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Mitsubishi Electric MELSEC Q Series User Manual

Positioning module
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MELSEC-Q QD73A1 Positioning Module
User's Manual
-QD73A1

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Summary of Contents for Mitsubishi Electric MELSEC Q Series

  • Page 1 MELSEC-Q QD73A1 Positioning Module User's Manual -QD73A1...
  • Page 3: Safety Precautions

    SAFETY PRECAUTIONS (Read these precautions before using this product.) Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle the product correctly. The precautions given in this manual are concerned with this product only. For the safety precautions of the programmable controller system, refer to the user’s manual for the CPU module used.
  • Page 4 CAUTION ● Do not install the connection cables for external I/O signals and for the drive unit together with the main circuit lines, power cables, or load circuit lines of a device other than the programmable controller. Keep a distance of 100mm or more between them. Failure to do so may result in malfunction due to noise, surges, and induction.
  • Page 5 [Wiring Precautions] WARNING ● Shut off the external power supply (all phases) used in the system before installation and wiring. Failure to do so may result in electric shock or cause the module to fail or malfunction. ● After installation and wiring, attach the included terminal cover to the module before turning it on for operation.
  • Page 6 [Startup and Maintenance Precautions] WARNING ● Shut off the external power supply (all phases) used in the system before cleaning the module or retightening the connector screws. Failure to do so may result in electric shock. CAUTION ● Do not disassemble or modify the module. Doing so may cause failure, malfunction, injury, or a fire.
  • Page 7: Conditions Of Use For The Product

    CONDITIONS OF USE FOR THE PRODUCT (1) Mitsubishi programmable controller ("the PRODUCT") shall be used in conditions; i) where any problem, fault or failure occurring in the PRODUCT, if any, shall not lead to any major or serious accident; and ii) where the backup and fail-safe function are systematically or automatically provided outside of the PRODUCT for the case of any problem, fault or failure occurring in the PRODUCT.
  • Page 8: Introduction

    INTRODUCTION Thank you for purchasing the Mitsubishi MELSEC-Q series programmable controllers. This manual describes the operating procedure, system configuration, parameter settings, functions, programming, and troubleshooting of the QD73A1 positioning module (hereafter abbreviated as QD73A1). Before using this product, please read this manual and the relevant manuals carefully and develop familiarity with the functions and performance of the MELSEC-Q series programmable controller to handle the product correctly.
  • Page 9: Compliance With Emc And Low Voltage Directives

    COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES (1) Method of ensuring compliance To ensure that Mitsubishi programmable controllers maintain EMC and Low Voltage Directives when incorporated into other machinery or equipment, certain measures may be necessary. Please refer to one of the following manuals.
  • Page 10: Relevant Manuals

    RELEVANT MANUALS (3) CPU module user's manual Manual name Description <manual number (model code)> QCPU User's Manual (Hardware Design, Maintenance and Specifications of the hardware (CPU modules, power supply modules, Inspection) base units, extension cables, and memory cards), system maintenance <SH-080483ENG, 13JR73>...
  • Page 11 Memo...
  • Page 12: Table Of Contents

    CONTENTS CONTENTS SAFETY PRECAUTIONS ............. 1 CONDITIONS OF USE FOR THE PRODUCT .
  • Page 13 CHAPTER 5 DATA USED FOR POSITIONING Types of Data ............. . Positioning Parameters.
  • Page 14 CHAPTER 8 OPR CONTROL Overview of OPR Control ........... . Near-point Dog Method .
  • Page 15 Appendix 2.1 Example of connection with a servo amplifier manufactured by Mitsubishi Electric ..........264 Corporation Appendix 2.2...
  • Page 16: Manual Page Organization

    MANUAL PAGE ORGANIZATION In this manual, pages are organized and the symbols are used as shown below. The following illustration is for explanation purpose only, and should not be referred to as an actual documentation. "" is used for screen names and items. The chapter of the current page is shown.
  • Page 17 The following symbols are used to represent buffer memory areas in this manual. Serial numbers fit in "*". Symbol Description Symbol indicating positioning parameter and OPR parameter item Pr.* Symbol indicating positioning data item Da.* Symbol indicating monitor data item Md.* Symbol indicating control data item Cd.*...
  • Page 18: Terms

    TERMS Unless otherwise specified, this manual uses the following terms. Term Description QD73A1 The abbreviation for the QD73A1 positioning module QCPU Another term for the MELSEC-Q series CPU module Redundant CPU A generic term for the Q12PRHCPU and Q25PRHCPU External input The abbreviation for input from connectors for external devices External output The abbreviation for output to connectors for external devices...
  • Page 19: Chapter 1 Overview

    CHAPTER 1 OVERVIEW CHAPTER 1 OVERVIEW The QD73A1 possesses a deviation counter and D/A converter inside as in the following figure. Drive unit Servomotor CPU module Positioning module QD73A1 Command Speed pulses Analog command voltage Electronic Deviation Servo gear counter converter amplifier Sequence...
  • Page 20: Features

    Features (1) Analog output type that possesses a deviation counter and D/A converter inside This module converts command pulse for positioning into analog voltage inside, then outputs a speed command to a servo amplifier. (2) Compatible with analog input servo amplifiers A servo amplifier does not require an extra module to convert pulse input into analog voltage;...
  • Page 21: Signal Transmission Between The Qd73A1 And Others

    CHAPTER 1 OVERVIEW Signal Transmission Between the QD73A1 and Others The following figure shows signal transmission between the QD73A1 and a CPU module, and a drive unit. QD73A1 CPU module PLC READY signal Stop signal (STOP) QD73A1 READY signal Near-point dog signal (DOG) OPR request signal External Upper limit signal (FLS)
  • Page 22 (1) Between the CPU module and the QD73A1 The CPU module and the QD73A1 transmit control signals and data to each other through the base unit. Transmitted item Description Reference Signals that indicate the QD73A1's status or Control signal Page 30, Section 3.4 are related to commands are transmitted.
  • Page 23: Chapter 2 System Configuration

    CHAPTER 2 SYSTEM CONFIGURATION CHAPTER 2 SYSTEM CONFIGURATION This chapter describes the system configuration of the QD73A1. Applicable Systems This section describes applicable systems. (1) Applicable modules and base units, and number of mountable modules For the applicable CPU modules and base units, and the number of mountable modules, refer to the user’s manual for the CPU module used.
  • Page 24 (4) Applicable software packages The following table lists systems that use the QD73A1 and applicable software packages. A programming tool is required to use the QD73A1. Software version Item GX Works2 GX Developer Single CPU system Version 7 or later Q00J/Q00/Q01CPU Multiple CPU system Version 8 or later...
  • Page 25: How To Check The Function Version And Serial Number

    CHAPTER 2 SYSTEM CONFIGURATION How to Check the Function Version and Serial Number The function version and serial number of the QD73A1 can be checked on the rating plate, front part of the module, or system monitor of the programming tool. (1) Checking on the rating plate The rating plate is on the side of the QD73A1.
  • Page 26 (3) Checking on the system monitor The function version and serial number can be checked on the "Product Information List" window. [Diagnostics] [System Monitor...] button ● The serial number displayed on the product information list of a programming tool may differ from that on the rating plate and on the front part of the module.
  • Page 27: Chapter 3 Specifications

    CHAPTER 3 SPECIFICATIONS CHAPTER 3 SPECIFICATIONS This chapter describes performance specifications, I/O signals from/to the CPU module, and buffer memory specifications of the QD73A1. For general specifications of the QD73A1, refer to the following. QCPU User's Manual (Hardware Design, Maintenance and Inspection) Performance Specifications The following table lists performance specifications of the QD73A1.
  • Page 28: Number Of Parameter Settings

    Number of Parameter Settings Set initial settings and auto refresh settings of the QD73A1 so that the number of parameters, including those of other intelligent function modules, does not exceed the number of parameters that can be set in the CPU module. For the maximum number of parameters that can be set in the CPU module, refer to the following.
  • Page 29: List Of Functions

    CHAPTER 3 SPECIFICATIONS List of Functions This section introduces the functions of the QD73A1. (1) Main functions Major positioning functions are as follows. Item Description Reference A workpiece is returned to an original point following an OPR start Page 178, OPR control command, and the current value is corrected as an OP address after the CHAPTER 8...
  • Page 30 Item Description Reference Current value change This function changes the value set in " Current feed Md.1 Page 217, Section 11.5 function value" to a specified value. This function changes speed during major positioning control Speed change function Page 218, Section 11.6 Functions to or JOG operation.
  • Page 31 CHAPTER 3 SPECIFICATIONS (4) Combination of main function and sub function : Always used together, : Can be used together, ×: Cannot be used together Functions to Functions to limit Functions to change compensate Other functions control control details control Item OPR control ×...
  • Page 32: I/O Signals From/To The Cpu Module

    I/O Signals from/to the CPU Module This section describes I/O signals of the QD73A1. 3.4.1 I/O signal list This section describes I/O signal assignment and use of each signal. The first half of the I/O assignment is empty 16 points, and the second half is intelligent 32 points. When the module is mounted on the slot No.0 and 1 of a main base unit, the device No.Xn0 becomes X10.
  • Page 33 CHAPTER 3 SPECIFICATIONS (2) Output signal list Output signal (CPU module  QD73A1) Output signal (CPU module  QD73A1) Device No. Signal name Device No. Signal name OPR start signal Absolute positioning start signal Forward start signal Reverse start signal Forward JOG start signal Use prohibited Reverse JOG start signal...
  • Page 34: Details Of Input Signals

    3.4.2 Details of input signals (1) WDT error, H/W error signal (X10) This signal turns on when a watchdog timer error is detected through the self-diagnostic function of the QD73A1. In this case, Servo ON signal (SVON) turns off and analog output becomes 0. (2) QD73A1 READY signal (X11) When PLC READY signal (Y2D) is turned on through a sequence program, fixed parameters are checked and this signal turns on.
  • Page 35 CHAPTER 3 SPECIFICATIONS (6) Positioning complete signal (X15) This signal turns on when major positioning control is completed (completion of command pulse output). This signal turns off when the next positioning (major positioning control, OPR, or JOG operation) starts. If major positioning control was cancelled during its operation, this signal does not turn on. For the operation in case of cancellation of major positioning control, refer to the following.
  • Page 36 (9) Error detection signal (X18) When a major or minor error occurs, the corresponding error code is stored in the buffer memory, and this signal turns on. When Error reset signal (Y28) is turned on, this signal turns off. Error detection signal (X18) Error reset signal (Y28) Executed by the QD73A1 (10)Overflow signal (X19)
  • Page 37 CHAPTER 3 SPECIFICATIONS (17)OPR start complete signal (X20) This signal turns on when OPR process starts after OPR start signal (Y20) was turned on. When OPR start signal (Y20) is turned off after the start of OPR, this signal turns off. (18)Absolute positioning start complete signal (X21) This signal turns on when positioning process starts after Absolute positioning start signal (Y21) was turned on.
  • Page 38 (23)Zero/gain adjustment change complete flag (X2B) This signal turns on when zero adjustment and gain adjustment were switched after Zero/gain adjustment change request signal (Y1B) was turned on. When Zero/gain adjustment change request signal (Y1B) is turned off, this signal turns off. Cd.10 Zero/gain adjustment specification...
  • Page 39: Details Of Output Signals

    CHAPTER 3 SPECIFICATIONS 3.4.3 Details of output signals (1) Zero/gain adjustment data writing request signal (Y1A) Turn on this signal to write the zero/gain adjustment value to the QD73A1. For the on/off timing of this signal, refer to the detail of Zero/gain adjustment data writing complete flag (X2A). Page 35, Section 3.4.2 (22)) For details on zero/gain adjustment, refer to the following.
  • Page 40 (7) Reverse start signal (Y23) Turn on this signal to start positioning in the address decreasing direction. The following table describes the consequence of turning on this signal for each type of positioning (major positioning control). Major positioning control Consequence of turning on Reverse start signal (Y23) Positioning control Position control mode Starts in the address decreasing direction (incremental system)
  • Page 41 CHAPTER 3 SPECIFICATIONS (14)Underflow reset signal (Y2A) Turn on this signal to turn off Underflow signal (X1A) when it is on. For the on/off timing of this signal, refer to the detail of Underflow signal (X1A). ( Page 34, Section 3.4.2 (11)) (15)Speed-position switching enable signal (Y2C) Use this signal to enable/disable Speed-position switching command signal (CHANGE) in the speed-position control switch mode.
  • Page 42: Specifications Of I/O Interfaces With External Devices

    Specifications of I/O Interfaces with External Devices This section describes I/O interfaces between the QD73A1 and external devices. 3.5.1 Electrical specifications of I/O signals This section describes electrical specifications of I/O interfaces between the QD73A1 and external devices. (1) Input specifications Voltage Pulse Signal name...
  • Page 43 CHAPTER 3 SPECIFICATIONS (2) Output specifications Max. Analog output Load Load voltage Leakage Signal name Output method voltage/current voltage current drop at current at OFF 4.75 to 1.0V or  Servo ON signal (SVON) Open collector 0.1mA or lower Max.30mA 26.4VDC lower Speed command signal...
  • Page 44: Signal Layout For External Device Connectors

    3.5.2 Signal layout for external device connectors The following table shows signal layouts on external device connectors. Connector Pin arrangement Pin number Signal name name Near-point dog signal (DOG) Empty Empty Empty Power supply (5 to 24V) CONT. Lower limit signal (RLS) Upper limit signal (FLS) Speed-position switching command signal (CHANGE) Viewed from the front...
  • Page 45: List Of I/O Signal Details

    CHAPTER 3 SPECIFICATIONS 3.5.3 List of I/O signal details This section describes details of signals that are input or output through external device connectors on the QD73A1. Connector Signal name Signal detail name number Phase-A feedback pulse (PULSE A) • Feedback pulse signals of encoder's phases A, B, and Z are (+ side) input.
  • Page 46 Connector Signal name Signal detail name number • This signal turns on when the drive unit is ready to operate. Servo READY signal (READY) • Positioning cannot be started when this signal is off. (+ side) • If this signal turns off during positioning, the system stops. The system does not operate even if this signal is turned on again.
  • Page 47: I/O Interface Internal Circuit

    CHAPTER 3 SPECIFICATIONS 3.5.4 I/O interface internal circuit This section shows internal circuits of external device interfaces on the QD73A1 in schematic diagrams. External wiring Pin No. Internal circuit Signal name Remark 5VDC Power supply Input a voltage of 5 to 24VDC. 24VDC 2.4k Near-point dog signal (DOG)
  • Page 48 External wiring Signal name Remark Pin No. Internal circuit 1.2k Phase-A feedback pulse 1.2k [For open collector input] Phase-B feedback pulse Connect these terminals to the terminal/ connector for pulse output of an encoder. 1.2k Output is pulled up to 12V inside. Phase-Z feedback pulse Analog GND Phase-A feedback pulse...
  • Page 49: Memory Configuration And Use

    CHAPTER 3 SPECIFICATIONS Memory Configuration and Use There are two memories in the QD73A1. : Data setting and storage, : No data setting and storage Area configuration Reference value Memory Monitor Control Zero/gain storage area for Parameter Positioning configuration data data adjustment accumulated...
  • Page 50: List Of Buffer Memory Addresses

    List of Buffer Memory Addresses This section lists the buffer memory addresses of the QD73A1. For details on the buffer memory, refer to the following. Page 73, CHAPTER 5 Do not write data to system areas and area where data cannot be written from sequence programs in the buffer memory. Writing data to these areas may cause malfunction.
  • Page 51 CHAPTER 3 SPECIFICATIONS Default Read/ Memory Data Address Address Name Reference value Write area (decimal) (hexadecimal) type Page 79, Section 5.3 OP address Pr.10 Page 79, 10000 Section 5.3 OPR speed Pr.11 Parameter parameter area Page 80, 1000 Section 5.3 Creep speed Pr.12 Page 81,...
  • Page 52 Default Read/ Memory Data Address Address Name Reference value Write area (decimal) (hexadecimal) type Current feed value Md.1 Actual current value Md.2 Error code (ERR.1) Md.3 Error code (ERR.2) Md.4 Deviation counter value Md.5 (address) Movement amount after near- Md.6 Monitor point dog ON data...
  • Page 53 CHAPTER 3 SPECIFICATIONS Default Read/ Memory Data Address Address Name Reference value Write area (decimal) (hexadecimal) type Error code and error occurrence (The same Same as Record 3 data structure as record record 0 Error code and error occurrence (The same Same as Record 4 data structure as record...
  • Page 54 Default Read/ Memory Data Address Address Name Reference value Write area (decimal) (hexadecimal) type Error code and error occurrence (The same Same as Record 11 data structure as record record 0 Error code and error occurrence (The same Same as Record 12 data structure as record record 0...
  • Page 55 CHAPTER 3 SPECIFICATIONS Default Read/ Memory Data Address Address Name Reference value Write area (decimal) (hexadecimal) type Page 82, Section 5.4 Positioning pattern Da.1 Page 83, Section 5.4 Positioning address P1 Da.2 Page 84, Positioning Positioning Section 5.4 Positioning speed V1 Da.3 data data area...
  • Page 56: Chapter 4 Settings And Procedure Before Operation

    CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION This chapter describes the procedure prior to operation, part names, zero/gain adjustment, and wiring method of the QD73A1. Handling Precautions This section describes the handling precautions for the QD73A1. • Do not disassemble the module. Doing so may cause failure, malfunction, injury, or a fire. •...
  • Page 57: Settings And Procedure Before Operation

    CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION Settings and Procedure Before Operation This section shows the procedure before operating the QD73A1. Start Mounting the module Mount the QD73A1 on a specified slot. Wiring Wire external devices to the QD73A1. Page 64, Section 4.6 Switch setting Configure settings using GX Works2.
  • Page 58: Part Names

    Part Names This section describes the part names of the QD73A1. ADJUSTMENT MODE NORMAL MODE Number Name Description Reference RUN LED Indicates the operating status or error status of the QD73A1 ERR. LED  A LED  B LED Indicates the status of pulses on an encoder input phase A, B, or Z ...
  • Page 59 CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION Number Name Description Reference SERVO connector A connector for a drive unit Page 43, Section 3.5.3 Page 69, Section 4.6.3 CONT. connector A connector for external control devices  Serial number display Displays the serial number of the QD73A1 A switch to change the operation mode to the zero/gain adjustment mode.
  • Page 60: Led

    The LEDs on the front of the QD73A1 indicate the statuses of the module and axis control. QD73A1 ZERO GAIN ERR. BUSY Indication : OFF Attention Description  : ON : Flashing • The power is off. ZERO RUN LED: OFF •...
  • Page 61: Zero/Gain Adjustment

    CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION Zero/gain Adjustment Zero/gain adjustment is a process to adjust analog output voltage according to accumulated pulse amount. Adjust the analog output voltage value according to the analog speed command input of the drive unit used. Adjust analog output voltage using the check pins on the front of the QD73A1.
  • Page 62 ● When setting a smaller value than the above reference value (larger value for a negative value) as the accumulated pulse amount at the gain value output, making the setting value too small at a time may cause the hunting of a servomotor. To make the accumulated pulse amount value smaller, check the machine operation and adjust the value.
  • Page 63 CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION (4) Setting method The following are the procedures for zero adjustment and gain adjustment. (a) When using the switches on the front of the QD73A1 Start Set the servomotor in the servo-lock status. Is the ERR.LED off? Gain adjustment Turn on both DIP switch 1 and 2 on the lower part of...
  • Page 64 (b) When using I/O signals and the buffer memory Start Write the adjustment amount of the voltage Write the adjustment amount of the voltage Set the servomotor in the servo-lock status. between check pins to " Cd.11 Zero/gain between check pins to " Cd.11 Zero/gain adjustment value specification".
  • Page 65 CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION (5) Restoring the zero/gain adjustment value of the factory default Writing "1" in " Factory default zero/gain adjustment value restoration request" restores the zero/gain Cd.12 adjustment value of the factory default. Once the restoration was completed, the QD73A1 sets "0" in "...
  • Page 66: Wiring

    Wiring This section describes precautions on wiring the QD73A1 and external devices, and connection of external device connectors. 4.6.1 Wiring precautions This section describes the precautions on wiring. • Check the terminal layout beforehand to wire cables to the module correctly. •...
  • Page 67 Ground the shields of shielded cables to the control panel securely on the module side. • To comply with EMC and Low Voltage Directives, ground shielded cables to the control panel using the AD75CK cable clamp (manufactured by Mitsubishi Electric). (Ground the shield parts at a point within 20 to 30cm from the module.)
  • Page 68: Precautions When Connecting An Encoder

    4.6.2 Precautions when connecting an encoder This section describes precautions when connecting an encoder. (1) Operation of the QD73A1 (deviation counter and feedback pulses) The deviation counter in the QD73A1 counts up and down. An addition/subtraction switchover can be processed through the phases of feedback pulses. When "0: Positive voltage is output when the positioning address increases."...
  • Page 69 CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION For details on "Rotation direction setting" in the switch setting, refer to the following. Page 101, Section 6.2.1 The connection between the QD73A1 and the encoder varies depending on "Rotation direction setting" and "Feed back pulse addition/subtraction setting"...
  • Page 70 ● If the connection of the QD73A1 and the encoder is incorrect, the motor rotates at a power-on and Excessive error signal (X17) turns on. ● To replace the positioning module AD70/A1SD70 with the QD73A1 while using the same equipment of the servo amplifier, encoder, and external wiring in the existing system, check the setting of slide switch 1 (rotation direction setting) of the AD70/A1SD70.
  • Page 71: External Device Connectors

    CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION 4.6.3 External device connectors This section describes the assemblage of an external device connector and its connection method. (1) Assembling a connector The following connectors are required to connect the QD73A1 and external devices. •...
  • Page 72 (From the previous page)  Fix the protective seal part or the protection tube Wire clamp Screw A part with the wire clamp using the screws A. Screw A  Attach the screws C to the cover A. Screw C Screw C ...
  • Page 73 CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION (2) Wiring connectors The figure below shows the pin arrangement on the connectors. Wire pins correctly according to the signal assigned to each pin number. For details on the signal assigned to each pin number, refer to the following. Page 43, Section 3.5.3 Pin arrangement viewed from the wire side...
  • Page 74 (c) Connector type and the manufacturer The following table lists applicable 9-pin connector and 15-pin connector. When wiring, use applicable wire and an appropriate tightening torque. External wiring connector Wire Temperature Model Tightening torque Diameter Type Material rating 9-pin connector for 17JE-23090-02(D8A) external (manufactured by DDK Ltd.)
  • Page 75: Chapter 5 Data Used For Positioning

    CHAPTER 5 DATA USED FOR POSITIONING CHAPTER 5 DATA USED FOR POSITIONING This chapter describes parameters and data used for positioning. Types of Data The parameters and data required to carry out control with the QD73A1 include "setting data", "monitor data", and "control data"...
  • Page 76 Control data (Data for the user to control the positioning system) Set data for operation and data for current value Control change area change or speed change during operation. Cd.1 Cd.4 Cd.6 Cd.8 Cd.13 Cd.20 ) Zero/gain adjustment Set data for zero/gain adjustment. data area Cd.5 , Cd.9...
  • Page 77: Positioning Parameters

    CHAPTER 5 DATA USED FOR POSITIONING Positioning Parameters This section describes the details of positioning parameters. Buffer memory Item Setting range Default value Reference address (decimal) Stroke limit upper limit 2147483647pulse Page 76, Pr.1 -2147483648 to Section 2147483647pulse 5.2 (1) Stroke limit lower limit 0pulse Pr.2...
  • Page 78 Stroke limit upper limit, Stroke limit lower limit Pr.2 Pr.1 Set the upper and lower limits of the workpiece moving range. Stroke limit lower limit Stroke limit upper limit (Moving range of the workpiece) Limit switch for Limit switch for emergency stop emergency stop For details on the stroke limit function, refer to the following.
  • Page 79 CHAPTER 5 DATA USED FOR POSITIONING Numerator of command pulse multiplication for electronic gear, Pr.3 Denominator of command pulse multiplication for electronic gear Pr.4 Set the numerator (CMX) and denominator (CDV) of command pulse multiplication for electronic gear. QD73A1 Drive unit Speed command Electronic...
  • Page 80 Acceleration time, Deceleration time Pr.6 Pr.7 • Acceleration time: Set the time takes for speed (0) to reach the value in " Speed limit value". Pr.5 Pr.6 • Deceleration time: Set the time takes for the speed (the value in " Speed limit value") to reach 0.
  • Page 81: Opr Parameters

    CHAPTER 5 DATA USED FOR POSITIONING OPR Parameters This section describes the details of OPR parameters. Buffer memory Item Setting range Default value address Reference (decimal) -2147483648 to OP address 0pulse Page 79, Section 5.3 (1) Pr.10 2147483647pulse OPR speed 1 to 4000000pulse/s 10000pulse/s Page 79, Section 5.3 (2)
  • Page 82 Creep speed Pr.12 Once the near-point dog turns on, the control decelerates from " OPR speed" and stops. Set the speed of Pr.11 right before the stop, which is a creep speed. Pr.11 OPR speed OPR start Pr.12 Creep speed Near-point dog signal (DOG)
  • Page 83 CHAPTER 5 DATA USED FOR POSITIONING Setting for the movement amount after near-point dog ON Pr.13 When the OPR method is the count method, set the movement amount from the position where Near-point dog signal (X1C) turns on to the original point. Set a value equal to or greater than the deceleration distance from the OPR speed to the creep speed.
  • Page 84: Positioning Data

    Positioning Data This section describes the details of positioning data. Buffer memory Item Setting range Default value address Reference (decimal) 0: Positioning control 0: Positioning Positioning pattern 1: Two-phase trapezoidal positioning Page 82, Section 5.4 (1) Da.1 control control Absolute system: Positioning address -2147483648 to 2147483647pulse 0pulse...
  • Page 85 CHAPTER 5 DATA USED FOR POSITIONING Positioning address P1 Da.2 Set the address that is the destination of major positioning control. The setting range depends on the type of major positioning control. If the specified positioning address is outside the stroke range, the error "Positioning address Outside the setting range"...
  • Page 86 Positioning speed V1 Da.3 Set the command speed of major positioning control. Set a value equal to or less than " Speed limit value". Pr.5 If the value exceeds " Speed limit value", the error "Positioning speed Outside the setting range" (error Pr.5 code: 32) occurs, and the command speed is limited to "...
  • Page 87: Monitor Data

    CHAPTER 5 DATA USED FOR POSITIONING Monitor Data This section describes the details of monitor data. Buffer memory Item Description Default value address (decimal) • The current commanded position is stored. (different from the actual motor position during operation) • The update cycle is 0.5ms. Current feed value 0pulse Md.1...
  • Page 88 Buffer memory Item Description Default value address (decimal) 0: Speed- The on/off status of Speed-position switching command signal position Speed-position (CHANGE) is stored. switching Md.7 switching command 0: Speed-position switching command input OFF command input 1: Speed-position switching command input ON The control mode under the speed-position control switch mode is stored.
  • Page 89 CHAPTER 5 DATA USED FOR POSITIONING Buffer memory Item Description Default value address (decimal) The time (minute: second) of error detection is stored in BCD code. • b15 to b8: Minute • b7 to b0: Second The data can be monitored in hexadecimal. b8 b7 Page Error occurrence...
  • Page 90 (1) Buffer memory areas for error occurrence data Md.16 Error history pointer Stores the pointer number that is next to the one for the latest error history record. Pointer No. Pointer No. Md.12 Error code Md.13 Error occurrence (Year: Month) Md.14 Error occurrence (Day: Hour)
  • Page 91: Control Data

    CHAPTER 5 DATA USED FOR POSITIONING Control Data This section describes the details of control data. Buffer Default memory Item Description Setting range value address (decimal) • Set a new current feed value when changing the current value. • Writing data in this area and setting "1" in "...
  • Page 92 Buffer Default memory Item Description Setting range value address (decimal) • Use this area to clear the accumulated pulses in the deviation counter. • Write "1" to clear the counter. If a value other than "1" is set, the command is ignored.
  • Page 93 CHAPTER 5 DATA USED FOR POSITIONING Buffer Default memory Item Description Setting range value address (decimal) • Use this area to request a current value change. • After setting " New current value", set Cd.1 "1" in this area. If a value other than "1" is set, the setting is ignored.
  • Page 94 Buffer Default memory Item Description Setting range value address (decimal) • Specify "zero adjustment" or "gain adjustment". • When zero/gain adjustment is performed using switches on the front of the QD73A1, the set value is ignored. Zero/gain adjustment 1: Zero adjustment •...
  • Page 95 CHAPTER 5 DATA USED FOR POSITIONING Buffer Default memory Item Description Setting range value address (decimal) The difference between the reference value (maximum value) and the judgment value (alert output accumulated pulses (maximum value)) is set. The relation between this setting and the judgment value is as follows.
  • Page 96 Buffer Default memory Item Description Setting range value address (decimal) The difference between the reference value (maximum value) and the judgment value (immediate stop accumulated pulses (maximum value)) is set. The relation between this setting and the judgment value is as follows. [If "...
  • Page 97 CHAPTER 5 DATA USED FOR POSITIONING Buffer Default memory Item Description Setting range value address (decimal) The difference between the reference value (minimum value) and the judgment value (alert output accumulated pulses (minimum value)) is set. The relation between this setting and the judgment value is as follows.
  • Page 98 Buffer Default memory Item Description Setting range value address (decimal) The difference between the reference value (minimum value) and the judgment value (immediate stop accumulated pulses (minimum value)) is set. The relation between this setting and the judgment value is as follows. [If "...
  • Page 99 CHAPTER 5 DATA USED FOR POSITIONING Buffer Default memory Item Description Setting range value address (decimal) • Use this area to start/stop the accumulated pulse error detection function. • While this area is set to 1, the accumulated pulse error detection function is executed. However, if the reference value has never been measured, the error "Accumulated pulse error undetectable"...
  • Page 100 Buffer Default memory Item Description Setting range value address (decimal) • Use this area to save the measured reference value in the flash ROM of the QD73A1. • When this area setting is changed to 1, the measured reference value is saved in the flash ROM.
  • Page 101: Chapter 6 Various Settings

    CHAPTER 6 VARIOUS SETTINGS CHAPTER 6 VARIOUS SETTINGS This chapter describes setting procedures of the QD73A1. ● After writing the contents of the new module, parameter settings, and auto refresh settings into the CPU module, reset the CPU module and switch its status as STOP RUNSTOP RUN, or turn off and on the power supply to activate the settings.
  • Page 102: Switch Setting

    Switch Setting Configure settings related to the drive unit and encoder that are connected to the QD73A1. (1) Setting method Open the "Switch Setting" window. Project window [Intelligent Function Module] Module name [Switch Setting] Item Description Setting value Default value Reference •...
  • Page 103: Rotation Direction Setting

    CHAPTER 6 VARIOUS SETTINGS Item Description Setting value Default value Reference Set whether to add or subtract the Feed back • Add when the phase A proceeds 90 Add when the feedback pulses to/from the pulse degrees than phase B. phase A proceeds Page 106, deviation counter when the phase...
  • Page 104: Accumulated Pulse Setting

    6.2.2 Accumulated pulse setting Select the maximum accumulated pulse amount that can be counted in the deviation counter. (1) Calculating accumulated pulse amount When a servomotor is used, "maximum accumulated pulse amount" obtained by the following formula generates. Speed command (pulse/s) Maximum accumulated pulse amount Position loop gain (s...
  • Page 105 CHAPTER 6 VARIOUS SETTINGS (b) Accumulated pulse amount and analog output voltage from the QD73A1 The analog output voltage from the QD73A1 is controlled in proportion to accumulated pulse amount. Analog output voltage Selection 1 Selection 2 Selection 3 Selection 4 Gain adjustment value...
  • Page 106: Multiplication Setting

    (2) Excessive error If accumulated pulse amount exceeds an upper limit value (values marked * in Page 103, Section 6.2.2 (1) (b)), an excessive error occurs and the following conditions occur in the system. • Excessive error signal (X17): ON •...
  • Page 107: Encoder I/F Setting

    CHAPTER 6 VARIOUS SETTINGS 6.2.6 Encoder I/F setting Select an encoder output type from open collector, TTL, or differential output. For connection between the QD73A1 and an encoder, refer to the following. Page 66, Section 4.6.2 6.2.7 Analog voltage resolution setting Set resolution of analog voltage to be output as a speed command.
  • Page 108: Feedback Pulse Addition/Subtraction Setting

    6.2.8 Feedback pulse addition/subtraction setting Set whether to add or subtract the feedback pulses to/from the deviation counter when the phase A of feedback pulse proceeds 90 degrees than phase B. This setting becomes enabled only when "1: Negative voltage is output when the positioning address increases." is set for "Rotation direction setting"...
  • Page 109: Deviation Counter Clear Setting

    CHAPTER 6 VARIOUS SETTINGS 6.2.9 Deviation counter clear setting Set whether to clear the deviation counter when Servo READY signal turns off. If "0: Clear the deviation counter when the servo ready signal is OFF." is set, the deviation counter is cleared and OPR request signal turns on when Servo READY signal turns off.
  • Page 110: Parameter Setting

    Parameter Setting Set positioning parameters and OPR parameters. Setting parameters on the screen omits the parameter setting in a sequence program. (1) Setting method Open the "Parameter" window. Start "Parameter" in the project window. Project window [Intelligent Function Module] Module name [Parameter] Double-click the item to change the setting, and input the setting value.
  • Page 111: Positioning Data Setting

    CHAPTER 6 VARIOUS SETTINGS Positioning Data Setting Set positioning data. Setting positioning data on the screen omits the positioning data setting in a sequence program. (1) Setting method Open the "Positioning_Axis_#1_Data" window. Start "Positioning_Axis_#1_Data" in the project window. Project window [Intelligent Function Module] Module name [Positioning_Axis_#1_Data]...
  • Page 112: Auto Refresh

    Auto Refresh This function transfers data in the buffer memory to specified devices. The auto refresh setting omits data reading/writing through a program. (1) Setting method Open the "Auto_Refresh" window. Start "Auto_Refresh" in the project window. Project window [Intelligent Function Module] Module name [Auto_Refresh] Click the item to set, and input the destination device for auto refresh.
  • Page 113: Chapter 7 Programming

    CHAPTER 7 PROGRAMMING CHAPTER 7 PROGRAMMING This chapter describes sequence programs of the QD73A1. When applying the program examples introduced in this chapter to the actual system, ensure the applicability and confirm that they will not cause system control problems. Precautions on Programming (1) At power-on and operation start At a power-on or operation start, execute OPR to confirm the original point (OP).
  • Page 114 (9) Communication with the QD73A1 There are following ways of communication with the QD73A1 using a sequence program. • Communication using intelligent function module devices • Communication using the FROM/TO instruction The sequence programs introduced in this chapter uses intelligent function module devices. When using the FROM/TO instruction, change the sequence program as shown below.
  • Page 115 CHAPTER 7 PROGRAMMING (10)I/O number assignment for the QD73A1 The QD73A1 occupies 48 I/O points of 2 slots. (a) Default I/O number assignment Set the first half to "Empty 16 points" and the second half to "Intelligent 32 points" in GX Works2. When executing the FROM/TO instruction on the QD73A1, use the I/O number assigned to the second half (slot) of the QD73A1.
  • Page 116: Programs For Positioning

    Programs for Positioning Follow the procedure below when creating programs that execute positioning using the QD73A1. Procedure Program Reference Parameter setting Page 117, Section 7.3.1 Create a program for parameter setting. Page 149, Section 7.4.1 Create a program for one of the following. Page 119, Section 7.3.2 •...
  • Page 117: When Using The Module In A Standard System Configuration

    CHAPTER 7 PROGRAMMING When Using the Module in a Standard System Configuration This section introduces program examples where the following system configuration applies. (1) System configuration QCPU First half: X/Y0 to X/YF (Empty 16 points) QD73A1 Second half: X/Y10 to X/Y2F (Intelli. 32 points) QX41 X30 to X4F (2) Switch setting...
  • Page 118 (3) Writing parameters Write the set parameters to the CPU module, then reset the CPU module or turn off and on the power supply of the programmable controller. [Online] [Write to PLC...] or Power off (4) I/O signals of the QD73A1 Refer to Page 30, Section 3.4.1.
  • Page 119: Parameter Setting Program

    CHAPTER 7 PROGRAMMING 7.3.1 Parameter setting program This program sets fixed parameters and variable parameters. Parameters described in this section can be set through GX Works2 also. ( Page 108, Section 6.3) The sequence program in this section is unnecessary when the parameters were set through GX Works2. (1) Program detail •...
  • Page 120 Device Description Acceleration time Deceleration time In-position range Positioning mode Fixed parameter setting memory Variable parameter setting memory SM402 Turns on for one scan once the CPU module is in the RUN status (4) Program example Stroke limit upper limit (20000000pulse) Stroke limit lower limit (0pulse) Numerator of command pulse multiplication for electronic gear (1)
  • Page 121: Opr Program

    CHAPTER 7 PROGRAMMING 7.3.2 OPR program Programs in this section execute OPR in the near-point dog method or the count method. (1) Near-point dog method OPR program This program executes OPR in the near-point dog method. Suppose that fixed parameters and variable parameters are already set.
  • Page 122 (c) Execution condition Check item Condition Servo READY signal (READY) Stop signal (STOP) External I/O signal Upper limit signal (FLS) Lower limit signal (RLS) Near-point dog signal (DOG) WDT error, H/W error signal (X10) QD73A1 READY signal (X11) OPR complete signal (X13) BUSY signal (X14) Excessive error signal (X17) I/O signal...
  • Page 123 CHAPTER 7 PROGRAMMING (e) Program example OP address (100pulse) OPR speed (5000pulse/s) Creep speed (500pulse/s) Set OPR parameters to the QD73A1. Completes the OPR parameter settings. Turn on/off PLC READY signal. Command OPR. Turn on OPR start one scan. Turn on OPR start signal. Turn off OPR start signal.
  • Page 124 (2) Count method OPR program This program executes OPR in the count method. Suppose that fixed parameters and variable parameters are already set. ( Page 117, Section 7.3.1) (a) Program detail • The following OPR parameters are written once the CPU module is in the RUN status, and PLC READY signal (Y2D) turns on.
  • Page 125 CHAPTER 7 PROGRAMMING (c) Execution condition Check item Condition Servo READY signal (READY) Stop signal (STOP) External I/O signal Upper limit signal (FLS) Lower limit signal (RLS) WDT error, H/W error signal (X10) QD73A1 READY signal (X11) BUSY signal (X14) Excessive error signal (X17) Error detection signal (X18) I/O signal...
  • Page 126 (e) Program example OP address (100pulse) OPR speed (5000pulse/s) Creep speed (500pulse/s) Movement amount after near-point dog ON (2000pulse) Set OPR parameters to the QD73A1. Completes the OPR parameter settings. Turn on/off PLC READY signal. Command OPR. Turn on OPR start one scan. Turn on OPR start signal.
  • Page 127: Major Positioning Control Program

    CHAPTER 7 PROGRAMMING 7.3.3 Major positioning control program Programs in this section execute major positioning control. (1) Positioning control program This program executes positioning control in the absolute system. Suppose that the parameter setting and OPR were completed. ( Page 117, Section 7.3.1, Page 119, Section 7.3.2) (a) Program detail •...
  • Page 128 (c) Device used by the user Device Description Positioning data write command Positioning start command Positioning pattern Positioning address P1 (lower 16 bits) Positioning address P1 (upper 16 bits) Positioning speed V1 (lower 16 bits) Positioning speed V1 (upper 16 bits) Positioning start command pulse (d) Program example Positioning pattern (Positioning control)
  • Page 129 CHAPTER 7 PROGRAMMING (2) Two-phase trapezoidal positioning control program This program executes two-phase trapezoidal positioning control in the absolute system. Suppose that the parameter setting and OPR were completed. ( Page 117, Section 7.3.1, Page 119, Section 7.3.2) (a) Program detail •...
  • Page 130 (d) Program example Positioning pattern (Two-phase trapezoidal positioning control) Positioning address P1 (100000pulse) Positioning speed V1 (10000pulse/s) Positioning address P2 (150000pulse) Positioning speed V2 (12000pulse/s) Set positioning data to the QD73A1. Command the positioning start. Turn on Absolute positioning start signal. Turn off Absolute positioning start signal.
  • Page 131 CHAPTER 7 PROGRAMMING (3) Speed-position control switch mode program This program switches the positioning mode to the "speed-position control switch mode". Suppose that the parameter setting and OPR were completed. ( Page 117, Section 7.3.1, Page 119, Section 7.3.2) (a) Program detail •...
  • Page 132 (c) Device used by the user Device Description Variable parameter change command Positioning data write command Speed-position control positioning start command Speed-position control positioning restart command Positioning mode Positioning address P1 (lower 16 bits) Positioning address P1 (upper 16 bits) Positioning speed V1 (lower 16 bits) Positioning speed V1 (upper 16 bits) Speed-position control positioning start command pulse...
  • Page 133 CHAPTER 7 PROGRAMMING (4) Speed control operation program This program executes speed control using the speed control function of the speed-position control switch mode. Suppose that parameters are already set. ( Page 117, Section 7.3.1) (a) Program detail • As X3C is turned on, the positioning mode is set to "speed-position control switch mode". •...
  • Page 134 (c) Device used by the user Device Description Speed control operation change command Positioning data write command Forward run command Reverse run command Positioning mode Positioning speed V1 (lower 16 bits) Positioning speed V1 (upper 16 bits) Speed control command pulse (d) Program example Turn off Speed-position switching enable signal.
  • Page 135: Fixed-Feed Operation Program

    CHAPTER 7 PROGRAMMING 7.3.4 Fixed-feed operation program This program executes positioning in the address increasing direction according to the specified movement amount and speed. Execute fixed-feed operation by turning on Fixed-feed start command repeatedly. Use the current value change function and positioning start in the absolute system. Suppose that parameter setting and OPR were completed.
  • Page 136 (3) Device used by the user Device Description Fixed-feed positioning data write command Fixed-feed start command New current value (lower 16 bits) New current value (upper 16 bits) Positioning address P1 (lower 16 bits) Positioning address P1 (upper 16 bits) Positioning speed V1 (lower 16 bits) Positioning speed V1 (upper 16 bits) Current value change request...
  • Page 137: Jog Operation Program

    CHAPTER 7 PROGRAMMING 7.3.5 JOG operation program This program executes JOG operation while a JOG start command is on. Suppose that parameters are already set. Page 117, Section 7.3.1) (1) Program detail • As X42 is turned on, JOG speed is written. Item Setting detail 10000pulse/s...
  • Page 138 (4) Program example JOG speed (10000pulse/s) Set JOG speed data to the QD73A1. Turn on JOG command. Turn on/off Forward JOG start signal. Turn on/off Reverse JOG start signal. Turn off JOG command.
  • Page 139: Control Change Program

    CHAPTER 7 PROGRAMMING 7.3.6 Control change program (1) Current value change program This program changes the current value to "0". (a) Program detail As X45 is turned on, the current value is changed. Item Setting detail 0pulse New current value Cd.1 (b) Execution condition Check item...
  • Page 140 (2) Speed change program This program changes positioning speed. (a) Program detail As X46 is turned on, positioning speed is changed. Item Setting detail 50000pulse/s New speed value Cd.2 (b) Execution condition Check item Condition Note Servo READY signal (READY) Stop signal (STOP) External I/O ...
  • Page 141 CHAPTER 7 PROGRAMMING (d) Program example New speed value (50000pulse/s) Set a new speed value to the QD73A1. Completes the new speed value setting. Speed change Request a speed change. Completes the speed change.
  • Page 142 (3) Deviation counter clearing program This program clears the deviation counter to 0. (a) Program detail As X47 is turned on, the deviation counter is cleared to 0. Item Setting detail 1: Clear the deviation counter Deviation counter clear command Cd.4 (b) Execution condition Check item...
  • Page 143: Stop Program During Positioning

    CHAPTER 7 PROGRAMMING 7.3.7 Stop program during positioning This program stops the positioning in execution. (a) Program detail As X3A is turned on, the module stops the positioning in execution. (b) Device used by the user Device Description Stop command (c) Program example Turn on Stop signal.
  • Page 144: When Using The Module In A Remote I/O Network

    When Using the Module in a Remote I/O Network This section introduces program examples of when the QD73A1 is used in a MELSECNET/H remote I/O network. For details on a MELSECNET/H remote I/O network, refer to the following. Q Corresponding MELSECNET/H Network System Reference Manual (Remote I/O network) (1) System configuration Remote master station (station No.0) Remote I/O station (station No.1)
  • Page 145 CHAPTER 7 PROGRAMMING (2) Setting on the master station Create a project on GX Works2. Select "QCPU (Q mode)" for "PLC Series", and select the CPU module used for "PLC Type". [Project] [New...] Display the network parameter setting window, and configure the setting as follows. Project window [Parameter] [Network Parameter]...
  • Page 146 Display the network range assignment setting window, and configure the setting as follows. Project window [Parameter] [Network Parameter] [Ethernet/CC IE/MELSECNET] button Project window [Parameter] [Network Parameter] [Ethernet/CC IE/MELSECNET] button "Switch Screens" "XY Setting" Display the refresh parameter setting window, and configure the setting as follows. Project window [Parameter] [Network Parameter]...
  • Page 147 CHAPTER 7 PROGRAMMING (3) Setting on the remote I/O station Create a project on GX Works2. Select "QCPU (Q mode)" for "PLC Series", and select "QJ72LP25/QJ72BR15(RemoteI/O)" for "PLC Type". [Project] [New...] Add the QD73A1 to the project on GX Works2. Project window [Intelligent Function Module] Right-click...
  • Page 148 Display the QD73A1's switch setting window, and configure the setting as follows. Project window [Intelligent Function Module] [QD73A1] [Switch Setting] Item Setting value Rotation direction setting Set this item according to the system to be used. Accumulated pulse setting Set this item according to the system to be used. Multiplication setting Set this item according to the system to be used.
  • Page 149 CHAPTER 7 PROGRAMMING (4) I/O signals of the QD73A1 The following is the I/O signal assignment viewed from the master station side. (a) Input signal list Input signal (CPU module  QD73A1) Input signal (CPU module  QD73A1) Device No. Signal name Device No.
  • Page 150 (6) Interlock program of MELSECNET/H remote I/O network For programs introduced in Page 149, Section 7.4.1 to Page 177, Section 7.4.7, make interlocks using data link status of the own station and the other station as shown below. Page 149, Section 7.4.1, Page 177, Section 7.4.7 Programs described in (7) Program example Refer to the following.
  • Page 151: Parameter Setting Program

    CHAPTER 7 PROGRAMMING 7.4.1 Parameter setting program This program sets fixed parameters and variable parameters. Parameters described in this section can be set through GX Works2 also. ( Page 108, Section 6.3) The sequence program in this section is unnecessary when the parameters were set through GX Works2. (1) Program detail •...
  • Page 152 Device Description Speed limit value (upper 16 bits) Acceleration time Deceleration time In-position range Positioning mode Fixed parameter setting memory Variable parameter setting memory M200 Z(P).REMTO instruction completion M201 Z(P).REMTO instruction failure M202 Z(P).REMTO instruction completion M203 Z(P).REMTO instruction failure (4) Program example Command fixed parameter settings.
  • Page 153: Opr Program

    CHAPTER 7 PROGRAMMING 7.4.2 OPR program Programs in this section execute OPR in the near-point dog method or the count method. (1) Near-point dog method OPR program This program executes OPR in the near-point dog method. Suppose that fixed parameters and variable parameters are already set.
  • Page 154 (c) Execution condition Check item Condition Servo READY signal (READY) Stop signal (STOP) External I/O signal Upper limit signal (FLS) Lower limit signal (RLS) Near-point dog signal (DOG) WDT error, H/W error signal (X1020) QD73A1 READY signal (X1021) OPR complete signal (X1023) BUSY signal (X1024) Excessive error signal (X1027) I/O signal...
  • Page 155 CHAPTER 7 PROGRAMMING (e) Program example Command OPR parameter settings. OP address (100pulse) OPR speed (5000pulse/s) Creep speed (500pulse/s) Completes the OPR parameter settings. Command to turn on PLC READY signal. Set OPR parameters to the QD73A1. Turn on/off PLC READY signal. Command OPR.
  • Page 156 (2) Count method OPR program This program executes OPR in the count method. Suppose that fixed parameters and variable parameters are already set. ( Page 149, Section 7.4.1) (a) Program detail • As X22 is turned on, the following OPR parameters are written and PLC READY signal (Y103D) turns on. Item Setting detail 100pulse...
  • Page 157 CHAPTER 7 PROGRAMMING (c) Execution condition Check item Condition Servo READY signal (READY) Stop signal (STOP) External I/O signal Upper limit signal (FLS) Lower limit signal (RLS) WDT error, H/W error signal (X1020) QD73A1 READY signal (X1021) BUSY signal (X1024) Excessive error signal (X1027) Error detection signal (X1028) I/O signal...
  • Page 158 (e) Program example Command OPR parameter settings. OP address (100pulse) OPR speed (5000pulse/s) Creep speed (500pulse/s) Movement amount after near-point dog ON (2000pulse) Completes the OPR parameter settings. Command to turn on PLC READY signal. Set OPR parameters to the QD73A1. Turn on/off PLC READY signal.
  • Page 159: Major Positioning Control Program

    CHAPTER 7 PROGRAMMING 7.4.3 Major positioning control program Programs in this section execute major positioning control. (1) Positioning control program This program executes positioning control in the absolute system. Suppose that the parameter setting and OPR were completed. ( Page 149, Section 7.4.1, Page 151, Section 7.4.2) (a) Program detail •...
  • Page 160 (c) Device used by the user Device Description Positioning data write command Positioning start command Positioning pattern Positioning address P1 (lower 16 bits) Positioning address P1 (upper 16 bits) Positioning speed V1 (lower 16 bits) Positioning speed V1 (upper 16 bits) Positioning data writing Positioning start command pulse M220...
  • Page 161 CHAPTER 7 PROGRAMMING (2) Two-phase trapezoidal positioning control program This program executes two-phase trapezoidal positioning control in the absolute system. Suppose that the parameter setting and OPR were completed. ( Page 149, Section 7.4.1, Page 151, Section 7.4.2) (a) Program detail •...
  • Page 162 (d) Program example Command to write positioning data. Positioning pattern (Two-phase trapezoidal positioning control) Positioning address P1 (100000pulse) Positioning speed V1 (10000pulse/s) Positioning address P2 (150000pulse) Positioning speed V2 (12000pulse/s) Completes writing the positioning data. Set positioning data to the QD73A1. Command the positioning start.
  • Page 163 CHAPTER 7 PROGRAMMING (3) Speed-position control switch mode program This program switches the positioning mode to the "speed-position control switch mode". Suppose that the parameter setting and OPR were completed. ( Page 149, Section 7.4.1, Page 151, Section 7.4.2) (a) Program detail •...
  • Page 164 (c) Device used by the user Device Description Variable parameter change command Positioning data write command Speed-position control positioning start command Speed-position control positioning restart command Positioning mode Positioning address P1 (lower 16 bits) Positioning address P1 (upper 16 bits) Positioning speed V1 (lower 16 bits) Positioning speed V1 (upper 16 bits) Variable parameter change...
  • Page 165 CHAPTER 7 PROGRAMMING (d) Program example Command to change variable parameters. Positioning mode (Speed-position control switch mode) Completes changing the variable parameters. Set variable parameters to the QD73A1. Command to change positioning data. Positioning address P1 (5000pulse) Positioning speed V1 (1000pulse/s) Completes changing the positioning data.
  • Page 166 (4) Speed control operation program This program executes speed control using the speed control function of the speed-position control switch mode. Suppose that parameters are already set. ( Page 149, Section 7.4.1) (a) Program detail • As X2E is turned on, the positioning mode is set to "speed-position control switch mode". •...
  • Page 167 CHAPTER 7 PROGRAMMING (c) Device used by the user Device Description Variable parameter change command Positioning data write command Forward run command Reverse run command Positioning mode Positioning speed V1 (lower 16 bits) Positioning speed V1 (upper 16 bits) Variable parameter change Positioning data writing Speed control command pulse M250...
  • Page 168 (d) Program example Command to change variable parameters. Turn off Speed-position switching enable signal. Positioning mode (Speed-position control switch mode) Set variable parameters to the QD73A1. Completes changing the variable parameters. Command to change positioning data. Positioning speed V1 (1000pulse/s) Completes changing the positioning data.
  • Page 169: Fixed-Feed Operation Program

    CHAPTER 7 PROGRAMMING 7.4.4 Fixed-feed operation program This program executes positioning in the address increasing direction according to the specified movement amount and speed. Execute fixed-feed operation by turning on Fixed-feed start command repeatedly. Use the current value change function and positioning start in the absolute system. Suppose that parameter setting and OPR were completed.
  • Page 170 (3) Device used by the user Device Description Fixed-feed positioning data write command Fixed-feed start command Positioning address P1 (lower 16 bits) Positioning address P1 (upper 16 bits) Positioning speed V1 (lower 16 bits) Positioning speed V1 (upper 16 bits) D100 New current value (lower 16 bits) D101...
  • Page 171 CHAPTER 7 PROGRAMMING (4) Program example Command to change positioning data. Positioning address P1 (20000pulse) Positioning speed V1 (1000pulse/s) Set positioning data to the QD73A1. Completes changing the positioning data. Command the fixed-feed positioning start. New current value (0pulse) Command a current value change. Reset the current value change.
  • Page 172: Jog Operation Program

    7.4.5 JOG operation program This program executes JOG operation while a JOG start command is on. Suppose that parameters are already set. Page 149, Section 7.4.1) (1) Program detail • As X34 is turned on, JOG speed is written. Item Setting detail 10000pulse/s JOG speed...
  • Page 173 CHAPTER 7 PROGRAMMING (4) Program example Command a JOG speed setting. JOG speed (10000pulse/s) Completes the JOG speed setting. Set JOG speed data to the QD73A1. Turn on JOG command. Turn on/off Forward JOG start signal. Turn on/off Reverse JOG start signal. Turn off JOG command.
  • Page 174: Control Change Program

    7.4.6 Control change program (1) Current value change program This program changes the current value to "0". (a) Program detail As X37 is turned on, the current value is changed. Item Setting detail 0pulse New current value Cd.1 (b) Execution condition Check item Condition Note...
  • Page 175 CHAPTER 7 PROGRAMMING (d) Program example Command a current value change. New current value (0pulse) Set a new current value to the QD73A1. Current value change Completes the current value change. Command to check the current value change. Request a current value change to the QD73A1.
  • Page 176 (2) Speed change program This program changes positioning speed. (a) Program detail As X38 is turned on, positioning speed is changed. Item Setting detail 50000pulse/s New speed value Cd.2 (b) Execution condition Check item Condition Note Servo READY signal (READY) Stop signal (STOP) External I/O ...
  • Page 177 CHAPTER 7 PROGRAMMING (d) Program example Command a speed change. New speed value (50000pulse/s) Set a new speed value to the QD73A1. Speed change Completes the speed change. Command to check the speed change. Request a speed change to the QD73A1. Read the speed change from the QD73A1.
  • Page 178 (3) Deviation counter clearing program This program clears the deviation counter to 0. (a) Program detail As X39 is turned on, the deviation counter is cleared to 0. Item Setting detail 1: Clear the deviation counter Deviation counter clear command Cd.4 (b) Execution condition Check item...
  • Page 179: Stop Program During Positioning

    CHAPTER 7 PROGRAMMING 7.4.7 Stop program during positioning This program stops the positioning in execution. (a) Program detail As X3A is turned on, the module stops the positioning in execution. (b) Device used by the user Device Description Stop command (c) Program example Turn on Stop signal.
  • Page 180: Chapter 8 Opr Control

    CHAPTER 8 OPR CONTROL This chapter describes OPR control. Overview of OPR Control In "OPR control", a starting point (or OP) of major positioning control is set, and positioning is executed toward the original point. Use this control to return a machine system at a position other than its OP to the OP when the QD73A1 turned on OPR request signal (X12) at power-on, or after a positioning stop.
  • Page 181: Near-Point Dog Method

    CHAPTER 8 OPR CONTROL Near-point Dog Method This section describes the operation overview of an OPR method, "near-point dog method". (1) Operation chart OPR starts. (Acceleration starts in the direction set on "OPR direction setting" in the switch setting, and the machine moves at "...
  • Page 182 (2) Precautions during operation (a) Another OPR after the completion of OPR If another OPR is attempted after the completion of OPR, the error "OPR complete signal ON at start" (error code: 84) occurs. (b) Positions of the near-point dog OFF and Zero signal If the position where the near-point dog turns off is close to Zero signal, the Zero signal may be misread, resulting in deviation of OP by one servomotor rotation.
  • Page 183: Count Method

    CHAPTER 8 OPR CONTROL Count Method This section describes the operation overview of an OPR method, "count method". OPR in the count method can be executed also in case of the following. • OPR on the near-point dog ON • Another OPR after completion of OPR (1) Operation chart OPR starts.
  • Page 184 (2) Precautions during operation Setting for the movement amount after near-point dog ON Pr.13 If " Setting for the movement amount after near-point dog ON" is smaller than the deceleration distance Pr.13 from " OPR speed" to " Creep speed", the error "Setting for the movement amount after near-point Pr.12 Pr.11 dog ON Outside the setting range"...
  • Page 185: Operation Timing And Processing Time Of Opr Control

    CHAPTER 8 OPR CONTROL Operation Timing and Processing Time of OPR Control This section explains the operation timing and processing time of OPR control. OPR control OPR start signal (Y20) BUSY signal (X14) OPR start complete signal (X20) OPR request signal (X12) OPR complete signal (X13)
  • Page 186: Opr Parameter Setting

    OPR Parameter Setting For the QD73A1 to execute OPR, OPR parameters must be set. If the data are not set, default values are used for control. The default values are set also when the power was turned off and on, or when the CPU module was reset. The following table lists the OPR parameters to be set, setting condition, and check timing.
  • Page 187: Chapter 9 Major Positioning Control

    CHAPTER 9 MAJOR POSITIONING CONTROL CHAPTER 9 MAJOR POSITIONING CONTROL "Major positioning control" is executed using "variable parameters" and "positioning data" stored in the QD73A1. The position control mode or the speed-position control switch mode is executed by setting a variable parameter "...
  • Page 188: Data Required For Major Positioning Control

    Data Required for Major Positioning Control This section describes "positioning data" required for "major positioning control". (1) Composition of positioning data and setting details Positioning data Setting detail Select a control pattern of major positioning from "positioning control" or "two-phase trapezoidal Positioning pattern Da.1 positioning control".
  • Page 189: Relation Between Each Control And Positioning Data

    CHAPTER 9 MAJOR POSITIONING CONTROL Relation Between Each Control and Positioning Data Setting items and details of positioning data depend on the settings of a positioning data item " Positioning Da.1 pattern" and a variable parameter " Positioning mode". Pr.9 The following table shows the positioning data setting items for each type of control.
  • Page 190: Specifying A Positioning Address

    Specifying a Positioning Address This section describes systems to specify a position for control using positioning data. (1) Absolute system Positioning is executed using the current address as the start address and the address set with " Positioning address P1" as the end address. Da.2 Start point Address 100...
  • Page 191: Checking The Current Value

    CHAPTER 9 MAJOR POSITIONING CONTROL Checking the Current Value In the QD73A1, two types of address are used to indicate position. (1) Addresses to be used The two types of address, "current feed value" and "actual current value", are stored to the monitor data area. They can be monitored when necessary.
  • Page 192: Details Of Major Positioning Control

    Details of Major Positioning Control This section describes details on the position control mode (positioning control and two-phase trapezoidal positioning control) and the speed-position control switch mode. (1) Precautions (a) Dwell-time function The QD73A1 does not have the dwell-time function. When dwell-time is necessary, start the next operation using the timer in the sequence program once the specified period of time passed after Positioning complete signal (X15) turned on.
  • Page 193: Position Control Mode

    CHAPTER 9 MAJOR POSITIONING CONTROL 9.6.1 Position control mode In the position control mode, positioning is executed toward the positioning address specified with positioning data at the specified speed. There are two types of control in the position control mode. •...
  • Page 194 (b) Positioning data setting The following table lists the positioning data to be set, setting condition, and check timing. Buffer Default Check timing memory Setting item Setting range Setting condition value of the set data address (decimal) 0: Positioning control The data can be set anytime.
  • Page 195 CHAPTER 9 MAJOR POSITIONING CONTROL (b) Deceleration distance If the movement amount from the positioning address P1 to the positioning address P2 is less than the deceleration distance from the positioning address P1, two-phase trapezoidal positioning control is not formed. In this case, the deceleration from the positioning speed V1 starts before the workpiece reaches the positioning address P1 so that the operation stops at the positioning address P2.
  • Page 196 (e) Positioning data setting The following table lists the positioning data to be set, setting condition, and check timing. Buffer Default Check timing memory Setting item Setting range Setting condition value of the set data address (decimal) 0: Positioning control Positioning pattern 1: Two-phase trapezoidal Da.1...
  • Page 197: Speed-Position Control Switch Mode

    CHAPTER 9 MAJOR POSITIONING CONTROL 9.6.2 Speed-position control switch mode In the speed-position control switch mode, pulses that correspond to the specified positioning speed are output in the direction specified by a start signal. Then, once Speed-position switching command signal (CHANGE) is input, the operation switches to position control with the specified movement amount.
  • Page 198 (3) " Current feed value" and " Actual current value" Md.1 Md.2 In " Current feed value" and " Actual current value", 0 is set at the start of the speed-position control Md.2 Md.1 switch mode, and the settings are not updated during speed control. They are updated once the operation switched to position control by the input of Speed-position switching command signal (CHANGE).
  • Page 199 CHAPTER 9 MAJOR POSITIONING CONTROL Input Speed-position switching command signal (CHANGE) at the area where the speed is stable (constant speed status). When a servomotor is used, the actual movement amount after the switchover to position control is "Set movement amount + Accumulated pulse amount".
  • Page 200 (a) Operation of a speed-position movement amount change The operation is as follows. Speed control Position control Movement amount (P1) set to " Cd.6 New speed-position movement amount" Movement amount Movement amount cannot can be changed be changed Speed-position switching command signal (CHANGE) The change after Speed-position switching command signal (CHANGE) was turned on...
  • Page 201: Operation Timing And Processing Time Of Major Positioning Control

    CHAPTER 9 MAJOR POSITIONING CONTROL Operation Timing and Processing Time of Major Positioning Control This section explains the operation timing and processing time of major positioning control. Major positioning control Positioning start signal (Y21 to Y23) BUSY signal (X14) Positioning complete signal (X15) Positioning start complete signal (X21 to X23)
  • Page 202: Chapter 10 Jog Operation

    CHAPTER 10 JOG OPERATION The QD73A1's "JOG operation" can move the workpiece without using positioning data, but according to signal inputs and specified movement amount. Use this function for the following. • To check the connection of a positioning system •...
  • Page 203: Operation Of Jog Operation

    CHAPTER 10 JOG OPERATION 10.1 Operation of JOG Operation Once JOG speed is set and while a JOG start signal is turned on through a sequence program, the QD73A1 executes JOG operation in the specified direction by outputting analog voltage to the drive unit. Choose forward run or reverse run using JOG start signals.
  • Page 204 (2) Range of JOG operation The following figure shows the range of JOG operation. Lower limit Stroke limit Stroke limit Upper limit switch (RLS) 2147483647 lower limit upper limit 2147483647 switch (FLS) 2147483647 Error (error Error (error -2147483648 -2147483648 code: 100) code: 100) Within the stroke limit range (Positioning range)
  • Page 205 CHAPTER 10 JOG OPERATION (d) When the upper limit switch (FLS) or the lower limit switch (RLS) turned off The error "Upper limit signal OFF while BUSY" (error code: 91) or the error "Lower limit signal OFF while BUSY" (error code: 92) occurs. If operation decelerated and stopped due to the upper limit switch (FLS) or the lower limit switch (RLS), JOG operation can be executed in the opposite direction (direction back to the normal range) after resetting the error.
  • Page 206 (4) JOG start timing • During deceleration after a JOG start signal was turned off, if the JOG start signal for the same direction is turned on, JOG operation starts again accelerating its speed. Forward JOG start signal (Y24) BUSY signal (X14) Executed by the QD73A1 •...
  • Page 207 CHAPTER 10 JOG OPERATION • During deceleration after a JOG start signal was turned off, if OPR start signal (Y20) or a positioning start signal (Y21 to Y23) is turned on, an error occurs and the operation does not start. Forward JOG start signal (Y24) BUSY signal (X14) OPR start signal (Y20)
  • Page 208: Operation Timing And Processing Time Of Jog Operation

    10.2 Operation Timing and Processing Time of JOG Operation This section explains the operation timing and processing time of JOG operation. JOG operation JOG start signal (Y24, Y25) BUSY signal (X14) Positioning complete signal (X15) This is an indication of internal commands, and does not match with the actual analog output waveform. The following values apply to t1 to t3.
  • Page 209: Data Setting For Jog Operation

    CHAPTER 10 JOG OPERATION 10.3 Data Setting for JOG Operation To execute JOG operation, certain data must be set and stored in the buffer memory areas. The following table lists the JOG data to be set, setting condition, and check timing. Buffer Check timing Default...
  • Page 210: Chapter 11 Control Sub Functions

    CHAPTER 11 CONTROL SUB FUNCTIONS Functions referred to as "sub function" compensate or limit control, or add functions at the execution of major positioning functions. Execute these sub functions by setting parameters or through a sequence program for them. The following functions are referred to as "sub function". Sub function Description Reference...
  • Page 211: Electronic Gear Function

    CHAPTER 11 CONTROL SUB FUNCTIONS 11.1 Electronic Gear Function The "electronic gear function" controls machine movement amount per one command pulse by multiplying command pulse output of the QD73A1. Positioning is much more flexible with the use of this function, eliminating the process of selecting a detector according to the machine system.
  • Page 212 (2) Precautions for control • Execute OPR without fail after resetting the CPU module. If not, a positioning error occurs by the fractions of electronic gear that were not output during positioning before the CPU reset. • When the positioning speed value that was multiplied by the set value of electronic gear exceeds the speed limit value, the limit value is ignored.
  • Page 213: Speed Limit Function

    CHAPTER 11 CONTROL SUB FUNCTIONS 11.2 Speed Limit Function The "speed limit function" limits command speed to the value set in " Speed limit value" when command speed Pr.5 during major positioning control or JOG operation exceeds " Speed limit value". Pr.5 (1) Control detail This function is active on major positioning control and JOG operation.
  • Page 214 (3) Setting the speed limit function The following table lists the data to be set, setting condition, and check timing. Buffer Check timing of the memory Setting item Setting range Default value Setting condition set data address (decimal) The data can be set anytime.
  • Page 215: Stroke Limit Function

    CHAPTER 11 CONTROL SUB FUNCTIONS 11.3 Stroke Limit Function The "stroke limit function" controls operation not to execute positioning when a command that moves the workpiece outside the specified stroke limit range is given. (1) Control detail This function limits the moving range of the workpiece. The following figure shows a moving range of a workpiece when the stroke limit function is used.
  • Page 216 (2) Stroke limit check details and processing for each control The following table describes stroke limit checks and processing in case of an error that are performed by the QD73A1. Check number Check detail Processing in case of an error If a current value is outside the stroke limit range , the The module turns on Error detection signal...
  • Page 217: Upper Limit Switch (Fls)/Lower Limit Switch (Rls) Function

    CHAPTER 11 CONTROL SUB FUNCTIONS 11.4 Upper Limit Switch (FLS)/Lower Limit Switch (RLS) Function The "upper limit switch (FLS)/lower limit switch (RLS) function" decelerates and stops operation according to signal inputs from limit switches that are placed at the upper and lower limits of the machine's movable range. This function prevents the machine from being damaged by stopping the operation before the workpiece reaches the upper or lower limit of the moving range, which is a physical limit that the QD73A1 can handle.
  • Page 218 (2) Wiring upper limit switch (FLS) and lower limit switch (RLS) To use the upper limit switch (FLS)/lower limit switch (RLS) function, wire the QD73A1's terminals for Upper limit signal (FLS) and Lower limit signal (RLS) as in the following figure. QD73A1 24VDC When wiring the terminals, set the switch that is placed on the direction in which "...
  • Page 219: Current Value Change Function

    CHAPTER 11 CONTROL SUB FUNCTIONS 11.5 Current Value Change Function The "current value change function" changes the value set in " Current feed value" to a specified value. Md.1 Use this function when operation cannot be started due to a current feed value outside the stroke range, or to change the current value.
  • Page 220: Speed Change Function

    11.6 Speed Change Function The "speed change function" changes the speed of the operation in process to a specified speed at a specified timing. Set a new speed value to the buffer memory and request the speed change. (1) Control detail The following figure shows the operation of speed changes.
  • Page 221 CHAPTER 11 CONTROL SUB FUNCTIONS (c) New speed and " Speed limit value" Pr.5 When the value set in " New speed value" exceeds " Speed limit value", the positioning is operated Cd.2 Pr.5 at " Speed limit value". Pr.5 (d) Successive speed changes To change speed successively, set an interval of 10ms or more between each speed change.
  • Page 222: Deviation Counter Clear Function

    11.7 Deviation Counter Clear Function The "deviation counter clear function" clears the accumulated pulses in the deviation counter to 0. When the servomotor power was turned off due to an emergency stop during positioning, clearing the accumulated pulses in the deviation counter to 0 prevents servomotor rotation at power recovery. (1) Precautions for control (a) Start after clearing deviation counter To start positioning after clearing the deviation counter, check the following two points.
  • Page 223: In-Position Function

    CHAPTER 11 CONTROL SUB FUNCTIONS 11.8 In-position Function The "in-position function" turns on In-position signal (X16) while the accumulated pulse amount in the deviation counter is within the specified in-position range (1 to 20479pulse) after deceleration started. In-position signal (X16) can be used as the signal right before positioning completion. (1) Control detail In-position signal (X16) turns on when the accumulated pulse amount in the deviation counter becomes equal to the value set in "...
  • Page 224 (3) Setting the in-position function The following table lists the data to be set, setting condition, and check timing. Buffer Setting Default Check timing of memory Setting item Setting condition range value the set data address (decimal) • When a positioning The data can be set anytime.
  • Page 225: Accumulated Pulse Error Detection Function

    CHAPTER 11 CONTROL SUB FUNCTIONS 11.9 Accumulated Pulse Error Detection Function The accumulated pulse error detection function outputs an alert and immediately stops the positioning when the accumulated pulses reached the amount specified by the user before the pulses exceed the amount set in "Accumulated pulse setting"...
  • Page 226 (a) Alert output The QD73A1 compares accumulated pulses that are output during the positioning with alert output accumulated pulses. If accumulated pulses exceed the amount of the alert output accumulated pulses, the error "Accumulated pulse alert" (error code: 130) occurs. (Even after the error occurs, the positioning continues.) (b) Immediate stop processing The QD73A1 compares accumulated pulses that are output during the positioning with immediate stop...
  • Page 227: Measuring And Saving The Reference Value In The Flash Rom

    CHAPTER 11 CONTROL SUB FUNCTIONS 11.9.1 Measuring and saving the reference value in the flash ROM Before using the accumulated pulse error detection function, the reference value needs to be measured to detect errors. Reference value means the maximum/minimum accumulated pulse values that are output when the QD73A1 is operating normally.
  • Page 228: Setting The Accumulated Pulse Error Detection Function

    11.9.2 Setting the accumulated pulse error detection function Set the values of " Alert output accumulated pulse setting value (maximum value)" to " Immediate stop Cd.13 Cd.16 accumulated pulse setting value (minimum value)", and set " Accumulated pulse error detection request" to 1 to Cd.18 execute the accumulated pulse error detection function.
  • Page 229 CHAPTER 11 CONTROL SUB FUNCTIONS (1) Alert output accumulated pulses and immediate stop accumulated pulses Alert output accumulated pulses (accumulated pulses set to output an alert) and immediate stop accumulated pulses (accumulated pulses set to stop the positioning immediately) are set by combining the following values. •...
  • Page 230 (c) Alert output accumulated pulse setting value, immediate stop accumulated pulse setting value, and "Accumulated pulse setting" in the switch setting The setting range of " Alert output accumulated pulse setting value (maximum value)" is 1 to 148000 (the Cd.13 range of "...
  • Page 231 CHAPTER 11 CONTROL SUB FUNCTIONS When the setting values are as follows: • Alert output accumulated pulse setting value (maximum value): 1200 Cd.13 • Immediate stop accumulated pulse setting value (maximum value): 1100 Cd.14 Both alert output accumulated pulses and immediate stop accumulated pulses are judged by accumulated pulses that are 1.1 times of the reference value (maximum value).
  • Page 232: Chapter 12 Stopping And Restarting Control

    CHAPTER 12 STOPPING AND RESTARTING CONTROL This chapter describes stops and restarts of control. 12.1 Stopping Control This section describes control stops. The QD73A1 stops control in case of the following. • When each control ended normally • When Servo READY signal (READY) turned off •...
  • Page 233 CHAPTER 12 STOPPING AND RESTARTING CONTROL An emergency stop circuit should be built outside the programmable controller. (2) Stop during OPR If an error (a cause of a stop) occurs during OPR, a deceleration stop starts at the error occurrence. At the completion of the deceleration stop, OPR request signal (X12) stays on.
  • Page 234 (3) Stop during major positioning control or JOG operation (a) Stop before deceleration start of major positioning control or JOG operation If an error (a cause of a stop) occurs prior to a start of deceleration during major positioning control or JOG operation, a deceleration stop starts at the error occurrence.
  • Page 235 CHAPTER 12 STOPPING AND RESTARTING CONTROL (b) Stop during deceleration of major positioning control or JOG operation If an error (a cause of a stop) occurs during deceleration of major positioning control or JOG operation, the deceleration continues and the operation stops since it is toward completion of the positioning or is following a change (from on to off) of a JOG start signal (Y24, Y25).
  • Page 236: Restarting The Speed-Position Control Switch Mode

    12.2 Restarting the Speed-position Control Switch Mode After a deceleration stop following Stop signal, the operation of the speed-position control switch mode before the stop can be restarted by turning on Speed-position mode restart signal (Y26). (1) Control detail (a) When positioning is stopped using Stop signal (Y27) or Stop signal (STOP) The positioning before the stop can be restarted by turning on Speed-position mode restart signal (Y26).
  • Page 237 CHAPTER 12 STOPPING AND RESTARTING CONTROL (b) When speed is changed during positioning After a stop following the input of Stop signal (STOP), if Speed-position mode restart signal (Y26) is turned on, the positioning restarts according to the positioning speed set in the positioning data. The positioning does not restart at the new speed.
  • Page 238: Chapter 13 Common Functions

    CHAPTER 13 COMMON FUNCTIONS Functions referred to as "common function" can be used regardless of control method when necessary. Common functions can be used on GX Works2. 13.1 Module Status Monitor Function The "module status monitor function" monitors the module information, switch setting information, and external I/O signal information.
  • Page 239 CHAPTER 13 COMMON FUNCTIONS (2) Hardware switch information The following switch setting statuses are displayed. Item Switch setting Value ROT DIR Rotation direction setting ACCUM PLS Accumulated pulse setting MULTI Multiplication setting ZERO DIR OPR direction setting Refer to Page 276, Appendix 4.1 (2). OPR METHOD OPR method setting ENC I/F...
  • Page 240: Error History Function

    13.2 Error History Function This function monitors the QD73A1's error history stored in the buffer memory. The error history of past 16 records can be monitored. Once 16 records are stored, the next record overwrites the oldest record. Therefore, the latest 16 errors are stored at all times. To check the error history, the QD73A1 needs to be registered in the intelligent function module monitor window.
  • Page 241: Module Error Collection Function

    CHAPTER 13 COMMON FUNCTIONS 13.3 Module Error Collection Function Errors that occurred in the QD73A1 are collected into the CPU module. The error information of the QD73A1 module is held in a CPU module memory as a module error history, even when the power is turned off or the CPU module is reset.
  • Page 242: Error Clear Function

    13.4 Error Clear Function When an error occurs, the error can be cleared on the system monitor. By clicking the button in the system monitor, the error codes stored in " Error code (ERR.1)" and Md.3 " Error code (ERR.2)" are cleared, and the ERR. LED turns off. This operation is the same as the one that uses Md.4 Error reset signal (Y28).
  • Page 243: Chapter 14 Troubleshooting

    CHAPTER 14 TROUBLESHOOTING CHAPTER 14 TROUBLESHOOTING This chapter describes errors that may occur in the QD73A1 and troubleshooting for them. 14.1 Checking an Error on GX Works2 The error codes that occurred in the QD73A1 can be checked by the following. Choose a method depending on the purpose and application.
  • Page 244 (From the previous page)  Click the button to display the "Module's Detailed Information" window. The error detail and solution can be checked under "Error and Solution" (2) Checking on the "Error History" window An error history that includes errors in the QD73A1 and other modules is displayed in a list, and it can be output to a CSV file.
  • Page 245 CHAPTER 14 TROUBLESHOOTING (b) Error and Solution, Intelligent Module Information • Error and Solution: Displays the detail and corrective action for the error selected on "Error History List". • Intelligent Module Information: Displays the QD73A1's status at the occurrence of the error selected on "Error History List".
  • Page 246 (c) Button to create a CSV file An error history is output to a CSV file. If errors occur in the QD73A1 frequently, " HST.LOSS " may be displayed under "Error Code" instead of an actual error code. If " HST.LOSS "...
  • Page 247: Troubleshooting

    CHAPTER 14 TROUBLESHOOTING 14.2 Troubleshooting 14.2.1 Troubleshooting procedure This section shows the troubleshooting procedure for the QD73A1. Start (Error occurrence) Page 246, Section 14.2.2 Has the motor stopped? Check the LED on the front of the QD73A1. Page 252, Section 14.3.4 Is the ERR.LED off? Page 246, Section 14.2.3 Is positioning executed?
  • Page 248: When The Motor Does Not Stop

    14.2.2 When the motor does not stop Check item Action Is the QD73A1's zero adjustment performed properly? Perform zero adjustment. ( Page 59, Section 4.5) Is the servo amplifier's zero adjustment performed properly? Refer to the manual for the servo amplifier, and perform zero adjustment. Refer to the manual for the servo amplifier, and adjust the gain value of the Is a large value set to the gain value of the servo amplifier? servo amplifier to a proper value.
  • Page 249: When A Positioning Error Occurs

    CHAPTER 14 TROUBLESHOOTING Check item Action Is proper wave output displayed when the QD73A1's speed command terminal is connected to an oscilloscope? If proper wave output is not displayed, please consult your local Mitsubishi representative. Is proper wave output displayed when the drive unit's encoder output terminal is connected to an oscilloscope?
  • Page 250: When The Positioning Speed Is Different From The Specified Speed

    14.2.5 When the positioning speed is different from the specified speed Check item Action Are the positioning data set properly? Set proper positioning data. Is the set positioning speed value greater than " Speed Set a positioning speed value that is smaller than " Speed limit Pr.5 Pr.5...
  • Page 251: Opr Error

    CHAPTER 14 TROUBLESHOOTING 14.2.7 OPR error (1) When OPR cannot be completed Check item Action Does Near-point dog signal (DOG) stay off? Check if Near-point dog signal (DOG) is wired properly. Does the speed change to the creep speed after Near-point dog signal (DOG) turned on? The QD73A1 may be broken.
  • Page 252: Details Of Errors

    14.3 Details of Errors 14.3.1 Types of errors The errors detected in the QD73A1 are categorized into five types. (1) Setting data range error The QD73A1 checks parameters with the setting ranges at the following timings, and detects an error when a data is outside the setting range.
  • Page 253: Storage Of Errors

    CHAPTER 14 TROUBLESHOOTING 14.3.2 Storage of errors When an error occurs in the QD73A1, the corresponding error code is stored in the buffer memory. (1) ERR.1 and ERR.2 Errors are classified into ERR.1 and ERR.2 depending on the error details. Error classification Description Errors caused due to sequence programs.
  • Page 254: Error Code List

    14.3.4 Error code list The following table describes error details and corrective actions. Error Error Error Operation at the code Error name Description Action category classification error occurrence (decimal) The set value in " Stroke limit Set a value within the Pr.2 Stroke limit lower limit"...
  • Page 255 CHAPTER 14 TROUBLESHOOTING Error Error Error Operation at the code Error name Description Action category classification error occurrence (decimal) Set a value within the The set value in setting range. OPR speed " OPR speed" Pr.11 [Setting range] Outside the is outside the setting setting range 1 to "...
  • Page 256 Error Error Error Operation at the code Error name Description Action category classification error occurrence (decimal) Set a value within the Setting data setting range. Positioning The positioning speed range error [Setting range] speed Outside is outside the setting (Positioning The positioning does the setting range range.
  • Page 257 CHAPTER 14 TROUBLESHOOTING Error Error Error Operation at the code Error name Description Action category classification error occurrence (decimal) Return the workpiece to Near-point dog signal a position away from Near-point dog (DOG) is on at the the near-point dog ERR.2 signal ON at start of OPR in the...
  • Page 258 Error Error Error Operation at the code Error name Description Action category classification error occurrence (decimal) Speed-position mode restart signal (Y26) Start operation using was turned on when Forward start signal positioning was (Y22) or Reverse start complete in the signal (Y23).
  • Page 259 CHAPTER 14 TROUBLESHOOTING Error Error Error Operation at the code Error name Description Action category classification error occurrence (decimal) • Start OPR if the workpiece stops when the near-point dog turns on in the count method. • In the near-point dog method, if the workpiece stops after the near-point dog...
  • Page 260 Error Error Error Operation at the code Error name Description Action category classification error occurrence (decimal) PLC READY signal PLC READY (Y2D) was turned off The operation Operation Turn on PLC READY signal OFF during major decelerates and error signal (Y2D). during operation positioning or JOG stops.
  • Page 261 CHAPTER 14 TROUBLESHOOTING Error Error Error Operation at the code Error name Description Action category classification error occurrence (decimal) For zero/gain adjustment, a setting Turn off and on the Flash ROM write value has been power supply, or reset exceeded consecutively written the CPU module or the to the flash ROM more...
  • Page 262 Error Error Error Operation at the code Error name Description Action category classification error occurrence (decimal) Set a value within the setting range. [Setting range] Depends on "Accumulated pulse setting" in the switch The set value in Analog output setting. (Unit: pulse) "...
  • Page 263 CHAPTER 14 TROUBLESHOOTING Error Error Error Operation at the code Error name Description Action category classification error occurrence (decimal) Accumulated pulses Accumulated The positioning reached the alert  pulse alert continues. level. • The number of accumulated pulses used as the reference of the accumulated pulse •...
  • Page 264 Error Error Error Operation at the code Error name Description Action category classification error occurrence (decimal) The measured reference value has Turn off and on the Flash ROM write been consecutively power supply or reset exceeded written to the flash the CPU module, or ROM more than 25 clear the error.
  • Page 265: Appendices

    APPENDICES APPENDICES Appendix 1 Functions Added or Changed Appendix 1.1 Functions added The following lists the functions added to the QD73A1 and corresponding product information. QD73A1 product information Function Reference (first five digits) Accumulated pulse error detection function 14082 or later Page 223, Section 11.9 Feedback pulse addition/subtraction setting Page 106, Section 6.2.8...
  • Page 266: Appendix 2 Connection Examples

    Appendix 2 Connection Examples Appendix 2.1 Example of connection with a servo amplifier manufactured by Mitsubishi Electric Corporation (1) Connection with MR-J3A (Differential driver) QD73A1 CN1 MR-J3- A DOG Near-point dog signal N.C. N.C. N.C. Power supply (5 to 24V) RLS Lower limit signal CONT.
  • Page 267: Example Of Connection With A Servo Amplifier Manufactured By Yaskawa Electric Corporation

    APPENDICES Appendix 2.2 Example of connection with a servo amplifier manufactured by YASKAWA Electric Corporation (1) Connection with -V series (Differential driver) • For DC power supply input type QD73A1 -V series DOG Near-point dog signal N.C. N.C. N.C. Power supply (5 to 24V) RLS Lower limit signal CONT.
  • Page 268 • For AC power supply input type QD73A1 -V series DOG Near-point dog signal N.C. N.C. N.C. Power supply (5 to 24V) RLS Lower limit signal CONT. FLS Upper limit signal External connector CHANGE Speed-position switching command signal power supply STOP Stop signal READY Servo READY signal (+ side) 30 /S-RDY-...
  • Page 269: Appendix 3 Comparison Of The Qd73A1 And The Ad70/A1Sd70

    APPENDICES Appendix 3 Comparison of the QD73A1 and the AD70/A1SD70 (1) Performance specification comparison Specifications Item QD73A1 AD70 A1SD70 48 points (I/O 48 points (I/O assignment: empty 16 points and 32 points (special 32 assignment: empty 16 Number of occupied I/O points intelligent 32 points) points) points and special 32...
  • Page 270 Specifications Item QD73A1 AD70 A1SD70 None ERR. ERR.1/ERR.2 (Minor/major error) ZERO None GAIN None None (check with X signal) SV RDY (Servo READY signal) None (check with X signal) DOG (Near-point dog signal) None (check with X signal) STOP (Stop signal) None (check with X signal) FLS (Upper limit signal) None (check with X signal)
  • Page 271 APPENDICES (2) Function comparison : Usable ×: Unusable Function QD73A1 AD70/A1SD70 Difference [Movement amount after near-point dog ON (buffer memory)] • QD73A1: The movement amount where the OPR direction is reflected is stored in Movement Md.6 amount after near-point dog ON, which is the same OPR control buffer memory address as the AD70/A1SD70.
  • Page 272 Function QD73A1 AD70/A1SD70 Difference Accumulated pulse error detection  × function [Method] • QD73A1: Switches on the front of the QD73A1 or a Zero/gain adjustment sequence program • AD70/A1SD70: Switches on the AD70/A1SD70  Module status monitor function ×  Error history function ×...
  • Page 273 APPENDICES Remark Positioning execution time (BUSY signal (X14) ON to Positioning complete signal (X15) ON) of the QD73A1 and AD70/A1SD70 may be different since their internal processing methods are different. As a result, the timing when In-position signal (X16) turns on may also vary. Adjust positioning execution time using the following methods if the difference of the execution time (or the timing when In- position signal (X16) turns on) affects the system.
  • Page 274 (4) Input (X)/output (Y) comparison : Usable ×: Unusable Signal name QD73A1 AD70/A1SD70 Device No. OPR start complete signal × Absolute positioning start complete signal × Forward start complete signal × Reverse start complete signal × Synchronization flag × Zero/gain adjustment data writing complete flag ×...
  • Page 275 APPENDICES (5) Buffer memory address comparison Buffer memory address (decimal) Buffer memory area name QD73A1 AD70/A1SD70  Current value change request  Speed change request  Analog output adjustment area 2   Zero/gain adjustment specification  Zero/gain adjustment value specification Factory default zero/gain adjustment value ...
  • Page 276 Buffer memory address (decimal) Buffer memory area name QD73A1 AD70/A1SD70  Measurement start request  Reference value write request All the other buffer memory addresses are the same. (6) External I/O signal comparison Description Input/out Signal name QD73A1 AD70/A1SD70 Input Power supply Terminal block None...
  • Page 277: Appendix 4 When Using Gx Developer

    APPENDICES Appendix 4 When Using GX Developer This section describes the operating procedure of GX Developer. When using GX Developer, configure the parameter settings and the auto refresh settings with the sequence program. • PROGRAMMING ( Page 111, CHAPTER 7) (1) Applicable software versions For applicable software versions, refer to the following.
  • Page 278 (2) Intelligent function module switch setting Configure the setting on "Switch setting" in "PLC parameter". Parameter [PLC parameter] [I/O assignment] Click the button. Select "HEX.". Item Setting detail Rotation direction setting Positive voltage is output when the positioning address increases. Negative voltage is output when the positioning address increases.
  • Page 279 APPENDICES Item Setting detail Encoder I/F setting and Analog voltage resolution setting b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Fixed to 0 Fixed to 0 b1 and b0: Encoder I/F setting 00 or 01: Open collector output 10: TTL output Switch 2...
  • Page 280: Appendix 5 Terms

    Appendix 5 Terms (1) Encoder One of the pulse generators that converts input data into binary data (on and off) (2) Near-point dog A switch used in positioning systems, which is placed before the original point of a workpiece. When this switch turns on, the feedrate is switched to creep speed.
  • Page 281 APPENDICES (6) Drive unit (servo amplifier) A generic term for drive units that support analog voltage inputs. The commands that are output from the QD73A1 are low voltage. This unit is used to amplify the energy and activate a motor. The unit, also called a servo amplifier, is an accessory on a servomotor.
  • Page 282: Appendix 6 External Dimensions

    Appendix 6 External Dimensions 50.8 55.2 (Unit: mm)
  • Page 283 APPENDICES Memo...
  • Page 284: Index

    Example of connection with a servo amplifier . . 264 manufactured by Mitsubishi Electric Corporation ..... . . 59,104 Excessive error .
  • Page 285 ....97 Factory default zero/gain adjustment value restoration Measurement start request ....... . 92 .
  • Page 286 ......56 ..37 Part names Set value change request signal (Y1C) .
  • Page 287 ..... 34 Upper limit signal (X1E) . . 215 Upper limit switch (FLS)/lower limit switch (RLS) ......75 Variable parameter .
  • Page 288: Revisions

    Japanese manual version SH-081074-F 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 289: Warranty

    WARRANTY Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company.
  • Page 290 Microsoft, Windows, Windows Vista, Windows NT, Windows XP, Windows Server, Visio, Excel, PowerPoint, Visual Basic, Visual C++, and Access are either registered trademarks or trademarks of Microsoft Corporation in the United States, Japan, and other countries. Intel, Pentium, and Celeron are either registered trademarks or trademarks of Intel Corporation in the United States and other countries.
  • Page 292 SH(NA)-081075ENG-C(1409)MEE MODEL: QD73A1-U-E MODEL CODE: 13JZ69 HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission.

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