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1 PRODUCT OUTLINE
CHAPTER 1 PRODUCT OUTLINE
This User's Manual provides the specifications, handling, programming methods and
other information of the QD70D positioning module used with the MELSEC-Q series
CPU module.
When diverting any of the program examples introduced in this manual to the actual
system, fully verify that there are no problems in the controllability of the target system.
1.1 Positioning control
1.1.1 Features of QD70D
The following are the features of the QD70D.
(1) Wide assortment of 4-axes and 8-axes modules
(2) About positioning control functions
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The QD70D is a positioning module used in a multi-axes system that does not
need complex control.
It is not compatible with the MELSEC-A series AD70 positioning module in I/O
signals, functions, etc.
(a) The QD70D has a number of functions required for a positioning control
system, such as positioning control to any position and equal-speed control.
1) You can set up to 10 pieces of positioning data, which include
positioning address, control method, operation pattern and like, per axis.
These positioning data are used to exercise positioning control axis-by-
axis.
2) Axis-by-axis positioning control allows linear control (up to 8 axes can be
controlled simultaneously).
This control can perform positioning termination with one piece of
positioning data or exercise continuous positioning control by continuous
execution of multiple pieces of positioning data.
(b) As the control method, any of position control, speed-position switching
control and current value changing may be specified in each positioning
data.
(c) The target position change function or the speed change function allows the
position or speed change during positioning control.
(d) The OPR (Original Point Return: Zero return) control has been enhanced.
1)
The following six different OPR methods are available for "machine
OPRcontrol": near-point dog method (one method), stopper (three
methods) and count (two methods).
2)
The OPR retry function has been provided to realize the return from
any given point to a mechanical origin.
(e) Two kinds of the acceleration/deceleration methods have been offered: The
trapezoidal and S-curve acceleration/deceleration
gradually and smoothly, this module is suitable for motor control.
*
When "Continuous positioning control" or "Continuous path control" is
selected for the operation pattern, S-curve acceleration/deceleration is not
available.
(f)
You can change the I/O signal logic according to the specifications of the
external device.
This allows the input signals to be used with either of "normally open" and
"normally closed" contacts, and the output signals to be used according to
the specifications of the drive unit.
MELSEC-Q
*
. As the speed changes
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