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Mitsubishi Electric MELSEC-Q QD75M User Manual

Positioning module.
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MELSEC-Q
QD75M Positioning Module
User's Manual (Details)
-QD75M1
-QD75M2
-QD75M4

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   Summary of Contents for Mitsubishi Electric MELSEC-Q QD75M

  • Page 1

    MELSEC-Q QD75M Positioning Module User's Manual (Details) -QD75M1 -QD75M2 -QD75M4...

  • Page 2: Safety Instructions

    SAFETY INSTRUCTIONS (Always read these instructions before using this equipment.) Before using this product, please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly. The instructions given in this manual are concerned with this product. For the safety instructions of the programmable logic controller system, please read the CPU module User's Manual.

  • Page 3

    [Design Instructions] CAUTION Do not bundle or adjacently lay the control wire or communication cable with the main circuit or power wire. Separate these by 100mm (3.94in.) or more. Failure to observe this could lead to malfunctioning caused by noise. [Mounting Instructions] CAUTION Use the PLC within the general specifications environment given in this manual.

  • Page 4

    [Startup/Maintenance Instructions] CAUTION Completely turn off the externally supplied power used in the system before clearing or tightening the screws. Not doing so may cause electric shocks. Never disassemble or modify the module. Failure to observe this could lead to trouble, malfunctioning, injuries or fires. Completely turn off the externally supplied power used in the system before installing or removing the module.

  • Page 5: 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 6: Table Of Contents

    INTRODUCTION Thank you for purchasing the Mitsubishi general-purpose programmable logic controller MELSEC-Q Series. Always read through this manual, and fully comprehend the functions and performance of the Q Series PLC before starting use to ensure correct usage of this product. CONTENTS SAFETY INSTRUCTIONS..........................A- 1 REVISIONS ..............................A- 4...

  • Page 7

    3.2.3 QD75 sub functions and common functions ..................3- 8 3.2.4 Combination of QD75 main functions and sub functions..............3- 12 3.3 Specifications of input/output signals with PLC CPU ................3- 14 3.3.1 List of input/output signals with PLC CPU..................3- 14 3.3.2 Details of input signals (QD75 PLC CPU) ..................

  • Page 8

    5.2.7 Servo basic parameters ........................5- 58 5.2.8 Servo adjustment parameters......................5- 64 5.2.9 Servo expansion parameters......................5- 74 5.2.10 Servo expansion parameters 2...................... 5- 78 5.3 List of positioning data ..........................5- 82 5.4 List of block start data ..........................5- 98 5.5 List of condition data ..........................

  • Page 9

    Section 2 Control Details and Setting 8. OPR Control 8- 1 to 8- 14 8.1 Outline of OPR control ..........................8- 2 8.1.1 Two types of OPR control ......................... 8- 2 8.2 Machine OPR ............................8- 4 8.2.1 Outline of the machine OPR operation..................... 8- 4 8.2.2 Machine OPR method........................

  • Page 10

    9.2.21 JUMP instruction ........................... 9-112 9.2.22 LOOP............................. 9-114 9.2.23 LEND ............................. 9-115 10. High-Level Positioning Control 10- 1 to 10- 26 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 11

    12. Control Sub Functions 12- 1 to 12- 98 12.1 Outline of sub functions ........................12- 2 12.1.1 Outline of sub functions ........................ 12- 2 12.2 Sub functions specifically for machine OPR ..................12- 4 12.2.1 OPR retry function......................... 12- 4 12.2.2 OP shift function ...........................

  • Page 12

    14. Dedicated Instructions 14- 1 to 14- 18 14.1 List of dedicated instructions ....................... 14- 2 14.2 Interlock during dedicated instruction is executed ................14- 2 14.3 PSTRT1, PSTRT2, PSTRT3, PSTRT4....................14- 3 14.4 TEACH1, TEACH2, TEACH 3, TEACH 4 ................... 14- 7 14.5 PFWRT..............................

  • Page 13

    Appendix 6 Positioning control troubleshooting ................Appendix- 57 Appendix 7 List of buffer memory addresses..................Appendix- 63 Appendix 8 External dimension drawing ..................Appendix- 75 INDEX Index- 1 to Index - 10 INDEX..............................Index - 1 A - 12...

  • Page 14: About Manuals

    About Manuals The following manuals are also related to this product. In necessary, order them by quoting the details in the tables below. Related Manuals Manual Number Manual Name (Model Code) Type QD75M Positioning Module User's Manual (Hardware) Describes the performance, specifications, Input interface, component names, and startup procedure of IB-0300031 the respective positioning modules: Type QD75M (1XB750)

  • Page 15: Generic Terms And Abbreviations

    Generic Terms and Abbreviations Unless specially noted, the following generic terms and abbreviations are used in this manual. Generic term/abbreviation Details of generic term/abbreviation PLC CPU Generic term for PLC CPU on which QD75 can be mounted. QD75 Generic term for positioning module QD75M1, QD75M2 and QD75M4. The module type is described to indicate a specific module.

  • Page 16: 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 QD75 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 PLC program required for positioning control (5) To understand the memory configuration and data transmission process...

  • Page 17

    MEMO...

  • Page 18

    Chapter 1 Product Outline The purpose and outline of positioning control using QD75 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 19: Product Outline 1- 1 To

    1 PRODUCT OUTLINE MELSEC-Q 1.1 Positioning control 1.1.1 Features of QD75 The features of the QD75 are shown below. (1) Availability of one, two, and four axis modules (a) One, two and four axis positioning modules are available. They can be selected according to the PLC CPU type and the number of required control axes.

  • Page 20

    1 PRODUCT OUTLINE MELSEC-Q (c) Continuous positioning control using multiple positioning data can be executed in accordance with the operation patterns the user assigned to the positioning data. (Refer to Section 5.3 and 9.1.2.) Continuous positioning control can be executed over multiple blocks, where each block consists of multiple positioning data.

  • Page 21

    1 PRODUCT OUTLINE MELSEC-Q (6) Control can be realized with the mechanical system input The external inputs, such as external start, stop, and speed/position switching is used to perform the positioning control without using the PLC program. (7) Easy maintenance Each QD75 positioning module incorporates the following improvements in maintainability: (a) Data such as the positioning data and parameters can be stored on a flash...

  • Page 22: Purpose And Applications Of Positioning Control

    1 PRODUCT OUTLINE MELSEC-Q 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 23

    1 PRODUCT OUTLINE MELSEC-Q Lifter (Storage of Braun tubes onto aging rack) • During the aging process of Braun tubes, Unloader storage onto the rack is carried out by Loader/unloader positioning with the AC servo. • The up/down positioning of the lifter is carried B conveyor Aging rack out with the 1-axis servo, and the horizontal...

  • Page 24: Mechanism Of Positioning Control

    1 PRODUCT OUTLINE MELSEC-Q 1.1.3 Mechanism of positioning control In the positioning system using the QD75, various software and devices are used for the following roles. The QD75 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 25: Overview Of Positioning Control Functions

    1 PRODUCT OUTLINE MELSEC-Q 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 26

    1 PRODUCT OUTLINE MELSEC-Q (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 27

    1 PRODUCT OUTLINE MELSEC-Q (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 28

    1 PRODUCT OUTLINE MELSEC-Q (3) Fixed-feed control This performs positioning for the specified increment of travel. The fixed-feed control includes 1-axis control and 2-axis control through linear interpolation using the specified two axes. Positioning direction Operation timing [1-axis fixed-feed control] Stop position Reverse direction Forward direction...

  • Page 29

    1 PRODUCT OUTLINE MELSEC-Q (5) Speed-position switching control This starts positioning under speed control, and switches to position control according to the input of the QD75 speed-position switching signal and perform positioning for the specified increment of travel. Specified travel Speed control Position control increment...

  • Page 30

    1 PRODUCT OUTLINE MELSEC-Q ndividual positioning control and continuous positioning control The QD75 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 31

    1 PRODUCT OUTLINE MELSEC-Q (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 32

    1 PRODUCT OUTLINE MELSEC-Q (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 33

    1 PRODUCT OUTLINE MELSEC-Q lock 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 34

    1 PRODUCT OUTLINE MELSEC-Q 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 automatic trapezoidal acceleration/deceleration processing method and S-pattern acceleration/deceleration processing method.

  • Page 35: Outline Design Of Positioning System

    1 PRODUCT OUTLINE MELSEC-Q 1.1.5 Outline design of positioning system The outline of the positioning system operation and design, using the QD75, is shown below. (1) Positioning system using QD75 Servo QD75 MR-H-BN/MR-H B/MR-J2- B/MR-J2S- B/MR-J2-Jr/MR-J2M-B motor Positioning command Positioning Current Speed Inverter...

  • Page 36: Communicating Signals Between Qd75 And Each Module

    1 PRODUCT OUTLINE MELSEC-Q 1.1.6 Communicating signals between QD75 and each module The outline of the signal communication between the QD75 (positioning module) and PLC CPU, peripheral device and servo amplifier, etc., is shown below. (A peripheral device communicates with the QD75 via the PLC CPU to which it is connected) QD75 PLC CPU...

  • Page 37

    1 PRODUCT OUTLINE MELSEC-Q QD75 PLC CPU The QD75 and PLC CPU communicate the following data via the base unit. Direction QD75 PLC CPU PLC CPU QD75 Communication Signal indicating QD75 state Signal related to commands • QD75 READY signal •...

  • Page 38

    1 PRODUCT OUTLINE MELSEC-Q QD75 Manual pulse generator The QD75 and manual pulse generator communicate the following data via the external device connection connector. (The manual pulse generator should be connected to an external device connection connector for axis 1 or for axes 1 and 2.) Direction QD75 Manual pulse generator...

  • Page 39: Flow Of System Operation

    1 PRODUCT OUTLINE MELSEC-Q 1.2 Flow of system operation 1.2.1 Flow of all processes The positioning control processes, using the QD75, are shown below. GX Configurator-QP QD75 Servo, etc. PLC CPU GX Developer Understand the functions and performance, and determine the positioning operation method Design (system design) Installation, wiring...

  • Page 40

    1 PRODUCT OUTLINE MELSEC-Q The following work is carried out with the processes shown on the previous page. Details Reference • Chapter 1 • Understand the product functions and usage methods, the configuration devices Chapter 2 • and specifications required for positioning control, and design the system. Chapter 3 •...

  • Page 41: Outline Of Starting

    1 PRODUCT OUTLINE MELSEC-Q 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 42

    1 PRODUCT OUTLINE MELSEC-Q Setting method : Indicates the PLC program that must be created. <GX Configurator-QP> Write Set with GX Configurator-QP Set the parameter and data for executing main function, and the sub functions that need to be set beforehand. QD75 <GX Developer>...

  • Page 43: Outline Of Stopping

    1 PRODUCT OUTLINE MELSEC-Q 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 QD75.

  • Page 44: Outline For Restarting

    1 PRODUCT OUTLINE MELSEC-Q Reference Provide the emergency stop circuits external to the servo system to prevent cases where danger may result from abnormal operation of the overall in the event of a power supply fault or servo system failure. 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...

  • Page 45

    1 PRODUCT OUTLINE MELSEC-Q [Example for incremental system] (a) The positioning start operation when the axis 1 movement amount is 300 and the axis 2 movement amount is 600 is shown below. Axis 1 Axis 1 Stop position due to stop cause Stop position Stop position due to stop cause after restart...

  • Page 46

    Chapter 2 System Configuration In this chapter, the general image of the system configuration of the positioning control using QD75, 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- 4 2.3 Applicable system......................2- 6...

  • Page 47: General Image Of System

    2 SYSTEM CONFIGURATION MELSEC-Q 2.1 General image of system The general image of the system, including the QD75, PLC CPU and peripheral devices is shown below. (The Nos. in the illustration refer to the "No." in Section 2.2 "Component list". Main base unit Extension cable...

  • Page 48

    2 SYSTEM CONFIGURATION MELSEC-Q Servo Motor amplifer Manual pulse generator SSCNET cable Machine system inputs (switches) Cable Upper/lower stroke limit switch External-command signal/switching signal Stop signal Near-point dog signal Peripheral device GX Configurator Personal computer -QD75P-E (For details, refer to GX Configurator -QP Operating Manual.) 2 - 3...

  • Page 49: Component List

    Servo amplifier – (Prepared by user) (Prepared by user) Manual pulse – generator Recommended: MR-HDP01 (Mitsubishi Electric) SSCNET cable (For connecting (Prepared by user) between the QD75 – Cables are needed to connect the QD75 with the servo amplifier. and the servo...

  • Page 50

    2 SYSTEM CONFIGURATION MELSEC-Q Part name Type Remarks • Connection between QD75M and (MR-J2-B/MR-J2S-B/MR-J2- Jr/MR-J2M-B) • Connection between (MR-J2-B/MR-J2S-B/MR-J2-Jr/MR-J2M-B) and MR-J2HBUS M (MR-J2-B/MR-J2S-B/MR-J2-Jr/MR-J2M-B). (0.5m(1.64ft.), 1m(3.28ft.), 5m(16.4ft.) ) • MR-J2CN1: connector set (sold separately) • Connection between QD75M /MR-J2-B/MR-J2S-B/MR-J2-Jr/MR- SSCNET cable J2M-B and MR-H-BN/MR-H-BN4.

  • Page 51: Applicable System

    2 SYSTEM CONFIGURATION MELSEC-Q 2.3 Applicable system The QD75 can be used in the following system. (1) Applicable modules and the number of installable modules The following table indicates the CPU modules and network modules (for remote I/O station) usable with the QD75 and the number of installable modules. Applicable modules Number of installable modules Remarks...

  • Page 52

    2 SYSTEM CONFIGURATION MELSEC-Q (4) Supported software packages The following table lists the compatibility between the systems using the QD75 and the software packages. GX Developer is required for use of the QD75. Software version GX Developer GX Configurator-QP Single PLC Version 7 or more system Q00J/Q00/Q01CPU...

  • Page 53: How To Check The Function Version And Serial No

    2 SYSTEM CONFIGURATION MELSEC-Q 2.4 How to check the function version and SERIAL No. The function version and the SERIAL No. of the QD75 can be checked in the following methods. [1] Method using the rated plate on the module side face [2] Method using the software [1] Method using the rated plate on the module side face Check the alphabet of "SERIAL".

  • Page 54

    Chapter 3 Specifications and Functions The various specifications of the QD75 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 55: Performance Specifications

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.1 Performance specifications Model QD75M1 QD75M2 QD75M4 Item No. of control axes 1 axis 2 axes 4 axes 2-, 3-, or 4-axis linear 2-axis linear interpolation Interpolation function None interpolation 2-axis circular interpolation 2-axis circular interpolation PTP (Point To Point) control, path control (both linear and arc can be set), speed control, speed- Control system position switching control, position-speed switching control...

  • Page 56

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q Model QD75M1 QD75M2 QD75M4 Item 1-axis linear control Factors in starting time extension The following times will be added to 1-axis speed control the starting time in the described 2-axis linear interpolation control (Composite speed) conditions: 2-axis linear interpolation control (Reference axis speed) •...

  • Page 57: List Of Functions

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.2 List of functions 3.2.1 QD75 control functions The QD75 has several functions. In this manual, the QD75 functions are categorized and explained as follows. Main functions (1) OPR control "OPR control" is a function that established the start point for carrying out positioning control, and carries out positioning toward that start point.

  • Page 58

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q Main functions Sub functions OPR control Control registered in QD75 (Functions characteristic to machine OPR) [Positioning start No.] retry function [9001] Machine OPR OP shift function [9002] Fast OPR <Functions that compensate control> Backlash compensation function Electronic gear function Major positioning control Control using "Positioning data"...

  • Page 59: Qd75 Main Functions

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.2.2 QD75 main functions The outline of the main functions for positioning control with the QD75 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 or stopper.

  • Page 60

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q Reference Main functions Details section With one start, executes the positioning data in a random block Block start (Normal start) 10.3.2 with the set order. Carries out condition judgment set in the "condition data" for the designated positioning data, and then executes the "block start data".

  • Page 61: Qd75 Sub Functions And Common Functions

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.2.3 QD75 sub functions and common functions Sub functions The functions that assist positioning control using the QD75 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 62

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q Reference Sub function Details section This function temporarily stops the operation to confirm the positioning operation during debugging, etc. Step function 12.7.1 The operation can be stopped at each "automatic deceleration" or "positioning data". This function stops (decelerates to a stop) the positioning being Skip function executed when the skip signal is input, and carries out the next 12.7.2...

  • Page 63

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 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 QD75 buffer memory and flash ROM to the default values.

  • Page 64

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q MEMO 3 - 11...

  • Page 65: Combination Of Qd75 Main Functions And Sub Functions

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.2.4 Combination of QD75 main functions and sub functions With positioning control using the QD75, 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 66

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q Functions that Functions that limit Functions that change compensate Other functions control control details control REMARK • The "common functions" are functions executed as necessary. (These are not combined with the control.) • "High-level positioning control" is a control used in combination with the "major positioning control".

  • Page 67: Specifications Of Input/output Signals With Plc Cpu

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.3 Specifications of input/output signals with PLC CPU 3.3.1 List of input/output signals with PLC CPU The QD75 uses 32 input points and 32 output points for exchanging data with the PLC CPU. The input/output signals when the QD75 is mounted in slot No. 0 of the main base unit are shown below.

  • Page 68: Details Of Input Signals (qd75 Plc Cpu)

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.3.2 Details of input signals (QD75 PLC CPU) The ON/OFF timing and conditions of the input signals are shown below. Device Signal name Details QD75 READY ON: READY • When the PLC READY signal [Y0] turns from OFF to ON, the parameter setting OFF: Not READY/ range is checked.

  • Page 69

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q Important 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 PLC program.

  • Page 70

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.3.3 Detail of output signals (PLC CPU QD75) The ON/OFF timing and conditions of the output signals are shown below. Device No. Signal name Details PLC READY OFF: (a) This signal notifies the QD75 that the PLC CPU is normal. PLC READY OFF •...

  • Page 71: Specifications Of Interfaces With External Devices

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.4 Specifications of interfaces with external devices 3.4.1 Electrical specifications of input signals Input specifications Rated input Working Input Response Signal name voltage/current voltage range voltage/current voltage/current resistance time Stop signal (STOP) Upper limit signal 19.2 to 17.5VDC or more/ 7VDC or less/...

  • Page 72: Signal Layout For External Device Connection Connector

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.4.2 Signal layout for external device connection connector The specifications of the connector section, which is the input/output interface for the QD75 and external device, are shown below. The signal layout for the QD75 external device connection connector is shown. QD75M1 QD75M2 QD75M4...

  • Page 73: List Of Input Signal Details

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.4.3 List of input signal details The details of each QD75 external device connection connector are shown below: Pin No. Signal details Signal name (Negative logic is selected by external input signal logic selection) AX1 AX2 AX3 AX4 •...

  • Page 74: Interface Internal Circuit

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.4.4 Interface internal circuit The outline diagrams of the internal circuits for the QD75M1 external device connection interface are shown below. (1) Input Need for wiring External wiring Pin No. Internal circuit Signal name When upper-limit Upper-limit LS signal switch is not used When lower-limit...

  • Page 75: External Circuit Design

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.5 External circuit design The outline diagrams of the internal circuits for the QD75M1 external device connection interface are shown below. (1) Example when using the MR-J2-B/MR-J2S-B Operation ready Alarm Forced stop Servo amplifer Servomotor MR-J2-B/ 3-phase MR-J2S-B...

  • Page 76

    Chapter 4 Installation, Wiring and Maintenance of the Product The installation, wiring and maintenance of the QD75 are explained in this chapter. Important information such as precautions to prevent malfunctioning of the QD75, accidents and injuries as well as the proper work methods are described. Read this chapter thoroughly before starting installation, wiring or maintenance, and always following the precautions.

  • Page 77: Outline Of Installation, Wiring And Maintenance

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q 4.1 Outline of installation, wiring and maintenance 4.1.1 Installation, wiring and maintenance procedures The outline and procedures for QD75 installation, wiring and maintenance are shown below. STEP 1 Understand the "Handling precautions" and "Names of each part"...

  • Page 78: Names Of Each Part

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q 4.1.2 Names of each part (1) The part names of the QD75 are shown below: For QD75M4 (1) RUN indicator LED, ERR indicator LED QD75M4 (2) Axis display LED QD75M4 (3) External device connector (40-pin connector) AX1: Axis 1 AX2: Axis 2...

  • Page 79

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q (2) The LED display indicates the following operation statuses of the QD75 and axes. QD75M4 QD75M4 Display Attention point Description Display Attention point Description Hardware failure, AX1 (or other corresponding RUN is OFF. watch dog timer axis) illuminates.

  • Page 80: Handling Precautions

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q 4.1.3 Handling precautions Handle the QD75 and cable while observing the following precautions. [1] Handling precautions CAUTION Use the PLC within the general specifications environment given in this manual. Using the PLC outside the general specification range environment could lead to electric shocks, fires, malfunctioning, product damage or deterioration.

  • Page 81

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q [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 QD75 PCB from the case. Failure to observe this could lead to faults.

  • Page 82: Installation

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q 4.2 Installation 4.2.1 Precautions for installation The precautions for installing the QD75 are given below. Refer to this section as well as "4.1.3 Handling precautions" when carrying out the work. [1] Precautions for SSCNET cable wiring If the duct is below the bottom of the module, leave sufficient clearance to eliminate effects on the SSCNET cable, limit the space height to 70 mm (2.76 inch) MIN.

  • Page 83: Precautions For Installation

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q [2] Precautions for installation DANGER Completely turn off the externally supplied power used in the system before clearing or tightening the screws. Not doing so may cause electric shocks. CAUTION Never disassemble or modify the module. Failure to observe this could lead to trouble, malfunctioning, injuries or fires.

  • Page 84: Wiring

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q 4.3 Wiring The precautions for wiring the QD75 are given below. Refer to this section as well as "4.1.3 Handling precautions" when carrying out the work. 4.3.1 Precautions for wiring DANGER Switch all phases of the external power supply off when installing or placing wiring.

  • Page 85: Precautions For Wiring

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q [1] Precautions for wiring (1) Use separate cables for connecting to the QD75 and for the power cable that create surge and inductance. (2) The shielded cable for connecting QD75 can be secured in place. If the shielded cable is not secured, unevenness or movement of the shielded cable or careless pulling on it could result in damage to the QD75 or drive unit or shielded cable or defective cable connections could cause...

  • Page 86

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q [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 insulaing tape.

  • Page 87

    (5) To make this product conform to the EMC directive and low voltage instruction, 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/ the SSCNET cable.

  • Page 88

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q [Wiring examples using duct (incorrect example and corrected example)] Wiring duct Relay Relay Servo Servo Relay amplifier amplifier Control panel The servo amplifiers are placed Noise source near the noise source. (Power system, The connection cable between etc.)

  • Page 89: Confirming The Installation And Wiring

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q 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 QD75 installation and wiring. • Is the module correctly wired? ... "Connection confirmation" With "connection confirmation", the following three points are confirmed using GX Configurator-QP's connection confirmation function.

  • Page 90: Maintenance

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q 4.5 Maintenance 4.5.1 Precautions for maintenance The precautions for servicing the QD75 are given below. Refer to this section as well as "4.1.3 Handling precautions" when carrying out the work. DANGER Completely turn off the externally supplied power used in the system before clearing or tightening screws.

  • Page 91

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q MEMO 4 - 16...

  • Page 92

    Chapter 5 Data Used for Positioning Control The parameters and data used to carry out positioning control with the QD75 are explained in this chapter. With the positioning system using the QD75, the various parameters and data explained in this chapter are used for control. The parameters and data include parameters set according to the device configuration, such as the system configuration, and parameters and data set according to each control.

  • Page 93: Types Of Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 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 QD75 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.) Positioning...

  • Page 94

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q The servo parameter is transmitted from QD75 to the servo amplifier when the initialized communication carried out after the power supply is turned ON or the PLC CPU is reset. The power supply is turned ON or the PLC CPU is reset after writing servo parameter in flash ROM of QD75 if the servo parameter is transmitted to the servo amplifier.

  • Page 95

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Control data (Data for user to control positioning system.) Cd.1 Cd.42 Cd.100 Cd.102 System control data Writes/initializes the "setting data" in the module. Cd.1 Cd.2 Cd.41 Cd.42 Makes settings related to the operation, and controls the speed change during Axis control data operation, and stops/restarts the operation.

  • Page 96: Setting Items For Positioning Parameters

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 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 QD75. For details of controls, refer to Section 2.

  • Page 97

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Control Major positioning control Manual control Position control Other control Positioning parameter Pr.25 Acceleration time 1 – – – Pr.26 Acceleration time 2 – – – Pr.27 Acceleration time 3 – – – 12.7.7 Deceleration time 1 –...

  • Page 98: Setting Items For Opr Parameters

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 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 99: Setting Items For Servo Parameters

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.1.4 Setting items for servo parameters The servo parameters are used to control the servomotor and the data that is determined by the specification of the servo being used. The table below lists items set to the servo parameters. Servo amplifier MR-H-BN MR-H-BN4 MR-J2-B...

  • Page 100

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Servo amplifier MR-H-BN MR-H-BN4 MR-J2-B MR-J2S-B MR-J2-Jr MR-J2M-B Remark Servo parameters Pr.127 Monitor output 1 offset – Pr.128 Monitor output 2 offset – Pr.129 Pre-alarm data selection – – – – Pr.130 Zero speed Pr.131 Error excessive alarm level Pr.132 Optional function 5 Pr.133 Optional function 6...

  • Page 101: Setting Items For Positioning Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.1.5 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 102

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Checking the positioning data Da.1 Da.10 The items are checked at the following timings: (1) Startup of a positioning operation (2) Error check performed by GX Configurator-QP 5 - 11...

  • Page 103: Setting Items For Block Start Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.1.6 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 104: Setting Items For Condition Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.1.7 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 105: Types And Roles Of Monitor Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.1.8 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 106

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [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 107

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Monitoring the state Monitor details Corresponding item Md.26 Monitor the axis operation state Axis operation status Md.23 Monitor the latest error code that occurred with the axis Axis error No. Md.24 Monitor the latest warning code that occurred with the axis Axis warning No.

  • Page 108

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q MEMO 5 - 17...

  • Page 109: Types And Roles Of Control Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.1.9 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 PLC program.) Controls are performed over system data or machine operation.

  • Page 110

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [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 111

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Making settings related to operation Control details Corresponding item Cd.7 Turn M code ON signal OFF. M code OFF request Cd.9 Set new value when changing current value. New current value Cd.24 Validate speed-position switching signal from external source. Speed-position switching enable flag Change movement amount for position control during speed- Speed-position switching control...

  • Page 112

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q MEMO 5 - 21...

  • Page 113: List Of Parameters

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.2 List of parameters 5.2.1 Basic parameters 1 Setting value buffer memory Default Setting value, setting range Item address value Value set with peripheral device Value set with PLC program Axis 1 Axis 2 Axis 3 Axis 4 0 : mm 1 : inch Pr.1...

  • Page 114

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.2 to Pr.4 Electronic gear Mechanical system value used when the QD75 performs positioning control. Pr.2 The settings are made using Pr.4 The electronic gear is expressed by the following equation. No. of pulses per rotation (AP) Electronic gear = Movement amount per rotation (AL) Unit magnification (AM)

  • Page 115

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q However, the maximum value that can be set for this "movement amount per rotation (AL)" parameter is 20000000.0 µ m (20m). Set the "movement amount per rotation (AL)" as shown below so that the "movement amount per rotation (AL)" does not exceed this maximum value.

  • Page 116

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q MEMO 5 - 25...

  • Page 117: Basic Parameters 2

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.2.2 Basic parameters 2 Setting value buffer memory Default Setting value, setting range Item address value Value set with peripheral device Value set with PLC program Axis 1 Axis 2 Axis 3 Axis 4 The setting range differs depending on the "...

  • Page 118

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [Table 1] Pr.1 setting value Value set with peripheral device (unit) Value set with PLC program (unit) 1 to 2000000000 (×10 mm/min) 0 : mm 0.01 to 20000000.00 (mm/min) 1 : inch 0.001 to 2000000.000 (inch/min) 1 to 2000000000 (×10 inch/min) 1 to 2000000000 (×10...

  • Page 119: Detailed Parameters 1

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.2.3 Detailed parameters 1 Setting value buffer memory Setting value, setting range address Item Default value Value set with PLC Value set with peripheral device Axis 1 Axis 2 Axis 3 Axis 4 program Pr.1 The setting value range differs according to the "...

  • Page 120

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.11 Backlash compensation amount) Pr.2 No. of pulses per rotation) 0 ≤ ( = A) ≤ 65535 (PLS) ….(1) Pr.3 Movement amount per pulse) Pr.2 An error (error code: 920) occurs when " No.

  • Page 121

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 1) Generally, the OP is set at the lower limit or upper limit of the stroke limit. 2) By setting the upper limit value or lower limit value of the software stroke limit, overrun can be prevented in the software.

  • Page 122

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.17 Torque limit setting value Set the maximum value of the torque generated by the servomotor as a percentage between 1 and 500%. The torque limit function limits the torque generated by the servomotor within the set range.

  • Page 123

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value buffer memory Default Setting value, setting range Item address value Value set with peripheral device Value set with PLC program Axis 1 Axis 2 Axis 3 Axis 4 0 : Standard speed switching mode Pr.19 1 : Front-loading speed switching Speed switching mode...

  • Page 124

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 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 125

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 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 126

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.24 Manual pulse generator input selection Set the manual pulse generator input pulse mode. (Only the value specified against the axis 1 is valid.) 0: A-phase/B-phase; multiplied by 4 1: A-phase/B-phase; multiplied by 2 2: A-phase/B-phase;...

  • Page 127: Detailed Parameters 2

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.2.4 Detailed parameters 2 Setting value buffer memory Setting value, setting range Default address Item value Value set with PLC Value set with peripheral device Axis 1 Axis 2 Axis 3 Axis 4 program Pr.25 Acceleration time 1...

  • Page 128

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [Table 1] Value set with peripheral device Pr.1 setting value Value set with PLC program (unit) (unit) 1 to 2000000000 ( × 10 0 : mm 0.01 to 20000000.00 (mm/min) mm/min) 1 to 2000000000 ( × 10 1 : inch 0.001 to 2000000.000 (inch/min) inch/min)

  • Page 129

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value buffer memory Default Setting value, setting range Item address value Value set with peripheral device Value set with PLC program Axis 1 Axis 2 Axis 3 Axis 4 0 : Automatic trapezoid Pr.34 acceleration/deceleration process Acceleration/deceleration...

  • Page 130

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.35 S-pattern ratio Set the S-pattern ratio (1 to 100%) for carrying out the S-pattern acceleration/deceleration process. The S-pattern ratio indicates where to draw the acceleration/deceleration curve using the Sin curve as shown below. (Example) Positioning speed...

  • Page 131

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.36 Sudden stop deceleration time Pr.8 Set the time to reach speed 0 from " Speed limit value" during the sudden stop. The illustration below shows the relationships with other parameters. 1) Positioning start 2) Sudden stop cause occurrence 3) Positioning stop When positioning is started,...

  • Page 132

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.37 Stop group 1 sudden stop selection Pr.39 Stop group 3 sudden stop selection Set the method to stop when the stop causes in the following stop groups occur. • Stop group 1 ....Stop with hardware stroke limit •...

  • Page 133

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value buffer memory Default Setting value, setting range Item address value Value set with peripheral device Value set with PLC program Axis 1 Axis 2 Axis 3 Axis 4 0 to 65535 (ms) 0 to 32767 : Pr.40 Set as a decimal...

  • Page 134

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [Table 1] Value set with peripheral device Value set with PLC program Pr.1 setting value (unit) (unit) 0 to 100000 ( × 10 µ m) 0 to 10000.0 ( µ m) 0 : mm 0 to 100000 ( ×...

  • Page 135

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 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 136

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 2) When the difference between the last command position of the QD75 at the time the servo stop signal turned ON and the present value at the time the servo stop signal turned OFF is greater than the value set in the buffer memory for the restart allowable range setting, the positioning operation is judged as on-standby and cannot be restarted.

  • Page 137

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q (3) Precautionary notes (a) The difference between the last command position when the servo turned OFF and the present value when the servo turned ON, is output at the first operation of restart. If the restart allowable range is large at this time, an overload may occur on the servo side.

  • Page 138

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q MEMO 5 - 47...

  • Page 139: Opr Basic Parameters

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.2.5 OPR basic parameters Setting value buffer memory Default Setting value, setting range Item address value Value set with peripheral device Value set with PLC program Axis 1 Axis 2 Axis 3 Axis 4 0 : Near-point dog method Pr.43 4 : Count method 1)

  • Page 140

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 4 : Count method 1) (1) Start machine OPR. Pr.46 (Start movement at the " OPR speed" in the Pr.50 OPR speed Pr.46 Pr.44 " OPR direction".) Setting for the movement amount after near-poing dog ON Pr.47 Creep speed (2) Detect the near-point dog ON, and start deceleration.

  • Page 141

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value buffer memory Setting value, setting range Default address Item value Value set with PLC Value set with peripheral device Axis 1 Axis 2 Axis 3 Axis 4 program 0 : Positive direction (address Pr.44 increment direction) 1 : Negative direction (address...

  • Page 142

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [Table 1] Value set with peripheral device Value set with PLC program Pr.1 setting value (unit) (unit) -2147483648 to 2147483647 ( × 10 µ m) -214748364.8 to 214748364.7 ( µ m) 0 : mm -2147483648 to 2147483647 ( ×...

  • Page 143

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value buffer memory Default Setting value, setting range Item address value Value set with peripheral device Value set with PLC program Axis 1 Axis 2 Axis 3 Axis 4 The setting value range differs depending on the " Pr.1 Unit setting".

  • Page 144

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [Table 1] Value set with peripheral device Value set with PLC program Pr.1 setting value (unit) (unit) 1 to 2000000000 ( × 10 0 : mm 0.01 to 20000000.00 (mm/min) mm/min) 1 to 2000000000 ( × 10 1 : inch 0.001 to 2000000.000 (inch/min) inch/min)

  • Page 145: Opr Detailed Parameters

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.2.6 OPR detailed parameters Setting value buffer memory Default Setting value, setting range Item address value Value set with peripheral device Value set with PLC program Axis 1 Axis 2 Axis 3 Axis 4 Pr.1 The setting value range differs depending on the "...

  • Page 146

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [Table 1] Value set with peripheral device Value set with PLC program Pr.1 setting value (unit) (unit) 0 to 2147483647 ( × 10 µ m) 0 to 214748364.7 ( µ m) 0 : mm 0 to 2147483647 ( ×...

  • Page 147

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value buffer memory Setting value, setting range Default address Item value Value set with peripheral Value set with PLC program Axis 1 Axis 2 Axis 3 Axis 4 device The setting value range differs depending on the " Pr.1 Unit setting".

  • Page 148

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [Table 1] Value set with peripheral device Value set with PLC program Pr.1 setting value (unit) (unit) -2147483648 to 2147483647 ( × 10 µ m) -214748364.8 to 214748364.7 ( µ m) 0 : mm -2147483648 to 2147483647 ( ×...

  • Page 149: Servo Basic Parameters

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.2.7 Servo basic parameters The Pr.101 correspond with "parameter No.1 of the servo amplifier". The following parameter correspond with "servo amplifier parameters No." in the same way. Item Setting details Setting value 1 0: MR-H-BN Used to select the servo amplifier series, which is 1: MR-H-BN4...

  • Page 150

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting Value, setting range Setting value buffer memory address Value set with peripheral device Default Servo amplifier setting invalid ( : Invalid, : Valid) value Value set with PLC program Axis 1 Axis 2 Axis 3 Axis 4 H-BN H-BN4 J2-B...

  • Page 151

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Item Setting details Setting value 1 00: HA-SH Standard 01: HA-LH Low inertia 02: HA-UH Flat 03: HA-FH/HA-FF 05: HA-MH 07: HC-SF Used to select the motor type. Use it "0080 : Automatic setting" usually. 08: HC-RF POINT Pr.103...

  • Page 152

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting Value, setting range Setting value buffer memory address Value set with peripheral device Default Servo amplifier setting invalid ( : Invalid, : Valid) value Value set with PLC program Axis 1 Axis 2 Axis 3 Axis 4 H-BN H-BN4 J2-B...

  • Page 153

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Item Setting details Setting value 1 0: Auto tuning selected for use of interpolation axis control, etc. in position 1: Auto tuning for ordinary operation. Pr.108 Auto tuning Used to select the auto tuning. 2: Invalid (No auto tuning) 0: Interpolation mode 1: Auto tuning mode 1...

  • Page 154

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting Value, setting range Setting value buffer memory address Value set with peripheral device Default Servo amplifier setting invalid ( : Invalid, : Valid) Value set with PLC program value Axis 1 Axis 2 Axis 3 Axis 4 H-BN H-BN4 J2-B...

  • Page 155: Servo Adjustment Parameters

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.2.8 Servo adjustment parameters Item Setting details Setting value 1 Used to set the ratio of the load inertia to the inertia moment of the servomotor. When auto tuning is selected, the result of auto tuning is automatically used.

  • Page 156

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting Value, setting range Setting value buffer memory address Value set with peripheral device Default Servo amplifier setting invalid ( : Invalid, : Valid) value Value set with PLC program Axis 1 Axis 2 Axis 3 Axis 4 H-BN H-BN4 J2-B...

  • Page 157

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Item Setting details Setting value 1 00: Not used 01: 1125[Hz] 02: 563[Hz] 03: 375[Hz] 04: 282[Hz] 05: 225[Hz] 06: 188[Hz] 07: 161[Hz] 00: Invalid 08: 141[Hz] 01: 1125[Hz] 09: 125[Hz] 02: 563[Hz] 10: 113[Hz] 03: 375[Hz] 11: 102[Hz]...

  • Page 158

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting Value, setting range Setting value buffer memory address Value set with peripheral device Default Servo amplifier setting invalid ( : Invalid, : Valid) value Value set with PLC program Axis 1 Axis 2 Axis 3 Axis 4 H-BN H-BN4 J2-B...

  • Page 159

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Item Setting details Setting value 1 Used to set the droop pulse range in which the in- position signal will be output to the servo system controller. Pr.120 In-position range 0 to 50000[PLS] POINT Only MR-J2S-B sets up "...

  • Page 160

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting Value, setting range Setting value buffer memory address Value set with peripheral device Default Servo amplifier setting invalid ( : Invalid, : Valid) value Value set with PLC program Axis 1 Axis 2 Axis 3 Axis 4 H-BN H-BN4 J2-B...

  • Page 161

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Item Setting details Setting value 1 0: Servo motor speed ( 8V/max. speed) 1: Generated torque ( 8V/max. torque) 2: Motor speed ( + 8V/max. speed) 3: Generated torque ( + 8V/max. torque) 4: Current command ( 8V/max.

  • Page 162

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting Value, setting range Setting value buffer memory address Value set with peripheral device Default Servo amplifier setting invalid ( : Invalid, : Valid) value Value set with PLC program Axis 1 Axis 2 Axis 3 Axis 4 H-BN H-BN4 J2-B...

  • Page 163

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Item Setting details Setting value 1 0: Invalid Slight vibration 1: Valid(Gain adjustment suppression control mode: Manual mode Pr.108 selection is set up "2" )) Motor-less operation 0: Invalid selection 1: Valid Pr.124 Used to set the optional function 2.

  • Page 164

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting Value, setting range Setting value buffer memory address Value set with peripheral device Default Servo amplifier setting invalid ( : Invalid, : Valid) value Value set with PLC program Axis 1 Axis 2 Axis 3 Axis 4 H-BN H-BN4 J2-B...

  • Page 165: Servo Expansion Parameters

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.2.9 Servo expansion parameters Item Setting details Setting value 1 -9999 to 9999 Monitor output 1 offset Pr.127 Used to set the offset voltage for monitor output 1. (Analog monitor 1 offset) -999 to 999 -9999 to 9999 Monitor output 2 offset Pr.128...

  • Page 166

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting Value, setting range Setting value buffer memory address Value set with peripheral device Default Servo amplifier setting invalid ( : Invalid, : Valid) value Value set with PLC program Axis 1 Axis 2 Axis 3 Axis 4 H-BN H-BN4 J2-B...

  • Page 167

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Item Setting details Setting value 1 Serial communication 0: 9600[bps] 2: 38400[bps] baud rate selection 1: 19200[bps] 3: 57600[bps] A communication baud rate selection and Serial communication 0: Invalid communication answer delay time and encoder output response delay time 1: Valid (It answer after delay selection...

  • Page 168

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting Value, setting range Setting value buffer memory address Value set with peripheral device Default Servo amplifier setting invalid ( : Invalid, : Valid) value Value set with PLC program Axis 1 Axis 2 Axis 3 Axis 4 H-BN H-BN4 J2-B...

  • Page 169: Servo Expansion Parameters 2

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.2.10 Servo expansion parameters 2 Item Setting details Setting value 1 Position gain 2 shift value 0: 1.0[times] Pr.143 Used to set each of the gain shift value which the 1: 0.75[times] Speed gain 2 shift slight vibration suppression control selected.

  • Page 170

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting Value, setting range Setting value buffer memory address Value set with peripheral device Default Servo amplifier setting invalid ( : Invalid, : Valid) value Value set with PLC program Axis 1 Axis 2 Axis 3 Axis 4 H-BN H-BN4 J2-B...

  • Page 171

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Item Setting details Setting value 1 Speed integral compensation Used to set the ratio of changing the speed integral changing ratio Pr.155 compensation when gain changing is valid. Made 50 to 1000[%] (VEL. INTGRL. COMPS. valid when auto tuning is invalid.

  • Page 172

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting Value, setting range Setting value buffer memory address Value set with peripheral device Default Servo amplifier setting invalid ( : Invalid, : Valid) Value set with PLC program value Axis 1 Axis 2 Axis 3 Axis 4 H-BN H-BN4 J2-B...

  • Page 173: List Of Positioning Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.3 List of positioning data Da.1 Da.10 Before explaining the positioning data setting items , the configuration of the positioning data will be shown below. The positioning data stored in the QD75 buffer memory has the following type of configuration.

  • Page 174

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q ˆ Ê ’ u Œ ˆ ‚ ß Ž ¯ • Ê Ž q ˆ Ê ’ u Œ ˆ ‚ ß Ž ¯ • Ê Ž q 19990 19980 Da.1@ ` @ Da.4 Da.1@ ` @ Da.4 Positioning data No.

  • Page 175

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value buffer memory Setting value Default Item address value Value set with peripheral device Value set with PLC program Axis 1 Axis 2 Axis 3 Axis 4 00: Positioning complete Da.1 Operation pattern Operation 01: Continuous positioning control pattern...

  • Page 176

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 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 177

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 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 178

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q (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 179

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q (3) Speed-position switching control • INC mode: Set the amount of movement after the switching from speed control to position control. • ABS mode: Set the absolute address which will be the target value after speed control is switched to position control.

  • Page 180

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 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 peripheral device Da.2...

  • Page 181

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 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 PLC program Value set with peripheral device...

  • Page 182

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q MEMO 5 - 91...

  • Page 183

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value buffer memory Default Setting value, setting range Item address value Value set with peripheral device Value set with PLC program Axis 1 Axis 2 Axis 3 Axis 4 The setting value range differs according to the " Da.2 Control system".

  • Page 184

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [Table 1] 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 PLC program Value set with peripheral device...

  • Page 185

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value buffer memory Default Setting value, setting range Item address value Value set with peripheral device Value set with PLC program Axis 1 Axis 2 Axis 3 Axis 4 The setting value range differs depending on the " Pr.1 Unit setting".

  • Page 186

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Da.10 M code (or condition data No./No. 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 187

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 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 188

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q MEMO 5 - 97...

  • Page 189: List Of Block Start Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.4 List of block start data The illustrations below show the organization of the block start data stored in the QD75 Da.11 Da.14 buffer memory. The block start data setting items are explained in the pages that follow.

  • Page 190

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 50th point Buffer memory Setting item address 2nd point 1st point Buffer memory Setting item address 28049 Buffer memory Setting item address œ ˆ Ê ’ u Œ ˆ ‚ ß Ž n “ ® ƒ f [ ƒ ^ 28001 28000 Da.12 Start data No.

  • Page 191

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 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 192

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value buffer memory Setting value Default address Item value Value set with peripheral Value set with PLC program Axis 1 Axis 2 Axis 3 Axis 4 device 0 : End Da.11 Shape 0 0 0 1 : Continue 0000...

  • Page 193

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 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 194

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q MEMO 5 - 103...

  • Page 195: List Of Condition Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.5 List of condition data The illustrations below show the organization of the condition data stored in the QD75 Da.15 Da.19 buffer memory. The condition data setting items are explained in the pages that follow. No.10 Up to 10 block start data points can be set (stored) Buffer memory...

  • Page 196

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q No.10 Buffer memory Setting item address No.2 Buffer memory No.1 Setting item address 28190 Buffer memory Setting item address 28110 28191 28192 28100 28193 Da.16 Condition Da.15 Condition 28194 operator target 28111 28195 28112 Open 28101...

  • Page 197

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 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 198

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value buffer memory Default Setting value Item address value Value set with peripheral device Value set with PLC program Axis 1 Axis 2 Axis 3 Axis 4 01 : Device X 02 : Device Y Da.15 Condition target 03 : Buffer memory (1-word)

  • Page 199

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Da.15 Condition target Set the condition target as required for each control. Setting value Setting details : Device X Set the input/output signal ON/OFF as the conditions. : Device Y : Buffer memory (1-word) Set the value stored in the buffer memory as the condition.

  • Page 200

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Da.18 Parameter 1 Da.16 Set the parameters as required for the " Condition operator". Da.16 Setting value Setting details Condition operator : ∗∗=P1 : ∗∗ ≠ P1 The value of P1 should be equal to or smaller than the value of : ∗∗≤P1 P2.

  • Page 201: List Of Monitor Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.6 List of monitor data 5.6.1 System monitor data Storage item Storage details Whether the mode is the test mode from the peripheral device or not is stored. • Md.1 In test mode flag When not in test mode : OFF •...

  • Page 202

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer memory address Reading the monitor value Default value (common for axis 1 to axis 4) Monitoring is carried out with a decimal. Monitor Storage value 1200 value 0: Not in test mode 1: In test mode (Unless noted in particular, the monitor value is saved as binary data.) 5 - 111...

  • Page 203

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 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 204

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Storage buffer memory address (common to axes 1 to 4) Md.8 1292 Start history pointer 0000 Indicates a pointer No. that is next to the Pointer No. assigned to the latest of the existing starting history records. Pointer No.

  • Page 205

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage item Storage details Reading the monitor value [Storage details] This area stores the following results of the error judgment performed upon starting: • BUSY start warning flag • Error flag • Error No. [Reading the monitor value] Monitoring is carried out with a hexadecimal display.

  • Page 206

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Storage buffer memory address (common to axes 1 to 4) 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 207

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage item Storage details Reading the monitor value Monitoring is carried out with a decimal display. Md.9 Stores a number (Axis No.) Monitor Storage value Axis in which that indicates the axis that value 1: Axis 1 the error...

  • Page 208

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Storage buffer memory address (common to axes 1 to 4) 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 209

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage item Storage details Reading the monitor value Monitoring is carried out with a decimal display. Md.14 Stores a number (Axis No.) Monitor Storage value Axis in which that indicates the axis that value 1: Axis 1 the warning...

  • Page 210

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Storage buffer memory address (common to axes 1 to 4) 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 211: Axis Monitor Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 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 359.9999 degrees.

  • Page 212

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer Default memory address Reading the monitor value value Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a hexadecimal. 1100 1000 0000 Low-order buffer memory Example) 800 1001 1101 Monitor...

  • Page 213

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 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 214

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer Default memory address Reading the monitor value value Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a decimal display. Monitor Warning No. value For details of warning Nos. 1007 1107 (warning codes), refer to Section 15.3 "List of warn-...

  • Page 215

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 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. Update timing: 56.8ms Md.28 Axis feedrate...

  • Page 216

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer Default memory address Reading the monitor value value Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a hexadecimal. Low-order buffer memory Example) 812 Monitor value High-order buffer memory Example) 813 1012 1112 0000...

  • Page 217

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 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 218

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer Default memory address Reading the monitor value value Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a hexadecimal display. Monitor value Buffer 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 memory Not used Not used...

  • Page 219

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage item Storage details • During operation with positioning data : The actual target speed, considering the override and speed limit value, etc., is stored. "0" is stored when positioning is completed. • During interpolation : The composite speed or reference axis speed is stored in the reference...

  • Page 220

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer Default memory address Reading the monitor value value Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a hexadecimal display. Low-order buffer memory Example) 820 Monitor value High-order buffer memory Example) 821 1020 1120...

  • Page 221

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage item Storage details • Md.36 Special start data instruction The " instruction code" used with special start and indicated by the start data pointer currently being executed is stored. code setting value The "instruction parameter"...

  • Page 222

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer Default memory address Reading the monitor value value Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a decimal display. Monitor Storage value value 00: Block start (Normal start) 01: Condition start 1027 1127 02: Wait start...

  • Page 223

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage item Storage details • This area stores the remaining number of repetitions during "repetitions" specific to special starting. Md.41 Special start repetition • The count is decremented by one (-1) at the loop end. counter •...

  • Page 224

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer Default memory address Reading the monitor value value Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a decimal display. Storage value 1032 1132 0 to 255 Monitor value Monitoring is carried out with a hexadecimal display.

  • Page 225

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage item Storage details • "1" is stored when the constant speed status or acceleration status switches to the deceleration status during position control whose operation pattern is "Positioning complete". • "0" is stored at the next operation start or manual pulse generator operation Deceleration start flag Md.48 enable.

  • Page 226

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer Default memory address Reading the monitor value value Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a decimal display. Storage value Monitor value 0: Status other than below 1099 1199 1: Status from deceleration start to next operation...

  • Page 227

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage item Storage details • This area stores the Software No. of the servo amplifier used. Md.106 Servo amplifier Software No. Parameter error (No.1 to 15) Parameter error (No.16 to 31) • Parameter error (No.32 to 47) When a servo parameter error occurs, the Parameter error No.

  • Page 228

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer Default memory address Reading the monitor value value Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a decimal display. Monitor value Example) B20W200-A4 1064 1164 Address Monitor Storing Software...

  • Page 229: List Of Control Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.7 List of control data 5.7.1 System control data Setting item Setting details • Requests writing of data (parameters, positioning data, and block start data) from the buffer memory to the flash ROM. POINT (1) Do not turn the power OFF or reset the PLC CPU while writing to the flash ROM.

  • Page 230

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer memory address Setting value Default value (common to axes 1 to 4) Set with a decimal. Setting value 1900 Flash ROM write request 1: Requests write access to flash ROM. The QD75 resets the value to "0" automatically when the write access completes. (This indicates the completion of write operation.) Set with a decimal.

  • Page 231: Axis Control Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.7.2 Axis control data Setting item Setting details • Set the positioning start No. Cd.3 Positioning start No. (Only 1 to 600 for the Pre-reading start function. For details, refer to Section 12.7.8 "Pre-reading start function".) •...

  • Page 232

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer Default memory address Setting value value Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. Setting value 1500 1600 1700 1800 Positioning data No. : Positioning data No. 1 to 600 : Block start designation 7000 to7004...

  • Page 233

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting item Setting details • Cd.8 External command valid Validates or in validates external command signals. • When changing the "current feed value" using the start No. "9003", use this data item to specify a new feed value. •...

  • Page 234

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer Default memory address Setting value value Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. Setting value 1505 1605 1705 1805 External command valid 0: Invalidates an external command. 1: Validates an external command.

  • Page 235

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting item Setting details • When changing the acceleration time during a speed change, use this data item to specify a new acceleration time. Cd.10 New acceleration time value Cd.10 setting range (unit) 0 to 8388608 (ms) •...

  • Page 236

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer Default memory address Setting value value Axis 1 Axis 2 Axis 3 Axis 4 1508 1608 1708 1808 Set with a decimal. 1509 1609 1709 1809 Cd.10 New acceleration time value Setting value Cd.11 New deceleration time value...

  • Page 237

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting item Setting details • To use the positioning operation speed override function, use this data item to specify an "override" value. For details of the override function, refer to Section 12.5.2 "Override function". Cd.13 Positioning operation speed override...

  • Page 238

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer Default memory address Setting value value Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. Setting value 1513 1613 1713 1813 Override value (%) 1 to 300 Set with a decimal. Actual value Cd.14 New speed value Conversion into an integer value...

  • Page 239

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 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 240

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer Default memory address Setting value value Axis 1 Axis 2 Axis 3 Axis 4 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 1617 1717 1817...

  • Page 241

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting item Setting details • Cd.19 OPR request flag OFF The PLC program can use this data item to forcibly turn the OPR request flag from ON to OFF. request • This data item determines the factor by which the number of pulses from the manual pulse generator is magnified.

  • Page 242

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer Default memory address Setting value value Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. Setting value OPR request flag OFF request 1521 1621 1721 1821 1: Turns the "OPR request flag" from ON to OFF.

  • Page 243

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 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 244

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer Default memory address Setting value value Axis 1 Axis 2 Axis 3 Axis 4 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...

  • Page 245

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting item Setting details • Cd.26 Position-speed switching Set whether the external control signal (external command signal [CHG]: "speed- control enable flag position, position-speed switching request" is selected) is enabled or not. • When changing the target position during a positioning operation, use this data item to specify a new positioning address.

  • Page 246

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer Default memory address Setting value value Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. Setting value Position-speed switching 1532 1632 1732 1832 enable flag 0: Position control will not be taken over by speed control even when the external command signal comes ON.

  • Page 247

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting item Setting details Cd.30 Simultaneous starting axis start data No. (axis 1 start data No.) Cd.31 Simultaneous starting axis start data No. (axis 2 start data No.) • Use these data items to specify a start data No. for each axis that has to start simultaneously.

  • Page 248

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer Default memory address Setting value value Axis 1 Axis 2 Axis 3 Axis 4 1540 1640 1740 1840 Set with a decimal. 1541 1641 1741 1841 Setting value Cd.30 to Cd.33 Simultaneous starting axis start data No.: 1542 1642 1742 1842...

  • Page 249

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting item Setting details • During a step operation, this data item determines whether the operation is Cd.36 Step start information continued or restarted. • To skip the current positioning operation, set "1" in this data item. Cd.37 Skip command •...

  • Page 250

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer Default memory address Setting value value Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. Setting value 1546 1646 1746 1846 Step start information 1: Continues step opration 2: Restarts operation The QD75 resets the value to "0"...

  • Page 251

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting item Setting details • Turns OFF each axis servo. POINT Cd.100 Servo OFF command When you want to turn ON the servo for two to four axes with only the servo for one axis turned OFF, write "1"...

  • Page 252

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer Default memory address Setting value value Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. Setting value 1551 1651 1751 1851 Servo OFF command 0: Servo ON 1: Servo OFF When all axis servo ON is valid.

  • Page 253

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q MEMO 5 - 162...

  • Page 254

    Chapter 6 PLC Program Used for Positioning Control The programs required to carry out positioning control with the QD75 are explained in this chapter. The PLC program required for control is created allowing for the "start conditions", "start time chart", "device settings" and general control configuration. (The parameters, positioning data, block start data and condition data, etc., must be set in the QD75 according to the control to be executed, and program for setting the control data or a program for starting the various control must be created.)

  • Page 255: Precautions For Creating Program

    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.1 Precautions for creating program The common precautions to be taken when writing data from the PLC CPU to the QD75 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 256

    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (4) System configuration Unless particularly designated, the PLC program for the following system 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 257

    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (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 258: List Of Devices Used

    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.2 List of devices used In the PLC programs shown in this chapter and subsequent, the application of the devices used are as follows. The I/O numbers for QD75 indicate those when QD75 is mounted in the 0-slot of the main base.

  • Page 259

    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 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 260

    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 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 261

    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Device Device Application Details when ON name Axis 1 Axis 2 Axis 3 Axis 4 TEACH1 instruction complete device TEACH1 instruction completed TEACH1 instruction error complete TEACH1 instruction error completed device PINIT instruction complete device PINIT instruction completed PINIT instruction error complete device PINIT instruction error completed...

  • Page 262

    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 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 Acceleration time setting value) (high-order 16 bits) Deceleration time setting (low-order 16 bits) Cd.11...

  • Page 263

    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Device Device Application Details of storage name Axis 1 Axis 2 Axis 3 Axis 4 No. of pulses per rotation (low-order 16 bits) Pr.2 No. of pulses per rotation) No. of pulses per rotation (high-order 16 bits) Movement amount per rotation (low-order 16 bits)

  • Page 264

    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Device Device Application Details of storage name Axis 1 Axis 2 Axis 3 Axis 4 D107 Positioning address (high-order 16 bits) Da.7 Circular interpolation address) Circular interpolation address Da.8 Command speed) D108 (low-order 16 bits) Da.9 Dwell time)

  • Page 265

    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Device Device Application Details of storage name Axis 1 Axis 2 Axis 3 Axis 4 D144 Command speed (low-order 16 bits) Da.4 Deceleration time No.) D145 Command speed (low-order 16 bits) Da.5 Axis to be interpolated) D146 Positioning address (low-order 16 bits)

  • Page 266

    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Device Device Application Details of storage name Axis 1 Axis 2 Axis 3 Axis 4 Data No.15 D240 Positioning identifier Da.1 Operation pattern) D241 M code Da.2 Control system) D242 Dwell time Da.3 Acceleration time No.) D243...

  • Page 267

    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Device Device Application Details of storage name U0\G806 Error code Md.23 Axis error No.) U0\G809 Axis operation status Md.26 Axis operation status) U0\G817 Status Md.31 Status) U0\G1500 Positioning start No. Cd.3 Positioning start No.) U0\G1502 Axis error reset Cd.5...

  • Page 268: Creating A Program

    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 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 269: Positioning Control Operation Program

    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 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 270

    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 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 271

    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Continued from previous page Start details setting program Program required to carry out • "OPR control" • "Major positioning control" No.9 • "High-level positioning control" Positioning start No. Refer to Section 6.5.2 setting program Start program No.10...

  • Page 272

    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Continued from previous page Sub program Program added according to control details. (Create as required.) No.16 Speed change program Refer to Section 12.5.1 No.17 Override program Refer to Section 12.5.2 No.18 Acceleration/deceleration time Refer to Section 12.5.3 change program No.19...

  • Page 273: Positioning Program Examples

    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.4 Positioning program examples An example of the "Axis 1" positioning program is given in this section. [No. 1] to [No. 3] parameter and data setting program When setting the parameters or data with the PLC program, set them in the QD75 using the TO command from the PLC CPU.

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    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6 - 21...

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    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6 - 44...

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    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6 - 45...

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    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6 - 46...

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    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6 - 47...

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    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6 - 48...

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    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6 - 49...

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    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6 - 50...

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    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6 - 51...

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    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6 - 52...

  • Page 306: Program Details

    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.5 Program details 6.5.1 Initialization program [1] OPR request OFF program Md.31 This program forcibly turns OFF the "OPR request flag" ( Status: b3) which is ON. When using a system that does not require OPR, assemble the program to cancel the "OPR request"...

  • Page 307: Start Details Setting Program

    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.5.2 Start details setting program This program sets which control, out of "OPR", "major positioning control" or "high-level positioning control" to execute. For " high-level positioning control", "fast OPR", "speed- position switching control" and "position-speed switching control", add the respectively required PLC program.

  • Page 308

    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (4) For "position-speed switching control", set the control data shown below. Cd.25 (As required, set the " Position-speed switching control speed change resister".) Buffer memory address Setting Setting item Setting details value Axis 1 Axis 2 Axis 3 Axis 4 Position-speed switching 1530...

  • Page 309: Start Program

    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 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 [Y10, Y11, Y12, Y13] [2] Starting by inputting external command signal Buffer memory Servo amplifier...

  • Page 310

    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 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 PLC program so that the control is not started when the conditions are not satisfied.

  • Page 311

    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q [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 312

    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q POINT The BUSY signal [XC, XD, XE, XF] 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 PLC program. (The ON status of the start complete signal [X10, X11, X12, X13], positioning complete signal [X14, X15, X16, X17] and M code ON signal [X4, X5, X6, X7] can be detected in the PLC program.)

  • Page 313

    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (2) Time chart for starting "fast OPR" [Y10] Positioning start signal All axis servo ON [Y1] PLC READY signal [Y0] [X0] QD75 READY signal [X10] Start complete signal BUSY signal [XC] Error detection signal [X8] Cd.

  • Page 314

    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (4) Time chart for starting "speed-position switching control" Operation pattern(00) Speed control Position control Dwell time Positioning data No.(1) Positioning start signal [Y10] All axis servo ON [Y1] PLC READY signal [Y0] [X0] QD75 READY signal [X10]...

  • Page 315

    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Machine OPR operation timing and process time Positioning start [Y10, Y11, Y12, Y13] signal [XC, XD, XE, XF] BUSY signal Start complete signal [X10, X11, X12, X13] Waiting In OPR Waiting Md. 26 Axis operation status Positioning operation OPR request flag [ Md.

  • Page 316

    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Position control operation timing and process time Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [XC, XD, XE, XF] M code ON signal (WITH mode) [X4, X5, X6, X7] Cd. 7 M code OFF request Positioning start complete [X10, X11, X12, X13] signal...

  • Page 317

    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q [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 QD75. This allows the variation time equivalent to one scan time of the PLC CPU to be eliminated.

  • Page 318: Continuous Operation Interrupt Program

    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 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 319

    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (3) If the operation cannot be decelerated to a stop because the remaining distance is insufficient when "continuous operation interrupt request" is executed with continuous path control, the interruption of the continuous operation will be postponed until the positioning data shown below.

  • Page 320: Restart Program

    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 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 321

    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q REMARK Restarting after stopping is possible even for the following control. • • Incremental system position control Continuous positioning control • • Continuous path control Block start [3] Control data requiring setting Set the following data to execute restart.

  • Page 322

    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (5) Time chart for restarting Dwell time Positioning start signal [Y10] All axis servo ON [Y1] Axis stop signal [Y4] PLC READY signal [Y0] QD75 READY signal [X0] Start complete signal [X10] BUSY signal [XC] Positioning complete signal...

  • Page 323: Stop Program

    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.5.6 Stop program The axis stop signal [Y4, Y5, Y6, Y7] or a stop signal from an external device is used to stop the control. Create a program to turn ON the axis stop signal [Y4, Y5, Y6, Y7] as the stop program. The process for stopping control is explained below.

  • Page 324

    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q [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 325

    6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q [3] Order of priority for stop process The order of priority for the QD75 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 326

    Chapter 7 Memory Configuration and Data Process The QD75 memory configuration and data transmission are explained in this chapter. The QD75 is configured of two memories. By understanding the configuration and roles of two memories, the QD75 internal data transmission process, such as "when the power is turned ON"...

  • Page 327: Configuration And Roles Of Qd75 Memory

    7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q 7.1 Configuration and roles of QD75 memory 7.1.1 Configuration and roles of QD75 memory The QD75 is configured of the following two memories. Area configuration Memory Role configuration Area that can be directly accessed •...

  • Page 328

    7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q Details of areas • Parameter area Area where parameters, such as positioning parameters and OPR parameters, required for positioning control are set and stored. Pr.1 Pr.57 Pr.201 (Set the items indicated with Pr.200 for each axis.) •...

  • Page 329

    7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q User accesses Data is backed up here. here. Flash ROM Buffer 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 330: Buffer Memory Area Configuration

    7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q 7.1.2 Buffer memory area configuration The QD75 buffer memory is configured of the following types of areas. Buffer memory address Writing Buffer memory area configuration possibility Axis 1 Axis 2 Axis 3 Axis 4 Basic parameter area 0 to 15 150 to 165...

  • Page 331

    7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q Buffer memory address Writing Buffer memory area configuration possibility Axis 1 Axis 2 Axis 3 Axis 4 30100 to 30200 to 30300 to 30400 to Servo basic parameter area 30111 30211 30311 30411 Servo adjustment parameter 30112 to 30212 to...

  • Page 332

    7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q MEMO 7 - 7...

  • Page 333: Data Transmission Process

    7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q 7.2 Data transmission process The data is transmitted between the QD75 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 334

    7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q (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", "positioning data" and "block start data" stored (backed up) in the flash ROM is transmitted to the buffer memory.

  • Page 335

    7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q (3) Validate parameters when PLC READY signal [Y0] changes from OFF to ON When the PLC READY signal [Y0] changes from OFF to ON, the data stored in the buffer memory's "parameter area (a) 2"...

  • Page 336

    7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q MEMO 7 - 11...

  • Page 337

    7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q Pheripharal devices (7) Flash ROM request (Write) PLC CPU (6) Flash ROM write (7) Flash ROM request (Write) (Set "1" in Cd.1 with TO command) QD75 Buffer memory Parameter area (a) Pr.1 to Pr.7 Parameter area (a) Pr.11...

  • Page 338

    7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q (6) Writing the flash ROM by a PLC CPU request ( Cd.1 The following transmission process is carried out by setting "1" in " Flash ROM write request" (buffer memory [1900]). 1) The "parameters", "positioning data (No. 1 to 600)", "block start data (No. 7000 to 7004)"...

  • Page 339

    7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q Ž ü • Ó ‹ @ Š í Pheripharal devices (9) Data write (8) Data read PLC CPU (9) Data write (8) Data read QD75 Buffer memory Parameter area (a) Pr.1 to Pr.7 Parameter area (a) Pr.11 Pr.24...

  • Page 340

    7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q (8) Reading data from buffer memory to peripheral device ( The following transmission processes are carried out with the [Read from module] from the peripheral device. 1) The "parameters", "positioning data (No. 1 to 600)" and "block start data (No. 7000 to 7004)"...

  • Page 341

    7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q QD75 For MR-J2S-B Buffer memory Servo parameter area Parameter area (a) Pr.166 Pr.100 Parameter area (b) Other than MR-J2S-B Positioning data area (No.1 to 600) Servo parameter area Block start data area Pr.144 Pr.100 (No.7000 to 7004) Servo parameter area...

  • Page 342

    7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q (10) Transmitting servo parameter from the buffer memory area to servo amplifier ( The servo parameter in the buffer 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 343

    7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q How to transfer the servo parameter which wrote it in the flash ROM to servo amplifier Flash ROM writing carried out after the servo parameter is set up in the buffer memory. After that, when the power is turned ON or the PLC CPU is reset, the servo parameters stored in the flash ROM is transmitted to the buffer memory.

  • Page 344

    7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q (b) When the servo parameter " motor capacity"="0" is stored flash Pr.104 ROM. Communication start timing to the servo amplifier: The data written from PLC program before the PLC READY signal [Y0] ON (Fig. 7.1 B). Transfer the servo parameter : The data written from PLC program before the...

  • Page 345

    7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q The data transmission is carried out as shown in the previous pages, but the main method of using this data process is shown below. (Ex.) Setting the positioning data The following methods can be used to set the positioning data. From peripheral device Using sequense program Write positioning data into buffer...

  • Page 346

    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 PLC program, etc.

  • Page 347

    MEMO...

  • Page 348

    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 349: Outline Of Opr Control

    8 OPR CONTROL MELSEC-Q 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 the QD75 issues a "OPR request"...

  • Page 350

    8 OPR CONTROL MELSEC-Q OPR sub functions Refer to Section 3.2.4 "Combination of QD75 main functions and sub functions" for details on "sub functions" that can be combined with OPR control. Also refer to Chapter 12 "Control sub functions" for details on each sub function. [Remarks] The following two sub functions are only related to machine OPR.

  • Page 351: Machine Opr

    8 OPR CONTROL MELSEC-Q 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 352: Machine Opr Method

    8 OPR CONTROL MELSEC-Q 8.2.2 Machine OPR method The method by which the machine OP is established (method for judging the OP position and machine OPR completion) is designated in the machine OPR 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 353: Opr Method (1): Near-point Dog Method

    8 OPR CONTROL MELSEC-Q 8.2.3 OPR method (1): Near-point dog method The following shows an operation outline of the "near-point dog method" OPR method. Operation chart The machine OPR is started. (The machine begins the acceleration designated in " Pr.51 OPR acceleration time selection", in the direction designated in "...

  • Page 354

    8 OPR CONTROL MELSEC-Q 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 OPR retry function is not set ("0" is set in " Pr.48 OPR retry").

  • Page 355: Opr Method (2): Count Method 1)

    8 OPR CONTROL MELSEC-Q 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 356

    8 OPR CONTROL MELSEC-Q Precautions during operation (1) An error "Count method movement amount fault (error code: 206)" will occur Pr.50 and the operation will not start if the " Setting for the movement amount after near-point dog ON" is smaller than the deceleration distance Pr.46 Pr.47 from the "...

  • Page 357: Opr Method (3): Count Method 2)

    8 OPR CONTROL MELSEC-Q 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 358

    8 OPR CONTROL MELSEC-Q 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 359: Opr Method (4): Data Set Method

    8 OPR CONTROL MELSEC-Q 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 QD75 as the OP, and the current feed value and feed machine value is overwritten to an OP address.

  • Page 360: Fast Opr

    8 OPR CONTROL MELSEC-Q 8.3 Fast OPR 8.3.1 Outline of the fast OPR operation Fast OPR operation Md.21 In a fast OPR, positioning is carried out by a machine OPR to the " Machine feed value" stored in the QD75. The following shows the operation during a basic fast OPR start.

  • Page 361

    8 OPR CONTROL MELSEC-Q Operation timing and processing time of fast OPR The following shows details about the operation timing and time during fast OPR. Positioning start signal [Y10,Y11,Y12,Y13] [XC,XD,XE,XF] BUSY signal Start complete signal [X10,X11,X12,X13] Standing by In position control Standing by Md.26 Axis operation status Positioning operation...

  • Page 362

    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 363: Outline Of Major Positioning Controls

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.1 Outline of major positioning controls "Major positioning controls" are carried out using the "positioning data" stored in the QD75. 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 364

    9 MAJOR POSITIONING CONTROL MELSEC-Q Major positioning control Details Da.2 Control system Forward run The control is continued as position control (positioning for speed/position the designated address or movement amount) by turning Speed-position switching control Reverse run ON the "speed-position switching signal" after first carrying speed/position out speed control.

  • Page 365: Data Required For Major Positioning Control

    9 MAJOR POSITIONING CONTROL MELSEC-Q 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.

  • Page 366: Operation Patterns Of Major Positioning Controls

    9 MAJOR POSITIONING CONTROL MELSEC-Q 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 367

    9 MAJOR POSITIONING CONTROL MELSEC-Q POINT The BUSY signal [XC, XD, XE, XF] 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 PLC program. [1] Independent positioning control (Positioning complete) This control is set when executing only one designated data item of positioning.

  • Page 368

    9 MAJOR POSITIONING CONTROL MELSEC-Q [2] Continuous positioning control (1) The machine always automatically decelerates each time the positioning is completed. Acceleration is then carried out after the QD75 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 369

    9 MAJOR POSITIONING CONTROL MELSEC-Q [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 370

    9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning continue (11) Dwell time Positioning continue (11) Positioning complete (00) Address (+) direction 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] Fig.

  • Page 371

    9 MAJOR POSITIONING CONTROL MELSEC-Q (b) When the operation pattern of the positioning data currently being executed is "continuous path control: 11", and the movement amount of the next positioning data is "0". (c) During operation by step operation. (Refer to Section 12.7.1 "Step function".) (d) When there is an error in the positioning data to carry out the next operation.

  • Page 372

    9 MAJOR POSITIONING CONTROL MELSEC-Q (3) Speed handling (a) Continuous path control command speeds are set with each positioning data. The QD75 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 373

    9 MAJOR POSITIONING CONTROL MELSEC-Q (4) Speed switching Pr.19 (Refer to " Speed switching mode".) (a) Standard speed switching mode If the respective command speeds differ in the "positioning data currently being executed" and the "positioning data to carry out the next operation", the machine will accelerate or decelerate after reaching the positioning point set in the "positioning data currently being executed"...

  • Page 374

    9 MAJOR POSITIONING CONTROL MELSEC-Q [When the speed cannot change over in P2] [When the movement amount is small during automatic deceleration] When the relation of the speeds is P1 = P4, P2 = P3, P1 < P2. The movement amount required to carry out the automatic deceleration cannot be secured, so the machine immediately stops in a speed ≠...

  • Page 375

    9 MAJOR POSITIONING CONTROL MELSEC-Q 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 376: Designating The Positioning Address

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.1.3 Designating the positioning address The following shows the two methods for commanding the position in control using positioning data. Absolute system Positioning 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 377: Confirming The Current Value

    9 MAJOR POSITIONING CONTROL MELSEC-Q 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 QD75. 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 378

    9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions (1) A 3.5ms error will occur in the current value update timing when the stored "current feed value" is used in the control. A 56.8ms error will occur in the current value update timing when the stored "machine feed value"...

  • Page 379: Control Unit "degree" Handling

    9 MAJOR POSITIONING CONTROL MELSEC-Q 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 Md.20 The address of " Current feed value"...

  • Page 380

    9 MAJOR POSITIONING CONTROL MELSEC-Q [3] Positioning control method when the control unit is set to "degree" 1) Absolute system (a) When the software stroke limit is invalid Positioning is carried out in the nearest direction to the designated address, using the current value as a reference. (This is called "shortcut control".) Example 1) Positioning is carried out in a clockwise direction when the current value is moved from 315°...

  • Page 381

    9 MAJOR POSITIONING CONTROL MELSEC-Q (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 382

    9 MAJOR POSITIONING CONTROL MELSEC-Q 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 383

    9 MAJOR POSITIONING CONTROL MELSEC-Q 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 384

    9 MAJOR POSITIONING CONTROL MELSEC-Q 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 385

    9 MAJOR POSITIONING CONTROL MELSEC-Q 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 Pr.8 reference axis, the major axis side speed may exceed the " Speed limit value".

  • Page 386: Interpolation Control

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

  • Page 387

    9 MAJOR POSITIONING CONTROL MELSEC-Q REMARK • It is recommended that the "positioning data" be set whenever possible with GX Configurator-QP. Execution by PLC program uses many PLC programs and devices. The execution becomes complicated, and the scan times will increase. Major positioning control Other control Current value...

  • Page 388: 1-axis Linear Control

    9 MAJOR POSITIONING CONTROL MELSEC-Q 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, addresses established by a machine OPR are used.

  • Page 389

    9 MAJOR POSITIONING CONTROL MELSEC-Q [2] 1-axis linear control (INC linear 1) Operation chart In incremental system 1-axis linear control, addresses established by a machine OPR are used. 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 390: 2-axis Linear Interpolation Control

    9 MAJOR POSITIONING CONTROL MELSEC-Q 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 391

    9 MAJOR POSITIONING CONTROL MELSEC-Q 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 392

    9 MAJOR POSITIONING CONTROL MELSEC-Q [2] 2-axis linear interpolation control (INC linear 2) Operation chart In incremental system 2-axis linear interpolation control, addresses established by a machine OPR on a 2-axis coordinate plane are used. Linear interpolation positioning is carried out from the current stop position (start point address) to a Da.6 position at the end of the movement amount set in "...

  • Page 393

    9 MAJOR POSITIONING CONTROL MELSEC-Q 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 394: 3-axis Linear Interpolation Control

    9 MAJOR POSITIONING CONTROL MELSEC-Q 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 395

    9 MAJOR POSITIONING CONTROL MELSEC-Q 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 396

    9 MAJOR POSITIONING CONTROL MELSEC-Q 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 397

    9 MAJOR POSITIONING CONTROL MELSEC-Q [2] 3-axis linear interpolation control (INC linear 3) Operation chart In the incremental system 3-axis linear interpolation control, using an address established by a machine OPR in the 3-axis coordinate space, a linear interpolation 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 the "...

  • Page 398

    9 MAJOR POSITIONING CONTROL MELSEC-Q 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 399

    9 MAJOR POSITIONING CONTROL MELSEC-Q 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 400: 4-axis Linear Interpolation Control

    9 MAJOR POSITIONING CONTROL MELSEC-Q 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 401

    9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting example [Reference axis is designated as axis 1.] The following table shows setting examples when "4-axis linear interpolation control (ABS linear 4)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No.

  • Page 402

    9 MAJOR POSITIONING CONTROL MELSEC-Q 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 403

    9 MAJOR POSITIONING CONTROL MELSEC-Q [2] 4-axis linear interpolation control (INC linear 4) Operation chart In the incremental system 4-axis linear interpolation control, using an address established by a machine OPR in the 4-axis coordinate plane, a linear interpolation positioning is carried out from the current stop position (start point address) to a Da.6 position at the end of the movement amount set in the "...

  • Page 404

    9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting example [Reference axis is designated as axis 1.] The following table shows setting examples when "4-axis linear interpolation control (INC linear 4)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No.

  • Page 405: 1-axis Fixed-feed Control

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.6 1-axis fixed-feed control Da.2 In "1-axis fixed-feed control" (" 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 the movement amount designated in the positioning data is rounded down if less than that required for control accuracy to output the same amount of pulses.

  • Page 406

    9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting example The following table shows setting examples when "1-axis fixed-feed control (fixed- feed 1)" is set in positioning data No. 1 of axis 1. Setting Setting item Setting details example Positioning Set "Positioning complete" assuming the next positioning data will not Da.1 Operation pattern complete be executed.

  • Page 407: 2-axis Fixed-feed Control (interpolation)

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.7 2-axis fixed-feed control (interpolation) Da.2 In "2-axis fixed-feed control" (" 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 the movement amount designated in the positioning data is rounded down if less than that required for control accuracy to output the same amount of pulses.

  • Page 408

    9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting example [Reference axis and interpolation axis are designated as axis 1 and axis 2, respectively.] The following table shows setting examples when "2-axis fixed-dimension feed control (fixed-feed 2)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No.

  • Page 409: 3-axis Fixed-feed Control (interpolation)

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.8 3-axis fixed-feed control (interpolation) Da.2 In "3-axis fixed-feed control" (" Control system" = fixed-feed 3), three 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 the movement amount designated in the positioning data is rounded down if less than that required for control accuracy to output the same amount of pulses.

  • Page 410

    9 MAJOR POSITIONING CONTROL MELSEC-Q 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 411

    9 MAJOR POSITIONING CONTROL MELSEC-Q 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 Da.1 " Operation pattern". ("Continuous path control" cannot be set in fixed- feed control.) Da.2 (2) "Fixed-feed"...

  • Page 412

    9 MAJOR POSITIONING CONTROL MELSEC-Q Axis 2 Axis 1 Axis 3 Axis (interpolatio (reference (interpolation n axis) Setting details axis) setting axis) setting setting Setting item example example example Positioning Set "Positioning complete" assuming the next Da.1 Operation pattern – –...

  • Page 413: 4-axis Fixed-feed Control (interpolation)

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.9 4-axis fixed-feed control (interpolation) Da.2 In "4-axis fixed-feed control" (" 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 the movement amount designated in the positioning data is rounded down if less than that required for control accuracy to output the same amount of pulses.

  • Page 414

    9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting example [Reference axis is designated as axis 1.] The following table shows setting examples when "4-axis fixed-feed control (fixed- feed 4)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No.

  • Page 415: 2-axis Circular Interpolation Control With Sub Point Designation

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.10 2-axis circular interpolation control with sub point designation In "2-axis circular interpolation control" (" Da.2 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 416

    9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions (1) 2-axis circular interpolation control cannot be set in the following cases. • Pr.1 When "degree" is set in " Unit setting" • Pr.1 When the units set in " Unit setting" are different for the reference axis and interpolation axis.

  • Page 417

    9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting example [Reference axis and interpolation axis are designated as axis 1 and axis 2, respectively.] The following table shows setting examples when "2-axis circular interpolation control with sub point designation (ABS circular sub)" is set in positioning data No. 1 of axis 1.

  • Page 418

    9 MAJOR POSITIONING CONTROL MELSEC-Q [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 Da.6 address) to a position at the end of the movement amount set in "...

  • Page 419

    9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions (1) 2-axis circular interpolation control cannot be set in the following cases. • Pr.1 When "degree" is set in " Unit setting" • Pr.1 When the units set in " Unit setting" are different for the reference axis and interpolation axis.

  • Page 420

    9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting example [Reference axis and interpolation axis are designated as axis 1 and axis 2, respectively.] The following table shows setting examples when "2-axis circular interpolation control with sub point designation (INC circular sub)" is set in positioning data No. 1 of axis 1.

  • Page 421: 2-axis Circular Interpolation Control With Center Point Designation

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.11 2-axis circular interpolation control with center point designation Da.2 In "2-axis circular interpolation control" (" 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 a designated center point, while carrying out interpolation for the axis directions set in each axis.

  • Page 422

    9 MAJOR POSITIONING CONTROL MELSEC-Q Circular interpolation error compensation In circular interpolation control with center point designation, the arc path calculated from the start point address and arc address may deviate from the position of the end point address set in " Da.6 Positioning address/movement amount".

  • Page 423

    9 MAJOR POSITIONING CONTROL MELSEC-Q [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, addresses established by a machine OPR on a 2-axis coordinate plane are used.

  • Page 424

    9 MAJOR POSITIONING CONTROL MELSEC-Q 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 425

    9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting examples [Reference axis and interpolation axis are designated as axis 1 and axis 2, respectively.] The following table shows setting examples when "2-axis circular interpolation control with center point designation (ABS right arc, ABS left arc)" is set in positioning data No.

  • Page 426

    9 MAJOR POSITIONING CONTROL MELSEC-Q [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, addresses established by a machine OPR on a 2-axis coordinate plane are used.

  • Page 427

    9 MAJOR POSITIONING CONTROL MELSEC-Q 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 428

    9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting examples [Reference axis and interpolation axis are designated as axis 1 and axis 2, respectively.] The following table shows setting examples when "2-axis circular interpolation control with center point designation (INC circular right, INC circular left)" is set in positioning data No.

  • Page 429: 1-axis Speed Control

    9 MAJOR POSITIONING CONTROL MELSEC-Q 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 Da.8 has been set by continuously outputting pulses for the speed set in "...

  • Page 430

    9 MAJOR POSITIONING CONTROL MELSEC-Q 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 431

    9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting examples The following table shows the setting examples when "1-axis speed control (forward run: speed 1)" is set in the positioning data No. 1 of axis 1. Setting Setting item Setting details example Positioning Da.1 Operation pattern...

  • Page 432: 2-axis Speed Control

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.13 2-axis speed control Da.2 In "2-axis speed control" (" 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 433

    9 MAJOR POSITIONING CONTROL MELSEC-Q 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 434

    9 MAJOR POSITIONING CONTROL MELSEC-Q (5) An error "No command speed (error code: 503)" occurs if a current speed (-1) Da.8 is set in " Command speed". (6) The software stroke limit check is not carried out when the control unit is set to "degree".

  • Page 435: 3-axis Speed Control

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.14 3-axis speed control Da.2 In "3-axis speed control" (" 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 436

    9 MAJOR POSITIONING CONTROL MELSEC-Q 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 437

    9 MAJOR POSITIONING CONTROL MELSEC-Q (4) When either of three axes exceeds the speed limit, that axis is controlled with the speed limit value. The speeds of the other axes are limited at the ratios of Da.8 " Command speed". (Examples) Axis Axis 1 setting...

  • Page 438

    9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting examples The following table shows the 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 Axis 2 Axis 3 Axis (reference...

  • Page 439: 4-axis Speed Control

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.15 4-axis speed control Da.2 In "4-axis speed control" (" 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 440

    9 MAJOR POSITIONING CONTROL MELSEC-Q 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 441

    9 MAJOR POSITIONING CONTROL MELSEC-Q 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 442

    9 MAJOR POSITIONING CONTROL MELSEC-Q (4) When either of four axes exceeds the speed limit, that axis is controlled with the speed limit value. The speeds of the other axes are limited at the ratios of Da.8 " Command speed". (Examples) Axis Axis 1...

  • Page 443

    9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting examples The following table shows the 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 Axis 2 Axis 3 Axis 4 Axis...

  • Page 444: Speed-position Switching Control (inc Mode)

    9 MAJOR POSITIONING CONTROL MELSEC-Q 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 445

    9 MAJOR POSITIONING CONTROL MELSEC-Q Operation chart The following chart (Fig.9.13) shows the operation timing for speed-position Md.31 switching control (INC mode). The "in speed control flag" ( Status: b0) is turned ON during speed control of speed-position switching control (INC mode). Da.

  • Page 446

    9 MAJOR POSITIONING CONTROL MELSEC-Q [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 447

    9 MAJOR POSITIONING CONTROL MELSEC-Q Operation timing and processing time during speed-position switching control (INC mode) 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] Standing by Md.26 Axis operation status In speed control In position control...

  • Page 448

    9 MAJOR POSITIONING CONTROL MELSEC-Q 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...

  • Page 449

    9 MAJOR POSITIONING CONTROL MELSEC-Q Speed-position switching signal setting The following table shows the items that must be set to use the external command signals (CHG) as speed-position switching signals. Setting Buffer memory address Setting item Setting details value Axis 1 Axis 2 Axis 3 Axis 4...

  • Page 450

    9 MAJOR POSITIONING CONTROL MELSEC-Q POINT • The machine recognizes the presence of a movement amount change request when the data is Cd.23 written to " Speed-position switching control movement amount change register" with the PLC program. • The new movement amount is validated after execution of the speed-position switching control (INC mode), before the input of the speed-position switching signal.

  • Page 451

    9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting examples The following table shows setting examples when "speed-position switching control (INC mode) by forward run" is set in positioning data No. 1 of axis 1. Setting item Setting example Setting details Set "Positioning complete"...

  • Page 452: Speed-position Switching Control (abs Mode)

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.17 Speed-position switching control (ABS mode) In case of "speed-position switching control (ABS 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 in the axial direction set to the positioning data.

  • Page 453

    9 MAJOR POSITIONING CONTROL MELSEC-Q 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). Da.

  • Page 454

    9 MAJOR POSITIONING CONTROL MELSEC-Q [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 455

    9 MAJOR POSITIONING CONTROL MELSEC-Q Operation timing and processing time during speed-position switching control (ABS mode) 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] Standing by Md.26 Axis operation status In speed control In position control...

  • Page 456

    9 MAJOR POSITIONING CONTROL MELSEC-Q 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 457

    9 MAJOR POSITIONING CONTROL MELSEC-Q Speed-position switching signal setting The following table shows the items that must be set to use the external command signals (CHG) as speed-position switching signals. Setting Buffer memory address Setting item Setting details value Axis 1 Axis 2 Axis 3 Axis 4...

  • Page 458

    9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions (1) An axis error (error code: 516) will occur and the operation cannot start if Da.1 "continuous positioning control" or "continuous path control" is set in " Operation pattern". (2) "Speed-position switching control" cannot be set in " Da.2 Control system"...

  • Page 459

    9 MAJOR POSITIONING CONTROL MELSEC-Q Speed-position switching signal 360 added 360 added positioning address positioning address positioning address Positioning data setting examples The following table shows setting examples when "speed-position switching control (ABS mode) by forward run" is set in positioning data No. 1 of axis 1. Setting item Setting example Setting details...

  • Page 460: Position-speed Switching Control

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.18 Position-speed switching control Da.2 In "position-speed switching control" (" 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 Da.6 "...

  • Page 461

    9 MAJOR POSITIONING CONTROL MELSEC-Q Operation chart The following chart shows the operation timing for position-speed switching control. Md.31 The "in speed control" flag ( Status: b0) is turned ON during speed control of position-speed switching control. Command speed Da. 8 Position Speed control control...

  • Page 462

    9 MAJOR POSITIONING CONTROL MELSEC-Q Operation timing and processing time during position-speed switching control 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] Axis operation status Standing by In position control In speed control...

  • Page 463

    9 MAJOR POSITIONING CONTROL MELSEC-Q Current feed value during position-speed switching control Md.20 The following table shows the " 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 464

    9 MAJOR POSITIONING CONTROL MELSEC-Q Position-speed switching signal setting The following table shows the items that must be set to use the external command signals (CHG) as position-speed switching signals. Setting Buffer memory address Setting item Setting details value Axis 1 Axis 2 Axis 3 Axis 4...

  • Page 465

    9 MAJOR POSITIONING CONTROL MELSEC-Q POINTS • The machine recognizes the presence of a command speed change request when the data is Cd.25 written to " Position-speed switching control speed change register" with the PLC program. • The new command speed is validated after execution of the position-speed switching control before the input of the position-speed switching signal.

  • Page 466

    9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting examples The following table shows setting examples when "position-speed switching control (forward run: position/speed)" is set in positioning data No. 1 of axis 1. Setting item Setting example Setting details Set "Positioning complete" assuming the next positioning data will not Positioning Da.1 Operation pattern be executed.

  • Page 467: Current Value Changing

    9 MAJOR POSITIONING CONTROL MELSEC-Q 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 Md.21 by the user.

  • Page 468

    9 MAJOR POSITIONING CONTROL MELSEC-Q Da.6 (4) If the value set in " Positioning address/movement amount" is outside Pr.12 Pr.13 the software stroke limit ( ) setting range, an error "Software stroke limit +, - (error code: 507 or 508)" will occur at the positioning start, and the operation will not start.

  • Page 469

    9 MAJOR POSITIONING CONTROL MELSEC-Q [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 470

    9 MAJOR POSITIONING CONTROL MELSEC-Q Setting method for the current value changing function The following shows an example of a PLC program and data setting to change the Md.20 current value to a new value with the positioning start signal. (The " Current feed value is changed to "5000.0 µ...

  • Page 471

    9 MAJOR POSITIONING CONTROL MELSEC-Q (3) Add the following PLC program to the control program, and write it to the PLC CPU. Example Current value changing Store new current feed value in D106 and D107 <Pulsate current value changing command> <Write current value changing to the QD75>...

  • Page 472: Nop Instruction

    9 MAJOR POSITIONING CONTROL MELSEC-Q 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 The following table shows the setting examples when "NOP instruction"...

  • Page 473: Jump Instruction

    9 MAJOR POSITIONING CONTROL MELSEC-Q 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 474

    9 MAJOR POSITIONING CONTROL MELSEC-Q (2) The operation pattern, if set, is ignored in the JUMP instruction. (3) Use unconditional JUMP instructions when setting JUMP instructions at the end of continuous path control/continuous positioning control. When conditional JUMP instructions are set at the end of continuous path control/continuous positioning control, the positioning data of the next positioning data No.

  • Page 475: Loop

    9 MAJOR POSITIONING CONTROL MELSEC-Q 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 The following table shows the setting examples when "LOOP" is set in positioning data No.

  • Page 476: Lend

    9 MAJOR POSITIONING CONTROL MELSEC-Q 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 477

    9 MAJOR POSITIONING CONTROL MELSEC-Q MEMO 9 - 116...

  • Page 478

    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". Examples of applied control are using conditional judgment to control "positioning data"...

  • Page 479: Outline Of High-level Positioning Control

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 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 480: Data Required For High-level Positioning Control

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 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 481: Block Start Data" And "condition Data" Configuration

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 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. (The following drawing shows an example for axis 1.) 50th point Buffer memory Setting item...

  • Page 482

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q Set in QD75 the " block start data" and "condition data" corresponding to the following "block Nos. 7001 to 7004" using GX Configurator-QP or the PLC program. (The following drawing shows an example for axis 1.) th point th point Buffer memory...

  • Page 483: High-level Positioning Control Execution Procedure

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 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 484: Setting The Block Start Data

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 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 Da.13 according to the "...

  • Page 485: Block Start (normal Start)

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 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 486

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q [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 487: Condition Start

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 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 488: Wait Start

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 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 489: Simultaneous Start

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 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 (pulses are output with the same timing). Da.14 (The "condition data"...

  • Page 490: Repeated Start (for Loop)

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 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 491: Repeated Start (for Condition)

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 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 492: Restrictions When Using The Next Start

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 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 493: Setting The Condition Data

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 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 494

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q The setting requirements and details of the following "condition data" " Da.16 " to " Da.19 " setting items differ according to the " Da.15 Condition target" setting. The following shows the " Da.16 " to " Da.19 "...

  • Page 495

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q REMARK The "PLC CPU memo area" can be designated as the buffer memory address to be designated in Da.17 . (Refer to Section 7.1.1 "Configuration and roles of QD75 memory".) QD75 buffer memory Address 30000 30001 30099 10 - 18...

  • Page 496: Condition Data Setting Examples

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.4.2 Condition data setting examples The following shows setting examples for "condition data". (1) Setting the device ON/OFF as a condition [Condition] Device "X0" (=QD75 READY) is OFF Da.16 Da.15 Da.17 Da.18 Da.19 Condition Condition target Address Parameter 1 Parameter 2...

  • Page 497: Multiple Axes Simultaneous Start Control

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.5 Multiple axes simultaneous start control The "multiple axes simultaneous start control" starts and controls the multiple axes simultaneously by outputting pulses to the axis to be started at the same timing as the start axis. The maximum of four axes can be started simultaneously.

  • Page 498

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q [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 499

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 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 500: Start Program For High-level Positioning Control

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.6 Start program for high-level positioning control 10.6.1 Starting high-level positioning control To execute high-level positioning control, a PLC 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 501: Example Of A Start Program For High-level Positioning Control

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 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 502

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q Start time chart The following chart shows a time chart in which the positioning data No. 1, 2, 10, 11, and 12 of axis 1 are continuously executed as an example. (1) Block start data setting example Da.13 Da.11 Da.12...

  • Page 503

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q Creating the 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 504

    Chapter 11 Manual Control The details and usage of manual control are explained in this chapter. In manual control, pulse output 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 QD75.

  • Page 505: Outline Of Manual Control

    11 MANUAL CONTROL MELSEC-Q 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 source. The three types of this "manual control"...

  • Page 506

    11 MANUAL CONTROL MELSEC-Q [3] Manual pulse generator operation "Manual pulse generator operation" is a control method in which positioning is carried out in response to the No. of pulses input from a manual pulse generator (the No. of input pulses is output). This operation is used for manual fine adjustment, etc., when carrying out accurate positioning to obtain the positioning address.

  • Page 507: Jog Operation

    11 MANUAL CONTROL MELSEC-Q 11.2 JOG operation 11.2.1 Outline of JOG operation Important Use the hardware stroke limit function when carrying out JOG operation near the upper or lower limits. (Refer to Section "12.4.4"). * If the hardware stroke limit function is not used, the workpiece may exceed the moving range, causing an accident.

  • Page 508

    11 MANUAL CONTROL MELSEC-Q Precautions during operation The following details must be understood before carrying out JOG operation. Cd.17 (1) For safety, first set " JOG speed" to a smaller value and check the movement. Then gradually increase the value. (2) An axis error will occur and the operation will not start (error code: 300) if the "JOG speed"...

  • Page 509

    11 MANUAL CONTROL MELSEC-Q JOG operation timing and processing time The following drawing shows details of the JOG operation timing and processing time. 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 510: Jog Operation Execution Procedure

    11 MANUAL CONTROL MELSEC-Q 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 positioning parameters <Method 1> Pr.1 Pr.39 Refer to Chapter 5 Directly set (write) the parameters in the QD75 using GX and Section 11.2.3.

  • Page 511: Setting The Required Parameters For Jog Operation

    11 MANUAL CONTROL MELSEC-Q 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 512

    11 MANUAL CONTROL MELSEC-Q Factory-set initial value Setting item Setting requirement (setting details) Pr.25 Acceleration time 1 (Unit: ms) 1000 Pr.26 Acceleration time 2 (Unit: ms) 1000 Pr.27 Acceleration time 3 (Unit: ms) 1000 Pr.28 Deceleration time 1 (Unit: ms) 1000 Pr.29 Deceleration time 2 (Unit: ms)

  • Page 513: Creating Start Programs For Jog Operation

    11 MANUAL CONTROL MELSEC-Q 11.2.4 Creating start programs for JOG operation A PLC 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. Cd.17 ("...

  • Page 514

    11 MANUAL CONTROL MELSEC-Q Start time chart 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] QD75 READY signal [XC] BUSY signal [X8] Error detection signal Fig.

  • Page 515

    11 MANUAL CONTROL MELSEC-Q Creating the program — á Example No. 10 JOG operation setting program <Set JOG operation speed (100.00mm/min)> <Set a "0" for inching movement amount> <Write JOG operation speed> No.12 JOG operation/inching operation execution program <JOG/inching operation flag ON> <JOG/inching operation termination>...

  • Page 516: Jog Operation Example

    11 MANUAL CONTROL MELSEC-Q 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. JOG start signals will be ignored while the stop signal is ON. The operation can be started by turning the stop signal OFF, and turning the JOG start signal from OFF to ON again.

  • Page 517

    11 MANUAL CONTROL MELSEC-Q 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 518

    11 MANUAL CONTROL MELSEC-Q 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 519

    11 MANUAL CONTROL MELSEC-Q When the "JOG start signal" is turned ON immediately after the stop signal OFF (within 100ms) When the "JOG start signal" is turned ON immediately after the stop signal OFF (within 100ms), it will be ignored and the JOG operation will not be carried out. Forward run JOG operation Forward run JOG start signal [Y8, YA, YC, YE]...

  • Page 520: Inching Operation

    11 MANUAL CONTROL MELSEC-Q 11.3 Inching operation 11.3.1 Outline of inching operation Important When the inching operation is carried out near the upper or lower limit, use the hardware stroke limit function (Refer to Section 12.4.4). If the hardware stroke limit function is not used, the workpiece may exceed the movement range, and an accident may result.

  • Page 521

    11 MANUAL CONTROL MELSEC-Q Precautions during operation The following details must be understood before inching operation is carried out. (1) Acceleration/deceleration processing is not carried out during inching operation. (Pulses corresponding to the designated inching movement amount are output at the first control cycle of the QD75 (3.5 ms). The movement direction of inching operation is reversed and, when a backlash compensation is carried out, first pulses corresponding to the backlash amount are output in the first control cycle of the QD75 and then pulses corresponding to the designated...

  • Page 522

    11 MANUAL CONTROL MELSEC-Q Inching operation timing and processing times The following drawing shows the details of the inching operation timing and processing time. 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 Axis operation Standing by Inching operation...

  • Page 523: Inching Operation Execution Procedure

    11 MANUAL CONTROL MELSEC-Q 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 positioning parameters. <Method 1> Pr.1 Pr.31 Refer to Chapter 5 Directly set (write) the parameters in the QD75 using GX and Section 11.3.3.

  • Page 524: Setting The Required Parameters For Inching Operation

    11 MANUAL CONTROL MELSEC-Q 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 525: Creating A Program To Enable/disable The Inching Operation

    11 MANUAL CONTROL MELSEC-Q 11.3.4 Creating a program to enable/disable the inching operation A PLC 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 526

    11 MANUAL CONTROL MELSEC-Q Start time chart 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] QD75 READY signal [X0] BUSY signal [XC] Error detection signal [X8] Positioning complete signal [X14]...

  • Page 527

    11 MANUAL CONTROL MELSEC-Q Creating the program — á Example No.11 Inching operation setting program <Set inching movement amount> <Write inching movement amount> No.12 JOG operation/inching operation execution program <JOG/inching operation flag ON> <JOG/inching operation termination> <Execute forward JOG/inching operation> <Execute reverse JOG operation>...

  • Page 528: Inching Operation Example

    11 MANUAL CONTROL MELSEC-Q 11.3.5 Inching operation example When "stop signal" is turned ON during inching operation: If "stop signal" is turned ON during inching operation, the inching operation will be stopped. While the stop signal is turned ON, the JOG start signal is ignored. The inching operation can be re-started when the stop signal is turned OFF and then re-turned ON.

  • Page 529

    11 MANUAL CONTROL MELSEC-Q When "JOG start signal" is turned ON when peripheral devices are in the test mode: If "JOG star signal" is turned ON when peripheral devices are in the test mode, the "JOG start signal" will be ignored and inching operation will not be carried out. Inching operation not Forward run inching possible because JOG...

  • Page 530: Manual Pulse Generator Operation

    11 MANUAL CONTROL MELSEC-Q 11.4 Manual pulse generator operation 11.4.1 Outline of manual pulse generator operation Important Create the PLC program so that " Cd.21 Manual pulse generator enable flag" is always set to "0" (disabled) when a manual pulse generator operation is not carried out.

  • Page 531

    11 MANUAL CONTROL MELSEC-Q 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 532

    11 MANUAL CONTROL MELSEC-Q REMARK • One QD75 module can be connected to one manual pulse generator. • The QD75 module can simultaneously command to the axis 1 to axis 4 servo amplifier by one manual pulse generator. (axis 1 to axis 4 simultaneous operation is possible.) Errors during operation When the operation is stopped by the stroke limit (limit signal OFF), manual pulse generator operation can be performed in the direction in which the limit signal turns...

  • Page 533

    11 MANUAL CONTROL MELSEC-Q Position control by manual pulse generator operation In manual pulse generator operation, the position is moved by a "manual pulse generator 1 pulse movement amount" per pulse. The current feed value in the positioning control by manual pulse generator operation can be calculated using the expression shown below.

  • Page 534: Manual Pulse Generator Operation Execution Procedure

    11 MANUAL CONTROL MELSEC-Q 11.4.2 Manual pulse generator operation execution procedure The manual pulse generator operation is carried out by the following procedure. One of the following two methods can be used. Preparation STEP 1 Set the positioning parameters <Method 1> Pr.1 Pr.24 Refer to Chapter 5...

  • Page 535: Setting The Required Parameters For Manual Pulse Generator Operation

    11 MANUAL CONTROL MELSEC-Q 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 536: Creating A Program To Enable/disable The Manual Pulse Generator Operation

    11 MANUAL CONTROL MELSEC-Q 11.4.4 Creating a program to enable/disable the manual pulse generator operation A PLC 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 537

    11 MANUAL CONTROL MELSEC-Q Start time chart Forward run Reverse run Pulse input A phase Pulse input B phase [Y0] PLC READY signal [Y1] All axis servo ON [X0] QD75 READY signal [X10] Start complete signal [XC] BUSY signal Error detection signal [X8] Cd.

  • Page 538

    11 MANUAL CONTROL MELSEC-Q Creating the program — á Example No.13 Manual pulse generator operation program <Pulsate manual pulse generator operation command> <Set manual pulse generator input scale per pulse> <Write manual pulse generator operation enable> <Write data for manual pulse generator> <Turn ON manual pulse generator operating flag>...

  • Page 539

    11 MANUAL CONTROL MELSEC-Q MEMO 11 - 36...

  • Page 540

    Chapter 12 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. More appropriate, finer control can be carried out by using these sub functions.

  • Page 541: Outline Of Sub Functions

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.1 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, commands from GX Configurator-QP, sub function PLC programs, etc.

  • Page 542

    12 CONTROL SUB FUNCTIONS MELSEC-Q Sub function Details This function holds the current value. This function sets the absolute position coordinate in relation to the OP in the Absolute position system function machine movement range, and prevent the OP from being lost even if the power supply is turned OFF to ON.

  • Page 543: Sub Functions Specifically For Machine Opr

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.2 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. 12.2.1 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 544

    12 CONTROL SUB FUNCTIONS MELSEC-Q (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 545

    12 CONTROL SUB FUNCTIONS MELSEC-Q (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 at 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 546

    12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Precaution during control (1) The following table shows whether the OPR retry function may be executed Pr.43 by the " OPR method". Pr.43 OPR method Execution status of OPR retry function Near-point dog method : Execution possible Count method 1) : Execution possible...

  • Page 547: Op Shift Function

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.2.2 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 548

    12 CONTROL SUB FUNCTIONS MELSEC-Q [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 549

    12 CONTROL SUB FUNCTIONS MELSEC-Q Pr.47 (2) OP shift operation at the " 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 Zero point Machine OPR start When the "...

  • Page 550: Functions For Compensating The Control

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.3 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 PLC program creation and writing. 12.3.1 Backlash compensation function The "backlash compensation function"...

  • Page 551

    12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Precautions during control (1) The feed command of the backlash compensation amount are not added to Md.20 Md.21 the " Current feed value" or " Machine feed value". (2) Always carry out a machine OPR before starting the control when using the backlash compensation function (when "...

  • Page 552: Electronic Gear Function

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.3.2 Electronic gear function The "electronic gear function" adjusts the pulses calculated and output according to the parameters set in the QD75 with the actual machine movement amount. The "electronic gear function" has the following three functions ( [A] to [C] ). [A] During machine movement, the function increments in the QD75 values less than one pulse that could not be pulse output, and outputs the incremented amount of pulses when the total incremented value reached one pulse or...

  • Page 553

    12 CONTROL SUB FUNCTIONS MELSEC-Q [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. QD75 Machine Reduction retio...

  • Page 554

    12 CONTROL SUB FUNCTIONS MELSEC-Q (1) For "Ball screw" + "Reduction gear" When the ball screw pitch is 10mm, the motor is the HC-MF (8192 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 555

    12 CONTROL SUB FUNCTIONS MELSEC-Q (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 = "No. of pulses per rotation" AL = "Movement amount per rotation" AM = 1 Example) When the motor is the HC-MF (8192PLS/rev) AP = 8192 …...

  • Page 556

    12 CONTROL SUB FUNCTIONS MELSEC-Q Thus, AP, AL and AM to be set are as follows. AP = 11264 ……. Pr.2 AP = 11264 …... Pr.2 AL = 67.50000 … Pr.3 AL = 0.06750 … Pr.3 AM = 1 ………..… Pr.4 AM = 1000 …….

  • Page 557

    12 CONTROL SUB FUNCTIONS MELSEC-Q AL has a significant number to first decimal place, round down numbers to two decimal places. Reduce a fraction in the above result. 2605056 2605056 (AP) AL × AM 2968805.0 (AL) × 1(AM) 2968805.0 Thus, AP, AL and AM to be set are as follows. AP = 2605056 …….

  • Page 558

    12 CONTROL SUB FUNCTIONS MELSEC-Q [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 QD75, this error is compensated by adjusting the electronic gear.

  • Page 559: Near Pass Function

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.3.3 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 560

    12 CONTROL SUB FUNCTIONS MELSEC-Q 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) If continuous path control is carried out, the output will suddenly reverse when the reference axis movement direction changes from the positioning data No.

  • Page 561

    12 CONTROL SUB FUNCTIONS MELSEC-Q (3) When continuous path control of a circular interpolation is being carried out in the near pass, an address in which the extra movement amount is subtracted from the positioning address of the positioning data currently being executed is replaced by the starting point address of the next positioning data No.

  • Page 562: Functions To Limit The Control

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.4 Functions to limit the control Functions to limit the control include the "speed limit function", "torque limit function", "software stroke limit", and "hardware stroke limit". Each function is executed by parameter setting or PLC program creation and writing. 12.4.1 Speed limit function The speed limit function limits the command speed to a value within the "speed limit value"...

  • Page 563

    12 CONTROL SUB FUNCTIONS MELSEC-Q [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 564: Torque Limit Function

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.4.2 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 565

    12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Control details The following drawing shows the operation of the torque limit function. 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) New toruque value...

  • Page 566

    12 CONTROL SUB FUNCTIONS MELSEC-Q [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 QD75. a) The set details are validated at the rising edge (OFF ON) of the PLC READY signal (Y0).

  • Page 567

    12 CONTROL SUB FUNCTIONS MELSEC-Q Md.35 The following table shows the " Torque limit stored value" of the buffer memory address. Buffer memory address Monitor Monitor item Storage details Axis Axis Axis Axis value The "torque limit value" valid at that time is Torque limit stored 826 926 1026 1126 Md.35...

  • Page 568: Software Stroke Limit Function

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.4.3 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 569

    12 CONTROL SUB FUNCTIONS MELSEC-Q Md.20 The following drawing shows the differences in the operation when " Current feed value" and " Md.21 Machine feed value" are used in the moveable range limit check. [Conditions] Assume the current stop position is 2000, and the upper stroke limit is set to 5000. Moveable range Md.

  • Page 570

    12 CONTROL SUB FUNCTIONS MELSEC-Q [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 (Check " Md.20 Current feed value" or " Md.21 Machine feed value".) An "axis error"...

  • Page 571

    12 CONTROL SUB FUNCTIONS MELSEC-Q [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 572

    12 CONTROL SUB FUNCTIONS MELSEC-Q (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 QD75.

  • Page 573

    12 CONTROL SUB FUNCTIONS MELSEC-Q [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. 12.16 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 574: Hardware Stroke Limit Function

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.4.4 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 575

    12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Wiring the hardware stroke limit When using the hardware stroke limit function, wire the terminals of the QD75 upper/lower limit stroke limit as shown in the following drawing. Pr.22 (When " Input signal logic selection" is set to the initial value) QD75 24VDC (Note): Wire the limit switch installed in the direction to which "Current feed value"...

  • Page 576: Functions To Change The Control Details

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.5 Functions to change the control details Functions to change the control details include the "speed change function", "override function", "acceleration/deceleration time change function" and "torque change function". Each function is executed by parameter setting or PLC program creation and writing.

  • Page 577

    12 CONTROL SUB FUNCTIONS MELSEC-Q [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. 12.21 Speed change operation [2] Precautions during control (1) Control is carried out as follows at the speed change during continuous path control.

  • Page 578

    12 CONTROL SUB FUNCTIONS MELSEC-Q (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 579

    12 CONTROL SUB FUNCTIONS MELSEC-Q (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 580

    12 CONTROL SUB FUNCTIONS MELSEC-Q (2) The following shows the speed change time chart. Dwell time Positioning start signal [Y10] PLC READY signal [Y0] All axis servo ON [Y1] [X0] QD75 READY signal [X10] Start complete signal [XC] BUSY signal Positioning complete signal [X14] [X8]...

  • Page 581

    12 CONTROL SUB FUNCTIONS MELSEC-Q [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 PLC 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 582

    12 CONTROL SUB FUNCTIONS MELSEC-Q (3) Add the following PLC program to the control program, and write it to the PLC CPU. Example Write 1000000 to D108 and D109. External command [Speed change processing] valid signal DTOP K1514 D108 <Write the new speed. > <Set the external command function selection to external speed change request.

  • Page 583: Override Function

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.5.2 Override function The override function changes the command speed by a designated percentage (1 to 300%) for all control to be executed. The speed can be changed by setting the percentage (%) by which the speed is changed in "...

  • Page 584

    12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Precaution during control (1) When changing the speed 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)" occurs and the speed cannot be changed in the following cases.

  • Page 585

    12 CONTROL SUB FUNCTIONS MELSEC-Q (2) The following shows a time chart for changing the speed using the override function. Dwell time Positioning start signal [Y10] PLC READY signal [Y0] All axis servo ON [Y1] QD75 READY signal [X0] [X10] Start complete signal [XC] BUSY signal...

  • Page 586: Acceleration/deceleration Time Change Function

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.5.3 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 indicated in Section 12.5.1 "Speed change function". In a normal speed change (when the acceleration/deceleration time is not changed), Pr.9 Pr.10...

  • Page 587

    12 CONTROL SUB FUNCTIONS MELSEC-Q [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 588

    12 CONTROL SUB FUNCTIONS MELSEC-Q (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 589

    12 CONTROL SUB FUNCTIONS MELSEC-Q Example No.16 Acceleration/deceleration time change program <Pulsate acceleration/deceleration time change command> <Set 2000ms for acceleration time> <Set 0 (not change) for deceleration time> <Write acceleration/deceleration time> <Write acceleration/deceleration time change enable> <Write acceleration/deceleration time change disable>...

  • Page 590: Torque Change Function

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.5.4 Torque change function The "torque change function" is used to change the torque limit value during torque limiting. Pr.17 The torque limit value during torque limiting is normally the value set in the " Torque limit setting value"...

  • Page 591

    12 CONTROL SUB FUNCTIONS MELSEC-Q [1] Control details The 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 QD75.

  • Page 592

    12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Precautions during control Cd.22 (1) If a value besides "0" is set in the " New torque value", the torque generated by the servomotor will be limited by that value. To limit the torque with the value set in "...

  • Page 593: Absolute Position System

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.6 Absolute position system The QD75 can construct an absolute position system by installing the absolute position system and connecting it through SSCNET. The following describes precautions when constructing the absolute position system. Battery Servomotor QD75 Servo amplifier Position command...

  • Page 594

    12 CONTROL SUB FUNCTIONS MELSEC-Q [2] OPR The absolute position system can establish the location of the OPR, using "Data set method", "Near-point dog" and "Count method" OPR method. In the "Data set method" OPR method, the location to which the location of the OPR position is moved by manual operation (JOG operation/manual pulse generator operation) is treated as the OPR position.

  • Page 595: Other Functions

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.7 Other functions Other functions include the "step function", "skip function", "M code output function", "teaching function", "target position change function", "command in-position function", "acceleration/deceleration processing function", "pre-reading start function", " deceleration start flag function" and "stop command processing for deceleration stop function"...