Continuous operation to torque control mode Speed control mode 10000 Contact with target 1000 -10000 Torque 30.0% 6 to 11 6 to 11 Cd.138 Control mode switching request...
  • Page 673 Chapter 12 Expansion Control Operation for switching from "Position control mode" to "Continuous operation to torque control mode" automatically To switch to the continuous operation to torque control mode automatically when the conditions set in "[Cd.153] Control mode auto-shift selection" and "[Cd.154] Control mode auto-shift parameter"...
  • Page 674 Chapter 12 Expansion Control POINT (1) Automatic switching is valid only when the control mode is switched from the position control mode to the continuous operation to torque control mode. When the mode is switched from speed control mode to continuous operation to torque control mode or from continuous operation to torque control mode to other control modes, even if the automatic switching is set, the state is not waiting for the completion of condition, and control mode switching is...
  • Page 675 Chapter 12 Expansion Control The following chart shows the operation when "1: Current feed value pass" is set in "[Cd.153] Control mode auto-shift selection". Position control mode Continuous operation to torque control mode Contact with target 1000 Current feed value passes the address "adr"...
  • Page 676 Chapter 12 Expansion Control [3] Speed control mode Operation for speed control mode The speed control is executed at the speed set in "[Cd.140] Command speed at speed control mode" in the speed control mode. Set a positive value for forward rotation and a negative value for reverse rotation.
  • Page 677 Chapter 12 Expansion Control Stop cause during speed control mode The operation for stop cause during speed control mode is shown below. Item Operation during speed control mode Axis stop [Y4 to Y7] turned ON. The motor decelerates to speed "0" according to QD77MS2 QD77MS4 the setting value of "[Cd.142] Deceleration time at...
  • Page 678 Chapter 12 Expansion Control [4] Torque control mode Operation for torque control mode The torque control is executed at the command torque set in "[Cd.143] Command torque at torque control mode" in the torque control mode. "[Cd.143] Command torque at torque control mode" can be changed any time during torque control mode.
  • Page 679 Chapter 12 Expansion Control Set time for the command torque to increase from 0% to "[Pr.17] Torque limit setting value" in "[Cd.144] Torque time constant at torque control mode (Forward direction)" and for the command torque to decrease from "[Pr.17] Torque limit setting value"...
  • Page 680 Chapter 12 Expansion Control Speed during torque control mode The speed during the torque control mode is controlled with "[Cd.146] Speed limit value at torque control mode". At this time, "Speed limit" ("[Md.108] Servo status" (low-order buffer memory address): b4) turns ON. Buffer memory address (Low-order) QD77MS2/QD77MS4 QD77MS16...
  • Page 681 Chapter 12 Expansion Control Stop cause during torque control mode The operation for stop cause during torque control mode is shown below. Item Operation during torque control mode The speed limit value commanded to servo amplifier is "0" Axis stop [Y4 to Y7] turned ON. regardless of the setting value of "[Cd.146] Speed limit value at QD77MS2 QD77MS4...
  • Page 682 Chapter 12 Expansion Control [5] Continuous operation to torque control mode Operation for continuous operation to torque control mode In continuous operation to torque control, the torque control can be executed without stopping the operation during the positioning in position control mode or speed command in speed control mode.
  • Page 683 Chapter 12 Expansion Control Torque command setting method During the continuous operation to torque control mode, set time for the command torque to increase from 0% to "[Pr.17] Torque limit setting value" in "[Cd.151] Torque time constant at continuous operation to torque control mode (Forward direction)"...
  • Page 684 Chapter 12 Expansion Control Speed limit value setting method Acceleration/deceleration is performed based on a trapezoidal acceleration/deceleration processing. Set acceleration/deceleration time toward "[Pr.8] Speed limit value" in "[Cd.148] Acceleration time at continuous operation to torque control mode" and "[Cd.149] Deceleration time at continuous operation to torque control mode".
  • Page 685 Chapter 12 Expansion Control Speed during continuous operation to torque control mode The speed during the continuous operation to torque control mode is controlled with an absolute value of the value set in "[Cd.147] Speed limit value at continuous operation to torque control mode" as command speed. When the speed reaches the absolute value of "[Cd.147] Speed limit value at continuous operation to torque control mode", "Speed limit"...
  • Page 686 Chapter 12 Expansion Control Stop cause during continuous operation to torque control mode The operation for stop cause during continuous operation to torque control mode is shown below. Item Operation during continuous operation to torque control mode Axis stop [Y4 to Y7] turned ON. The speed limit value commanded to servo amplifier is "0"...

  • Page 687: Synchronous Control

    "Synchronous control" synchronizes movement with the input axis (servo input axis or synchronous encoder axis), by setting "the parameters for synchronous control" and starting synchronous control on each output axis. Refer to "MELSEC-Q/L QD77MS/QD77GF/LD77MS/LD77MH Simple Motion Module User's Manual (Synchronous Control)" for details of synchronous control. 12 - 33...
  • Page 688 Chapter 12 Expansion Control MEMO 12 - 34...
  • Page 689 Chapter 13 Control Sub Functions Chapter 13 Control Sub Functions The details and usage of the "sub functions" added and used in combination with the main functions are explained in this chapter. A variety of sub functions are available, including functions specifically for machine OPR and generally related functions such as control compensation, etc.

  • Page 690: Outline Of Sub Functions

    Chapter 13 Control Sub Functions 13.1 Outline of sub functions "Sub functions" are functions that compensate, limit, add functions, etc., to the control when the main functions are executed. These sub functions are executed by parameter settings, operation from GX Works2, sub function sequence programs, etc. 13.1.1 Outline of sub functions The following table shows the types of sub functions available.
  • Page 691 Chapter 13 Control Sub Functions Sub function Details This function restores the absolute position of designated axis. Absolute position system function By this function, the OPR after power ON from OFF is not required once the OPR is executed when the system operation is started. This function temporarily stops the operation to confirm the positioning operation during debugging, etc.

  • Page 692: Sub Functions Specifically For Machine Opr

    Chapter 13 Control Sub Functions 13.2 Sub functions specifically for machine OPR The sub functions specifically for machine OPR include the "OPR retry function" and "OP shift function". Each function is executed by parameter setting. 13.2.1 OPR retry function When the workpiece goes past the OP without stopping during positioning control, it may not move back in the direction of the OP although a machine OPR is commanded, depending on the workpiece position.
  • Page 693 Chapter 13 Control Sub Functions (2) OPR retry operation when the workpiece is outside the range between the upper and lower limits. 1) When the direction from the workpiece to the OP is the same as the "[Pr.44] OPR direction", a normal machine OPR is carried out.
  • Page 694 Chapter 13 Control Sub Functions (3) Setting the dwell time during an OPR retry The OPR retry function can perform such function as the dwell time using "[Pr.57] Dwell time during OPR retry" when the reverse run operation is carried out due to detection by the limit signal for upper and lower limits and when the machine OPR is executed after the near point dog is turned OFF to stop the operation.
  • Page 695  External input signal of servo amplifier  External input signal via CPU (buffer memory of QD77MS) [3] Setting the OPR retry function To use the "OPR retry function", set the required details in the parameters shown in the following table, and write them to the Simple Motion module.

  • Page 696: Op Shift Function

    Chapter 13 Control Sub Functions 13.2.2 OP shift function When a machine OPR is carried out, the OP is normally established using the near- point dog or zero signal. However, by using the OP shift function, the machine can be moved a designated movement amount from the position where the zero signal was detected.
  • Page 697 Chapter 13 Control Sub Functions [2] Setting range for the OP shift amount Set the OP shift amount within the range from the detected zero signal to the upper/lower limit switches. Setting range of the negative OP Setting range of the positive OP shift amount shift amount Address decrease Address increase...
  • Page 698 Chapter 13 Control Sub Functions (2) OP shift operation at the "[Pr.47] Creep speed" (When "[Pr.56] Speed designation during OP shift" is 1) Pr. 44 OPR direction Pr. 47 Creep When the " Pr. 53 OP speed shift amount" is positive Machine OPR start When the "...

  • Page 699: Functions For Compensating The Control

    Chapter 13 Control Sub Functions 13.3 Functions for compensating the control The sub functions for compensating the control include the "backlash compensation function", "electronic gear function", and "near pass function". Each function is executed by parameter setting or sequence program creation and writing. 13.3.1 Backlash compensation function The "backlash compensation function"...
  • Page 700 Chapter 13 Control Sub Functions [2] Precautions during control (1) The feed command of the backlash compensation amount are not added to the "[Md.20] Current feed value" or "[Md.21] Machine feed value". (2) Always carry out a machine OPR before starting the control when using the backlash compensation function (when "[Pr.11] Backlash compensation amount"...

  • Page 701: Electronic Gear Function

    Chapter 13 Control Sub Functions 13.3.2 Electronic gear function The "electronic gear function" adjusts the actual machine movement amount and number of pulse output to servo amplifier according to the parameters set in the Simple Motion module. The "electronic gear function" has the following three functions ( [A] to [C] ). [A] During machine movement, the function increments in the Simple Motion module values less than one pulse that could not be output, and outputs the incremented amount when the total incremented value reached one pulse or...
  • Page 702 Chapter 13 Control Sub Functions [1] Basic concept of the electronic gear The electronic gear is an item which determines how many rotations (rotations by how many pulses) the motor must make in order to move the machine according to the programmed movement amount. Simple Motion module Machine Reduction ratio...
  • Page 703 Chapter 13 Control Sub Functions Substitute this for the above expression (1). At this time, make calculation with the reduction ratio 9/44 remaining as a fraction. 4194304 [PLS] 10000.0 [  m]  9/44 4194304  44 10000.0  9 184549376 90000.0 23068672...
  • Page 704 Chapter 13 Control Sub Functions (3) When "degree" is set as the control unit for a rotary axis When the rotary axis is used, the motor is HG-KR (4194304PLS/rev) and the reduction ratio of the reduction gear is 3/11. Reduction ratio 3/11 First, find how many degrees the load (machine) will travel ( ) when the...
  • Page 705 Chapter 13 Control Sub Functions (4) When "mm" is set as the control unit for conveyor drive (calculation including When the belt conveyor drive is used, the conveyor diameter is 135mm, the pulley ratio is 1/3, the motor is HG-KR (4194304PLS/rev) and the reduction ratio of the reduction gear is 7/53.
  • Page 706 Chapter 13 Control Sub Functions This setting will produce an error for the true machine value, but it cannot be helped. This error is as follows. 7422012/166723584 –6 - 1  100 = -8.69  10 2362500 /166723584  AP (Number of pulses per rotation) = 4194304 [PLS] (Movement amount per rotation) ...
  • Page 707 Chapter 13 Control Sub Functions [2] The method for compensating the error When the position control is carried out using the "Electronic gear" set in a parameter, this may produce an error between the command movement amount (L) and the actual movement amount (L'). With Simple Motion module, this error is compensated by adjusting the electronic gear.

  • Page 708: Near Pass Function

    Chapter 13 Control Sub Functions 13.3.3 Near pass function When continuous pass control is carried out using interpolation control, the near pass function is carried out. The "near pass function" is a function to suppress the mechanical vibration occurring at the time of switching the positioning data when continuous pass control is carried out using interpolation control.
  • Page 709 Chapter 13 Control Sub Functions [2] Precautions during control (1) If the movement amount designated by the positioning data is small when the continuous path control is executed, the output speed may not reach the designated speed. (2) The movement direction is not checked during interpolation operation. Therefore, a deceleration stops are not carried out even if the movement direction changes.

  • Page 710: Functions To Limit The Control

    Chapter 13 Control Sub Functions 13.4 Functions to limit the control Functions to limit the control include the "speed limit function", "torque limit function", "software stroke limit function", "hardware stroke limit function", and "forced stop function". Each function is executed by parameter setting or sequence program creation and writing.
  • Page 711 Chapter 13 Control Sub Functions [2] Precautions during control (1) If any axis exceeds "[Pr.8] Speed limit value" during 2- to 4-axis speed control, the axis exceeding the speed limit value is controlled with the speed limit value. The speeds of the other axes being interpolated are suppressed by the command speed ratio.

  • Page 712: Torque Limit Function

    Chapter 13 Control Sub Functions 13.4.2 Torque limit function The "torque limit function" limits the generated torque to a value within the "torque limit value" setting range when the torque generated in the servomotor exceeds the "torque limit value". The "torque limit function" protects the deceleration function, limits the power of the operation pressing against the stopper, etc.
  • Page 713 Chapter 13 Control Sub Functions [2] Control details The following drawing shows the operation of the torque limit function. [QD77MS4 operation example] Each operation PLC READY signal [Y0] All axis servo ON [Y1] Positioning start signal [Y10] Torque limit setting value Pr.17 Torque output setting Cd.101...
  • Page 714 Chapter 13 Control Sub Functions [4] Setting the torque limit function (1) To use the "torque limit function", set the "torque limit value" in the parameters shown in the following table, and write them to the Simple Motion module. a) The set details are validated at the rising edge (OFF ON) of the PLC READY signal [Y0].
  • Page 715 Chapter 13 Control Sub Functions (3) The following table shows the "[Md.35] Torque limit stored value/forward torque limit stored value" and "[Md.120] Reverse torque limit stored value" of the buffer memory address. Buffer memory address Monitor Monitor item Storage details QD77MS2 value QD77MS16...

  • Page 716: Software Stroke Limit Function

    Chapter 13 Control Sub Functions 13.4.3 Software stroke limit function In the "software stroke limit function" the address established by a machine OPR is used to set the upper and lower limits of the moveable range of the workpiece. Movement commands issued to addresses outside that setting range will not be executed.
  • Page 717 Chapter 13 Control Sub Functions The following drawing shows the differences in the operation when "[Md.20] Current feed value" and "[Md.21] Machine feed value" are used in the moveable range limit check. [Conditions] Assume the current stop position is 2000, and the upper stroke limit is set to 5000. Moveable range Md.
  • Page 718 Chapter 13 Control Sub Functions [2] Software stroke limit check details Processing when Check details an error occurs An error shall occur if the current value is outside the software stroke The error limit range "Software stroke limit +" (error (Check "[Md.20] Current feed value"...
  • Page 719 Chapter 13 Control Sub Functions [3] Relation between the software stroke limit function and various controls Limit Control type Processing at check check The current value will not be changed if the home Data set method position address is outside the software stroke limit range.
  • Page 720 Chapter 13 Control Sub Functions [4] Precautions during software stroke limit check (1) A machine OPR must be executed beforehand for the "software stroke limit function" to function properly. (2) During interpolation control, a stroke limit check is carried out for the every current value of both the reference axis and the interpolation axis.
  • Page 721 Chapter 13 Control Sub Functions (5) During simultaneous start, a stroke limit check is carried out for the current values of every axis to be started. Every axis will not start if an error occurs, even if it only occurs in one axis. [5] Setting the software stroke limit function To use the "software stroke limit function", set the required values in the parameters shown in the following table, and write them to the Simple Motion...
  • Page 722 Chapter 13 Control Sub Functions [7] Setting when the control unit is "degree" Current value address The "[Md.20] Current feed value" address is a ring address between 0 and 359.99999 ° . 359.99999° 359.99999° 0° 0° 0° Fig. 13.15 Current value address when the control unit is "degree". Setting the software stroke limit The upper limit value/lower limit value of the software stroke limit is a value between 0 and 359.99999 °...

  • Page 723: Hardware Stroke Limit Function

    External input signal of QD77MS  External input signal of servo amplifier  External input signal via CPU (buffer memory of QD77MS) The details shown below explain about the "hardware stroke limit function". [1] Control details [2] Wiring the hardware stroke limit...
  • Page 724 Servo amplifier QD77MS Lower limit switch Upper limit switch SSCNET (/H) (3) External input signal via CPU (buffer memory of QD77MS) Lower limit Upper limit QD77MS control moveable range Mechanical stopper Mechanical stopper Movement...
  • Page 725 (1) External input signal of QD77MS Wire the upper/lower limit stroke limit terminals QD77MS/servo amplifier as shown in the following drawing. As for the 24 V DC power supply, the direction of current can be switched.
  • Page 726 Chapter 13 Control Sub Functions POINT Wire the limit switch installed in the direction to which "Feed current value" increases as upper limit switch and the limit switch installed in the limit switch installed in the direction to which "Feed current value" decreases as lower limit switch.

  • Page 727: Forced Stop Function

    Chapter 13 Control Sub Functions 13.4.5 Forced stop function DANGER When the forced stop is required to be wired, ensure to wire it in the negative logic using b- contact. Provided safety circuit outside the Simple Motion module so that the entire system will operate safety even when the "[Pr.82] Forced stop valid/invalid selection"...
  • Page 728 Chapter 13 Control Sub Functions The following drawing shows the operation of the forced stop function. [QD77MS4 operation example] Forced stop Forced stop causes occurrence causes occurrence Each operation PLC READY signal[Y0] All axis servo ON[Y1] Positioning start signal[Y10] Forced stop input (Input voltage of EMI) Md.50 Forced stop input...
  • Page 729 Chapter 13 Control Sub Functions [3] Setting the forced stop To use the "Forced stop function", set the following data using a sequence program. The set details are validated at the rising edge (OFF ON) of the PLC READY signal [Y0] and the forced stop input checks in the operation cycle. Buffer memory address Setting Setting item...

  • Page 730: Functions To Change The Control Details

    "target position change function". Each function is executed by parameter setting or sequence program creation and writing. Refer to Section 3.2.5 "Combination of QD77MS main functions and sub functions" for combination with main function. Both the "speed change function" or "override function" change the speed, but the differences between the functions are shown below.
  • Page 731 Chapter 13 Control Sub Functions [1] Control details The following drawing shows the operation during a speed change. Speed changes to V2. Speed changes to V3. Operation during positioning by V1. Md. 40 In speed change processing flag Fig. 13.20 Speed change operation [2] Precautions during control (1) Control is carried out as follows at the speed change during continuous path control.
  • Page 732 Chapter 13 Control Sub Functions (3) When the stop command was given to make a stop after a speed change that had been made during position control, the restarting speed depends on the "[Cd.14] New speed value". Da. 8 Command speed Speed change Cd.
  • Page 733 Chapter 13 Control Sub Functions (5) The warning "Deceleration/stop speed change" (warning code: 500) occurs and the speed cannot be changed in the following cases.  During deceleration by a stop command  During automatic deceleration during positioning control (6) The warning "Speed limit value over" (warning code: 501) occurs and the speed is controlled at the "[Pr.8] Speed limit value"...
  • Page 734 Chapter 13 Control Sub Functions (2) The following shows the speed change time chart. [QD77MS4 operation example] Dwell time Positioning start signal [Y10] PLC READY signal [Y0] [Y1] All axis servo ON [X0] READY signal [X10] Start complete signal [XC] BUSY signal Positioning complete signal [X14]...
  • Page 735 Chapter 13 Control Sub Functions [4] Setting the speed change function using an external command signal The speed can also be changed using an "external command signal". The following shows the data settings and sequence program example for changing the control speed of axis 1 using an "external command signal". (In this example, the control speed is changed to "10000.00mm/min".) (1) Set the following data to change the speed using an external command signal.
  • Page 736 D108 <Write the new speed. > <Set the external command function selection to external speed change request. > K1505 <Set the external command signal input to valid.> (QD77MS starts speed change processing.) Input the external command signal. 13 - 48...

  • Page 737: Override Function

    Chapter 13 Control Sub Functions 13.5.2 Override function The override function changes the command speed by a designated percentage (1 to 300%) for all control to be executed. The speed can be changed by setting the percentage (%) by which the speed is changed in "[Cd.13] Positioning operation speed override".
  • Page 738 Chapter 13 Control Sub Functions [2] Precaution during control (1) When changing the speed by the override function during continuous path control, the speed change will be ignored if there is not enough distance remaining to carry out the change. (2) The warning "Deceleration/stop speed change"...
  • Page 739 Chapter 13 Control Sub Functions (2) The following shows a time chart for changing the speed using the override function. [QD77MS4 operation example] Dwell time Positioning start signal [Y10] PLC READY signal [Y0] All axis servo ON [Y1] READY signal [X0] [X10] Start complete signal...

  • Page 740: Acceleration/Deceleration Time Change Function

    Chapter 13 Control Sub Functions 13.5.3 Acceleration/deceleration time change function The "acceleration/deceleration time change function" is used to change the acceleration/deceleration time during a speed change to a random value when carrying out the speed change by the "speed change function" and "override function". In a normal speed change (when the acceleration/deceleration time is not changed), the acceleration/deceleration time previously set in the parameters ([Pr.9], [Pr.10], and [Pr.25] to [Pr.30] values) is set in the positioning parameter data items [Da.3] and...
  • Page 741 Chapter 13 Control Sub Functions [1] Control details After setting the following two items, carry out the speed change to change the acceleration/deceleration time during the speed change.  Set change value of the acceleration/deceleration time ("[Cd.10] New acceleration time value", "[Cd.11] New deceleration time value") ...
  • Page 742 Chapter 13 Control Sub Functions [2] Precautions during control (1) When "0" is set in "[Cd.10] New acceleration time value" and "[Cd.11] New deceleration time value", the acceleration/deceleration time will not be changed even if the speed is changed. In this case, the operation will be controlled at the acceleration/deceleration time previously set in the parameters.
  • Page 743 Chapter 13 Control Sub Functions (4) If the "new acceleration/deceleration time" is set to "0" and the speed is changed after the "new acceleration/deceleration time" is validated, the operation will be controlled with the previous "new acceleration/deceleration time". Example New acceleration/deceleration time ( Cd.
  • Page 744 Chapter 13 Control Sub Functions [3] Setting the acceleration/deceleration time change function To use the "acceleration/deceleration time change function", write the data shown in the following table to the Simple Motion module using the sequence program. The set details are validated when a speed change is executed after the details are written to the Simple Motion module.

  • Page 745: Torque Change Function

    Chapter 13 Control Sub Functions 13.5.4 Torque change function The "torque change function" is used to change the torque limit value during torque limiting. The torque limit value at the control start is the value set in the "[Pr.17] Torque limit setting value"...
  • Page 746 Chapter 13 Control Sub Functions [1] Control details The torque value (forward new torque value/new reverse torque value) of the axis control data can be changed at all times. The torque can be limited with a new torque value from the time the new torque value has been written to the Simple Motion module.
  • Page 747 Chapter 13 Control Sub Functions [QD77MS4 operation example] Each operation PLC READY signal [Y0] All axis servo ON [Y1] Start signal [Y10] Torque limit setting Pr.17 value Torque output setting Cd.101 value Torque change function Cd.112 switching request New torque value/ Cd.22 forward new torque value...
  • Page 748 Chapter 13 Control Sub Functions (2) The "[Cd.22] New torque value/forward new torque value" or "[Cd.113] New reverse torque value" is validated when written to the Simple Motion module. (Note that it is not validated from the time the power supply is turned ON to the time the PLC READY signal [Y0] is turned ON.) (3) If the setting value of "[Cd.22] New torque value/forward new torque value"...

  • Page 749: Target Position Change Function

    Chapter 13 Control Sub Functions 13.5.5 Target position change function The "target position change function" is a function to change a target position to a newly designated target position at any timing during the position control (1-axis linear control). A command speed can also be changed simultaneously. The target position and command speed changed are set directly in the buffer memory, and the target position change is executed by "[Cd.29] Target position change request flag".
  • Page 750 Chapter 13 Control Sub Functions [2] Precautions during operation (1) If the positioning movement direction from the stop position to a new target position is reversed, stop the operation once and then position to the new target position. (Refer to Fig. 13.31 (c).) (2) If a command speed exceeding the speed limit value is set to change the command speed, the warning "Speed limit value over"...
  • Page 751 Chapter 13 Control Sub Functions [3] Method of setting target position change function from PLC CPU The following table and chart show the example of a data setting and sequence program used to change the target position of the axis 1 by the command from the PLC CPU, respectively.
  • Page 752 Chapter 13 Control Sub Functions (3) The following sequence program is added to the control program, and written to the PLC CPU. [QD77MS4 program example] No.22 Target position change program <Pulsate target position change command> <Hold target position change command> <Set target position change value 300.0 m DMOVP K3000...

  • Page 753: Absolute Position System

    Chapter 13 Control Sub Functions 13.6 Absolute position system The Simple Motion module can construct an absolute position system by installing the absolute position system and connecting it through SSCNET /H. The following describes precautions when constructing the absolute position system. The configuration of the absolute position system is shown below.
  • Page 754 Chapter 13 Control Sub Functions [2] OPR In the absolute position system, an OP can be determined through OPR. In the "Data set method" OPR method, the location to which the location of the OP is moved by manual operation (JOG operation/manual pulse generator operation) is treated as the OP.

  • Page 755: Other Functions

    Chapter 13 Control Sub Functions 13.7 Other functions Other functions include the "step function", "skip function", "M code output function", "teaching function", "command in-position function", "acceleration/deceleration processing function", "pre-reading start function", "deceleration start flag function", "stop command processing for deceleration stop function", "follow up processing function", "speed control 10 multiplier setting for degree axis function"...
  • Page 756 Chapter 13 Control Sub Functions [2] Step mode In step operations, the timing for stopping the control can be set. This is called the "step mode". (The "step mode" is set in the control data "[Cd.34] Step mode".) The following shows the two types of "step mode" functions. (1) Deceleration unit step The operation stops at positioning data requiring automatic deceleration.
  • Page 757 Chapter 13 Control Sub Functions [4] Using the step operation The following shows the procedure for checking positioning data using the step operation. Start Turn ON the step valid flag. Write "1" (carry out step operation) in " Cd.35 Step valid flag". Set the step mode.
  • Page 758 Chapter 13 Control Sub Functions [5] Control details (1) The following drawing shows a step operation during a "deceleration unit step". [QD77MS4 operation example] Cd. 35 Step valid flag Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [XC, XD, XE, XF] Positioning complete signal [X14, X15, X16, X17] Positioning...
  • Page 759 Chapter 13 Control Sub Functions [6] Precautions during control (1) When step operation is carried out using interpolation control positioning data, the step function settings are carried out for the reference axis. (2) When the step valid flag is ON, the step operation will start from the beginning if the positioning start signal is turned ON while "[Md.26] Axis operation status"...

  • Page 760: Skip Function

    Chapter 13 Control Sub Functions 13.7.2 Skip function The "skip function" is used to stop (deceleration stop) the control of the positioning data being executed at the time of the skip signal input, and execute the next positioning data. A skip is executed by a skip command ([Cd.37] Skip command) or external command signal.
  • Page 761 Chapter 13 Control Sub Functions [2] Control details The following drawing shows the skip function operation. [QD77MS4 operation example] Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [XC, XD, XE, XF] Positioning complete signal [X14, X15, X16, X17] Positioning Start of the Deceleration by next positioning...
  • Page 762 Chapter 13 Control Sub Functions [4] Setting the skip function from the PLC CPU The following shows the settings and sequence program example for skipping the control being executed in axis 1 with a command from the PLC CPU. (1) Set the following data. (The setting is carried out using the sequence program shown below in section (2)).
  • Page 763 Chapter 13 Control Sub Functions [5] Setting the skip function using an external command signal The skip function can also be executed using an "external command signal". The following shows the settings and sequence program example for skipping the control being executed in axis 1 using an "external command signal". (1) Set the following data to execute the skip function using an external command signal.

  • Page 764: M Code Output Function

    Chapter 13 Control Sub Functions 13.7.3 M code output function The "M code output function" is used to command sub work (clamping, drill rotation, tool replacement, etc.) related to the positioning data being executed. When the M code ON signal is turned ON during positioning execution, a No. called the M code is stored in "[Md.25] Valid M code".
  • Page 765 Chapter 13 Control Sub Functions (2) AFTER mode The M code ON signal is turned ON at the positioning completion, and the M code is stored in "[Md.25] Valid M code". [QD77MS4 operation example] Positioning start signal [Y10, Y11, Y12, Y13] [XC, XD, XE, XF] BUSY signal M code ON signal...
  • Page 766 Chapter 13 Control Sub Functions [QD77MS4 operation example] Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [XC, XD, XE, XF] M code ON signal [X4, X5, X6, X7] Cd. 7 M code OFF request Md. 25 Valid M code Positioning Da.
  • Page 767 Chapter 13 Control Sub Functions [4] Setting the M code output function The following shows the settings to use the "M code output function". (1) Set the M code No. in the positioning data "[Da.10] M code/Condition data No./Number of LOOP to LEND repetitions". (2) Set the timing to output the M code ON signal.

  • Page 768: Teaching Function

    Chapter 13 Control Sub Functions 13.7.4 Teaching function The "teaching function" is used to set addresses aligned using the manual control (JOG operation, inching operation manual pulse generator operation) in the positioning data addresses ("[Da.6] Positioning address/movement amount", "[Da.7] Arc address"). The details shown below explain about the "teaching function".
  • Page 769 Chapter 13 Control Sub Functions [2] Precautions during control (1) Before teaching, a "machine OPR" must be carried out to establish the OP. (When a current value changing, etc., is carried out, "[Md.20] Current feed value" may not show absolute addresses having the OP as a reference.) (2) Teaching cannot be carried out for positions to which movement cannot be executed by manual control (positions to which the workpiece cannot physically move).
  • Page 770 Chapter 13 Control Sub Functions [4] Teaching procedure The following shows the procedure for a teaching operation. (1) When teaching to the "[Da.6] Positioning address/movement amount" (Teaching example on QD77MS4 [axis 1]) Start Perform machine OPR on axis 1. Move the workpiece to the target position •...
  • Page 771 Chapter 13 Control Sub Functions (2) When teaching to the "[Da.7] Arc address", then teaching to the "[Da.6] Positioning address/movement amount" (Teaching example for 2-axis circular interpolation control with sub point designation on QD77MS4 [axis 1] and [axis 2]) Start Perform a machine OPR on axis 1 and axis 2.
  • Page 772 Chapter 13 Control Sub Functions Teaching arc end point • • • • • • • • Entering teaching data to buffer memory address address on axis 2. [1648] and [1649], in the same fashion as for axis 1. End teaching? Turn OFF the PLC READY signal [Y0].
  • Page 773 Chapter 13 Control Sub Functions [QD77MS4 operation example] Target position Forward run JOG start [Y8] signal [Y0] PLC READY signal [Y1] All axis servo ON [X0] READY signal [XC] BUSY signal [X8] Error detection signal Md.20 Current feed value Teaching is possible Teaching is impossible Teaching is possible (Note): Refer to Section 3.3 for input/output signal of QD77MS16.

  • Page 774: Command In-Position Function

    Chapter 13 Control Sub Functions 13.7.5 Command in-position function The "command in-position function" checks the remaining distance to the stop position during the automatic deceleration of positioning control, and sets "1". This flag is called the "command in-position flag". The command in-position flag is used as a front- loading signal indicating beforehand the completion of the position control.
  • Page 775 Chapter 13 Control Sub Functions [2] Precautions during control (1) A command in-position width check will not be carried out in the following cases.  During speed control  During speed control in speed-position switching control  During speed control in position-speed switching control ...
  • Page 776 Chapter 13 Control Sub Functions [3] Setting the command in-position function To use the "command in-position function", set the required value in the parameter shown in the following table, and write it to the Simple Motion module. The set details are validated at the rising edge (OFF ON) of the PLC READY signal [Y0].

  • Page 777: Acceleration/Deceleration Processing Function

    Chapter 13 Control Sub Functions 13.7.6 Acceleration/deceleration processing function The "acceleration/deceleration processing function" adjusts the acceleration/deceleration of each control to the acceleration/deceleration curve suitable for device. Setting the acceleration/deceleration time changes the slope of the acceleration/deceleration curve. The following two methods can be selected for the acceleration/deceleration curve: ...
  • Page 778 Chapter 13 Control Sub Functions [2] "Acceleration/deceleration method setting" control details and setting In the "acceleration/deceleration method setting", the acceleration/deceleration processing method is selected and set. The set acceleration/deceleration processing is applied to all acceleration/deceleration. (except for inching operation, manual pulse generator operation and speed-torque control.) The two types of "acceleration/deceleration processing method"...
  • Page 779 Chapter 13 Control Sub Functions When a speed change request or override request is given during S-curve acceleration/ deceleration processing, S-curve acceleration/deceleration processing begins at a speed change request or override request start. When speed change Speed change (acceleration) request is not given Command speed before speed change Speed change request Speed change (deceleration)

  • Page 780: Pre-Reading Start Function

    Chapter 13 Control Sub Functions 13.7.7 Pre-reading start function The "pre-reading start function" does not start servo while the execution prohibition flag is ON if a positioning start request is given with the execution prohibition flag ON, and starts servo within operation cycle after OFF of the execution prohibition flag is detected.
  • Page 781 Chapter 13 Control Sub Functions [2] Precautions during control (1) The time required to analyze the positioning data is up to 0.88ms (QD77MS2/QD77MS4)/3.55ms(QD77MS16). (2) After positioning data analysis, the system is put in an execution prohibition flag OFF waiting status. Any change made to the positioning data in the execution prohibition flag OFF waiting status is not reflected on the positioning data.
  • Page 782 Chapter 13 Control Sub Functions [3] Program examples [QD77MS4 program example] Pre-reading start program (when positioning start signal Y10 is used) <Pre-reading start command pulse> M100 M100 <Sets 1 to positioning start No.> K1500 <Turns ON execution prohibition flag> <Turns ON positioning start signal> <Turns OFF execution prohibition flag>...

  • Page 783: Deceleration Start Flag Function

    Chapter 13 Control Sub Functions 13.7.8 Deceleration start flag function The "deceleration start flag function" turns ON the flag when the constant speed status or acceleration status switches to the deceleration status during position control whose operation pattern is "Positioning complete". This function can be used as a signal to start the operation to be performed by other equipment at each end of position control or to perform preparatory operation, etc.
  • Page 784 "position-speed switching control". (In the case of linear interpolation control, the function is valid for only the reference axis.) Refer to Section 3.2.5 "Combination of QD77MS main functions and sub functions". (2) The deceleration start flag does not turn ON when the operation pattern is "continuous positioning control"...
  • Page 785 Chapter 13 Control Sub Functions (6) When the movement direction is reversed by a target position change, the deceleration start flag turns ON. Operation pattern: Positioning complete (00) Execution of target position change request Time Md.48 Deceleration start flag 0 (7) During position control of position-speed switching control, the deceleration start flag is turned ON by automatic deceleration.

  • Page 786: Stop Command Processing For Deceleration Stop Function

    Chapter 13 Control Sub Functions 13.7.9 Stop command processing for deceleration stop function The "stop command processing for deceleration stop function" is provided to set the deceleration curve if a stop cause occurs during deceleration stop processing (including automatic deceleration). This function is valid for both trapezoidal and S-curve acceleration/deceleration processing methods.
  • Page 787 Chapter 13 Control Sub Functions (2) Deceleration curve continuation The current deceleration curve is continued after a stop cause has occurred. If a stop cause occurs during automatic deceleration of position control, the deceleration stop processing may be complete before the target has reached the positioning address specified in the positioning data that is currently executed.
  • Page 788 Chapter 13 Control Sub Functions [3] Setting method To use the "stop command processing for deceleration stop function", set the following control data in a sequence program. The set data are made valid as soon as they are written to the buffer memory. The PLC READY signal [Y0] is irrelevant.

  • Page 789: Speed Control 10 X Multiplier Setting For Degree Axis Function

    Chapter 13 Control Sub Functions 13.7.10 Speed control 10 x multiplier setting for degree axis function The "Speed control 10 x multiplier setting for degree axis function" is provided to execute the positioning control by 10 x speed of the setting value in the command speed and the speed limit value when the setting unit is "degree".
  • Page 790 Chapter 13 Control Sub Functions (2) Monitor data  "[Md.22] Feedrate"  "[Md.27] Current speed"  "[Md.28] Axis feedrate"  "[Md.33] Target speed"  "[Md.122] Speed during command" : For the above monitoring data, "[Pr.83] Speed control 10 x multiplier setting for degree axis"...
  • Page 791 Chapter 13 Control Sub Functions [2] Setting method of "Speed control 10 x multiplier setting for degree axis function" Set "Valid/Invalid" by "[Pr.83] Speed control 10 x multiplier setting for degree axis". Normally, the speed specification range is 0.001 to 2000000.000[degree/min], but it will be decupled and become 0.01 to 20000000.00[degree/min] by setting "[Pr.83] Speed control 10 x multiplier setting for degree axis"...

  • Page 792: Operation Setting For Incompletion Of Opr Function

    Chapter 13 Control Sub Functions 13.7.11 Operation setting for incompletion of OPR function The "Operation setting for incompletion of OPR function" is provided to select whether positioning control is operated or not, when OPR request flag is ON. This section explains the "Operation setting for incompletion of OPR function" as follows: [1] Control details [2] Precautions during control...
  • Page 793 Chapter 13 Control Sub Functions (2) When OPR request flag ([Md.31] Status: b3) is ON, starting Fast OPR will result in the error "OPR request ON" (error code: 207) despite the setting value of "[Pr.55] Operation setting for incompletion of OPR", and Fast OPR will not be performed.

  • Page 794: Servo On/Off

    Chapter 13 Control Sub Functions 13.8 Servo ON/OFF 13.8.1 Servo ON/OFF This function executes servo ON/OFF of the servo amplifiers connected to the Simple Motion module. By establishing the servo ON status with the servo ON command, servo motor operation is enabled. The following two signals can be used to execute servo ON/OFF.
  • Page 795 Chapter 13 Control Sub Functions [2] Servo OFF (Servo operation disabled) The following shows the procedure for servo OFF. (1) Set "1" for "[Cd.100] Servo OFF command". (The servo LED indicates "c_".) (If the "[Cd.100] Servo OFF command" set "0" again, after the servo operation enabled.) (2) Turn OFF "All axis servo ON [Y1]".

  • Page 796: Follow Up Function

    Chapter 13 Control Sub Functions 13.8.2 Follow up function (1) Follow up function The follow up function monitors the number of motor rotations (actual current value) with the servo OFF and reflects the value in the feed current value. If the servomotor rotates during the servo OFF, the servomotor will not just rotate for the amount of droop pulses at switching the servo ON next time, so that the positioning can be performed from the stop position.
  • Page 797 Chapter 14 Common Functions Chapter 14 Common Functions The details and usage of the "common functions" executed according to the user's requirements are explained in this chapter. Common functions include functions required when using the Simple Motion module, such as parameter initialization and execution data backup. Read the setting and execution procedures for each common function indicated in this chapter thoroughly, and execute the appropriate function where required.

  • Page 798: Outline Of Common Functions

    External signal selection • External input signal of QD77MS function • External input signal of servo amplifier • External input signal via CPU (the buffer memory of...
  • Page 799 QD75MH initial value setting value of QD75MH in the setting data set in the — function QD77MS buffer memory/internal memory and flash ROM/internal memory (nonvolatile). This function is used to execute deceleration stop Hot line forced stop function safety for other axes when the servo alarm occurs in the servo amplifier MR-JE-B.

  • Page 800: Parameter Initialization Function

    Chapter 14 Common Functions 14.2 Parameter initialization function The "parameter initialization function" is used to return the setting data set in the buffer memory/internal memory and flash ROM/internal memory (nonvolatile) of Simple Motion module to their factory-set initial values. The details shown below explain about the "parameter initialization function". [1] Parameter initialization means [2] Control details [3] Precautions during control...
  • Page 801 Chapter 14 Common Functions [3] Precautions during control (1) Parameter initialization is only executed when the positioning control is not carried out (when the PLC READY signal [Y0] is OFF). The warning "In PLC READY" (warning code: 111) will occur if executed when the PLC READY signal [Y0] is ON.

  • Page 802: Execution Data Backup Function

    Chapter 14 Common Functions 14.3 Execution data backup function When the buffer memory data of Simple Motion module is rewritten from the PLC CPU, "the data backed up in the flash ROM/internal memory (nonvolatile)" of Simple Motion module may differ from "the execution data being used for control (buffer memory data)".
  • Page 803 Chapter 14 Common Functions [2] Control details The following shows the data that can be written to the flash ROM/internal memory (nonvolatile) using the "execution data backup function". Target area Parameters Basic parameters Detailed parameters Home position return basic parameters Home position return detailed parameters Extended parameters Servo parameters...
  • Page 804 Chapter 14 Common Functions [3] Precautions during control (1) Data can only be written to the flash ROM when the positioning control is not carried out (when the PLC READY signal [Y0] is OFF). The warning "In PLC READY" (warning code: 111) will occur if executed when the PLC READY signal [Y0] is ON.

  • Page 805: External Signal Selection Function

    • External input signal of servo amplifier • External input signal via CPU (buffer memory of QD77MS) When the external input signal via CPU (the buffer memory of QD77MS) is used, the external input signal status of Simple Motion module can be operated by connecting the limit switch to input module and by operating the buffer memory of sequence program.
  • Page 806 QD77MS", "4: External input signal 2 of QD77MS", "5: External input signal 3 of QD77MS", or "6: External input signal 4 of QD77MS" is set, set the Pin No. of external input signal of QD77MS shown in the following table.
  • Page 807 Chapter 14 Common Functions (3) When "2: Buffer memory of QD77MS" is set, use the following control data to operate the external input signal (upper/lower limit signal, near-point dog signal and stop signal). Buffer memory address Setting Setting item Setting details...
  • Page 808 External input signal operation device" of axis 1, axis 4, axis 8, and axis 16 using the limit switch connected to the input module when "2: Buffer memory of QD77MS" is set in "[Pr.80] External input signal selection". System configuration The following shows the system configuration that is used with the program example.
  • Page 809 Chapter 14 Common Functions Program example * Axis 1 FLS operation U0\G5928.0 Axis 1 F External LS ON co input s mmand ignal op eration device: * Axis 1 RLS operation axis 1 F U0\G5928.1 External Axis 1 R input s LS ON co ignal op mmand...
  • Page 810 Chapter 14 Common Functions * Axis 8 FLS operation U0\G5929.C Axis 8 F External LS ON co input s mmand ignal op eration device: * Axis 8 RLS operation axis 8 F U0\G5929.D External Axis 8 R input s LS ON co ignal op mmand eration...

  • Page 811: External I/O Signal Logic Switching Function

    Chapter 14 Common Functions 14.5 External I/O signal logic switching function This function switches the signal logic according to the following signals. • External equipment connected to Simple Motion module • [Cd.44] External input signal operation device • External input signal of servo amplifier (upper/lower limit switch, near-point dog) For the system in which b-contact, upper limit switch, and lower limit switch are not used, the parameter logic setting can be controlled without wiring if it is changed to a "positive logic".
  • Page 812 Chapter 14 Common Functions [2] Precautions on parameter setting (1) The external I/O signal logic switching parameters are validated when the PLC READY signal [Y0] is turned OFF to ON. (The logic is negative right after power-on.) (2) If the logic of each signal is set erroneously, the operation may not be carried out correctly.

  • Page 813: History Monitor Function

    Chapter 14 Common Functions 14.6 History monitor function This function monitors start history, error history, warning history, and current history stored in the buffer memory of the Simple Motion module on the operation monitor of GX Works2. [1] Start history The start history logs of operations such as positioning operation, JOG operation, and manual pulse generator operation can be monitored.
  • Page 814 Chapter 14 Common Functions [3] Current value history The current value history data of each axis can be monitored. The following shows about the current value history data of each axis. Monitor details Monitor item Feed current value Servo command value Encoder position within one revolution Encoder multiple revolution counter Latest backup data...
  • Page 815 Chapter 14 Common Functions Latest backup data The latest backup data outputs the following data saved in the fixed cycle to the buffer memory. • Feed current value • Servo command value • Encoder position within one revolution • Encoder multiple revolution counter •...
  • Page 816 Chapter 14 Common Functions Home position return data The following data saved at home position return completion to the buffer memory. • Feed current value at home position return completion • Servo command value at home position return completion • Encoder position within one revolution of absolute position reference point data •...

  • Page 817: Amplifier-Less Operation Function

    Chapter 14 Common Functions 14.7 Amplifier-less operation function The positioning control of Simple Motion module without servo amplifiers connection can be executed in the amplifier-less function. This function is used to debug of user program or simulate of positioning operation at the start. The details shown below explain about the "Amplifier-less operation function".
  • Page 818 Chapter 14 Common Functions POINT (1) Switch of the normal operation mode and amplifier-less operation mode is executed by the batch of all axes. Switch of the operation mode for each axis cannot be executed. (2) Only axis that operated either the followings before switching to the amplifier- less operation mode becomes the connection status during amplifier-less operation.
  • Page 819 Chapter 14 Common Functions [2] Restrictions (1) Some monitor data differ from the actual servo amplifier during amplifier- less operation mode. Buffer memory address Storage item Storage details QD77MS2 QD77MS16 QD77MS4 852+100n 2452+100n [Md.102] Deviation counter value Always "0". 853+100n 2453+100n 864+100n 2464+100n...
  • Page 820 (Refer to "Restrictions (3)" for details.) When "2: Buffer memory of QD77MS" is set in "[Pr.80] External input signal selection", the upper/lower limit signal (FLS, RLS) and near-point dog signal (DOG) follow the buffer memory status of Simple Motion module during amplifier-less operation mode.
  • Page 821 Chapter 14 Common Functions (8) Even if the PLC READY signal [Y0| is turned ON by changing "[Pr.100] Servo series" from "0: Servo series is not set" to other than "0", the setting does not become valid. (The axis connecting status remains disconnection.) (9) The operation cannot be changed to amplifier-less operation when connected and not connected servo amplifier axes are mixed.
  • Page 822 Chapter 14 Common Functions [4] Operation mode switching procedure (1) Switch from the normal operation mode to the amplifier-less operation mode 1) Stop all operating axes, and then confirm that the BUSY signal for all axes turned OFF. 2) Turn OFF the PLC READY signal [Y0]. 3) Confirm that the READY signal [X0] turned OFF.
  • Page 823 Chapter 14 Common Functions (3) Operation chart The following drawing shows the operation for the switching of the normal operation mode and amplifier-less operation mode [QD77MS4 operation example] Normal operation Normal operation Amplifier-less operation mode mode mode Each operation BUSY signal [XC to XF] PLC READY signal [Y0] READY signal...

  • Page 824: Virtual Servo Amplifier Function

    Chapter 14 Common Functions 14.8 Virtual servo amplifier function This function executes the operation virtually without connecting servo amplifiers (regarded as connected) by setting "4097, 4128" in servo parameter "[Pr.100] Servo series". The synchronous control with virtually input command is possible by using the virtual servo amplifier axis as servo input axis of synchronous control.
  • Page 825 Chapter 14 Common Functions POINT Do not make to operate by switching between the actual servo amplifier and virtual servo amplifier. When a value except "0" is set in "[Pr.100] Servo series" set in the flash ROM, the servo series is not changed even if the "[Pr.100] Servo series" of buffer memory is changed after power supply ON and then the PLC READY signal [Y0] is turned OFF to ON.
  • Page 826 Chapter 14 Common Functions [2] Restrictions (1) The following monitor data of virtual servo amplifier differ from the actual servo amplifier. Buffer memory address Storage item Storage details QD77MS2 QD77MS16 QD77MS4 852+100n 2452+100n Deviation counter [Md.102] Always "0". value 853+100n 2453+100n 864+100n 2464+100n...
  • Page 827 Change the signal status in "[Md.30] External input signal". (Refer to "Restrictions (3)" for details.) When "2: Buffer memory of QD77MS" is set in "[Pr.80] External input signal selection", the upper/lower limit signal (FLS, RLS) and the near-point dog signal (DOG) follow the buffer memory status of the Simple Motion module even in the virtual servo amplifier.

  • Page 828: Driver Communication Function

    Chapter 14 Common Functions 14.9 Driver communication function This function uses the "Master-slave operation function" of servo amplifier. The Simple Motion module controls master axis and the slave axis is controlled by data communication between servo amplifiers (driver communication) without Simple Motion module.
  • Page 829 Chapter 14 Common Functions [1] Control details Set the master axis and slave axis in the servo parameter. Execute each control of Simple Motion module for the master axis. (However, be sure to execute the servo ON/OFF of slave axis and error reset at servo alarm occurrence in the slave axis.) The servo amplifier set as master axis receives command (positioning command, speed command, torque command) from the Simple Motion module, and send the control data to the servo amplifier set as...
  • Page 830 Chapter 14 Common Functions [2] Precautions during control CAUTION In the operation by driver communication, the positioning control or JOG operation of the master axis is not interrupted even if the servo alarm occurs in the slave axis. Be sure to stop by user program.
  • Page 831 Chapter 14 Common Functions (f) If all axes set to driver communication are not detected at the start of communication with the servo amplifier, all axes including independent axes cannot be operated. (The servo amplifier's LED display remains "Ab".) Check the operation enabled status with "[Md.52] Communication between amplifiers axes searching flag".
  • Page 832 Chapter 14 Common Functions (4) I/O signals of slave axis (a) Input signal [QD77MS2] Only the error detection signal [X8, X9] is valid. And only the servo alarm detection is valid. (The control of slave axis is not influenced even if the error other than servo alarm has been occurred.) [QD77MS4] Only the error detection signal [X8 to XB] is valid.
  • Page 833 Chapter 14 Common Functions (b) Only the following axis control data are valid in slave axis. Item Remark [Cd.5] Axis error reset Only servo alarm detection New torque value/forward new [Cd.22] — torque value [Cd.100] Servo OFF command — [Cd.101] Torque output setting value —...
  • Page 834 Chapter 14 Common Functions [3] Servo parameter Set the following parameters for the axis to execute the driver communication. (Refer to each servo amplifier instruction manual for details.) [MR-J3-_B_/MR-J3-_BS_/MR-J3-_B_-RJ006 use] Buffer memory address Setting item Setting details QD77MS2 QD77MS16 QD77MS4 Disable deceleration stop Forced stop deceleration function function at the master...
  • Page 835 Chapter 14 Common Functions [MR-J4-_B_/MR-J4-_B_-RJ use] Buffer memory address Setting item Setting details QD77MS2 QD77MS16 QD77MS4 Disable deceleration stop Forced stop deceleration function function at the master 30104+200n 28404+100n PA04 selection axis and slave axis. Set the master axis and PD15 Driver communication setting 30210+200n...

  • Page 836: Mark Detection Function

    Chapter 14 Common Functions 14.10 Mark detection function Any data can be latched at the input timing of the mark detection signal (DI1 to DI4). Also, only data within a specific range can be latched by specifying the data detection range.
  • Page 837 Chapter 14 Common Functions Performance specifications Item QD77MS2 QD77MS4 QD77MS16 Number of mark detection settings Up to 4 Up to 16 Axis 1 to Axis 2 Axis 1 to Axis 4 Axis 1 to Axis 16 Input signal External input signal (DI1 to DI2) External input signal (DI1 to DI4) External input signal (DI1 to DI4) Input signal detection direction...
  • Page 838 Chapter 14 Common Functions [1] Operation for mark detection function Operations done at mark detection are shown below. • Calculations for the mark detection data are estimated at leading edge/trailing edge of the mark detection signal. However, when the specified number of detections mode is set, the current number of mark detection is checked, and then it is judged whether to execute the mark detection.
  • Page 839 Chapter 14 Common Functions [2] How to use mark detection function The following shows an example for mark detection by the external command signal (DI2) of axis 2. The mark detection target is axis 1 real current value, and the all range is detected in continuous detection mode.
  • Page 840 Chapter 14 Common Functions POINT When "1: Valid" is set in "[Pr.114] External command signal compensation valid/invalid setting", the response time of the high-speed input signal is compensated and the latch accuracy will be enhanced. (For details of "[Pr.114] External command signal compensation valid/invalid setting", refer to Section 5.2.7 "Expansion parameters".) 14 - 44...
  • Page 841 Chapter 14 Common Functions [3] List of buffer memory The following shows the configuration of buffer memory for mark detection function. Buffer memory Number of Item Mark detection setting No. address word 54000 to 54019 Mark detection setting 1 54020 to 54039 Mark detection setting 2 Mark detection setting parameter 54040 to 54059...
  • Page 842 Chapter 14 Common Functions The following shows the buffer memory used in the mark detection function. (1) Mark detection setting parameters Buffer memory address Default Setting item Setting details/setting value QD77MS2 value QD77MS16 QD77MS4 Set the external input signal (high speed input request) for mark detection.
  • Page 843 Chapter 14 Common Functions POINT The above parameters are valid with the value set in the flash ROM of the Simple Motion module when the power ON or the CPU module reset. Except for a part, the value is not fetched by turning the PLC READY signal ON from OFF. Therefore, write to the flash ROM after setting the value in the buffer memory to change.
  • Page 844 Chapter 14 Common Functions [Pr.803] Mark detection data axis No. Set the axis No. of data that latched at mark detection. [Pr.802] Mark detection data type [Pr.803] Mark detection data axis No. Setting value Data name Unit QD77MS2 QD77MS4 QD77MS16 Current feed value Machine feed value [µm], 10...
  • Page 845 Chapter 14 Common Functions [Pr.805] Latch data range upper limit value, [Pr.806] Latch data range lower limit value Set the upper limit value and lower limit value of the latch data at mark detection. When the data at mark detection is within the range, they are stored in "[Md.801] Mark detection data storage area"...
  • Page 846 Chapter 14 Common Functions (2) Mark detection control data Buffer memory address Default Setting item Setting details/setting value QD77MS2 value QD77MS16 QD77MS4 Set "1" to execute "0" clear of number of mark detections. "0" is automatically set after completion by "0" clear of Number of mark number of mark detections.
  • Page 847 Chapter 14 Common Functions (3) Mark detection monitor data Buffer memory address Storage item Storage details/storage value QD77MS2 QD77MS16 QD77MS4 The number of mark detections is stored. "0" clear is executed at power supply ON. Continuous detection mode: 0 to 65535 (Ring counter) Number of mark [Md.800] 54960+80k...

  • Page 848: Optional Data Monitor Function

    Chapter 14 Common Functions 14.11 Optional data monitor function The data of the registered monitor is refreshed every operation cycle. This function is used to store the data (refer to following table) up to four points per axis to the buffer memory and monitor them. The details shown below explain about the "Optional data monitor function".
  • Page 849 Chapter 14 Common Functions [1] Data that can be set Monitoring possibility Used Data type Unit MR-J3(W)-B MR-J4(W)-B/ point MR-JE-B Effective load ratio Regenerative load ratio Peak load ratio Load inertia moment ratio [ 0.1] Model loop gain [rad/s] Main circuit bus voltage Servo motor speed [r/min] Encoder multiple revolution...
  • Page 850 Chapter 14 Common Functions [2] List of buffer memory The buffer memory used in the registered monitor of the optional data monitor function is shown below. (1) Expansion parameter Buffer memory address Setting item Setting details/setting value QD77MS2 QD77MS16 QD77MS4 Optional data [Pr.91] monitor: Data type...
  • Page 851 Chapter 14 Common Functions (2) Axis monitor data Buffer memory address Storage item Storage details/storage value QD77MS2 QD77MS16 QD77MS4 • The content set in "[Pr.91] Optional data monitor: Data type Regenerative load setting 1" is stored at optional data monitor data type [Md.109] ratio/Optional data 878+100n...

  • Page 852: Module Error Collection Function

    Error history of PLC CPU and intelligent function module is displayed in one screen. Errors in the entire system can be monitored in reverse chronological order. QD77MS Module B 19:34 Error B1 occurred! 19:29 Error A1 occurred! 19:33 Error C1 occurred!

  • Page 853: Connect/Disconnect Function Of Sscnet Communication

    Chapter 14 Common Functions 14.13 Connect/disconnect function of SSCNET communication Temporarily connect/disconnect of SSCNET communication is executed during system's power supply ON. This function is used to exchange the servo amplifiers or SSCNET cables. The details shown below explain about the "Connect/disconnect function of SSCNET communication".
  • Page 854 Chapter 14 Common Functions (5) Execute the connect/disconnect command to the A-axis for multiple-axis servo amplifier. (6) When using the driver communication function, it can be disconnected by executing the connect/disconnect command, however it cannot be connected again. (7) The connect/disconnect/execute command cannot be accepted during amplifier-less operation mode.
  • Page 855 Chapter 14 Common Functions (2) System monitor data Buffer memory address Monitor Monitor item Storage details QD77MS2 value QD77MS16 QD77MS4 The connect/disconnect status of SSCNET communication is stored. 1: Disconnected axis existing SSCNET control [Md.53] 1433 4233 status 0: Command accept waiting -1: Execute waiting -2: Executing [4] Procedure to connect/disconnect...
  • Page 856 Chapter 14 Common Functions (2) Procedure to connect 1) Turn ON the servo amplifier's power supply. 2) Set "-10: Connect command of SSCNET communication" in "[Cd.102] SSCNET control command". 3) Check that "-1: Execute waiting" is set in "[Md.53] SSCNET control status".
  • Page 857 Chapter 14 Common Functions (1) Disconnect operation <Set the disconnect axis (Axis 5) > M100 M101 M102 D250 Disconne Disconne Disconne Disconne ct comma ct reque ct execu ct compl st (Axis tion req etion ch uest M100 Disconne ct reque st (Axis <Set the disconnect command >...
  • Page 858 Chapter 14 Common Functions (2) Connect operation <Set the connect command > M110 M111 M112 K-10 D250 Connect Connect Connect Connect command request executio completi n reques on check M110 Connect request <Set the connect command > M110 D250 G4233 G5932 Connect SSCNET c...

  • Page 859: Qd75Mh Initial Value Setting Function

    Module Setting Tool of GX Works2, set the parameter value to factory-set initial value of QD75MH by this function before using. (This function does not need to be executed in case the parameter setting of QD77MS is executed using the Simple Motion Module Setting Tool of GX Works2.) The details shown below explain about the "QD75MH initial value setting function".
  • Page 860 Chapter 14 Common Functions [3] Precautions during control (1) Parameter initialization is only executed when the positioning control is not carried out (when the PLC READY signal [Y0] is OFF). The warning "In PLC READY" (warning code: 111) will occur if executed when the PLC READY signal [Y0] is ON.

  • Page 861: Hot Line Forced Stop Function

    Chapter 14 Common Functions 14.15 Hot line forced stop function This function is used to execute deceleration stop safety for other axes when the servo alarm occurs in the servo amplifier MR-JE-B. The details shown below explain about the "Hot line forced stop function". [1] Control details [2] Precautions during control [1] Control details...
  • Page 862 Chapter 14 Common Functions [2] Precautions during control (1) The servo warning "Controller forced stop warning" (warning No.: E7) occurs in the axis where the hot line forced stop function executes deceleration stop. (2) To clear the servo warning "Controller forced stop warning" (warning No.: E7) occurred by the hot line forced stop function, set "1"...
  • Page 863 Chapter 15 Dedicated Instructions Chapter 15 Dedicated Instructions The dedicated instructions of Simple Motion module are explained in this chapter. These instructions are used to facilitate the programming for the use of the functions of the intelligent function module. Using the dedicated instructions, the programming can be carried out without being aware of the buffer memory address of Simple Motion module and interlock signal.

  • Page 864: List Of Dedicated Instructions

    Chapter 15 Dedicated Instructions 15.1 List of dedicated instructions The dedicated instructions explained in this Chapter are listed in Table 15.1. Table 15.1 List of dedicated instructions Dedicated Application Outline of functions Reference instruction ZP.PSTRT1 ZP.PSTRT2 This function starts the positioning control of the designated Positioning start Section 15.3 axis of the Simple Motion module.

  • Page 865: Zp.pstrt1, Zp.pstrt2, Zp.pstrt3, Zp.pstrt4

    Chapter 15 Dedicated Instructions 15.3 ZP.PSTRT1, ZP.PSTRT2, ZP.PSTRT3, ZP.PSTRT4 These dedicated instructions are used to start the positioning of the designated axis. Usable device Internal device Link direct device J_\_ Intelligent Constant Setting Index File function data register Others register module Word Word...
  • Page 866 Chapter 15 Dedicated Instructions [Control data] Setting side Device Item Setting data Setting range (Note-1) (S)+0 System area – – – The state at the time of completion is stored. • 0 : Normal completion (S)+1 Complete status – System (Note-2) •...
  • Page 867 Chapter 15 Dedicated Instructions processing processing processing processing Sequence program ZP.PSTRT_ instruction execution completion ZP.PSTRT_ instruction When Complete device completed abnormally When completed Complete state display normally device 1 scan Dwell time Positioning BUSY signal Positioning complete [Errors] (1) When a ZP.PSTRT_ instruction is completed abnormally, the error complete signal ((D)+1) is turned ON, and the error code is stored in the complete status ((S)+1).
  • Page 868 Chapter 15 Dedicated Instructions (5) If the ZP.PSTRT_ instruction is executed in the following cases, an error "Dedicated instruction error" (error code: 804) will occur and positioning cannot be started. • Any value other than 1 to 600, 7000 to 7004, and 9001 to 9004 is set to "Starting number"...

  • Page 869: Zp.teach1, Zp.teach2, Zp.teach3, Zp.teach4

    Chapter 15 Dedicated Instructions 15.4 ZP.TEACH1, ZP.TEACH2, ZP.TEACH3, ZP.TEACH4 These dedicated instructions are used to teach the designated axis. Usable device Internal device Link direct device J_\_ Intelligent Constant Setting Index File function data register Others register module Word Word K, H U_\G_ –...
  • Page 870 Chapter 15 Dedicated Instructions [Control data] Setting side Device Item Setting data Setting range (Note-1) (S)+0 System area – – – The state at the time of completion is stored. : Normal completion (S)+1 Complete status – System (Note-2) Other than 0 : Abnormal completion (error code) The address (positioning address/arc address) to which Teaching data the current feed value is written is set.
  • Page 871 Chapter 15 Dedicated Instructions processing processing processing processing Sequence program ZP.TEACH_ instruction execution completion ZP.TEACH_ instruction When Complete device completed abnormally When Complete state display completed normally device 1 scan [Errors] (1) When a ZP.TEACH_ instruction is completed abnormally, the error complete signal ((D)+1) is turned ON, and the error code is stored in the complete status (S)+1.
  • Page 872 Chapter 15 Dedicated Instructions [Program example] Program to execute the teaching of the positioning data No. 3 of the axis 1 when X39 is turned ON in QD77MS4. (1) Teaching program Positioned manually to target position. <Teaching command pulse> <Teaching command hold> MOVP <Teaching data setting>...

  • Page 873: Zp.pfwrt

    Chapter 15 Dedicated Instructions 15.5 ZP.PFWRT These dedicated instructions are used to write the parameters, positioning data, and block start data of Simple Motion module to the flash ROM. Usable device Internal device Link direct device J_\_ Constant Intelligent Setting Index File function...
  • Page 874 Chapter 15 Dedicated Instructions [Functions] (1) The ZP.PFWRT instruction completion can be confirmed using the complete devices ((D)+0) and ((D)+1). (a) Complete device ((D)+0) This device is turned ON by the END processing of the scan for which ZP.PFWRT instruction is completed, and turned OFF by the next END processing.
  • Page 875 Chapter 15 Dedicated Instructions [Precautions] (1) Do not turn ON the power and reset the PLC CPU while parameters, positioning data and block start data are written to the flash ROM using the ZP.PFWRT instruction. A parameter error will occur or normal positioning start will become impossible because the parameters, positioning data and block start data are not written normally to the flash ROM.
  • Page 876 Chapter 15 Dedicated Instructions [Program example] Program used to write the parameters and positioning data stored in the buffer memory to the flash ROM when X3D is turned ON in QD77MS4. (1) Flash ROM write program <Flash ROM write command pulse> <Flash ROM write command hold>...

  • Page 877: Zp.pinit

    Chapter 15 Dedicated Instructions 15.6 ZP.PINIT This dedicated instruction is used to initialize the setting data of the Simple Motion module. Usable device Intelligent Internal device Link direct device J_\_ Constant Setting Index File function data register Others register module Word Word K, H...
  • Page 878 Chapter 15 Dedicated Instructions [Functions] (1) This dedicated instruction is used to return the setting data set in the buffer memory of Simple Motion module and flash ROM to their factory-set data (initial values). Refer to Section 14.2 for initialized setting data. (2) The ZP.PINIT instruction completion can be confirmed using the complete devices ((D)+0) and ((D)+1).
  • Page 879 Chapter 15 Dedicated Instructions (3) After the power ON and PLC CPU reset operation, writing to the flash ROM using a sequence program is limited to up to 25 times. (Not limited to up to 25 times when writing to the flash ROM is carried out by GX Works2.) If the 26th or more writing is requested after the power ON/PLC CPU reset operation, the error "Flash ROM write number error"...
  • Page 880 Chapter 15 Dedicated Instructions MEMO 15- 18...
  • Page 881 16.2 Troubleshooting ...................... 16- 5 16.3 Error and warning details ..................16- 9 16.4 List of errors ......................16- 16 16.4.1 QD77MS detection error ................16- 16 16.4.2 Servo amplifier detection error ..............16- 52 16.5 List of warnings ....................... 16- 54 16.5.1 QD77MS detection warning ..............

  • Page 882: Checking Errors Using Gx Works2

    PLC CPU or GX Works2 that supports the module error collection function. On the "Error History" screen, the error logs of the QD77MS are displayed in a list together with the error logs of other modules. The logs can be output to a CSV format file.
  • Page 883 Chapter 16 Troubleshooting (b) Error and Solution, Intelligent Module Information • Error and Solution Details of the selected in the "Error History List" and its corrective action are displayed. • Intelligent Module Information The status of Simple Motion module when the error selected in the "Error History List"...
  • Page 884 Chapter 16 Troubleshooting (c) [Create CSV File] button The module error logs are output to a CSV format file. POINT (1) If errors frequently occur in the Simple Motion module, "*HST.LOSS*" (instead of an actual error code) may be displayed in the Error Code column. (Display example) If "*HST.LOSS*"...

  • Page 885: Troubleshooting

    Chapter 16 Troubleshooting 16.2 Troubleshooting (1) Troubleshooting using the LEDs Check items and corrective actions for troubleshooting using the indicator LEDs of the Simple Motion module are described below. (a) When the RUN LED turns off. Check item Action Check that the voltage supplied to the power supply Is the power supplied? module is within the rated range.
  • Page 886 Chapter 16 Troubleshooting (2) Troubleshooting when a motor does not rotate Check items and corrective actions for troubleshooting when a motor does not rotate are described below. POINT The following signals must be ON for the Simple Motion module to operate (excluding when the "positioning test function"...
  • Page 887 Chapter 16 Troubleshooting (3) Troubleshooting when a motor does not rotate as intended. Check items and corrective actions for troubleshooting when a motor does not rotate as intended are described below. (a) When a motor rotates only in the opposite direction Check item Action Check that the value in "Rotation direction selection/...
  • Page 888 Chapter 16 Troubleshooting (c) When the set position is not reached Check item Action [When the position set in "[Md.20] Current feed value" is reached] • Check that the values in "[Pr.2] Number of pulses per rotation (AP)", "[Pr.3] Movement amount per rotation (AL)", and "[Pr.4] Unit magnification (AM)"...

  • Page 889: Error And Warning Details

    Chapter 16 Troubleshooting 16.3 Error and warning details [1] Errors Types of errors Errors detected by the Simple Motion module include parameter setting range errors, errors at the operation start or during operation and errors detected by servo amplifier. (1) Errors detected by the Simple Motion module include parameter setting range errors The parameters are checked when the power is turned ON and at the rising edge (OFF...
  • Page 890 Chapter 16 Troubleshooting (3) Servo amplifier detection errors The errors that occur when the hardware error of the servo amplifier or servo motor or the servo parameter error occurs. The servo is turned off at the error occurrence and the axis stops. Remove the error factor and reset the error, reset the controller, or turn the servo amplifier power supply ON again from OFF.
  • Page 891 Chapter 16 Troubleshooting A new error code is stored in the buffer memory address ([Md.23] Axis error No.) for axis error storage every time an error occurs. POINT When any of the following errors that are independent of an axis is detected, it is stored in the axis error No.
  • Page 892 Chapter 16 Troubleshooting [2] Warnings Types of warnings Warnings detected by the Simple Motion module include system warnings, axis warnings and warnings detected by servo amplifier. (1) Simple Motion module detection system warnings The types of system warnings are shown below. ...
  • Page 893 Chapter 16 Troubleshooting Warning storage (1) When an axis warning occurs, the warning code corresponding to the warning details is stored in the following buffer memory ([Md.24] Axis warning No.) for axis warning No. storage. Buffer memory address Axis No. QD77MS2 QD77MS4 QD77MS16...
  • Page 894 Chapter 16 Troubleshooting [3] Resetting errors and warnings Remove the cause of error or warning following the actions described in Section 16.4 and 16.5, before cancel an error or warning state by resetting the error. How to clear errors or warnings An error or warning state is canceled after the following processing is carried out by setting "1"...
  • Page 895 Chapter 16 Troubleshooting MEMO 16 - 15...

  • Page 896: List Of Errors

    Chapter 16 Troubleshooting 16.4 List of errors The following table shows the error details and remedies to be taken when an error occurs. 16.4.1 QD77MS detection error Classification Error Error name Error Operation status at error occurrence of errors code —...
  • Page 897 Chapter 16 Troubleshooting Related buffer memory address Set range Remedy QD77MS2 (Setting with sequence program) QD77MS16 QD77MS4 — — — — — — — Check that there is no influence from noise. Review the program which turns ON/OFF PLC READY signal —...
  • Page 898 Chapter 16 Troubleshooting Classification Error Error name Error Operation status at error occurrence of errors code READY OFF The PLC READY signal is turned from OFF The READY signal [X0] is not turned ON. during BUSY to ON when BUSY signal is turned ON. Start is requested when start is not Start not possible The system does not start positioning.
  • Page 899 Chapter 16 Troubleshooting Related buffer memory address Set range QD77MS2 Remedy (Setting with sequence program) QD77MS16 QD77MS4 Turn ON the PLC READY signal [Y0] with the BUSY signals — — — of all axes OFF. Do not request the start when the axis operation state is other —...
  • Page 900 Chapter 16 Troubleshooting Classification Error Error name Error Operation status at error occurrence of errors code • The data is not loaded from the servo amplifier properly upon the OPR. ABS reference point • The in-position signal is not turned ON The OPR does not complete.
  • Page 901 Chapter 16 Troubleshooting Related buffer memory address Set range QD77MS2 Remedy (Setting with sequence program) QD77MS16 QD77MS4 • Execute OPR again. — — — • Adjust the servo gain and in-position range, and execute OPR again. Turn the power supplies of the system or servo amplifier from —...
  • Page 902 Chapter 16 Troubleshooting Classification Error Error name Error Operation status at error occurrence of errors code <When blocks are started simultaneously> • The partner axis for simultaneous start is BUSY. <When multiple axes are started and Error before controlled simultaneously> simultaneous start •...
  • Page 903 Chapter 16 Troubleshooting Related buffer memory address Set range QD77MS2 Remedy (Setting with sequence program) QD77MS16 QD77MS4 <Condition operators> Axis designation: 10H, 20H, 30H, 40H, Refer to Section 5.5 Normalize the condition operators. 50H, 60H, 70H, 80H, "List of condition data" (Refer to Section 5.5 [Da.16]) 90H, A0H, B0H, C0H, D0H, E0H...
  • Page 904 Chapter 16 Troubleshooting Classification Error Error name Error Operation status at error occurrence of errors code • When the parameter "interpolation speed designation method" performs a linear interpolation in setting a "composite speed", the axis movement amount for each positioning data exceeds At start : The system does not Outside linear...
  • Page 905 Chapter 16 Troubleshooting Related buffer memory address Set range QD77MS2 Remedy (Setting with sequence program) QD77MS16 QD77MS4 <Positioning address/movement amount> • ABS unit [mm] [inch] [PLS] –2147483648 to 2147483647 Unit [degree] 0 to 35999999 • INC (When software stroke limits are valid) Review the positioning address.
  • Page 906 Chapter 16 Troubleshooting Classification Error Error name Error Operation status at error occurrence of errors code At operation start: • The positioning is executed at a position The system does not operate. exceeding the upper limit of the software In the analysis of new current value: stroke limit.
  • Page 907 Chapter 16 Troubleshooting Related buffer memory address Set range QD77MS2 Remedy (Setting with sequence program) QD77MS16 QD77MS4 New current value 1506+100n 4306+100n At operation start : • Set the current feed value within the 1507+100n 4307+100n software stroke limit by the manual control operation.
  • Page 908 Chapter 16 Troubleshooting Classification Error Error name Error Operation status at error occurrence of errors code The new current address is outside the Outside new current ranges of 0 to 359.99999, where the value range control unit is set to "degree". •...
  • Page 909 Chapter 16 Troubleshooting Related buffer memory address Set range QD77MS2 Remedy (Setting with sequence program) QD77MS16 QD77MS4 1506+100n 4306+100n <New current value> Bring the new current value into the setting range. 1507+100n 4307+100n [degree] 0 to 35999999 (Refer to Section 9.2.19) •...
  • Page 910 Chapter 16 Troubleshooting Classification Error Error name Error Operation status at error occurrence of errors code • For starting, a composite speed is designated in the reference axis parameter "Interpolation speed designation method" using the speed interpolation control or Interpolation mode At start : The system does not 4-axis linear interpolation control.
  • Page 911 Chapter 16 Troubleshooting Related buffer memory address Set range QD77MS2 Remedy (Setting with sequence program) QD77MS16 QD77MS4 <Interpolation speed designation method> Set the "Interpolation speed designation method" correctly. 29+150n 0: Composite speed (Refer to Section 9.1.6) 1: Reference axis speed Correct the control method, axis to be interpolated or Same as error codes 515 to 516 parameter.
  • Page 912 Chapter 16 Troubleshooting Classification Error Error name Error Operation status at error occurrence of errors code At start : The system does not • In the speed-position switching control operate. and the position-speed switching control, During operation : The system stops the setting value of a positioning address immediately with the setting is negative.
  • Page 913 Chapter 16 Troubleshooting Related buffer memory address Set range QD77MS2 Remedy (Setting with sequence program) QD77MS16 QD77MS4 Correct the positioning address. Same as in error codes 504, 506. (Refer to Section 9.2.16, 9.2.17, or 9.2.18) Refer to Section 5.3 In the error history, check the axis where the error other than "List of positioning data"...
  • Page 914 Chapter 16 Troubleshooting Classification Error Error name Error Operation status at error occurrence of errors code At start : The system does not operate. Outside radius range The arc radius exceeds 536870912. During operation : The system stops immediately. Control method LOOP A "0"...
  • Page 915 Chapter 16 Troubleshooting Related buffer memory address Set range QD77MS2 Remedy (Setting with sequence program) QD77MS16 QD77MS4 <Maximum radius> Correct the positioning data. 536870912 (Refer to Section 9.2.10, or 9.2.11) Refer to Section 5.3 "List of positioning data" <LOOP to LEND> Set 1 to 65535 in the repeating time of LOOP.
  • Page 916 Chapter 16 Troubleshooting Classification Error Error name Error Operation status at error occurrence of errors code At start : The system does not operate. During operation : The system stops with the setting (deceleration stop/sudden stop) of the detailed parameter 2 PLC CPU error The CPU module resulted in an error.
  • Page 917 Chapter 16 Troubleshooting Related buffer memory address Set range QD77MS2 Remedy (Setting with sequence program) QD77MS16 QD77MS4 Check the error code in CPU module. — — — (Refer to the "QCPU User's Manual (Hardware Design, Maintenance and Inspection)".) < ZP.PSTRT_ start No.> •...
  • Page 918 Chapter 16 Troubleshooting Classification Error Error name Error Operation status at error occurrence of errors code • The set value of the basic parameter 1 "Unit magnification" is outside the setting Outside unit range. The READY signal [X0] is not turned ON. magnification range •...
  • Page 919 Chapter 16 Troubleshooting Related buffer memory address Set range QD77MS2 Remedy (Setting with sequence program) QD77MS16 QD77MS4 • Set AL and AM values which make "Movement amount per rotation (AL)" × "Unit magnification (AM)" within 2147483647, 1+150n 1,10,100,1000 and then turn the PLC READY signal [Y0] from OFF to ON. •...
  • Page 920 Chapter 16 Troubleshooting Classification Error Error name Error Operation status at error occurrence of errors code • The set value of the detailed parameter 1 "Software stroke limit selection" is outside Software stroke limit the setting range. selection • In the unit of "degree", "1: Apply software stroke limit on machine feed value"...
  • Page 921 Chapter 16 Troubleshooting Related buffer memory address Set range QD77MS2 Remedy (Setting with sequence program) QD77MS16 QD77MS4 • Bring the setting into the setting range. 22+150n 0, 1 • In the unit of "degree", set "0: Apply software stroke limit on current feed value".
  • Page 922 Chapter 16 Troubleshooting Classification Error Error name Error Operation status at error occurrence of errors code The set value of the detailed parameter 2 Acceleration time 1 "Acceleration time 1" is outside the setting setting error When the PLC READY signal [Y0] is turned range.
  • Page 923 Chapter 16 Troubleshooting Related buffer memory address Set range QD77MS2 Remedy (Setting with sequence program) QD77MS16 QD77MS4 36+150n 1 to 8388608 37+150n 38+150n 1 to 8388608 39+150n 40+150n 1 to 8388608 41+150n With the setting brought into the setting range, turn the PLC READY signal [Y0] from OFF to ON.
  • Page 924 Chapter 16 Troubleshooting Classification Error Error name Error Operation status at error occurrence of errors code The set value of the detailed parameter 2 JOG acceleration time "JOG operation acceleration time selection" selection setting error is outside the setting range. The set value of the detailed parameter 2 JOG deceleration time "JOG operation deceleration time selection"...
  • Page 925 Chapter 16 Troubleshooting Related buffer memory address Set range QD77MS2 Remedy (Setting with sequence program) QD77MS16 QD77MS4 50+150n 0, 1, 2, 3 51+150n 0, 1, 2, 3 52+150n 0, 1 53+150n 1 to 100 54+150n 1 to 8388608 55+150n 56+150n 0, 1 With the setting brought into the setting range, turn the PLC READY signal [Y0] from OFF to ON.
  • Page 926 Chapter 16 Troubleshooting Classification Error Error name Error Operation status at error occurrence of errors code Manual pulse The set value of the detailed parameter 2 generator/Incremental "Manual pulse generator/Incremental synchronous encoder synchronous encoder input type selection" input type selection is outside the setting range.
  • Page 927 Chapter 16 Troubleshooting Related buffer memory address Set range QD77MS2 Remedy (Setting with sequence program) QD77MS16 QD77MS4 0, 1 <Torque initial value selection (b4 to b7)> 0, 1 With the setting brought into the setting range, turn the PLC <Speed initial value selection (b8 to b11)> READY signal [Y0] from OFF to ON.
  • Page 928 Chapter 16 Troubleshooting Classification Error Error name Error Operation status at error occurrence of errors code • The set value of the OPR basic parameter "Creep speed" is outside the setting range. • The set value of the OPR basic Creep speed error parameter "Creep speed"...
  • Page 929 Chapter 16 Troubleshooting Related buffer memory address Set range QD77MS2 Remedy (Setting with sequence program) QD77MS16 QD77MS4 • Bring the setting into the setting range. <Creep speed> 76+150n • Set the speed to that below the OPR speed. 1 to 1000000000 [PLS/s] 77+150n •...
  • Page 930 Chapter 16 Troubleshooting Classification Error Error name Error Operation status at error occurrence of errors code • The backup data for absolute position restoration is illegal. • The home position return has never been executed after the system start. • The home position return is started, but not completed correctly.
  • Page 931 Chapter 16 Troubleshooting Related buffer memory address Set range QD77MS2 Remedy (Setting with sequence program) QD77MS16 QD77MS4 — — — Execute OPR. • Check the SSCNET cable. • Check the servomotor and encoder cable. • Take measures against noise. • Check whether the rotation direction selection/travel direction —...

  • Page 932: Servo Amplifier Detection Error

    Chapter 16 Troubleshooting 16.4.2 Servo amplifier detection error The detection error list for servo amplifier is shown below. Refer to each servo amplifier instruction manual for details. (1) MR-J4(W)-B/MR-J3(W)-B/MR-J3-_BS_/MR-JE-B Classification of errors Error code Servo amplifier LED display 2010 (Note-1) 2011 2012 2013...
  • Page 933 Chapter 16 Troubleshooting Classification of errors Error code Servo amplifier LED display 2070 2071 (Note-1) 2072 (Note-2) 2079 2082 2088 2907 2913 Servo amplifier errors (Note-1) 2918 2921 (Note-1) 2922 (Note-2) 2942 (Note-2) 2944 (Note-2) 2945 2948 2952 (Note-1): For MR-J4W_-_B or MR-J3W-_B. (Note-2): For MR-J4-_B_(-RJ).

  • Page 934: List Of Warnings

    Chapter 16 Troubleshooting 16.5 List of warnings The following table shows the warning details and remedies to be taken when a warning occurs. 16.5.1 QD77MS detection warning Classification Warning Warning name Warning Operation status at warning occurrence of warnings code —...
  • Page 935 Chapter 16 Troubleshooting Related buffer memory address Set range QD77MS2 Remedy (Setting with sequence program) QD77MS16 QD77MS4 — — — — • Normalize the start request ON timing. • When in speed control mode/torque control mode, — — — start positioning after switching to the position control mode.
  • Page 936 Chapter 16 Troubleshooting Classification Warning Warning name Warning Operation status at warning occurrence of warnings code Monitoring is not carried out. "0" is stored in Optional data monitor In the optional data monitor, 2-word data is [Md.109] to [Md.112] (Optional data data type setting error not set correctly.
  • Page 937 Chapter 16 Troubleshooting Related buffer memory address Set range QD77MS2 Remedy (Setting with sequence program) QD77MS16 QD77MS4 Optional data monitor: Data type setting 1 100+150n Optional data monitor: Data type Set the 2-word data to "[Pr.91] Optional data monitor: setting 2 Data type setting 1"...
  • Page 938 Chapter 16 Troubleshooting Classification Warning Warning name Warning Operation status at warning occurrence of warnings code The servo parameter "Absolute position VCII series parameter The operation is executed by the setting of detection system (PA03)" is different from setting error VCII series.
  • Page 939 Chapter 16 Troubleshooting Related buffer memory address Set range QD77MS2 Remedy (Setting with sequence program) QD77MS16 QD77MS4 Match the setting of the servo parameter "Absolute <Servo parameter "Absolute position detection system (PA03)" to the setting of VCII 30103+200n 28403+100n position detection system (PA03)"> series, and turn the PLC READY signal [Y0] from OFF 0, 1 to ON.
  • Page 940 Chapter 16 Troubleshooting Classification Warning Warning name Warning Operation status at warning occurrence of warnings code Deceleration/stop The speed change request is issued The speed change is not carried out. speed change during deceleration stop. (Note-2) • Setting speeds exceed the speed limit value when starting/restarting the positioning or when changing the speed (Note-1)
  • Page 941 Chapter 16 Troubleshooting Related buffer memory address Set range QD77MS2 Remedy (Setting with sequence program) QD77MS16 QD77MS4 Do not carry out the speed change during deceleration <Speed change request> 1516+100n 4316+100n with a stop command, during stoppage, or during 1: Speed change is requested automatic deceleration with position control.
  • Page 942 Chapter 16 Troubleshooting Classification Warning Warning name Warning Operation status at warning occurrence of warnings code • When a command speed is changed: Change to a value as near a new • At a continuous operation interrupt speed value as possible. request, the distance required •...
  • Page 943 Chapter 16 Troubleshooting Related buffer memory address Set range QD77MS2 Remedy (Setting with sequence program) QD77MS16 QD77MS4 Give a request at the position where there is an — — — enough remaining distance. <Step start information> Do not set a "1" to the step start information when the 1546+100n 4346+100n 1: Step is continued...
  • Page 944 Chapter 16 Troubleshooting Classification Warning Warning name Warning Operation status at warning occurrence of warnings code The target position change is not carried • A target position change request was out. given for the control method other than ABS1 and INC1. •...
  • Page 945 Chapter 16 Troubleshooting Related buffer memory address Set range QD77MS2 Remedy (Setting with sequence program) QD77MS16 QD77MS4 • Do not turn ON the target position change request in the following cases. 1) An operating pattern "continuous path control" is used. 2) A control method other than ABS1, and INC1 is used.

  • Page 946: Servo Amplifier Detection Warning

    Chapter 16 Troubleshooting 16.5.2 Servo amplifier detection warning The detection warning list for Servo amplifier is shown below. Refer to each servo amplifier instruction manual for details. (1) MR-J4(W)-B/MR-J3(W)-B/MR-J3-_BS_/MR-JE-B Classification of warnings Warning code Servo amplifier LED display 2095 2101 2102 2106 2116...
  • Page 947 Appendix 2.2 Serial absolute synchronous encoder cable ....... Appendix- 33 Appendix 2.3 SSCNET cable (SC-J3BUS_M-C) manufactured by Mitsubishi Electric System & Service....Appendix- 36 Appendix 3 Connection with external device ............. Appendix- 37 Appendix 3.1 Connector ..................Appendix- 37 Appendix 3.2 External input signal cable............Appendix- 39 Appendix 3.3 Manual pulse generator (MR-HDP01) ........

  • Page 948: Appendix 1 List Of Buffer Memory Addresses

    (Note-2): For the list of buffer memory addresses for positioning data, refer to the "Simple Motion Module Setting Tool Help" of GX Works2. (Note-3): For the list of buffer memory addresses used in synchronous control, refer to the "MELSEC-Q/L QD77MS/QD77GF/LD77MS/LD77MH Simple Motion Module User's Manual (Synchronous Control)". (Note-4): Guide to buffer memory address •In the buffer memory address, "n"...
  • Page 949 Appendices Buffer memory address Compatibility of setting value Memory of QD77MS2/ Item QD77MS2 area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 17+150n [Pr.11] Backlash compensation amount 18+150n [Pr.12] Software stroke limit upper limit value 19+150n 20+150n [Pr.13] Software stroke limit lower limit value 21+150n 22+150n [Pr.14] Software stroke limit selection...
  • Page 950 Appendices Buffer memory address Compatibility of setting value Memory of QD77MS2/ Item QD77MS2 area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 36+150n [Pr.25] Acceleration time 1 37+150n 38+150n [Pr.26] Acceleration time 2 39+150n 40+150n [Pr.27] Acceleration time 3 41+150n 42+150n [Pr.28] Deceleration time 1 43+150n 44+150n [Pr.29] Deceleration time 2...
  • Page 951 Appendices Buffer memory address Compatibility of setting value of Memory QD77MS2/ Item QD77MS2 area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 80+150n [Pr.50] Setting for the movement amount after near-point 81+150n dog ON 82+150n [Pr.51] OPR acceleration time selection 83+150n [Pr.52] OPR deceleration time selection 84+150n [Pr.53] OP shift amount 85+150n...
  • Page 952 Appendices Buffer memory address Compatibility of setting value of Memory QD77MS2 QD77MS2/ Item area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 1200 4000 [Md.1] In test mode flag 1206 4006 [Md.130] OS version 1207 4007 1208 4008 [Md.134] Operation time 1209 4009 [Md.135] Maximum operation time 1211 4011...
  • Page 953 Appendices Buffer memory address Compatibility of setting value Memory QD77MS2 of QD77MS2/ Item area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 800+100n 2400+100n [Md.20] Current feed value 801+100n 2401+100n 802+100n 2402+100n [Md.21] Machine feed value 803+100n 2403+100n 804+100n 2404+100n [Md.22] Feedrate 805+100n 2405+100n 806+100n 2406+100n...
  • Page 954 Appendices Buffer memory address Compatibility of setting value Memory QD77MS2 of QD77MS2/ Item area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 838+100n 2438+100n Positioning identifier 839+100n 2439+100n M code 840+100n 2440+100n Dwell time 2441+100n Axis to be interpolated [Md.47] Positioning data being 842+100n 2442+100n executed...
  • Page 955 Appendices Buffer memory address Compatibility of setting value Memory QD77MS2 of QD77MS2/ Item area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 1500+100n 4300+100n [Cd.3] Positioning start No. 1501+100n 4301+100n [Cd.4] Positioning starting point No. 1502+100n 4302+100n [Cd.5] Axis error reset 1503+100n 4303+100n [Cd.6] Restart command 1504+100n 4304+100n...
  • Page 956 Appendices Buffer memory address Compatibility of setting value Memory QD77MS2 of QD77MS2/ Item area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 [Cd.30] Simultaneous starting axis start data No. (axis 1 1540+100n start data No.) 4340+100n [Cd.30] Simultaneous starting own axis start data No. [Cd.31] Simultaneous starting axis start data No.
  • Page 957 Appendices Buffer memory address Compatibility of setting value Memory QD77MS2 of QD77MS2/ Item area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 1578+100n 4378+100n [Cd.141] Acceleration time at speed control mode 1579+100n 4379+100n [Cd.142] Deceleration time at speed control mode 1580+100n 4380+100n [Cd.143] Command torque at torque control mode [Cd.144] Torque time constant at torque control mode 1581+100n 4381+100n...
  • Page 958 Appendices Buffer memory address Compatibility of setting value Memory QD77MS2 of QD77MS2/ Item area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 [Da.1] Operation pattern [Da.2] Control method 6000+1000n Positioning 2000+6000n [Da.3] Acceleration time No. identifier [Da.4] Deceleration time No. [Da.5] Axis to be interpolated [Da.10] M code/condition data No.
  • Page 959 Appendices Buffer memory address Compatibility of setting value QD77MS2 of QD77MS2/ Item Memory area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 [Da.11] Shape 26000+ 22000+ 1000n 400n [Da.12] Start data No. [Da.13] Special start instruction 26050+ 22050+ 1000n 400n [Da.14] Parameter 26001+ 26051+ 22001+ 22051+...
  • Page 960 Appendices Buffer memory address Compatibility of setting value QD77MS2 of QD77MS2/ Item Memory area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 26400+1000n Block start data 26499+1000n 26500+1000n Condition data 26599+1000n 26600+1000n Block start data 26699+1000n Set with GX Works2 26700+1000n Condition data 26799+1000n 26800+1000n Block start data...
  • Page 961 Appendices The following shows the relation between the buffer memory addresses of servo parameter and the various items. (Note): The setting range is different depending on the servo amplifier model. Refer to each servo amplifier instruction manual for details. Buffer memory address Compatibility of setting value Servo amplifier...
  • Page 962 Appendices Buffer memory address Compatibility of setting value Servo amplifier Memory QD77MS2 of QD77MS2/ Item parameter No. area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 30119+200n 28419+100n – PB01 30120+200n 28420+100n – PB02 30121+200n 28421+100n – PB03 30122+200n 28422+100n – PB04 30123+200n 28423+100n –...
  • Page 963 Appendices Buffer memory address Compatibility of setting value Servo amplifier Memory QD77MS2 of QD77MS2/ Item parameter No. area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 30159+200n 28459+100n – PB41 30160+200n 28460+100n – PB42 30161+200n 28461+100n – PB43 30162+200n 28462+100n – PB44 30163+200n 28463+100n –...
  • Page 964 Appendices Buffer memory address Compatibility of setting value Servo amplifier Memory QD77MS2 of QD77MS2/ Item parameter No. area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 30179+200n 28479+100n – PC16 30180+200n 28480+100n – PC17 30181+200n 28481+100n – PC18 30182+200n 28482+100n – PC19 30183+200n 28483+100n –...
  • Page 965 Appendices Buffer memory address Compatibility of setting value Servo amplifier Memory QD77MS2 of QD77MS2/ Item parameter No. area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 64454+250n 64454+70n – PC55 64455+250n 64455+70n – PC56 64456+250n 64456+70n – PC57 64457+250n 64457+70n – PC58 64458+250n 64458+70n –...
  • Page 966 Appendices Buffer memory address Compatibility of setting value Servo amplifier Memory QD77MS2 of QD77MS2/ Item parameter No. area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 30226+200n – PD31 30227+200n – PD32 64464+250n – PD33 64465+250n – PD34 64466+250n – PD35 64467+250n – PD36 64468+250n –...
  • Page 967 Appendices Buffer memory address Compatibility of setting value Servo amplifier Memory QD77MS2 of QD77MS2/ Item parameter No. area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 30250+200n – PE23 30251+200n – PE24 30252+200n – PE25 30253+200n – PE26 30254+200n – PE27 30255+200n – PE28 30256+200n –...
  • Page 968 Appendices Buffer memory address Compatibility of setting value Servo amplifier Memory QD77MS2 of QD77MS2/ Item parameter No. area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 30268+200n – PS01 30269+200n – PS02 30270+200n – PS03 30271+200n – PS04 30272+200n – PS05 30273+200n – PS06 30274+200n –...
  • Page 969 Appendices Buffer memory address Compatibility of setting value Servo amplifier Memory QD77MS2 of QD77MS2/ Item parameter No. area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 – 30900+50n PF01 – 30901+50n PF02 – 30902+50n PF03 – 30903+50n PF04 – 30904+50n PF05 – 30905+50n PF06 –...
  • Page 970 Appendices Buffer memory address Compatibility of setting value Servo amplifier Memory QD77MS2 of QD77MS2/ Item parameter No. area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 – 64528+250n PF41 – 64529+250n PF42 – 64530+250n PF43 – 64531+250n PF44 – 64532+250n PF45 – 64533+250n PF46 –...
  • Page 971 Appendices Buffer memory address Compatibility of setting value Servo amplifier Memory QD77MS2 of QD77MS2/ Item parameter No. area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 64552+250n – PL01 64553+250n – PL02 64554+250n – PL03 64555+250n – PL04 64556+250n – PL05 64557+250n – PL06 64558+250n –...
  • Page 972 Appendices Buffer memory address Compatibility of setting value Servo amplifier Memory QD77MS2 of QD77MS2/ Item parameter No. area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 64592+250n – PL41 64593+250n – PL42 64594+250n – PL43 64595+250n – PL44 Set with Servo parameters 64596+250n GX Works2 –...
  • Page 973 Appendices The following shows the relation between the buffer memory addresses for mark detection function and the various items. (Note): Do not use the buffer memory address that not been described here for a "Maker setting". Buffer memory address Compatibility of setting value Memory QD77MS2...

  • Page 974: Appendix 2 Connection With Servo Amplifiers

    Simple Motion module and servo amplifier or between servo amplifiers. Install the battery to servo amplifier to execute absolute position detection control. Refer to each servo amplifier instruction manual for details. QD77MS SSCNET SSCNET Cable length...

  • Page 975: Appendix 2.1 Sscnet Cables

    Appendices Appendix 2.1 SSCNET cables Generally use the SSCNET cables available as our products. Refer to Appendix 2.3 for long distance cable up to 100[m] and ultra-long bending life cable. (1) Model explanation Numeral in the column of cable length on the table is a symbol put in the "_" part of cable model.
  • Page 976 Appendices CAUTION Please use the processing method and the processing treatment device that exists in the connector when you fix the cord part of the SSCNET cable to the connector. It must not cut squarely when you cut the cord part of the SSCNET cable, the cutting edge side must not be made smooth, and garbage etc.
  • Page 977 Appendices (a) MR-J3BUS_M 1) Model explanation Type: MR-J3BUS _ M - Symbol Cable type None Standard cord for inside panel Standard cable for outside panel Long distance cable Symbol Cable length [m(ft.)] 0.15(0.49) 0.3(0.98) 0.5(1.64) 1(3.28) 3(9.84) 5(16.40) 10(32.81) 20(65.62) 30(98.43) 40(131.23) 50(164.04)
  • Page 978 Appendices • MR-J3BUS5M-A to MR-J3BUS20M-A • MR-J3BUS30M-B to MR-J3BUS50M-B Refer to the table of this section (1) for cable length (L). Variation [mm(inch)] SSCNET Cable MR-J3BUS5M-A to MR-J3BUS20M-A 100(3.94) 30(1.18) MR-J3BUS30M-B to MR-J3BUS50M-B 150(5.91) 50(1.97) [Unit: mm(inch)] Protective tube (Note) (Note): Dimension of connector part is the same as that of MR-J3BUS015M.

  • Page 979: Appendix 2.2 Serial Absolute Synchronous Encoder Cable

    Appendices Appendix 2.2 Serial absolute synchronous encoder cable Generally use the serial absolute synchronous encoder cables available as our products. If the required length is not found in our products, fabricate the cable on the customer side. (1) Selection The following table indicates the serial absolute synchronous encoder cables used with the serial absolute synchronous encoder.
  • Page 980 Appendices (a) Q170ENCCBL_M-A 1) Model explanation Type: Q170ENCCBL _ M - A Symbol Cable length [m(ft.)] 2(6.56) 5(16.40) 10(32.81) 20(65.62) 30(98.43) 50(164.04) 2) Connection diagram When fabricating a cable, use the recommended wire and connector set MR-J3CN2 for encoder cable given on this section (1), and make the cable as show in the following connection diagram.
  • Page 981 Appendices (2) External dimension drawing (a) Serial absolute synchronous encoder (Q171ENC-W8) [Unit: mm (inch)] 85(3.35) 58.5(2.30) 29(1.14) 30(1.18) 7(0.28) 2(0.08) 14(0.55) 8.72 (0.34) Cross-section diagram AA' 4- 5.5(0.22) 42(1.65) 37.5(1.48) Appendix - 35...
  • Page 982 Appendices Appendix 2.3 SSCNET cable (SC-J3BUS_M-C) manufactured by Mitsubishi Electric System & Service POINT  For the details of the SSCNET cables, contact your local sales office.  Do not look directly at the light generated from CN1A/CN1B connector of servo amplifier or the end of SSCNET cable.

  • Page 983: Appendix 3 Connection With External Device

    Appendices Appendix 3 Connection with external device Appendix 3.1 Connector Mounted onto an external input connection connector of the QD77MS and used for wiring an external device. The "external device connector" includes the following 4 types. (1) Appearance A6CON1 A6CON2...
  • Page 984 Appendices (4) External dimension drawing A6CON1/A6CON2 A6CON3 A6CON4 Unit: mm (inch) 69.48(2.74) 14(0.55) or less 14(0.55) or less 72.72(2.87) 47(1.85) 50.8(2.00) Appendix - 38...

  • Page 985: Appendix 3.2 External Input Signal Cable

    Make the cable as shown in the following connection diagram. When using the external power supplly (Recommended) Solderless terminal (1) Manual pulse generator/ QD77MS side incremental synchronous encoder (AX1, AX2) (2) Forced stop input/ external input signal (AX1, AX2)
  • Page 986 Appendices (1) Manual pulse generator/ Incremental synchronous encoder (a) Differential-output type Make the cable within 30m (98.43ft.). When using the external power supplly (Recommended) 1B18 1A18 1B17 1A17 1B20 Differential-output type Manual pulse generator/ incremental synchronous encoder side 1B19 1B15 1B14 1A15 1A14...
  • Page 987 Appendices (b) Voltage-output/Open-collector type Make the cable within 10m (32.81ft.). When using the external power supply (Recommended) 1B18 1A18 1B17 1A17 1B20 1A20 1B19 Voltage-output/open-collector type Manual pulse generator/ 1A19 incremental synchronous encoder side 1B15 1B14 1A15 1A14 (Note-1) When using the internal power supply 1B18 1A18 1B17...
  • Page 988 Appendices (2) Forced stop input/ External input signal (AX1, AX2) Forced stop input side EMI.COM EMI.COM STOP STOP External input side STOP STOP (Note-1) (Note-1): Ground FG terminal on the used equipment side. : Twisted pair cable Also, connect it to the shell of connector side. Appendix - 42...
  • Page 989 Appendices (3) External input signal (AX3, AX4) STOP STOP External input side STOP STOP (Note-1) Shell (Note-1) (Note-1): Ground FG terminal on the used equipment side. : Twisted pair cable Also, connect it to the shell of connector side. Appendix - 43...
  • Page 990 Appendices 1) The following table indicates the external input wiring cables. Make selection according to your operating conditions. Table 3.1 Table of wire specifications Characteristics of one core Structure Conductor Insulating Finish OD Core size Number of Wire model (Note-2) cores [Number of resistance...

  • Page 991: Appendix 3.3 Manual Pulse Generator (Mr-Hdp01)

    Appendices Appendix 3.3 Manual pulse generator (MR-HDP01) (1) External dimension drawing 3.6(0.14) 27.0 3 Studs (M4 10) (1.06) PCD72, equi-spaced +5to M3 6 8.89 Packing t=2.0 3- 4.8(0.19) (0.63) (0.79) (0.35) (0.30) equi-spaced Space The figure of processing a disc Appendix - 45...

  • Page 992: Appendix 4 Comparisons With Positioning Modules/Ld77Mh Models

    (OPR method) method, Scale origin signal detection method, Data set method) Driver OPR method) External input signal of QD77MS External input signal of QD75MH (FLS, RLS, DOG, STOP, DI) / (FLS, RLS, DOG, STOP, CHG) / External signal selection function...
  • Page 993 : Possible, : Not possible (Note-1): These functions are equal to the QD77MS's specification in the following version of QD75MH. Rating plate: 110720000000000-B or later, Product information: 110520000000000-B or later (Note-2): The value varies depending on the product information as follows.
  • Page 994 Refer to Appendix 6.3. ORIENTAL MOTOR Co., Ltd. IAI electric actuator controller manufactured by IAI Refer to Appendix 6.4. Corporation Refer to "MELSEC-Q/L QD77MS/QD77GF/LD77MS/LD Synchronous encoder via servo amplifier 77MH Simple Motion Module User's Manual (Synchronous Control)". Appendix - 48...
  • Page 995 1: External input signal of servo 1: External input signal of servo amplifier amplifier [Pr.80] External input signal Range of setting 2: Buffer memory of QD77MS 3: External input signal 1 of QD77MS selection QD77MS16 value 4: External input signal 2 of QD77MS QD77MS16...
  • Page 996 Appendices Changed functions (Continued) Specification Function Description QD77MS2 QD77MS4 QD77MS16 QD75MH2 QD75MH4 0: No setting 1: Effective load ratio 2: Regenerative load ratio [Pr.91] Optional data monitor: 3: Peak load ratio Data type setting 1 4: Load inertia moment ratio 5: Model loop gain 6: Main circuit bus voltage 7: Servo motor speed...
  • Page 997 Appendices Changed functions (Continued) Specification Function Description QD77MS2 QD77MS4 QD77MS16 QD75MH2 QD75MH4 Occurrence time of axis warning is displayed by Occurrence time of axis warning is "Year, Month, Day, Hour, Minute, Second". displayed by "Hour, Minute, [Md.56] Axis warning occurrence (Year: month) Information display Second".
  • Page 998 Appendices Changed functions (Continued) Specification Function Description QD77MS2 QD77MS4 QD77MS16 QD75MH2 QD75MH4 Positioning identifier Positioning identifier QD77MS2 QD77MS4 ([Da.1] to [Da.4], [Da.5] ([Da.1] to [Da.5]) Positioning address ([Da.6]) Positioning address ([Da.6]) Arc address ([Da.7]) Arc address ([Da.7]) Command speed ([Da.8]) Command speed ([Da.8]) [Md.47] Positioning data Storage item...
  • Page 999 Appendices Changed functions (Continued) Specification Function Description QD77MS2 QD77MS4 QD77MS16 QD75MH2 QD75MH4 Low-order buffer memory Low-order buffer memory b0: Zero point pass b0: Zero point pass b3: Zero speed b3: Zero speed b4: Speed limit b8: PID control High-order buffer memory High-order buffer memory b0: READY ON b0: READY ON...
  • Page 1000 Appendices Changed functions (Continued) Specification Function Description QD77MS2 QD77MS4 QD77MS16 QD75MH2 QD75MH4 0: Speed control will not be taken 0: Speed control will not be taken over by position over by position control even control even when the signal set in "[Cd.45] when the external command [Cd.24] Speed-position Speed-position switching device selection"...
  • Page 1001 Appendices Changed functions (Continued) Specification Function Description QD77MS2 QD77MS4 QD77MS16 QD75MH2 QD75MH4 Number of simultaneous starting axes 2 to 4: 2 axes to 4 [Cd.43] Simultaneous New control data No control data axes No control data starting axis Simultaneous starting axis No. 0 to F: Axis 1 to Axis b0 : Axis 1 (Axis 5, Axis 9, Axis 13) Upper limit...

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