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

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Table of Contents

   Also See for Mitsubishi Electric QD77MS

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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 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 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 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 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 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 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 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: Details Of Input Signals (qd77ms Plc Cpu)

    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: Details Of Output Signals (plc Cpu Qd77ms)

    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: Precautions For Wiring

    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.