Mitsubishi MELSEC-Q QD77MS User Manual
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Mitsubishi MELSEC-Q QD77MS User Manual

Simple motion module
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  • Page 2: 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. Refer to the Users manual of the CPU module to use for a description of the PLC system safety precautions.
  • Page 3 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 4 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 5 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 6 CAUTION Some devices used in the program have fixed applications, so use these with the conditions specified in the instruction manual. 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.
  • Page 7 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 8 CAUTION Do not mistake the direction of the surge absorbing diode installed on the DC relay for the control signal output of brake signals, etc. Incorrect installation may lead to signals not being output when trouble occurs or the protective functions not functioning. Servo amplifier Servo amplifier 24VDC...
  • Page 9 (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 10 (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 electromagnetic brakes or install a brake mechanism externally.
  • Page 11 When considering this product for operation in special applications such as machinery or systems used in passenger transportation, medical, aerospace, atomic power, electric power, or submarine repeating applications, please contact your nearest Mitsubishi sales representative. Although this product was manufactured under conditions of strict quality control, you are strongly advised to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the product is likely to cause a serious accident.

  • Page 12: Conditions Of Use For The Product

    PRODUCT in one or more of the Prohibited Applications, provided that the usage of the PRODUCT is limited only for the specific applications agreed to by Mitsubishi and provided further that no special quality assurance or fail-safe, redundant or other safety features which exceed the general specifications of the PRODUCTs are required.

  • Page 13: Introduction

    INTRODUCTION Thank you for purchasing the Mitsubishi 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 14: Revisions

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

  • Page 15: Table Of Contents

    CONTENTS SAFETY PRECAUTIONS..........................A- 1 CONDITIONS OF USE FOR THE PRODUCT .....................A-11 INTRODUCTION............................A-12 REVISIONS ..............................A-13 CONTENTS..............................A-14 COMPLIANCE WITH THE EMC AND LOW VOLTAGE DIRECTIVES............A-21 RELEVANT MANUALS ..........................A-21 MANUAL PAGE ORGANIZATION........................A-23 TERMS ................................A-24 PACKING LIST...............................A-25 Section 1 Product Specifications and Handling 1. Product Outline 1- 1 to 1-30 1.1 Positioning control............................
  • Page 16 3.3.3 Details of output signals (PLC CPU QD77MS)................3-19 3.4 Specifications of interfaces with external devices................... 3-21 3.4.1 Electrical specifications of input signals ................... 3-21 3.4.2 Signal layout for external input signal connector................3-23 3.4.3 List of input signal details ........................3-25 3.4.4 Interface internal circuit ........................
  • Page 17 5.6.2 Axis monitor data..........................5-126 5.7 List of control data..........................5-152 5.7.1 System control data ........................5-152 5.7.2 Axis control data..........................5-160 5.7.3 Expansion axis control data ......................5-192 6. Sequence Program Used for Positioning Control 6- 1 to 6-76 6.1 Precautions for creating program ......................
  • Page 18 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- 5 8.2.1 Outline of the machine OPR operation..................... 8- 5 8.2.2 Machine OPR method........................
  • Page 19 9.2.21 JUMP instruction ........................... 9-126 9.2.22 LOOP............................. 9-128 9.2.23 LEND ............................. 9-130 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 20 12.1.1 Outline of speed-torque control ....................12- 2 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 13. Control Sub Functions 13- 1 to 13-108 13.1 Outline of sub functions ........................
  • Page 21 Appendix 2.1 SSCNET cables ....................Appendix-30 Appendix 2.2 SSCNET cable (SC-J3BUS M-C) manufactured by Mitsubishi Electric System & Service ..............Appendix-34 Appendix 3 Connection with external device ...................Appendix-35 Appendix 3.1 Connector........................Appendix-35 Appendix 3.2 External input signal cable..................Appendix-37 Appendix 3.3 Manual pulse generator (MR-HDP01) ..............Appendix-42 Appendix 4 Comparisons with positioning modules /LD77MH............Appendix-43...

  • Page 22: Compliance With The Emc And Low Voltage Directives

    (1) For programmable controller system To configure a system meeting the requirements of the EMC and Low Voltage Directives when incorporating the Mitsubishi programmable controller (EMC and Low Voltage Directives compliant) into other machinery or equipment, refer to the Safety Guidelines provided with the main base unit. Also, refer to " Example of measure against noise for compliance with the EMC directive"...
  • Page 23 (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 24: Manual Page Organization

    MANUAL PAGE ORGANIZATION The symbols used in this manual are shown below. The following symbols represent the buffer memories supported for each axis. (A serial No. is inserted in the "*" mark.) Symbol Description Reference Symbol that indicates positioning parameter and OPR parameter item. Symbol that indicates positioning data, block start data and condition data item.

  • Page 25: Terms

    TERMS Unless otherwise specified, this manual uses the following terms. Term Description PLC CPU Abbreviation for the MELSEC-Q series PLC CPU module. QCPU Another term for the MELSEC-Q series PLC CPU module. Simple Motion module Abbreviation for the MELSEC-Q series Simple Motion module. QD77MS Another term for the MELSEC-Q series QD77MS Simple Motion module.

  • Page 26: 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 27 MEMO A - 26...

  • Page 28: 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 QD77MS 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 29 MEMO...
  • Page 30 Chapter 1 Product Outline Chapter 1 Product Outline The purpose and outline of positioning control using QD77MS are explained in this chapter. Reading this chapter will help you understand what can be done using the positioning system and which procedure to use for a specific purpose. By understanding "What can be done", and "Which procedure to use"...

  • Page 31: 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 start time High-speed start 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 32 Chapter 1 Product Outline (d) Continuous processing of multiple positioning data Multiple positioning data can be processed continuously within one positioning operation. Continuous positioning control can be executed over multiple blocks, where each block consists of multiple positioning data. This reduces the number of executions of positioning, management of execution status, and others.
  • Page 33 (10) Connection between the QD77MS and servo amplifier with high speed synchronous network by SSCNET (/H) The QD77MS can be directly connected to the Mitsubishi servo amplifiers of MR-J4-B/MR-J3-B series using the SSCNET (/H) . (a) Because the high speed synchronous network by SSCNET (/H) is used to connect the QD77MS and the servo amplifier, or servo amplifiers, saving wiring can be realized.
  • Page 34 Chapter 1 Product Outline (11) Easy application to the absolute position system (a) The MR-J4-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 35: Purpose And Applications Of Positioning Control

    Chapter 1 Product Outline 1.1.2 Purpose and applications of positioning control "Positioning" refers to moving a moving body, such as a workpiece or tool (hereinafter, generically called "workpiece") at a designated speed, and accurately stopping it at the target position. The main application examples are shown below. Punch press (X, Y feed positioning •...
  • Page 36 Chapter 1 Product Outline Lifter • During the aging process, storage onto the Unloader rack is carried out by positioning with the AC Loader/unloader servo. • The up/down positioning of the lifter is carried B conveyor Aging rack out with the 1-axis servo, and the horizontal Lifter position of the aging rack is positioned with the 2-axis servo.

  • Page 37: Mechanism Of Positioning Control

    Chapter 1 Product Outline 1.1.3 Mechanism of positioning control In the positioning system using the QD77MS, various software and devices are used for the following roles. The QD77MS realizes complicated positioning control when it reads in various signals, parameters and data and is controlled with the PLC CPU. Stores the created program.

  • Page 38: 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" and "overview of individual 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 described below.
  • Page 39 Chapter 1 Product Outline (Note) (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 endpoint address.
  • Page 40 Chapter 1 Product Outline (Note) (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 41 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 42 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 QD77MS speed-position switching signal and perform positioning for the specified increment of travel. Specified travel Speed control Position control increment...
  • Page 43 Chapter 1 Product Outline ndividual positioning control and continuous positioning control The QD77MS 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. Up to 600 of positioning data are assigned respectively to positioning data Nos.
  • Page 44 Chapter 1 Product Outline (2) Continuous positioning control (operation pattern = 01: positioning continues) 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 45 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 46 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 47 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 48: Outline Design Of Positioning System

    Chapter 1 Product Outline 1.1.5 Outline design of positioning system The outline of the positioning system operation and design using the QD77MS is shown below. (1) Positioning system using QD77MS Servo QD77MS Servo amplifier motor Positioning command Speed Current Positioning Inverter control control...

  • Page 49: 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 QD77MS and PLC CPU, GX Works2 and servo amplifier, etc., is shown below. (GX Works2 communicates with the QD77MS via the PLC CPU to which it is connected.) (1) QD77MS2/QD77MS4 QD77MS2/QD77MS4...
  • Page 50 Chapter 1 Product Outline (2) QD77MS16 QD77MS16 PLC CPU PLC READY signal QD77 READY signal SSCNET (/H) All axis servo ON signal Operating information of Synchronization flag the servo amplifier Positioning command Servo Control command amplifier Servo parameter External input signal of the servo amplifier External interface...
  • Page 51 Chapter 1 Product Outline QD77MS PLC CPU The QD77MS and PLC CPU communicate the following data. Direction QD77MS PLC CPU PLC CPU QD77MS Communication Signal indicating QD77MS state Signal related to commands • QD77 READY signal • PLC READY signal Control signal •...
  • Page 52 Chapter 1 Product Outline QD77MS Manual pulse generator/Incremental synchronous encoder The QD77MS and manual pulse generator/incremental synchronous encoder communicate the following data via the external input signal connector. Direction QD77MS Manual pulse Manual pulse generator/Incremental generator/Incremental synchronous synchronous encoder QD77MS encoder Communication •...

  • Page 53: Flow Of System Operation

    Chapter 1 Product Outline 1.2 Flow of system operation 1.2.1 Flow of all processes The positioning control processes, using the QD77MS, are shown below. Servo QD77MS GX Works2 PLC CPU amplifiers, etc. Understand the functions and performance, and determine the positioning operation method (system design) Installation, wiring Setting of parameters...
  • Page 54 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 55: Outline Of Starting

    Chapter 1 Product Outline 1.2.2 Outline of starting The outline for starting each control is shown with the following flowchart. It is assumed that each module is installed, and the required system configuration, etc., has been prepared. Flow of starting Installation and connection of module Preparation Setting of hardware...
  • Page 56 Chapter 1 Product Outline Setting method : Indicates the sequence program that must be created. Expansion control Speed-torque control (Continuous operation (Speed control) (Torque control) to torque control) <GX Works2> Write Set with Simple Motion Module Setting Tool Set the parameter and data for executing main function, and the sub functions that need to be set beforehand.

  • Page 57: 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 QD77MS.
  • Page 58 Chapter 1 Product Outline Axis Stop process operation OPR control Manual control M code status Stop Major High-level Manual Stop cause ON signal after Machine Fast JOG/ axis positioning positioning pulse after stop stopping Inching control control generator control control operation Md.26 operation...

  • Page 59: 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".
  • Page 60 Chapter 2 System Configuration Chapter 2 System Configuration In this chapter, the general image of the system configuration of the positioning control using QD77MS, 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. 2.1 General image of system ..................2- 2 2.2 Component list ......................2- 3 2.3 Applicable system ....................2- 5...

  • Page 61: 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 Intelligent function Power supply module CPU module module QD77MS...

  • Page 62: Component List

    Refer to the "GX Works2 Version1 Operating Manual (Common)" for details. (Prepared by user) Servo amplifier – Manual pulse (Prepared by user) – Recommended: MR-HDP01 (Mitsubishi Electric) generator (Prepared by user) SSCNET Cables are needed to connect the QD77MS with the servo amplifier, or – (Note-2) cable between servo amplifiers.
  • Page 63 Chapter 2 System Configuration [External input signal connector] Part name Specification Applicable connector A6CON1, A6CON2, A6CON3, A6CON4 (Sold separately) 0.3mm (When A6CON1 and A6CON4 are used), AWG24 to AWG28 (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 64: 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 65 Chapter 2 System Configuration (b) Mounting to a MELSECNET/H remote I/O station (Note-2) Base unit No. of modules Applicable Main base unit of Extension base unit of (Note-1) network module remote I/O station remote I/O station QJ72LP25-25 Max. 64 modules QJ72LP25G QJ72BR15 : Installation possible,...

  • Page 66: How To Check The Function Version And Serial No

    80M1 IND. CONT.EQ. US LISTED M ADE I N JAPAN MITSUBISHI ELECTRIC CORPORATION See Q D 77M S16 I nst r uct i on m anual . DATE: 2011- 12 KCC- REI - M EK- TC510A796051 (2) Checking on the front of the module The serial No.
  • Page 67 Chapter 2 System Configuration (3) Confirming by the software Check the function version and SERIAL No. in "Product Information" displayed on System monitor "Product Information List" of GX Works2. (a) Check on System monitor (Product Information List). 2 - 8...
  • Page 68 Chapter 3 Specifications and Functions Chapter 3 Specifications and Functions The various specifications of the QD77MS are explained in this chapter. The "General specifications", "Performance specifications", "List of functions", "Specifications of input/output signals with PLC CPU", and the "Specifications of input/output interfaces with external devices", etc., are described as information required when designing the positioning system.

  • Page 69: 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 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 system...
  • Page 70 (015: 0.15m (0.49ft.), 03: 0.3m (0.98ft.), 05: 0.5m (1.64ft.), 1: 1m (3.28ft.), 3: 3m (9.84ft.), 5: 5m (16.40ft.), 10: 10m (32.81ft.), 20: 20m (65.62ft.), 30: 30m (98.43ft.), 40: 40m (131.23ft.), 50: 50m (164.04ft.) ) (Note-5): For the cable of less than 30[m](98.43[ft.]), contact your nearest Mitsubishi sales representative. 3 - 3...

  • Page 71: List Of Functions

    Chapter 3 Specifications and Functions 3.2 List of functions 3.2.1 QD77MS control functions The QD77MS has several functions. In this manual, the QD77MS 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, and carries out positioning toward that start point (Machine OPR).
  • Page 72 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 QD77MS for "parameter initialization" or "backup of execution data"...
  • Page 73 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" Major positioning control Backlash compensation function...

  • Page 74: 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 QD77MS is described below. (Refer to "Section 2" for details on each function.) Reference Main functions Details section Mechanically establishes the positioning start point using Machine OPR control a near-point dog.
  • Page 75 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 76: Qd77Ms Sub Functions

    Chapter 3 Specifications and Functions 3.2.3 QD77MS sub functions The functions that assist positioning control using the QD77MS are 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 OPR.
  • Page 77 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 78: Qd77Ms Common Functions

    Chapter 3 Specifications and Functions 3.2.4 QD77MS common functions The outline of the functions executed as necessary are described below. (Refer to "Section 2" for details on each function.) Reference Common functions Details section This function returns the "parameters" stored in the QD77MS buffer memory/internal memory and flash ROM/internal memory (nonvolatile) to the default values.

  • Page 79: 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 QD77MS, 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 80 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 - 13...

  • Page 81: 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 QD77MS 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 QD77MS is set to "0H" are shown below.
  • Page 82 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 QD77 READY PLC READY Synchronization flag All axis servo ON Use prohibited Use prohibited Axis 1 Axis 1 Axis 2 Axis 2...
  • Page 83 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 QD77 READY PLC READY Synchronization flag All axis servo ON Use prohibited Use prohibited Axis 1 Axis 1 Axis 2 Axis 2...

  • Page 84: 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 QD77 READY ON: READY • When the PLC READY signal [Y0] turns from OFF to ON, the parameter setting range is checked.
  • Page 85 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 86: 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 QD77MS that the PLC CPU is normal. PLC READY OFF •...
  • Page 87 Chapter 3 Specifications and Functions (2) QD77MS16 Device No. Signal name Details PLC READY OFF: (a) This signal notifies the QD77MS that the PLC CPU is normal. PLC READY OFF • It is turned ON/OFF with the sequence program. • The PLC READY signal is turned ON during positioning control, PLC READY ON OPR control, JOG operation, inching operation, manual pulse generator operation and speed-torque control etc.

  • Page 88: 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 89 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 90: Signal Layout For External Input Signal Connector

    Chapter 3 Specifications and Functions 3.4.2 Signal layout for external input signal connector The specifications of the connector section, which is the input/output interface for the QD77MS and external device, are shown below. QD77MS2 QD77MS4 QD77MS16 ERR. ERR. ERR. QD77MS4 QD77MS16 QD77MS2 3 - 23...
  • Page 91 Chapter 3 Specifications and Functions The signal layout for the QD77MS external input signal connector 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 92: List Of Input Signal Details

    Chapter 3 Specifications and Functions 3.4.3 List of input signal details The details of each QD77MS external input signal connector are shown below. Signal name Pin No. Signal details 1A17 (HAH) (1) Phase A/Phase B Manual pulse • Input the pulse signal from the manual pulse generator/incremental generator/Incremental synchronous encoder A phase and B phase.
  • Page 93 Chapter 3 Specifications and Functions Signal name Pin No. Signal details 1A17 Manual pulse (HAH) (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 94 Chapter 3 Specifications and Functions Signal name Pin No. Signal details Compatibility with the QD75MH 1A20 • Power supply for manual pulse generator MR-HDP01. (+ 5VDC) Manual pulse generator power supply output 1A19 (This power supply is used with the external input signal cable of QD75MH.) (+ 5VDC) (5V) •...

  • Page 95: Interface Internal Circuit

    Chapter 3 Specifications and Functions 3.4.4 Interface internal circuit The outline diagrams of the internal circuits for the QD77MS external device connection interface are shown below. (1) Interface between external input signals/forced stop input signals Input or Signal name Pin No. Wiring example Internal circuit Description...
  • Page 96 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 Specification Description Output For connection manual Rated input voltage Manual pulse generator/ 1A17...

  • Page 97: External Circuit Design

    Chapter 3 Specifications and Functions 3.5 External circuit design Configure up the power supply circuit and main circuit which turn off the power supply after detection alarm occurrence and servo forced stop. When designing the main circuit of the power supply, make sure to use a circuit breaker (MCCB). The outline diagrams of the internal circuits for the external device connection interface are shown below.
  • Page 98 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 use forced stop signal of the servo amplifier.
  • Page 99 Chapter 3 Specifications and Functions (2) 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 100-240VAC...
  • Page 100 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 rotary axis setting switch of servo amplifier as follows to set the axis No.
  • Page 101 Chapter 3 Specifications and Functions MEMO 3 - 34...
  • Page 102 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 QD77MS are explained in this chapter. Important information such as precautions to prevent malfunctioning of the QD77MS, accidents and injuries as well as the proper work methods are described.

  • Page 103: Outline Of Installation, Wiring And Maintenance

    Chapter 4 Installation, Wiring and Maintenance of the Product 4.1 Outline of installation, wiring and maintenance 4.1.1 Installation, wiring and maintenance procedures The outline and procedures for QD77MS installation, wiring and maintenance are shown below. Start Module mounting Refer to Section 4.2 "Installation". Mount the QD77MS to the base unit.

  • Page 104: 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 QD77MS 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 105 Chapter 4 Installation, Wiring and Maintenance of the Product (2) The LED display indicates the following operation statuses of the QD77MS and axes. QD77MS2 QD77MS4 QD77MS16 QD77MS2 QD77MS4 QD77MS16 ERR. ERR. ERR. LED Display Description QD77MS2 QD77MS4 QD77MS16 Hardware failure, RUN LED is OFF.

  • Page 106: Handling Precautions

    Chapter 4 Installation, Wiring and Maintenance of the Product 4.1.3 Handling precautions Handle the QD77MS 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 107 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 QD77MS PCB from the case. Failure to observe this could lead to faults.

  • Page 108: Installation

    Chapter 4 Installation, Wiring and Maintenance of the Product 4.2 Installation 4.2.1 Precautions for installation The precautions for installing the QD77MS 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 109: Wiring

    Chapter 4 Installation, Wiring and Maintenance of the Product 4.3 Wiring The precautions for wiring the QD77MS 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 110 Chapter 4 Installation, Wiring and Maintenance of the Product CAUTION Forcibly removal the SSCNET cable from the QD77MS will damage the QD77MS and SSCNET cables. After removal of the SSCNET cable, be sure to put a cap on the SSCNET connector.
  • Page 111 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 112 Chapter 4 Installation, Wiring and Maintenance of the Product [1] Precautions for wiring (1) Use separate cables for connecting to the QD77MS and for the power cable that create surge and inductance. (2) The cable for connecting QD77MS can be placed in the duct or secured in place by clamps.
  • Page 113 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 114 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 115 (6) To make this product conform to the EMC directive instruction and Low Voltage Directives, be sure to used of a AD75CK type cable clamp (manufactured by Mitsubishi Electric) for grounding connected to the control box and the shielded cable.
  • Page 116 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 117 Chapter 4 Installation, Wiring and Maintenance of the Product (4) Twisting If the SSCNET cable is twisted, it will become the same stress added condition as when local lateral pressure or bend is added. Consequently, transmission loss increases, and the breakage of SSCNET cable may occur at worst.
  • Page 118 Chapter 4 Installation, Wiring and Maintenance of the Product • Bundle fixing 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.
  • Page 119 Chapter 4 Installation, Wiring and Maintenance of the Product [3] Example of measure against noise for compliance with the EMC directive. PLC CPU Control panel: EC-SCF25-78 Power supply wiring Power (Nitto Kogyo Corporation) QD77MS supply Q62P PO W ER INPUT 100-240VAC 50/60Hz 105VA OUTPUT 5VDC 3A/24VDC 0.6A...

  • Page 120: 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 QD77MS installation and wiring. • Is the module correctly wired? The following four points are confirmed using the positioning test function of GX Works2.

  • Page 121: Maintenance

    When considering this product for operation in special applications such as machinery or systems used in passenger transportation, medical, aerospace, atomic power, electric power, or submarine repeating applications, please contact your nearest Mitsubishi sales representative. Although this product was manufactured under conditions of strict quality control, you are strongly advised to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the product is likely to cause a serious accident.
  • Page 122 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 QD77MS are explained in this chapter. With the positioning system using the QD77MS, the various parameters and data explained in this chapter are used for control.

  • Page 123: 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 QD77MS include the "setting data", "monitor data" and "control data" shown below. Setting data (Data set beforehand according to the machine and application, and stored in the flash ROM or internal memory (nonvolatile).) Positioning...
  • Page 124 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 125 Chapter 5 Data Used for Positioning Control Monitor data (Data that indicates the control state. Stored in the buffer memory, and monitors as necessary.) System monitor data Monitors the QD77MS specifications and the operation history. Monitors the data related to the operating axis, such as the current position Axis monitor data and speed.

  • Page 126: 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. Setting of positioning parameters is similarly done for individual axes for all controls achieved by the QD77MS. For details of controls, refer to "Section 2".
  • Page 127 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 128: 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 commonly for each axis. Refer to Chapter 8 "OPR control"...

  • Page 129: 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 commonly for each axis. Refer to "Section 2" for details on the each control, and refer to Section 5.2 "List of parameters"...

  • Page 130: 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 131 Chapter 5 Data Used for Positioning Control Major positioning control Position control Other control Positioning data Axis to be interpolated 1 : 2 axes, 3 axes, 4 axes –: 1 axis – – – – – – – Da.20 QD77MS16 Axis to be interpolated 2 : 3 axes, 4 axes –: 1 axis, 2 axes –...

  • Page 132: 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 133: 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 134: 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 135 Chapter 5 Data Used for Positioning Control Monitoring details Corresponding item Number of write accesses to the flash Md.19 Number of write accesses to flash ROM Number of write accesses to flash ROM ROM after the power is switched ON Forced stop input signal Forced stop input signal (EMI) Md.50...
  • Page 136 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 137 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 Real current value Md.101 counter). Monitor the difference between current feed value and real current Md.102 Deviation counter value value.
  • Page 138 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 Reverse torque limit stored value Md.120 Monitor the command torque at torque control mode or continuous Md.123...

  • Page 139: 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.) Controls are performed over system data or machine operation.
  • Page 140 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 Md.23 Md.24 Clear (reset) the axis error ( ) and warning ( Axis error reset Cd.6 Issue instruction to restart (When axis operation is stopped).
  • Page 141 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 Cd.14 Issue instruction to change speed in operation to value. Cd.15 Speed change request (Only during positioning operation and JOG operation).
  • Page 142 Chapter 5 Data Used for Positioning Control Control details Corresponding item Set the stop command processing for deceleration stop function Stop command processing for Cd.42 (deceleration curve re-processing/deceleration curve continuation) deceleration stop selection Cd.45 Set the device used for speed-position switching. Speed-position switching device selection Cd.46 Switch speed-position control.

  • Page 143: List Of Parameters

    Chapter 5 Data Used for Positioning Control 5.2 List of parameters The setting items of the positioning parameter, OPR parameter or servo parameter 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 144 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 145 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-J3(W)-B set the value given as the "resolution per servomotor rotation" in the speed/position detector specifications.

  • Page 146: Basic Parameters 2

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

  • Page 147: Detailed Parameters 1

    Chapter 5 Data Used for Positioning Control 5.2.3 Detailed parameters 1 Setting value buffer memory Setting value, setting range address Item Default value Value set with sequence QD77MS2 Value set with GX Works2 QD77MS16 program QD77MS4 Pr.11 17+150n Backlash compensation amount Pr.12 Pr.1...
  • Page 148 Chapter 5 Data Used for Positioning Control Setting value buffer memory Setting value, setting range address Item Default value Value set with sequence QD77MS2 Value set with GX Works2 QD77MS16 program QD77MS4 b0 Lower limit b1 Upper limit b2 Not used b3 Stop signal External command/...
  • Page 149 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.
  • Page 150 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 ( μ m) μ m) 0 : mm 0 to 65535 ( × 10 1 : inch 0 to 0.65535 (inch) inch)
  • Page 151 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 152 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 153 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 154 Chapter 5 Data Used for Positioning Control Pr.21 Current feed value during speed control Md.20 Specify whether you wish to enable or disable the update of " Current feed value" while operations are performed under the speed control (including the speed-position and position-speed switching control).
  • Page 155 Chapter 5 Data Used for Positioning Control Pr.80 External input signal selection Set whether to use "external input signal of QD77MS", "external input signal of servo amplifier", or "buffer memory of QD77MS" as "external input signal (upper/lower limit signal, near-point dog signal)". 0: External input signal of QD77MS QD77MS2 QD77MS4...
  • Page 156 Chapter 5 Data Used for Positioning Control (b) A-phase/B-phase multiplied by 2 The positioning address increases or decreases at twice rising or twice falling edges of A-phase/B-phase. Input signal logic selection Pr.22 Positive logic Negative logic Forward run Reverse run Forward run Reverse run A-phase...
  • Page 157 Chapter 5 Data Used for Positioning Control (2) PLS/SIGN Input signal logic selection Pr.22 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 158: Detailed Parameters 2

    Chapter 5 Data Used for Positioning Control 5.2.4 Detailed parameters 2 Setting value buffer memory Setting value, setting range Default address Item value Value set with sequence QD77MS2 Value set with GX Works2 QD77MS16 program QD77MS4 36+150n Pr.25 Acceleration time 1 37+150n 38+150n Pr.26...
  • Page 159 Chapter 5 Data Used for Positioning Control Setting value buffer memory Setting value, setting range Default address Item value Value set with sequence QD77MS2 Value set with GX Works2 QD77MS16 program QD77MS4 Pr.41 The setting value range differs depending on the " Pr.1 Unit 60+150n...
  • Page 160 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 " Speed limit Pr.8 " (" " at JOG operation control) to zero during a value JOG speed limit value Pr.31...
  • Page 161 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 162 Chapter 5 Data Used for Positioning Control Pr.36 Sudden stop deceleration time Pr.8 Set the time to reach speed 0 from " Speed limit value" (" JOG speed Pr.31 " at JOG operation control) during the sudden stop. The illustration below limit value shows the relationships with other parameters.
  • Page 163 Chapter 5 Data Used for Positioning Control Pr.40 Positioning complete signal output time Set the output time of the positioning complete signal output from the QD77MS. A positioning completes when the specified dwell time has passed after the QD77MS 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.
  • Page 164 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 165 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 166 Chapter 5 Data Used for Positioning Control Pr.84 Restart allowable range when servo OFF to ON (1) What is the restart function when servo OFF to ON ? The QD77MS restart function when servo OFF changes to ON, performs continuous positioning operation (positioning start, restart) when the servo is switched from OFF to ON in the stopped state (including QD77MS's forced stop, servo forced stop).
  • Page 167 Chapter 5 Data Used for Positioning Control (2) Setting method When performing restart at the time servo OFF changes to ON, set the restart allowable range in the following buffer memory. Setting value buffer memory address Default value Item Setting range QD77MS2 QD77MS16 QD77MS4...
  • Page 168 Chapter 5 Data Used for Positioning Control (g) Restart can also be executed while the positioning starts signal is ON. However do not set the positioning start signal from OFF to ON while stopped. If the positioning start signal switches ON from OFF, positioning is performed from the positioning data number set in "...
  • Page 169 Chapter 5 Data Used for Positioning Control Operation setting for speed-torque control mode Pr.90 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 170: Opr Basic Parameters

    Chapter 5 Data Used for Positioning Control External command signal selection Pr.95 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 171 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 172 Chapter 5 Data Used for Positioning Control OPR method 0 : Near-point dog method (1) Start machine OPR. Pr.46 (Start movement at the " OPR speed" in the Pr.44 " OPR direction".) (2) Detect the near-point dog ON, and start deceleration. OPR speed Pr.46 Pr.47...
  • Page 173 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 OPR speed Pr.46 Pr.50 Pr.44 " OPR direction".) Setting for the movement amount after near-poing dog ON (2) Detect the near-point dog ON, and start deceleration.
  • Page 174 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 175 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 Pr.45 Pr.45 address set in " OP address".
  • Page 176 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 Pr.47 OPR speed ) Creep speed)
  • Page 177 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 178: Opr Detailed Parameters

    Chapter 5 Data Used for Positioning Control 5.2.6 OPR detailed parameters Setting value buffer memory Setting value, setting range Default address Item value Value set with sequence QD77MS2 Value set with GX Works2 QD77MS16 program QD77MS4 Pr.50 The setting value range differs depending on the " Pr.1 Unit 80+150n...
  • Page 179 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 180 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. Pr.10 0 : Use the value set in " Deceleration time 0". Pr.28 1 : Use the value set in "...
  • Page 181 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 182 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 " OP shift Pr.53 Pr.46 Pr.47 amount". Select the setting from " OPR speed" or " Creep speed".

  • Page 183: Expansion Parameters

    Chapter 5 Data Used for Positioning Control 5.2.7 Expansion parameters Setting value buffer memory Setting value, setting range Default address Item value Value set with sequence QD77MS2 Value set with GX Works2 QD77MS16 program QD77MS4 0 : No setting Pr.91 1 : Effective load ratio 100+150n Optional data monitor:...
  • Page 184 Chapter 5 Data Used for Positioning Control Optional data monitor: Data type setting 1 to Optional data Pr.91 Pr.94 monitor: Data type setting 4 Set the data type monitored in optional data monitor function. Setting value Data type Used point (Note) No setting Effective load ratio...
  • Page 185 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 " Optional data monitor: Data Pr.91 "...
  • Page 186 Chapter 5 Data Used for Positioning Control Operation cycle setting QD77MS16 Pr.96 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 QD77MS16 is valid at power supply ON or PLC CPU reset.

  • Page 187: Servo Parameters

    Chapter 5 Data Used for Positioning Control 5.2.8 Servo parameters (1) Servo series Setting value buffer Default memory address Item Setting details Setting range value QD77MS2 QD77MS16 QD77MS4 0: Servo series is not set 1: MR-J3- B MR-J3W- B (2-axis type) Used to select the servo amplifier series, 3: MR-J3- B-RJ006 which is connected to the QD77MS.
  • Page 188 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 189 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 190 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 191 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 192 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 193 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 194 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 195 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 the "Servo amplifier Instruction Manual" for details of setting items. Do not change other than the buffer memory addresses of the parameters described in "Servo amplifier Instruction Manual".
  • Page 196 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 197 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 198 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 199 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 200: 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 Da.10 Da.20 Da.22 the configuration of the positioning data will be shown below. The positioning data stored in the QD77MS buffer memory has the following type of configuration.
  • Page 201 Chapter 5 Data Used for Positioning Control The descriptions that follow relate to the positioning data set items Da.1 Da.10 Da.20 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 202 Chapter 5 Data Used for Positioning Control Setting value buffer memory Setting value Default address Item value QD77MS2 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 ABS1 : 1-axis linear control (ABS)
  • Page 203 Chapter 5 Data Used for Positioning Control Setting value buffer memory Setting value, setting range Default address Item value Value set with sequence QD77MS2 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...
  • Page 204 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 205 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. Pr.10 0 : Use the value set in " Deceleration time 0". Pr.28 1 : Use the value set in "...
  • Page 206 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 207 Chapter 5 Data Used for Positioning Control Pr.1 When " Unit Setting" is "mm" The table below lists the control systems that require the setting of the positioning address or movement amount and the associated setting ranges. (With any control system 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 208 Chapter 5 Data Used for Positioning Control Pr.1 When " Unit Setting" is "degree" The table below lists the control systems that require the setting of the positioning address or movement amount and the associated setting ranges. (With any control system 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 209 Chapter 5 Data Used for Positioning Control Pr.1 When " Unit Setting" is "PLS" The table below lists the control systems that require the setting of the positioning address or movement amount and the associated setting ranges. (With any control system 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 210 Chapter 5 Data Used for Positioning Control Pr.1 When " Unit Setting" is "inch" The table below lists the control systems that require the setting of the positioning address or movement amount and the associated setting ranges. (With any control system 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 211 Chapter 5 Data Used for Positioning Control Pr.1 When " Unit Setting" is "mm" The table below lists the control systems that require the setting of the arc address and shows the setting range. (With any control system 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 212 Chapter 5 Data Used for Positioning Control Pr.1 When " Unit Setting" is "inch" The table below lists the control systems that require the setting of the arc address and shows the setting range. (With any control system 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 213 Chapter 5 Data Used for Positioning Control Da.9 Dwell time/JUMP designation positioning data No. Da.2 Set the "dwell time" or "positioning data No." corresponding to the " Control system". Da.2 • When a method other than "JUMP instruction " is set for " Control system"...
  • Page 214 Chapter 5 Data Used for Positioning Control Da.10 M code (or condition data No./Number of LOOP to LEND repetitions) Set an "M code", a "condition data No.", or the "Number of LOOP to LEND Da.2 repetitions" depending on how the " Control system"...
  • Page 215 Chapter 5 Data Used for Positioning Control Axis to be interpolated No.1 to Axis to be interpolated No.3 Da.20 Da.22 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 " Axis to be Da.20 ".

  • Page 216: 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 Da.11 Da.14 QD77MS buffer memory. The block start data setting items explained in the pages that follow. •...
  • Page 217 Chapter 5 Data Used for Positioning Control The pages that follow explain the block start data setting items Da.11 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 218 Chapter 5 Data Used for Positioning Control REMARK To perform an high-level positioning control using block start data, set a number Cd.3 between 7000 and 7004 to the " 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 219 Chapter 5 Data Used for Positioning Control • QD77MS4 Block Axis Block start data Condition Buffer memory GX Works2 Axis 1 Condition data (1 to 10) Axis 2 Condition data (1 to 10) 7000 Start block 0 Axis 3 Condition data (1 to 10) Axis 4 Condition data (1 to 10) Axis 1...
  • Page 220 Chapter 5 Data Used for Positioning Control Setting value buffer memory Setting value Default address Item value QD77MS2 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...
  • Page 221 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 222: 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 QD77MS buffer memory. The condition data setting items Da.15 Da.19 Da.23 are explained in the pages that follow. Da.26 •...
  • Page 223 Chapter 5 Data Used for Positioning Control The pages that follow explain the condition data setting items Da.15 Da.19 Da.23 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 224 Chapter 5 Data Used for Positioning Control REMARK To perform an high-level positioning control using block start data, set a number Cd.3 between 7000 and 7004 to the " 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 225 Chapter 5 Data Used for Positioning Control • QD77MS4 Block Axis Block start data Condition Buffer memory GX Works2 Axis 1 Condition data (1 to 10) Axis 2 Condition data (1 to 10) 7000 Start block 0 Axis 3 Condition data (1 to 10) Axis 4 Condition data (1 to 10) Axis 1...
  • Page 226 Chapter 5 Data Used for Positioning Control Setting value buffer memory Setting value Default address Item value QD77MS2 Value set with GX Works2 Value set with sequence program QD77MS16 QD77MS4 01 : Device X 02 : Device Y Da.15 Condition target 03 : Buffer memory (1-word) Condition target...
  • Page 227 Chapter 5 Data Used for Positioning Control Setting value buffer memory Setting value Default address Item value QD77MS2 Value set with GX Works2 Value set with sequence program QD77MS16 QD77MS4 2: 2 axes Number Da.23 of simultaneously 3: 3 axes starting axes 4: 4 axes QD77MS16...
  • Page 228 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.
  • Page 229 Chapter 5 Data Used for Positioning Control Da.18 Parameter 1 • QD77MS2/QD77MS4 Set the parameters as required for the " Condition operator". Da.16 Setting value Setting details Condition operator Da.16 01H : ∗∗ =P1 02H : ∗∗ ≠ P1 The value of P1 should be equal to or smaller than the value of 03H : ∗∗≤...
  • Page 230 Chapter 5 Data Used for Positioning Control Da.19 Parameter 2 • QD77MS2/QD77MS4 Set the parameters as required for the " Condition operator". Da.16 Setting value Setting details Condition operator Da.16 01H : ∗∗ =P1 02H : ∗∗ ≠ P1 — Not used.
  • Page 231 Chapter 5 Data Used for Positioning Control Number of simultaneously starting axes QD77MS16 Da.23 Set the number of simultaneously starting axes to execute the simultaneous start. 2: Simultaneous start by 2 axes of the starting axis and axis set in " Da.24 ".
  • Page 232 Chapter 5 Data Used for Positioning Control MEMO 5 - 111...

  • Page 233: 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 234 Chapter 5 Data Used for Positioning Control Storage 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 - 113...
  • Page 235 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 236 Chapter 5 Data Used for Positioning Control Storage 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 237 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 0 0 0 1 0 0 0 0 0 0 0 1 1 0 Year: month...
  • Page 238 Chapter 5 Data Used for Positioning Control Storage buffer memory address (common for all axes) Default value QD77MS2/QD77MS4 QD77MS16 QD77MS2/QD77MS4 Md.8 1292 Start history pointer 0000H Indicates a pointer No. that is next to the Pointer No. assigned to the latest of the existing starting history records. Pointer No.
  • Page 239 Chapter 5 Data Used for Positioning Control Storage item Storage details Reading the monitor value Monitoring is carried out with a decimal display. Stores a number (Axis No.) that Monitor Storage value Md.9 indicates the axis that value 1: Axis 1 5: Axis 5 9: Axis 9 13 : Axis 13...
  • Page 240 Chapter 5 Data Used for Positioning Control Storage buffer memory address (common for all axes) Default value QD77MS2/QD77MS4 QD77MS16 QD77MS2/QD77MS4 Md.13 1357 Error history pointer Indicates a pointer No. that is next to the Pointer No. assigned to the latest of the existing error history records. Pointer No.
  • Page 241 Chapter 5 Data Used for Positioning Control Storage item Storage details Reading the monitor value Monitoring is carried out with a decimal display. Stores a number (Axis No.) that Monitor Storage value Md.14 indicates the axis that value 1: Axis 1 5: Axis 5 9: Axis 9 13 : Axis 13...
  • Page 242 Chapter 5 Data Used for Positioning Control Storage 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 243 Chapter 5 Data Used for Positioning Control Storage item Storage details Reading the monitor value Stores the number of write accesses to the flash ROM after the power is switched ON. Md.19 The count is cleared to "0" Monitoring is carried out with a decimal display. when the number of write Storage value Number of write...
  • Page 244 Chapter 5 Data Used for Positioning Control Storage 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 245 Chapter 5 Data Used for Positioning Control Storage item Storage details Reading the monitor value Stores the current operation Md.132 Monitoring is carried out with a decimal display. cycle. Operation cycle Monitor Storage value setting value 0 : 0.88ms Refresh cycle: At power supply 1 : 1.77ms QD77MS16 Monitoring is carried out with a decimal display.
  • Page 246 Chapter 5 Data Used for Positioning Control Storage buffer memory address (common for all axes) Default value QD77MS2/QD77MS4 QD77MS16 4238 4239 1208 4008 1209 4009 5 - 125...

  • Page 247: 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 248 Chapter 5 Data Used for Positioning Control Storage buffer Default memory address Reading the monitor value value QD77MS2 QD77MS16 QD77MS4 800+100n 2400+100n Monitoring is carried out with a hexadecimal. 0000H 801+100n 2401+100n 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 249 Chapter 5 Data Used for Positioning Control Storage item Storage details Whenever an axis warning is reported, a related warning code is stored. • This area stores the latest warning code always. (Whenever an axis warning is reported, a new warning code replaces the stored warning code.) Md.24 Axis warning No.
  • Page 250 Chapter 5 Data Used for Positioning Control Storage buffer Default memory address Reading the monitor value value QD77MS2 QD77MS16 QD77MS4 Monitoring is carried out with a decimal display. Monitor Warning No. 807+100n 2407+100n value For details of warning Nos. (warning codes), refer to Section 16.6 "List of warnings".
  • Page 251 Chapter 5 Data Used for Positioning Control Storage item Storage details • The speed which is actually output as a command at that time in each axis is stored. (May be different from the actual motor speed) "0" is stored when the axis is at a stop. Md.28 Axis feedrate Refresh cycle: Operation cycle...
  • Page 252 Chapter 5 Data Used for Positioning Control Storage buffer Default memory address Reading the monitor value value QD77MS2 QD77MS16 QD77MS4 Monitoring is carried out with a hexadecimal. Low-order buffer memory Example) 812 Monitor value High-order buffer memory Example) 813 812+100n 2412+100n 0000H 813+100n...
  • Page 253 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 254 Chapter 5 Data Used for Positioning Control Storage buffer Default memory address 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 255 Chapter 5 Data Used for Positioning Control Storage item Storage details Da.6 This area stores the target value ( Positioning address/movement amount) for a positioning operation. • At the beginning of positioning control and current value changing: Da.6 Stores the value of " Positioning address/movement amount".
  • Page 256 Chapter 5 Data Used for Positioning Control Storage buffer Default memory address 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 257 Chapter 5 Data Used for Positioning Control Storage item Storage details Torque limit setting value", " Cd.101 Torque output setting value" or Pr.17 The" Cd.22 " New torque value/forward new torque value", " OPR torque limit Pr.54 value" is stored. •...
  • Page 258 Chapter 5 Data Used for Positioning Control Storage buffer Default memory address 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 259 Chapter 5 Data Used for Positioning Control Storage item Storage details • Pr.8 If the speed exceeds the " Speed limit value" (" " JOG speed limit value Pr.31 at JOG operation control) due to a speed change or override, the speed limit functions, and the in speed limit flag turns ON.
  • Page 260 Chapter 5 Data Used for Positioning Control Storage buffer Default memory address 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 261 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. •...
  • Page 262 Chapter 5 Data Used for Positioning Control Storage buffer Default memory address 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...
  • Page 263 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. For setting units OPR re-travel value Md.100 Example) mm (Buffer memory 0.1) µm Refresh cycle: Immediate...
  • Page 264 Chapter 5 Data Used for Positioning Control Storage buffer Default memory address Reading the monitor value value QD77MS2 QD77MS16 QD77MS4 Monitoring is carried out with a hexadecimal display. Low-order buffer memory Example) 848 Monitor value 848+100n 2448+100n 0000H 849+100n 2449+100n High-order buffer memory Example) 849 Sorting 850+100n...
  • Page 265 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 " " (axis control data) is set to ON after remove the Axis error reset Cd.5 Parameter error No.
  • Page 266 Chapter 5 Data Used for Positioning Control Storage buffer Default memory address 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 267 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 268 Chapter 5 Data Used for Positioning Control Storage buffer Default memory address 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.
  • Page 269 Chapter 5 Data Used for Positioning Control Storage item Storage details • The option information of encoder is indicated. (This information differs by the connected servo amplifier. Refer to the "Servo amplifier Instruction Manual" for details of storage item.) Encoder option information Md.116 Refresh cycle: Servo amplifier's power supply ON Pr.17...
  • Page 270 Chapter 5 Data Used for Positioning Control Storage buffer Default memory address 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 0000H...
  • Page 271 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 Speed during command Md.122 torque control mode.
  • Page 272 Chapter 5 Data Used for Positioning Control Storage buffer Default memory address 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 mm/min inch/min...

  • Page 273: 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 274 Chapter 5 Data Used for Positioning Control Storage buffer memory address Default Setting value (common for all axes) value QD77MS2 QD77MS16 QD77MS4 Set with a decimal. Setting value Flash ROM write request 1900 5900 1: Requests write access to flash ROM. The QD77MS resets the value to "0"...
  • Page 275 Chapter 5 Data Used for Positioning Control Setting item Setting details • Set whether " Deceleration start flag" is made valid or invalid. Md.48 Fetch cycle: At PLC READY ON Deceleration start flag valid Cd.41 POINT The " Deceleration start flag valid" become valid when the PLC READY Cd.41 signal [Y0] turns from OFF to ON.
  • Page 276 Chapter 5 Data Used for Positioning Control Storage buffer memory address Default Setting value (common for all axes) 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 277 Chapter 5 Data Used for Positioning Control Setting item Setting details • Operate the external input signal status (Upper/lower limit signal, near-point dog signal, stop signal) of QD77MS when "2" is set in " External input signal Pr.80 External input signal operation Cd.44 ".
  • Page 278 Chapter 5 Data Used for Positioning Control Storage buffer memory address Default Setting value (common for all axes) 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 279 Chapter 5 Data Used for Positioning Control Setting item Setting details • Requests setting the initial value of QD75MH in setting data. Refer to Section 14.13 for initialized setting data. Initial value setting request of Cd.47 Fetch cycle: 103[ms] QD75MH Note: After completing the initialization of setting data, switch the power ON or reset the PLC CPU.
  • Page 280 Chapter 5 Data Used for Positioning Control Storage buffer memory address Default Setting value (common for all axes) value QD77MS2 QD77MS16 QD77MS4 Set with a decimal. Setting value 1909 5909 Initial value setting request of QD75MH 1: Requests QD75MH initial value setting. The QD77MS resets the value to "0"...

  • Page 281: 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.
  • Page 282 Chapter 5 Data Used for Positioning Control Storage buffer Default memory address 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...
  • Page 283 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 284 Chapter 5 Data Used for Positioning Control Storage buffer Default memory address 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 QD77MS automatically. (Indicates that the OFF request is completed.) Set with a decimal.
  • Page 285 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 during speed change, enable/disable selection Fetch cycle: At change request • To use the positioning operation speed override function, use this data item to specify an "override"...
  • Page 286 Chapter 5 Data Used for Positioning Control Storage buffer Default memory address Setting value value QD77MS2 QD77MS16 QD77MS4 Set with a decimal. Setting value 1512+100n 4312+100n Acceleration/deceleration time change during speed change, enable/disable selection : Enables modifications to acceleration/deceleration time Other than 1: Disables modifications to acceleration/deceleration time Set with a decimal.
  • Page 287 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...
  • Page 288 Chapter 5 Data Used for Positioning Control Storage buffer Default memory address 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...
  • Page 289 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. Cd.19 OPR request flag OFF Fetch cycle: 14.2[ms] request POINT This parameter is made valid when the increment system is valid.
  • Page 290 Chapter 5 Data Used for Positioning Control Storage buffer Default memory address 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 QD77MS resets the value to "0"...
  • Page 291 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 292 Chapter 5 Data Used for Positioning Control Storage buffer Default memory address 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 293 Chapter 5 Data Used for Positioning Control Setting item Setting details • Set whether the switching signal set in " Speed-position switching device Cd.45 " is enabled or not. selection Cd.26 Position-speed switching enable flag Fetch cycle: At switching request •...
  • Page 294 Chapter 5 Data Used for Positioning Control Storage buffer Default memory address 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 295 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 296 Chapter 5 Data Used for Positioning Control Storage buffer Default memory address Setting value value QD77MS2 QD77MS16 QD77MS4 1540+100n 4340+100n Set with a decimal. 1541+100n Setting value QD77MS2 use 4341+100n Cd.30 Cd.31 Simultaneous starting axis start data No. 1 to 600 1542+100n QD77MS4 use Cd.30...
  • Page 297 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 298 Chapter 5 Data Used for Positioning Control Storage buffer Default memory address 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 299 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 300 Chapter 5 Data Used for Positioning Control Storage buffer Default memory address 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 301 Chapter 5 Data Used for Positioning Control Setting item Setting details • Turns OFF each axis servo. Fetch cycle: Operation cycle Cd.100 Servo OFF command POINT When you want to turn ON the servo for other than axis 1 with only the servo for axis 1 turned OFF, write "1"...
  • Page 302 Chapter 5 Data Used for Positioning Control Storage buffer Default memory address 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 When all axis servo ON is valid. Set with a decimal.
  • Page 303 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 304 Chapter 5 Data Used for Positioning Control Storage buffer Default memory address Setting value value QD77MS2 QD77MS16 QD77MS4 Set with a decimal. Setting value 1564+100n 4364+100n Reverse new torque value 0 to Pr.17 Torque limit setting value (%) Set with a decimal. Setting value 1554+100n...
  • Page 305 Chapter 5 Data Used for Positioning Control Setting item Setting details • Set the PI-PID switching to servo amplifier. PI-PID switching request Cd.136 Fetch cycle: Operation cycle • Request the control mode switching. Set "1" after setting " ". Control mode setting Cd.139 Control mode switching Cd.138...
  • Page 306 Chapter 5 Data Used for Positioning Control Storage buffer Default memory address 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 307 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 " " to "0".) Speed limit value Pr.8 Deceleration time at speed Cd.142 0 to 65535 (ms) control mode...
  • Page 308 Chapter 5 Data Used for Positioning Control Storage buffer Default memory address 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 309 Chapter 5 Data Used for Positioning Control Setting item Setting details • Set the speed limit value at continuous operation to torque control mode. • Set a value within the following range: inch degree Unit setting Pr.1 × × × mm/min) inch/min) degree/min)
  • Page 310 Chapter 5 Data Used for Positioning Control Storage buffer Default memory address 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...
  • Page 311 Chapter 5 Data Used for Positioning Control Setting item Setting details • Set the time constant at regeneration during continuous operation to torque control mode. Torque time constant at Cd.152 (Set the time for the torque to decrease from " "...
  • Page 312 Chapter 5 Data Used for Positioning Control Storage buffer Default memory address 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 313: Expansion Axis Control Data

    Chapter 5 Data Used for Positioning Control 5.7.3 Expansion axis control data Setting item Setting details • When the axis stop signal turns ON, the OPR control, positioning control, JOG operation, inching operation, manual pulse generator operation and speed-torque control etc. will stop. •...
  • Page 314 Chapter 5 Data Used for Positioning Control Storage buffer Default memory address 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 315 Chapter 5 Data Used for Positioning Control MEMO 5 - 194...
  • Page 316 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 QD77MS are explained in this chapter. The sequence program required for control is created allowing for the "start conditions", "start time chart", "device settings"...

  • Page 317: 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 QD77MS buffer memory 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 318 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 Extenal...
  • Page 319 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 320 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 321: List Of Devices Used

    Chapter 6 Sequence Program Used for Positioning Control 6.2 List of devices used In the sequence programs using QD77MS4 shown in this chapter and subsequent, the application of the devices used are as follows. The I/O numbers for QD77MS indicate those when the head I/O number is set to "0H". If it is set to other than "0H", change the I/O number according to setting of head I/O number.
  • Page 322 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 323 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 324 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 325 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...
  • Page 326 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 Number of pulses per rotation (AP) (high-order 16 bits) Movement amount per rotation...
  • Page 327 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.2 D110 Positioning identifier Da.1 Operation pattern D111 M code Da.2 Control system D112 Dwell time Da.3 Acceleration time No.
  • Page 328 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 Control system Da.2 D142 Dwell time Da.3 Acceleration time No.
  • Page 329 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.11 D200 Positioning identifier Da.1 Operation pattern D201 M code Da.2 Control system D202 Dwell time Da.3 Acceleration time No.
  • Page 330 Chapter 6 Sequence Program Used for Positioning Control Device Device Application Details of storage name U0\G806 Error code Md.23 Axis error No. U0\G809 Axis operation status Axis operation status Md.26 U0\G817 Status Md.31 Status U0\G1500 Positioning start No. Cd.3 Positioning start No. U0\G1502 Axis error reset Axis error reset...

  • Page 331: Creating A Program

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

  • Page 332: Positioning Control Operation Program

    Chapter 6 Sequence Program Used for Positioning Control 6.3.2 Positioning control operation program The various programs that configure the "positioning control operation program" are shown below. When creating the program, refer to the explanation of each program and Section 6.4 "Positioning program examples", and create an operation program that matches the positioning system.
  • Page 333 Chapter 6 Sequence Program Used for Positioning Control Continued from previous page Initialization program Not carried out OPR is... No.5 Refer to Section 6.5.1 OPR request OFF program Carried out No.6 External command function valid Refer to Section 6.5.1 setting program No.7 PLC READY signal [Y0] ON : Required...
  • Page 334 Chapter 6 Sequence Program Used for Positioning Control Continued from previous page Start details setting program Program required to carry out • "OPR control" • "Major positioning control" No.9 • "High-level positioning control" Cd.3 Positioning start No. Refer to Section 6.5.2 •...
  • Page 335 Chapter 6 Sequence Program Used for Positioning Control Continued from previous page Sub program Program added according to control details. (Create as required.) No.16 Speed change program Refer to Section 13.5.1 No.17 Override program Refer to Section 13.5.2 No.18 Acceleration/deceleration time Refer to Section 13.5.3 change program No.19...

  • Page 336: Positioning Program Examples

    Chapter 6 Sequence Program Used for Positioning Control 6.4 Positioning program examples An example of the "Axis 1" positioning program using QD77MS4 is given in this section. [No. 1] to [No. 4] parameter and data setting program When setting the parameters or data with the sequence program, set them in the QD77MS using the TO command from the PLC CPU.
  • Page 337 Chapter 6 Sequence Program Used for Positioning Control 6 - 22...
  • Page 338 Chapter 6 Sequence Program Used for Positioning Control 6 - 23...
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  • Page 350 Chapter 6 Sequence Program Used for Positioning Control *<Setting of block start data to Q > K26000 Point 1 *<Special start instruction to normal start > *<Setting of normal start > SM402 MOVP Point 1 ON for 1 scan onl y after *<Setting of normal start >...
  • Page 351 Chapter 6 Sequence Program Used for Positioning Control *No.4 Servo parameter *<Absolute position system valid > SM402 K30103 ON for 1 scan onl y after *<Servo series(MR-J3-B) > K30100 *No.5 OPR request OFF program *<OPR request OFF command pulse > OPR requ OPR requ est OFF...
  • Page 352 Chapter 6 Sequence Program Used for Positioning Control *No.6 External command function valid setting program *<External command valid write > MOVP G1505 External External command command valid c valid ommand *<External command invalid write > MOVP G1505 External External command command invalid valid...
  • Page 353 Chapter 6 Sequence Program Used for Positioning Control 6 - 38...
  • Page 354 Chapter 6 Sequence Program Used for Positioning Control 6 - 39...
  • Page 355 Chapter 6 Sequence Program Used for Positioning Control Speed-po sition s witching operati Position -speed s witching operati High-lev el posit ioning c ontrol c Position ing star t comman d storag * No.10 Positioning start program * (1) When dedicated instruction (ZP.PSTRT1) is used (When fast OPR is not made, contacts of M3 and M4 are not needed) (When M code is not used, contact of X04 is not needed)
  • Page 356 Chapter 6 Sequence Program Used for Positioning Control *<Positioning start command storag > Position ing star t comman d storag *(2) When positioning start signal [Y10] is used (When fast OPR is not made, contacts of M5 and M6 are not needed) (When M code is not used, contact of X04 is not needed) (When JOG operation/inching operation is not perfomed,...
  • Page 357 Chapter 6 Sequence Program Used for Positioning Control 6 - 42...
  • Page 358 Chapter 6 Sequence Program Used for Positioning Control *No.14 JOG operation/inching operation program *<In-JOG/inching operation flag ON > 1022 Forward QD77 REA BUSY sig In-JOG/i run JOG/ DY compl nal (Axi nching o inching etion si s 1) peration operatio gnal flag Reverse...
  • Page 359 Chapter 6 Sequence Program Used for Positioning Control 6 - 44...
  • Page 360 Chapter 6 Sequence Program Used for Positioning Control 6 - 45...
  • Page 361 Chapter 6 Sequence Program Used for Positioning Control 6 - 46...
  • Page 362 Chapter 6 Sequence Program Used for Positioning Control *<Setting of torque limit value > 1195 MOVP G1525 Torque c BUSY sig Torque c hange co nal (Axi hange va mmand s 1) * No.20 Step operation progaram *<Step operation command pulse >...
  • Page 363 Chapter 6 Sequence Program Used for Positioning Control 6 - 48...
  • Page 364 Chapter 6 Sequence Program Used for Positioning Control 6 - 49...
  • Page 365 Chapter 6 Sequence Program Used for Positioning Control *<Setting of Target position addre > DMOVP K30000000 For Unit target p (degree osition (low-ord er 16bi *<New speed value > DMOVP K0 Target s peed (lo w-order 16bits) *<Setting of Target position chang >...
  • Page 366 Chapter 6 Sequence Program Used for Positioning Control *No.26 Parameter initialization program *<Parameter initialization command > 1383 Paramete Paramete r initia r initia lization lization command command *<Parameter initialization command > 1390 Paramete BUSY sig Paramete r initia nal (Axi r initia lization s 1)
  • Page 367 Chapter 6 Sequence Program Used for Positioning Control *<Flash ROM write wxecution > ZP.PFWRT "U0" 1434 PLC READ PFWRT in PFWRT in Y signal structio structio OFF con n contro n comple firmatio l data te devic *<Flash ROM write command storage > PFWRT in PFWRT in Flash RO...

  • Page 368: Program Details

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

  • Page 369: Start Details Setting Program

    Chapter 6 Sequence Program Used for Positioning Control 6.5.2 Start details setting program This program sets which control, out of "OPR", "major positioning control", "high-level positioning control" or "expansion control" to execute. For "high-level positioning control", "fast OPR", "speed-position switching control" and "position-speed switching control", add the respectively required sequence program.
  • Page 370 Chapter 6 Sequence Program Used for Positioning Control (4) For "position-speed switching control", set the control data shown below. Cd.25 (As required, set the " Position-speed switching control speed change register ".) Buffer memory address Setting Setting item Setting details QD77MS2 value QD77MS16...

  • Page 371: Start Program

    Chapter 6 Sequence Program Used for Positioning Control 6.5.3 Start program This program is used to start the control with start commands. The control can be started with the following two methods. [1] Starting by inputting positioning start signal [2] Starting by inputting external command signal [QD77MS4 operation example] QD77MS Buffer memory...
  • Page 372 Chapter 6 Sequence Program Used for Positioning Control Servo ON conditions Setting of servo parameter PLC READY signal Y0 ON All axis servo ON Y1 ON Starting conditions To start the control, the following conditions must be satisfied. The necessary start conditions must be incorporated in the sequence program so that the control is not started when the conditions are not satisfied.
  • Page 373 Chapter 6 Sequence Program Used for Positioning Control [1] Starting by inputting positioning start signal Operation when starting (1) When the positioning start signal turns ON, the start complete signal and BUSY signal turn ON, and the positioning operation starts. It can be seen that the axis is operating when the BUSY signal is ON.
  • Page 374 Chapter 6 Sequence Program Used for Positioning Control POINT The BUSY signal turns ON even when position control of movement amount 0 is executed. However, since the ON time is short, the ON status may not be detected in the sequence program. (The ON status of the start complete signal, positioning complete signal and M code ON signal can be detected in the sequence program.) Starting time chart...
  • Page 375 Chapter 6 Sequence Program Used for Positioning Control (2) Time chart for starting "fast OPR" [QD77MS4 operation example] [Y10] Positioning start signal All axis servo ON [Y1] Md. 26 Axis operation status Servo OFF Standby PLC READY signal [Y0] [X0] QD77 READY signal [X10] Start complete signal...
  • Page 376 Chapter 6 Sequence Program Used for Positioning Control (3) Time chart for starting "major positioning control" [QD77MS4 operation example] Operation pattern Positioning data No. 1(11) Dwell time 2(00) Positioning start signal [Y10] All axis servo ON [Y1] Md. 26 Axis operation status Servo OFF Standby PLC READY signal...
  • Page 377 Chapter 6 Sequence Program Used for Positioning Control (4) Time chart for starting "speed-position switching control" [QD77MS4 operation example] Operation pattern(00) Speed control Position control Dwell time Positioning data No.(1) Positioning start signal [Y10] All axis servo ON [Y1] Md. 26 Axis operation status Servo OFF Standby PLC READY signal...
  • Page 378 Chapter 6 Sequence Program Used for Positioning Control (5) Time chart for starting "position-speed switching control" [QD77MS4 operation example] Operation pattern (00) Position control Speed control Positioning data No. (1) Positioning start signal [Y10] All axis servo ON [Y1] Md. 26 Axis operation status Servo OFF Standby PLC READY signal...
  • Page 379 Chapter 6 Sequence Program Used for Positioning Control Machine OPR operation timing and process time [QD77MS4 operation example] Positioning start [Y10, Y11, Y12, Y13] signal [XC, XD, XE, XF] BUSY signal Start complete signal [X10, X11, X12, X13] Standby Standby Md.
  • Page 380 Chapter 6 Sequence Program Used for Positioning Control Position control operation timing and process time [QD77MS4 operation example] Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [XC, XD, XE, XF] M code ON signal (WITH mode) [X4, X5, X6, X7] Cd.
  • Page 381 Chapter 6 Sequence Program Used for Positioning Control [2] Starting by inputting external command signal When starting positioning control by inputting the external command signal, the start command can be directly input into the QD77MS. This allows the variation time equivalent to one scan time of the PLC CPU to be eliminated. This is an effective procedure when operation is to be started as quickly as possible with the start command or when the starting variation time is to be suppressed.
  • Page 382 Chapter 6 Sequence Program Used for Positioning Control Starting time chart [QD77MS4 operation example] Operation pattern Dwell time Positioning data No. 1(00) Positioning start signal [Y10] All axis servo ON [Y1] Md. 26 Axis operation status Servo OFF Standby PLC READY signal [Y0] QD77 READY signal [X0]...

  • Page 383: Continuous Operation Interrupt Program

    Chapter 6 Sequence Program Used for Positioning Control 6.5.4 Continuous operation interrupt program During positioning control, the control can be interrupted during continuous positioning control and continuous path control (continuous operation interrupt function). When "continuous operation interruption" is execution, the control will stop when the operation of the positioning data being executed ends.
  • Page 384 Chapter 6 Sequence Program Used for Positioning Control (2) Even if the stop command is turned ON after executing the "continuous operation interrupt request", the "continuous operation interrupt request" cannot be canceled. Thus, if "restart" is executed after stopping by turning the stop command ON, the operation will stop when the positioning data No.

  • Page 385: Restart Program

    Chapter 6 Sequence Program Used for Positioning Control 6.5.5 Restart program When a stop factor occurs during position control and the operation stops, the positioning can be restarted from the stopped position to the position control end point Cd.6 by using the "restart command" ( Restart command).
  • Page 386 Chapter 6 Sequence Program Used for Positioning Control (6) When stopped with interpolation operation, write "1: Restarts" into Cd.6 " Restart command" for the reference axis, and then restart. (7) If the PLC READY signal is changed from OFF to ON while stopped, restarting is not possible.
  • Page 387 Chapter 6 Sequence Program Used for Positioning Control (2) Signal state Device Signal name Signal state QD77MS2 QD77MS16 QD77MS4 PLC READY signal ON PLC CPU preparation completed QD77 READY signal ON QD77MS preparation completed All axis servo ON ON All axis servo ON QD77MS buffer memory Synchronization flag Accessible...

  • Page 388: Stop Program

    Chapter 6 Sequence Program Used for Positioning Control 6.5.6 Stop program The axis stop signal or stop signal from external input signal is used to stop the control. Create a program to turn ON the axis stop signal as the stop program. Signal QD77MS2 QD77MS4...
  • Page 389 Chapter 6 Sequence Program Used for Positioning Control [2] Types of stop processes The operation can be stopped with deceleration stop, sudden stop or immediate stop. (1) Deceleration stop Pr.10 Pr.28 Pr.29 The operation stops with "deceleration time 0 to 3" ( Pr.30 Which time from "deceleration time 0 to 3"...
  • Page 390 Chapter 6 Sequence Program Used for Positioning Control [3] Order of priority for stop process The order of priority for the QD77MS stop process is as follows. Deceleration stop < Sudden stop < Servo OFF (1) If the deceleration stop command ON (stop signal ON) or deceleration stop cause occurs during deceleration to speed 0 (including automatic deceleration), operation changes depending on the setting of "...
  • Page 391 Chapter 6 Sequence Program Used for Positioning Control [4] Inputting the stop signal during deceleration (1) Even if stop is input during deceleration (including automatic deceleration), the operation will stop at that deceleration speed. (2) If stop is input during deceleration for OPR, the operation will stop at that deceleration speed.
  • Page 392 Chapter 7 Memory Configuration and Data Process Chapter 7 Memory Configuration and Data Process The QD77MS memory configuration and data transmission are explained in this chapter. The QD77MS is configured of four memories. By understanding the configuration and roles of two memories, the QD77MS internal data transmission process, such as "when the power is turned ON"...

  • Page 393: Configuration And Roles Of Qd77Ms Memory

    Chapter 7 Memory Configuration and Data Process 7.1 Configuration and roles of QD77MS memory 7.1.1 Configuration and roles of QD77MS memory The QD77MS is configured of the following four memories. Area configuration Memory Model Role configuration Area that can be directly Buffer accessed with sequence –...
  • Page 394 Chapter 7 Memory Configuration and Data Process Details of areas • Parameter area Area where parameters, such as positioning parameters and OPR parameters, required for positioning control are set and stored. • Monitor data area Area where positioning system or QD77MS operation state is stored. •...
  • Page 395 Chapter 7 Memory Configuration and Data Process User accesses Data is backed up here. here. Flash ROM Buffer memory/Internal memory Parameter area Parameter area Positioning data area Positioning data area (No.1 to 600) (No.1 to 600) Block start data area Block start data area (No.7000 to 7004) (No.

  • Page 396: Buffer Memory Area Configuration

    Chapter 7 Memory Configuration and Data Process 7.1.2 Buffer memory area configuration The QD77MS buffer memory is configured of the following types of areas. Buffer memory address Writing Buffer memory area configuration possibility QD77MS2/QD77MS4 QD77MS16 Basic parameter area 0+150n to 15+150n Detailed parameter area 17+150n to 69+150n OPR basic parameter area...
  • Page 397 Chapter 7 Memory Configuration and Data Process Buffer memory address Writing Buffer memory area configuration possibility QD77MS2/QD77MS4 QD77MS16 Servo series 30100+200n 28400+100n PA01 to PA18 30101+200n to 30118+200n 28401+100n to 28418+100n PA19 PA group 30932+50n Set with GX Works2 PA20 to PA32 64400+250n to 64412+250n 64400+70n to 64412+70n 30119+200n to 30163+200n...
  • Page 398 Chapter 7 Memory Configuration and Data Process POINT When the parameter of the servo amplifier side is changed by the following method, it is transmitted to the servo parameter area in the buffer memory/internal memory and internal memory (nonvolatile) after the QD77MS is read automatically with parameters.

  • Page 399: Data Transmission Process

    Chapter 7 Memory Configuration and Data Process 7.2 Data transmission process The data is transmitted between the QD77MS memories with steps (1) to (10) shown below. : The data transmission patterns numbered (1) to (10) on the right page correspond to the numbers (1) to (10) on the left page.
  • Page 400 Chapter 7 Memory Configuration and Data Process (1) Transmitting data when power is turned ON or PLC CPU is reset When the power is turned ON or the PLC CPU is reset, the "parameters area ", "positioning data", "block start data" and "servo parameter" stored (backed up) in the flash ROM/internal memory (nonvolatile) is transmitted to the buffer memory and internal memory.
  • Page 401 Chapter 7 Memory Configuration and Data Process POINT The setting values of the parameters that correspond to parameter area (b) are valid when written into the buffer memory with the TO command. However, the setting values of the parameters that correspond to parameter area (a) are not validated until the PLC READY signal [Y0] changes from OFF to ON.
  • Page 402 Chapter 7 Memory Configuration and Data Process GX Works2 (7) Flash ROM write request PLC CPU (6) Flash ROM write (7) Flash ROM write request (Set "1" in Cd.1 with TO command) QD77MS Buffer memory/Internal memory Parameter area (a) Pr.1 Pr.7 Parameter area (a) Pr.11...
  • Page 403 Chapter 7 Memory Configuration and Data Process (6) Writing the flash ROM by a PLC CPU request ( The following transmission process is carried out by setting "1" in " Flash Cd.1 ". ROM write request 1) The "parameters", "positioning data (No. 1 to 600)", "block start data (No. 7000 to 7004)"...
  • Page 404 Chapter 7 Memory Configuration and Data Process GX Works2 (8) Data read (9) Data write PLC CPU (8) Data read (9) Data write QD77MS Buffer memory/Internal memory Parameter area (a) Pr.1 Pr.7 Parameter area (a) Pr.11 Pr.24 Parameter area (b) Pr.43 Pr.57 Pr.80...
  • Page 405 Chapter 7 Memory Configuration and Data Process (8) Reading data from buffer memory/internal memory to GX Works2 The following transmission processes are carried out with the [Read from module (Read from QD77MS)] from the GX Works2. 1) The "parameters", "positioning data (No. 1 to 600)", "block start data (No. 7000 to 7004)"...
  • Page 406 Chapter 7 Memory Configuration and Data Process QD77MS Buffer memory/Internal memory Parameter area (a) Parameter area (b) Parameter area (c) Positioning data area (No.1 to 600) Block start data area (No.7000 to 7004) Servo parameter area Monitor data area Flash ROM Control data area Parameter area (a) PLC CPU...
  • Page 407 Chapter 7 Memory Configuration and Data Process (10) Transmitting servo parameter from the buffer memory/internal memory area to servo amplifier ( The servo parameter in the buffer memory/internal memory area is transmitted to the servo amplifier by the following timing. 1) The servo parameter transmitted to the servo amplifier when communications with servo amplifier start.
  • Page 408 Chapter 7 Memory Configuration and Data Process How to transfer the servo parameter setup from sequence program/GX Works2 to the servo amplifier The servo series of servo parameter " " inside the internal Servo series Pr.100 memory (nonvolatile) set to "0". (Initial value: "0") The setting value of the parameters that correspond to the servo parameter "...
  • Page 409 Chapter 7 Memory Configuration and Data Process (1) When the servo amplifier's power supply is turned ON before the system's power supply ON. (a) When the servo parameter " " "0" is stored in the Servo series Pr.100 internal memory (nonvolatile). Communication start timing to the servo amplifier: Initialization completion (Fig.
  • Page 410 Chapter 7 Memory Configuration and Data Process Servo parameter setting from sequence program/GX Works2 (A) Buffer memory/ Initialization PLC READY QD77MS internal memory completion signal [Y0] PLC CPU power ON data setting of QD77MS ON (B) Axis connection completion PLC READY [Y0] QD77 READY [X0] Servo parameter of buffer memory/internal...
  • Page 411 Chapter 7 Memory Configuration and Data Process How to change individually the servo parameter after transfer of servo parameter The servo parameters can be individually changed from QD77MS with the following axis control data. Buffer memory address Setting item Setting details QD77MS2 QD77MS16 QD77MS4...
  • Page 412 Section 2 Control Details and Setting Section 2 is configured for the following purposes shown in (1) to (3). (1) Understanding of the operation and restrictions of each control. (2) Carrying out the required settings in each control (3) Dealing with errors The required settings in each control include parameter setting, positioning data setting, control data setting by a sequence program, etc.
  • Page 413 MEMO...
  • Page 414 Chapter 8 OPR Control Chapter 8 OPR Control The details and usage of "OPR control" are explained in this chapter. OPR control includes "machine OPR" that establish a machine OP without using address data, and "fast OPR" that store the coordinates established by the machine OPR, and carry out positioning to that position.

  • Page 415: Outline Of Opr Control

    Chapter 8 OPR Control 8.1 Outline of OPR control 8.1.1 Two types of OPR control In "OPR control" a position is established as the starting point (or "OP") when carrying out positioning control, and positioning is carried out toward that starting point. It is used to return a machine system at any position other than the OP to the OP when (Note-1) the QD77MS issues a "OPR request"...
  • Page 416 Chapter 8 OPR Control REMARK (Note-1) OPR request Md.31 The "OPR request flag" ( Status: b3) must be turned ON in the QD77MS, and a machine OPR must be executed in the following cases. (1) When not using an absolute position system (a) This flag turns on in the following cases: •...
  • Page 417 Chapter 8 OPR Control Wiring the near-point dog The "external input signal of QD77MS", "external input signal of the servo amplifier" or "buffer memory of QD77MS" can be selected by " External input Pr.80 " as the near-point dog. signal selection When the "buffer memory of QD77MS"...

  • Page 418: Machine Opr

    Chapter 8 OPR Control 8.2 Machine OPR 8.2.1 Outline of the machine OPR operation Important Use the OPR retry function when the OP position is not always in the same direction from the workpiece operation area (when the OP is not set near the upper or lower limit of the machine).

  • Page 419: Machine Opr Method

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

  • Page 420: Opr Method (1): Near-Point Dog Method

    Chapter 8 OPR Control 8.2.3 OPR method (1): Near-point dog method The following shows an operation outline of the "near-point dog method" OPR method. Operation chart The machine OPR is started. (The machine begins the acceleration designated in " Pr.51 OPR acceleration time selection", in the direction designated in "...
  • Page 421 Chapter 8 OPR Control Precautions during operation (1) An error "Start at home position (OP) fault (error code: 201)" will occur if another machine OPR is attempted after a machine OPR completion when the Pr.48 OPR retry function is not set ("0" is set in " OPR retry").

  • Page 422: Opr Method (2): Count Method 1)

    Chapter 8 OPR Control 8.2.4 OPR method (2): Count method 1) The following shows an operation outline of the "count method 1)" OPR method. In the "count method 1)" OPR, the following can be performed: • Machine OPR on near-point dog •...
  • Page 423 Chapter 8 OPR Control Precautions during operation (1) An error "Count method movement amount fault (error code: 206)" will occur if the " Pr.50 Setting for the movement amount after near-point dog ON" is smaller than the deceleration distance from the " Pr.46 OPR speed"...

  • Page 424: Opr Method (3): Count Method 2)

    Chapter 8 OPR Control 8.2.5 OPR method (3): Count method 2) The following shows an operation outline of the "method 2)" OPR method. The "count method 2)" method is effective when a "zero signal" cannot be received. (Note that compared to the "count method 1)" method, using this method will result in more deviation in the stop position during machine OPR.) Operation chart The machine OPR is started.
  • Page 425 Chapter 8 OPR Control Restrictions When this method is used, a deviation will occur in the stop position (OP) compared to other OPR methods because an error of about 1 ms occurs in taking in the near-point dog ON. Precautions during operation (1) An error "Count method movement amount fault (error code: 206)"...

  • Page 426: Opr Method (4): Data Set Method

    Chapter 8 OPR Control 8.2.6 OPR method (4): Data set method The following shows an operation outline of the "data set method" OPR method. The " Data set method" method is effective when a "Near-point dog" does not used. It can be used with absolute position system. With the data set method OPR, the position where the machine OPR has been carried out, is registered into the QD77MS as the OP, and the current feed value and feed machine value is overwritten to an OP address.

  • Page 427: Opr Method (5): Scale Origin Signal Detection Method

    Chapter 8 OPR Control 8.2.7 OPR method (5): Scale origin signal detection method The following shows an operation outline of the "scale origin signal detection method" OPR method. POINT Set "0: Need to pass motor Z-phase after the power supply is switched on." in "Function selection C-4 (PC17)".
  • Page 428 Chapter 8 OPR Control Precautions during operation (1) An error "Start at OP (error code: 201)" will occur if another machine OPR is attempted immediately after a machine OPR completion when the OP is in the near-point dog ON position. (2) The following shows the operation when a machine OPR is started from the near-point dog ON position.
  • Page 429 Chapter 8 OPR Control (6) When the zero signal is detected again during deceleration ( 4) of Fig. 8.12) with detection of zero signal, the operation stops at the zero signal detected lastly to complete the OPR. Pr.44 OPR direction Pr.46 OPR speed Pr.47 Creep speed Near-point dog...

  • Page 430: Fast Opr

    Chapter 8 OPR Control 8.3 Fast OPR 8.3.1 Outline of the fast OPR operation Fast OPR operation After establishing OP position by a machine OPR, positioning control to the OP position is executed without using a near-point dog or a zero signal. The following shows the operation during a basic fast OPR start.
  • Page 431 Chapter 8 OPR Control Operation timing and processing time of fast OPR The following shows details about the operation timing and time during fast OPR. [QD77MS4 operation example] Positioning start signal [Y10,Y11,Y12,Y13] [XC,XD,XE,XF] BUSY signal Start complete signal [X10,X11,X12,X13] Standby Position control Standby Md.26 Axis operation status...

  • Page 432: Selection Of The Opr Setting Condition

    Chapter 8 OPR Control 8.4 Selection of the OPR setting condition 8.4.1 Outline of the OPR setting condition If executing the home position return (OPR), it is necessary to make sure that the servomotor has been rotated more than one revolution and passed the Z phase (Motor reference position signal) and that the zero point pass signal ( Md.108 Servo status...
  • Page 433 Chapter 8 OPR Control MEMO 8 - 20...

  • Page 434: Major Positioning Control 9- 1 To

    Chapter 9 Major Positioning Control Chapter 9 Major Positioning Control The details and usage of the major positioning controls (control functions using the "positioning data") are explained in this chapter. The major positioning controls include such controls as "positioning control" in which positioning is carried out to a designated position using the address information, "speed control"...

  • Page 435: Outline Of Major Positioning Controls

    Chapter 9 Major Positioning Control 9.1 Outline of major positioning controls "Major positioning controls" are carried out using the "positioning data" stored in the QD77MS. The basic controls such as position control and speed control are executed by setting the required items in this "positioning data", and then starting that positioning data. The control system for the "major positioning controls"...
  • Page 436 Chapter 9 Major Positioning Control Major positioning control Details Da.2 Control system 1-axis speed Forward run speed 1 The speed control of the designated 1 axis is carried out. control Reverse run speed 1 2-axis speed Forward run speed 2 The speed control of the designated 2 axes is carried out.

  • Page 437: Data Required For Major Positioning Control

    Chapter 9 Major Positioning Control 9.1.1 Data required for major positioning control The following table shows an outline of the "positioning data" configuration and setting details required to carry out the "major positioning controls". Setting item Setting details Set the method by which the continuous positioning data (Ex: positioning data No.1, Da.1 Operation pattern No.2, No.3) will be controlled.

  • Page 438: Operation Patterns Of Major Positioning Controls

    Chapter 9 Major Positioning Control 9.1.2 Operation patterns of major positioning controls In "major positioning control" (high-level positioning control), " Da.1 Operation pattern" can be set to designate whether to continue executing positioning data after the started positioning data. The "operation pattern" includes the following 3 types. Positioning complete (1) Independent positioning control (operation pattern: 00)
  • Page 439 Chapter 9 Major Positioning Control POINT (1) When the operation pattern is continuous positioning control or continuous path control, the same address as the last value is specified in absolute system or the movement amount 0 is specified in incremental system, positioning control of movement amount 0 is executed.
  • Page 440 Chapter 9 Major Positioning Control [2] Continuous positioning control (1) The machine always automatically decelerates each time the positioning is completed. Acceleration is then carried out after the QD77MS command speed reaches 0 to carry out the next positioning data operation. If a dwell time is designated, the acceleration is carried out after the designated time elapses.
  • Page 441 Chapter 9 Major Positioning Control [3] Continuous path control (1) Continuous path control (a) The speed is changed without deceleration stop between the command speed of the positioning data currently being run and the speed of the positioning data that will be run next. The speed is not changed if the current speed and the next speed are equal.
  • Page 442 Chapter 9 Major Positioning Control [QD77MS4 operation example] Positioning continue (11) Dwell time Positioning continue (11) Positioning Address (+) direction complete (00) Address (-) direction Positioning start signal [Y10, Y11, Y12, Y13] Start complete signal [X10, X11, X12, X13] BUSY signal [XC, XD, XE, XF] Positioning complete signal [X14, X15, X16, X17]...
  • Page 443 Chapter 9 Major Positioning Control (b) During operation by step operation. (Refer to Section 13.7.1 "Step function".) (c) When there is an error in the positioning data to carry out the next operation. POINTS (1) The movement direction is not checked during interpolation operations. Thus, automatic deceleration to a stop will not be carried out even if the movement direction is changed (See the figures below).
  • Page 444 Chapter 9 Major Positioning Control (3) Speed handling (a) Continuous path control command speeds are set with each positioning data. The QD77MS then carries out the positioning at the speed designated with each positioning data. (b) The command speed can be set to "–1" in continuous path control. The control will be carried out at the speed used in the previous positioning data No.
  • Page 445 Chapter 9 Major Positioning Control (4) Speed switching Pr.19 (Refer to " Speed switching mode".) The two modes for changing the speed are shown below. • Standard speed switching………Switch the speed when executing the next positioning data. • Front-loading speed switching….The speed switches at the end of the positioning data currently being executed.
  • Page 446 Chapter 9 Major Positioning Control Speed switching condition If the movement amount is small in regard to the target speed, the current speed may not reach the target speed even if acceleration/deceleration is carried out. In this case, the machine is accelerated/decelerated so that it nears the target speed.
  • Page 447 Chapter 9 Major Positioning Control [QD77MS4 operation example] Dwell time Dwell time Positioning Da. 1 Operation pattern Positioning start signal [Y10, Y11, Y12, Y13] Start complete signal [X10, X11, X12, X13] BUSY signal [XC, XD, XE, XF] Positioning complete signal [X14, X15, X16, X17] (Note): Refer to Section 3.3 for input/output signal of QD77MS16.

  • Page 448: Designating The Positioning Address

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

  • Page 449: Confirming The Current Value

    Chapter 9 Major Positioning Control 9.1.4 Confirming the current value Values showing the current value The following two types of addresses are used as values to show the position in the QD77MS. These addresses ("current feed value" and "machine feed value") are stored in the monitor data area, and used in monitoring the current value display, etc.
  • Page 450 Chapter 9 Major Positioning Control Monitoring the current value The "current feed value" and "machine feed value" are stored in the following buffer memory addresses, and can be read using a "DFRO(P) instruction" or "DMOV(P) instruction" from the PLC CPU. Buffer memory addresses QD77MS2/QD77MS4 QD77MS16...

  • Page 451: Control Unit "Degree" Handling

    Chapter 9 Major Positioning Control 9.1.5 Control unit "degree" handling When the control unit is set to "degree", the following items differ from when other control units are set. [1] Current feed value and machine feed value addresses The address of " Current feed value"...
  • Page 452 Chapter 9 Major Positioning Control POINT (1) When the upper/lower limit value of the axis which set the software stroke limit as valid are changed, perform the machine OPR after that. (2) When the software stroke limit is set as valid in the incremental data system, perform the machine OPR after power supply on.
  • Page 453 Chapter 9 Major Positioning Control (b) When the software stroke limit is valid The positioning is carried out in a clockwise/counterclockwise direction depending on the software stroke limit range setting method. Because of this, positioning with "shortcut control" may not be possible.

  • Page 454: Interpolation Control

    Chapter 9 Major Positioning Control 9.1.6 Interpolation control Meaning of interpolation control In "2-axis linear interpolation control", "3-axis linear interpolation control", "4-axis linear interpolation control", "2-axis fixed-feed control", "3-axis fixed-feed control", "4-axis fixed-feed control", "2-axis speed control", "3-axis speed control", "4-axis speed control", and "2-axis circular interpolation control", control is carried out so that linear and arc paths are drawn using a motor set in two to four axis directions.
  • Page 455 Chapter 9 Major Positioning Control Setting the positioning data during interpolation control When carrying out interpolation control, the same positioning data Nos. are set for the "reference axis" and the "interpolation axis". The following table shows the "positioning data" setting items for the reference axis and interpolation axis.
  • Page 456 Chapter 9 Major Positioning Control Starting the interpolation control The positioning data Nos. of the reference axis (axis in which interpolation control Da.2 was set in " Control system") are started when starting the interpolation control. (Starting of the interpolation axis is not required.) The following errors or warnings will occur and the positioning will not start if both reference axis and the interpolation axis are started.
  • Page 457 Chapter 9 Major Positioning Control POINT When the "reference axis speed" is set during interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set as the reference Pr.8 axis, the major axis side speed may exceed the " Speed limit value".
  • Page 458 Chapter 9 Major Positioning Control MEMO 9 - 25...

  • Page 459: Setting The Positioning Data

    Chapter 9 Major Positioning Control 9.2 Setting the positioning data 9.2.1 Relation between each control and positioning data The setting requirements and details for the setting items of the positioning data to be set differ according to the " ". Control system Da.2 The following table shows the positioning data setting items corresponding to the...
  • Page 460 Chapter 9 Major Positioning Control Other control Speed-position Position- speed Current value switching control switching control NOP instruction JUMP instruction LOOP instruction LEND instruction changing – – – – – – – – – – – – Forward run Forward run speed/position position/speed Current value...

  • Page 461: 1-Axis Linear Control

    Chapter 9 Major Positioning Control 9.2.2 1-axis linear control Da.2 In "1-axis linear control" (" Control system" = ABS linear 1, INC linear 1), one motor is used to carry out position control in a set axis direction. [1] 1-axis linear control (ABS linear 1) Operation chart In absolute system 1-axis linear control, positioning is carried out from the current Da.6...
  • Page 462 Chapter 9 Major Positioning Control Positioning data setting example [When "1-axis linear control (ABS linear 1)" is set in positioning data No. 1 of axis 1.] Setting example Setting item Setting details QD77MS2 QD77MS16 QD77MS4 Set "Positioning complete" assuming the next positioning data Da.1 Operation pattern Positioning complete will not be executed.
  • Page 463 Chapter 9 Major Positioning Control [2] 1-axis linear control (INC linear 1) Operation chart In incremental system 1-axis linear control, positioning is carried out from the current stop position (start point address) to a position at the end of the movement Da.6 amount set in "...
  • Page 464 Chapter 9 Major Positioning Control Positioning data setting example [When "1-axis linear control (INC linear 1)" is set in positioning data No. 1 of axis 1] Setting example Setting item Setting details QD77MS2 QD77MS16 QD77MS4 Set "Positioning complete" assuming the next positioning data Da.1 Operation pattern Positioning complete will not be executed.

  • Page 465: 2-Axis Linear Interpolation Control

    Chapter 9 Major Positioning Control 9.2.3 2-axis linear interpolation control Da.2 In "2-axis linear interpolation control" (" Control system" = ABS linear 2, INC linear 2), two motors are used to carry out position control in a linear path while carrying out interpolation for the axis directions set in each axis.
  • Page 466 Chapter 9 Major Positioning Control Restrictions An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is detected during a positioning control. • If the movement amount of each axis exceeds "1073741824 (=2 )"...
  • Page 467 Chapter 9 Major Positioning Control POINT • When the "reference axis speed" is set during 2-axis linear interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set Pr.8 as the reference axis, the major axis side speed may exceed the " Speed limit value".
  • Page 468 Chapter 9 Major Positioning Control [2] 2-axis linear interpolation control (INC linear 2) Operation chart In incremental system 2-axis linear interpolation control, the designated 2 axes are used. Linear interpolation positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in Da.6 "...
  • Page 469 Chapter 9 Major Positioning Control Restrictions An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is detected during a positioning operation. • If the movement amount of each axis exceeds "1073741824 (=2 )"...
  • Page 470 Chapter 9 Major Positioning Control POINT • When the "reference axis speed" is set during 2-axis linear interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set Pr.8 as the reference axis, the major axis side speed may exceed the " Speed limit value".

  • Page 471: 3-Axis Linear Interpolation Control

    Chapter 9 Major Positioning Control 9.2.4 3-axis linear interpolation control Da.2 In "3-axis linear interpolation control" (" Control system" = ABS linear 3, INC linear 3), three motors are used to carry out position control in a linear path while carrying out interpolation for the axis directions set in each axis.
  • Page 472 Chapter 9 Major Positioning Control Restrictions An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is detected during a positioning control. • If the movement amount of each axis exceeds "1073741824 (=2 )"...
  • Page 473 Chapter 9 Major Positioning Control POINTS • When the "reference axis speed" is set during 3-axis linear interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set Pr.8 as the reference axis, the major axis side speed may exceed the " Speed limit value".
  • Page 474 Chapter 9 Major Positioning Control [2] 3-axis linear interpolation control (INC linear 3) Operation chart In the incremental system 3-axis linear interpolation control, the designated 3 axes are used. Linear interpolation positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set Da.6 Positioning address/movement amount".
  • Page 475 Chapter 9 Major Positioning Control Restrictions An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is detected during a positioning operation. • If the movement amount of each axis exceeds "1073741824 (=2 )"...
  • Page 476 Chapter 9 Major Positioning Control POINTS • When the "reference axis speed" is set during 3-axis linear interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set Pr.8 as the reference axis, the major axis side speed may exceed the " Speed limit value".

  • Page 477: 4-Axis Linear Interpolation Control

    Chapter 9 Major Positioning Control 9.2.5 4-axis linear interpolation control Da.2 In "4-axis linear interpolation control" (" Control system" = ABS linear 4, INC linear 4), four motors are used to carry out position control in a linear path while carrying out interpolation for the axis directions set in each axis.
  • Page 478 Chapter 9 Major Positioning Control Positioning data setting example [When "4-axis linear interpolation control (ABS linear 4)" is set in positioning data No. 1 of axis 1] • Reference axis..... Axis 1 • Interpolation axis..Axis 2, Axis3, Axis4 (The required values are also set in positioning data No.
  • Page 479 Chapter 9 Major Positioning Control POINTS • When the "reference axis speed" is set during 4-axis linear interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set Pr.8 as the reference axis, the major axis side speed may exceed the " Speed limit value".
  • Page 480 Chapter 9 Major Positioning Control Positioning data setting example [When "4-axis linear interpolation control (INC linear 4)" is set in positioning data No. 1 of axis 1] • Reference axis..... Axis 1 • Interpolation axis..Axis 2, Axis3, Axis4 (The required values are also set in positioning data No.
  • Page 481 Chapter 9 Major Positioning Control POINT • When the "reference axis speed" is set during 4-axis linear interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set Pr.8 as the reference axis, the major axis side speed may exceed the " Speed limit value".

  • Page 482: 1-Axis Fixed-Feed Control

    Chapter 9 Major Positioning Control 9.2.6 1-axis fixed-feed control In "1-axis fixed-feed control" (" Da.2 Control system" = fixed-feed 1), one motor is used to carry out fixed-feed control in a set axis direction. In fixed-feed control, any remainder of below control accuracy is rounded down to convert the movement amount designated in the positioning data into the command value to servo amplifier.
  • Page 483 Chapter 9 Major Positioning Control POINT • When the movement amount is converted to the actual number of command pulses, a fraction appears after the decimal point, according to the movement amount per pulse. This fraction is normally retained in the QD77MS and reflected at the next positioning.
  • Page 484 Chapter 9 Major Positioning Control Positioning data setting example [When "1-axis fixed-feed control (fixed-feed 1)" is set in positioning data No.1 of axis 1] Setting example Setting item Setting details QD77MS2 QD77MS16 QD77MS4 Set "Positioning complete" assuming the next positioning data Da.1 Operation pattern Positioning complete will not be executed.

  • Page 485: 2-Axis Fixed-Feed Control (Interpolation)

    Chapter 9 Major Positioning Control 9.2.7 2-axis fixed-feed control (interpolation) In "2-axis fixed-feed control" (" Da.2 Control system" = fixed-feed 2), two motors are used to carry out fixed-feed control in a linear path while carrying out interpolation for the axis directions set in each axis. In fixed-feed control, any remainder of below control accuracy is rounded down to convert the movement amount designated in the positioning data into the command value to servo amplifier.
  • Page 486 Chapter 9 Major Positioning Control Positioning data setting example [When "2-axis fixed-feed control (fixed-feed 2)" is set in positioning data No. 1 of axis 1] • Reference axis..... Axis 1 • Interpolation axis..Axis 2 (The required values are also set in positioning data No.

  • Page 487: 3-Axis Fixed-Feed Control (Interpolation)

    Chapter 9 Major Positioning Control POINTS • When the movement amount is converted to the actual number of command pulses, a fraction appears after the decimal point, according to the movement amount per pulse. This fraction is normally retained in the QD77MS and reflected at the next positioning.
  • Page 488 Chapter 9 Major Positioning Control Operation chart Md.20 In incremental system 3-axis fixed-feed control, the addresses ( Current feed value) of the current stop position (start addresses) of every axes are set to "0". Linear interpolation positioning is then carried out from that position to a Da.6 position at the end of the movement amount set in "...
  • Page 489 Chapter 9 Major Positioning Control Restrictions (1) An axis error "Continuous path control not possible (error code: 516)" will occur and the operation cannot start if "continuous path control" is set in " ". ("Continuous path control" cannot be set in fixed-feed Operation pattern Da.1 control.)
  • Page 490 Chapter 9 Major Positioning Control Positioning data setting example [When "3-axis fixed-feed control (fixed-feed 3)" is set in positioning data No. 1 of axis 1] • Reference axis..... Axis 1 • Interpolation axis..Axis 2, Axis3 (The required values are also set in positioning data No.
  • Page 491 Chapter 9 Major Positioning Control POINTS • When the movement amount is converted to the actual number of command pulses, a fraction appears after the decimal point, according to the movement amount per pulse. This fraction is normally retained in the QD77MS and reflected at the next positioning.

  • Page 492: 4-Axis Fixed-Feed Control (Interpolation)

    Chapter 9 Major Positioning Control 9.2.9 4-axis fixed-feed control (interpolation) In "4-axis fixed-feed control" (" Da.2 Control system" = fixed-feed 4), four motors are used to carry out fixed-feed control in a linear path while carrying out interpolation for the axis directions set in each axis. In fixed-feed control, any remainder of below control accuracy is rounded down to convert the movement amount designated in the positioning data into the command value to servo amplifier.
  • Page 493 Chapter 9 Major Positioning Control Positioning data setting example [When "4-axis fixed-feed control (fixed-feed 4)" is set in positioning data No.1 of axis 1] • Reference axis..... Axis 1 • Interpolation axis..Axis 2, Axis3, Axis4 (The required values are also set in positioning data No.
  • Page 494 Chapter 9 Major Positioning Control POINTS • When the movement amount is converted to the actual number of command pulses, a fraction appears after the decimal point, according to the movement amount per pulse. This fraction is normally retained in the QD77MS and reflected at the next positioning.

  • Page 495: 2-Axis Circular Interpolation Control With Sub Point Designation

    Chapter 9 Major Positioning Control 9.2.10 2-axis circular interpolation control with sub point designation Da.2 In "2-axis circular interpolation control" (" Control system" = ABS circular sub, INC circular sub), two motors are used to carry out position control in an arc path passing through designated sub points, while carrying out interpolation for the axis directions set in each axis.
  • Page 496 Chapter 9 Major Positioning Control Restrictions (1) 2-axis circular interpolation control cannot be set in the following cases. • When "degree" is set in " Pr.1 Unit setting" • Pr.1 When the units set in " Unit setting" are different for the reference axis and interpolation axis.
  • Page 497 Chapter 9 Major Positioning Control Positioning data setting example [When "2-axis circular interpolation control with sub point designation (ABS circular sub)" is set in positioning data No. 1 of axis 1] • Reference axis..... Axis 1 • Interpolation axis..Axis 2 (The required values are also set in positioning data No.
  • Page 498 Chapter 9 Major Positioning Control [2] 2-axis circular interpolation control with sub point designation (INC circular sub) Operation chart In the incremental system, 2-axis circular interpolation control with sub point designation, positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in "...
  • Page 499 Chapter 9 Major Positioning Control Restrictions (1) 2-axis circular interpolation control cannot be set in the following cases. • When "degree" is set in " Pr.1 Unit setting" • Pr.1 When the units set in " Unit setting" are different for the reference axis and interpolation axis.
  • Page 500 Chapter 9 Major Positioning Control Positioning data setting example [When "2-axis circular interpolation control with sub point designation (INC circular sub)" is set in positioning data No. 1 of axis 1] • Reference axis..... Axis 1 • Interpolation axis..Axis 2 (The required values are also set in positioning data No.

  • Page 501: 2-Axis Circular Interpolation Control With Center Point Designation

    Chapter 9 Major Positioning Control 9.2.11 2-axis circular interpolation control with center point designation In "2-axis circular interpolation control" (" Da.2 Control system" = ABS circular right, INC circular right, ABS circular left, INC circular left), two motors are used to carry out position control in an arc path having an arc address as a center point, while carrying out interpolation for the axis directions set in each axis.
  • Page 502 Chapter 9 Major Positioning Control Circular interpolation error compensation In circular interpolation control with center point designation, the arc path calculated from the start point address and center point address may deviate from the position of the end point address set in " Da.6 Positioning address/movement amount".
  • Page 503 Chapter 9 Major Positioning Control [1] 2-axis circular interpolation control with center point designation (ABS circular right, ABS circular left) Operation chart In the absolute system, 2-axis circular interpolation control with center point designation positioning is carried out from the current stop position (start point Da.6 address) to the address (end point address) set in "...
  • Page 504 Chapter 9 Major Positioning Control In circular interpolation control with center point designation, an angular velocity is calculated on the assumption that operation is carried out at a command speed on the arc using the radius calculated from the start point address and center point address, and the radius is compensated in proportion to the angular velocity deviated from that at the start point.
  • Page 505 Chapter 9 Major Positioning Control Positioning data setting examples [When "2-axis circular interpolation control with center point designation (ABS circular right, ABS circular left)" is set in positioning data No. 1 of axis 1] • Reference axis..... Axis 1 • Interpolation axis..Axis 2 (The required values are also set in positioning data No.
  • Page 506 Chapter 9 Major Positioning Control [2] 2-axis circular interpolation control with center point designation (INC circular right, INC circular left) Operation chart In the incremental system, 2-axis circular interpolation control with center point designation, positioning is carried out from the current stop position (start point Da.6 address) to a position at the end of the movement amount set in "...
  • Page 507 Chapter 9 Major Positioning Control In circular interpolation control with center point designation, an angular velocity is calculated on the assumption that operation is carried out at a command speed on the arc using the radius calculated from the start point address and center point address, and the radius is compensated in proportion to the angular velocity deviated from that at the start point.
  • Page 508 Chapter 9 Major Positioning Control Positioning data setting examples [When "2-axis circular interpolation control with center point designation (INC circular right, INC circular left)" is set in positioning data No. 1 of axis 1] • Reference axis..... Axis 1 • Interpolation axis..Axis 2 (The required values are also set in positioning data No.

  • Page 509: 1-Axis Speed Control

    Chapter 9 Major Positioning Control 9.2.12 1-axis speed control In "1-axis speed control" (" Da.2 Control system" = Forward run: speed 1, Reverse run: speed 1), control is carried out in the axis direction in which the positioning data has been set by continuously outputting pulses for the speed set in " Da.8 Command speed"...
  • Page 510 Chapter 9 Major Positioning Control Current feed value during 1-axis speed control Md.20 The following table shows the " Current feed value" during 1-axis speed control corresponding to the " Pr.21 Current feed value during speed control" settings. Pr.21 Current feed value during speed Md.20 Current feed value control"...
  • Page 511 Chapter 9 Major Positioning Control Positioning data setting examples [When "1-axis speed control (forward run: speed 1)" is set in the positioning data No. 1 of axis 1] Setting example Setting item Setting details QD77MS2 QD77MS16 QD77MS4 Setting other than "Positioning complete" is not possible in Da.1 Operation pattern Positioning complete speed control.

  • Page 512: 2-Axis Speed Control

    Chapter 9 Major Positioning Control 9.2.13 2-axis speed control In "2-axis speed control" (" Da.2 Control system" = Forward run: speed 2, Reverse run: speed 2), control is carried out in the 2-axis direction in which the positioning data has been set by continuously outputting pulses for the speed set in " Da.8 Command speed"...
  • Page 513 Chapter 9 Major Positioning Control Current feed value during 2-axis speed control Md.20 The following table shows the " Current feed value" during 2-axis speed control corresponding to the " Pr.21 Current feed value during speed control" settings. (Note that the reference axis setting values are used for parameters.) "...
  • Page 514 Chapter 9 Major Positioning Control (4) When either of two axes exceeds the speed limit, that axis is controlled with the speed limit value. The speeds of the other axes are limited at the ratios of " ". Command speed Da.8 (Examples) Axis...
  • Page 515 Chapter 9 Major Positioning Control Positioning data setting examples [When "2-axis speed control (forward run: speed 2)" is set in the positioning data No. 1 of axis 1] • Reference axis..... Axis 1 • Interpolation axis..Axis 2 (The required values are also set in positioning data No.1 of axis 2.) QD77MS2/QD77MS4 QD77MS16...

  • Page 516: 3-Axis Speed Control

    Chapter 9 Major Positioning Control 9.2.14 3-axis speed control In "3-axis speed control" (" Da.2 Control system" = Forward run: speed 3, Reverse run: speed 3), control is carried out in the 3-axis direction in which the positioning data has been set by continuously outputting pulses for the speed set in " Da.8 Command speed"...
  • Page 517 Chapter 9 Major Positioning Control Current feed value during 3-axis speed control Md.20 The following table shows the " Current feed value" during 3-axis speed control corresponding to the " Pr.21 Current feed value during speed control" settings. (Note that the reference axis setting values are used for parameters.) Pr.21 Current feed value during speed Md.20 Current feed value control"...
  • Page 518 Chapter 9 Major Positioning Control (4) When either of three axes exceeds the speed limit, that axis is controlled with the speed limit value. The speeds of the other axes are limited at the ratios of " ". Command speed Da.8 (Examples) Axis...
  • Page 519 Chapter 9 Major Positioning Control Positioning data setting examples [When "3-axis speed control (forward run: speed 3)" is set in the positioning data No. 1 of axis 1] • Reference axis..... Axis 1 • Interpolation axis..Axis 2, Axis 3 (The required values are also set in positioning data No.1 of axis 2 and axis 3.) QD77MS4 setting example QD77MS16 setting example...

  • Page 520: 4-Axis Speed Control

    Chapter 9 Major Positioning Control 9.2.15 4-axis speed control In "4-axis speed control" (" Da.2 Control system" = Forward run: speed 4, Reverse run: speed 4), control is carried out in the 4-axis direction in which the positioning data has been set by continuously outputting pulses for the speed set in " Da.8 Command speed"...
  • Page 521 Chapter 9 Major Positioning Control Operation chart The following chart shows the operation timing for 4-axis speed control with axis 1 as the reference axis. The "in speed control" flag ( Md.31 Status: b0) is turned ON during speed control. The "positioning complete signal"...
  • Page 522 Chapter 9 Major Positioning Control Current feed value during 4-axis speed control Md.20 The following table shows the " Current feed value" during 4-axis speed control corresponding to the " Pr.21 Current feed value during speed control" settings. (Note that the reference axis setting values are used for parameters.) Pr.21 Current feed value during speed Md.20 Current feed value control"...
  • Page 523 Chapter 9 Major Positioning Control (4) When either of four axes exceeds the speed limit, that axis is controlled with the speed limit value. The speeds of the other axes are limited at the ratios of " ". Command speed Da.8 (Examples) Axis...
  • Page 524 Chapter 9 Major Positioning Control Positioning data setting examples [When "4-axis speed control (forward run: speed 4)" is set in the positioning data No. 1 of axis 1] • Reference axis..... Axis 1 • Interpolation axis..Axis 2 to Axis 4 (The required values are also set in positioning data No.

  • Page 525: Speed-Position Switching Control (Inc Mode)

    Chapter 9 Major Positioning Control 9.2.16 Speed-position switching control (INC mode) In "speed-position switching control (INC mode)" (" Da.2 Control system = Forward run: speed/position, Reverse run: speed/position), the pulses of the speed set in " Da.8 Command speed" are kept output on the axial direction set to the positioning data.
  • Page 526 Chapter 9 Major Positioning Control Cd.24 (2) " Speed-position switching enable flag" must be turned ON to switch over from speed control to position control. (If the " Cd.24 Speed-position switching enable flag" turns ON after the speed-position switching signal turns ON, the control will continue as speed control without switching over to position control.
  • Page 527 Chapter 9 Major Positioning Control Operation chart The following chart (Fig.9.13) shows the operation timing for speed-position switching control (INC mode). The "in speed control flag" ( Md.31 Status: b0) is turned ON during speed control of speed-position switching control (INC mode). [QD77MS4 operation example] •...
  • Page 528 Chapter 9 Major Positioning Control [Operation example] The following operation assumes that the speed-position switching signal is input at the position of the current feed value of 90.00000 [degree] during execution of " Control system" "Forward run: Da.2 speed/position" at " Pr.1 Unit setting"...
  • Page 529 Chapter 9 Major Positioning Control Operation timing and processing time during speed-position switching control (INC mode) [QD77MS4 operation example] Positioning start signal [Y10,Y11,Y12,Y13] BUSY signal [XC,XD,XE,XF] M code ON signal [X4,X5,X6,X7](WITH mode) Cd.7 M code OFF request Start complete signal [X10,X11,X12,X13] Md.26 Axis operation status Standby...
  • Page 530 Chapter 9 Major Positioning Control Current feed value during speed-position switching control (INC mode) The following table shows the " Md.20 Current feed value" during speed-position Pr.21 switching control (INC mode) corresponding to the " Current feed value during speed control" settings. Pr.21 Current feed value during Md.20 Current feed value speed control"...
  • Page 531 Chapter 9 Major Positioning Control (2) The following table shows the items that must be set to use the near-point dog signal (DOG) as speed-position switching signals. Buffer memory address Setting Setting item Setting details QD77MS2 value QD77MS16 QD77MS4 Speed-position Use the near-point dog signal Cd.45 switching device...
  • Page 532 Chapter 9 Major Positioning Control Speed control Position control Position control start Speed-position switching control (INC mode) start Movement amount change possible Speed-position switching signal Setting after the speed-position switching signal ON is ignored Cd.23 Speed-position switching control movement amount change register P2 becomes the position control movement amount Speed-position switching latch flag ( Md.31 Status : b1)
  • Page 533 Chapter 9 Major Positioning Control Restrictions (1) An axis error (error code: 516) will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is set in " Da.1 Operation pattern". (2) "Speed-position switching control" cannot be set in " Da.2 Control system"...
  • Page 534 Chapter 9 Major Positioning Control Positioning data setting examples [When "speed-position switching control (INC mode) by forward run" is set in positioning data No. 1 of axis 1] Setting example Setting item Setting details QD77MS2 QD77MS16 QD77MS4 Set "Positioning complete" assuming the next positioning data Da.1 Operation pattern Positioning complete will not be executed.

  • Page 535: Speed-Position Switching Control (Abs Mode)

    Chapter 9 Major Positioning Control 9.2.17 Speed-position switching control (ABS mode) In case of "speed-position switching control (ABS mode)" (" Control system = Da.2 Forward run: speed/position, Reverse run: speed/position), the pulses of the speed set in " Command speed" are kept output in the axial direction set to the positioning Da.8 data.
  • Page 536 Chapter 9 Major Positioning Control Switching over from speed control to position control (1) The control is selected the switching method from speed control to position control by the setting value of " ". Speed-position switching device selection Cd.45 Buffer memory address Setting Setting item Setting details...
  • Page 537 Chapter 9 Major Positioning Control Operation chart The following chart (Fig.9.16) shows the operation timing for speed-position Md.31 switching control (ABS mode). The "in speed control flag" ( Status: b0) is turned ON during speed control of speed-position switching control (ABS mode). [QD77MS4 operation example] •...
  • Page 538 Chapter 9 Major Positioning Control [Operation example] The following operation assumes that the speed-position switching signal is input at the position of the current feed value of 90.00000 [degree] during execution of " Da.2 Control system" "Forward run: speed/position" at " Pr.1 Unit setting"...
  • Page 539 Chapter 9 Major Positioning Control Operation timing and processing time during speed-position switching control (ABS mode) [QD77MS4 operation example] Positioning start signal [Y10,Y11,Y12,Y13] BUSY signal [XC,XD,XE,XF] M code ON signal [X4,X5,X6,X7](WITH mode) Cd.7 M code OFF request Start complete signal [X10,X11,X12,X13] Speed control Md.26 Axis operation status...
  • Page 540 Chapter 9 Major Positioning Control Current feed value during speed-position switching control (ABS mode) The following table shows the " Md.20 Current feed value" during speed-position Pr.21 switching control (ABS mode) corresponding to the " Current feed value during speed control" settings. "...
  • Page 541 Chapter 9 Major Positioning Control Speed-position switching signal setting (1) The following table shows the items that must be set to use the external command signals [DI] as speed-position switching signals. Buffer memory address Setting Setting item Setting details QD77MS2 value QD77MS16 QD77MS4...
  • Page 542 Chapter 9 Major Positioning Control Restrictions (1) An axis error (error code: 516) will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is set in " Da.1 Operation pattern". Da.2 (2) "Speed-position switching control" cannot be set in " Control system"...
  • Page 543 Chapter 9 Major Positioning Control Positioning data setting examples [When "speed-position switching control (ABS mode) by forward run" is set in positioning data No. 1 of axis 1] Setting example Setting item Setting details QD77MS2 QD77MS16 QD77MS4 Set "Positioning complete" assuming the next positioning data Da.1 Operation pattern Positioning complete will not be executed.

  • Page 544: Position-Speed Switching Control

    Chapter 9 Major Positioning Control 9.2.18 Position-speed switching control In "position-speed switching control" (" Da.2 Control system" = Forward run: position/speed, Reverse run: position/speed), before the position-speed switching signal is input, position control is carried out for the movement amount set in "...
  • Page 545 Chapter 9 Major Positioning Control Cd.26 (2) " Position-speed switching enable flag" must be turned ON to switch over from position control to speed control. (If the " Cd.26 Position-speed switching enable flag" turns ON after the position-speed switching signal turns ON, the control will continue as position control without switching over to speed control.
  • Page 546 Chapter 9 Major Positioning Control Operation chart The following chart shows the operation timing for position-speed switching control. The "in speed control" flag ( Md.31 Status: b0) is turned ON during speed control of position-speed switching control. [QD77MS4 operation example] •...
  • Page 547 Chapter 9 Major Positioning Control Operation timing and processing time during position-speed switching control [QD77MS4 operation example] Positioning start signal [Y10,Y11,Y12,Y13] BUSY signal [XC,XD,XE,XF] M code ON signal [X4,X5,X6,X7](WITH mode) Cd. 7 M code OFF request Start complete signal [X10,X11,X12,X13] Standby Position control Axis operation status...
  • Page 548 Chapter 9 Major Positioning Control Current feed value during position-speed switching control The following table shows the " Md.20 Current feed value" during position-speed Pr.21 switching control corresponding to the " Current feed value during speed control" settings. " Pr.21 Current feed value during Md.20 Current feed value speed control"...
  • Page 549 Chapter 9 Major Positioning Control Position-speed switching signal setting (1) The following table shows the items that must be set to use the external command signals [DI] as position-speed switching signals. Buffer memory address Setting Setting item Setting details QD77MS2 value QD77MS16 QD77MS4...
  • Page 550 Chapter 9 Major Positioning Control Changing the speed control command speed In "position-speed switching control", the speed control command speed can be changed during the position control. (1) The speed control command speed can be changed during the position control of position-speed switching control.
  • Page 551 Chapter 9 Major Positioning Control Restrictions (1) An axis error (error code: 516) will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is set in " Da.1 Operation pattern". (2) "Position-speed switching control" cannot be set in " Da.2 Control system"...
  • Page 552 Chapter 9 Major Positioning Control Positioning data setting examples [When "position-speed switching control (forward run: position/speed)" is set in positioning data No. 1 of axis 1] Setting example Setting item Setting details QD77MS2 QD77MS16 QD77MS4 Set "Positioning complete" assuming the next positioning data will not be executed.

  • Page 553: Current Value Changing

    Chapter 9 Major Positioning Control 9.2.19 Current value changing When the current value is changed to a new value, control is carried out in which the " Md.20 Current feed value" of the stopped axis is changed to a random address set by the user.
  • Page 554 Chapter 9 Major Positioning Control (3) An axis error "Outside new current value range (error code: 514)" will occur and the operation cannot start if "degree" is set in " Pr.1 Unit setting" and the value set in " Da.6 Positioning address/movement amount (0 to 359.99999 [degree])"...
  • Page 555 Chapter 9 Major Positioning Control [2] Changing to a new current value using the start No. (No. 9003) for a current value changing Operation chart The current value is changed by setting the new current value in the current value Cd.9 changing buffer memory "...
  • Page 556 Chapter 9 Major Positioning Control Setting method for the current value changing function The following shows an example of a sequence program and data setting to change the current value to a new value with the positioning start signal. (The Current feed"...
  • Page 557 Chapter 9 Major Positioning Control (3) Add the following sequence program to the control program, and write it to the PLC CPU. [QD77MS4 program example] Current value changing Store new current feed value in D106 and D107 M103 <Pulsate current value changing command> M103 DTOP K1506...

  • Page 558: Nop Instruction

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

  • Page 559: Jump Instruction

    Chapter 9 Major Positioning Control 9.2.21 JUMP instruction The JUMP instruction is used to control the operation so it jumps to a positioning data No. set in the positioning data during "continuous positioning control" or "continuous path control". JUMP instruction include the following two types of JUMP. (1) Unconditional JUMP When no execution conditions are set for the JUMP instruction (When "0"...
  • Page 560 Chapter 9 Major Positioning Control (2) Set JUMP instruction to positioning data No. that "continuous positioning control" or "continuous path control" is set in operation pattern. It cannot set to positioning data No. that "positioning complete" is set in operation pattern. (3) Positioning control such as loops cannot be executed by conditional JUMP instructions alone until the conditions have been established.

  • Page 561: Loop

    Chapter 9 Major Positioning Control 9.2.22 LOOP The LOOP is used for loop control by the repetition of LOOP to LEND. Operation The LOOP to LEND loop is repeated by set repeat cycles. Positioning data setting examples [When "LOOP" is set in positioning data No. 1 of axis 1] Setting example Setting item Setting details...
  • Page 562 Chapter 9 Major Positioning Control POINT The setting by this control system is easier than that by the special start "FOR loop" of "High-level Positioning Control" (refer to Chapter 10). <Setting data> • For special start: Positioning start data, special start data, condition data, and positioning data •...

  • Page 563: Lend

    Chapter 9 Major Positioning Control 9.2.23 LEND The LEND is used to return the operation to the top of the repeat (LOOP to LEND) loop. Operation When the repeat cycle designated by the LOOP becomes 0, the loop is terminated, and the next positioning data No. processing is started. (The operation pattern, if set to "Positioning complete", will be ignored.) When the operation is stopped after the repeat operation is executed by designated cycles, the dummy positioning data (for example, incremental...

  • Page 564: High-Level Positioning Control 10- 1 To

    Chapter 10 High-Level Positioning Control Chapter 10 High-Level Positioning Control The details and usage of high-level positioning control (control functions using the "block start data") are explained in this chapter. High-level positioning control is used to carry out applied control using the "positioning data".

  • Page 565: Outline Of High-Level Positioning Control

    Chapter 10 High-Level Positioning Control 10.1 Outline of high-level positioning control In "high-level positioning control" the execution order and execution conditions of the "positioning data" are set to carry out more applied positioning. (The execution order and execution conditions are set in the "block start data" and "condition data".) The following applied positioning controls can be carried out with "high-level positioning control".

  • Page 566: Data Required For High-Level Positioning Control

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

  • Page 567: Block Start Data" And "Condition Data" Configuration

    Chapter 10 High-Level Positioning Control 10.1.2 "Block start data" and "condition data" configuration The "block start data" and "condition data" corresponding to "block No. 7000" can be stored in the buffer memory. • QD77MS2/QD77MS4 50th point Buffer memory Setting item address 2nd point 1st point...
  • Page 568 Chapter 10 High-Level Positioning Control • QD77MS16 50th point Buffer memory Setting item address 2nd point 1st point Buffer memory Setting item address Buffer memory 22049+400n Setting item address 22001+400n 22000+400n Da.11 Shape Da.12 Start data No. 22099+400n 22051+400n 22050+400n Da.14 Parameter Da.13...

  • Page 569: High-Level Positioning Control Execution Procedure

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

  • Page 570: Setting The Block Start Data

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

  • Page 571: Block Start (Normal Start)

    Chapter 10 High-Level Positioning Control 10.3.2 Block start (normal start) In a "block start (normal start)", the positioning data groups of a block are continuously executed in a set PLC starting from the positioning data set in " Da.12 Start data No." by one start.
  • Page 572 Chapter 10 High-Level Positioning Control [2] Control examples The following shows the control executed when the "block start data" of the 1st point of axis 1 is set as shown in section [1] and started. <1> The positioning data is executed in the following order before stopping. Axis 1 positioning data No.

  • Page 573: Condition Start

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

  • Page 574: Wait Start

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

  • Page 575: Simultaneous Start

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

  • Page 576: Repeated Start (For Loop)

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

  • Page 577: Repeated Start (For Condition)

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

  • Page 578: Restrictions When Using The Next Start

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

  • Page 579: Setting The Condition Data

    Chapter 10 High-Level Positioning Control 10.4 Setting the condition data 10.4.1 Relation between various controls and the condition data "Condition data" is set in the following cases. (1) When setting conditions during execution of Section 9.2.21 "JUMP instruction" (major positioning control) (2) When setting conditions during execution of "high-level positioning control"...
  • Page 580 Chapter 10 High-Level Positioning Control The setting requirements and details of the following "condition data" Da.16 Da.19 setting items differ according to the " " setting. Condition target Da.23 Da.15 The following shows the setting items corresponding to Da.16 Da.19 Da.23 the "...
  • Page 581 Chapter 10 High-Level Positioning Control • QD77MS16 Other setting Da.23 item Da.16 Da.17 Da.18 Da.19 Number of Da.15 Condition operator Address Parameter 1 Parameter 2 simultaneously starting axes Condition target 01H: Device X 0 to 1FH (bit No.) 07H : DEV=ON —...

  • Page 582: Condition Data Setting Examples

    Chapter 10 High-Level Positioning Control 10.4.2 Condition data setting examples The following shows setting examples for "condition data". (1) QD77MS2/QD77MS4 (a) Setting the device ON/OFF as a condition [Condition] Device "XC" (Axis 1 BUSY signal) is OFF Da.16 Da.15 Da.17 Da.18 Da.19 Condition...
  • Page 583 Chapter 10 High-Level Positioning Control (2) QD77MS16 (a) Setting the device ON/OFF as a condition [Condition] Device "X10" (Axis 1 BUSY signal) is OFF Da.23 Da.24 Da.25 Da.26 Da.15 Da.16 Da.17 Da.18 Da.19 Number of Simultaneously Simultaneously Simultaneously Condition Condition Address Parameter 1 Parameter 2...

  • Page 584: Multiple Axes Simultaneous Start Control

    Chapter 10 High-Level Positioning Control 10.5 Multiple axes simultaneous start control The "multiple axes simultaneous start control" starts and controls the multiple axes simultaneously by outputting command to the axis to be started at the same timing as the start axis. The maximum of four axes can be started simultaneously.
  • Page 585 Chapter 10 High-Level Positioning Control [3] Multiple axes simultaneous start control procedure The procedure for multiple axes simultaneous start control is as follows. When QD77MS2 When QD77MS4 When QD77MS16 Set the following axis control data. Set the following axis control data. Set the following axis control data.
  • Page 586 Chapter 10 High-Level Positioning Control [4] Multiple axes simultaneous start control function setting method The following shows the setting of the data used to execute the multiple axes simultaneous start control with positioning start signals (The axis control data on the start axis is set).
  • Page 587 Chapter 10 High-Level Positioning Control [5] Setting examples (1) The following shows the setting examples in which the QD77MS4 [axis 1] is used as the start axis and the simultaneously started axes are used as the axes 2 and 4. Buffer memory address Setting Setting item...
  • Page 588 Chapter 10 High-Level Positioning Control POINTS (1) The "multiple axes simultaneous start control" carries out an operation equivalent to the "simultaneous start" using the "block start data". (2) The setting of the "multiple axes simultaneous start control" is easier than that of the "simultaneous start"...

  • Page 589: Start Program For High-Level Positioning Control

    Chapter 10 High-Level Positioning Control 10.6 Start program for high-level positioning control 10.6.1 Starting high-level positioning control To execute high-level positioning control, a sequence program must be created to start the control in the same method as for major positioning control. The following shows the procedure for starting the "1st point block start data"...

  • Page 590: Example Of A Start Program For High-Level Positioning Control

    Chapter 10 High-Level Positioning Control 10.6.2 Example of a start program for high-level positioning control The following shows an example of a start program for high-level positioning control in which the 1st point " block start data" of axis 1 is started. (The block No. is regarded as "7000".) Control data that require setting The following control data must be set to execute high-level positioning control.
  • Page 591 Chapter 10 High-Level Positioning Control Start time chart The following chart shows a time chart in which the positioning data No. 1, 2, 10, 11, and 12 of QD77MS4 [axis 1] are continuously executed as an example. (1) Block start data setting example Da.13 Da.11 Da.12...
  • Page 592 Chapter 10 High-Level Positioning Control Creating the program [QD77MS4 program example] Set the block start data beforehand. Positioning start command <Pulse the positioning start command.> M104 M104 <Write the positioning data No. 7000 K1500 K7000 for block positioning.> K1501 <Write the positioning start point No.> <Turn ON the positioning start signal.>...
  • Page 593 Chapter 10 High-Level Positioning Control MEMO 10 - 30...
  • Page 594 Chapter 11 Manual Control Chapter 11 Manual Control The details and usage of manual control are explained in this chapter. In manual control, commands are issued during a JOG operation and an inching operation executed by the turning ON of the JOG START signal, or from a manual pulse generator connected to the QD77MS.

  • Page 595: Outline Of Manual Control

    Chapter 11 Manual Control 11.1 Outline of manual control 11.1.1 Three manual control methods "Manual control" refers to control in which positioning data is not used, and a positioning operation is carried out in response to signal input from an external device. The three types of this "manual control"...
  • Page 596 Chapter 11 Manual Control [3] Manual pulse generator operation "Manual pulse generator operation" is a control method in which positioning is carried out in response to the number of pulses input from a manual pulse generator (the number of input command is output). This operation is used for manual fine adjustment, etc., when carrying out accurate positioning to obtain the positioning address.

  • Page 597: Jog Operation

    Chapter 11 Manual Control 11.2 JOG operation 11.2.1 Outline of JOG operation JOG operation In JOG operation, the forward run JOG start signal or reverse run JOG start signal turns ON, causing pulses to be output to the servo amplifier from the QD77MS while the signal is ON.
  • Page 598 Chapter 11 Manual Control Important Use the hardware stroke limit function when carrying out JOG operation near the upper or lower limits. (Refer to Section "13.4.4"). If the hardware stroke limit function is not used, the workpiece may exceed the moving range, causing an accident.
  • Page 599 Chapter 11 Manual Control JOG operation timing and processing time The following drawing shows details of the JOG operation timing and processing time. [QD77MS4 operation example] Forward run JOG start signal [Y8, YA, YC, YE] Reverse run JOG start signal [Y9, YB, YD, YF] BUSY signal [XC, XD, XE, XF] Md.

  • Page 600: Jog Operation Execution Procedure

    Chapter 11 Manual Control 11.2.2 JOG operation execution procedure The JOG operation is carried out by the following procedure. Preparation One of the following two methods can be used. STEP 1 Set the parameters. <Method 1> Pr.1 Pr.39 Refer to Chapter 5 Directly set (write) the parameters in the QD77MS using and Section 11.2.3.

  • Page 601: Setting The Required Parameters For Jog Operation

    Chapter 11 Manual Control 11.2.3 Setting the required parameters for JOG operation The "Positioning parameters" must be set to carry out JOG operation. The following table shows the setting items of the required parameters for carrying out JOG operation. When only JOG operation will be carried out, no parameters other than those shown below need to be set.
  • Page 602 Chapter 11 Manual Control REMARK • Parameter settings work in common for all control using the QD77MS. When carrying out other control ("major positioning control", "high-level positioning control", "OPR positioning control"), the respective setting items must also be matched and set. •...

  • Page 603: Creating Start Programs For Jog Operation

    Chapter 11 Manual Control 11.2.4 Creating start programs for JOG operation A sequence program must be created to execute a JOG operation. Consider the "required control data setting", "start conditions" and "start time chart" when creating the program. The following shows an example when a JOG operation is started for axis 1. ("...
  • Page 604 Chapter 11 Manual Control Start time chart [QD77MS4 operation example] Forward JOG run Reverse JOG run [Y8] Forward run JOG start signal [Y9] Reverse run JOG start signal [Y0] PLC READY signal [Y1] All axis servo ON [X0] QD77 READY signal [XC] BUSY signal [X8]...

  • Page 605: Jog Operation Example

    Chapter 11 Manual Control 11.2.5 JOG operation example When the "stop signal" is turned ON during JOG operation When the "stop signal" is turned ON during JOG operation, the JOG operation will stop by the "deceleration stop" method. If the JOG start signal is turned ON while the stop signal is ON, an error "Stop signal ON at start"...
  • Page 606 Chapter 11 Manual Control When both the "forward run JOG start signal" and "reverse run JOG start signal" are turned ON simultaneously for one axis When both the "forward run JOG start signal" and "reverse run JOG start signal" are turned ON simultaneously for one axis, the "forward run JOG start signal" is given priority.
  • Page 607 Chapter 11 Manual Control When the "JOG start signal" is turned ON again during deceleration caused by the ON OFF of the "JOG start signal" When the "JOG start signal" is turned ON again during deceleration caused by the OFF of the "JOG start signal", the JOG operation will be carried out from the time the "JOG start signal"...

  • Page 608: Inching Operation

    Chapter 11 Manual Control 11.3 Inching operation 11.3.1 Outline of inching operation Inching operation In inching operation, pulses are output to the servo amplifier at operation cycle to move the workpiece by a designated movement amount after the forward run JOG start signal or reverse JOG start signal is turned ON.
  • Page 609 Chapter 11 Manual Control Important When the inching operation is carried out near the upper or lower limit, use the hardware stroke limit function (Refer to Section 13.4.4). If the hardware stroke limit function is not used, the workpiece may exceed the movement range, and an accident may result.
  • Page 610 Chapter 11 Manual Control Inching operation timing and processing times The following drawing shows the details of the inching operation timing and processing time. [QD77MS4 operation example] Forward run JOG start signal [Y8,YA,YC,YE] Reverse run JOG start signal [Y9,YB,YD,YF] BUSY signal [XC,XD,XE,XF] Md.26 Standby...

  • Page 611: Inching Operation Execution Procedure

    Chapter 11 Manual Control 11.3.2 Inching operation execution procedure The inching operation is carried out by the following procedure. Preparation One of the following two methods can be used. STEP 1 Set the parameters. <Method 1> Pr.1 Pr.31 Refer to Chapter 5 Directly set (write) the parameters in the QD77MS using and Section 11.3.3.

  • Page 612: Setting The Required Parameters For Inching Operation

    Chapter 11 Manual Control 11.3.3 Setting the required parameters for inching operation The "Positioning parameters" must be set to carry out inching operation. The following table shows the setting items of the required parameters for carrying out inching operation. When only inching operation will be carried out, no parameters other than those shown below need to be set.

  • Page 613: Creating A Program To Enable/Disable The Inching Operation

    Chapter 11 Manual Control 11.3.4 Creating a program to enable/disable the inching operation A sequence program must be created to execute an inching operation. Consider the "required control data setting", "start conditions", and "start time chart" when creating the program. The following shows an example when an inching operation is started for axis 1.
  • Page 614 Chapter 11 Manual Control Start time chart [QD77MS4 operation example] Forward run inching operation Reverse run inching operation Forward run JOG start signal [Y8] Reverse run JOG start signal [Y9] PLC READY signal [Y0] All axis servo ON [Y1] OFF QD77 READY signal [X0] BUSY signal...

  • Page 615: Inching Operation Example

    Chapter 11 Manual Control 11.3.5 Inching operation example When executing inching operation while stop signal is turned ON If the JOG start signal is turned ON while the stop signal is ON, an error "Stop signal ON at start" (error code: 106) will occur. The inching operation can be re-started when the stop signal is turned OFF and then re-turned ON.
  • Page 616 Chapter 11 Manual Control When the "JOG start signal" is turned ON while the test function of GX Works2 is used When the "JOG star signal" is turned ON while the test function is used, it will be ignored and the inching operation will not be carried out. [QD77MS4 operation example] Inching operation not possible because this...

  • Page 617: Manual Pulse Generator Operation

    Chapter 11 Manual Control 11.4 Manual pulse generator operation 11.4.1 Outline of manual pulse generator operation Manual pulse generator operation In manual pulse generator operations, pulses are input to the QD77MS from the manual pulse generator. This causes the same number of input command to be output from the QD77MS to the servo amplifier, and the workpiece is moved in the designated direction.
  • Page 618 Chapter 11 Manual Control Restricted items A manual pulse generator is required to carry out manual pulse generator operation. Precautions during operation The following details must be understood before carrying out manual pulse generator operation. (1) The speed during manual pulse generator operation is not limited by the Pr.8 "...
  • Page 619 Chapter 11 Manual Control Operations when stroke limit error occurs When the hardware stroke limit error or the software stroke limit error is detected (Note-1) during operation, the operation will decelerate to a stop. However, in case of " ", "Manual pulse generator operation" will continue Axis operation status Md.26 (Note-1)
  • Page 620 Chapter 11 Manual Control Normal timing times Unit : [ms] Operation cycle QD77MS2 0.88 0.6 to 0.9 10.0 to 13.7 18.0 to 25.0 QD77MS4 0.88 0.6 to 0.9 10.0 to 13.7 18.0 to 25.0 QD77MS16 1.77 0.8 to 1.8 10.0 to 14.8 18.0 to 25.0 •...

  • Page 621: Manual Pulse Generator Operation Execution Procedure

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

  • Page 622: Setting The Required Parameters For Manual Pulse Generator Operation

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

  • Page 623: Creating A Program To Enable/Disable The Manual Pulse Generator Operation

    Chapter 11 Manual Control 11.4.4 Creating a program to enable/disable the manual pulse generator operation A sequence program must be created to execute a manual pulse generator operation. Consider the "required control data setting", "start conditions" and "start time chart" when creating the program.
  • Page 624 Chapter 11 Manual Control Start time chart [QD77MS4 operation example] Forward run Reverse run Pulse input A phase Pulse input B phase [Y0] PLC READY signal [Y1] All axis servo ON [X0] QD77 READY signal [X10] Start complete signal [XC] BUSY signal [X8] Error detection signal...
  • Page 625 Chapter 11 Manual Control MEMO 11 - 32...
  • Page 626 Chapter 12 Expansion Control Chapter 12 Expansion Control The details and usage of expansion control are explained in this chapter. In expansion control, the speed-torque control to execute the speed control and torque control not including position loop can be performed. Execute the required setting to match the control.

  • Page 627: Speed-Torque Control

    Chapter 12 Expansion Control 12.1 Speed-torque control 12.1.1 Outline of speed-torque control This function is used to execute the speed control or torque control that does not include the position loop for the command to servo amplifier. The "continuous operation to torque control mode" that switches the control mode to torque control mode without stop of servomotor during positioning operation when tightening a bottle cap or a screw.
  • Page 628 Chapter 12 Expansion Control CAUTION If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo motor stop status (servo lock status) or in a 30r/min or less low-speed operation status, the servo amplifier may malfunction regardless of the electronic thermal relay protection.

  • Page 629: Setting The Required Parameters For Speed-Torque Control

    Chapter 12 Expansion Control 12.1.2 Setting the required parameters for speed-torque control The "Positioning parameters" must be set to carry out speed-torque control. The following table shows the setting items of the required parameters for carrying out speed-torque control. When only speed-torque control will be carried out, no parameters other than those shown below need to be set.

  • Page 630: Setting The Required Data For Speed-Torque Control

    Chapter 12 Expansion Control 12.1.3 Setting the required data for speed-torque control Required control data setting for the control mode switching The control data shown below must be set to execute the control mode switching. Buffer memory address Setting Setting item Setting details QD77MS2 value...
  • Page 631 Chapter 12 Expansion Control Required control data setting for the torque control mode The control data shown below must be set to execute the torque control. Buffer memory address Setting Setting item Setting details QD77MS2 value QD77MS16 QD77MS4 Command torque at Set the command torque at torque control 1580+100n 4380+100n Cd.143...

  • Page 632: Operation Of Speed-Torque Control

    Chapter 12 Expansion Control 12.1.4 Operation of speed-torque control [1] Switching of control mode (Speed control/Torque control) Switching method of control mode Set "1" in " " after setting the control mode in Control mode switching request Cd.138 " " to switch to the speed control or torque control. Control mode setting Cd.139 When the mode is switched to the speed control mode or torque control mode, the...
  • Page 633 Chapter 12 Expansion Control The history of control mode switching is stored to the starting history at request of control mode switching. (Refer to Section 5.6.1 "System monitor data".) Confirm the control mode with "control mode (high-order buffer memory address: b2, b3)"...
  • Page 634 Chapter 12 Expansion Control The following chart shows the operation timing for axis 1. [QD77MS4 operation example] Position control mode Speed control mode Position control mode 30000 20000 6 to 11ms 6 to 11ms Cd.138 Control mode switching request Cd.139 Control mode setting Cd.140 Command speed at speed...
  • Page 635 Chapter 12 Expansion Control Operation for "Position control mode ↔ Torque control mode switching" When the mode is switched from position control mode to torque control mode, the command torque immediately after switching is the torque set in "Torque initial value selection (b4 to b7)"...
  • Page 636 Chapter 12 Expansion Control When the mode is switched from torque control mode to position control mode, the command position immediately after switching is the current feed value at switching. The following chart shows the operation timing for axis 1. [QD77MS4 operation example] Torque Position control mode...
  • Page 637 Chapter 12 Expansion Control Operation for "Speed control mode ↔ Torque control mode switching" When the mode is switched from speed control mode to torque control mode, the command torque immediately after switching is the torque set in "Torque initial value selection (b4 to b7)"...
  • Page 638 Chapter 12 Expansion Control When the mode is switched from torque control mode to speed control mode, the command speed immediately after switching is the motor speed at switching. The following chart shows the operation timing for axis 1. [QD77MS4 operation example] Speed control mode Torque control mode Speed control mode...
  • Page 639 Chapter 12 Expansion Control [2] Switching of control mode (Continuous operation to torque control) Switching method of control mode Set "1" in " " after setting the control mode in Control mode switching request Cd.138 " " (30: Continuous operation to torque control mode) to Control mode setting Cd.139 switch from position control mode or speed control mode to continuous operation...
  • Page 640 Chapter 12 Expansion Control The history of control mode switching is stored to the starting history at request of control mode switching. (Refer to Section 5.6.1 "System monitor data".) Confirm the status of continuous operation to torque control mode with "b14: Continuous operation to torque control mode"...
  • Page 641 Chapter 12 Expansion Control Operation for "Position control mode ↔ Continuous operation to torque control mode switching" When the mode is switched to the continuous operation to torque control mode, the control data used in the control mode must be set before setting "1" in " Cd.138 ".
  • Page 642 Chapter 12 Expansion Control The following chart shows the operation timing for axis 1. [QD77MS4 operation example] Position control mode Continuous operation to torque control mode Position control mode Contact with target 1000 Torque 30.0% 6 to 11 6 to 11 Cd.138 Control mode switching request Cd.139 Control mode setting...
  • Page 643 Chapter 12 Expansion Control Operation for "Speed control mode ↔ Continuous operation to torque control mode switching" When` the mode is switched to the continuous operation to torque control mode, the control data used in the control mode must be set before setting "1" in "...
  • Page 644 Chapter 12 Expansion Control The following chart shows the operation timing for axis 1. [QD77MS4 operation example] Speed control mode Continuous operation to torque control mode Speed control mode 10000 Contact with target 1000 -10000 Torque 30.0% 6 to 11 6 to 11 Cd.138 Control mode switching request...
  • Page 645 Chapter 12 Expansion Control Operation for switching from "Position control mode to "Continuous operation to torque control mode" automatically When the condition set in " " and " Control mode auto-shift selection Cd.153 Cd.154 " is satisfied, to switch the mode to continuous Control mode auto-shift parameter operation to torque control mode automatically, set the control data necessary in continuous operation to torque control mode, "...
  • Page 646 Chapter 12 Expansion Control POINT (1) Automatic switching is valid only when switching from position control mode to continuous operation to torque control mode. When the mode is switched from speed control mode to continuous operation to torque control mode or from continuous operation to torque control mode to other control modes, even if the automatic switching is set, the state is not waiting for the completion of condition, and control mode switching is executed immediately.
  • Page 647 Chapter 12 Expansion Control The following chart shows the operation when "1: Current feed value pass" is set in " ". Control mode auto-shift selection Cd.153 Position control mode Continuous operation to torque control mode Contact with target 1000 Current feed value passes the address "adr"...
  • Page 648 Chapter 12 Expansion Control [3] Speed control mode Operation for speed control mode The speed control is executed at speed set in " Command speed at speed Cd.140 " in the speed control mode. Set a positive value for forward rotation control mode and a negative value for reverse rotation.
  • Page 649 Chapter 12 Expansion Control Stop cause during speed control mode The operation for stop cause during speed control mode is shown below. Item Operation during speed control mode The Axis stop [Y4 to Y7] turned ON. QD77MS2 QD77MS4 The motor decelerates to speed "0" by setting value of "...
  • Page 650 Chapter 12 Expansion Control [4] Torque control mode Operation for torque control mode The torque control is executed at command torque set in " Command torque Cd.143 " in the torque control mode. " " can be changed any at torque control mode Cd.143 time during torque control mode.
  • Page 651 Chapter 12 Expansion Control Set time that reaches " " from 0% in " Torque limit setting value Torque Pr.17 Cd.144 " and time that decreases 0% time constant at torque control mode (Forward direction) from " " in " Torque limit setting value Torque time constant at torque control Pr.17...
  • Page 652 Chapter 12 Expansion Control Speed during torque control mode The speed during torque control mode is controlled with " Speed limit value at Cd.146 ". At this time, "Speed limit (" " (low-order torque control mode Servo status Md.108 buffer memory address): b4) turns ON. Buffer memory address (Low-order) QD77MS2/QD77MS4 QD77MS16...
  • Page 653 Chapter 12 Expansion Control Stop cause during torque control mode The operation for stop cause during torque control mode is shown below. Item Operation during torque control mode The speed limit value commanded to servo amplifier is "0" The Axis stop [Y4 to Y7] turned ON. regardless of the setting value of "...
  • Page 654 Chapter 12 Expansion Control [5] Continuous operation to torque control mode Operation for continuous operation to torque control mode In continuous operation to torque control, the torque control can be executed without stopping the operation during the positioning in position control mode or speed command in speed control mode.
  • Page 655 Chapter 12 Expansion Control Torque command setting method During continuous operation to torque control mode, set time for the command torque to increase from 0% to " " in " Torque limit setting value Torque Pr.17 Cd.151 ", and the time constant at continuous operation to torque control mode (Forward direction) command torque to decrease from "...
  • Page 656 Chapter 12 Expansion Control Speed limit value setting method Acceleration/deceleration is a trapezoidal acceleration/deceleration processing. Set acceleration/deceleration time toward " " in " Speed limit value Pr.8 Cd.148 " and " Acceleration time at continuous operation to torque control mode Cd.149 ".
  • Page 657 Chapter 12 Expansion Control Speed during continuous operation to torque control mode The speed during continuous operation to torque control mode is controlled with the absolute value of value set in " Speed limit value at continuous operation to Cd.147 "...
  • Page 658 Chapter 12 Expansion Control Stop cause during continuous operation to torque control mode The operation for stop cause during continuous operation to torque control mode is shown below. Item Operation during continuous operation to torque control mode The Axis stop [Y4 to Y7] turned ON. The speed limit value commanded to servo amplifier is "0"...
  • Page 659 Chapter 12 Expansion Control MEMO 12 - 34...

  • Page 660: Control Sub Functions 13- 1 To

    Chapter 13 Control Sub Functions Chapter 13 Control Sub Functions The details and usage of the "sub functions" added and used in combination with the main functions are explained in this chapter. A variety of sub functions are available, including functions specifically for machine OPR and generally related functions such as control compensation, etc.

  • Page 661: Outline Of Sub Functions

    Chapter 13 Control Sub Functions 13.1 Outline of sub functions "Sub functions" are functions that compensate, limit, add functions, etc., to the control when the main functions are executed. These sub functions are executed by parameter settings, operation from GX Works2, sub function sequence programs, etc. 13.1.1 Outline of sub functions The following table shows the types of sub functions available.
  • Page 662 Chapter 13 Control Sub Functions Sub function Details This function restores the absolute position of designated axis. Absolute position system function By this function, the OPR after power ON from OFF is not required once the OPR is executed when the system operation is started. This function temporarily stops the operation to confirm the positioning operation during debugging, etc.

  • Page 663: Sub Functions Specifically For Machine Opr

    Chapter 13 Control Sub Functions 13.2 Sub functions specifically for machine OPR The sub functions specifically for machine OPR include the "OPR retry function" and "OP shift function". Each function is executed by parameter setting. 13.2.1 OPR retry function When the workpiece goes past the OP without stopping during positioning control, it may not move back in the direction of the OP although a machine OPR is commanded, depending on the workpiece position.
  • Page 664 Chapter 13 Control Sub Functions (2) OPR retry operation when the workpiece is outside the range between the upper and lower limits. 1) When the direction from the workpiece to the OP is the same as the " OPR direction", a Pr.44 normal machine OPR is carried out.
  • Page 665 Chapter 13 Control Sub Functions (3) Setting the dwell time during an OPR retry The OPR retry function can perform such function as the dwell time using Pr.57 " Dwell time during OPR retry" when the reverse run operation is carried out due to detection by the limit signal for upper and lower limits and when the machine OPR is executed after the near point dog is turned OFF to stop the operation.
  • Page 666 Chapter 13 Control Sub Functions [3] Setting the OPR retry function To use the "OPR retry function", set the required details in the parameters shown in the following table, and write them to the QD77MS. When the parameters are set, the OPR retry function will be added to the machine OPR control.

  • Page 667: Op Shift Function

    Chapter 13 Control Sub Functions 13.2.2 OP shift function When a machine OPR is carried out, the OP is normally established using the near- point dog, stopper, and zero signal. However, by using the OP shift function, the machine can be moved a designated movement amount from the position where the zero signal was detected.
  • Page 668 Chapter 13 Control Sub Functions [2] Setting range for the OP shift amount Set the OP shift amount within the range from the detected zero signal to the upper/lower limit switches. Setting range of the negative OP Setting range of the positive OP shift amount shift amount Address decrease Address increase...
  • Page 669 Chapter 13 Control Sub Functions (2) OP shift operation at the " Pr.47 Creep speed" (When " Pr.56 Speed designation during OP shift" is 1) Pr. 44 OPR direction Pr. 47 Creep When the " Pr. 53 OP speed shift amount" is positive Machine OPR start When the "...

  • Page 670: Functions For Compensating The Control

    Chapter 13 Control Sub Functions 13.3 Functions for compensating the control The sub functions for compensating the control include the "backlash compensation function", "electronic gear function", and "near pass function". Each function is executed by parameter setting or sequence program creation and writing. 13.3.1 Backlash compensation function The "backlash compensation function"...
  • Page 671 Chapter 13 Control Sub Functions [2] Precautions during control (1) The feed command of the backlash compensation amount are not added to the " Md.20 Current feed value" or " Md.21 Machine feed value". (2) Always carry out a machine OPR before starting the control when using the backlash compensation function (when "...

  • Page 672: Electronic Gear Function

    Chapter 13 Control Sub Functions 13.3.2 Electronic gear function The "electronic gear function" adjusts the actual machine movement amount and number of pulse output to servo amplifier according to the parameters set in the QD77MS. The "electronic gear function" has the following three functions ( [A] to [C] ). [A] During machine movement, the function increments in the QD77MS values less than one pulse that could not be output, and outputs the incremented amount when the total incremented value reached one pulse or more.
  • Page 673 Chapter 13 Control Sub Functions [1] Basic concept of the electronic gear The electronic gear is an item which determines how many rotations (rotations by how many pulses) the motor must make in order to move the machine according to the programmed movement amount. QD77MS Machine Reduction retio...
  • Page 674 Chapter 13 Control Sub Functions (1) For "Ball screw" + "Reduction gear" When the ball screw pitch is 10mm, the motor is the HG-KR (4194304 PLS/rev) and the reduction ratio of the reduction gear is 9/44. Machine Reduction ratio 9/44 First, find how many millimeters the load (machine) will travel ( ) when the motor turns one revolution (AP).
  • Page 675 Chapter 13 Control Sub Functions (2) When "PLS (pulse)" is set as the control unit When using PLS (pulse) as the control unit, set the electronic gear as follows. AP = "Number of pulses per rotation" AL = "Movement amount per rotation" AM = 1 Example) When the motor is the HG-KR (4194304PLS/rev) AP = 4194304 ..
  • Page 676 Chapter 13 Control Sub Functions Thus, AP, AL and AM to be set are as follows. AP = 2883584 …… Pr.2 AP = 2883584 … Pr.2 AL = 67.50000 … Pr.3 AL = 0.06750 … Pr.3 AM = 1 ………..… Pr.4 AM = 1000 …….
  • Page 677 Chapter 13 Control Sub Functions AL has a significant number to first decimal place, round down numbers to two decimal places. 166723584 166723584 (AP) AL × AM 742201.2 (AL) × 1(AM) 742201.2 Thus, AP, AL and AM to be set are as follows. AP = 166723584 ….
  • Page 678 Chapter 13 Control Sub Functions (Note): Set the same value as the value set in the fixed parameter to the servo parameter "Linear encoder resolution setting Numerator (PS02)" and "Linear encoder resolution setting Denominator (PS03)". Refer to the "Servo amplifier Instruction Manual" for details. Servo amplifier type Instruction manual name MR-J4- B...
  • Page 679 Chapter 13 Control Sub Functions [2] The method for compensating the error When the position control is carried out using the "Electronic gear" set in a parameter, this may produce an error between the command movement amount (L) and the actual movement amount (L'). With QD77MS, this error is compensated by adjusting the electronic gear.

  • Page 680: Near Pass Function

    Chapter 13 Control Sub Functions 13.3.3 Near pass function When continuous pass control is carried out using interpolation control, the near pass function is carried out. The "near pass function" is a function to suppress the mechanical vibration occurring at the time of switching the positioning data when continuous pass control is carried out using interpolation control.
  • Page 681 Chapter 13 Control Sub Functions Precautions during control (1) If the movement amount designated by the positioning data is small when the continuous path control is executed, the output speed may not reach the designated speed. (2) The movement direction is not checked during interpolation operation. Therefore, a deceleration stops are not carried out even if the movement direction changes.

  • Page 682: Functions To Limit The Control

    Chapter 13 Control Sub Functions 13.4 Functions to limit the control Functions to limit the control include the "speed limit function", "torque limit function", "software stroke limit function", "hardware stroke limit function", and "forced stop function". Each function is executed by parameter setting or sequence program creation and writing.
  • Page 683 Chapter 13 Control Sub Functions [2] Precautions during control If any axis exceeds " Pr.8 Speed limit value" during 2- to 4-axis speed control, the axis in excess of the speed limit value is controlled at the speed limit value. The speeds of the other axes interpolated are suppressed depending on their command speed ratios.

  • Page 684: Torque Limit Function

    Chapter 13 Control Sub Functions 13.4.2 Torque limit function The "torque limit function" limits the generated torque to a value within the "torque limit value" setting range when the torque generated in the servomotor exceeds the "torque limit value". The "torque limit function" protects the deceleration function, limits the power of the operation pressing against the stopper, etc.
  • Page 685 Chapter 13 Control Sub Functions [2] Control details The following drawing shows the operation of the torque limit function. [QD77MS4 operation example] Each operations PLC READY signal [Y0] All axis servo ON [Y1] Positioning start signal [Y10] Torque limit setting value Pr.17 (26) Torque output setting...
  • Page 686 Chapter 13 Control Sub Functions [4] Setting the torque limit function (1) To use the "torque limit function", set the "torque limit value" in the parameters shown in the following table, and write them to the QD77MS. a) The set details are validated at the rising edge (OFF ON) of the PLC READY signal [Y0].
  • Page 687 Chapter 13 Control Sub Functions Md.35 The following table shows the " Torque limit stored value/forward torque limit stored value" and " Md.120 Reverse torque limit stored value" of the buffer memory address. Buffer memory address Monitor Monitor item Storage details QD77MS2 value QD77MS16...

  • Page 688: Software Stroke Limit Function

    Chapter 13 Control Sub Functions 13.4.3 Software stroke limit function In the "software stroke limit function" the address established by a machine OPR is used to set the upper and lower limits of the moveable range of the workpiece. Movement commands issued to addresses outside that setting range will not be executed.
  • Page 689 Chapter 13 Control Sub Functions The following drawing shows the differences in the operation when " Md.20 Current feed value" and " Md.21 Machine feed value" are used in the moveable range limit check. [Conditions] Assume the current stop position is 2000, and the upper stroke limit is set to 5000. Moveable range 2000 5000...
  • Page 690 Chapter 13 Control Sub Functions [2] Software stroke limit check details Processing when Check details an error occurs An error shall occur if the current value 1 is outside the software stroke limit range An "axis error" will (Check " Md.20 Current feed value"...
  • Page 691 Chapter 13 Control Sub Functions [4] Precautions during software stroke limit check (1) A machine OPR must be executed beforehand for the "software stroke limit function" to function properly. (2) During interpolation control, a stroke limit check is carried out for the every current value of both the reference axis and the interpolation axis.
  • Page 692 Chapter 13 Control Sub Functions (5) During simultaneous start, a stroke limit check is carried out for the current values of every axis to be started. Every axis will not start if an error occurs, even if it only occurs in one axis. [5] Setting the software stroke limit function To use the "software stroke limit function", set the required values in the parameters shown in the following table, and write them to the QD77MS.
  • Page 693 Chapter 13 Control Sub Functions [7] Setting when the control unit is "degree" Current value address The " Current feed value" address is a ring address between 0 and Md.20 359.99999 ° . 359.99999° 359.99999° 0° 0° 0° Fig. 13.15 Current value address when the control unit is "degree". Setting the software stroke limit The upper limit value/lower limit value of the software stroke limit is a value between 0 and 359.99999 °...

  • Page 694: Hardware Stroke Limit Function

    Chapter 13 Control Sub Functions 13.4.4 Hardware stroke limit function DANGER When the hardware stroke limit is required to be wired, ensure to wire it in the negative logic using b-contact. If it is set in positive logic using a-contact, a serious accident may occur. In the "hardware stroke limit function", limit switches are set at the upper/lower limit of the physical moveable range, and the control is stopped (by deceleration stop) by the input of a signal from the limit switch.
  • Page 695 Chapter 13 Control Sub Functions [1] Control details The following drawing shows the operation of the hardware stroke limit function. (1) External input siganal of QD77MS Upper limit Lower limit QD77MS control moveable range Mechanical stopper Mechanical stopper Movement Movement Start Start direction...
  • Page 696 Chapter 13 Control Sub Functions [2] Wiring the hardware stroke limit When using the hardware stroke limit function, wire the terminals of the servo amplifier upper/lower limit stroke limit as shown in the following drawing. (When " Pr.22 Input signal logic selection" is set to the initial value) When using the hardware stroke limit function with the external input signal via CPU (buffer memory of QD77MS), wiring differs depending on the input module.
  • Page 697 Chapter 13 Control Sub Functions [4] When the hardware stroke limit function is not used When not using the hardware stroke limit function, wire the terminals of the QD77MS/servo amplifier upper/lower limit stroke limit as shown in the following drawing. When the logic of FLS and RLS of the external input signal of QD77MS, external input signal of servo amplifier or external input signal via CPU (buffer memory of QD77MS) is set to "positive logic"...

  • Page 698: Forced Stop Function

    Chapter 13 Control Sub Functions 13.4.5 Forced stop function DANGER When the forced stop is required to be wired, ensure to wire it in the negative logic using b- contact. Provided safety circuit outside the QD77MS so that the entire system will operate safety even when the "...
  • Page 699 Chapter 13 Control Sub Functions The following drawing shows the operation of the forced stop function. [QD77MS4 operation example] Forced stop Forced stop causes occurrence causes occurrence Each operation PLC READY signal[Y0] All axis servo ON[Y1] Positioning start signal[Y10] Forced stop input (Input voltage of EMI) Md.50 Forced stop input...
  • Page 700 Chapter 13 Control Sub Functions [3] Setting the forced stop To use the "Forced stop function", set the following data using a sequence program. The set details are validated at the rising edge (OFF ON) of the PLC READY signal [Y0]. Buffer memory address Setting Setting item...

  • Page 701: Functions To Change The Control Details

    Chapter 13 Control Sub Functions 13.5 Functions to change the control details Functions to change the control details include the "speed change function", "override function", "acceleration/deceleration time change function", "torque change function" and "target position change function". Each function is executed by parameter setting or sequence program creation and writing.
  • Page 702 Chapter 13 Control Sub Functions [1] Control details The following drawing shows the operation during a speed change. Speed changes to V2. Speed changes to V3. Operation during positioning by V1. Md. 40 In speed change processing flag Fig. 13.22 Speed change operation [2] Precautions during control (1) Control is carried out as follows at the speed change during continuous path control.
  • Page 703 Chapter 13 Control Sub Functions (3) When the stop command was given to make a stop after a speed change that had been made during position control, the restarting speed depends Cd.14 on the " New speed value". Da. 8 Command speed Speed change Cd.
  • Page 704 Chapter 13 Control Sub Functions (5) A warning "Deceleration/stop speed change (warning code: 500)" occurs and the speed cannot be changed in the following cases. • During deceleration by a stop command • During automatic deceleration during positioning control (6) A warning "Speed limit value over (warning code: 501)" occurs and the Pr.8 speed is controlled at the "...
  • Page 705 Chapter 13 Control Sub Functions (2) The following shows the speed change time chart. [QD77MS4 operation example] Dwell time Positioning start signal [Y10] PLC READY signal [Y0] [Y1] All axis servo ON [X0] QD77 READY signal [X10] Start complete signal [XC] BUSY signal Positioning complete signal...
  • Page 706 Chapter 13 Control Sub Functions [4] Setting the speed change function using an external command signal The speed can also be changed using an "external command signal". The following shows the data settings and sequence program example for changing the control speed of axis 1 using an "external command signal". (In this example, the control speed is changed to "10000.00mm/min".) (1) Set the following data to change the speed using an external command signal.
  • Page 707 Chapter 13 Control Sub Functions (3) Add the following sequence program to the control program, and write it to the PLC CPU. [QD77MS4 program example] Write 1000000 to D108 and D109. External command [Speed change processing] valid signal DTOP K1514 D108 <Write the new speed.

  • Page 708: Override Function

    Chapter 13 Control Sub Functions 13.5.2 Override function The override function changes the command speed by a designated percentage (1 to 300%) for all control to be executed. The speed can be changed by setting the percentage (%) by which the speed is Cd.13 changed in "...
  • Page 709 Chapter 13 Control Sub Functions [2] Precaution during control (1) When changing the speed by the override function during continuous path control, the speed change will be ignored if there is not enough distance remaining to carry out the change. (2) A warning "Deceleration/stop speed change (warning code: 500)"...
  • Page 710 Chapter 13 Control Sub Functions (2) The following shows a time chart for changing the speed using the override function. [QD77MS4 operation example] Dwell time Positioning start signal [Y10] PLC READY signal [Y0] All axis servo ON [Y1] QD77 READY signal [X0] [X10] Start complete signal...

  • Page 711: Acceleration/Deceleration Time Change Function

    Chapter 13 Control Sub Functions 13.5.3 Acceleration/deceleration time change function The "acceleration/deceleration time change function" is used to change the acceleration/deceleration time during a speed change to a random value when carrying out the speed change by the "speed change function" and "override function". In a normal speed change (when the acceleration/deceleration time is not changed), the acceleration/deceleration time previously set in the parameters ( Pr.9...
  • Page 712 Chapter 13 Control Sub Functions [1] Control details After setting the following two items, carry out the speed change to change the acceleration/deceleration time during the speed change. • Set change value of the acceleration/deceleration time (" New acceleration Cd.10 ", "...
  • Page 713 Chapter 13 Control Sub Functions [2] Precautions during control (1) When "0" is set in " Cd.10 New acceleration time value" and " Cd.11 deceleration time value", the acceleration/deceleration time will not be changed even if the speed is changed. In this case, the operation will be controlled at the acceleration/deceleration time previously set in the parameters.
  • Page 714 Chapter 13 Control Sub Functions (4) If the "new acceleration/deceleration time" is set to "0" and the speed is changed after the "new acceleration/deceleration time" is validated, the operation will be controlled with the previous "new acceleration/deceleration time". Example New acceleration/deceleration time ( Cd.
  • Page 715 Chapter 13 Control Sub Functions [3] Setting the acceleration/deceleration time change function To use the "acceleration/deceleration time change function", write the data shown in the following table to the QD77MS using the sequence program. The set details are validated when a speed change is executed after the details are written to the QD77MS.

  • Page 716: Torque Change Function

    Chapter 13 Control Sub Functions 13.5.4 Torque change function The "torque change function" is used to change the torque limit value during torque limiting. The torque limit value at the control start is the value set in the " Pr.17 Torque limit setting value"...
  • Page 717 Chapter 13 Control Sub Functions [1] Control details The torque value (forward new torque value/reverse new torque value) of the axis control data can be changed at all times. The torque can be limited with a new torque value from the time the new torque value has been written to the QD77MS.
  • Page 718 Chapter 13 Control Sub Functions [QD77MS4 operation example] Each operations PLC READY signal [Y0] All axis servo ON [Y1] Start signal [Y10] Torque limit setting Pr.17 value (26) Torque output setting Cd.101 value (1552) Torque change function Cd.112 switching request (1563) New torque value/ Cd.22 forward new torque...
  • Page 719 Chapter 13 Control Sub Functions Cd.22 (2) The " New torque value/forward new torque value" or " Cd.113 Reverse new torque value" is validated when written to the QD77MS. (Note that it is not validated from the time the power supply is turned ON to the time the PLC READY signal [Y0] is turned ON.) Cd.22 (3) If the setting value of "...

  • Page 720: Target Position Change Function

    Chapter 13 Control Sub Functions 13.5.5 Target position change function The "target position change function" is a function to change a target position to a newly designated target position at any timing during the position control (1-axis linear control). A command speed can also be changed simultaneously. The target position and command speed changed are set directly in the buffer Cd.29 memory, and the target position change is executed by "...
  • Page 721 Chapter 13 Control Sub Functions [2] Precautions during operation (1) If the positioning movement direction from the stop position to a new target position is reversed, stop the operation once and then position to the new target position. (Refer to Fig. 13.33 (c).) (2) If a command speed exceeding the speed limit value is set to change the command speed, a warning will be given, and the new command speed will be the speed limit value (warning code: 501).
  • Page 722 Chapter 13 Control Sub Functions [3] Method of setting target position change function from PLC CPU The following table and chart show the example of a data setting and sequence program used to change the target position of the axis 1 by the command from the PLC CPU, respectively.
  • Page 723 Chapter 13 Control Sub Functions (3) The following sequence program is added to the control program, and written to the PLC CPU. [QD77MS4 program example] No.22 Target position change program <Pulsate target position change command> <Hold target position change command> <Set target position change value 300.0 m DMOVP K3000...

  • Page 724: Absolute Position System

    Chapter 13 Control Sub Functions 13.6 Absolute position system The QD77MS can construct an absolute position system by installing the absolute position system and connecting it through SSCNET /H. The following describes precautions when constructing the absolute position system. Battery Servomotor QD77MS Servo amplifier...
  • Page 725 Chapter 13 Control Sub Functions [2] OPR The absolute position system can establish the OP position, using "Data set method", "Near-point dog method", "Count method" and "Scale origin signal detection method" OPR method. In the "Data set method" OPR method, the location to which the location of the OP position is moved by manual operation (JOG operation/manual pulse generator operation) is treated as the OP position.

  • Page 726: Other Functions

    Chapter 13 Control Sub Functions 13.7 Other functions Other functions include the "step function", "skip function", "M code output function", "teaching function", "command in-position function", "acceleration/deceleration processing function", "pre-reading start function", " deceleration start flag function", "stop command processing for deceleration stop function", "follow up processing function", "speed control 10 multiplier setting for degree axis function"...
  • Page 727 Chapter 13 Control Sub Functions [2] Step mode In step operations, the timing for stopping the control can be set. This is called the "step mode". (The "step mode" is set in the control data " Cd.34 Step mode".) The following shows the two types of "step mode" functions. (1) Deceleration unit step The operation stops at positioning data requiring automatic deceleration.
  • Page 728 Chapter 13 Control Sub Functions [4] Using the step operation The following shows the procedure for checking positioning data using the step operation. Start Turn ON the step valid flag. Write "1" (carry out step operation) in " Cd.35 Step valid flag". Set the step mode.
  • Page 729 Chapter 13 Control Sub Functions [5] Control details (1) The following drawing shows a step operation during a "deceleration unit step". [QD77MS4 operation example] Cd. 35 Step valid flag Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [XC, XD, XE, XF] Positioning complete signal [X14, X15, X16, X17] Positioning...
  • Page 730 Chapter 13 Control Sub Functions [6] Precautions during control (1) When step operation is carried out using interpolation control positioning data, the step function settings are carried out for the reference axis. (2) When the step valid flag is ON, the step operation will start from the Md.26 beginning if the positioning start signal is turned ON while "...

  • Page 731: Skip Function

    Chapter 13 Control Sub Functions 13.7.2 Skip function The "skip function" is used to stop (deceleration stop) the control of the positioning data being executed at the time of the skip signal input, and execute the next positioning data. Cd.37 A skip is executed by a skip command ( Skip command) or external command signal.
  • Page 732 Chapter 13 Control Sub Functions (6) The skip cannot be carried out by the speed control and position-speed switching control. (7) If the skip signal is turned ON with the M code signal turned ON, the transition to the next data is not carried out until the M code signal is turned OFF.
  • Page 733 Chapter 13 Control Sub Functions [4] Setting the skip function using an external command signal The skip function can also be executed using an "external command signal". The following shows the settings and sequence program example for skipping the control being executed in axis 1 using an "external command signal". (1) Set the following data to execute the skip function using an external command signal.

  • Page 734: M Code Output Function

    Chapter 13 Control Sub Functions 13.7.3 M code output function The "M code output function" is used to command sub work (clamping, drill rotation, tool replacement, etc.) related to the positioning data being executed. When the M code ON signal is turned ON during positioning execution, a No. called the M code is stored in "...
  • Page 735 Chapter 13 Control Sub Functions (2) AFTER mode The M code ON signal is turned ON at the positioning completion, and the M code is stored in " Md.25 Valid M code". [QD77MS4 operation example] Positioning start signal [Y10, Y11, Y12, Y13] [XC, XD, XE, XF] BUSY signal M code ON signal...
  • Page 736 Chapter 13 Control Sub Functions [QD77MS4 operation example] Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [XC, XD, XE, XF] M code ON signal [X4, X5, X6, X7] Cd. 7 M code OFF request Md. 25 Valid M code Positioning Da.
  • Page 737 Chapter 13 Control Sub Functions [4] Setting the M code output function The following shows the settings to use the "M code output function". Da.10 (1) Set the M code No. in the positioning data " M code". (2) Set the timing to output the M code ON signal. Set the required value in the following parameter, and write it to the QD77MS.

  • Page 738: Teaching Function

    Chapter 13 Control Sub Functions 13.7.4 Teaching function The "teaching function" is used to set addresses aligned using the manual control (JOG operation, inching operation manual pulse generator operation) in the positioning data addresses (" Da.6 Positioning address/movement amount", " Da.7 address").
  • Page 739 Chapter 13 Control Sub Functions [2] Precautions during control (1) Before teaching, a "machine OPR" must be carried out to establish the OP. (When a current value changing, etc., is carried out, " Md.20 Current feed value" may not show absolute addresses having the OP as a reference.) (2) Teaching cannot be carried out for positions to which movement cannot be executed by manual control (positions to which the workpiece cannot physically move).
  • Page 740 Chapter 13 Control Sub Functions [4] Teaching procedure The following shows the procedure for a teaching operation. (1) When teaching to the " Positioning address/movement amount" Da.6 (Teaching example on QD77MS4 [axis 1]) Start Perform machine OPR on axis 1. Move the workpiece to the target position •...
  • Page 741 Chapter 13 Control Sub Functions (2) When teaching to the " Da.7 Arc address", then teaching to the " Da.6 Positioning address/movement amount" (Teaching example for 2-axis circular interpolation control with sub point designation on QD77MS4 [axis 1] and [axis 2]) Start Perform a machine OPR on axis 1 and axis 2.
  • Page 742 Chapter 13 Control Sub Functions Teaching arc end point • • • • • • • • Entering teaching data to buffer memory address address on axis 2. [1648] and [1649], in the same fashion as for axis 1. End teaching? Turn OFF the PLC READY signal [Y0].
  • Page 743 Chapter 13 Control Sub Functions [QD77MS4 operation example] Target position Forward run JOG start [Y8] signal [Y0] PLC READY signal [Y1] All axis servo ON [X0] QD77 READY signal [XC] BUSY signal [X8] Error detection signal Md.20 Current feed value Teaching is possible Teaching is impossible Teaching is possible...

  • Page 744: Command In-Position Function

    Chapter 13 Control Sub Functions 13.7.5 Command in-position function The "command in-position function" checks the remaining distance to the stop position during the automatic deceleration of positioning control, and sets "1". This flag is called the "command in-position flag". The command in-position flag is used as a front- loading signal indicating beforehand the completion of the position control.
  • Page 745 Chapter 13 Control Sub Functions [2] Precautions during control (1) A command in-position width check will not be carried out in the following cases. • During speed control • During speed control in speed-position switching control • During speed control in position-speed switching control •...
  • Page 746 Chapter 13 Control Sub Functions [3] Setting the command in-position function To use the "command in-position function", set the required value in the parameter shown in the following table, and write it to the QD77MS. The set details are validated at the rising edge (OFF ON) of the PLC READY signal [Y0].

  • Page 747: Acceleration/Deceleration Processing Function

    Chapter 13 Control Sub Functions 13.7.6 Acceleration/deceleration processing function The "acceleration/deceleration processing function" adjusts the acceleration/deceleration of each control to the acceleration/deceleration curve suitable for device. Setting the acceleration/deceleration time changes the slope of the acceleration/deceleration curve. The following two methods can be selected for the acceleration/deceleration curve: •...
  • Page 748 Chapter 13 Control Sub Functions [2] "Acceleration/deceleration method setting" control details and setting In the "acceleration/deceleration method setting", the acceleration/deceleration processing method is selected and set. The set acceleration/deceleration processing is applied to all acceleration/deceleration. (except for inching operation, manual pulse generator operation and speed-torque control.) The two types of "acceleration/deceleration processing method"...
  • Page 749 Chapter 13 Control Sub Functions When a speed change request or override request is given during S-curve acceleration/ deceleration processing, S-curve acceleration/deceleration processing begins at a speed change request or override request start. When speed change Speed change (acceleration) request is not given Command speed before speed change Speed change request Speed change (deceleration)

  • Page 750: Pre-Reading Start Function

    Chapter 13 Control Sub Functions 13.7.7 Pre-reading start function The "pre-reading start function" does not start servo while the execution prohibition flag is ON if a positioning start request is given with the execution prohibition flag ON, and starts servo within operation cycle after OFF of the execution prohibition flag is detected.
  • Page 751 Chapter 13 Control Sub Functions [2] Precautions during control (1) The time required to analyze the positioning data is up to 0.88ms (QD77MS2/QD77MS4)/3.55ms(QD77MS16). (2) After positioning data analysis, the system is put in an execution prohibition flag OFF waiting status. Any change made to the positioning data in the execution prohibition flag OFF waiting status is not reflected on the positioning data.
  • Page 752 Chapter 13 Control Sub Functions [3] Program examples [QD77MS4 program example] Pre-reading start program (when positioning start signal Y10 is used) <Pre-reading start command pulse> M100 M100 <Sets 1 to positioning start No.> K1500 <Turns ON execution prohibition flag> <Turns ON positioning start signal> <Turns OFF execution prohibition flag>...

  • Page 753: Deceleration Start Flag Function

    Chapter 13 Control Sub Functions 13.7.8 Deceleration start flag function The "deceleration start flag function" turns ON the flag when the constant speed status or acceleration status switches to the deceleration status during position control whose operation pattern is "Positioning complete". This function can be used as a signal to start the operation to be performed by other equipment at each end of position control or to perform preparatory operation, etc.
  • Page 754 Chapter 13 Control Sub Functions Da.1 Positioning Data No. Operation pattern 01: Continuous positioning control 00: Positioning complete 00: Positioning complete 11: Continuous path control 00: Positioning complete • • 1st point: Continue (1) 2nd point: Continue (1) 3rd point: End (0) Operation pattern Positioning complete (00)
  • Page 755 Chapter 13 Control Sub Functions (6) When the movement direction is reversed by a target position change, the deceleration start flag turns ON. Operation pattern: Positioning complete (00) Execution of target position change request Time Md.48 Deceleration start flag 0 (7) During position control of position-speed switching control, the deceleration start flag is turned ON by automatic deceleration.

  • Page 756: Stop Command Processing For Deceleration Stop Function

    Chapter 13 Control Sub Functions 13.7.9 Stop command processing for deceleration stop function The "stop command processing for deceleration stop function" is provided to set the deceleration curve if a stop cause occurs during deceleration stop processing (including automatic deceleration). This function is valid for both trapezoidal and S-curve acceleration/deceleration processing methods.
  • Page 757 Chapter 13 Control Sub Functions (2) Deceleration curve continuation The current deceleration curve is continued after a stop cause has occurred. If a stop cause occurs during automatic deceleration of position control, the deceleration stop processing may be complete before the target has reached the positioning address specified in the positioning data that is currently executed.
  • Page 758 Chapter 13 Control Sub Functions [3] Setting method To use the "stop command processing for deceleration stop function", set the following control data in a sequence program. The set data are made valid as soon as they are written to the buffer memory. The PLC ready signal [Y0] is irrelevant.

  • Page 759: Speed Control 10 X Multiplier Setting For Degree Axis Function

    Chapter 13 Control Sub Functions 13.7.10 Speed control 10 x multiplier setting for degree axis function The "Speed control 10 x multiplier setting for degree axis function" is executed the positioning control by 10 x speed of the setting value in the command speed and the speed limit value when the setting unit is "degree".
  • Page 760 Chapter 13 Control Sub Functions (2) Monitor data " " • Feedrate Md.22 " " • Current speed Md.27 • " Axis feedrate" Md.28 • " Target speed" Md.33 • " " Speed during command Md.122 " : For the above monitoring data, Pr.83 Speed control 10 x multiplier "...
  • Page 761 Chapter 13 Control Sub Functions [2] Setting method of "Speed control 10 x multiplier setting for degree axis function" Normally, the speed specification range is 0.001 to 2000000.000[degree/min], but it will be decupled and become 0.01 to 20000000.00[degree/min] by setting "...

  • Page 762: Operation Setting For Incompletion Of Opr Function

    Chapter 13 Control Sub Functions 13.7.11 Operation setting for incompletion of OPR function The "Operation setting for incompletion of OPR function" is provided to select whether positioning control is operated or not, when OPR request flag is ON. This section explains the "Operation setting for incompletion of OPR function" as follows: [1] Control details [2] Precautions during control...
  • Page 763 Chapter 13 Control Sub Functions Md.31 (2) When OPR request flag ( Status: b3) is ON, starting Fast OPR will result in an "Home positioning return (OPR) request flag ON" error (error code: 207) despite the setting value of " Pr.55 Operation setting for incompletion of OPR", and Fast OPR will not be performed.

  • Page 764: Servo On/Off

    Chapter 13 Control Sub Functions 13.8 Servo ON/OFF 13.8.1 Servo ON/OFF The servo amplifiers connected to the QD77MS is executed servo ON or OFF. By establishing the servo ON status with the servo ON command, servo motor operation is enabled. The following two types of servo ON or OFF can be used.
  • Page 765 Chapter 13 Control Sub Functions POINT If the servomotor is rotated by external force during the servo OFF status, follow up processing is performed. Change between servo ON or OFF status while operation is stopped (position control mode). The servo OFF command of during positioning in position control mode, manual pulse control, OPR, speed control mode, torque control mode and continuous operation to torque control mode will be ignored.

  • Page 766: Follow Up Function

    Chapter 13 Control Sub Functions 13.8.2 Follow up function (1) Follow up function The follow up function monitors the number of motor rotations (actual present value) with the servo OFF and reflects the value in the present feed value. Therefore, even if the servomotor rotates while the servo OFF, the servomotor will not just rotate for the quantify of droop pulses the next time the servo turns ON but positioning can be performed from the stop position.
  • Page 767 Chapter 13 Control Sub Functions MEMO 13 - 108...
  • Page 768 Chapter 14 Common Functions Chapter 14 Common Functions The details and usage of the "common functions" executed according to the user's requirements are explained in this chapter. Common functions include functions required when using the QD77MS, such as parameter initialization and execution data backup. Read the setting and execution procedures for each common function indicated in this chapter thoroughly, and execute the appropriate function where required.

  • Page 769: Outline Of Common Functions

    Chapter 14 Common Functions 14.1 Outline of common functions "Common functions" are executed according to the user's requirements, regardless of the control system, etc. These common functions are executed by GX Works2 or sequence programs. The following table shows the functions included in the "common functions". Means Common function Details...

  • Page 770: Parameter Initialization Function

    Chapter 14 Common Functions 14.2 Parameter initialization function The "parameter initialization function" is used to return the setting data set in the QD77MS buffer memory/internal memory and flash ROM/internal memory (nonvolatile) to their factory-set initial values. The details shown below explain about the "parameter initialization function". [1] Parameter initialization means [2] Control details [3] Precautions during control...
  • Page 771 Chapter 14 Common Functions Important Parameter initialization takes about 10 seconds. (Up to 30 seconds are sometimes required.) Do not turn the power ON/OFF or reset the PLC CPU during parameter initialization. If the power is turned OFF or the PLC CPU module is reset to forcibly end the process, the data backed up in the flash ROM/internal memory (nonvolatile) will be lost.

  • Page 772: Execution Data Backup Function

    Chapter 14 Common Functions 14.3 Execution data backup function When the QD77MS buffer memory data is rewritten from the PLC CPU, "the data backed up in the QD77MS flash ROM/internal memory (nonvolatile)" may differ from "the data (buffer memory data) for which control is being executed". In cases like these, the data being executed will be lost when the PLC power is turned OFF.
  • Page 773 Chapter 14 Common Functions [3] Precautions during control (1) Data can only be written to the flash ROM when the positioning control is not carried out (when the PLC READY signal [Y0] is OFF). A warning "In PLC READY (warning code: 111)" will occur if executed when the PLC READY signal [Y0] is ON.

  • Page 774: External Signal Selection Function

    Chapter 14 Common Functions 14.4 External signal selection function The "external signal selection function" is used to select the external input signal of QD77MS, external input signal of servo amplifier (PIN No. CN3-2, CN3-12, CN3-19) or external input signal via CPU (buffer memory of QD77MS) when using the upper/lower limit signal and near-point dog signal.
  • Page 775 Chapter 14 Common Functions (1) The use the "0: External input signal of QD77MS", "3: External input signal 1 of QD77MS", "4: External input signal 2 of QD77MS", "5: External input signal 3 of QD77MS", or "6: External input signal 4 of QD77MS", set the Pin No. shown in the following table.
  • Page 776 Chapter 14 Common Functions [2] Precautions during parameter setting (1) When the "3: External input signal 1 of QD77MS", "4: External input signal 2 of QD77MS", "5: External input signal 3 of QD77MS", or "6: External input signal 4 of QD77MS" is set in the QD77MS2/QD77MS4, "External input signal selection error"...

  • Page 777: External I/O Signal Logic Switching Function

    Chapter 14 Common Functions 14.5 External I/O signal logic switching function This function switches the signal logic according to the external equipment connected to the QD77MS, " " or the external input signal External input signal operation device Cd.44 (upper/lower limit switch, near-point dog) of the servo amplifier. For the system in which b-contact, upper limit switch, and lower limit switch are not used, the parameter logic setting can be controlled without wiring if it is changed to a "positive logic".
  • Page 778 Chapter 14 Common Functions [2] Precautions on parameter setting (1) The external I/O signal logic switching parameters are validated when the PLC READY signal [Y0] is turned OFF to ON. (The logic is negative right after power-on.) (2) If each signal logic is set erroneously, the operation may not be carried out correctly.

  • Page 779: History Monitor Function

    Chapter 14 Common Functions 14.6 History monitor function This function monitors starting history, error history, and warning history stored in the buffer memory of QD77MS during operation. [1] Starting history Sixteen starting history logs of operations such as positioning operation, JOG operation, and manual pulse generator operation can be monitored.

  • Page 780: Amplifier-Less Operation Function

    Chapter 14 Common Functions 14.7 Amplifier-less operation function The positioning control of QD77MS without servo amplifiers connection can be executed in the amplifier-less function. This function is used to debug of user program or simulate of positioning operation at the start. The details shown below explain about the "Amplifier-less operation function".
  • Page 781 Chapter 14 Common Functions POINT (1) Switch of the normal operation mode and amplifier-less operation mode is executed by the batch of all axes. Switch of the operation mode for each axis cannot be executed. (2) Only axis that operated either the followings before switching to the amplifier- less operation mode becomes the connection status during amplifier-less operation.
  • Page 782 Chapter 14 Common Functions [2] Restrictions (1) The following monitor data cannot be used during amplifier-less operation mode. Buffer memory address Storage item Storage details QD77MS2 QD77MS16 QD77MS4 852+100n 2452+100n Md.102 Deviation counter value Always "0" during amplifier-less operation mode. 853+100n 2453+100n 864+100n...
  • Page 783 Chapter 14 Common Functions (2) The operation of following function differ from the normal operation mode during amplifier-less operation mode. Function Operation When "1: External input signal of servo amplifier" is set in " Pr.80 External input signal selection", the status of external signal at the amplifier-less operation mode start is shown below.
  • Page 784 Chapter 14 Common Functions (8) Even if the PLC READY signal [Y0| is turned ON by changing " Pr.100 Servo series" from "0: Servo series is not set" to other than "0", the setting does not become valid. (The axis connecting status remains disconnection.) [3] Buffer memory list The buffer memory used in the amplifier-less operation function is shown below.
  • Page 785 Chapter 14 Common Functions (3) Operation chart The following drawing shows the operation for the switching of the normal operation mode and amplifier-less operation mode [QD77MS4 operation example] Normal operation Normal operation mode Amplifier-less operation mode mode Each operations BUSY signal [XC to XF] PLC READY signal [Y0] QD77 READY signal...

  • Page 786: Virtual Servo Amplifier Function

    Chapter 14 Common Functions 14.8 Virtual servo amplifier function This function is used to operate as virtual servo amplifier axis that generates only command virtually by setting "4097, 4128" in servo parameter " ". Servo series Pr.100 The synchronous control with virtually input command is possible by using the virtual servo amplifier axis as servo input axis of synchronous control.
  • Page 787 Chapter 14 Common Functions POINT Do not make to operate by switching between the actual servo amplifier and virtual servo amplifier. When except "0" is set in " " of flash ROM, the Servo series Pr.100 operation is not changed even if the " "...
  • Page 788 Chapter 14 Common Functions (2) The operation for external signal selection function of virtual servo amplifier differ from the actual servo amplifier. Function Operation The external signal status immediately after power supply ON is shown below. • Upper/lower limit signal (FLS, RLS): ON External signal selection function •...

  • Page 789: Mark Detection Function

    Chapter 14 Common Functions 14.9 Mark detection function Any data can be latched at the input timing of the mark detection signal (DI1 to DI4). Also, only data within a specific range can be latched by specifying the data detection range.
  • Page 790 Chapter 14 Common Functions Performance specifications Item QD77MS2 QD77MS4 QD77MS16 Number of mark detection settings Up to 4 Up to 16 Axis 1 to Axis 2 Axis 1 to Axis 4 Axis 1 to Axis 16 Input signal External input signal (DI1 to DI2) External input signal (DI1 to DI4) External input signal (DI1 to DI4) Input signal detection direction...
  • Page 791 Chapter 14 Common Functions [1] Operation for mark detection function Operations done at mark detection are shown below. • Calculations for the mark detection data are estimated at leading edge/trailing edge of the mark detection signal. However, when the specified number of detections mode is set, the current number of mark detection counter is checked, and then it is judged whether to execute the mark detection.
  • Page 792 Chapter 14 Common Functions [2] How to use mark detection function The following shows an example for mark detection by the external command signal (DI2) of axis 2. The mark detection target is axis 1 real current value, and the all range is detected in continuous detection mode.
  • Page 793 Chapter 14 Common Functions [3] List of buffer memory The following shows the configuration of buffer memory for mark detection function. Buffer memory Number of Item Mark detection setting No. address word 54000 to 54019 Mark detection setting 1 54020 to 54039 Mark detection setting 2 Mark detection setting parameter 54040 to 54059...
  • Page 794 Chapter 14 Common Functions The following shows the buffer memory used in the mark detection function. (1) Mark detection setting parameters Buffer memory address Default Setting item Setting details/setting value QD77MS2 value QD77MS16 QD77MS4 Set the external input signal (high speed input request) for mark detection.
  • Page 795 Chapter 14 Common Functions Mark detection signal setting Pr.800 Set the input signal for mark detection. : Invalid 1 to 2 : External command signal [DI] of axis 1 to axis 2 (QD77MS2) 1 to 4 : External command signal [DI] of axis 1 to axis 4 (QD77MS4) 1 to 16 : External command signal [DI] of axis 1 to axis 16 (QD77MS16) Set "4: High speed input request"...
  • Page 796 Chapter 14 Common Functions Mark detection data axis No. Pr.803 Set the axis No. of data that latched at mark detection. Mark detection Pr.803 Mark detection data type Pr.802 data axis No. Setting value Data name Unit QD77MS2 QD77MS4 QD77MS16 Current feed value Machine feed value [µm], 10...
  • Page 797 Chapter 14 Common Functions Mark detection data buffer memory No. Pr.804 Set the No. of optional 2 words buffer memory that latched at mark detection. Set this No. as an even No. Latch data range upper limit value, Latch data range lower limit Pr.805 Pr.806 value...
  • Page 798 Chapter 14 Common Functions Mark detection mode setting Pr.807 Set the data storage method of mark detection. Setting Mark detection data Mode Operation for mark detection value storage method The data is updated in the Continuous Always mark detection data detection mode storage area 1.
  • Page 799 Chapter 14 Common Functions (3) Mark detection monitor data Buffer memory address Storage item Storage details/storage value QD77MS2 QD77MS16 QD77MS4 The number of mark detections is stored. "0" clear is executed at power supply ON. Continuous detection mode: 0 to 65535 (Ring counter) Number of mark 54960+80k Md.800...

  • Page 800: Optional Data Monitor Function

    Chapter 14 Common Functions 14.10 Optional data monitor function This function is used to store the data (refer to following table) up to four points per axis to the buffer memory and monitor them. The details shown below explain about the "Optional data monitor function". [1] Data that can be set [2] List of buffer memory 14 - 33...
  • Page 801 Chapter 14 Common Functions [1] Data that can be set Monitoring possibility Used Data type Unit point MR-J3(W)-B MR-J4(W)-B Effective load ratio Regenerative load ratio Peak load ratio Load to motor inertia ratio [ 0.1] Position loop gain 1 [rad/s] Bus voltage Servo motor speed [rpm]...
  • Page 802 Chapter 14 Common Functions [2] List of buffer memory The buffer memory used in the optional data monitor function is shown below. (1) Expansion parameter Buffer memory address Setting item Setting details/setting value QD77MS2 QD77MS16 QD77MS4 Optional data monitor: Data type 100+150n Pr.91 setting 1...
  • Page 803 Chapter 14 Common Functions (2) Axis monitor data Buffer memory address Storage item Storage details/storage value QD77MS2 QD77MS16 QD77MS4 • The content set in " Optional data monitor: Data type Pr.91 Regenerative load " is stored at optional data monitor data type setting. ratio/Optional data setting 1 878+100n...

  • Page 804: Module Error Collection Function

    Chapter 14 Common Functions 14.11 Module error collection function This function collects errors occurred in the QD77MS in the PLC CPU. Those errors are stored in a memory (latch area) of the PLC CPU as module error logs. The stored error logs are retained even when the PLC CPU is powered off or reset.

  • Page 805: Connect/Disconnect Function Of Sscnet Communication

    Chapter 14 Common Functions 14.12 Connect/disconnect function of SSCNET communication Temporarily connect/disconnect of SSCNET communication is executed during system's power supply ON. This function is used to exchange the servo amplifiers or SSCNET cables. The details shown below explain about the "Connect/disconnect function of SSCNET communication".
  • Page 806 Chapter 14 Common Functions (5) Execute the connect/disconnect command to the A-axis for multiple axis servo amplifier. When the connect/disconnect command is executed to the axis allocated except A-axis, the operation is shown below. Servo amplifier Operation of the axis allocated except A-axis MR-J4(W)-B (Standard mode) It can be disconnected from the A-axis.
  • Page 807 Chapter 14 Common Functions (2) System monitor data Buffer memory address Monitor Monitor item Storage details QD77MS2 value QD77MS16 QD77MS4 The connect/disconnect status of SSCNET communication is stored. 1: Disconnected axis existing SSCNET control 1433 4233 Md.53 status 0: Command accept waiting -1: Execute waiting -2: Executing [4] Procedure to connect/disconnect...
  • Page 808 Chapter 14 Common Functions (2) Procedure to connect 1) Turn ON the servo amplifier's power supply. 2) Set "-10: Connect command of SSCNET communication" in " Cd.102 ". SSCNET control command 3) Check that "-1: Execute waiting" is set in " ".
  • Page 809 Chapter 14 Common Functions (1) Disconnect operation <Set the disconnect axis (Axis 5) > M100 M101 M102 D250 Disconne Disconne Disconne Disconne ct comma ct reque ct execu ct compl st (Axis tion req etion ch uest M100 Disconne ct reque st (Axis <Set the disconnect command >...
  • Page 810 Chapter 14 Common Functions (2) Connect operation <Set the connect command > M110 M111 M112 K-10 D250 Connect Connect Connect Connect command request executio completi n reques on check M110 Connect request <Set the connect command > M110 D250 G4233 G5932 Connect SSCNET c...

  • Page 811: Qd75Mh Initial Value Setting Function

    Chapter 14 Common Functions 14.13 QD75MH initial value setting function The "QD75MH initial value setting function" is used to set the factory-set initial value of QD75MH in the setting data set in the QD77MS buffer memory/internal memory and flash ROM/internal memory (nonvolatile). Because some initial values of parameter between QD77MS and QD75MH are different, when switching to QD77MS from QD75MH without using Simple Motion Module Setting Tool of GX Works2, set the parameter value to factory-set initial value...
  • Page 812 Chapter 14 Common Functions [3] Precautions during control (1) Parameter initialization is only executed when the positioning control is not carried out (when the PLC READY signal [Y0] is OFF). A warning "In PLC READY (warning code: 111)" will occur if executed when the PLC READY signal [Y0] is ON.
  • Page 813 Chapter 14 Common Functions MEMO 14 - 46...
  • Page 814 Chapter 15 Dedicated Instructions Chapter 15 Dedicated Instructions The QD77MS dedicated instructions are explained in this chapter. These instructions are used to facilitate the programming for the use of the functions of the intelligent function module. Using the dedicated instructions, the programming can be carried out without being aware of the QD77MS buffer memory address and interlock signal.

  • Page 815: List Of Dedicated Instructions

    Chapter 15 Dedicated Instructions 15.1 List of dedicated instructions The dedicated instructions explained in this Chapter are listed in Table 15.1. Table 15.1 List of dedicated instructions Dedicated Application Outline of functions Reference instruction ZP.PSTRT1 ZP.PSTRT2 This function starts the positioning control of the designated Positioning start Section 15.3 axis of the QD77MS.

  • Page 816: Zp.pstrt1, Zp.pstrt2, Zp.pstrt3, Zp.pstrt4

    Chapter 15 Dedicated Instructions 15.3 ZP.PSTRT1, ZP.PSTRT2, ZP.PSTRT3, ZP.PSTRT4 These dedicated instructions are used to start the positioning of the designated axis. Usable device Internal device Link direct device J \ Intelligent Constant Setting Index File function data register Others register Word Word...
  • Page 817 Chapter 15 Dedicated Instructions [Control data] Setting side Device Item Setting data Setting range (Note-1) (S)+0 System area – – – The state at the time of completion is stored. • 0 : Normal completion (S)+1 Complete status – System (Note-2) •...
  • Page 818 Chapter 15 Dedicated Instructions processing processing processing processing Sequence program ZP.PSTRT instruction execution completion ZP.PSTRT instruction When Complete device completed abnormally When completed Complete state display normally device 1 scan Dwell time Positioning BUSY signal Positioning complete [Errors] (1) When an ZP.PSTRT instruction is completed abnormally, the error complete signal ((D)+1) is turned ON, and the error code is stored in the complete status ((S)+1).
  • Page 819 Chapter 15 Dedicated Instructions (5) If the ZP.PSTRT instruction is executed in the following cases, an error "Dedicated instruction error" (error code: 804) will occur and positioning cannot be started. • Any value other than 1 to 600, 7000 to 7004, and 9001 to 9004 is set to "Starting number"...

  • Page 820: Zp.teach1, Zp.teach2, Zp.teach3, Zp.teach4

    Chapter 15 Dedicated Instructions 15.4 ZP.TEACH1, ZP.TEACH2, ZP.TEACH3, ZP.TEACH4 These dedicated instructions are used to teach the designated axis. Usable device Internal device Link direct device J \ Intelligent Constant Setting Index File function data register Others register Word Word module K, H U \G...
  • Page 821 Chapter 15 Dedicated Instructions [Control data] Setting side Device Item Setting data Setting range (Note-1) (S)+0 System area – – – The state at the time of completion is stored. : Normal completion (S)+1 Complete status – System (Note-2) Other than 0 : Abnormal completion (error code) The address (positioning address/arc address) to which Teaching data the current feed value is written is set.
  • Page 822 Chapter 15 Dedicated Instructions processing processing processing processing Sequence program ZP.TEACH instruction execution completion ZP.TEACH instruction When Complete device completed abnormally When Complete state display completed normally device 1 scan [Errors] (1) When a ZP.TEACH instruction is completed abnormally, the error complete signal ((D)+1) is turned ON, and the error code is stored in the complete status (S)+1.
  • Page 823 Chapter 15 Dedicated Instructions [Program example] Program to execute the teaching of the positioning data No. 3 of the axis 1 when X39 is turned ON in QD77MS4. (1) Teaching program Positioned manually to target position. <Teaching command pulse> <Teaching command hold> MOVP <Teaching data setting>...

  • Page 824: Zp.pfwrt

    Chapter 15 Dedicated Instructions 15.5 ZP.PFWRT These dedicated instructions are used to write the QD77MS parameters, positioning data and block start data to the flash ROM. Usable device Internal device Link direct device J \ Intelligent Constant Setting Index File function data register...
  • Page 825 Chapter 15 Dedicated Instructions [Functions] (1) The ZP.PFWRT instruction completion can be confirmed using the complete devices ((D)+0) and ((D)+1). (a) Complete device ((D)+0) This device is turned ON by the END processing of the scan for which ZP.PFWRT instruction is completed, and turned OFF by the next END processing.
  • Page 826 Chapter 15 Dedicated Instructions [Precautions] (1) Do not turn ON the power and reset the PLC CPU while parameters, positioning data and block start data are written to the flash ROM using the ZP.PFWRT instruction. A parameter error will occur or normal positioning start will become impossible because the parameters, positioning data and block start data are not written normally to the flash ROM.
  • Page 827 Chapter 15 Dedicated Instructions [Program example] Program used to write the parameters and positioning data stored in the buffer memory to the flash ROM when X3D is turned ON in QD77MS4. (1) Flash ROM write program <Flash ROM write command pulse> <Flash ROM write command hold>...

  • Page 828: Zp.pinit

    Chapter 15 Dedicated Instructions 15.6 ZP.PINIT This dedicated instruction is used to initialize the setting data of the QD77MS. Usable device Internal device Link direct device J \ Intelligent Constant Setting Index File function data register Others register Word Word module K, H U \G...
  • Page 829 Chapter 15 Dedicated Instructions [Functions] (1) This dedicated instruction is used to return the setting data set in the QD77MS buffer memory and flash ROM to their factory-set data (initial values). Refer to Section 14.2 for initialized setting data. (2) The ZP.PINIT instruction completion can be confirmed using the complete devices ((D)+0) and ((D)+1).
  • Page 830 Chapter 15 Dedicated Instructions (3) After the power ON and PLC CPU reset operation, writing to the flash ROM using a sequence program is limited to up to 25 times. (Not limited to up to 25 times when writing to the flash ROM is carried out by GX Works2.) If the 26th or more writing is requested after the power ON/PLC CPU reset operation, a flash ROM exceed writing error (error code: 805) will occur, and the writing will be disabled.
  • Page 831 Chapter 15 Dedicated Instructions MEMO 15- 18...
  • Page 832 Chapter 16 Troubleshooting Chapter 16 Troubleshooting The "errors" and "warnings" detected by the QD77MS are explained in this chapter. Errors can be confirmed with the QD77MS LED display and GX Works2. When an error or warning is detected, confirm the detection details and carry out the required measures.

  • Page 833: Checking Errors Using Gx Works2

    Chapter 16 Troubleshooting 16.1 Checking errors using GX Works2 Error codes corresponding to the errors occurred in the QD77MS can be checked either on the following screen of GX Works2. Select the screen according to the purpose and usage. • "Module's Detailed Information" screen •...
  • Page 834 Chapter 16 Troubleshooting (2) Checking errors on the "Error History" screen. POINT The PLC CPU and GX Works2 that support the module error collection function are required to confirm errors on the "Error History" screen. Refer to each PLC CPU manual for the version of the PLC CPU or GX Works2 that supports the module error collection function.
  • Page 835 Chapter 16 Troubleshooting (b) Error and Solution, Intelligent Module Information • Error and Solution Details of the selected in the "Error History List" and its corrective action are displayed. • Intelligent Module Information The QD77MS status when the error selected in the "Error History List" occurred is displayed.

  • Page 836: Checking Errors Using A Display Unit

    Chapter 16 Troubleshooting (c) [Create CSV File] button The module error logs are output to a CSV format file. POINT (1) If errors frequently occur in the QD77MS, "*HST.LOSS*" (instead of an actual error code) may be displayed in the Error Code column. (Display example) If "*HST.LOSS*"...

  • Page 837: Troubleshooting

    Reset the PLC CPU and check that the module is in the normal status. If all LEDs still turn on, the possible cause is a hardware failure. Please consult your local Mitsubishi representative, explaining a detailed description of the problem.
  • Page 838 " "1: stopped"? operation status If a motor does not rotate even after the above items are checked, the possible cause is a hardware failure. Please consult your local Mitsubishi representative, explaining a detailed description of the problem. 16 - 7...
  • Page 839 Chapter 16 Troubleshooting (3) Troubleshooting when a motor does not rotate as intended. Check items and corrective actions for troubleshooting when a motor does not rotate as intended are described below. (a) When a motor rotates only in the opposite direction Check item Action Is the value in "Rotation direction...

  • Page 840: Error And Warning Details

    Chapter 16 Troubleshooting 16.4 Error and warning details [1] Errors Types of errors Errors detected by the QD77MS include parameter setting range errors, errors at the operation start or during operation and errors detected by servo amplifier. (1) Errors detected by the QD77MS include parameter setting range errors The parameters are checked when the power is turned ON and at the rising edge (OFF ON) of the PLC READY signal [Y0].
  • Page 841 Chapter 16 Troubleshooting (3) Servo amplifier detection errors These are errors that occur at the hardware error such as servo amplifier and servomotor or the servo parameter error. Servo is turned off at the error occurrence, and axis stop. If you remove an error factor, reset the servo amplifier.
  • Page 842 Chapter 16 Troubleshooting When an alarm occurs on servo amplifier, the alarm No. displayed in LED of servo amplifier is stored in the following buffer memory address ( Servo alarm). Md.114 Check the error details and remedies by this servo alarm details. Buffer memory address Axis No.
  • Page 843 Chapter 16 Troubleshooting [2] Warnings Types of warnings Warnings detected by the QD77MS include system warnings, axis warnings and warnings detected by servo amplifier. (1) Warnings include system warnings. The types of system warnings are shown below. • System control data setting warnings An axis warning for axis 1 will occur.
  • Page 844 Chapter 16 Troubleshooting Warning storage (1) When an axis warning occurs, the warning code corresponding to the warning details is stored in the following buffer memory ( Axis warning No.) for Md.24 axis warning No. storage. Buffer memory address Axis No. QD77MS2 QD77MS4 QD77MS16...
  • Page 845 Chapter 16 Troubleshooting [3] Resetting errors and warnings Remove the cause of error or warning following the actions described in Section 16.5 and 16.6, before cancel an error or warning state by resetting the error. How to clear errors or warnings An error or warning state is canceled after the following processing has been carried out by setting "1"...
  • Page 846 Chapter 16 Troubleshooting MEMO 16 - 15...

  • Page 847: List Of Errors

    Chapter 16 Troubleshooting 16.5 List of errors The following table shows the error details and remedies to be taken when an error occurs. 16.5.1 QD77MS detection error Classification Error Error name Error Operation status at error occurrence of errors code —...
  • Page 848 Chapter 16 Troubleshooting Related buffer memory address Set range Remedy QD77MS2 (Setting with sequence program) QD77MS16 QD77MS4 — — — — — — — Check that there is no influence from noise. Review the program which turns ON/OFF PLC READY signal —...
  • Page 849 Chapter 16 Troubleshooting Classification Error Error name Error Operation status at error occurrence of errors code READY OFF The PLC READY signal is turned from OFF The QD77 READY signal [X0] is not turned during BUSY to ON when BUSY signal is turned ON. Start is requested when start is not Start not possible The system does not start positioning.
  • Page 850 Chapter 16 Troubleshooting Related buffer memory address Set range Remedy QD77MS2 (Setting with sequence program) QD77MS16 QD77MS4 Turn ON the PLC READY signal [Y0] with the BUSY signals — — — of all axes OFF. Do not request the start when the axis operation state is other —...
  • Page 851 Chapter 16 Troubleshooting Classification Error Error name Error Operation status at error occurrence of errors code OPR is started on the direct drive motor Encoder ABS data not when the absolute position data of the The OPR does not start. established encoder has not been established.
  • Page 852 Chapter 16 Troubleshooting Related buffer memory address Set range Remedy QD77MS2 (Setting with sequence program) QD77MS16 QD77MS4 Turn the power supplies of the system or servo amplifier from — — — OFF to ON after passing the zero point of the motor by the JOG operation, etc.
  • Page 853 Chapter 16 Troubleshooting Classification Error Error name Error Operation status at error occurrence of errors code <When blocks are started simultaneously> • The partner axis for simultaneous start is BUSY. <When multiple axes are started and Error before controlled simultaneously> simultaneous start •...
  • Page 854 Chapter 16 Troubleshooting Related buffer memory address Set range Remedy QD77MS2 (Setting with sequence program) QD77MS16 QD77MS4 <Condition operators> Axis designation: 10H, 20H, 30H, 40H, Refer to Section 5.5 Normalize the condition operators. 50H, 60H, 70H, 80H, (Refer to Section 5.5 Da.16 ) "List of condition data"...
  • Page 855 Chapter 16 Troubleshooting Classification Error Error name Error Operation status at error occurrence of errors code • When the parameter "interpolation speed designation method" performs a linear interpolation in setting a "composite speed", the axis movement amount for each positioning data exceeds At start : The system does not Outside linear...
  • Page 856 Chapter 16 Troubleshooting Related buffer memory address Set range Remedy QD77MS2 (Setting with sequence program) QD77MS16 QD77MS4 <Positioning address/movement amount> • ABS unit [mm] [inch] [PLS] –2147483648 to 2147483647 Unit [degree] 0 to 35999999 • INC (When software stroke limits are valid) Review the positioning address.
  • Page 857 Chapter 16 Troubleshooting Classification Error Error name Error Operation status at error occurrence of errors code The new current address is outside the Outside new current ranges of 0 to 359.99999, where the value range control unit is set to "degree". •...
  • Page 858 Chapter 16 Troubleshooting Related buffer memory address Set range Remedy QD77MS2 (Setting with sequence program) QD77MS16 QD77MS4 1506+100n 4306+100n <New current value> Bring the new current value into the setting range. 1507+100n 4307+100n [degree] 0 to 35999999 (Refer to Section 9.2.19) •...
  • Page 859 Chapter 16 Troubleshooting Classification Error Error name Error Operation status at error occurrence of errors code • For starting, a composite speed is designated in the reference axis parameter "Interpolation speed designation method" using the speed interpolation control or Interpolation mode At start : The system does not 4-axis linear interpolation control.
  • Page 860 Chapter 16 Troubleshooting Related buffer memory address Set range Remedy QD77MS2 (Setting with sequence program) QD77MS16 QD77MS4 <Interpolation speed designation method> Set the "Interpolation speed designation method" correctly. 29+150n 0: Composite speed (Refer to Section 9.1.6) 1: Reference axis speed Correct the control system, axis to be interpolated or Same as error codes 515 to 516 parameter.
  • Page 861 Chapter 16 Troubleshooting Classification Error Error name Error Operation status at error occurrence of errors code At start : The system does not • In the speed-position switching control operate. and the position-speed switching control, During operation : The system stops the setting value of a positioning address immediately with the setting is negative.
  • Page 862 Chapter 16 Troubleshooting Related buffer memory address Set range Remedy QD77MS2 (Setting with sequence program) QD77MS16 QD77MS4 Correct the positioning address. Same as in error codes 504, 506. (Refer to Section 9.2.16, 9.2.17, 9.2.18) Refer to Section 5.3 In the error history, check the axis where the error other than "List of positioning data"...
  • Page 863 Chapter 16 Troubleshooting Classification Error Error name Error Operation status at error occurrence of errors code At start : The system does not operate. Outside radius range The arc radius exceeds 536870912. During operation : The system stops immediately. Control system LOOP A "0"...
  • Page 864 Chapter 16 Troubleshooting Related buffer memory address Set range Remedy QD77MS2 (Setting with sequence program) QD77MS16 QD77MS4 <Maximum radius> Correct the positioning data. Refer to Section 5.3 536870912 (Refer to Section 9.2.10, 9.2.11) "List of positioning data" <LOOP to LEND> Set 1 to 65535 in the repeating time of LOOP.
  • Page 865 Chapter 16 Troubleshooting Classification Error Error name Error Operation status at error occurrence of errors code At start : The system does not operate. During operation : The system stops with the setting (deceleration stop/sudden stop) of the detailed parameter 2 PLC CPU error The CPU resulted in an error.
  • Page 866 Chapter 16 Troubleshooting Related buffer memory address Set range Remedy QD77MS2 (Setting with sequence program) QD77MS16 QD77MS4 Check the error code in CPU. — — — (Refer to the "QCPU User's Manual (Hardware Design, Maintenance and Inspection)".) < ZP.PSTRT start No.> •...
  • Page 867 Chapter 16 Troubleshooting Classification Error Error name Error Operation status at error occurrence of errors code • The set value of the basic parameter 1 Outside bias speed "Bias speed at start" is outside the setting range. range • The bias speed exceeds the speed limit. The QD77 READY signal [X0] is not turned Outside electronic gear The set value of the electronic gear is...
  • Page 868 Chapter 16 Troubleshooting Related buffer memory address Set range Remedy QD77MS2 (Setting with sequence program) QD77MS16 QD77MS4 • Set the bias speed to not more than the speed limit value. 6+150n 0 [PLS/s] • With the setting brought into the setting range, turn the PLC 7+150n 0 [ 10 mm/min or others]...
  • Page 869 Chapter 16 Troubleshooting Classification Error Error name Error Operation status at error occurrence of errors code The set value of the detailed parameter 1 Command in-position "Command in-position width" is outside the width setting range. The set value of the detailed parameter 1 Illegal torque limit "Torque limit setting value"...
  • Page 870 Chapter 16 Troubleshooting Related buffer memory address Set range Remedy QD77MS2 (Setting with sequence program) QD77MS16 QD77MS4 24+150n 1 to 2147483647 25+150n 26+150n 1 to 1000 27+150n 0, 1 With the setting brought into the setting range, turn the PLC 28+150n 0, 1 READY signal [Y0] from OFF to ON.
  • Page 871 Chapter 16 Troubleshooting Classification Error Error name Error Operation status at error occurrence of errors code The set value of the detailed parameter 2 Acceleration time 1 "Acceleration time 1" is outside the setting setting error When the PLC READY signal [Y0] is turned range.
  • Page 872 Chapter 16 Troubleshooting Related buffer memory address Set range Remedy QD77MS2 (Setting with sequence program) QD77MS16 QD77MS4 36+150n 1 to 8388608 37+150n 38+150n 1 to 8388608 39+150n 40+150n 1 to 8388608 41+150n With the setting brought into the setting range, turn the PLC READY signal [Y0] from OFF to ON.
  • Page 873 Chapter 16 Troubleshooting Classification Error Error name Error Operation status at error occurrence of errors code • The set value of the detailed parameter 2 "JOG speed limit value" is outside the setting range. JOG speed limit value error • The set value of the detailed parameter 2 "JOG speed limit value"...
  • Page 874 Chapter 16 Troubleshooting Related buffer memory address Set range Remedy QD77MS2 (Setting with sequence program) QD77MS16 QD77MS4 <JOG speed limit value> • With the setting brought into the setting range, turn the PLC 48+150n 1 to 1000000000 [PLS/s] READY signal [Y0] from OFF to ON. 49+150n 1 to 2000000000 [ 10 mm/min or others]...
  • Page 875 Chapter 16 Troubleshooting Classification Error Error name Error Operation status at error occurrence of errors code • Setting the driver communication to servo amplifier which does not support the The communication between servo amplifiers driver communication. of target axis is not executed. Driver communication setting error •...
  • Page 876 Chapter 16 Troubleshooting Related buffer memory address Set range Remedy QD77MS2 (Setting with sequence program) QD77MS16 QD77MS4 • Confirm the driver communication and the actually connected servo amplifier. • After setting 'The driver communication setting', write to a — — —...
  • Page 877 Chapter 16 Troubleshooting Classification Error Error name Error Operation status at error occurrence of errors code Setting for the The set value of the OPR detailed movement amount parameter "Setting for the movement after near-point dog ON amount after near-point dog ON" is outside error the setting range.
  • Page 878 Chapter 16 Troubleshooting Related buffer memory address Set range Remedy QD77MS2 (Setting with sequence program) QD77MS16 QD77MS4 80+150n 0 to 2147483647 81+150n 82+150n 0, 1, 2, 3 83+150n 0, 1, 2, 3 With the setting brought into the setting range, turn the PLC READY signal [Y0] from OFF to ON.

  • Page 879: Servo Amplifier Detection Error

    Chapter 16 Troubleshooting 16.5.2 Servo amplifier detection error The detection error list for servo amplifier is shown below. Refer to the "Servo amplifier Instruction Manual" for details. Servo amplifier type Instruction manual name MR-J4- B SSCNET /H interface MR-J4- B Servo amplifier Instruction Manual (SH-030106) SSCNET /H interface Multi-axis AC Servo MR-J4W- B Servo amplifier Instruction MR-J4W- B Manual (SH-030105)
  • Page 880 Chapter 16 Troubleshooting Classification Servo amplifier Error code Name Details name Remarks of errors LED display Encoder initial communication - 16.1 Receive data error 1 Encoder initial communication - 16.2 Receive data error 2 Encoder initial communication - 16.3 Receive data error 3 Encoder initial communication - 16.5 Transmission data error 1...
  • Page 881 Chapter 16 Troubleshooting Classification Servo amplifier Error code Name Details name Remarks of errors LED display 21.1 Encoder error 1 21.2 Encoder data update error 21.3 Encoder data waveform error Encoder normal 2021 21.4 Encoder non-signal error communication error 2 21.5 Encoder hardware error 1 21.6...
  • Page 882 Chapter 16 Troubleshooting Classification Servo amplifier Error code Name Details name Remarks of errors LED display Servo control error by position 42.1 deviation 2042 Servo control error 42.2 Servo control error by speed deviation Servo control error by torque/thrust 42.3 deviation Main circuit device 2045...
  • Page 883 Chapter 16 Troubleshooting Classification Servo amplifier Error code Name Details name Remarks of errors LED display 63.1 STO1 off STO timing error 63.2 STO2 off 2063 Encoder initial 1E.1 Encoder malfunction communication error 2 Encoder initial 2064 1F.1 Incompatible encoder communication error 3 2088 Watchdog...
  • Page 884 Chapter 16 Troubleshooting (2) MR-J3- B Classification Servo amplifier Error code Error name Remarks of errors LED display 2010 Under voltage 2012 Memory error 1 (RAM) 2013 Clock error 2015 Memory error 2 (EEP-ROM) 2016 Encoder error 1 (At power on) 2017 Board error 2019...
  • Page 885 Chapter 16 Troubleshooting (3) MR-J3W- B Classification Servo amplifier Error code Name Details name Remarks of errors LED display 10.1 Voltage drop in the control power 2010 Undervoltage 10.2 Voltage drop in the main circuit power 11.1 Rotary switch setting error 11.2 DIP switch setting error Rotation/linear motor selection switch...
  • Page 886 Chapter 16 Troubleshooting Classification Servo amplifier Error code Name Details name Remarks of errors LED display Magnetic pole detection abnormal 27.1 termination 27.2 Magnetic pole detection time out error 27.3 Magnetic pole detection limit switch error Initial magnetic pole 27.4 Magnetic pole detection estimated error 2027 Linear servo...
  • Page 887 Chapter 16 Troubleshooting Classification Servo amplifier Error code Name Details name Remarks of errors LED display 50.1 Thermal overload error 1 during operation 50.2 Thermal overload error 2 during operation 50.3 Thermal overload error 4 during operation 2050 Overload 1 50.4 Thermal overload error 1 during a stop 50.5...
  • Page 888 Chapter 16 Troubleshooting (4) MR-J3- B-RJ004 (For linear servo) Classification Servo amplifier Error code Name Remarks of errors LED display 2010 Undervoltage 2012 Memory error 1 (RAM) 2013 Clock error 2015 Memory error 2 (EEP-ROM) 2016 Encoder error 1 (At power on) 2017 Board error 2019...
  • Page 889 Chapter 16 Troubleshooting (5) MR-J3- B-RJ006 (For fully closed control) Classification Servo amplifier Error code Name Remarks of errors LED display 2010 Undervoltage 2012 Memory error 1 (RAM) 2013 Clock error 2015 Memory error 2 (EEP-ROM) 2016 Encoder error 1 (At power on) 2017 Board error 2019...
  • Page 890 Chapter 16 Troubleshooting (6) MR-J3- B-RJ080W (For direct drive motor) Classification Servo amplifier Error code Name Remarks of errors LED display 2010 Undervoltage 2012 Memory error 1 (RAM) 2013 Clock error 2015 Memory error 2 (EEP-ROM) 2016 Encoder error 1 2017 Board error 2019...
  • Page 891 Chapter 16 Troubleshooting (7) MR-J3- BS (For safety servo) Classification Servo amplifier Error code Name Remarks of errors LED display 2010 Undervoltage 2012 Memory error 1 (RAM) 2013 Clock error 2015 Memory error 2 (EEP-ROM) 2016 Encoder error 1 (At power on) 2017 Board error 2019...
  • Page 892 Chapter 16 Troubleshooting MEMO 16 - 61...

  • Page 893: List Of Warnings

    Chapter 16 Troubleshooting 16.6 List of warnings The following table shows the warning details and remedies to be taken when a warning occurs. 16.6.1 QD77MS detection warning Classification Warning Warning name Warning Operation status at warning occurrence of warnings code —...
  • Page 894 Chapter 16 Troubleshooting Related buffer memory address Set range Remedy QD77MS2 (Setting with sequence program) QD77MS16 QD77MS4 — — — — • Normalize the start request ON timing. • When in speed control mode/torque control mode, — — — start positioning after switching to the position control mode.
  • Page 895 Chapter 16 Troubleshooting Classification Warning Warning name Warning Operation status at warning occurrence of warnings code Monitoring is not carried out. "0" is stored in Optional data monitor In the optional data monitor, 2-word data is (Optional data monitor Md.109 Md.112 data type setting error not set correctly.
  • Page 896 Chapter 16 Troubleshooting Related buffer memory address Set range Remedy QD77MS2 (Setting with sequence program) QD77MS16 QD77MS4 Optional data monitor: Data type setting 1 100+150n Optional data monitor: Data type Set the 2-word data to " Optional data monitor: Data Pr.91 setting 2 "...
  • Page 897 Chapter 16 Troubleshooting Classification Warning Warning name Warning Operation status at warning occurrence of warnings code When the mark detection data type setting Outside mark detection is not "Optional 2 word buffer memory", data axis No. setting the mark detection data type setting is range Common outside the range.
  • Page 898 Chapter 16 Troubleshooting Related buffer memory address Set range Remedy QD77MS2 (Setting with sequence program) QD77MS16 QD77MS4 < Mark detection data axis No.> 54003+20k Set a value within the setting range. 1 to 16, 801 to 804 54004+20k <Mark detection data buffer memory No.> Set the mark detection data buffer memory No.
  • Page 899 Chapter 16 Troubleshooting Classification Warning Warning name Warning Operation status at warning occurrence of warnings code Deceleration/stop The speed change request is issued The speed change is not carried out. speed change during deceleration stop. (Note-2) • Setting speeds exceed the speed limit value when starting/restarting the positioning or when changing the speed (Note-1)
  • Page 900 Chapter 16 Troubleshooting Related buffer memory address Set range Remedy QD77MS2 (Setting with sequence program) QD77MS16 QD77MS4 Do not carry out the speed change during deceleration <Speed change request> 1516+100n 4316+100n with a stop command, during stoppage, or during 1: Speed change is requested automatic deceleration with position control.
  • Page 901 Chapter 16 Troubleshooting Classification Warning Warning name Warning Operation status at warning occurrence of warnings code • When a command speed is changed: Change to a value as near a new speed value as possible. • At a continuous operation interrupt request, the distance required •...
  • Page 902 Chapter 16 Troubleshooting Related buffer memory address Set range Remedy QD77MS2 (Setting with sequence program) QD77MS16 QD77MS4 Give a request at the position where there is an — — — enough remaining distance. <Step start information> Do not set a "1" to the step start information when the 1546+100n 4346+100n 1: Step is continued...
  • Page 903 Chapter 16 Troubleshooting Classification Warning Warning name Warning Operation status at warning occurrence of warnings code The target position change is not carried • A target position change request was out. given for the control system other than ABS1 and INC1. •...
  • Page 904 Chapter 16 Troubleshooting Related buffer memory address Set range Remedy QD77MS2 (Setting with sequence program) QD77MS16 QD77MS4 • Do not turn ON the target position change request in the following cases. 1) An operating pattern "continuous path control" is used. 2) A control system other than ABS1, and INC1 is used.

  • Page 905: Servo Amplifier Detection Warning

    Chapter 16 Troubleshooting 16.6.2 Servo amplifier detection warning The detection warning list for Servo amplifier is shown below. Refer to the "Servo amplifier Instruction Manual" for details. Servo amplifier type Instruction manual name MR-J4- B SSCNET /H interface MR-J4- B Servo amplifier Instruction Manual (SH-030106) SSCNET /H interface Multi-axis AC Servo MR-J4W- B Servo amplifier Instruction MR-J4W- B Manual (SH-030105)
  • Page 906 Chapter 16 Troubleshooting Classification Servo amplifier Warning code Name Details name Remarks of warnings LED display 2144 E4.1 Parameter warning Parameter setting range error warning 2146 E6.1 Servo forced stop warning Forced stop warning Controller forced stop 2147 E7.1 Controller forced stop warning warning Cooling fan speed 2148...
  • Page 907 Chapter 16 Troubleshooting (3) MR-J3W- B Classification Servo amplifier Warning code Name Details name Remarks of warnings LED display 91.1 Main circuit device Main circuit device overheat warning 2101 overheat warning 91.2 Board temperature warning Battery cable Encoder battery disconnection warning 2102 92.1 disconnection warning...
  • Page 908 Chapter 16 Troubleshooting (4) MR-J3- B-RJ004 (For linear servo) Classification Servo amplifier Warning code Name Remarks of warnings LED display 2106 Home position setting error 2140 Excessive regeneration warning 2141 Overload warning 1 2142 Linear servo motor overheat warning Servo 2144 Parameter warning amplifier...
  • Page 909 Chapter 16 Troubleshooting (7) MR-J3- BS (For safety servo) Classification Servo amplifier Warning code Name Remarks of warnings LED display 2095 STO warning 2102 Battery cable disconnection warning 2106 Home position setting warning 2116 Battery warning 2140 Excessive regeneration warning 2141 Overload warning 1 Servo...
  • Page 910 ............... Appendix- 30 Appendix 2.2 SSCNET cable (SC-J3BUS M-C) manufactured by Mitsubishi Electric System & Service .... Appendix- 34 Appendix 3 Connection with external device............. Appendix- 35 Appendix 3.1 Connector..................Appendix- 35 Appendix 3.2 External input signal cable............Appendix- 37 Appendix 3.3 Manual pulse generator (MR-HDP01) ........

  • Page 911: Appendix 1 List Of Buffer Memory Addresses

    Appendices Appendix 1 List of buffer memory addresses The following shows the relation between the buffer memory addresses and the various items. (Note-1): Do not use the buffer memory address that not been described here for a "Maker setting". (Note-2): For the list of buffer memory addresses for positioning data, refer to the "Simple Motion Module Setting Tool Help"...
  • Page 912 Appendices Buffer memory address Compatibility of setting value Memory Item of QD77MS2/ QD77MS2 area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 Pr.11 Backlash compensation amount 17+150n 18+150n Pr.12 Software stroke limit upper limit value 19+150n 20+150n Pr.13 Software stroke limit lower limit value 21+150n Pr.14 22+150n...
  • Page 913 Appendices Buffer memory address Compatibility of setting value Memory Item of QD77MS2/ QD77MS2 area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 36+150n Pr.25 Acceleration time 1 37+150n 38+150n Pr.26 Acceleration time 2 39+150n 40+150n Pr.27 Acceleration time 3 41+150n 42+150n Pr.28 Deceleration time 1 43+150n 44+150n Pr.29...
  • Page 914 Appendices Buffer memory address Compatibility of setting value of Memory Item QD77MS2/ QD77MS2 area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 Pr.50 Setting for the movement amount after near-point 80+150n 81+150n dog ON Pr.51 OPR acceleration time selection 82+150n Pr.52 OPR deceleration time selection 83+150n 84+150n Pr.53...
  • Page 915 Appendices Buffer memory address Compatibility of setting value of Memory Item QD77MS2 QD77MS2/ area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 Md.1 In test mode flag 1200 4000 1206 4006 Md.130 OS version 1207 4007 1208 4008 Operation time Md.134 1209 4009 Maximum operation time Md.135 1211...
  • Page 916 Appendices Buffer memory address Compatibility of setting value Memory Item QD77MS2 of QD77MS2/ area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 800+100n 2400+100n Md.20 Current feed value 801+100n 2401+100n 802+100n 2402+100n Md.21 Machine feed value 803+100n 2403+100n 804+100n 2404+100n Md.22 Feedrate 805+100n 2405+100n Md.23 Axis error No.
  • Page 917 Appendices Buffer memory address Compatibility of setting value Memory Item QD77MS2 of QD77MS2/ area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 838+100n 2438+100n Positioning identifier 839+100n 2439+100n M code 840+100n 2440+100n Dwell time 2441+100n Axis to be interpolated Md.47 Positioning data being 842+100n 2442+100n executed...
  • Page 918 Appendices Buffer memory address Compatibility of setting value Memory Item QD77MS2 of QD77MS2/ area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 Cd.3 Positioning start No. 1500+100n 4300+100n Cd.4 Positioning starting point No. 1501+100n 4301+100n Cd.5 Axis error reset 1502+100n 4302+100n Restart command Cd.6 1503+100n 4303+100n...
  • Page 919 Appendices Buffer memory address Compatibility of setting value Memory Item QD77MS2 of QD77MS2/ area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 Simultaneous starting axis start data No. (axis 1 start Cd.30 1540+100n data No.) 4340+100n Simultaneous starting own axis start data No. Cd.30 Simultaneous starting axis start data No.
  • Page 920 Appendices Buffer memory address Compatibility of setting value Memory Item QD77MS2 of QD77MS2/ area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 1578+100n 4378+100n Acceleration time at speed control mode Cd.141 1579+100n 4379+100n Deceleration time at speed control mode Cd.142 1580+100n 4380+100n Command torque at torque control mode Cd.143 Torque time constant at torque control mode Cd.144...
  • Page 921 Appendices Buffer memory address Compatibility of setting value Memory Item QD77MS2 of QD77MS2/ area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 30100+10n Axis stop Cd.180 30101+10n Forward run JOG start Cd.181 30102+10n Reverse run JOG start Cd.182 30103+10n Execution prohibition flag Cd.183 Da.1 Operation pattern Da.2...
  • Page 922 Appendices Buffer memory address Compatibility of setting value Item Memory area QD77MS2 of QD77MS2/ QD77MS16 QD77MS4 and QD77MS4 QD77MS16 Da.11 Shape 26000+ 22000+ 1000n 400n Da.12 Start data No. Da.13 Special start instruction 26050+ 22050+ 1000n 400n Da.14 Parameter 26001+ 26051+ 22001+ 22051+...
  • Page 923 Appendices Buffer memory address Compatibility of setting value Item Memory area QD77MS2 of QD77MS2/ QD77MS16 QD77MS4 and QD77MS4 QD77MS16 26400+1000n Block start data 26499+1000n 26500+1000n Condition data 26599+1000n 26600+1000n Block start data 26699+1000n Set with GX Works2 26700+1000n Condition data 26799+1000n 26800+1000n Block start data...
  • Page 924 Appendices The following shows the relation between the buffer memory addresses of servo parameter and the various items. (Note): The setting range is different depending on the servo amplifier model. Refer to the "Servo amplifier Instruction Manual" for details. Buffer memory address Compatibility of setting value Servo amplifier...
  • Page 925 Appendices Buffer memory address Compatibility of setting value Servo amplifier Memory Item QD77MS2 of QD77MS2/ parameter No. area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 30119+200n 28419+100n – PB01 30120+200n 28420+100n – PB02 30121+200n 28421+100n – PB03 30122+200n 28422+100n – PB04 30123+200n 28423+100n –...
  • Page 926 Appendices Buffer memory address Compatibility of setting value Servo amplifier Memory Item QD77MS2 of QD77MS2/ parameter No. area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 30159+200n 28459+100n – PB41 30160+200n 28460+100n – PB42 30161+200n 28461+100n – PB43 30162+200n 28462+100n – PB44 30163+200n 28463+100n –...
  • Page 927 Appendices Buffer memory address Compatibility of setting value Servo amplifier Memory Item QD77MS2 of QD77MS2/ parameter No. area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 30179+200n 28479+100n – PC16 30180+200n 28480+100n – PC17 30181+200n 28481+100n – PC18 30182+200n 28482+100n – PC19 30183+200n 28483+100n –...
  • Page 928 Appendices Buffer memory address Compatibility of setting value Servo amplifier Memory Item QD77MS2 of QD77MS2/ parameter No. area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 64454+250n 64454+70n – PC55 64455+250n 64455+70n – PC56 64456+250n 64456+70n – PC57 64457+250n 64457+70n – PC58 64458+250n 64458+70n –...
  • Page 929 Appendices Buffer memory address Compatibility of setting value Servo amplifier Memory Item QD77MS2 of QD77MS2/ parameter No. area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 30226+200n – PD31 30227+200n – PD32 64464+250n – PD33 64465+250n – PD34 64466+250n – PD35 64467+250n – PD36 64468+250n –...
  • Page 930 Appendices Buffer memory address Compatibility of setting value Servo amplifier Memory Item QD77MS2 of QD77MS2/ parameter No. area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 30250+200n – PE23 30251+200n – PE24 30252+200n – PE25 30253+200n – PE26 30254+200n – PE27 30255+200n – PE28 30256+200n –...
  • Page 931 Appendices Buffer memory address Compatibility of setting value Servo amplifier Memory Item QD77MS2 of QD77MS2/ parameter No. area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 30268+200n – PS01 30269+200n – PS02 30270+200n – PS03 30271+200n – PS04 30272+200n – PS05 30273+200n – PS06 30274+200n –...
  • Page 932 Appendices Buffer memory address Compatibility of setting value Servo amplifier Memory Item QD77MS2 of QD77MS2/ parameter No. area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 – 30900+50n PF01 – 30901+50n PF02 – 30902+50n PF03 – 30903+50n PF04 – 30904+50n PF05 – 30905+50n PF06 –...
  • Page 933 Appendices Buffer memory address Compatibility of setting value Servo amplifier Memory Item QD77MS2 of QD77MS2/ parameter No. area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 – 64528+250n PF41 – 64529+250n PF42 – 64530+250n PF43 – 64531+250n PF44 – 64532+250n PF45 – 64533+250n PF46 –...
  • Page 934 Appendices Buffer memory address Compatibility of setting value Servo amplifier Memory Item QD77MS2 of QD77MS2/ parameter No. area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 64552+250n – PL01 64553+250n – PL02 64554+250n – PL03 64555+250n – PL04 64556+250n – PL05 64557+250n – PL06 64558+250n –...
  • Page 935 Appendices Buffer memory address Compatibility of setting value Servo amplifier Memory Item QD77MS2 of QD77MS2/ parameter No. area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 64592+250n – PL41 64593+250n – PL42 64594+250n – PL43 64595+250n – PL44 64596+250n – PL45 64597+250n – PL46 64598+250n –...
  • Page 936 Appendices Buffer memory address Compatibility of setting value Servo amplifier Memory Item QD77MS2 of QD77MS2/ parameter No. area QD77MS16 QD77MS4 and QD77MS4 QD77MS16 64632+250n – PT33 64633+250n – PT34 64634+250n – PT35 64635+250n – PT36 64636+250n – PT37 64637+250n – PT38 64638+250n –...
  • Page 937 Appendices The following shows the relation between the buffer memory addresses for mark detection function and the various items. (Note): Do not use the buffer memory address that not been described here for a "Maker setting". Buffer memory address Compatibility of setting value Memory Item...

  • Page 938: Appendix 2 Connection With Servo Amplifiers

    Appendices Appendix 2 Connection with servo amplifiers Between the QD77MS and servo amplifiers or servo amplifier and servo amplifier connected by SSCNET cable. When absolute position detection control is executed, installed battery (MR-J3BAT) to servo amplifier. QD77MS SSCNET SSCNET Cable length Cable length When MR-J3BUS When MR-J3BUS...

  • Page 939: Appendix 2.1 Sscnet Cables

    Standard outside panel Long bending Long distance (Note-1) MR-J3BUS M-B life cable (Note-1) : For the cable of less than 30[m](98.43[ft.]), contact your nearest Mitsubishi sales representative. (2) Specification Table 2.2 SSCNET cable list Description SSCNET cable model MR-J3BUS M...
  • Page 940 Appendices CAUTION Please use the processing method and the processing treatment device that exists in the connector when you fix the cord part of the SSCNET cable to the connector. It must not cut squarely when you cut the cord part of the SSCNET cable, the cutting edge side must not be made smooth, and garbage etc.
  • Page 941 Appendices (a) MR-J3BUS M 1) Model explanation Type: MR-J3BUS Symbol Cable type None Standard cord for inside panel Standard cable for outside panel Long distance cable Symbol Cable length [m(ft.)] 0.15(0.49) 0.3(0.98) 0.5(1.64) 1(3.28) 3(9.84) 5(16.40) 10(32.81) 20(65.62) 30(98.43) 40(131.23) 50(164.04) 2) Exterior dimensions •...
  • Page 942 Appendices • MR-J3BUS5M-A to MR-J3BUS20M-A • MR-J3BUS30M-B to MR-J3BUS50M-B Refer to the table of this section (1) for cable length (L). Variation [mm(inch)] SSCNET Cable MR-J3BUS5M-A to MR-J3BUS20M-A 100(3.94) 30(1.18) MR-J3BUS30M-B to MR-J3BUS50M-B 150(5.91) 50(1.97) [Unit : mm(inch)] Protective tube (Note) (Note): Dimension of connector part is the same as that of MR-J3BUS015M.

  • Page 943: Appendix 2.2 Sscnet Cable (Sc-J3Bus M-C) Manufactured By

    Appendices Appendix 2.2 SSCNET cable (SC-J3BUS M-C) manufactured by Mitsubishi Electric System & Service POINT • For the details of the SSCNET cables, contact your local sales office. • Do not look directly at the light generated from CN1A/CN1B connector of servo amplifier or the end of SSCNET cable.

  • Page 944: Appendix 3 Connection With External Device

    Appendices Appendix 3 Connection with external device Appendix 3.1 Connector Mounted onto an external input signal connector of the QD77MS and used for wiring an external device. The "external device connector" includes the following 4 types. (1) Appearance A6CON1 A6CON2 A6CON3 A6CON4 (2) Connector type...
  • Page 945 Appendices (3) External dimension drawing A6CON1/A6CON2 A6CON3 A6CON4 Unit: mm (inch) 69.48(2.74) 14(0.55) or less 14(0.55) or less 72.72(2.87) 47(1.85) 50.8(2.00) Appendix - 36...

  • Page 946: Appendix 3.2 External Input Signal Cable

    Appendices Appendix 3.2 External input signal cable There are no our option in the external input signal cable. The external input signal cable fabricate on the customer side. Make the cable as shown in the following connection diagram. Solderless terminal (1) Manual pulse generator/ QD77MS side incremental synchronous encoder...
  • Page 947 Appendices (1) Manual pulse generator/ Incremental synchronous encoder (a) Differential-output type Make the cable within 30m(98.43ft.). 1B18 1A18 1B17 1A17 1B20 Differential-output type Manual pulse generator/ incremental synchronous encoder side 1B19 1B15 1B14 1A15 1A14 (Note-1) (Note-1): Ground FG terminal on the used equipment side. : Twisted pair cable Also, connect it to the shell of connector side.
  • Page 948 Appendices (2) Forced stop input/ External input signal (AX1, AX2) Forced stop input side EMI.COM EMI.COM STOP STOP External input side STOP STOP (Note-1) (Note-1):Ground FG terminal on the used equipment side. :Twisted pair cable Also, connect it to the shell of connector side. Appendix - 39...
  • Page 949 Appendices (3) External input signal (AX3, AX4) STOP STOP External input side STOP STOP (Note-1) Shell (Note-1) (Note-1):Ground FG terminal on the used equipment side. :Twisted pair cable Also, connect it to the shell of connector side. Appendix - 40...
  • Page 950 Appendices 1) The following table indicates the external input signal cables. Make selection according to your operating conditions. Table 3.1 Table of wire specifications Characteristics of one core Core size Number of Finish OD Structure Conductor Insulating Wire model (Note-2) cores [mm] [Number of...

  • Page 951: Appendix 3.3 Manual Pulse Generator (Mr-Hdp01)

    Appendices Appendix 3.3 Manual pulse generator (MR-HDP01) (1) External dimension drawing 3.6(0.14) 27.0 3 Studs (M4 10) (1.06) PCD72, equi-spaced +5to M3 6 8.89 Packing t=2.0 3- 4.8(0.19) (0.63) (0.79) (0.35) (0.30) equi-spaced Space The figure of processing a disc Appendix - 42...

  • Page 952: Appendix 4 Comparisons With Positioning Modules /Ld77Mh

    Appendices Appendix 4 Comparisons with positioning modules /LD77MH Appendix 4.1 Differences with QD75MH models (1) Differences of performance specifications Model QD77MS2 QD77MS4 QD77MS16 QD75MH2 QD75MH4 Item Number of control axes Operation cycle [ms] 0.88 0.88/1.77 1.77 Speed-torque Control system control Synchronous control Trapezoidal acceleration/...
  • Page 953 Appendices Differences of performance specifications (Continued) Model QD77MS2 QD77MS4 QD77MS16 QD75MH2 QD75MH4 Item Connect/disconnect function of SSCNET communication History data Information display of "Year, Month, Information display of "Hour, Minute, Second" (Start, Error, Warning) Day, Hour, Minute, Second" 5VDC internal current consumption 0.75 0.60 Mass [kg]...
  • Page 954 Appendices (b) Changed functions Specification Function Description QD77MS2 QD77MS4 QD77MS16 QD75MH2 QD75MH4 Range of setting <Setting unit is PLS> Maker setting Bias speed at start Pr.7 value 0 to 1000000000 [PLS/s] Range of setting <Control unit is PLS> <Control unit is PLS> Speed limit value Pr.8 value...
  • Page 955 Appendices Changed functions (Continued) Specification Function Description QD77MS2 QD77MS4 QD77MS16 QD75MH2 QD75MH4 0 : No setting 1 : Effective load ratio Optional data monitor: Pr.91 2 : Regenerative load ratio Data type setting 1 3 : Peak load ratio 4 : Load to motor inertia ratio 5 : Position loop gain 1 6 : Bus voltage 7 : Servo motor speed...
  • Page 956 Appendices Changed functions (Continued) Specification Function Description QD77MS2 QD77MS4 QD77MS16 QD75MH2 QD75MH4 Occurrence time of axis warning is displayed by Occurrence time of axis warning is "Year, Month, Day, Hour, Minute, Second". displayed by "Hour, Minute, Information display Second". Axis warning occurrence (Year: month) Md.56 Axis warning occurrence of axis warning...
  • Page 957 Appendices Changed functions (Continued) Specification Function Description QD77MS2 QD77MS4 QD77MS16 QD75MH2 QD75MH4 Positioning identifier Positioning identifier ( Da.1 QD77MS2 QD77MS4 Da.1 Da.4 Da.5 Da.5 Positioning address ( Positioning address ( Da.6 Da.6 Arc address ( Arc address ( Positioning data being Da.7 Da.7 Md.47...
  • Page 958 Appendices Changed functions (Continued) Specification Function Description QD77MS2 QD77MS4 QD77MS16 QD75MH2 QD75MH4 Regenerative load Md.109 Regenerative load ratio/Optional data monitor output Regenerative load ratio ratio/Optional data monitor output 1 Effective load torque/ Md.110 Name Effective load torque/Optional data monitor output 2 Effective load torque Optional data monitor output 2...
  • Page 959 Appendices Changed functions (Continued) Specification Function Description QD77MS2 QD77MS4 QD77MS16 QD75MH2 QD75MH4 Range of setting <Control unit is PLS> <Control unit is PLS> Target position change Cd.28 value 0 to 1000000000 [PLS/s] 0 to 50000000 [PLS/s] value (New speed) Simultaneous starting axis start Simultaneous starting axis start Cd.30 Cd.30...
  • Page 960 Appendices Changed functions (Continued) Specification Function Description QD77MS2 QD77MS4 QD77MS16 QD75MH2 QD75MH4 b0 : Axis 1 (Axis 5, Axis 9, Axis 13) Upper limit signal (FLS) b1 : Axis 1 (Axis 5, Axis 9, Axis 13) Lower limit signal (RLS) b2 : Axis 1 (Axis 5, Axis 9, Axis 13) Near-point dog signal (DOG) b3 : Axis 1 (Axis 5, Axis 9, Axis 13) STOP signal...
  • Page 961 Appendices Changed functions (Continued) Specification Function Description QD77MS2 QD77MS4 QD77MS16 QD75MH2 QD75MH4 <Speed-position switching control> 0: Not switch from speed control to position control 1: Switch from speed control to position control Speed-position Cd.46 New control data No control data <Position-speed switching control>...
  • Page 962 Appendices Changed functions (Continued) Specification Function Description QD77MS2 QD77MS4 QD77MS16 QD75MH2 QD75MH4 01: **=P1 01: **=P1 01: **=P1 01: **=P1 01: **=P1 ≠ ≠ ≠ ≠ ≠ 02: ** 02: ** 02: ** 02: ** 02: ** ≤ ≤ ≤ ≤...
  • Page 963 Appendices Changed functions (Continued) Specification Function Description QD77MS2 QD77MS4 QD77MS16 QD75MH2 QD75MH4 2: 2 axes Number of Da.23 New positioning No positioning data 3: 3 axes No positioning data simultaneously starting data 4: 4 axes axes 0: Axis 1 selected 1: Axis 2 selected 2: Axis 3...

  • Page 964: Appendix 4.2 Differences With Ld77Mh Models

    Appendices Appendix 4.2 Differences with LD77MH models (1) Differences of performance specifications Model QD77MS2 QD77MS4 QD77MS16 LD77MH4 LD77MH16 Item Number of control axes Operation cycle [ms] 0.88 0.88/1.77 0.88 0.88/1.77 Trapezoidal acceleration/ Starting time deceleration 0.88ms 1.77ms 0.88ms 1.77ms (1-axis linear) S-curve acceleration/ deceleration...
  • Page 965 Appendices (b) Changed functions Specification Function Description QD77MS2 QD77MS4 QD77MS16 LD77MH4 LD77MH16 Range of setting <Setting unit is PLS> <Setting unit is PLS> Bias speed at start Pr.7 value 0 to 1000000000 [PLS/s] 0 to 50000000 [PLS/s] Range of setting <Control unit is PLS>...
  • Page 966 Appendices Changed functions (Continued) Specification Function Description QD77MS2 QD77MS4 QD77MS16 LD77MH4 LD77MH16 0 : No setting 1 : Effective load ratio Optional data monitor: Pr.91 2 : Regenerative load ratio Data type setting 1 3 : Peak load ratio 4 : Load to motor inertia ratio 5 : Position loop gain 1 6 : Bus voltage 0 : No setting...
  • Page 967 Appendices Changed functions (Continued) Specification Function Description QD77MS2 QD77MS4 QD77MS16 LD77MH4 LD77MH16 <SSCNET /H> <SSCNET > 1 to 64 : PA01 to PA64 1 to 18 : PA01 to PA18 65 to 128 : PB01 to PB64 19 to 63 : PB01 to PB45 129 to 192 : PC01 to PC64 64 to 95...

  • Page 968: Appendix 5 When Using Gx Works2

    Appendices Appendix 5 When using GX Works2 Use the "Simple Motion Module Setting Tool" for QD77MS various setting. The following shows the procedure for positioning operation when GX Works2 is used. For details on the operation method of GX Works2, refer to the "GX Works2 START Version1 Operating Manual (Common)"...

  • Page 969: Appendix 6 External Dimension Drawing

    Appendices Appendix 6 External dimension drawing [1] QD77MS2 [Unit: mm(inch)] QD77MS2 ERR. QD77MS2 23(0.91) 90(3.54) 27.4(1.08) [2] QD77MS4 [Unit: mm(inch)] QD77MS4 ERR. QD77MS4 23(0.91) 90(3.54) 27.4(1.08) Appendix - 60...
  • Page 970 Appendices [3] QD77MS16 [Unit: mm(inch)] QD77MS16 ERR. QD77MS16 23(0.91) 90(3.54) 27.4(1.08) Appendix - 61...
  • Page 971 Appendices MEMO Appendix - 62...
  • Page 972 6. Failure caused by reasons unpredictable by scientific technology standards at time of shipment from Mitsubishi. 7. Any other failure found to not be the responsibility of Mitsubishi or that admitted not to be so by the user. 2. Onerous repair term after discontinuation of production (1) Mitsubishi shall accept onerous product repairs for seven (7) years after production of the product is discontinued.
  • Page 973 Microsoft, Windows, Windows NT, and Windows Vista are registered trademarks of Microsoft Corporation in the United States and other countries. Pentium is a trademark of Intel Corporation in the United States and other countries. Ethernet is a trademark of Xerox Corporation. All other company names and product names used in this manual are trademarks or registered trademarks of their respective companies.
  • Page 976 Phone: +380 (0)44 / 490 92 29 Fax: +380 (0)44 / 248 88 68 Mitsubishi Electric Europe B.V. /// FA - European Business Group /// Gothaer Straße 8 /// D-40880 Ratingen /// Germany Tel.: +49(0)2102-4860 /// Fax: +49(0)2102-4861120 /// info@mitsubishi-automation.com /// www.mitsubishi-automation.com...

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