Mitsubishi MELSEC QD75P User Manual

Mitsubishi MELSEC QD75P User Manual

Positioning module
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Type QD75P/QD75D Positioning Module
User's Manual
Mitsubishi Programmable
Logic Controller
Get other manuals https://www.bkmanuals.com
QD75P1
QD75P2
QD75P4
QD75D1
QD75D2
QD75D4

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Summary of Contents for Mitsubishi MELSEC QD75P

  • Page 1 Type QD75P/QD75D Positioning Module User's Manual QD75P1 QD75P2 QD75P4 Mitsubishi Programmable QD75D1 Logic Controller QD75D2 QD75D4 Get other manuals https://www.bkmanuals.com...
  • Page 2 Get other manuals https://www.bkmanuals.com...
  • Page 3: Safety Instructions

    SAFETY INSTRUCTIONS (Always read these instructions before using this equipment.) Before using this product, please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly. The instructions given in this manual are concerned with this product. For the safety instructions of the programmable logic controller system, please read the CPU module User's Manual.
  • Page 4 [Design Instructions] CAUTION Do not bundle or adjacently lay the control wire or communication cable with the main circuit or power wire. Separate these by 100mm (3.94in.) or more. Failure to observe this could lead to malfunctioning caused by noise. [Mounting Instructions] CAUTION Use the PLC within the general specifications environment given in this manual.
  • Page 5 [Startup/Maintenance Instructions] CAUTION Never disassemble or modify the module. Failure to observe this could lead to trouble, malfunctioning, injuries or fires. Completely turn off the externally supplied power used in the system before installing or removing the module. Failure to turn all phases OFF could lead to module trouble or malfunctioning. Do not mount/remove the module onto/from the base unit more than 50 times (IEC61131-2- compliant), after the first use of the product.
  • Page 6: Revisions

    REVISIONS The manual number is given on the bottom left of the back cover Print Date Manual Number Revision Dec., 1999 SH (NA)-080058-A First edition Oct., 2000 SH (NA)-080058-B Addition of function version B (Overall revisions based on the Japanese Manual Version SH-080047-E) Jun., 2001 SH (NA)-080058-C...
  • Page 7 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 8: Table Of Contents

    INTRODUCTION Thank you for purchasing the Mitsubishi general-purpose programmable logic controller MELSEC-Q Series. Always read through this manual, and fully comprehend the functions and performance of the Q Series PLC before starting use to ensure correct usage of this product.
  • Page 9 3. Specifications and Functions 3- 1 to 3- 24 3.1 Performance specifications........................3- 2 3.2 List of functions ............................3- 4 3.2.1 QD75 control functions........................3- 4 3.2.2 QD75 main functions......................... 3- 6 3.2.3 QD75 sub functions and common functions ..................3- 8 3.2.4 Combination of QD75 main functions and sub functions..............
  • Page 10 5.2 List of parameters ........................... 5- 20 5.2.1 Basic parameters 1 .......................... 5- 20 5.2.2 Basic parameters 2 .......................... 5- 26 5.2.3 Detailed parameters 1........................5- 28 5.2.4 Detailed parameters 2........................5- 36 5.2.5 OPR basic parameters........................5- 46 5.2.6 OPR detailed parameters ........................ 5- 54 5.3 List of positioning data ..........................
  • Page 11 Section 2 Control Details and Setting 8. OPR Control 8- 1 to 8- 22 8.1 Outline of OPR control ..........................8- 2 8.1.1 Two types of OPR control ......................... 8- 2 8.2 Machine OPR............................8- 4 8.2.1 Outline of the machine OPR operation..................... 8- 4 8.2.2 Machine OPR method........................
  • Page 12 9.2.20 NOP instruction ..........................9-110 9.2.21 JUMP instruction ........................... 9-111 9.2.22 LOOP............................. 9-113 9.2.23 LEND ............................. 9-114 10. High-Level Positioning Control 10- 1 to 10- 26 10.1 Outline of high-level positioning control....................10- 2 10.1.1 Data required for high-level positioning control................10- 3 10.1.2 "...
  • Page 13 11.4.4 Creating a program to enable/disable the manual pulse generator operation ......11- 33 12. Control Sub Functions 12- 1 to 12- 98 12.1 Outline of sub functions ........................12- 2 12.1.1 Outline of sub functions......................... 12- 2 12.2 Sub functions specifically for machine OPR ..................12- 4 12.2.1 OPR retry function.........................
  • Page 14 Appendix 2.3 Positioning data setting value entry table ............Appendix- 12 Appendix 3 Positioning data (No. 1 to 600) List of buffer memory addresses.......Appendix- 13 Appendix 4 Connection examples with servo amplifiers manufactured by MITSUBISHI Electric Corporation ............................Appendix- 37 Appendix 4.1 Connection example of QD75D and MR-H A (Differential driver) ....Appendix- 37...
  • Page 15: About Manuals

    10H ..Hexadecimal Conformation to the EMC AND LOW-VOLTAGE DIRECTIVES For details on making Mitsubishi PLC conform to the EMC and Low Voltage Directives when installing it in your product, please refer to Chapter 3, “EMC AND LOW-VOLTAGE DIRECTIVES” of the using PLC CPU module User’s Manual (Hardware).
  • Page 16: Generic Terms And Abbreviations

    Generic Terms and Abbreviations Unless specially noted, the following generic terms and abbreviations are used in this manual. Generic term/abbreviation Details of generic term/abbreviation PLC CPU Generic term for PLC CPU on which QD75 can be mounted. QD75 Generic term for positioning module QD75P1, QD75P2, QD75P4, QD75D1, QD75D2, and QD75D4.
  • Page 17: Component List

    Component List The table below shows the component included in respective positioning modules: Module name Description Quantity QD75P1 QD75P1 Positioning Module(1-axis open collector output system) QD75P2 QD75P2 Positioning Module(2-axes open collector output system) QD75P4 QD75P4 Positioning Module(4-axes open collector output system) QD75D1 Positioning Module(1-axis differential driver output system) QD75D1 Differential driver common terminal...
  • Page 18 MEMO A - 16 Get other manuals https://www.bkmanuals.com...
  • Page 19: Section 1 Product Specifications And Handling

    Section 1 Product Specifications and Handling Section 1 is configured for the following purposes (1) to (5). (1) To understand the outline of positioning control, and the QD75 specifications and functions (2) To carry out actual work such as installation and wiring (3) To set parameters and data required for positioning control (4) To create a sequence program required for positioning control (5) To understand the memory configuration and data transmission process...
  • Page 20 MEMO Get other manuals https://www.bkmanuals.com...
  • Page 21 Chapter 1 Product Outline The purpose and outline of positioning control using QD75 are explained in this chapter. Reading this chapter will help you understand what can be done using the positioning system and which procedure to use for a specific purpose. By understanding "What can be done", and "Which procedure to use"...
  • Page 22: Positioning Control

    1 PRODUCT OUTLINE MELSEC-Q 1.1 Positioning control 1.1.1 Features of QD75 The features of the QD75 are shown below. (1) Availability of one, two, and four axis modules (a) One, two and four axis modules are available for both the open collector system pulse output (QD75P1, QD75P2, and QD75P4) and differential driver system pulse output (QD75D1, QD75D2, and QD75D4), comprising six different models.
  • Page 23 1 PRODUCT OUTLINE MELSEC-Q (c) Continuous positioning control using multiple positioning data can be executed in accordance with the operation patterns the user assigned to the positioning data. (Refer to Section 5.3 and 9.1.2) Continuous positioning control can be executed over multiple blocks, where each block consists of multiple positioning data.
  • Page 24 1 PRODUCT OUTLINE MELSEC-Q (6) Support of intelligent function module dedicated instructions Dedicated instructions such as the absolute position restoration instruction, positioning start instruction, and teaching instruction are provided. The use of such dedicated instruction simplifies sequence programs.(Refer to Chapter 14.) (7) Setups, monitoring, and testing through GX Configurator-QP Using GX Configurator-QP, the user can control the QD75 parameters and positioning data without having to be conscious of the buffer memory addresses.
  • Page 25: Purpose And Applications Of Positioning Control

    1 PRODUCT OUTLINE MELSEC-Q 1.1.2 Purpose and applications of positioning control "Positioning" refers to moving a moving body, such as a workpiece or tool (hereinafter, generically called "workpiece") at a designated speed, and accurately stopping it at the target position. The main application examples are shown below. Punch press (X, Y feed positioning •...
  • Page 26 1 PRODUCT OUTLINE MELSEC-Q Lifter (Storage of Braun tubes onto aging rack) • During the aging process of braun tubes, Unloader storage onto the rack is carried out by Loader/unloader positioning with the AC servo. • The up/down positioning of the lifter is carried B conveyor Aging rack out with the 1-axis servo, and the horizontal...
  • Page 27: Mechanism Of Positioning Control

    1 PRODUCT OUTLINE MELSEC-Q 1.1.3 Mechanism of positioning control Positioning control using the QD75 is carried out with "pulse signals". (The QD75 is a module that generates pulses). In the positioning system using the QD75, various software and devices are used for the following roles. The QD75 realizes complicated positioning control when it reads in various signals, parameters and data and is controlled with the PLC CPU.
  • Page 28 1 PRODUCT OUTLINE MELSEC-Q The principle of "position control" and "speed control" operation is shown below. Position control The total No. of pulses required to move the designated distance is obtained in the following manner. Designated distance Total No. of pulses No.
  • Page 29: Outline Design Of Positioning System

    1 PRODUCT OUTLINE MELSEC-Q 1.1.4 Outline design of positioning system The outline of the positioning system operation and design, using the QD75, is shown below. (1) Positioning system using QD75 PLC CPU Positioning module Drive unit Servomotor QD75 Forward run pulse train Speed command...
  • Page 30 1 PRODUCT OUTLINE MELSEC-Q (b) Pulse train output from the QD75 1) As shown in Fig. 1.3, the pulse frequency increases as the motor accelerates. The pulses are sparse when the motor starts and more frequent when the motor speed comes close to the target speed. 2) The pulse frequency stabilizes when the motor speed equals the target speed.
  • Page 31 1 PRODUCT OUTLINE MELSEC-Q (a) In the system shown in Fig. 1.4, the movement amount per pulse, command pulse frequency, and the deviation counter droop pulser amount are determined as follows: 1) Movement amount per pulse The movement amount per pulse is determined by the worm gear lead, deceleration ratio, and the pulse encoder resolution.
  • Page 32: Communicating Signals Between Qd75 And Each Module

    1 PRODUCT OUTLINE MELSEC-Q 1.1.5 Communicating signals between QD75 and each module The outline of the signal communication between the QD75 and PLC CPU, peripheral device and drive unit, etc., is shown below. (A peripheral device communicates with the QD75 via the PLC CPU to which it is connected) QD75 PLC READY signal...
  • Page 33 1 PRODUCT OUTLINE MELSEC-Q QD75 PLC CPU The QD75 and PLC CPU communicate the following data via the base unit. Direction QD75 PLC CPU PLC CPU QD75 Communication Signal related to commands such as PLC Signal indicating QD75 state, such as Control signal READY signal, various start signals, stop QD75 READY signal, BUSY signal.
  • Page 34 1 PRODUCT OUTLINE MELSEC-Q QD75 External signal The QD75 and external signal communicate the following data via the external device connection connector. Direction QD75 External signal External signal QD75 Communication • Signals from detector such as near-point dog signal, upper/lower limit signal, zero signal Control signal –...
  • Page 35: Flow Of System Operation

    1 PRODUCT OUTLINE MELSEC-Q 1.2 Flow of system operation 1.2.1 Flow of all processes The positioning control processes, using the QD75, are shown below. GX Developer GX Configurator-QP QD75 Servo, etc. PLC CPU Understand the functions and performance, and determine the positioning operation method Design (system design) Installation, wiring...
  • Page 36 1 PRODUCT OUTLINE MELSEC-Q The following work is carried out with the processes shown on the previous page. Details Reference • Chapter 1 • Chapter 2 Understand the product functions and usage methods, the configuration devices • and specifications required for positioning control, and design the system. Chapter 3 •...
  • Page 37 1 PRODUCT OUTLINE MELSEC-Q MEMO 1 - 17 Get other manuals https://www.bkmanuals.com...
  • Page 38: Outline Of Starting

    1 PRODUCT OUTLINE MELSEC-Q 1.2.2 Outline of starting The outline for starting each control is shown with the following flowchart. It is assumed that each module is installed, and the required system configuration, etc., has been prepared. Flow of starting Installation and connection of module Preparation Setting of hardware...
  • Page 39 1 PRODUCT OUTLINE MELSEC-Q Setting method : Indicates the sequence program that must be created. <GX Configurator-QP> Set with GX Configurator-QP Write Set the parameter and data for executing main function, and the sub functions that need to be set beforehand. QD75 <GX Developer>...
  • Page 40: Outline Of Stopping

    1 PRODUCT OUTLINE MELSEC-Q 1.2.3 Outline of stopping Each control is stopped in the following cases. (1) When each control is completed normally. (2) When the drive unit READY signal is turned OFF. (3) When a PLC CPU error occurs (4) When the PLC READY signal is turned OFF.
  • Page 41: Outline For Restarting

    1 PRODUCT OUTLINE MELSEC-Q 1.2.4 Outline for restarting When a stop cause has occurred during operation with position control causing the axis to stop, positioning to the end point of the positioning data can be restarted from Cd.6 the stopped position by using the " Restart command".
  • Page 42: Restrictions With A System Using A Stepping Motor

    1 PRODUCT OUTLINE MELSEC-Q 1.3 Restrictions with a system using a stepping motor Note the following restrictions applicable to a system that uses a stepping motor: (1) The S-pattern acceleration/deceleration is disabled because it requires a servomotor for the controlled axis. (2) The circular interpolation control is disabled because it requires a servomotor for each of the two controlled axes.
  • Page 43 Chapter 2 System Configuration In this chapter, the general image of the system configuration of the positioning control using QD75, the configuration devices, applicable CPU and the precautions of configuring the system are explained. Prepare the required configuration devices to match the positioning control system. 2.1 General image of system .....................2- 2 2.2 Component list......................2- 4 2.3 Applicable system......................2- 5...
  • Page 44: System Configuration 2- 1 To

    2 SYSTEM CONFIGURATION MELSEC-Q 2.1 General image of system The general image of the system, including the QD75, PLC CPU and peripheral devices is shown below. (The Nos. in the illustration refer to the "No." in Section 2.2 "Component list". Main base unit Extension cable...
  • Page 45 2 SYSTEM CONFIGURATION MELSEC-Q Drive Motor unit Manual pulse generator Cable Machine system inputs (switches) Near point dog Limit switch External command signal Stop signal Peripheral device GX Configurator Personal computer SWnD5C -QD75P-E (For details, refer to GX Configurator -QP Operating Manual.) 2 - 3 Get other manuals https://www.bkmanuals.com...
  • Page 46: Component List

    – (Prepared by user) (Prepared by user) Manual pulse – generator Recommended: MR-HDP01 (Mitsubishi Electric) (Prepared by user) Connection cable Cables are needed to connect the QD75 with the drive unit, manual pulse (For connecting – generator, and input devices in the machine system.
  • Page 47: Applicable System

    2 SYSTEM CONFIGURATION MELSEC-Q 2.3 Applicable system The QD75 can be used in the following system. (1) Applicable modules and the number of installable modules The following table indicates the CPU modules and network modules (for remote I/O station) usable with the QD75 and the number of installable modules. Applicable modules Number of installable modules Remarks...
  • Page 48: How To Check The Function Version And Serial No

    2 SYSTEM CONFIGURATION MELSEC-Q 2.4 How to check the function version and SERIAL No. The function version and SERIAL No. of the QD75 can be checked in the following methods. [1] Method using the rated plate on the module side face [2] Method using the software [1] Method using the rated plate on the module side face Check the function version and SERIAL No.
  • Page 49 Chapter 3 Specifications and Functions The various specifications of the QD75 are explained in this chapter. The "General specifications", "Performance specifications", "List of functions", "Specifications of input/output signals with PLC CPU", and the "Specifications of input/output interfaces with external devices", etc., are described as information required when designing the positioning system.
  • Page 50: Performance Specifications

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.1 Performance specifications Model QD75P1 QD75P2 QD75P4 Item QD75D1 QD75D2 QD75D4 No. of control axes 1 axis 2 axes 4 axes 2-, 3-, or 4-axis linear 2-axis linear interpolation Interpolation function None interpolation 2-axis circular interpolation 2-axis circular interpolation PTP (Point To Point) control, path control (both linear and arc can be set), speed control, speed- Control system...
  • Page 51 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q Model QD75P1 QD75P2 QD75P4 Item QD75D1 QD75D2 QD75D4 1-axis linear control Factors in starting time extension The following times will be added to 1-axis speed control the starting time in the described 2-axis linear interpolation control (Composite speed) conditions: 2-axis linear interpolation control (Reference axis speed) •...
  • Page 52: List Of Functions

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.2 List of functions 3.2.1 QD75 control functions The QD75 has several functions. In this manual, the QD75 functions are categorized and explained as follows. Main functions (1) OPR control "OPR control" is a function that established the start point for carrying out positioning control, and carries out positioning toward that start point.
  • Page 53 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q Main functions Sub functions OPR control Control registered in QD75 (Functions characteristic to machine OPR) [Positioning start No.] retry function [9001] Machine OPR OP shift function [9002] Fast OPR <Functions that compensate control> Backlash compensation function Electronic gear function Major positioning control Control using "Positioning data"...
  • Page 54: Qd75 Main Functions

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.2.2 QD75 main functions The outline of the main functions for positioning control with the QD75 is described below. (Refer to Section 2 for details on each function.) Reference Main functions Details section Mechanically establishes the positioning start point using Machine OPR control a near-point dog or stopper.
  • Page 55 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q Reference Main functions Details section With one start, executes the positioning data in a random block Block start (Normal start) 10.3.2 with the set order. Carries out condition judgment set in the "condition data" for the designated positioning data, and then executes the "block start data".
  • Page 56: Qd75 Sub Functions And Common Functions

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.2.3 QD75 sub functions and common functions Sub functions The functions that assist positioning control using the QD75 are described below. (Refer to Section 2 for details on each function. Reference Sub function Details section This function retries the machine OPR with the upper/lower limit switches during machine OPR.
  • Page 57 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q Reference Sub function Details section This function temporarily stops the operation to confirm the positioning operation during debugging, etc. Step function 12.7.1 The operation can be stopped at each "automatic deceleration" or "positioning data". This function stops (decelerates to a stop) the positioning being Skip function executed when the skip signal is input, and carries out the next 12.7.2...
  • Page 58 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q Common functions The outline of the functions executed as necessary are described below. (Refer to Section 2 for details on each function.) Reference Common functions Details section This function returns the "parameters" stored in the QD75 buffer memory and flash ROM to the default values.
  • Page 59 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q MEMO 3 - 11 Get other manuals https://www.bkmanuals.com...
  • Page 60: Combination Of Qd75 Main Functions And Sub Functions

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.2.4 Combination of QD75 main functions and sub functions With positioning control using the QD75, the main functions and sub functions can be combined and used as necessary. A list of the main function and sub function combinations is given below.
  • Page 61 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q Functions that Functions that limit Functions that change compensate Other functions control control details control REMARK • The "common functions" are functions executed as necessary. (These are not combined with the control.) • "High-level positioning control" is a control used in combination with the "major positioning control".
  • Page 62: Specifications Of Input/Output Signals With Plc Cpu

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.3 Specifications of input/output signals with PLC CPU 3.3.1 List of input/output signals with PLC CPU The QD75 uses 32 input points and 32 output points for exchanging data with the PLC CPU. The input/output signals when the QD75 is mounted in slot No. 0 of the main base unit are shown below.
  • Page 63: Details Of Input Signals (Qd75 Plc Cpu)

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.3.2 Details of input signals (QD75 PLC CPU) The ON/OFF timing and conditions of the input signals are shown below. Device Signal name Details QD75 READY ON: READY • When the PLC READY signal [Y0] turns from OFF to ON, the parameter setting range is checked.
  • Page 64 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q Important 1 : The BUSY signal turns ON even when position control of movement amount 0 is executed. However, since the ON time is short, the ON status may not be detected in the sequence program. 2 : "Positioning complete"...
  • Page 65: Specifications Of Input/Output Interfaces With External Devices

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.4 Specifications of input/output interfaces with external devices 3.4.1 Electrical specifications of input/output signals Input specifications Rated input Working Input Response Signal name voltage/current voltage range voltage/current voltage/current resistance time Drive unit READY (READY) Stop signal (STOP) 19.2 to 17.5VDC or more/ 7VDC or less/...
  • Page 66 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q Output specifications Max. load Rated load Working load Max. voltage Leakage current Signal name current/rush Response time voltage voltage range drop at ON at OFF current • Differential driver equivalent to Am26C31 (For QD75D • Select the CW/CCW type, PULSE/SIGN type and A phase/B phase type using the parameter ( Pr.5 Pulse output mode) according to the drive unit specifications.
  • Page 67: Signal Layout For External Device Connection Connector

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.4.2 Signal layout for external device connection connector The specifications of the connector section, which is the input/output interface for the QD75 and external device, are shown below. The signal layout for the QD75 external device connection connector is shown. QD75P1 QD75P2 QD75P4...
  • Page 68: List Of Input/Output Signal Details

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.4.3 List of input/output signal details The details of each QD75 external device connection connector are shown below: Pin No. Signal details Signal name (Negative logic is selected by external I/O signal logic selection) AX1 AX2 AX3 AX4 •...
  • Page 69 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q Pin No. Signal details Signal name AX1 AX2 AX3 AX4 (Negative logic is selected by external I/O signal logic selection) • Input this signal to stop positioning. • When this signal turns ON, the QD75 will stop the positioning being Stop signal executed.
  • Page 70: Input/Output Interface Internal Circuit

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.4.4 Input/output interface internal circuit The outline diagrams of the internal circuits for the QD75P1/QD75D1 external device connection interface are shown below. (1) Input (Common to QD75P1 and QD75D1) Need for wiring External wiring Pin No. Internal circuit Signal name Near-point dog signal...
  • Page 71 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q (a) Input signal ON/OFF status The input signal ON/OFF status is defied by the external wiring and logic setting. This is explained below with the example of near-point dog signal (DOG). (The other input signals also perform the same operations as the near-point dog signal (DOG).) Logic setting ON/OFF status of near-point dog...
  • Page 72 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q (2) Output (For QD75P1) Need for wiring External wiring Pin No. Internal circuit Signal name 1A13 Deviation counter clear CLEAR 1A14 Common CLEAR COM 1A15 PULSE F A phase PULSE 1A16 PULSE COM 1A17 PULSE R B phase SIGN 1A18...
  • Page 73 Chapter 4 Installation, Wiring and Maintenance of the Product The installation, wiring and maintenance of the QD75 are explained in this chapter. Important information such as precautions to prevent malfunctioning of the QD75, accidents and injuries as well as the proper work methods are described. Read this chapter thoroughly before starting installation, wiring or maintenance, and always following the precautions.
  • Page 74: Outline Of Installation, Wiring And Maintenance

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q 4.1 Outline of installation, wiring and maintenance 4.1.1 Installation, wiring and maintenance procedures The outline and procedures for QD75 installation, wiring and maintenance are shown below. STEP 1 Understand the "Handling precautions" and "Names of each part"...
  • Page 75: Names Of Each Part

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q 4.1.2 Names of each part (1) The part names of the QD75 are shown below: For QD75P4 For QD75D4 QD75P4 QD75D4 Name Details RUN indicator LED, ERR indicator LED Refer to the next page. Axis display LED (AX1 to AX4) Connector for connection with the drive unit, mechanical system input or manual pulse generator.
  • Page 76 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q (2) The LED display indicates the following operation statuses of the QD75 and axes. QD75P4 Display Attention point Description Display Attention point Description Hardware failure, AX1 (or other corresponding watch dog timer RUN is OFF.
  • Page 77: Handling Precautions

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q 4.1.3 Handling precautions Handle the QD75 and cable while observing the following precautions. [1] Handling precautions CAUTION Use the PLC within the general specifications environment given in this manual. Using the PLC outside the general specification range environment could lead to electric shocks, fires, malfunctioning, product damage or deterioration.
  • Page 78 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q [2] Other precautions (1) Main body • The main body case is made of plastic. Take care not to drop or apply strong impacts onto the case. • Do not remove the QD75 PCB from the case. Failure to observe this could lead to faults.
  • Page 79: Installation

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q 4.2 Installation 4.2.1 Precautions for installation The precautions for installing the QD75 are given below. Refer to this section as well as "4.1.3 Handling precautions" when carrying out the work. Precautions for installation DANGER Completely turn off the externally supplied power used in the system before cleaning or tightening the screws.
  • Page 80: Wiring

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q 4.3 Wiring The precautions for wiring the QD75 are given below. Refer to this section as well as "4.1.3 Handling precautions" when carrying out the work. 4.3.1 Precautions for wiring (1) Always confirm the terminal layout before connecting the wires to the QD75. (For the terminal layout, refer to Section 3.4.2 "Signal layout for external device connection connector".) (2) Correctly solder the external wiring connector.
  • Page 81 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q [Wiring example of shielded cable] The following shows a wiring example for noise reduction in the case where the connector A6CON1 is used. Connector Connector (A6CON1) Shielded To external cable devices Drive unit To external...
  • Page 82 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q Assembling of connector (A6CON1) Wrap the coated parts with a heat contractile tube. 4 - 10 Get other manuals https://www.bkmanuals.com...
  • Page 83 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q (10) To make this product conform to the EMC and Low Voltage Directive, be sure to use of a AD75CK type cable clamp (manufactured by Mitsubishi Electric) for grounding to the control box. Inside control box 20cm(7.88inch)
  • Page 84 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q [Wiring examples using duct (incorrect example and corrected example)] Wiring duct Relay Relay Drive Drive Relay unit unit Control panel The drive units are placed near the noise source. The connection cable between Noise source the QD75 and drive units is (power system,...
  • Page 85: Wiring Of The Differential Driver Common Terminal

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q 4.3.2 Wiring of the differential driver common terminal When the differential driver output system (QD75D1, QD75D2, QD75D4) is used, a potential difference between commons may occur between the differential driver common terminal and the differential receiver common terminal of the drive unit. To remove the potential difference between commons, connect the differential driver common terminal of the QD75D1/QD75D2/QD75D4 and the differential receiver common terminal of the drive unit.
  • Page 86: Confirming The Installation And Wiring

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q 4.4 Confirming the installation and wiring 4.4.1 Items to confirm when installation and wiring are completed Check the following points when completed with the QD75 installation and wiring. • Is the module correctly wired? ... "Connection confirmation" With "connection confirmation", the following three points are confirmed using GX Configurator-QP's connection confirmation function.
  • Page 87: Maintenance

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q 4.5 Maintenance 4.5.1 Precautions for maintenance The precautions for servicing the QD75 are given below. Refer to this section as well as "4.1.3 Handling precautions" when carrying out the work. DANGER Always turn all phases of the power supply OFF externally before cleaning or tightening the screws.
  • Page 88 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q MEMO 4 - 16 Get other manuals https://www.bkmanuals.com...
  • Page 89 Chapter 5 Data Used for Positioning Control The parameters and data used to carry out positioning control with the QD75 are explained in this chapter. With the positioning system using the QD75, the various parameters and data explained in this chapter are used for control. The parameters and data include parameters set according to the device configuration, such as the system configuration, and parameters and data set according to each control.
  • Page 90: Types Of Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.1 Types of data 5.1.1 Parameters and data required for control The parameters and data required to carry out control with the QD75 include the "setting data", "monitor data" and "control data" shown below. Setting data (Data set beforehand according to the machine and application, and stored in the flash ROM.) Positioning...
  • Page 91 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q The only valid data assigned to these parameters are the data read at the moment when a positioning or JOG operation is started. Once the operation has started, any modification to the data is ignored. Exceptionally, however, modifications to the following are valid even when they are made during a positioning operation: acceleration time 0 to 3, deceleration time 0 to 3, and external start command.
  • Page 92: Setting Items For Positioning Parameters

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.1.2 Setting items for positioning parameters The table below lists items set to the positioning parameters. Setting of positioning parameters is similarly done for individual axes for all controls achieved by the QD75. For details of controls, refer to Section 2.
  • Page 93 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Control Major positioning control Manual control Position control Other control Positioning parameter Pr.25 Acceleration time 1 – – – Pr.26 Acceleration time 2 – – – Acceleration time 3 – – – Pr.27 12.7.7 Pr.28 Deceleration time 1...
  • Page 94: Setting Items For Opr Parameters

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.1.3 Setting items for OPR parameters When carrying out "OPR control", the "OPR parameters" must be set. The setting items for the "OPR parameters" are shown below. The "OPR parameters" are set commonly for each axis. Refer to Chapter 8 "OPR control"...
  • Page 95: Setting Items For Positioning Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.1.4 Setting items for positioning data Positioning data must be set for carrying out any "major positioning control". The table below lists the items to be set for producing the positioning data. One to 600 positioning data items can be set for each axis. For details of the major positioning controls, refer to Chapter 9 "Major Positioning Control".
  • Page 96 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Checking the positioning data Da.1 Da.10 The items are checked at the following timings: (1) Startup of a positioning operation (2) Error check performed by GX Configurator-QP 5 - 8 Get other manuals https://www.bkmanuals.com...
  • Page 97 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q MEMO 5 - 9 Get other manuals https://www.bkmanuals.com...
  • Page 98: Setting Items For Block Start Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.1.5 Setting items for block start data The "block start data" must be set when carrying out "high-level positioning control". The setting items for the " block start data" are shown below. Up to 50 points of " block start data" can be set for each axis. Refer to Chapter 10 "High-level Positioning Control"...
  • Page 99: Setting Items For Condition Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.1.6 Setting items for condition data When carrying out "high-level positioning control" or using the JUMP instruction in the "major positioning control", the "condition data" must be set as required. The setting items for the "condition data" are shown below. Up to 10 "condition data"...
  • Page 100: Types And Roles Of Monitor Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.1.7 Types and roles of monitor data The monitor data area in the buffer memory stores data relating to the operating state of the positioning system, which are monitored as required while the positioning system is operating.
  • Page 101 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [2] Monitoring the axis operation state Monitoring the position Monitor details Corresponding item Md.21 Monitor the current machine feed value Machine feed value Md.20 Monitor the current "current feed value" Current feed value Md.32 Monitor the current target value Target value...
  • Page 102 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Monitoring the state Monitor details Corresponding item Md.26 Monitor the axis operation state Axis operation status Md.23 Monitor the latest error code that occurred with the axis Axis error No. Md.24 Monitor the latest warning code that occurred with the axis Axis warning No.
  • Page 103 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q MEMO 5 - 15 Get other manuals https://www.bkmanuals.com...
  • Page 104: Types And Roles Of Control Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.1.8 Types and roles of control data Operation of the positioning system is achieved through the execution of necessary controls. (Data required for controls are given through the default values when the power is switched ON, which can be modified as required by the sequence program.) Controls are performed over system data or machine operation.
  • Page 105 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [2] Controlling the operation Controlling the operation Control details Corresponding item Cd.3 Set which positioning to execute (start No.) Positioning start No. Cd.5 Md.23 Md.24 Clear (reset) the axis error ( ) and warning ( Axis error reset Cd.6 Issue instruction to restart (When axis operation is stopped)
  • Page 106 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Making settings related to operation Control details Corresponding item Cd.7 Turn M code ON signal OFF M code OFF request Cd.9 Set new value when changing current value New current value Cd.24 Validate speed-position switching signal from external source Speed-position switching enable flag Change movement amount for position control during speed-position Speed-position switching control...
  • Page 107 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q MEMO 5 - 19 Get other manuals https://www.bkmanuals.com...
  • Page 108: List Of Parameters

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.2 List of parameters 5.2.1 Basic parameters 1 Setting value buffer memory Setting value, setting range Default address Item Value set with sequence value Value set with peripheral device Axis 1 Axis 2 Axis 3 Axis 4 program 0 : mm 1 : inch...
  • Page 109 Set the number of pulses required for a complete rotation of the motor shaft. If you are using the Mitsubishi servo amplifier MR-H, MR-J2/J2S , or MR-C, set the value given as the "resolution per servomotor rotation" in the speed/position detector specifications.
  • Page 110 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q However, the maximum value that can be set for this "movement amount per rotation (Al)" parameter is 6553.5 µ m (approx. 6.5mm). Set the "movement amount per rotation (Al)" as shown below so that the "movement amount per rotation (AL)" does not exceed this maximum value.
  • Page 111 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.5 Pulse output mode Set the pulse output mode to match the servo amplifier being used. IMPORTANT Pr.5 The only valid value of the " Pulse output mode" is the value at the moment when the PLC READY signal [Y0] turns from OFF to ON for the first time after the power is switched ON or the PLC CPU is reset.
  • Page 112 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q (3) A phase/B phase mode Forward run and reverse run are controlled with the phase difference of the A phase (A ) and B phase (B ). • When the B phase is 90 ° behind the A phase, the motor will forward run. •...
  • Page 113 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q POINT Pr.6 When has been changed from "0" to "1", check if the upper and lower limit switches operate properly by JOG operation. If any malfunction is identified, check and correct the wiring. 5 - 25 Get other manuals https://www.bkmanuals.com...
  • Page 114: Basic Parameters 2

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value buffer memory Setting value, setting range address Default Item value Value set with sequence Value set with peripheral device Axis 1 Axis 2 Axis 3 Axis 4 program Pr.1 The setting range differs depending on the " Unit setting".
  • Page 115 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [Table 1] Pr.1 setting value Value set with peripheral device (unit) Value set with sequence program (unit) 0 : mm 0 to 20000000.00 (mm/min) 0 to 2000000000 (×10 mm/min) 1 : inch 0 to 2000000.000 (inch/min) 0 to 2000000000 (×10 inch/min) 0 to 2000000000 (×10...
  • Page 116: Detailed Parameters 1

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.2.3 Detailed parameters 1 Setting value buffer memory Setting value, setting range address Item Default value Value set with Value set with peripheral device Axis 1 Axis 2 Axis 3 Axis 4 sequence program Pr.1 The setting value range differs according to the "...
  • Page 117 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 1) The backlash compensation is valid after machine OPR. Thus, if the backlash compensation amount is set or changed, always carry out machine OPR once. 2) The backlash compensation amount setting range is 0 to 65535, but it should be set to 255 or less by using the following expression.
  • Page 118 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 1) Generally, the OP is set at the lower limit or upper limit of the stroke limit. 2) By setting the upper limit value or lower limit value of the software stroke limit, overrun can be prevented in the software.
  • Page 119 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.17 Torque limit setting value Set the maximum value of the torque generated by the servomotor as a percentage between 1 and 500%. The torque limit function limits the torque generated by the servomotor within the set range.
  • Page 120 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q An M code is a number between 0 and 65535 that can be assigned to each positioning Da.10 data ( The sequence program can be coded to read an M code from the buffer memory Md.25 address specified by "...
  • Page 121 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.19 Speed switching mode Set whether to switch the speed switching mode with the standard switching or front-loading switching mode. 0 : Standard switching....Switch the speed when executing the next positioning data. 1 : Front-loading switching ..
  • Page 122 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.21 Current feed value during speed control Md.20 Specify whether you wish to enable or disable the update of " Current feed value" while operations are performed under the speed control (including the speed-position and position-speed switching control).
  • Page 123 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q MEMO 5 - 35 Get other manuals https://www.bkmanuals.com...
  • Page 124: Detailed Parameters 2

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.2.4 Detailed parameters 2 Setting value buffer memory Setting value, setting range address Default Item Value set with sequence value Value set with peripheral device Axis 1 Axis 2 Axis 3 Axis 4 program Pr.25 Acceleration time 1...
  • Page 125 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [Table 1] Value set with peripheral device Value set with sequence program Pr.1 setting value (unit) (unit) 1 to 2000000000 ( × 10 0 : mm 0.01 to 20000000.00 (mm/min) mm/min) 1 to 2000000000 ( × 10 1 : inch 0.001 to 2000000.000 (inch/min) inch/min)
  • Page 126 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value buffer memory Setting value, setting range address Default Item value Value set with sequence Value set with peripheral device Axis 1 Axis 2 Axis 3 Axis 4 program 0 : Automatic trapezoid Pr.34 acceleration/deceleration process Acceleration/deceleration...
  • Page 127 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.35 S-pattern ratio Set the S-pattern ratio (1 to 100%) for carrying out the S-pattern acceleration/deceleration process. The S-pattern ratio indicates where to draw the acceleration/deceleration curve using the Sin curve as shown below. (Example) Positioning speed...
  • Page 128 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.36 Sudden stop deceleration time Pr.8 Set the time to reach speed 0 from " Speed limit value" during the sudden stop. The illustration below shows the relationships with other parameters. 1) Positioning start 2) Sudden stop cause occurrence 3) Positioning stop When positioning is started,...
  • Page 129 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.37 Stop group 1 sudden stop selection Pr.39 Stop group 3 sudden stop selection Set the method to stop when the stop causes in the following stop groups occur. • Stop group 1 ....Stop with hardware stroke limit •...
  • Page 130 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value buffer memory Setting value, setting range address Default Item value Value set with sequence Value set with peripheral device Axis 1 Axis 2 Axis 3 Axis 4 program 0 to 65535 (ms) 0 to 32767 : Pr.40 Set as a decimal...
  • Page 131 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [Table 1] Value set with peripheral device Value set with sequence program Pr.1 setting value (unit) (unit) 0 to 100000 ( × 10 µ m) 0 to 10000.0 ( µ m) 0 : mm 0 to 100000 ( ×...
  • Page 132 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.42 External command function selection Select a command with which the external command signal should be associated. 0: External positioning start The external command signal input is used to start a positioning operation. 1: External speed change request The external command signal input is used to change the speed in the current positioning operation.
  • Page 133 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q MEMO 5 - 45 Get other manuals https://www.bkmanuals.com...
  • Page 134: Opr Basic Parameters

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.2.5 OPR basic parameters Setting value buffer memory Setting value, setting range address Default Item Value set with sequence value Value set with peripheral device Axis 1 Axis 2 Axis 3 Axis 4 program 0 : Near-point dog method 1 : Stopper method 1)
  • Page 135 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 1 : Stopper method 1) (1) Start machine OPR. Pr.46 (Start movement at the " OPR speed" in the Pr.44 " OPR direction".) OPR speed Pr.46 (2) Detect the near-point dog ON, and start deceleration. Creep speed Pr.47 Pr.47...
  • Page 136 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 4 : Count method 1) (1) Start machine OPR. Pr.46 (Start movement at the " OPR speed" in the Pr.50 Pr.44 " OPR direction".) OPR speed Pr.46 Setting for the movement amount after near-poing dog ON (2) Detect the near-point dog ON, and start deceleration.
  • Page 137 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.44 OPR direction Set the direction to start movement when starting machine OPR. 0: Positive direction (address increment direction) Moves in the direction that the address increments. (Arrow 2)) 1: Negative direction (address decrement direction) Moves in the direction that the address decrements.
  • Page 138 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.45 OP address Set the address used as the reference point for positioning control (ABS system). (When the machine OPR is completed, the stop position address is changed to the Pr.45 Pr.45 address set in " OP address".
  • Page 139 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.47 Creep speed Set the creep speed after near-point dog ON (the low speed just before stopping after decelerating from the OPR speed). The creep speed is set within the following range. Pr.46 Pr.47 Pr.7 OPR speed )
  • Page 140 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.48 OPR retry Set whether to carry out OPR retry. When the OPR retry function is validated and the machine OPR is started, first the axis will move in the OPR direction (1)). If the upper/lower limit signal turns OFF before the near-point dog signal ON is detected (2)), the axis will decelerate to a stop, and then will move in the direction opposite to the specified OPR direction (3)).
  • Page 141 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q MEMO 5 - 53 Get other manuals https://www.bkmanuals.com...
  • Page 142: Opr Detailed Parameters

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.2.6 OPR detailed parameters Setting value buffer memory Setting value, setting range Default address Item Value set with sequence value Value set with peripheral device Axis 1 Axis 2 Axis 3 Axis 4 program 0 to 65535 (ms) 0 to 32767 :...
  • Page 143 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [Table 1] Value set with peripheral device Value set with sequence program Pr.1 setting value (unit) (unit) 0 to 2147483647 ( × 10 µ m) 0 to 214748364.7 ( µ m) 0 : mm 0 to 2147483647 ( ×...
  • Page 144 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value buffer memory Setting value, setting range address Default Item value Value set with peripheral Value set with sequence program Axis 1 Axis 2 Axis 3 Axis 4 device Pr.1 The setting value range differs depending on the " Unit setting".
  • Page 145 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [Table 1] Value set with peripheral device Value set with sequence program Pr.1 setting value (unit) (unit) -2147483648 to 2147483647 ( × 10 µ m) -214748364.8 to 214748364.7 ( µ m) 0 : mm -2147483648 to 2147483647 ( ×...
  • Page 146: List Of Positioning Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.3 List of positioning data Da.1 Da.10 Before explaining the positioning data setting items , the configuration of the positioning data will be shown below. The positioning data stored in the QD75 buffer memory has the following type of configuration.
  • Page 147 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q ˆ Ê ’ u Œ ˆ ‚ ß ¯ • Ê q ˆ Ê ’ u Œ ˆ ‚ ß ¯ • Ê q 19990 19980 Da.1@ ` @ Da.4 Da.1@ ` @ Da.4 Positioning data No.
  • Page 148 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value buffer memory Setting value Default address Item value Value set with peripheral device Value set with sequence program Axis 1 Axis 2 Axis 3 Axis 4 00:Positioning complete Da.1 Operation pattern Operation 01:Continuous positioning control pattern...
  • Page 149 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Da.1 Operation pattern The operation pattern designates whether positioning of a certain data No. is to be ended with just that data, or whether the positioning for the next data No. is to be carried out in succession.
  • Page 150 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Da.4 Deceleration time No. Set which of "deceleration time 0 to 3" to use for the deceleration time during positioning. Pr.10 0 : Use the value set in " Deceleration time 0". Pr.28 1 : Use the value set in "...
  • Page 151 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q (2) Incremental (INC) system, fixed-feed 1, fixed-feed 2, fixed-feed 3, fixed-feed 4 • The setting value (movement amount) for the INC system is set as a movement amount with sign. When movement amount is positive: Moves in the positive direction (address increment direction) When movement amount is negative: Moves in the negative direction (address decrement direction)
  • Page 152 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q (3) Speed-position switching control • INC mode: Set the amount of movement after the switching from speed control to position control. • ABS mode: Set the absolute address which will be the target value after speed control is switched to position control.
  • Page 153 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.1 When " Unit Setting" is "pulse" The table below lists the control systems that require the setting of the positioning address or movement amount and the associated setting ranges. (With any control system excluded from the table below, neither the positioning address nor the movement amount needs to be set.) Value set with peripheral device Value set with sequence program...
  • Page 154 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.1 When " Unit Setting" is "inch" The table below lists the control systems that require the setting of the positioning address or movement amount and the associated setting ranges. (With any control system excluded from the table below, neither the positioning address nor the movement amount needs to be set.) Value set with sequence program Value set with peripheral device...
  • Page 155 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q MEMO 5 - 67 Get other manuals https://www.bkmanuals.com...
  • Page 156 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value buffer memory Setting value, setting range address Default Item value Value set with sequence Value set with peripheral device Axis 1 Axis 2 Axis 3 Axis 4 program Da.2 The setting value range differs according to the " Control system".
  • Page 157 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [Table 1] Pr.1 When " Unit Setting" is "mm" The table below lists the control systems that require the setting of the arc address and shows the setting range. (With any control system excluded from the table below, the arc address does not need to be set.) Value set with sequence program Value set with peripheral device...
  • Page 158 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value buffer memory Setting value, setting range address Default Item value Value set with sequence Value set with peripheral device Axis 1 Axis 2 Axis 3 Axis 4 program Pr.1 The setting value range differs depending on the " Unit setting".
  • Page 159 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Da.10 M code (or condition data No./No. of LOOP to LEND repetitions) Set an "M code", a "condition data No. ", or the "number of LOOP to LEND Da.2 repetitions" depending on how the " Control system"...
  • Page 160 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Da.9 Dwell time/JUMP designation positioning data No. Da.2 Set the "dwell time" or "positioning data No." corresponding to the " Control system". • Da.2 When a method other than "JUMP instruction " is set for " Control system"...
  • Page 161 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q MEMO 5 - 73 Get other manuals https://www.bkmanuals.com...
  • Page 162: List Of Block Start Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.4 List of block start data The illustrations below show the organization of the block start data stored in the QD75 Da.11 Da.14 buffer memory. The block start data setting items are explained in the pages that follow.
  • Page 163 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 50th point Buffer memory Setting item address 2nd point 1st point Buffer memory Setting item address 28049 Buffer memory Setting item address œ ˆÊ ’ u Œ ˆ ‚ ß n “ ® ƒ f [ ƒ ^ 28001 28000 Da.12 Start data No.
  • Page 164 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q REMARK To perform an high-level positioning control using block start data, set a number Cd.3 between 7000 and 7004 to the " Positioning start No." and use the Cd.4 " Positioning starting point No." to specify a point number between 1 and 50, a position counted from the beginning of the block.
  • Page 165 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value buffer memory Setting value address Default Item value Value set with peripheral Value set with sequence program Axis 1 Axis 2 Axis 3 Axis 4 device 0 : End Da.11 Shape 0 0 0 1 : Continue 0000...
  • Page 166 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Da.11 Shape Set whether to carry out only the local "block start data" and then end control, or to execute the "block start data" set in the next point. Setting value Setting details 0 : End Execute the designated point's "block start data", and then complete the control.
  • Page 167 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Da.14 Parameter Da.13 Set the value as required for " Special start instruction ". Da.13 Special start instruction Setting value Setting details Block start (Normal start) – Not used. (There is no need to set.) Set the condition data No.
  • Page 168: List Of Condition Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.5 List of condition data The illustrations below show the organization of the condition data stored in the QD75 Da.15 Da.19 buffer memory. The condition data setting items are explained in the pages that follow. No.10 Up to 10 block start data points can be set (stored) Buffer memory...
  • Page 169 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q No.10 Buffer memory Setting item address No.2 Buffer memory No.1 Setting item address 28190 Buffer memory Setting item address 28110 28191 28192 28100 28193 Da.16 Condition Da.15 Condition 28194 operator target 28111 28195 28112 28101 Open...
  • Page 170 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q REMARK To perform an high-level positioning control using block start data, set a number Cd.3 between 7000 and 7004 to the " Positioning start No." and use the Cd.4 " Positioning starting point No." to specify a point number between 1 and 50, a position counted from the beginning of the block.
  • Page 171 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value buffer memory Setting value Default address Item value Value set with peripheral device Value set with sequence program Axis 1 Axis 2 Axis 3 Axis 4 01 : Device X 02 : Device Y Da.15 Condition target 03 : Buffer memory (1-word)
  • Page 172 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Da.15 Condition target Set the condition target as required for each control. Setting value Setting details : Device X Set the input/output signal ON/OFF as the conditions. : Device Y : Buffer memory (1-word) Set the value stored in the buffer memory as the condition.
  • Page 173 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Da.18 Parameter 1 Da.16 Set the parameters as required for the " Condition operator". Da.16 Setting value Setting details Condition operator : ∗∗=P1 : ∗∗ ≠ P1 The value of P1 should be equal to or smaller than the value of : ∗∗≤P1 P2.
  • Page 174: List Of Monitor Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.6 List of monitor data 5.6.1 System monitor data Storage item Storage details Whether the mode is the test mode from the peripheral device or not is stored. • Md.1 In test mode flag When not in test mode : OFF •...
  • Page 175 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer memory address Reading the monitor value Default value (common for axis 1 to axis 4) Monitoring is carried out with a decimal. Monitor Storage value 1200 value 0: Not in test mode 1: In test mode (Unless noted in particular, the monitor value is saved as binary data.) 5 - 87...
  • Page 176 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage item Storage details Reading the monitor value [Storage details] This area stores the start information (restart flag, start origin, and start axis): • Restart flag: Indicates whether the operation has or has not been halted and restarted.
  • Page 177 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Storage buffer memory address (common to axes 1 to 4) Md.8 1292 Start history pointer 0000 Indicates a pointer No. that is next to the Pointer No. assigned to the latest of the existing starting history records. Pointer No.
  • Page 178 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage item Storage details Reading the monitor value [Storage details] This area stores the following results of the error judgment performed upon starting: • BUSY start warning flag • Error flag • Error No. [Reading the monitor value] Monitoring is carried out with a hexadecimal display.
  • Page 179 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Storage buffer memory address (common to axes 1 to 4) Md.8 1292 Start history pointer Indicates a pointer No. that is next to the Pointer No. assigned to the latest of the existing starting history records. Pointer No.
  • Page 180 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage item Storage details Reading the monitor value Monitoring is carried out with a decimal display. Md.9 Stores a number (Axis No.) Monitor Storage value Axis in which that indicates the axis that value 1: Axis 1 2: Axis 2...
  • Page 181 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Storage buffer memory address (common to axes 1 to 4) Md.13 1357 Error history pointer Indicates a pointer No. that is next to the Pointer No. assigned to the latest of the existing error history records. Pointer No.
  • Page 182 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage item Storage details Reading the monitor value Monitoring is carried out with a decimal display. Md.14 Stores a number (Axis No.) Monitor Storage value Axis in which that indicates the axis that value 1: Axis 1 the warning...
  • Page 183 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Storage buffer memory address (common to axes 1 to 4) Md.18 1422 Warning history pointer Indicates a pointer No. that is next to the Pointer No. assigned to the latest of the existing warning history records. Pointer No.
  • Page 184: Axis Monitor Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.6.2 Axis monitor data Storage item Storage details The currently commanded address is stored. (Different from the actual motor position during operation) The current position address is stored. If "degree" is selected as the unit, the addresses will have a ring structure for values between 0 and 359.9999 degrees.
  • Page 185 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer Default memory address Reading the monitor value value Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a hexadecimal. Low-order buffer memory Example) 800 Monitor 1100 1000 value 0000 1001...
  • Page 186 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage item Storage details Whenever an axis warning is reported, a related warning code is stored. • This area stores the latest warning code always. (Whenever an axis warning is reported, a new warning code replaces the stored warning code.) Md.24 Axis warning No.
  • Page 187 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer Default memory address Reading the monitor value value Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a decimal display. Monitor Warning No. 1007 1107 value For details of warning Nos. (warning codes), refer to Section 15.3 "List of warnings".
  • Page 188 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage item Storage details • The speed which is actually output as a command at that time in each axis is stored. (May be different from the actual motor speed) Md.28 Axis feedrate "0"...
  • Page 189 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer Default memory address Reading the monitor value value Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a hexadecimal. Low-order buffer memory Example) 812 Monitor value High-order buffer memory Example) 813 1012 1112 0000...
  • Page 190 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage item Storage details This area stores the states (ON/OFF) of various flags. Information on the following flags is stored. In speed control flag: This signal that comes ON under the speed control can be used to judge whether the operation is performed under the speed control or position control.
  • Page 191 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer Default memory address Reading the monitor value value Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a hexadecimal display. Monitor value Buffer memory 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Not used Not used Default...
  • Page 192 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage item Storage details • During operation with positioning data : The actual target speed, considering the override and speed limit value, etc., is stored. "0" is stored when positioning is completed. • During interpolation : The composite speed or reference axis speed is stored in the reference...
  • Page 193 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer Default memory address Reading the monitor value value Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a hexadecimal display. Low-order buffer memory Example) 820 Monitor value High-order buffer memory Example) 821 1020 1120...
  • Page 194 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage item Storage details • Md.36 Special start data instruction The " instruction code" used with special start and indicated by the start data pointer currently being executed is stored. code setting value The "...
  • Page 195 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer Default memory address Reading the monitor value value Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a decimal display. Monitor Storage value value 00: Block start (Normal start) 01: Condition start 1027 1127 02: Wait start...
  • Page 196 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage item Storage details • This area stores the remaining number of repetitions during "repetitions" specific to special starting. Md.41 Special start repetition • The count is decremented by one (-1) at the loop end. •...
  • Page 197 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer Default memory address Reading the monitor value value Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a decimal display. Storage value 1032 1132 0 to 255 Monitor value Monitoring is carried out with a hexadecimal display.
  • Page 198: List Of Control Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.7 List of control data 5.7.1 System control data Setting item Setting details • Requests writing of data (parameters, positioning data, and block start data) from Cd.1 Flash ROM write request the buffer memory to the flash ROM. •...
  • Page 199 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer memory address Setting value Default value (common to axes 1 to 4) Set with a decimal. Setting value 1900 Flash ROM write request 1: Requests write access to flash ROM. The QD75 resets the value to "0" automatically when the write access completes. (This indicates the completion of write operation.) Set with a decimal.
  • Page 200: Axis Control Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.7.2 Axis control data Setting item Setting details • Set the positioning start No. Cd.3 Positioning start No. (Only 1 to 600 for the Pre-reading start function. For details, refer to Section 12.7.8 "Pre-reading start function".) •...
  • Page 201 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer Default memory address Setting value value Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. Setting value 1500 1600 1700 1800 Positioning data No. : Positioning data No. 1 to 600 : Block start designation 7000 to7004...
  • Page 202 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting item Setting details • Cd.8 External command valid Validates or in validates external command signals. • When changing the "current feed value" using the start No. "9003", use this data item to specify a new feed value. •...
  • Page 203 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer Default memory address Setting value value Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. Setting value 1505 1605 1705 1805 External command valid 0: Invalidates an external command. 1: Validates an external command.
  • Page 204 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting item Setting details • When changing the acceleration time during a speed change, use this data item to specify a new acceleration time. Cd.10 New acceleration time value Cd.10 setting range (unit) 0 to 8388608 (ms) •...
  • Page 205 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer Default memory address Setting value value Axis 1 Axis 2 Axis 3 Axis 4 1508 1608 1708 1808 Set with a decimal. 1509 1609 1709 1809 Cd.10 New acceleration time value Setting value Cd.11 New deceleration time value...
  • Page 206 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting item Setting details • To use the positioning operation speed override function, use this data item to specify an "override" value. For details of the override function, refer to Section 12.5.2" Override function". Cd.13 Positioning operation speed override...
  • Page 207 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer Default memory address Setting value value Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. Setting value 1513 1613 1713 1813 Override value (%) 1 to 300 Set with a decimal. Actual value Cd.14 New speed value Conversion into an integer value...
  • Page 208 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting item Setting details • Use this data item to set the amount of movement by inching. • The machine performs a JOG operation if "0" is set. • Set a value within the following range: inch degree pulse...
  • Page 209 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer Default memory address Setting value value Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. Actual value Cd.16 Inching movement amount Conversion into an integer value Unit conversion table ( Cd.16 ) Unit Setting value 1517 1617 1717 1817...
  • Page 210 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting item Setting details • Cd.19 OPR request flag OFF The sequence program can use this data item to forcibly turn the OPR request flag from ON to OFF. request • This data item determines the factor by which the number of pulses from the manual pulse generator is magnified.
  • Page 211 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer Default memory address Setting value value Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. Setting value OPR request flag OFF request 1521 1621 1721 1821 1: Turns the "OPR request flag" from ON to OFF.
  • Page 212 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting item Setting details • During the speed control stage of the speed-position switching control (INC mode), it is possible to change the specification of the movement amount during the position control stage. For that, use this data item to specify a new movement amount.
  • Page 213 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer Default memory address Setting value value Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. Speed-position switching Cd.23 Actual value control movement amount change register Conversion into an integer value Unit conversion table ( Cd.23 ) Unit 1526...
  • Page 214 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting item Setting details • Cd.26 Position-speed switching Set whether the external control signal (external command signal [CHG]: "speed- control enable flag position, position-speed switching request" is selected) is enabled or not. • When changing the target position during a positioning operation, use this data item to specify a new positioning address.
  • Page 215 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer Default memory address Setting value value Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. Setting value Position-speed switching 1532 1632 1732 1832 enable flag 0: Position control will not be taken over by speed control even when the external command signal comes ON.
  • Page 216 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting item Setting details Cd.30 Simultaneous starting axis start data No. (axis 1 start data No.) Cd.31 Simultaneous starting axis start data No. (axis 2 start data No.) • Use these data items to specify a start data No. for each axis that has to start simultaneously.
  • Page 217 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer Default memory address Setting value value Axis 1 Axis 2 Axis 3 Axis 4 1540 1640 1740 1840 Set with a decimal. 1541 1641 1741 1841 Setting value Cd.30 to Cd.33 Simultaneous starting axis start data No.: 1542 1642 1742 1842...
  • Page 218 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting item Setting details • During a step operation, this data item determines whether the operation is Cd.36 Step start information continued or restarted. • To skip the current positioning operation, set "1" in this data item. Cd.37 Skip command •...
  • Page 219 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Storage buffer Default memory address Setting value value Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. Setting value Step start information 1546 1646 1746 1846 1: Continues step opration 2: Restarts operation The QD75 resets the value to "0"...
  • Page 220 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q MEMO 5 - 132 Get other manuals https://www.bkmanuals.com...
  • Page 221 Chapter 6 Sequence Program Used for Positioning Control The programs required to carry out positioning control with the QD75 are explained in this chapter. The sequence program required for control is created allowing for the "start conditions", "start time chart", "device settings" and general control configuration. (The parameters, positioning data, block start data and condition data, etc., must be set in the QD75 according to the control to be executed, and program for setting the control data or a program for starting the various control must be created.)
  • Page 222: Precautions For Creating Program

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.1 Precautions for creating program The common precautions to be taken when writing data from the PLC CPU to the QD75 buffer memory are described below. When diverting any of the program examples introduced in this manual to the actual system, fully verify that there are no problems in the controllability of the target system.
  • Page 223 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (4) System configuration Unless particularly designated, the sequence program for the following system is shown in this chapter and subsequent. Refer to Section 6.2 for the application of the devices to be used. Q35B X40 to X45 External...
  • Page 224 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (b) When the circuit uses the "intelligent function device" on the source(s) side and the destination (D) side of a MOV command, change the command to a FROM command and a TO command. MOVP G826 Set the...
  • Page 225: List Of Devices Used

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.2 List of devices used In the sequence programs shown in this chapter and subsequent, the application of the devices used are as follows. The I/O numbers for QD75 indicate those when QD75 is mounted in the 0-slot of the main base.
  • Page 226 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Device Device Application Details when ON name Axis 1 Axis 2 Axis 3 Axis 4 M code OFF command Commanding M code OFF JOG operation speed setting Commanding JOG operation speed command setting Commanding forward run JOG/inching Forward run JOG/inching command...
  • Page 227 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Device Device Application Details when ON name Axis 1 Axis 2 Axis 3 Axis 4 OPR request OFF command Commanding OPR request OFF OPR request OFF command pulse OPR request OFF commanded OPR request OFF command storage OPR request OFF command held Fast OPR command Commanding fast OPR...
  • Page 228 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Device Device Application Details when ON name Axis 1 Axis 2 Axis 3 Axis 4 TEACH1 instruction complete device TEACH1 instruction completed TEACH1 instruction error complete TEACH1 instruction error completed device PINIT instruction complete device PINIT instruction completed PINIT instruction error complete device PINIT instruction error completed...
  • Page 229 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Device Device Application Details of storage name Axis 1 Axis 2 Axis 3 Axis 4 Acceleration time setting (low-order 16 bits) Cd.10 New acceleration time Acceleration time setting value) (high-order 16 bits) Deceleration time setting (low-order 16 bits) Cd.11...
  • Page 230 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Device Device Application Details of storage name Axis 1 Axis 2 Axis 3 Axis 4 Pr.3 Movement amount per Movement amount per rotation rotation) Pr.4 Unit magnification) Unit magnification Pr.5 Pulse output mode Pulse output mode) Pr.6 Rotation direction setting)
  • Page 231: Creating A Program

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.3 Creating a program The "positioning control operation program" actually used is explained in this chapter. The functions and programs explained in Section 2 are assembled into the "positioning control operation program" explained here. (To monitor the control, add the required monitor program that matches the system.
  • Page 232: Positioning Control Operation Program

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.3.2 Positioning control operation program The various programs that configure the "positioning control operation program" are shown below. When creating the program, refer to the explanation of each program and Section 6.4 "Positioning program examples", and create an operation program that matches the positioning system.
  • Page 233 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Continued from previous page Start details setting program Program required to carry out • "OPR control" • "Major positioning control" No.7 • "High-level positioning control" Positioning start No. Refer to Section 6.5.2 setting program Start program No.8...
  • Page 234 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Continued from previous page Sub program Program added according to control details. (Create as required.) No.14 Speed change program Refer to Section 12.5.1 No.15 Override program Refer to Section 12.5.2 No.16 Acceleration/deceleration time Refer to Section 12.5.3 change program No.17...
  • Page 235: Positioning Program Examples

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.4 Positioning program examples An example of the "Axis 1" positioning program is given in this section. [No. 1] to [No. 3] parameter and data setting program When setting the parameters or data with the sequence program, set them in the QD75 using the TO command from the PLC CPU.
  • Page 236 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q No. 2 Positioning data setting program (For positioning data No. 1 <axis 1>) <Positioning identifier> Operation pattern: Positioning complete Control system: 1-axis linear control (ABS) Acceleration time No.: 1, deceleration time No.: 2 <Setting of positioning identifier>...
  • Page 237 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q [Setting of special start instruction to normal start] <Setting of normal start> <Setting of normal start> <Setting of normal start> <Setting of normal start> <Setting of normal start> <Setting of block start data to QD75> No.
  • Page 238 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (4) Speed-position switching operation (positioning data No. 2) (In the ABS mode, new movement amount write is not needed.) <Positioning data No. 2 setting> <Speed-position switching signal enable setting> <Speed-position switching signal prohibit setting> <New movement amount write>...
  • Page 239 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (2) When positioning start signal (Y10) is used (When fast OPR is not made, contacts of M3 and M4 are not needed.) (When M code is not used, contact of X04 is not needed.) (When JOG operation/inching operation is not performed, contact of M7 is not needed.) (When manual pulse generator operation is not performed, contact of M9 is not needed.) <Positioning start command pulse>...
  • Page 240 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q No. 13 Manual pulse generator operation program <Manual pulse generator operation command pulse> <Manual pulse generator 1 pulse input magnification setting> <Manual pulse generator operation enable write> <Manual pulse generator data write> <Manual pulse generator operating flag ON>...
  • Page 241 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q No. 17 Torque change program <Torque change command pulse> <Write of torque limit value in Q62DA> No. 18 Step operation program <Step operation command pulse> <Step operation run selection> <Data No. unit step mode selection> <Step operation command write>...
  • Page 242 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q No. 23 Absolute position restoration program (1) Absolute position restoration command acceptance <Status reset> (2) Setting of transmit data to servo-amplifier and confirmation of absolute position restoration completion ABRST1 instruction completed when M42 is ON and M43 is OFF. Absolute position data restoration completed when status = 0.
  • Page 243 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q No. 26 Flash ROM write program <Flash ROM write command pulse> <Flash ROM write command hold> <PLC READY output to QD75 standby> <Flash ROM write execution> <Flash ROM write command storage OFF> No.
  • Page 244: Program Details

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.5 Program details 6.5.1 Initialization program [1] OPR request OFF program Md.31 This program forcibly turns OFF the "OPR request flag" ( Status : b3) which is ON. When using a system that does not require OPR, assemble the program to cancel the "OPR request"...
  • Page 245: Start Details Setting Program

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.5.2 Start details setting program This program sets which control, out of "OPR", "major positioning control" or "high-level positioning control" to execute. For " high-level positioning control", "fast OPR", "speed- position switching control" and "position-speed switching control", add the respectively required sequence program.
  • Page 246 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (4) For "position-speed switching control", set the control data shown below. Cd.25 (As required, set the " Position-speed switching control speed change resister".) Buffer memory address Setting Setting item Setting details value Axis 1 Axis 2 Axis 3 Axis 4 Position-speed switching 1530...
  • Page 247: Start Program

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.5.3 Start program This program is used to start the control with start commands. The control can be started with the following two methods. [1] Starting by inputting positioning start signal [Y10, Y11, Y12, Y13] [2] Starting by inputting external command signal Buffer memory Drive unit...
  • Page 248 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Starting conditions To start the control, the following conditions must be satisfied. The necessary start conditions must be incorporated in the sequence program so that the control is not started when the conditions are not satisfied. Device Signal name Signal state...
  • Page 249 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q [1] Starting by inputting positioning start signal Operation when starting (1) When the positioning start signal turns ON, the start complete signal and BUSY signal turn ON, and the positioning operation starts. It can be seen that the axis is operating when the BUSY signal is ON.
  • Page 250 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Starting time chart The time chart for starting each control is shown below. (1) Time chart for starting "machine OPR" Near-point dog Zero signal [Y10] Positioning start signal [Y0] PLC READY signal [X0] QD75 READY signal Start complete signal...
  • Page 251 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (2) Time chart for starting "fast OPR" [Y10] Positioning start signal PLC READY signal [Y0] [X0] QD75 READY signal [X10] Start complete signal BUSY signal [XC] Error detection signal [X8] Cd. 3 Positioning start No. 9002 Fig.
  • Page 252 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (3) Time chart for starting "major positioning control" Operation pattern Dwell time 1(11) Positioning data No. 2(00) Positioning start signal [Y10] PLC READY signal [Y0] QD75 READY signal [X0] Start complete signal [X10] BUSY signal [XC]...
  • Page 253 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (5) Time chart for starting "position-speed switching control" Operation pattern (00) Position control Speed control Positioning data No. (1) Positioning start signal [Y10] PLC READY signal [Y0] QD75 READY signal [X0] Start complete signal [X10] BUSY signal [XC]...
  • Page 254 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Machine OPR operation timing and process time Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [XC, XD, XE, XF] Start complete signal [X10, X11, X12, X13] Waiting In OPR Waiting Md. 26 Axis operation status Output pulse to external source (PULSE) Positioning operation...
  • Page 255 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Position control operation timing and process time Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [XC, XD, XE, XF] M code ON signal (WITH mode) [X4, X5, X6, X7] Cd. 7 M code OFF request Start complete signal [X10, X11, X12, X13] Md.
  • Page 256 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q [2] Starting by inputting external command signal When starting positioning control by inputting the external command signal, the start command can be directly input into the QD75. This allows the variation time equivalent to one scan time of the PLC CPU to be eliminated.
  • Page 257: Continuous Operation Interrupt Program

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.5.4 Continuous operation interrupt program During positioning control, the control can be interrupted during continuous positioning control and continuous path control (continuous operation interrupt function). When "continuous operation interruption" is execution, the control will stop when the operation of the positioning data being executed ends.
  • Page 258 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (3) If the operation cannot be decelerated to a stop because the remaining distance is insufficient when "continuous operation interrupt request" is executed with continuous path control, the interruption of the continuous operation will be postponed until the positioning data shown below.
  • Page 259: Restart Program

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.5.5 Restart program When a stop factor occurs during position control and the operation stops, the positioning can be restarted from the stopped position to the position control end point Cd.6 by using the "restart command" ( Restart command).
  • Page 260 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q REMARK Restarting after stopping is possible even for the following control. • • Incremental system position control Continuous positioning control • • Continuous path control Block start [3] Control data requiring setting Set the following data to execute restart.
  • Page 261 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (5) Time chart for restarting Dwell time Positioning start signal [Y10] Axis stop signal [Y4] PLC READY signal [Y0] QD75 READY signal [X0] Start complete signal [X10] BUSY signal [XC] Positioning complete signal [X14] Error detection signal [X8]...
  • Page 262: Stop Program

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.5.6 Stop program The axis stop signal [Y4, Y5, Y6, Y7] or a stop signal from an external source is used to stop the control. Create a program to turn ON the axis stop signal [Y4, Y5, Y6, Y7] as the stop program. The process for stopping control is explained below.
  • Page 263 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q [2] Types of stop processes The operation can be stopped with deceleration stop, sudden stop or immediate stop. (1) Deceleration stop Pr.10 Pr.28 Pr.29 The operation stops with "deceleration time 0 to 3" ( Pr.30 Which time from "deceleration time 0 to 3"...
  • Page 264 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q [3] Order of priority for stop process The order of priority for the QD75 stop process is as follows. Deceleration stop < Sudden stop < Immediate stop (1) If the deceleration stop command ON (stop signal ON) or deceleration stop cause occurs during deceleration to speed 0 (including automatic deceleration), operation changes depending on the setting of "...
  • Page 265 Chapter 7 Memory Configuration and Data Process The QD75 memory configuration and data transmission are explained in this chapter. The QD75 is configured of two memories. By understanding the configuration and roles of two memories, the QD75 internal data transmission process, such as "when the power is turned ON"...
  • Page 266: Configuration And Roles Of Qd75 Memory

    7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q 7.1 Configuration and roles of QD75 memory 7.1.1 Configuration and roles of QD75 memory The QD75 is configured of the following two memories. Area configuration Memory Role configuration Area that can be directly accessed •...
  • Page 267 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q Details of areas • Parameter area Area where parameters, such as positioning parameters and OPR parameters, required for positioning control are set and stored. Pr.57 Pr.1 (Set the items indicated with Pr.150 for each axis.) •...
  • Page 268 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q User accesses Data is backed up here. here. Flash ROM Buffer memory Parameter area Parameter area Positioning data area Positioning data area (No.1 to 600) (No.1 to 600) Copy Block start data area Block start data area (No.7000 to 7004) (No.
  • Page 269: Buffer Memory Area Configuration

    7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q 7.1.2 Buffer memory area configuration The QD75 buffer memory is configured of the following types of areas. Buffer memory address Writing Buffer memory area configuration Axis 1 Axis 2 Axis 3 Axis 4 possibility Basic parameter area 0 to 15...
  • Page 270: Data Transmission Process

    7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q 7.2 Data transmission process The data is transmitted between the QD75 memories with steps (1) to (8) shown below. The data transmission patterns numbered (1) to (8) on the right page correspond to the numbers (1) to (8) on the left page.
  • Page 271 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q (1) Transmitting data when power is turned ON or PLC CPU is reset When the power is turned ON or the PLC CPU is reset, the "parameters", "positioning data" and "block start data" stored (backed up) in the flash ROM is transmitted to the buffer memory.
  • Page 272 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q Peripheral devices (6) Flash ROM request (Write) PLC CPU (6) Flash ROM request (Write) (5) Flash ROM write (Set "1" in Cd.1 with TO command) QD75 Buffer memory Parameter area (a) Pr.1 Pr.7 Parameter area (a) Pr.11 Pr.24...
  • Page 273 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q (5) Flash ROM write ( Cd.1 The following transmission process is carried out by setting "1" in " Flash ROM write request" (buffer memory [1900]). 1) The "parameters", "positioning data (No. 1 to 600)" and "block start data (No. 7000 to 7004)"...
  • Page 274 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q QD75 Buffer memory Parameter area (a) Pr.1 to Pr.7 Parameter area (a) Pr.11 Pr.24 Parameter area (b) Pr.43 Pr.57 Pr.150 Positioning data area Parameter area (b) (No.1 to 600) Pr.8 to Pr.10 Block start data area (No.7000 to 7004) Pr.25 Pr.42...
  • Page 275 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q (7) Reading data from buffer memory to peripheral device ( The following transmission processes are carried out with the [Read from module] from the peripheral device. 1) The "parameters", "positioning data (No. 1 to 600)" and "block start data (No. 7000 to 7004)"...
  • Page 276 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q The data transmission is carried out as shown in the previous pages, but the main method of using this data process is shown below. (Ex.) Setting the positioning data The following methods can be used to set the positioning data. From peripheral device Using sequense program Write positioning data into buffer...
  • Page 277 Section 2 Control Details and Setting Section 2 is configured for the following purposes shown in (1) to (3). (1) Understanding of the operation and restrictions of each control. (2) Carrying out the required settings in each control (3) Dealing with errors The required settings in each control include parameter setting, positioning data setting, control data setting by a sequence program, etc.
  • Page 278 MEMO Get other manuals https://www.bkmanuals.com...
  • Page 279 Chapter 8 OPR Control The details and usage of "OPR control" are explained in this chapter. OPR control includes "machine OPR" that establish a machine OP without using address data, and "fast OPR" that store the coordinates established by the machine OPR, and carry out positioning to that position.
  • Page 280: Outline Of Opr Control

    8 OPR CONTROL MELSEC-Q 8.1 Outline of OPR control 8.1.1 Two types of OPR control In "OPR control" a position is established as the starting point (or "OP") when carrying out positioning control, and positioning is carried out toward that starting point. It is used to return a machine system at any position other than the OP to the OP when the QD75 issues a "OPR request"...
  • Page 281 8 OPR CONTROL MELSEC-Q OPR sub functions Refer to Section 3.2.4 "Combination of QD75 main functions and sub functions" for details on "sub functions" that can be combined with OPR control. Also refer to Chapter 12 "Control sub functions" for details on each sub function. [Remarks] The following two sub functions are only related to machine OPR.
  • Page 282: Machine Opr

    8 OPR CONTROL MELSEC-Q 8.2 Machine OPR 8.2.1 Outline of the machine OPR operation Important Use the OPR retry function when the OP position is not always in the same direction from the workpiece operation area (when the OP is not set near the upper or lower limit of the machine).
  • Page 283: Machine Opr Method

    8 OPR CONTROL MELSEC-Q 8.2.2 Machine OPR method The method by which the machine OP is established (method for judging the OP position and machine OPR completion) is designated in the machine OPR according to the configuration and application of the positioning method. The following table shows the six methods that can be used for this OPR method.
  • Page 284: Opr Method (1): Near-Point Dog Method

    8 OPR CONTROL MELSEC-Q 8.2.3 OPR method (1): Near-point dog method The following shows an operation outline of the "near-point dog method" OPR method. Operation chart The machine OPR is started. (The machine begins the acceleration designated in " Pr.51 OPR acceleration time selection", in the direction designated in "...
  • Page 285 8 OPR CONTROL MELSEC-Q Restrictions A pulse generator with a zero signal is required. When using a pulse generator without a zero signal, generate a zero signal using an external signal. Precautions during operation (1) An error "Start at OP (error code: 201)" will occur if another machine OPR is attempted after a machine OPR completion when the OPR retry function is not set Pr.48 ("0"...
  • Page 286: Opr Method (2): Stopper Method 1)

    8 OPR CONTROL MELSEC-Q 8.2.4 OPR method (2): Stopper method 1) The following shows an operation outline of the "stopper method 1)" OPR method. Operation chart The machine OPR is started. Pr.51 (The machine begins the acceleration designated in " OPR acceleration time selection", in the direction designated in Pr.44 Pr.46...
  • Page 287 8 OPR CONTROL MELSEC-Q Restrictions Pr.47 (1) Always limit the servomotor torque after the " Creep speed" is reached. If the torque is not limited, the servomotor may fail when the machine presses against the stopper. (Refer to Section 12.4.2 "Torque limit function".) (2) In the "stopper method 1)", the OPR retry function is unusable.
  • Page 288 8 OPR CONTROL MELSEC-Q (3) If the " Pr.49 OPR dwell time" elapses before the stop at the stopper, the workpiece will stop at that position, and that position will be regarded as the OP. At this time, an error will not occur. Pr.
  • Page 289: Opr Method (3): Stopper Method 2)

    8 OPR CONTROL MELSEC-Q 8.2.5 OPR method (3): Stopper method 2) The following shows an operation outline of the "stopper method 2)" OPR method. Operation chart The machine OPR is started. (The machine begins the acceleration designated in " Pr.51 OPR acceleration time selection", in the direction designated in Pr.44 Pr.46...
  • Page 290 8 OPR CONTROL MELSEC-Q Restrictions Pr.47 (1) Always limit the servomotor torque after the " Creep speed" is reached. If the torque is not limited, the servomotor may fail when the machine presses against the stopper. (Refer to Section 12.4.2 "Torque limit function".) (2) Use an external input signal as the zero signal.
  • Page 291 8 OPR CONTROL MELSEC-Q (3) If the zero signal is input before the workpiece stops at the stopper, the workpiece will stop at that position, and that position will be regarded as the OP. Pr. 46 OPR speed Pr. 47 Creep speed Stops at stopper Zero signal Valid torque limit range...
  • Page 292: Opr Method (4): Stopper Method 3)

    8 OPR CONTROL MELSEC-Q 8.2.6 OPR method (4): Stopper method 3) The following shows an operation outline of the "stopper method 3)" OPR method. The "stopper method 3)" method is effective when a near-point dog has not been installed. (Note that the operation is carried out from the start at the " Pr.47 Creep speed", so it will take some time until the machine OPR completion.)
  • Page 293 8 OPR CONTROL MELSEC-Q Restrictions Pr.47 (1) Always limit the servomotor torque after the " Creep speed" is reached. If the torque is not limited, the servomotor may fail when the machine presses against the stopper. (Refer to Section 12.4.2 "Torque limit function".) (2) Use an external input signal as the zero signal.
  • Page 294: Opr Method (5): Count Method1)

    8 OPR CONTROL MELSEC-Q 8.2.7 OPR method (5): Count method1) The following shows an operation outline of the "count method 1)" OPR method. In the "count method 1)" machine OPR, the following can be performed: • Machine OPR on near-point dog ON •...
  • Page 295 8 OPR CONTROL MELSEC-Q Restrictions A pulse generator with a zero signal is required. When using a pulse generator without a zero signal, generate a zero signal using an external signal. Precautions during operation (1) An error "Count method movement amount fault (error code: 206)" will occur Pr.50 and the operation will not start if the "...
  • Page 296: Opr Method (6): Count Method 2)

    8 OPR CONTROL MELSEC-Q 8.2.8 OPR method (6): Count method 2) The following shows an operation outline of the "method 2)" OPR method. The "count method 2)" method is effective when a "zero signal" cannot be received. (Note that compared to the "count method 1)" method, using this method will result in more deviation in the stop position during machine OPR.) Operation chart The machine OPR is started.
  • Page 297 8 OPR CONTROL MELSEC-Q Restrictions When this method is used, a deviation will occur in the stop position (OP) compared to other OPR methods because an error of about 1 ms occurs in taking in the near-point dog ON. Precautions during operation (1) An error "Count method movement amount fault (error code: 206)"...
  • Page 298: Fast Opr

    8 OPR CONTROL MELSEC-Q 8.3 Fast OPR 8.3.1 Outline of the fast OPR operation Fast OPR operation Md.21 In a fast OPR, positioning is carried out by a machine OPR to the " Machine feed value" stored in the QD75. The following shows the operation during a fast OPR start.
  • Page 299 8 OPR CONTROL MELSEC-Q Operation timing and processing time of fast OPR The following shows details about the operation timing and time during fast OPR. Positioning start signal [Y10,Y11,Y12,Y13] [XC,XD,XE,XF] BUSY signal Start complete signal [X10,X11,X12,X13] Standing by In position control Standing by Md.26 Axis operation status Output pulse to external source...
  • Page 300 8 OPR CONTROL MELSEC-Q MEMO 8 - 22 Get other manuals https://www.bkmanuals.com...
  • Page 301 Chapter 9 Major Positioning Control The details and usage of the major positioning controls (control functions using the "positioning data") are explained in this chapter. The major positioning controls include such controls as "positioning control" in which positioning is carried out to a designated position using the address information, "speed control"...
  • Page 302: Outline Of Major Positioning Controls

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.1 Outline of major positioning controls "Major positioning controls" are carried out using the "positioning data" stored in the QD75. The basic controls such as position control and speed control are executed by setting the required items in this "positioning data", and then starting that positioning data. The control system for the "major positioning controls"...
  • Page 303 9 MAJOR POSITIONING CONTROL MELSEC-Q Major positioning control Details Da.2 Control system Forward run The control is continued as position control (positioning for speed/position the designated address or movement amount) by turning Speed-position switching control Reverse run ON the "speed-position switching signal" after first carrying speed/position out speed control.
  • Page 304: Data Required For Major Positioning Control

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.1.1 Data required for major positioning control The following table shows an outline of the "positioning data" configuration and setting details required to carry out the "major positioning controls". Setting item Setting details Set the method by which the continuous positioning data (Ex: positioning data No. 1, Operation pattern Da.1 No.
  • Page 305: Operation Patterns Of Major Positioning Controls

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.1.2 Operation patterns of major positioning controls In "major positioning control" (high-level positioning control), " Da.1 Operation pattern" can be set to designate whether to continue executing positioning data after the started positioning data. The "operation pattern" includes the following 3 types. Positioning complete (1) Independent positioning control (operation pattern: 00)
  • Page 306 9 MAJOR POSITIONING CONTROL MELSEC-Q [1] Independent positioning control (Positioning complete) This control is set when executing only one designated data item of positioning. If a dwell time is designated, the positioning will complete after the designated time elapses. This data (operation pattern [00] data) becomes the end of block data when carrying out block positioning.
  • Page 307 9 MAJOR POSITIONING CONTROL MELSEC-Q [2] Continuous positioning control (1) The machine always automatically decelerates each time the positioning is completed. Acceleration is then carried out after the QD75 command speed reaches 0 to carry out the next positioning data operation. If a dwell time is designated, the acceleration is carried out after the designated time elapses.
  • Page 308 9 MAJOR POSITIONING CONTROL MELSEC-Q [3] Continuous path control (1) Continuous path control (a) The speed is changed without deceleration stop between the command speed of the positioning data currently being run and the speed of the positioning data that will be run next. The speed is not changed if the current speed and the next speed are equal.
  • Page 309 9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning continue (11) Dwell time Positioning continue (11) Positioning Address (+) direction complete (00) Time Address (-) direction Positioning start signal [Y10, Y11, Y12, Y13] Start complete signal [X10, X11, X12, X13] BUSY signal [XC, XD, XE, XF] Positioning complete signal [X14, X15, X16, X17] Fig.
  • Page 310 9 MAJOR POSITIONING CONTROL MELSEC-Q (b) When the operation pattern of the positioning data currently being executed is "continuous path control: 11", and the movement amount of the next positioning data is "0". (c) During operation by step operation. (Refer to Section 12.7.1 Step function".) (d) When there is an error in the positioning data to carry out the next operation.
  • Page 311 9 MAJOR POSITIONING CONTROL MELSEC-Q (3) Speed handling (a) Continuous path control command speeds are set with each positioning data. The QD75 then carries out the positioning at the speed designated with each positioning data. (b) The command speed can be set to "–1" in continuous path control. The control will be carried out at the speed used in the previous positioning data No.
  • Page 312 9 MAJOR POSITIONING CONTROL MELSEC-Q (4) Speed switching Pr.19 (Refer to " Speed switching mode".) (a) Standard speed switching mode If the respective command speeds differ in the "positioning data currently being executed" and the "positioning data to carry out the next operation", the machine will accelerate or decelerate after reaching the positioning point set in the "positioning data currently being executed"...
  • Page 313 9 MAJOR POSITIONING CONTROL MELSEC-Q [When the speed cannot change over in P2] [When the movement amount is small during automatic deceleration] When the relation of the speeds is P1 = P4, P2 = P3, P1 < P2. The movement amount required to carry out the automatic deceleration cannot be secured, so the machine immediately stops in a speed ≠...
  • Page 314 9 MAJOR POSITIONING CONTROL MELSEC-Q Speed switching condition If the movement amount is small in regard to the target speed, the current speed may not reach the target speed even if acceleration/deceleration is carried out. In this case, the machine is accelerated/decelerated so that it nears the target speed.
  • Page 315: Designating The Positioning Address

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.1.3 Designating the positioning address The following shows the two methods for commanding the position in control using positioning data. Absolute system Positioning is carried out to a designated position (absolute address) having the OP as a reference. This address is regarded as the positioning address. (The start point can be anywhere.) Address Start point...
  • Page 316: Confirming The Current Value

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.1.4 Confirming the current value Values showing the current value The following two types of addresses are used as values to show the position in the QD75. These addresses ("current feed value" and "machine feed value") are stored in the monitor data area, and used in monitoring the current value display, etc.
  • Page 317 9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions (1) A 1.8ms error will occur in the current value update timing when the stored "current feed value" is used in the control. A 56.8ms error will occur in the current value update timing when the stored "machine feed value"...
  • Page 318: Control Unit "Degree" Handling

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.1.5 Control unit "degree" handling When the control unit is set to "degree", the following items differ from when other control units are set. [1] Current feed value and machine feed value addresses Md.20 The address of “ Current feed value”...
  • Page 319 9 MAJOR POSITIONING CONTROL MELSEC-Q [3] Positioning control method when the control unit is set to "degree" 1) Absolute system (a) When the software stroke limit is invalid Positioning is carried out in the nearest direction to the designated address, using the current value as a reference. (This is called "shortcut control".) Example 1) Positioning is carried out in a clockwise direction when the current value is moved from 315°...
  • Page 320 9 MAJOR POSITIONING CONTROL MELSEC-Q (b) When the software stroke limit is valid The positioning is carried out in a clockwise/counterclockwise direction depending on the software stroke limit range setting method. Because of this, positioning with "shortcut control" may not be possible.
  • Page 321 9 MAJOR POSITIONING CONTROL MELSEC-Q 9.1.6 Interpolation control Meaning of interpolation control In "2-axis linear interpolation control", "3-axis linear interpolation control", "4-axis linear interpolation control", "2-axis fixed-feed control", "3-axis fixed-feed control", "4-axis fixed-feed control", “2-axis speed control”, “3-axis speed control”, “4-axis speed control”, and "2-axis circular interpolation control", control is carried out so that linear and arc paths are drawn using a motor set in two to four axis directions.
  • Page 322 9 MAJOR POSITIONING CONTROL MELSEC-Q Setting the positioning data during interpolation control When carrying out interpolation control, the same positioning data Nos. are set for the "reference axis" and the "interpolation axis". The following table shows the "positioning data" setting items for the reference axis and interpolation axis.
  • Page 323 9 MAJOR POSITIONING CONTROL MELSEC-Q Starting the interpolation control The positioning data Nos. of the reference axis (axis in which interpolation control Da.2 was set in " Control system") are started when starting the interpolation control. (Starting of the interpolation axis is not required.) The following errors or warnings will occur and the positioning will not start if both reference axis and the interpolation axis are started.
  • Page 324 9 MAJOR POSITIONING CONTROL MELSEC-Q POINT • When the "reference axis speed" is set during interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set as the Pr.8 reference axis, the major axis side speed may exceed the " Speed limit value".
  • Page 325: Interpolation Control

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2 Setting the positioning data 9.2.1 Relation between each control and positioning data The setting requirements and details for the setting items of the positioning data to be Da.2 set differ according to the " Control system".
  • Page 326 9 MAJOR POSITIONING CONTROL MELSEC-Q REMARK • It is recommended that the "positioning data" be set whenever possible with GX Configurator-QP. Execution by sequence program uses many sequence programs and devices. The execution becomes complicated, and the scan times will increase. Major positioning control Other control Current value...
  • Page 327: 1-Axis Linear Control

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.2 1-axis linear control Da.2 In "1-axis linear control" (" Control system" = ABS linear 1, INC linear 1), one motor is used to carry out position control in a set axis direction. [1] 1-axis linear control (ABS linear 1) Operation chart In absolute system 1-axis linear control, addresses established by a machine OPR are used.
  • Page 328 9 MAJOR POSITIONING CONTROL MELSEC-Q [2] 1-axis linear control (INC linear 1) Operation chart In incremental system 1-axis linear control, addresses established by a machine OPR are used. Positioning is carried out from the current stop position (start point Da.6 address) to a position at the end of the movement amount set in "...
  • Page 329: 2-Axis Linear Interpolation Control

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.3 2-axis linear interpolation control Da.2 In "2-axis linear interpolation control" (" Control system" = ABS linear 2, INC linear 2), two motors are used to carry out position control in a linear path while carrying out interpolation for the axis directions set in each axis.
  • Page 330 9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is detected during a positioning control. • If the movement amount of each axis exceeds "1073741824 (=2 )"...
  • Page 331 9 MAJOR POSITIONING CONTROL MELSEC-Q [2] 2-axis linear interpolation control (INC linear 2) Operation chart In incremental system 2-axis linear interpolation control, addresses established by a machine OPR on a 2-axis coordinate plane are used. Linear interpolation positioning is carried out from the current stop position (start point address) to a Da.6 position at the end of the movement amount set in "...
  • Page 332 9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is detected during a positioning operation. • If the movement amount of each axis exceeds "1073741824 (=2 )"...
  • Page 333: 3-Axis Linear Interpolation Control

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.4 3-axis linear interpolation control Da.2 In "3-axis linear interpolation control" (" Control system" = ABS linear 3, INC linear 3), three motors are used to carry out position control in a linear path while carrying out interpolation for the axis directions set in each axis.
  • Page 334 9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is detected during a positioning control. • If the movement amount of each axis exceeds "1073741824 (=2 )"...
  • Page 335 9 MAJOR POSITIONING CONTROL MELSEC-Q POINTS • When the "reference axis speed" is set during 3-axis linear intrpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set as Pr.8 the reference axis, the major axis side speed may exceed the " Speed limit value".
  • Page 336 9 MAJOR POSITIONING CONTROL MELSEC-Q [2] 3-axis linear interpolation control (INC linear 3) Operation chart In the incremental system 3-axis linear interpolation control, using an address established by a machine OPR in the 3-axis coordinate space, a linear interpolation positioning is carried out from the current stop position (start point Da.6 address) to a position at the end of the movement amount set in the "...
  • Page 337 9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is detected during a positioning operation. • If the movement amount of each axis exceeds "1073741824 (=2 )"...
  • Page 338 9 MAJOR POSITIONING CONTROL MELSEC-Q POINTS (1) When the "reference axis speed" is set during 3-axis linear intrpolation control, set so the major axis side becomes the reference axis. If the minor axis side is Pr.8 set as the reference axis, the major axis side speed may exceed the " Speed limit value".
  • Page 339: 4-Axis Linear Interpolation Control

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.5 4-axis linear interpolation control Da.2 In "4-axis linear interpolation control" (" Control system" = ABS linear 4, INC linear 4), four motors are used to carry out position control in a linear path while carrying out interpolation for the axis directions set in each axis.
  • Page 340 9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting example [Reference axis is designated as axis 1.] The following table shows setting examples when "4-axis linear interpolation control (ABS linear 4)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No.
  • Page 341 9 MAJOR POSITIONING CONTROL MELSEC-Q [2] 4-axis linear interpolation control (INC linear 4) Operation chart In the incremental system 4-axis linear interpolation control, using an address established by a machine OPR in the 4-axis coordinate plane, a linear interpolation positioning is carried out from the current stop position (start point address) to a Da.6 position at the end of the movement amount set in the "...
  • Page 342 9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting example [Reference axis is designated as axis 1.] The following table shows setting examples when "4-axis linear interpolation control (INC linear 4)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No.
  • Page 343: 1-Axis Fixed-Feed Control

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.6 1-axis fixed-feed control Da.2 In "1-axis fixed-feed control" (" Control system" = fixed-feed 1), one motor is used to carry out fixed-feed control in a set axis direction. In fixed-feed control, any remainder of the movement amount designated in the positioning data is rounded down if less than that required for control accuracy to output the same amount of pulses.
  • Page 344 9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting example The following table shows setting examples when "1-axis fixed-feed control (fixed- feed 1)" is set in positioning data No. 1 of axis 1. Setting item Setting example Setting details Positioning Set "Positioning complete" assuming the next positioning data will not Da.1 Operation pattern complete be executed.
  • Page 345: 2-Axis Fixed-Feed Control (Interpolation)

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.7 2-axis fixed-feed control (interpolation) Da.2 In "2-axis fixed-feed control" (" Control system" = fixed-feed 2), two motors are used to carry out fixed-feed control in a linear path while carrying out interpolation for the axis directions set in each axis. In fixed-feed control, any remainder of the movement amount designated in the positioning data is rounded down if less than that required for control accuracy to output the same amount of pulses.
  • Page 346 9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting example [Reference axis and interpolation axis are designated as axis 1 and axis 2, respectively.] The following table shows setting examples when "2-axis fixed-dimension feed control (fixed-feed 2)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No.
  • Page 347: 3-Axis Fixed-Feed Control (Interpolation)

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.8 3-axis fixed-feed control (interpolation) Da.2 In "3-axis fixed-feed control" (" Control system" = fixed-feed 3), three motors are used to carry out fixed-feed control in a linear path while carrying out interpolation for the axis directions set in each axis. In fixed-feed control, any remainder of the movement amount designated in the positioning data is rounded down if less than that required for control accuracy to output the same amount of pulses.
  • Page 348 9 MAJOR POSITIONING CONTROL MELSEC-Q Operation chart In incremental system 3-axis fixed-feed control, the addresses ( Md.20 Current feed value) of the current stop position (start addresses) of every axes are set to "0". Linear interpolation positioning is then carried out from that position to a Da.6 position at the end of the movement amount set in "...
  • Page 349 9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions (1) An axis error "Continuous path control not possible (error code: 516)" will occur and the operation cannot start if "continuous path control" is set in Da.1 " Operation pattern". ("Continuous path control" cannot be set in fixed- feed control.) (2) If the movement amount of each axis exceeds "1073741824 (=2 )"...
  • Page 350 9 MAJOR POSITIONING CONTROL MELSEC-Q Axis 1 Axis 2 Axis 3 Axis (reference (interpolation (interpolation Setting details axis) setting axis) setting axis) setting Setting item example example example Positioning Set "Positioning complete" assuming the next Da.1 Operation pattern – – complete positioning data will not be executed.
  • Page 351: 4-Axis Fixed-Feed Control (Interpolation)

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.9 4-axis fixed-feed control (interpolation) Da.2 In "4-axis fixed-feed control" (" Control system" = fixed-feed 4), four motors are used to carry out fixed-feed control in a linear path while carrying out interpolation for the axis directions set in each axis. In fixed-feed control, any remainder of the movement amount designated in the positioning data is rounded down if less than that required for control accuracy to output the same amount of pulses.
  • Page 352 9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting example [Reference axis is designated as axis 1.] The following table shows setting examples when "4-axis fixed-feed control (fixed- feed 4)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No.
  • Page 353: 2-Axis Circular Interpolation Control With Sub Point Designation

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.10 2-axis circular interpolation control with sub point designation In "2-axis circular interpolation control" (" Da.2 Control system" = ABS circular sub, INC circular sub), two motors are used to carry out position control in an arc path passing through designated sub points, while carrying out interpolation for the axis directions set in each axis.
  • Page 354 9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions (1) 2-axis circular interpolation control cannot be set in the following cases. • Pr.1 When "degree" is set in " Unit setting" • Pr.1 When the units set in " Unit setting" are different for the reference axis and interpolation axis.
  • Page 355 9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting example [Reference axis and interpolation axis are designated as axis 1 and axis 2, respectively.] The following table shows setting examples when "2-axis circular interpolation control with sub point designation (ABS circular sub)" is set in positioning data No. 1 of axis 1.
  • Page 356 9 MAJOR POSITIONING CONTROL MELSEC-Q [2] 2-axis circular interpolation control with sub point designation (INC circular sub) Operation chart In the incremental system, 2-axis circular interpolation control with sub point designation, positioning is carried out from the current stop position (start point Da.6 address) to a position at the end of the movement amount set in "...
  • Page 357 9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions (1) 2-axis circular interpolation control cannot be set in the following cases. • When "degree" is set in " Pr.1 Unit setting" • When the units set in " Pr.1 Unit setting" are different for the reference axis and interpolation axis.
  • Page 358 9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting example [Reference axis and interpolation axis are designated as axis 1 and axis 2, respectively.] The following table shows setting examples when "2-axis circular interpolation control with sub point designation (INC circular sub)" is set in positioning data No. 1 of axis 1.
  • Page 359: 2-Axis Circular Interpolation Control With Center Point Designation

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.11 2-axis circular interpolation control with center point designation Da.2 In "2-axis circular interpolation control" (" Control system" = ABS circular right, INC circular right, ABS circular left, INC circular left), two motors are used to carry out position control in an arc path having a designated center point, while carrying out interpolation for the axis directions set in each axis.
  • Page 360 9 MAJOR POSITIONING CONTROL MELSEC-Q Circular interpolation error compensation In circular interpolation control with center point designation, the arc path calculated from the start point address and arc address may deviate from the position of the end point address set in " Da.6 Positioning address/movement amount".
  • Page 361 9 MAJOR POSITIONING CONTROL MELSEC-Q [1] 2-axis circular interpolation control with center point designation (ABS circular right, ABS circular left) Operation chart In the absolute system, 2-axis circular interpolation control with center point designation, addresses established by a machine OPR on a 2-axis coordinate plane are used.
  • Page 362 9 MAJOR POSITIONING CONTROL MELSEC-Q In circular interpolation control with center point designation, an angular velocity is calculated on the assumption that operation is carried out at a command speed on the arc using the radius calculated from the start point address and center point address, and the radius is compensated in proportion to the angular velocity deviated from that at the start point.
  • Page 363 9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting examples [Reference axis and interpolation axis are designated as axis 1 and axis 2, respectively.] The following table shows setting examples when "2-axis circular interpolation control with center point designation (ABS right arc, ABS left arc)" is set in positioning data No.
  • Page 364 9 MAJOR POSITIONING CONTROL MELSEC-Q [2] 2-axis circular interpolation control with center point designation (INC circular right, INC circular left) Operation chart In the incremental system, 2-axis circular interpolation control with center point designation, addresses established by a machine OPR on a 2-axis coordinate plane are used.
  • Page 365 9 MAJOR POSITIONING CONTROL MELSEC-Q In circular interpolation control with center point designation, an angular velocity is calculated on the assumption that operation is carried out at a command speed on the arc using the radius calculated from the start point address and center point address, and the radius is compensated in proportion to the angular velocity deviated from that at the start point.
  • Page 366 9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting examples [Reference axis and interpolation axis are designated as axis 1 and axis 2, respectively.] The following table shows setting examples when "2-axis circular interpolation control with center point designation (INC circular right, INC circular left)" is set in positioning data No.
  • Page 367: 1-Axis Speed Control

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.12 1-axis speed control In "1-axis speed control" (" Da.2 Control system" = Forward run: speed 1, Reverse run: speed 1), control is carried out in the axis direction in which the positioning data Da.8 has been set by continuously outputting pulses for the speed set in "...
  • Page 368 9 MAJOR POSITIONING CONTROL MELSEC-Q Current feed value during 1-axis speed control Md.20 The following table shows the " Current feed value" during 1-axis speed Pr.21 control corresponding to the " Current feed value during speed control" settings. " Pr.21 Current feed value during speed Md.20 Current feed value control"...
  • Page 369 9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting examples The following table shows the setting examples when "1-axis speed control (forward run: speed 1)" is set in the positioning data No. 1 of axis 1. Setting item Setting example Setting details Positioning Setting other than "Positioning complete"...
  • Page 370: 2-Axis Speed Control

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.13 2-axis speed control Da.2 In "2-axis speed control" (" Control system" = Forward run: speed 2, Reverse run: speed 2), control is carried out in the 2-axis direction in which the positioning data Da.8 has been set by continuously outputting pulses for the speed set in "...
  • Page 371 9 MAJOR POSITIONING CONTROL MELSEC-Q Current feed value during 2-axis speed control Md.20 The following table shows the " Current feed value" during 2-axis speed Pr.21 control corresponding to the " Current feed value during speed control" settings. (Note that the reference axis setting values are used for parameters.) "...
  • Page 372 9 MAJOR POSITIONING CONTROL MELSEC-Q (5) An error "No command speed" (error code: 503) occurs if a current speed (-1) Da.8 is set in " Command speed". (6) The software stroke limit check is not carried out when the control unit is set to "degree".
  • Page 373: 3-Axis Speed Control

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.14 3-axis speed control Da.2 In "3-axis speed control" (" Control system" = Forward run: speed 3, Reverse run: speed 3), control is carried out in the 3-axis direction in which the positioning data Da.8 has been set by continuously outputting pulses for the speed set in "...
  • Page 374 9 MAJOR POSITIONING CONTROL MELSEC-Q Current feed value during 3-axis speed control Md.20 The following table shows the " Current feed value" during 3-axis speed Pr.21 control corresponding to the " Current feed value during speed control" settings. (Note that the reference axis setting values are used for parameters.) "...
  • Page 375 9 MAJOR POSITIONING CONTROL MELSEC-Q (4) When either of three axes exceeds the speed limit, that axis is controlled with the speed limit value. The speeds of the other axes are limited at the ratios of Da.8 " Command speed". (Examples) Axis Axis 1 setting...
  • Page 376 9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting examples The following table shows the setting examples when "3-axis speed control (forward run: speed 3)" is set in the positioning data No. 1 of axis 1 (reference axis). Axis 1 Axis 2 Axis 3 Axis (reference...
  • Page 377: 4-Axis Speed Control

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.15 4-axis speed control Da.2 In "4-axis speed control" (" Control system" = Forward run: speed 4, Reverse run: speed 4), control is carried out in the 4-axis direction in which the positioning data Da.8 has been set by continuously outputting pulses for the speed set in "...
  • Page 378 9 MAJOR POSITIONING CONTROL MELSEC-Q Operation chart The following chart shows the operation timing for 4-axis speed control with axis 1 as the reference axis. The "in speed control" flag ( Md.31 Status: b0) is turned ON during speed control. The "positioning complete signal"...
  • Page 379 9 MAJOR POSITIONING CONTROL MELSEC-Q Current feed value during 4-axis speed control Md.20 The following table shows the " Current feed value" during 4-axis speed Pr.21 control corresponding to the " Current feed value during speed control" settings. (Note that the reference axis setting values are used for parameters.) "...
  • Page 380 9 MAJOR POSITIONING CONTROL MELSEC-Q (4) When either of four axes exceeds the speed limit, that axis is controlled with the speed limit value. The speeds of the other axes are limited at the ratios of Da.8 " Command speed". (Examples) Axis Axis 1...
  • Page 381 9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting examples The following table shows the setting examples when "4-axis speed control (forward run: speed 4)" is set in the positioning data No. 1 of axis 1 (reference axis). Axis 1 Axis 2 Axis 3 Axis 4 Axis...
  • Page 382: Speed-Position Switching Control (Inc Mode)

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.16 Speed-position switching control (INC mode) In "speed-position switching control (INC mode)" (" Da.2 Control system" = Forward run: speed/position, Reverse run: speed/position), the pulses of the speed set in Da.8 " Command speed" are kept output on the axial direction set to the positioning data.
  • Page 383 9 MAJOR POSITIONING CONTROL MELSEC-Q Operation chart The following chart (Fig.9.13) shows the operation timing for speed-position Md.31 switching control (INC mode). The "in speed control flag" ( Status: b0) is turned ON during speed control of speed-position switching control (INC mode). Da.
  • Page 384 9 MAJOR POSITIONING CONTROL MELSEC-Q [Operation example] The following operation assumes that the speed-position switching signal is input at the position of the current feed value of 90.00000 [degree] during execution of " Da.2 Control system" "Forward run: Pr.1 Pr.21 speed/position"...
  • Page 385 9 MAJOR POSITIONING CONTROL MELSEC-Q Operation timing and processing time during speed-position switching control (INC mode) Positioning start signal [Y10,Y11,Y12,Y13] BUSY signal [XC,XD,XE,XF] M code ON signal [X4,X5,X6,X7](WITH mode) Cd.7 M code OFF request Start complete signal [X10,X11,X12,X13] Standing by Md.26 Axis operation status In speed control In position control...
  • Page 386 9 MAJOR POSITIONING CONTROL MELSEC-Q Current feed value during speed-position switching control (INC mode) Md.20 The following table shows the " Current feed value" during speed-position switching control (INC mode) corresponding to the " Pr.21 Current feed value during speed control" settings. "...
  • Page 387 9 MAJOR POSITIONING CONTROL MELSEC-Q Speed-position switching signal setting The following table shows the items that must be set to use the external command signals (CHG) as speed-position switching signals. Setting Buffer memory address Setting item Setting details value Axis 1 Axis 2 Axis 3 Axis 4...
  • Page 388 9 MAJOR POSITIONING CONTROL MELSEC-Q POINT • The machine recognizes the presence of a movement amount change request when the data is Cd.23 written to " Speed-position switching control movement amount change register" with the sequence program. • The new movement amount is validated after execution of the speed-position switching control (INC mode), before the input of the speed-position switching signal.
  • Page 389 9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting examples The following table shows setting examples when "speed-position switching control (INC mode) by forward run" is set in positioning data No. 1 of axis 1. Setting item Setting example Setting details Set "Positioning complete"...
  • Page 390: Speed-Position Switching Control (Abs Mode)

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.17 Speed-position switching control (ABS mode) In case of "speed-position switching control (ABS mode)" (" Da.2 Control system" = Forward run: speed/position, Reverse run: speed/position), the pulses of the speed set in " Da.8 Command speed" are kept output in the axial direction set to the positioning data.
  • Page 391 9 MAJOR POSITIONING CONTROL MELSEC-Q Operation chart The following chart (Fig.9.16) shows the operation timing for speed-position Md.31 switching control (ABS mode). The "in speed control flag" ( Status: b0) is turned ON during speed control of speed-position switching control (ABS mode). Da.
  • Page 392 9 MAJOR POSITIONING CONTROL MELSEC-Q [Operation example] The following operation assumes that the speed-position switching signal is input at the position of the current feed value of 90.00000 [degree] during execution of " Da.2 Control system" "Forward run: Pr.1 Pr.21 speed/position"...
  • Page 393 9 MAJOR POSITIONING CONTROL MELSEC-Q Operation timing and processing time during speed-position switching control (ABS mode) Positioning start signal [Y10,Y11,Y12,Y13] BUSY signal [XC,XD,XE,XF] M code ON signal [X4,X5,X6,X7](WITH mode) Cd.7 M code OFF request Start complete signal [X10,X11,X12,X13] Standing by Md.26 Axis operation status In speed control In position control...
  • Page 394 9 MAJOR POSITIONING CONTROL MELSEC-Q Current feed value during speed-position switching control (ABS mode) Md.20 The following table shows the " Current feed value" during speed-position switching control (ABS mode) corresponding to the " Pr.21 Current feed value during speed control" settings. "...
  • Page 395 9 MAJOR POSITIONING CONTROL MELSEC-Q Speed-position switching signal setting The following table shows the items that must be set to use the external command signals (CHG) as speed-position switching signals. Setting Buffer memory address Setting item Setting details value Axis 1 Axis 2 Axis 3 Axis 4...
  • Page 396 9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions (1) An axis error (error code: 516) will occur and the operation cannot start if Da.1 "continuous positioning control" or "continuous path control" is set in " Operation pattern". (2) "Speed-position switching control" cannot be set in " Da.2 Control system"...
  • Page 397 9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting examples The following table shows setting examples when "speed-position switching control (ABS mode) by forward run" is set in positioning data No. 1 of axis 1. Setting item Setting example Setting details Set "Positioning complete"...
  • Page 398: Position-Speed Switching Control

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.18 Position-speed switching control Da.2 In "position-speed switching control" (" Control system" = Forward run: position/speed, Reverse run: position/speed), before the position-speed switching signal is input, position control is carried out for the movement amount set in "...
  • Page 399 9 MAJOR POSITIONING CONTROL MELSEC-Q Operation chart The following chart shows the operation timing for position-speed switching control. The "in speed control" flag ( Md.31 Status: b0) is turned ON during speed control of position-speed switching control. Da. 8 Command speed Position Speed control control...
  • Page 400 9 MAJOR POSITIONING CONTROL MELSEC-Q Operation timing and processing time during position-speed switching control Positioning start signal [Y10,Y11,Y12,Y13] BUSY signal [XC,XD,XE,XF] M code ON signal [X4,X5,X6,X7](WITH mode) Cd. 7 M code OFF request Start complete signal [X10,X11,X12,X13] Axis operation status Standing by In position control In speed control...
  • Page 401 9 MAJOR POSITIONING CONTROL MELSEC-Q Current feed value during position-speed switching control The following table shows the " Md.20 Current feed value" during position-speed switching control corresponding to the " Pr.21 Current feed value during speed control" settings. " Pr.21 Current feed value during Md.20 Current feed value speed control"...
  • Page 402 9 MAJOR POSITIONING CONTROL MELSEC-Q Position-speed switching signal setting The following table shows the items that must be set to use the external command signals (CHG) as position-speed switching signals. Setting Buffer memory address Setting item Setting details value Axis 1 Axis 2 Axis 3 Axis 4...
  • Page 403 9 MAJOR POSITIONING CONTROL MELSEC-Q POINTS • The machine recognizes the presence of a command speed change request when the data is Cd.25 written to " Position-speed switching control speed change register" with the sequence program. • The new command speed is validated after execution of the position-speed switching control before the input of the position-speed switching signal.
  • Page 404 9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting examples The following table shows setting examples when "position-speed switching control (forward run: position/speed)" is set in positioning data No. 1 of axis 1. Setting item Setting example Setting details Set "Positioning complete" assuming the next positioning data will not Positioning Da.1 Operation pattern be executed.
  • Page 405: Current Value Changing

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.19 Current value changing When the current value is changed to a new value, control is carried out in which the Md.20 " Current feed value" of the stopped axis is changed to a random address set Md.21 by the user.
  • Page 406 9 MAJOR POSITIONING CONTROL MELSEC-Q Da.6 (4) If the value set in " Positioning address/movement amount" is outside the software stroke limit ( Pr.12 Pr.13 ) setting range, an error "Software stroke limit +, – (error code: 507 or 508)" will occur at the positioning start, and the operation will not start.
  • Page 407 9 MAJOR POSITIONING CONTROL MELSEC-Q [2] Changing to a new current value using the start No. (No. 9003) for a current value changing Operation chart The current value is changed by setting the new current value in the current value Cd.9 changing buffer memory "...
  • Page 408 9 MAJOR POSITIONING CONTROL MELSEC-Q Setting method for the current value changing function The following shows an example of a sequence program and data setting to change the current value to a new value with the positioning start signal. (The Current feed value is changed to "5000.0 µ...
  • Page 409 9 MAJOR POSITIONING CONTROL MELSEC-Q (3) Add the following sequence program to the control program, and write it to the PLC CPU. — á Example Current value changing Store new current feed value in D106 and D107 <Pulsate current value changing command> <Write current value changing to the QD75>...
  • Page 410: Nop Instruction

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.20 NOP instruction The NOP instruction is used for the nonexecutable control system. Operation The positioning data No. to which the NOP instruction is set transfers, without any processing, to the operation for the next positioning data No. Positioning data setting examples The following table shows the setting examples when "NOP instruction"...
  • Page 411: Jump Instruction

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.21 JUMP instruction The JUMP instruction is used to control the operation so it jumps to a positioning data No. set in the positioning data during "continuous positioning control" or "continuous path control". JUMP instruction include the following two types of JUMP. (1) Unconditional JUMP When no execution conditions are set for the JUMP instruction (When "0"...
  • Page 412 9 MAJOR POSITIONING CONTROL MELSEC-Q (2) The operation pattern, if set, is ignored in the JUMP instruction. (3) Positioning control such as loops cannot be executed by conditional JUMP instructions alone until the conditions have been established. As the target of the JUMP instruction, specify a positioning data that is controlled by other than JUMP and NOP instructions.
  • Page 413: Loop

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.22 LOOP The LOOP is used for loop control by the repetition of LOOP to LEND. Operation The LOOP to LEND loop is repeated by set repeat cycles. Positioning data setting examples The following table shows the setting examples when "LOOP" is set in positioning data No.
  • Page 414: Lend

    9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.23 LEND The LEND is used to return the operation to the top of the repeat (LOOP to LEND) loop. Operation When the repeat cycle designated by the LOOP becomes 0, the loop is terminated, and the next positioning data No. processing is started. (The operation pattern, if set to "Positioning complete", will be ignored.) When the operation is stopped after the repeat operation is executed by designated cycles, the dummy positioning data (for example, incremental...
  • Page 415 Chapter 10 High-level Positioning Control The details and usage of high-level positioning control (control functions using the "block start data") are explained in this chapter. High-level positioning control is used to carry out applied control using the "positioning data". Examples of applied control are using conditional judgment to control "positioning data"...
  • Page 416: Outline Of High-Level Positioning Control

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.1 Outline of high-level positioning control In "high-level positioning control" the execution order and execution conditions of the "positioning data" are set to carry out more applied positioning. (The execution order and execution conditions are set in the "block start data" and "condition data".) The following applied positioning controls can be carried out with "high-level positioning control".
  • Page 417: Data Required For High-Level Positioning Control

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.1.1 Data required for high-level positioning control "High-level positioning control" is executed by setting the required items in the "block start data" and "condition data", then starting that "block start data". Judgment about whether execution is possible, etc., is carried out at execution using the "condition data"...
  • Page 418: Block Start Data" And "Condition Data" Configuration

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.1.2 "Block start data" and "condition data" configuration The "block start data" and "condition data" corresponding to "block No. 7000" can be stored in the buffer memory. (The following drawing shows an example for axis 1.) 50th point Buffer memory Setting item...
  • Page 419 10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q Set in QD75 the " block start data" and "condition data" corresponding to the following "block Nos. 7001 to 7004" using GX Configurator-QP or the sequence program. (The following drawing shows an example for axis 1.) th point th point Buffer memory...
  • Page 420: High-Level Positioning Control Execution Procedure

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.2 High-level positioning control execution procedure High-level positioning control is carried out using the following procedure. "High-level positioning control" executes each control Preparation STEP 1 ("major positioning control") set in the positioning data Carry out the "major positioning control" setting. Refer to Chapter 9 with the designated conditions,so first carry out preparations so that "major positioning control"...
  • Page 421: Setting The Block Start Data

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.3 Setting the block start data 10.3.1 Relation between various controls and block start data The " block start data" must be set to carry out "high-level positioning control". The setting requirements and details of each " block start data" item to be set differ Da.13 according to the "...
  • Page 422: Block Start (Normal Start)

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.3.2 Block start (normal start) In a "block start (normal start)", the positioning data groups of a block are continuously Da.12 executed in a set sequence starting from the positioning data set in " Start data No."...
  • Page 423 10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q [2] Control examples The following shows the control executed when the "block start data" of the 1st point of axis 1 is set as shown in section [1] and started. <1> The positioning data is executed in the following order before stopping. Axis 1 positioning data No.
  • Page 424: Condition Start

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.3.3 Condition start In a "condition start", the "condition data" conditional judgment designated in " Da.14 Da.12 Parameter" is carried out for the positioning data set in " Start data No.". If the conditions have been established, the " block start data" set in "1: condition start" is executed.
  • Page 425: Wait Start

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.3.4 Wait start In a "wait start", the "condition data" conditional judgment designated in " Da.14 Da.12 Parameter" is carried out for the positioning data set in " Start data No.". If the conditions have been established, the " block start data" is executed. If the conditions have not been established, the control stops (waits) until the conditions are established.
  • Page 426: Simultaneous Start

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.3.5 Simultaneous start Da.12 In a "simultaneous start", the positioning data set in the " Start data No." and positioning data of other axes set in the "condition data" are simultaneously executed (pulses are output with the same timing). Da.14 (The "condition data"...
  • Page 427: Repeated Start (For Loop)

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.3.6 Repeated start (FOR loop) In a "repeated start (FOR loop)", the data between the " block start data" in which "4: Da.13 FOR loop" is set in " Special start instruction" and the "block start data" in Da.13 which "6: NEXT start"...
  • Page 428: Repeated Start (For Condition)

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.3.7 Repeated start (FOR condition) In a "repeated start (FOR condition)", the data between the " block start data" in which Da.13 "5: FOR condition" is set in " Special start instruction" and the " block start data"...
  • Page 429: Restrictions When Using The Next Start

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.3.8 Restrictions when using the NEXT start The "NEXT start" is a instruction indicating the end of the repetitions when executing Section 10.3.6 "Repeated start (FOR loop)" and Section 10.3.7 "Repeated start (FOR condition)". The following shows the restrictions when setting "6: NEXT start" in the " block start data".
  • Page 430: Setting The Condition Data

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.4 Setting the condition data 10.4.1 Relation between various controls and the condition data "Condition data" is set in the following cases. (1) When setting conditions during execution of Section 9.2.21 "JUMP instruction" (major positioning control) (2) When setting conditions during execution of "high-level positioning control"...
  • Page 431 10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q Da.16 The setting requirements and details of the following "condition data" Da.15 Da.19 setting items differ according to the " Condition target" setting. The following shows the Da.16 Da.19 setting items corresponding to the Da.15 "...
  • Page 432 10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q REMARK The "PLC CPU memory area" can be designated as the buffer memory address to Da.17 be designated in . (Refer to Section 7.1.1 "Configuration and roles of QD75 memory".) QD75 buffer memory Address 30000 30001 30099 10 - 18...
  • Page 433: Condition Data Setting Examples

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.4.2 Condition data setting examples The following shows setting examples for "condition data". (1) Setting the device ON/OFF as a condition [Condition] Device "X0" (=QD75 READY) is OFF Da.16 Da.15 Da.17 Da.18 Da.19 Condition Condition target Address Parameter 1 Parameter 2...
  • Page 434: Multiple Axes Simultaneous Start Control

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.5 Multiple axes simultaneous start control The "multiple axes simultaneous start control" starts and controls the multiple axes simultaneously by outputting pulses to the axis to be started at the same timing as the start axis. The maximum of four axes can be started simultaneously.
  • Page 435 10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q [4] Multiple axes simultaneous start control function setting method The following shows the setting of the data used to execute the multiple axes simultaneous start control with positioning start signals (The axis control data on the start axis is set).
  • Page 436 10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q POINTS (1) The "multiple axes simultaneous start control" carries out an operation equivalent to the "simultaneous start" using the "block start data". (2) The setting of the "multiple axes simultaneous start control" is easier than that of the "simultaneous start"...
  • Page 437: Start Program For High-Level Positioning Control

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.6 Start program for high-level positioning control 10.6.1 Starting high-level positioning control To execute high-level positioning control, a sequence program must be created to start the control in the same method as for major positioning control. The following shows the procedure for starting the "1st point block start data"...
  • Page 438: Example Of A Start Program For High-Level Positioning Control

    10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.6.2 Example of a start program for high-level positioning control The following shows an example of a start program for high-level positioning control in which the 1st point " block start data" of axis 1 is started. (The block No. is regarded as "7000".) Control data that require setting The following control data must be set to execute high-level positioning control.
  • Page 439 10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q Start time chart The following chart shows a time chart in which the positioning data No. 1, 2, 10, 11, and 12 of axis 1 are continuously executed as an example. (1) Block start data setting example Da.13 Da.11 Axis 1 block...
  • Page 440 10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q Creating the program Example Set the block start data beforehand. Positioning start command M104 <Pulse the positioning start command.> M104 <Write the positioning data No. 7000 K1500 K7000 for block positioning.> K1501 <Write the positioning start point No.> <Turn ON the positioning start signal.>...
  • Page 441 Chapter 11 Manual Control The details and usage of manual control are explained in this chapter. In manual control, pulse output commands are issued during a JOG operation and an inching operation executed by the turning ON of the JOG START signal, or from a manual pulse generator connected to the QD75.
  • Page 442: Outline Of Manual Control

    11 MANUAL CONTROL MELSEC-Q 11.1 Outline of manual control 11.1.1 Three manual control methods "Manual control" refers to control in which positioning data is not used, and a positioning operation is carried out in response to signal input from an external source. The three types of this "manual control"...
  • Page 443 11 MANUAL CONTROL MELSEC-Q [3] Manual pulse generator operation "Manual pulse generator operation" is a control method in which positioning is carried out in response to the No. of pulses input from a manual pulse generator (the No. of input pulses is output). This operation is used for manual fine adjustment, etc., when carrying out accurate positioning to obtain the positioning address.
  • Page 444: Jog Operation

    11 MANUAL CONTROL MELSEC-Q 11.2 JOG operation 11.2.1 Outline of JOG operation Important Use the hardware stroke limit function when carrying out JOG operation near the upper or lower limits. (Refer to Section 12.4.4). * If the hardware stroke limit function is not used, the workpiece may exceed the moving range, causing an accident.
  • Page 445 11 MANUAL CONTROL MELSEC-Q Precautions during operation The following details must be understood before carrying out JOG operation. Cd.17 (1) For safety, first set " JOG speed" to a smaller value and check the movement. Then gradually increase the value. (2) An axis error will occur and the operation will not start (error code: 300) if the "JOG speed"...
  • Page 446 11 MANUAL CONTROL MELSEC-Q JOG operation timing and processing time The following drawing shows details of the JOG operation timing and processing time. Forward run JOG start signal [Y8, YA, YC, YE] Reverse run JOG start signal [Y9, YB, YD, YF] BUSY signal [XC, XD, XE, XF] Md.
  • Page 447: Jog Operation Execution Procedure

    11 MANUAL CONTROL MELSEC-Q 11.2.2 JOG operation execution procedure The JOG operation is carried out by the following procedure. Preparation One of the following two methods can be used. STEP 1 Set the parameters <Method 1> Pr.1 Pr.39 Refer to Chapter 5 Directly set (write) the parameters in the QD75 using GX and Section 11.2.3.
  • Page 448: Setting The Required Parameters For Jog Operation

    11 MANUAL CONTROL MELSEC-Q 11.2.3 Setting the required parameters for JOG operation The "Parameters" must be set to carry out JOG operation. The following table shows the setting items of the required parameters for carrying out JOG operation. When only JOG operation will be carried out, no parameters other than those shown below need to be set.
  • Page 449 11 MANUAL CONTROL MELSEC-Q Factory-set initial value Setting item Setting requirement (setting details) Pr.25 Acceleration time 1 (Unit: pulse) 1000 Pr.26 Acceleration time 2 (Unit: pulse) 1000 Pr.27 Acceleration time 3 (Unit: pulse) 1000 Pr.28 Deceleration time 1 (Unit: pulse) 1000 Pr.29 Deceleration time 2 (Unit: pulse)
  • Page 450: Creating Start Programs For Jog Operation

    11 MANUAL CONTROL MELSEC-Q 11.2.4 Creating start programs for JOG operation A sequence program must be created to execute a JOG operation. Consider the "required control data setting", "start conditions" and "start time chart" when creating the program. The following shows an example when a JOG operation is started for axis 1. Cd.17 ("...
  • Page 451 11 MANUAL CONTROL MELSEC-Q Start time chart Forward JOG run Reverse JOG run [Y8] Forward run JOG start signal [Y9] Reverse run JOG start signal [Y0] PLC READY signal [X0] QD75 READY signal [XC] BUSY signal [X8] Error detection signal Fig.
  • Page 452 11 MANUAL CONTROL MELSEC-Q Creating the program — á Example No. 10 JOG operation setting program <Set JOG operation speed (100.00mm/min)> <Set a "0" for inching movement amount> <Write JOG operation speed> No.12 JOG operation/inching operation execution program <JOG/inching operation flag ON> <JOG/inching operation termination>...
  • Page 453: Jog Operation Example

    11 MANUAL CONTROL MELSEC-Q 11.2.5 JOG operation example When the "stop signal" is turned ON during JOG operation When the "stop signal" is turned ON during JOG operation, the JOG operation will stop by the "deceleration stop" method. JOG start signals will be ignored while the stop signal is ON. The operation can be started by turning the stop signal OFF, and turning the JOG start signal from OFF to ON again.
  • Page 454 11 MANUAL CONTROL MELSEC-Q When both the "forward run JOG start signal" and "reverse run JOG start signal" are turned ON simultaneously for one axis When both the "forward run JOG start signal" and "reverse run JOG start signal" are turned ON simultaneously for one axis, the "forward run JOG start signal" is given priority.
  • Page 455 11 MANUAL CONTROL MELSEC-Q When the "JOG start signal" is turned ON again during deceleration caused by the ON OFF of the "JOG start signal" When the "JOG start signal" is turned ON again during deceleration caused by the OFF of the "JOG start signal", the JOG operation will be carried out from the time the "JOG start signal"...
  • Page 456 11 MANUAL CONTROL MELSEC-Q When the "JOG start signal" is turned ON immediately after the stop signal OFF (within 100ms) When the "JOG start signal" is turned ON immediately after the stop signal OFF (within 100ms), it will be ignored and the JOG operation will not be carried out. Forward run JOG operation Forward run JOG start signal [Y8, YA, YC, YE]...
  • Page 457: Inching Operation

    11 MANUAL CONTROL MELSEC-Q 11.3 Inching operation 11.3.1 Outline of inching operation Important When the inching operation is carried out near the upper or lower limit, use the hardware stroke limit function (Refer to Section 12.4.4). If the hardware stroke limit function is not used, the workpiece may exceed the movement range, and an accident may result.
  • Page 458 11 MANUAL CONTROL MELSEC-Q Precautions during operation The following details must be understood before inching operation is carried out. (1) Acceleration/deceleration processing is not carried out during inching operation. (Pulses corresponding to the designated inching movement amount are output at the first control cycle of the QD75 (1.8 ms). The movement direction of inching operation is reversed and, when a backlash compensation is carried out, first pulses corresponding to the backlash amount are output in the first control cycle of the QD75 and then pulses corresponding to the designated...
  • Page 459 11 MANUAL CONTROL MELSEC-Q Inching operation timing and processing times The following drawing shows the details of the inching operation timing and processing time. Forward run JOG start signal [Y8,YA,YC,YE] Reverse run JOG start signal [Y9,YB,YD,YF] BUSY signal [XC,XD,XE,XF] Md.26 Axis operation Standing by Inching operation...
  • Page 460: Inching Operation Execution Procedure

    11 MANUAL CONTROL MELSEC-Q 11.3.2 Inching operation execution procedure The inching operation is carried out by the following procedure. Preparation One of the following two methods can be used. STEP 1 Set the parameters. <Method 1> Pr.1 Pr.31 Refer to Chapter 5 Directly set (write) the parameters in the QD75 using GX and Section 11.3.3.
  • Page 461: Setting The Required Parameters For Inching Operation

    11 MANUAL CONTROL MELSEC-Q 11.3.3 Setting the required parameters for inching operation The "Parameters" must be set to carry out inching operation. The following table shows the setting items of the required parameters for carrying out inching operation. When only inching operation will be carried out, no parameters other than those shown below need to be set.
  • Page 462: Creating A Program To Enable/Disable The Inching Operation

    11 MANUAL CONTROL MELSEC-Q 11.3.4 Creating a program to enable/disable the inching operation A sequence program must be created to execute an inching operation. Consider the "required control data setting", "start conditions", and "start time chart" when creating the program. The following shows an example when an inching operation is started for axis 1.
  • Page 463 11 MANUAL CONTROL MELSEC-Q Start time chart Forward run inching operation Reverse run inching operation Forward run JOG start signal [Y8] Reverse run JOG start signal [Y9] PLC READY signal [Y0] QD75 READY signal [X0] BUSY signal [XC] Error detection signal [X8] Positioning complete signal [X14] Fig.
  • Page 464 11 MANUAL CONTROL MELSEC-Q Creating the program — á Example No.11 Inching operation setting program <Set inching movement amount> <Write inching movement amount> No.12 JOG operation/inching operation execution program <JOG/inching operation flag ON> <JOG/inching operation termination> <Execute forward JOG/inching operation> <Execute reverse JOG operation>...
  • Page 465: Inching Operation Example

    11 MANUAL CONTROL MELSEC-Q 11.3.5 Inching operation example When "stop signal" is turned ON during inching operation: If "stop signal" is turned ON during inching operation, the inching operation will be stopped. While the stop signal is turned ON, the JOG start signal is ignored. The inching operation can be re-started when the stop signal is turned OFF and then re-turned ON.
  • Page 466 11 MANUAL CONTROL MELSEC-Q When "JOG start signal" is turned ON when peripheral devices are in the test mode: If "JOG star signal" is turned ON when peripheral devices are in the test mode, the "JOG start signal" will be ignored and inching operation will not be carried out. Inching operation not Forward run inching possible because JOG...
  • Page 467: Manual Pulse Generator Operation

    11 MANUAL CONTROL MELSEC-Q 11.4 Manual pulse generator operation 11.4.1 Outline of manual pulse generator operation Important Create the sequence program so that " Cd.21 Manual pulse generator enable flag" is always set to "0" (disabled) when a manual pulse generator operation is not carried out.
  • Page 468 11 MANUAL CONTROL MELSEC-Q Restricted items A manual pulse generator is required to carry out manual pulse generator operation. Precautions during operation The following details must be understood before carrying out manual pulse generator operation. (1) The speed during manual pulse generator operation is not limited by the Pr.8 "...
  • Page 469 11 MANUAL CONTROL MELSEC-Q Manual pulse generator operation timing and processing time The following drawing shows details of the manual pulse generator operation timing and processing time. Cd. 21 Manual pulse generator enable flag (axis control data) Manual pulse generator input pulses BUSY signal [XC,XD,XE,XF]...
  • Page 470 11 MANUAL CONTROL MELSEC-Q Position control by manual pulse generator operation In manual pulse generator operation, the position is moved by a "manual pulse generator 1 pulse movement amount" per pulse. The current feed value in the positioning control by manual pulse generator operation can be calculated using the expression shown below.
  • Page 471: Manual Pulse Generator Operation Execution Procedure

    11 MANUAL CONTROL MELSEC-Q 11.4.2 Manual pulse generator operation execution procedure The manual pulse generator operation is carried out by the following procedure. One of the following two methods can be used. Preparation STEP 1 Set the parameters <Method 1> Pr.1 Pr.24 Refer to Chapter 5...
  • Page 472: Setting The Required Parameters For Manual Pulse Generator Operation

    11 MANUAL CONTROL MELSEC-Q 11.4.3 Setting the required parameters for manual pulse generator operation The "Parameters" must be set to carry out manual pulse generator operation. The following table shows the setting items of the required parameters for carrying out manual pulse generator operation.
  • Page 473: Creating A Program To Enable/Disable The Manual Pulse Generator Operation

    11 MANUAL CONTROL MELSEC-Q 11.4.4 Creating a program to enable/disable the manual pulse generator operation A sequence program must be created to execute a manual pulse generator operation. Consider the "required control data setting", "start conditions" and "start time chart" when creating the program.
  • Page 474 11 MANUAL CONTROL MELSEC-Q Start time chart Forward run Reverse run Pulse input A phase Pulse input B phase [Y0] PLC READY signal [X0] QD75 READY signal Start complete signal [X10] [XC] BUSY signal [X8] Error detection signal Cd. 21 Manual pulse generator enable flag Cd.
  • Page 475 11 MANUAL CONTROL MELSEC-Q Creating the program — á Example No.13 Manual pulse generator operation program <Pulsate manual pulse generator operation command> <Set manual pulse generator input scale per pulse> <Write manual pulse generator operation enable> <Write data for manual pulse generator> <Turn ON manual pulse generator operating flag>...
  • Page 476 11 MANUAL CONTROL MELSEC-Q MEMO 11 - 36 Get other manuals https://www.bkmanuals.com...
  • Page 477 Chapter 12 Control Sub Functions The details and usage of the "sub functions" added and used in combination with the main functions are explained in this chapter. A variety of sub functions are available, including functions specifically for machine OPR and generally related functions such as control compensation, etc. More appropriate, finer control can be carried out by using these sub functions.
  • Page 478: Outline Of Sub Functions

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.1 Outline of sub functions "Sub functions" are functions that compensate, limit, add functions, etc., to the control when the main functions are executed. These sub functions are executed by parameter settings, commands from GX Configurator-QP, sub function sequence programs, etc.
  • Page 479 12 CONTROL SUB FUNCTIONS MELSEC-Q Sub function Details Absolute position This function restores the absolute position of the designated axis. restoration function This function temporarily stops the operation to confirm the positioning operation during debugging, etc. Step function The operation can be stopped at each "automatic deceleration" or "positioning data".
  • Page 480: Sub Functions Specifically For Machine Opr

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.2 Sub functions specifically for machine OPR The sub functions specifically for machine OPR include the "OPR retry function" and "OP shift function". Each function is executed by parameter setting. 12.2.1 OPR retry function When the workpiece goes past the OP without stopping during positioning control, it may not move back in the direction of the OP although a machine OPR is commanded, depending on the workpiece position.
  • Page 481 12 CONTROL SUB FUNCTIONS MELSEC-Q (2) OPR retry operation when the workpiece is outside the range between the upper and lower limits. 1) When the direction from the workpiece to the OP is the same as the " OPR direction", a Pr.44 normal machine OPR is carried out.
  • Page 482 12 CONTROL SUB FUNCTIONS MELSEC-Q (3) Setting the dwell time during an OPR retry The OPR retry function can perform such function as the dwell time using Pr.57 " Dwell time at OPR retry" when the reverse run operation is carried out due to detection by the limit signal for upper and lower limits and when the machine OPR is executed after the near point dog is turned OFF to stop the operation.
  • Page 483 12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Precaution during control (1) The following table shows whether the OPR retry function may be executed Pr.43 by the " OPR method". Pr.43 OPR method Execution status of OPR retry function Near-point dog method : Execution possible Stopper method 1) : Execution not possible...
  • Page 484: Op Shift Function

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.2.2 OP shift function When a machine OPR is carried out, the OP is normally established using the near- point dog, stopper, and zero signal. However, by using the OP shift function, the machine can be moved a designated movement amount from the position where the zero signal was detected.
  • Page 485 12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Setting range for the OP shift amount Set the OP shift amount within the range from the detected zero signal to the upper/lower limit switches. Setting range of the negative OP Setting range of the positive OP shift amount shift amount Address decrease Address increase...
  • Page 486 12 CONTROL SUB FUNCTIONS MELSEC-Q Pr.47 (2) OP shift operation at the " Creep speed" (When " Pr.56 Speed designation during OP shift" is 1) Pr. 44 OPR direction Pr. 47 Creep When the " Pr. 53 OP speed shift amount" is positive Zero point Machine OPR start When the "...
  • Page 487: Functions For Compensating The Control

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.3 Functions for compensating the control The sub functions for compensating the control include the "backlash compensation function", "electronic gear function", and "near pass function". Each function is executed by parameter setting or sequence program creation and writing. 12.3.1 Backlash compensation function The "backlash compensation function"...
  • Page 488 12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Precautions during control (1) The feed pulses of the backlash compensation amount are not added to the Md.20 Md.21 " Current feed value" or " Machine feed value". (2) Always carry out a machine OPR before starting the control when using the Pr.11 backlash compensation function (when "...
  • Page 489: Electronic Gear Function

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.3.2 Electronic gear function The "electronic gear function" adjusts the pulses calculated and output according to the parameters set in the QD75 with the actual machine movement amount. The "electronic gear function" has the following three functions. [A] During machine movement, the function increments in the QD75 values less than one pulse that could not be pulse output, and outputs the incremented amount of pulses when the total incremented value reached one pulse or...
  • Page 490 12 CONTROL SUB FUNCTIONS MELSEC-Q [1] Error compensation method When position control is carried out by the "movement amount per pulse" set in the QD75 parameters, an error sometimes occurs between the command movement amount (L) and the actual movement amount (L'). Pr.2 That error is compensated in the QD75 by adjusting the values in "...
  • Page 491 12 CONTROL SUB FUNCTIONS MELSEC-Q Calculation example (Conditions) : 500 ( µ m/rev) Movement amount per pulse No. of pulses per rotation : 12000 (pulse/rev) Unit magnification (Positioning results) Command movement amount : 100mm Actual movement amount : 101mm (Compensation amount) 5 ×...
  • Page 492 12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Relation between the movement amount per pulse and speed The following shows the relation of the "movement amount per pulse (A)" to the command speed and actual speed. The command speed is the speed commanded by each control, and the actual speed is the actual feedrate.
  • Page 493 12 CONTROL SUB FUNCTIONS MELSEC-Q [3] Precautions during control It is recommended that the "movement amount per pulse (A)" be set to a value close to "1" for the following reasons. The "movement amount per pulse" of "1" means the minimum value in each " Pr.1 Unit setting". (0.1 [µm] for the unit [mm]) (1) If the setting of the movement amount per pulse is less than 1, the command frequency may increase, causing the actual speed to exceed the...
  • Page 494: Near Pass Function

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.3.3 Near pass function When continuous pass control is carried out using interpolation control, the near pass function is carried out. The "near pass function" is a function to suppress the mechanical vibration occurring at the time of switching the positioning data when continuous pass control is carried out using interpolation control.
  • Page 495 12 CONTROL SUB FUNCTIONS MELSEC-Q Precautions during control (1) If the movement amount designated by the positioning data is small when the continuous path control is executed, the output speed may not reach the designated speed. (2) If continuous path control is carried out, the output will suddenly reverse when the reference axis movement direction changes from the positioning data No.
  • Page 496 12 CONTROL SUB FUNCTIONS MELSEC-Q (3) When continuous path control of a circular interpolation is being carried out in the near pass, an address in which the extra movement amount is subtracted from the positioning address of the positioning data currently being executed is replaced by the starting point address of the next positioning data No.
  • Page 497: Functions To Limit The Control

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.4 Functions to limit the control Functions to limit the control include the "speed limit function", "torque limit function", "software stroke limit", and "hardware stroke limit". Each function is executed by parameter setting or sequence program creation and writing. 12.4.1 Speed limit function The speed limit function limits the command speed to a value within the "speed limit value"...
  • Page 498 12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Precautions during control Pr.8 If any axis exceeds " Speed limit value" during 2- to 4-axis speed control, the axis in excess of the speed limit value is controlled at the speed limit value. The speeds of the other axes interpolated are suppressed depending on their command speed ratios.
  • Page 499: Torque Limit Function

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.4.2 Torque limit function The "torque limit function" limits the generated torque to a value within the "torque limit value" setting range when the torque generated in the servomotor exceeds the "torque limit value". The "torque limit function" protects the deceleration function, limits the power of the operation pressing against the stopper, etc.
  • Page 500 12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Control details The following drawing shows the operation of the torque limit function. Various operations PLC READY signal [Y0] Pr.17 Torque limit setting value 100% Cd.22 New torque value Torque limited at the parameter Torque limited at the parameter torque limit setting value (100%) torque limit setting value (50%)
  • Page 501 12 CONTROL SUB FUNCTIONS MELSEC-Q [4] Setting the torque limit function (1) To use the "torque limit function", set the "torque limit value" in the parameters shown in the following table, and write them to the QD75. The set details are validated at the rising edge (OFF ON) of the PLC READY signal (Y0).
  • Page 502: Software Stroke Limit Function

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.4.3 Software stroke limit function In the "software stroke limit function" the address established by a machine OPR is used to set the upper and lower limits of the moveable range of the workpiece. Movement commands issued to addresses outside that setting range will not be executed.
  • Page 503 12 CONTROL SUB FUNCTIONS MELSEC-Q Md.20 The following drawing shows the differences in the operation when " Current feed value" and " Md.21 Machine feed value" are used in the moveable range limit check. [Conditions] Assume the current stop position is 2000, and the upper stroke limit is set to 5000. Moveable range Md.
  • Page 504 12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Software stroke limit check details Processing when Check details an error occurs An error shall occur if the current value 1 is outside the software stroke limit range (Check " Md.20 Current feed value" or " Md.21 Machine feed value".) An "axis error"...
  • Page 505 12 CONTROL SUB FUNCTIONS MELSEC-Q [4] Precautions during software stroke limit check (1) A machine OPR must be executed beforehand for the "software stroke limit function" to function properly. (2) During interpolation control, a stroke limit check is carried out for the every current value of both the reference axis and the interpolation axis.
  • Page 506 12 CONTROL SUB FUNCTIONS MELSEC-Q (5) During simultaneous start, a stroke limit check is carried out for the current values of every axis to be started. Every axis will not start if an error occurs, even if it only occurs in one axis. [5] Setting the software stroke limit function To use the "software stroke limit function", set the required values in the parameters shown in the following table, and write them to the QD75.
  • Page 507 12 CONTROL SUB FUNCTIONS MELSEC-Q [7] Setting when the control unit is "degree" Current value address The " Current feed value" address is a ring address between 0 and Md.20 359.99999 ° . 359.99999° 359.99999° 0° 0° 0° Fig. 12.17 Current value address when the control unit is "degree". Setting the software stroke limit The upper limit value/lower limit value of the software stroke limit is a value between 0 and 359.99999 °...
  • Page 508: Hardware Stroke Limit Function

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.4.4 Hardware stroke limit function DANGER When the hardware stroke limit is required to be wired, ensure to wire it in the negative logic using b-contact. If it is set in positive logic using a-contact, a serious accident may occur. In the "hardware stroke limit function", limit switches are set at the upper/lower limit of the physical moveable range, and the control is stopped (by deceleration stop) by the input of a signal from the limit switch.
  • Page 509 12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Wiring the hardware stroke limit When using the hardware stroke limit function, wire the terminals of the QD75 upper/lower limit stroke limit as shown in the following drawing. Pr.22 (When " Input signal logic selection" is set to the initial value) QD75 24VDC Note) Connect the upper and lower limit switches to the directions of increasing and decreasing...
  • Page 510: Functions To Change The Control Details

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.5 Functions to change the control details Functions to change the control details include the "speed change function", "override function", "acceleration/deceleration time change function" and "torque change function". Each function is executed by parameter setting or sequence program creation and writing.
  • Page 511 12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Precautions during control (1) Control is carried out as follows at the speed change during continuous path control. a) When no speed designation (current speed) is provided in the next positioning data: The next positioning data is controlled at the " Cd.14 New speed value".
  • Page 512 12 CONTROL SUB FUNCTIONS MELSEC-Q Cd.14 (4) When the speed is changed by setting " New speed value" to "0", the operation is carried out as follows. • A deceleration stop is carried out, and the speed change 0 flag Md.31 Status: b10) turns ON.
  • Page 513 12 CONTROL SUB FUNCTIONS MELSEC-Q [3] Setting the speed change function from the PLC CPU The following shows the data settings and sequence program example for changing the control speed of axis 1 from the PLC CPU. (In this example, the control speed is changed to "20.00mm/min".) (1) Set the following data.
  • Page 514 12 CONTROL SUB FUNCTIONS MELSEC-Q (3) Add the following sequence program to the control program, and write it to the PLC CPU. — á Example No.14 Speed change program <Pulsate speed change command> <Hold speed change command> <Set speed change value (20.00mm/min)>...
  • Page 515 12 CONTROL SUB FUNCTIONS MELSEC-Q [4] Setting the speed change function using an external command signal The speed can also be changed using an "external command signal". The following shows the data settings and sequence program example for changing the control speed of axis 1 using an "external command signal". (In this example, the control speed is changed to "10000.00mm/min".) (1) Set the following data to change the speed using an external command signal.
  • Page 516 12 CONTROL SUB FUNCTIONS MELSEC-Q (3) Add the following sequence program to the control program, and write it to the PLC CPU. Example Write 1000000 to D108 and D109. External command [Speed change processing] valid signal DTOP K1514 D108 <Write the new speed. > <Set the external command function selection to external speed change request.
  • Page 517: Override Function

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.5.2 Override function The override function changes the command speed by a designated percentage (1 to 300%) for all control to be executed. The speed can be changed by setting the percentage (%) by which the speed is Cd.13 changed in "...
  • Page 518 12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Precaution during control (1) When changing the speed during continuous path control, the speed change will be ignored if there is not enough distance remaining to carry out the change. (2) A warning "Deceleration/stop speed change (warning code: 500)" occurs and the speed cannot be changed in the following cases.
  • Page 519 12 CONTROL SUB FUNCTIONS MELSEC-Q (3) Add the following sequence program to the control program, and write it to the PLC CPU. — á E xample No.15 Override program <Pulsate override command> <Set override value (200%)> <Write override value> 12 - 43 Get other manuals https://www.bkmanuals.com...
  • Page 520: Acceleration/Deceleration Time Change Function

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.5.3 Acceleration/deceleration time change function The "acceleration/deceleration time change function" is used to change the acceleration/deceleration time during a speed change to a random value when carrying out the speed change indicated in Section 12.5.1 "Speed change function". In a normal speed change (when the acceleration/deceleration time is not changed), the acceleration/deceleration time previously set in the parameters ( Pr.9...
  • Page 521 12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Precautions during control Cd.10 Cd.11 (1) When "0" is set in " New acceleration time value" and " deceleration time value", the acceleration/deceleration time will not be changed even if the speed is changed. In this case, the operation will be controlled at the acceleration/deceleration time previously set in the parameters.
  • Page 522 12 CONTROL SUB FUNCTIONS MELSEC-Q (4) If the "new acceleration/deceleration time" is set to "0" and the speed is changed after the "new acceleration/deceleration time" is validated, the operation will be controlled with the previous "new acceleration/deceleration time". Example New acceleration/deceleration time ( Cd.
  • Page 523 12 CONTROL SUB FUNCTIONS MELSEC-Q Example No.16 Acceleration/deceleration time change program <Pulsate acceleration/deceleration time change command> <Set 2000ms for acceleration time> <Set 0 (not change) for deceleration time> <Write acceleration/deceleration time> <Write acceleration/deceleration time change enable> <Write acceleration/deceleration time change disable>...
  • Page 524: Torque Change Function

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.5.4 Torque change function The "torque change function" is used to change the torque limit value during torque limiting. Pr.17 The torque limit value during torque limiting is normally the value set in the " Torque limit setting value"...
  • Page 525 12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Precautions during control Cd.22 (1) If a value besides "0" is set in the " New torque value", the torque generated by the servomotor will be limited by that value. To limit the torque with the value set in "...
  • Page 526: Absolute Position Restoration Function

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.6 Absolute position restoration function CAUTION When the absolute position restoration is carried out, the servo ON signal may be turned OFF (servo OFF) for about 20 ms, and the motor may operate. If this is not desired, install an electromagnetic brake separately and lock the motor by that brake during the absolute position restoration.
  • Page 527 12 CONTROL SUB FUNCTIONS MELSEC-Q (2) Preparation Prepare the absolute position detection system taking care of the following. Component Details 1) Servo amplifier • Install the battery to the servo amplifier. • Validate the absolute position detection function of the servo amplifier.
  • Page 528 12 CONTROL SUB FUNCTIONS MELSEC-Q [3] Absolute position signal transmission procedure (1) Figure 12.34 shows the outline of the absolute position signal transmission procedure between the servo amplifier and the PLC system (PLC CPU, QD75, I/O module). Refer to the operation manual of the servo amplifier for details on the communication between the servo amplifier and the PLC system.
  • Page 529 12 CONTROL SUB FUNCTIONS MELSEC-Q (3) Connection example The following diagram shows the example of connection between the PLC system and the Mitsubishi Electric servo amplifier (MR-H-A). <Servo amplifier> <PLC system> MR-H-A QCPU QD75 ABS bit0 24(PF) 0(X47) 16 points input module...
  • Page 530 12 CONTROL SUB FUNCTIONS MELSEC-Q [4] Controlling instructions (1) When an absolute position detection system is constructed, absolute position restoration must be made at least once after power supply on or resetting. Also, the servo amplifier does not switch on unless the absolute position restoration is completed.
  • Page 531 12 CONTROL SUB FUNCTIONS MELSEC-Q [Calculation of positioning address and concept of absolute position detection system] Use the following expression to calculate the positioning address. (Positioning address) = (movement amount per pulse) (number of output pulses) + (OP address)..........Expression 1 1.
  • Page 532 12 CONTROL SUB FUNCTIONS MELSEC-Q Example 2. (1) Using Expression 1, calculate the positioning address which can be specified in the system where the OP address in Example 1 is 214740000.0 (µm). • Lower limit value of positioning address (Positioning address) =0.1 (-268435456) + 214740000.0 =187896454.4 (µm) •...
  • Page 533 12 CONTROL SUB FUNCTIONS MELSEC-Q (3) Since the upper and lower limit values of the positioning address calculated are outside of the range of Condition 2, use the positioning address within the positioning range of Condition 2 (-2147483648 (µm) to 2147483647 (µm)). Unit: µm -241591910.4 -214748364.8...
  • Page 534: Other Functions

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.7 Other functions Other functions include the "step function", "skip function", "M code output function", "teaching function", "target position change function", "command in-position function", "acceleration/deceleration processing function", "pre-reading start function", "deceleration start flag function" and "stop command processing for deceleration stop function".
  • Page 535 12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Step mode In step operations, the timing for stopping the control can be set. This is called Cd.34 the "step mode". (The "step mode" is set in the control data " Step mode".) The following shows the two types of "step mode" functions. (1) Deceleration unit step The operation stops at positioning data requiring automatic deceleration.
  • Page 536 12 CONTROL SUB FUNCTIONS MELSEC-Q [4] Using the step operation The following shows the procedure for checking positioning data using the step operation. (1) Turn ON the step valid flag before starting the positioning data. Cd.35 (Write "1" (carry out step operation) in " Step valid flag".) (2) Set the step mode before starting the positioning data.
  • Page 537 12 CONTROL SUB FUNCTIONS MELSEC-Q [5] Control details (1) The following drawing shows a step operation during a "deceleration unit step". Cd. 35 Step valid flag Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [XC, XD, XE, XF] Positioning complete signal [X14, X15, X16, X17] Positioning Positioning data No.
  • Page 538 12 CONTROL SUB FUNCTIONS MELSEC-Q [6] Precautions during control (1) When step operation is carried out using interpolation control positioning data, the step function settings are carried out for the reference axis. (2) When the step valid flag is ON, the step operation will start from the Md.26 beginning if the positioning start signal is turned ON while "...
  • Page 539: Skip Function

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.7.2 Skip function The "skip function" is used to stop (deceleration stop) the control of the positioning data being executed at the time of the skip signal input, and execute the next positioning data. Cd.37 A skip is executed by a skip command ( Skip command) or external command signal.
  • Page 540 12 CONTROL SUB FUNCTIONS MELSEC-Q [3] Setting the skip function from the PLC CPU The following shows the settings and sequence program example for skipping the control being executed in axis 1 with a command from the PLC CPU. (1) Set the following data. (The setting is carried out using the sequence program shown below in section (2)).
  • Page 541 12 CONTROL SUB FUNCTIONS MELSEC-Q [4] Setting the skip function using an external command signal The skip function can also be executed using an "external command signal". The following shows the settings and sequence program example for skipping the control being executed in axis 1 using an "external command signal". (1) Set the following data to execute the skip function using an external command signal.
  • Page 542: M Code Output Function

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.7.3 M code output function The "M code output function" is used to command sub work (clamping, drill rotation, tool replacement, etc.) related to the positioning data being executed. When the M code ON signal (X4, X5, X6, X7) is turned ON during positioning Md.25 execution, a No.
  • Page 543 12 CONTROL SUB FUNCTIONS MELSEC-Q (2) AFTER mode The M code ON signal (X4, X5, X6, X7) is turned ON at the positioning completion, and the M code is stored in " Md.25 Valid M code". Positioning start signal [Y10, Y11, Y12, Y13] [XC, XD, XE, XF] BUSY signal M code ON signal...
  • Page 544 12 CONTROL SUB FUNCTIONS MELSEC-Q Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [XC, XD, XE, XF] M code ON signal [X4, X5, X6, X7] Cd. 7 M code OFF request Md. 25 Valid M code Positioning Da. 1 Operation pattern m1 and m3 indicate set M codes.
  • Page 545 12 CONTROL SUB FUNCTIONS MELSEC-Q [4] Setting the M code output function The following shows the settings to use the "M code output function". Da.10 (1) Set the M code No. in the positioning data " M code". (2) Set the timing to output the M code ON signal (X4, X5, X6, X7). Set the required value in the following parameter, and write it to the QD75.
  • Page 546: Teaching Function

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.7.4 Teaching function The "teaching function" is used to set addresses aligned using the manual control (JOG operation, inching operation manual pulse generator operation) in the positioning Da.6 Da.7 data addresses (" Positioning address/movement amount", " address").
  • Page 547 12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Precautions during control (1) Before teaching, a "machine OPR" must be carried out to establish the OP. Md.20 (When a current value changing, etc., is carried out, " Current feed value" may not show absolute addresses having the OP as a reference.) (2) Teaching cannot be carried out for positions to which movement cannot be executed by manual control (positions to which the workpiece cannot physically move).
  • Page 548 12 CONTROL SUB FUNCTIONS MELSEC-Q [4] Teaching procedure The following shows the procedure for a teaching operation. (1) When teaching to the " Positioning address/movement amount" Da.6 (Teaching example on axis 1) Start Perform machine OPR on axis 1 Move the workpiece to the target position using a manual Using a JOG operation, inching operation, or manual pulse generator.
  • Page 549 12 CONTROL SUB FUNCTIONS MELSEC-Q Da.7 (2) When entering teaching data into " Arc address" and then into " Da.6 Positioning address/movement amount" (Teaching example for 2- axis circular interpolation control with sub point designation on axes 1 and 2) Start Carry out a machine OPR.
  • Page 550 12 CONTROL SUB FUNCTIONS MELSEC-Q Teaching arc end point address Entering teaching data to buffer memory address [1648] and [1649], on axis 2. in the same fashion as for axis 1. End teaching? Turn OFF the PLC READY signal [Y0]. Carry out a writing request to Set 1 in buffer memory address [1900].
  • Page 551 12 CONTROL SUB FUNCTIONS MELSEC-Q [5] Teaching program example The following shows a sequence program example for setting (writing) the positioning data obtained with the teaching function to the QD75. (1) Setting conditions • When setting the current feed value as the positioning address, write it when the BUSY signal is OFF.
  • Page 552 12 CONTROL SUB FUNCTIONS MELSEC-Q Carry out the teaching operation with the following program. Example No.20 Teaching program Position to the target position with manual operation. <Pulsate teaching command> <Hold teaching command> <Set teaching data> <Set positioning data No.> <Execute teaching> <Turn OFF teaching command memory>...
  • Page 553: Target Position Change Function

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.7.5 Target position change function The "target position change function" is a function to change a target position to a newly designated target position at any timing during the position control (1-axis linear control). A command speed can also be changed simultaneously. The target position and command speed changed are set directly in the buffer memory, and the target position change is executed by "...
  • Page 554 12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Precautions during operation (1) If the positioning movement direction from the stop position to a new target position is reversed, stop the operation once and then position to the new target position. (Refer to Fig. 12.41 (c).) (2) If a command speed exceeding the speed limit value is set to change the command speed, a warning will be given, and the new command speed will be the speed limit value (warning code: 501).
  • Page 555 12 CONTROL SUB FUNCTIONS MELSEC-Q [3] Method of setting target position change function from PLC CPU The following table and chart show the example of a data setting and sequence program used to change the target position of the axis 1 by the command from the PLC CPU, respectively.
  • Page 556 12 CONTROL SUB FUNCTIONS MELSEC-Q (3) The following sequence program is added to the control program, and written to the PLC CPU. Example No.22 Target position change program <Pulsate target position change command> <Hold target position change command> <Set target position change value 300.0 m (address)>...
  • Page 557: Command In-Position Function

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.7.6 Command in-position function The "command in-position function" checks the remaining distance to the stop position during the automatic deceleration of positioning control, and raises a flag. This flag is called the "command in-position flag". The command in-position flag is used as a front- loading signal indicating beforehand the completion of the position control.
  • Page 558 12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Precautions during control (1) A command in-position width check will not be carried out in the following cases. • During speed control • During speed control in speed-position switching control • During speed control in position-speed switching control Command in-position width setting value Speed to position switching...
  • Page 559 12 CONTROL SUB FUNCTIONS MELSEC-Q [3] Setting the command in-position function To use the "command in-position function", set the required value in the parameter shown in the following table, and write it to the QD75. The set details are validated at the rising edge (OFF ON) of the PLC READY signal (Y0).
  • Page 560: Acceleration/Deceleration Processing Function

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.7.7 Acceleration/deceleration processing function The "acceleration/deceleration processing function" adjusts the acceleration/deceleration when each control is executed. Adjusting the acceleration/deceleration processing to match the control enables more precise control to be carried out. There are two acceleration/deceleration adjustment items that can be set: "Acceleration/deceleration time 0 to 3", and "acceleration/deceleration method setting".
  • Page 561 12 CONTROL SUB FUNCTIONS MELSEC-Q [2] "Acceleration/deceleration method setting" control details and setting In the "acceleration/deceleration method setting", the acceleration/deceleration processing method is selected and set. The set acceleration/deceleration processing is applied to all acceleration/deceleration. The two types of "acceleration/deceleration method setting" are shown below. (1) Automatic trapezoidal acceleration/deceleration processing method This is a method in which linear acceleration/deceleration is carried out...
  • Page 562 12 CONTROL SUB FUNCTIONS MELSEC-Q When a speed change request is given during S-pattern acceleration/deceleration processing, S-pattern acceleration/deceleration processing begins at a speed change request start. When speed change Speed change (acceleration) request is not given Command speed before speed change Speed change request Speed change (deceleration) Fig.
  • Page 563: Pre-Reading Start Function

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.7.8 Pre-reading start function The "pre-reading start function" does not output pulses while the execution prohibition flag is ON if a positioning start request is given with the execution prohibition flag ON, and starts outputting pulses within 3m after OFF of the execution prohibition flag is detected.
  • Page 564 12 CONTROL SUB FUNCTIONS MELSEC-Q The pre-reading start function is effective for the system as shown below. Cutter Cutter shaft Feed shaft Stock Fig. 12.49 System example using pre-reading start function Fig. 12.49 shows a system example which repeats: 1) Feeding a stock with a feed shaft; and 2) Cutting it with a cutter to cut the stock to fixed size.
  • Page 565 12 CONTROL SUB FUNCTIONS MELSEC-Q Feed shaft Start Stop time Start time time Cutter shaft Start time Feed shaft start request Cutter shaft start request Fig. 12.50 Operation timings of system example The cutter shaft starts from the moment the feed shaft has completed feeding the stock "...
  • Page 566 12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Controlling instructions (1) The time required to analyze the positioning data is up to 7ms. (2) After positioning data analysis, the system is put in an execution prohibition flag OFF waiting status. Any change made to the positioning data in the execution prohibition flag OFF waiting status is not reflected on the positioning data.
  • Page 567 12 CONTROL SUB FUNCTIONS MELSEC-Q Pre-reading start function (when dedicated instruction PSTRT1 is used) <Turns ON execution prohibition flag> <Sets 1 to positioning start No.> <Executes positioning start> <Turns OFF execution prohibition flag> <Normal termination of positioning> <Sets error code> <Abnormal termination of positioning>...
  • Page 568: Deceleration Start Flag Function

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.7.9 Deceleration start flag function The "deceleration start flag function" turns ON the flag when the constant speed status or acceleration status switches to the deceleration status during position control whose operation pattern is "Positioning complete". This function can be used as a signal to start the operation to be performed by other equipment at each end of position control or to perform preparatory operation, etc.
  • Page 569 12 CONTROL SUB FUNCTIONS MELSEC-Q (2) Block start At a block start, this function is valid for only the position control whose operation pattern is "Positioning complete" at the point whose shape has been set to "End". (Refer to Fig. 12.52.) The following table indicates the operation of the deceleration start flag in the case of the following block start data and positioning data.
  • Page 570 12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Precautions during control (1) The deceleration start flag function is valid for the control system of "1-axis linear control", "2-axis linear interpolation control", "3-axis linear interpolation control", "4-axis linear interpolation control", "speed-position switching control" or "position-speed switching control".
  • Page 571 12 CONTROL SUB FUNCTIONS MELSEC-Q [3] Deceleration start flag function setting method To use the "deceleration start flag function", set "1" to the following control data using a sequence program. The set data is made valid on the rising edge (OFF to ON) of the PLC READY signal [Y0].
  • Page 572: Stop Command Processing For Deceleration Stop Function

    12 CONTROL SUB FUNCTIONS MELSEC-Q 12.7.10 Stop command processing for deceleration stop function The "stop command processing for deceleration stop function" is provided to set the deceleration curve if a stop cause occurs during deceleration stop processing (including automatic deceleration). This function is valid for both automatic trapezoidal and S-pattern acceleration/deceleration processing methods.
  • Page 573 12 CONTROL SUB FUNCTIONS MELSEC-Q (2) Deceleration curve continuation The current deceleration curve is continued after a stop cause has occurred. If a stop cause occurs during automatic deceleration of position control, the deceleration stop processing may be complete before the target has reached the positioning address specified in the positioning data that is currently executed.
  • Page 574 12 CONTROL SUB FUNCTIONS MELSEC-Q [3] Setting method To use the "stop command processing for deceleration stop function", set the following control data in a sequence program. The set data are made valid as soon as they are written to the buffer memory. The PLC ready signal [Y0] is irrelevant.
  • Page 575 Chapter 13 Common Functions The details and usage of the "common functions" executed according to the user's requirements are explained in this chapter. Common functions include functions required when using the QD75, such as parameter initialization and execution data backup. Read the setting and execution procedures for each common function indicated in this chapter thoroughly, and execute the appropriate function where required.
  • Page 576: Outline Of Common Functions

    13 COMMON FUNCTIONS MELSEC-Q 13.1 Outline of common functions "Common functions" are executed according to the user's requirements, regardless of the control system, etc. These common functions are executed by peripheral devices or using sequence programs. The following table shows the functions included in the "common functions". Means Common function Details...
  • Page 577: Parameter Initialization Function

    13 COMMON FUNCTIONS MELSEC-Q 13.2 Parameter initialization function "The parameter initialization function" is used to return the setting data set in the QD75 buffer memory and flash ROM to their factory-set initial values. The details shown below explain about the "parameter initialization function". [1] Parameter initialization means [2] Control details [3] Precautions during control...
  • Page 578 13 COMMON FUNCTIONS MELSEC-Q [4] Parameter initialization method (1) Parameter initialization is carried out using the dedicated instruction "PINIT". (Refer to Chapter 14 "Dedicated instructions" for details.) (2) Parameter initialization can also be carried out by the writing of the data shown in the table below to the buffer memory using the TO command/intelligent function device.
  • Page 579: Execution Data Backup Function

    13 COMMON FUNCTIONS MELSEC-Q 13.3 Execution data backup function When the QD75 buffer memory data is rewritten from the PLC CPU, "the data backed up in the QD75 flash ROM" may differ from "the data (buffer memory data) for which control is being executed".
  • Page 580 13 COMMON FUNCTIONS MELSEC-Q [4] Execution data backup method (1) Execution data backup (writing to the flash ROM) is carried out using the dedicated instruction "PFWRT". (Refer to Chapter 14 "Dedicated instructions" for details.) (2) Refer to Section 7.2 "Data transmission process" for the data transmission processing at the backup of the execution data.
  • Page 581: External I/O Signal Logic Switching Function

    13 COMMON FUNCTIONS MELSEC-Q 13.4 External I/O signal logic switching function This function switches the signal logic according to the external equipment connected to the QD75. For the system in which drive unit READY with b-contact, upper limit switch, and lower limit switch are not used, the parameter logic setting can be controlled without wiring if it is changed to a "positive logic".
  • Page 582: External I/O Signal Monitor Function

    13 COMMON FUNCTIONS MELSEC-Q 13.5 External I/O signal monitor function The "External I/O signal monitor function" monitors the module's information and external I/O signal monitor information in the module's detailed information which can be displayed on the system monitor of GX Developer . The information that can be monitored are the module's information (same as the QD75 front "RUN", "ERR"...
  • Page 583 Chapter 14 Dedicated instructions The QD75 dedicated instructions are explained in this chapter. These instructions are used to facilitate the programming for the use of the functions of the intelligent function module. Using the dedicated instructions, the programming can be carried out without being aware of the QD75 buffer memory address and interlock signal.
  • Page 584: List Of Dedicated Instructions

    14 DEDICATED INSTRUCTIONS MELSEC-Q 14.1 List of dedicated instructions The dedicated instructions explained in this Chapter are listed in Table 14.1. Table 14.1 List of dedicated instructions Dedicated Application Outline of functions Reference instruction ABRST1 ABRST2 This function restores the absolute position of the designated Absolute position restoration Section 14.3 axis of the QD75.
  • Page 585: Abrst1, Abrst2, Abrst3, Abrst4

    14 DEDICATED INSTRUCTIONS MELSEC-Q 14.3 ABRST1, ABRST2, ABRST3, ABRST4 These dedicated instructions restore the absolute position of the designated axis. Usable device Setting MELSECNET/10 Special Index Internal device Constant File data direct J \ module register Others register U \G Word Word K, H, $...
  • Page 586 14 DEDICATED INSTRUCTIONS MELSEC-Q [Control data] Setting side Item Device Setting data Setting range ( 1) System area (S)+0 – – – The state at the time of completion is stored. • 0 Complete status : Normal completion (S)+1 – System •...
  • Page 587 14 DEDICATED INSTRUCTIONS MELSEC-Q (2) An I/O module is used for communication (data read/write) with the servo amplifier capable of processing the absolute positions. When using the ABRST , prepare the input/output with the following number of points, for each axis, for communication with the servo amplifier. •...
  • Page 588 I/O module) is used, the dedicated instruction (ABRST ) is unusable. (For the sequence program example for use when the dedicated instruction is not used, refer to the Mitsubishi General-Purpose AC Servo "Absolute Position Detection System" Installation Guide.) : For details of the remote I/O station, refer to Q Corresponding MELSECNET/H Network System Reference Manual (Remote I/O Network).
  • Page 589 14 DEDICATED INSTRUCTIONS MELSEC-Q (6) If the ABRST instruction is executed in either of the following cases, an error "Dedicated instruction error" (error code: 804) will occur and absolute position restoration cannot be carried out. • Any value other than 0 is set to "Status" (device: (S)+4) of the control data. •...
  • Page 590 14 DEDICATED INSTRUCTIONS MELSEC-Q 14.4 PSTRT1, PSTRT2, PSTRT3, PSTRT4 These dedicated instructions are used to start the positioning of the designated axis. Usable device Setting MELSECNET/10 Special Index Internal device File Constant direct J \ data module register Others register Word Word U \G...
  • Page 591 14 DEDICATED INSTRUCTIONS MELSEC-Q [Control data] Setting side Device Item Setting data Setting range ( 1) (S)+0 System area – – – The state at the time of completion is stored. (S)+1 Complete status • 0 : Normal completion – System •...
  • Page 592 14 DEDICATED INSTRUCTIONS MELSEC-Q processing processing processing processing Sequence program PSTRT instruction execution completion PSTRT instruction When Complete device completed abnormally When Complete state display completed normally device 1 scan [Errors] (1) When an PSTRT instruction is completed abnormally, the error complete signal ((D)+1) is turned ON, and the error code is stored in the complete status ((S)+1).
  • Page 593 14 DEDICATED INSTRUCTIONS MELSEC-Q (6) If the PSTRT instruction is executed in either of the following cases, an error "Dedicated instruction error" (error code: 804) will occur and positioning cannot be started. • Any value other than 1 to 600, 7000 to 7004, and 9001 to 9004 is set to "Starting number"...
  • Page 594 14 DEDICATED INSTRUCTIONS MELSEC-Q 14.5 TEACH1, TEACH2, TEACH3, TEACH4 These dedicated instructions are used to teach the designated axis. Usable device Setting MELSECNET/10 Special Index Internal device File Constant direct J \ data module register Others register Word Word U \G K, H, $ –...
  • Page 595 14 DEDICATED INSTRUCTIONS MELSEC-Q [Control data] Setting side Device Item Setting data Setting range ( 1) (S)+0 System area – – – The state at the time of completion is stored. (S)+1 Complete status : Normal completion – System Other than 0 : Abnormal completion (error code)( 2) The address (positioning address/arc address) to which Teaching data the current feed value is written is set.
  • Page 596 14 DEDICATED INSTRUCTIONS MELSEC-Q processing processing processing processing Sequence program TEACH instruction execution completion TEACH instruction When Complete device completed abnormally When Complete state display completed normally device 1 scan [Errors] (1) When a TEACH instruction is completed abnormally, the error complete signal ((D)+1) is turned ON, and the error code is stored in the complete status (S)+1.
  • Page 597 14 DEDICATED INSTRUCTIONS MELSEC-Q [Program example] Program to execute the teaching of the positioning data No. 3 of the axis 1 when X39 is turned ON. No. 20 Teaching program Positioned manually to target position. <Teaching command pulse> <Teaching command hold> <Teaching data setting>...
  • Page 598 14 DEDICATED INSTRUCTIONS MELSEC-Q 14.6 PFWRT These dedicated instructions are used to write the QD75 parameters, positioning data and block start data to the flash ROM. Usable device MELSECNET/10 Setting Special Index Internal device Constant File data direct J \ module register Others...
  • Page 599 14 DEDICATED INSTRUCTIONS MELSEC-Q [Functions] (1) The PFWRT instruction completion can be confirmed using the complete devices ((D)+0) and ((D)+1). (a) Complete device ((D)+0) This device is turned ON by the END processing of the scan for which PFWRT instruction is completed, and turned OFF by the next END processing. (b) Complete state display device ((D)+1) This device is turned ON and OFF according to the state in which PFWRT instruction is completed.
  • Page 600 14 DEDICATED INSTRUCTIONS MELSEC-Q [Precautions] (1) Do not turn ON the power and reset the PLC CPU while parameters, positioning data and block start data are written to the flash ROM using the PFWRT instruction. A parameter error will occur or normal positioning start will become impossible because the parameters, positioning data and block start data are not written normally to the flash ROM.
  • Page 601 14 DEDICATED INSTRUCTIONS MELSEC-Q [Program example] Program used to write the parameters and positioning data stored in the buffer memory to the flash ROM when X3D is turned ON. No. 26 Flash ROM write program <Flash ROM write command pulse> <Flash ROM write command hold>...
  • Page 602 14 DEDICATED INSTRUCTIONS MELSEC-Q 14.7 PINIT This dedicated instruction is used to initialize the setting data of the QD75. Usable device Setting MELSECNET/10 Special Index Internal device File Constant direct J \ data module register Others register Word Word U \G K, H, $ –...
  • Page 603 14 DEDICATED INSTRUCTIONS MELSEC-Q [Functions] (1) This dedicated instruction is used to return the setting data set in the QD75 buffer memory and flash ROM to their factory-set data (initial values). Initialized setting data Parameters ( Pr.1 Pr.57 Pr.150 Positioning data (No. 1 to No. 600) Block start data (No.
  • Page 604 14 DEDICATED INSTRUCTIONS MELSEC-Q [Program example] The following program initializes the parameters in buffer memory and flash ROM when X3C turns ON. No. 25 Parameter initialization program <Parameter initialization command pulse> <Parameter initialization command hold> <PLC READY output to QD75 standby> <Parameter initialization execution>...
  • Page 605 Chapter 15 Troubleshooting The "errors" and "warnings" detected by the QD75 are explained in this chapter. Errors can be confirmed with the QD75 LED display and peripheral devices. When an error or warning is detected, confirm the detection details and carry out the required measures.
  • Page 606 15 TROUBLESHOOTING MELSEC-Q 15.1 Error and warning details [1] Errors Types of errors Errors detected by the QD75 include parameter setting range errors and errors at the operation start or during operation. (1) Parameter setting range errors The parameters are checked when the power is turned ON and at the rising edge (OFF ON) of the PLC READY signal [Y0].
  • Page 607 15 TROUBLESHOOTING MELSEC-Q Error storage When an error occurs, the error detection input turns ON, and the error code corresponding to the error details is stored in the following buffer memory address Md.23 Axis error No.) for axis error No. storage. Note that there is a delay of up to 1.8 ms after the error detection signal turns ON until the error code is stored.
  • Page 608 15 TROUBLESHOOTING MELSEC-Q Warning storage (1) When an axis warning occurs, the warning code corresponding to the warning Md.24 details is stored in the following buffer memory ( Axis warning No.) for axis warning No. storage. Axis No. Buffer memory address 1007 1107 (2) When an axis warning occurs in a positioning operation, etc., "1"...
  • Page 609 15 TROUBLESHOOTING MELSEC-Q MEMO 15 - 5 Get other manuals https://www.bkmanuals.com...
  • Page 610 15 TROUBLESHOOTING MELSEC-Q 15.2 List of errors The following table shows the error details and remedies to be taken when an error occurs. Classification Error Error name Error Operation status at error occurrence of errors code — (Normal status) — —...
  • Page 611 15 TROUBLESHOOTING MELSEC-Q Related buffer memory Set range address Remedy (Setting with sequence program) Axis 1 Axis 2 Axis 3 Axis 4 — — — — — — • Check that there is no influence from noise. — — — —...
  • Page 612 15 TROUBLESHOOTING MELSEC-Q Classification Error Error name Error Operation status at error occurrence of errors code The near-point dog signal is turned Dog detection timing OFF during the deceleration from an fault OPR speed to a creep speed by the near-point dog machine OPR.
  • Page 613 15 TROUBLESHOOTING MELSEC-Q Related buffer memory Set range address Remedy (Setting with sequence program) Axis 1 Axis 2 Axis 3 Axis 4 • Lower the OPR speed. • Increase the dog signal input time. (Refer to Section 8.2.3) <OPR speed> •...
  • Page 614 15 TROUBLESHOOTING MELSEC-Q Classification Error Error name Error Operation status at error occurrence of errors code <When blocks are started simultaneously> • The partner axis for simultaneous start is BUSY. <When multiple axes are started and At start: The system will not operate. controlled simultaneously>...
  • Page 615 15 TROUBLESHOOTING MELSEC-Q Related buffer memory Set range address Remedy (Setting with sequence program) Axis 1 Axis 2 Axis 3 Axis 4 <Condition operators> Axis designation: Refer to Section 5.5 Normalize the condition operators. , 20 , 30 , 40 , 50 "List of condition data"...
  • Page 616 15 TROUBLESHOOTING MELSEC-Q Classification Error Error name Error Operation status at error occurrence of errors code • When the parameter "interpolation speed designation method" performs a linear interpolation in setting a "composite speed", the axis movement amount for each positioning data exceeds At start: The system will not operate.
  • Page 617 15 TROUBLESHOOTING MELSEC-Q Related buffer memory Set range address Remedy (Setting with sequence program) Axis 1 Axis 2 Axis 3 Axis 4 <Positioning address/movement amount> • ABS unit [mm] [pulse] [inch] –2147483648 to 2147483647 Unit [degree] 0 to 35999999 • INC (When software stroke limits are valid) Review the positioning address.
  • Page 618 15 TROUBLESHOOTING MELSEC-Q Classification Error Error name Error Operation status at error occurrence of errors code At start: The system will not operate. In the analysis of new current value: • Positioning is carried out at a Current value is not position beyond the software stroke changed.
  • Page 619 15 TROUBLESHOOTING MELSEC-Q Related buffer memory Set range address Remedy (Setting with sequence program) Axis 1 Axis 2 Axis 3 Axis 4 New current value 1506 1606 1706 1806 1507 1607 1707 1807 At start: Bring the current feed value into the software stroke limit using the manual control operation.
  • Page 620 15 TROUBLESHOOTING MELSEC-Q Classification Error Error name Error Operation status at error occurrence of errors code • The operation pattern set value is 2. • A target position change is requested on those control systems other than ABS1 and INC1. Outside operation •...
  • Page 621 15 TROUBLESHOOTING MELSEC-Q Related buffer memory Set range address Remedy (Setting with sequence program) Axis 1 Axis 2 Axis 3 Axis 4 Correct the operation pattern. (Refer to Section 5.3 Da.1 Same as error codes 515 to 516 Correct the control system. (Refer to Section 5.3 Da.2 Correct the positioning data or change the parameter...
  • Page 622 15 TROUBLESHOOTING MELSEC-Q Classification Error Error name Error Operation status at error occurrence of errors code • The control system setting value is outside the specified limit. • The number of control axes differs At start: The system will not operate. from the previous data when continuous positioning control or During operation:...
  • Page 623 15 TROUBLESHOOTING MELSEC-Q Related buffer memory Set range address Remedy (Setting with sequence program) Axis 1 Axis 2 Axis 3 Axis 4 • Correct the control system or parameter. (Refer to Section 9.1.6, 9.2.20) Same as error codes 515 to 516 •...
  • Page 624 15 TROUBLESHOOTING MELSEC-Q Classification Error Error name Error Operation status at error occurrence of errors code • The condition setting values are not set or outside the setting range. • The condition operator setting values are not set or outside the setting range.
  • Page 625 15 TROUBLESHOOTING MELSEC-Q Related buffer memory Set range address Remedy (Setting with sequence program) Axis 1 Axis 2 Axis 3 Axis 4 — Normalize the block start data. Refer to Section 5.4 "Block start data" <Special start instruction> Correct the instruction code of the special start data. to 06 (Refer to Section 5.4 Da.13...
  • Page 626 15 TROUBLESHOOTING MELSEC-Q Classification Error Error name Error Operation status at error occurrence of errors code At start: The system will not operate. During operation: The system decelerates to a The setting value of ABS direction in stop. the unit of degree is as follows. Illegal setting of ABS Positioning (Note that, in the continuous...
  • Page 627 15 TROUBLESHOOTING MELSEC-Q Related buffer memory Set range address Remedy (Setting with sequence program) Axis 1 Axis 2 Axis 3 Axis 4 ABS setting direction in the • Set the ABS setting direction in the unit of degree 0: Shortcut unit of degree within the setting range.
  • Page 628 15 TROUBLESHOOTING MELSEC-Q Classification Error Error name Error Operation status at error occurrence of errors code The set range of the basic parameter Outside unit setting 1 "Unit setting" is outside the setting range range. Outside pulse The set range of the basic parameter number per rotation 1 "No.
  • Page 629 15 TROUBLESHOOTING MELSEC-Q Related buffer memory Set range address Remedy (Setting with sequence program) Axis 1 Axis 2 Axis 3 Axis 4 0, 1, 2, 3 1 to 65535 1 to 65535 With the setting brought into the setting range, turn the PLC READY signal [Y0] from OFF to ON.
  • Page 630 15 TROUBLESHOOTING MELSEC-Q Classification Error Operation status at error Error name Error of errors code occurrence • In the unit of degree, the set range of the detailed parameter 1 "Software stroke limit lower limit value" is outside the setting range. Software stroke limit lower limit •...
  • Page 631 15 TROUBLESHOOTING MELSEC-Q Related buffer memory Set range address Remedy (Setting with sequence program) Axis 1 Axis 2 Axis 3 Axis 4 • [mm] [inch] [pulse] • Bring the setting into the setting range. –2147483648 to 2147483647 • In a unit other than degree, set so that the lower limit •...
  • Page 632 15 TROUBLESHOOTING MELSEC-Q Classification Error Error name Error Operation status at error occurrence of errors code The set range of the detailed Deceleration time 2 parameter 2 "Deceleration time 2" is setting error outside the setting range. The set range of the detailed Deceleration time 3 parameter 2 "Deceleration time 3"...
  • Page 633 15 TROUBLESHOOTING MELSEC-Q Related buffer memory Set range address Remedy (Setting with sequence program) Axis 1 Axis 2 Axis 3 Axis 4 1 to 8388608 With the setting brought into the setting range, turn the PLC READY signal [Y0] from OFF to ON. 1 to 8388608 QD75P : 1 to 200000 [pulse/s]...
  • Page 634 15 TROUBLESHOOTING MELSEC-Q Classification Error Error name Error Operation status at error occurrence of errors code The set range of the OPR basic OPR direction error parameter "OPR direction" is outside the setting range. The set range of the OPR basic OP address setting parameter "OP address"...
  • Page 635 15 TROUBLESHOOTING MELSEC-Q Related buffer memory Set range address Remedy (Setting with sequence program) Axis 1 Axis 2 Axis 3 Axis 4 0, 1 With the setting brought into the setting range, turn the PLC READY signal [Y0] from OFF to ON. •...
  • Page 636 15 TROUBLESHOOTING MELSEC-Q 15.3 List of warnings The following table shows the warning details and remedies to be taken when a warning occurs. Classification Warning Operation status at warning Warning name Warning of warnings code occurrence — (Normal status) — —...
  • Page 637 15 TROUBLESHOOTING MELSEC-Q Related buffer memory Set range address Remedy (Setting with sequence program) Axis 1 Axis 2 Axis 3 Axis 4 — — — — — — — — — — — Normalize the start request ON timing. Do not carry out the deviation counter clear while the —...
  • Page 638 15 TROUBLESHOOTING MELSEC-Q Classification Warning Operation status at warning Warning name Warning of warnings code occurrence • When input magnification is set at Outside manual The manual pulse generator 1 pulse 101 or higher: Re-set to 100. Manual pulse pulse generator input magnification is set at 0 or 101 generator input magnification...
  • Page 639 15 TROUBLESHOOTING MELSEC-Q Related buffer memory Set range address Remedy (Setting with sequence program) Axis 1 Axis 2 Axis 3 Axis 4 <Manual pulse generator 1 pulse 1522 1622 1722 1822 Set the manual pulse generator 1 pulse input input magnification> 1523 1623 1723...
  • Page 640 15 TROUBLESHOOTING MELSEC-Q Classification Warning Operation status at warning Warning name Warning of warnings code occurrence • The command speed is controlled at Outside command The command speed exceeds the the "speed limit value". speed range speed limit. • The "speed limiting flag" turns ON. Teaching is not carried out when the set value is 0 or 601 or more.
  • Page 641 15 TROUBLESHOOTING MELSEC-Q Related buffer memory Set range address Remedy (Setting with sequence program) Axis 1 Axis 2 Axis 3 Axis 4 For command speed, 1 to 1000000 [pulse/s] refer to Section 5.3 1 to 2000000000 [mm/min or another] "List of positioning data" Speed limit value QD75P : 1 to 200000 [pulse/s]...
  • Page 642 15 TROUBLESHOOTING MELSEC-Q 15.4 LED display functions The states of QD75 and each axis control can be confirmed by the LEDs located on the front panel of the QD75 main unit. QD75P4 Each axis can be monitored by the states of the LEDs. The operation and indications of the LEDs are as shown below.
  • Page 643 Appendix 2.3 Positioning data setting value entry table ..........Appendix- 12 Appendix 3 Positioning data (No. 1 to 600) List of buffer memory addresses ....Appendix- 13 Appendix 4 Connection examples with servo amplifiers manufactured by MITSUBISHI Electric Corporation....................Appendix- 37 Appendix 4.1 Connection example of QD75D and MR-H (Differential driver) ................Appendix- 37...
  • Page 644 APPENDICES MELSEC-Q Appendix 1 Version up of the functions Appendix 1.1 Comparison of functions according to function versions The following tables list the QD75P1/QD75P2/QD75P4/QD75D1/QD75D2/QD75D4 functions compared according to function versions and the buffer memory for their additional functions. (1) Function comparison Function versions of QD75P /QD75D...
  • Page 645 APPENDICES MELSEC-Q MEMO Appendix - 3 Get other manuals https://www.bkmanuals.com...
  • Page 646 APPENDICES MELSEC-Q Appendix 2 Format sheets Appendix 2.1 Positioning Module operation chart Axis address mm, inch, degree, pulse Appendix - 4 Get other manuals https://www.bkmanuals.com...
  • Page 647 APPENDICES MELSEC-Q Axis address mm, inch, degree, pulse Appendix - 5 Get other manuals https://www.bkmanuals.com...
  • Page 648 APPENDICES MELSEC-Q Appendix 2.2 Parameter setting value entry table Setting range Item inch degree pulse Pr.1 Unit setting Pr.2 No. of pulses per rotation (Ap) 1 to 65535 pulse 1 to 65535 1 to 65535 1 to 65535 1 to 65535 Movement amount per rotation Pr.3 ×...
  • Page 649 APPENDICES MELSEC-Q Initial value Axis 1 Axis 2 Axis 3 Axis 4 Remarks 20000 20000 20000 1000 1000 2147483647 –2147483648 Appendix - 7 Get other manuals https://www.bkmanuals.com...
  • Page 650 APPENDICES MELSEC-Q Setting range Item inch degree pulse b0 Lower limit b3 Stop signal Near-point signal Setting of External b7, b9 b1 Upper limit b4 Unused each bit value Pr.22 command to b15 Input signal logic selection 0: Negative Drive unit Manual pulse logic b5 Zero signal...
  • Page 651 APPENDICES MELSEC-Q Initial value Axis 1 Axis 2 Axis 3 Axis 4 Remarks 1000 1000 1000 1000 1000 1000 20000 1000 Appendix - 9 Get other manuals https://www.bkmanuals.com...
  • Page 652 APPENDICES MELSEC-Q Setting range Item inch degree pulse 0: Near-point dog method 1: Stopper method 1) (By dwell time elapse) 2: Stopper method 2) (By OP signal when stopper is hit) Pr.43 OPR method 3: Stopper method 3) (Without near-point dog method) 4: Count method 1) (Use zero signal) 5: Count method 2) (Do not use zero signal) 0: Positive direction (address increment direction)
  • Page 653 APPENDICES MELSEC-Q Initial value Axis 1 Axis 2 Axis 3 Axis 4 Remarks Appendix - 11 Get other manuals https://www.bkmanuals.com...
  • Page 654 APPENDICES MELSEC-Q Appendix 2.3 Positioning data setting value entry table [data No. Axis Da.1 Da.2 Da.3 Da.4 Da.5 Da.6 Da.7 Da.8 Da.9 Da.10 Operation Control Accelera- Decelera- Command Dwell M code Axis to be Positioning Data pattern system tion time tion time address speed...
  • Page 655 APPENDICES MELSEC-Q Appendix 3 Positioning data (No. 1 to 600) List of buffer memory addresses (1) For axis 1 Command Positioning Command Positioning Posi- Posi- Arc data Arc data speed address speed address Data tioning Dwell Data tioning Dwell identi- code time identi-...
  • Page 656 APPENDICES MELSEC-Q (1) For axis 1 Posi- Command Positioning Posi- Command Positioning Arc data Arc data Data tioning Dwell speed address Data tioning Dwell speed address identi- code time Low- High- Low- High- Low- High- identi- code time Low- High- Low- High- Low-...
  • Page 657 APPENDICES MELSEC-Q (1) For axis 1 Posi- Command Positioning Posi- Command Positioning Arc data Arc data speed address speed address Data tioning Dwell Data tioning Dwell identi- code time Low- High- Low- High- Low- High- identi- code time Low- High- Low- High- Low-...
  • Page 658 APPENDICES MELSEC-Q (1) For axis 1 Posi- Command Positioning Posi- Command Positioning Arc data Arc data speed address speed address Data tioning Dwell Data tioning Dwell identi- code time Low- High- Low- High- Low- High- identi- code time Low- High- Low- High- Low-...
  • Page 659 APPENDICES MELSEC-Q (1) For axis 1 Posi- Command Positioning Posi- Command Positioning Arc data Arc data speed address speed address Data tioning Dwell Data tioning Dwell identi- code time Low- High- Low- High- Low- High- identi- code time Low- High- Low- High- Low-...
  • Page 660 APPENDICES MELSEC-Q (1) For axis 1 Posi- Command Positioning Posi- Command Positioning Arc data Arc data speed address speed address Data tioning Dwell Data tioning Dwell identi- code time Low- High- Low- High- Low- High- identi- code time Low- High- Low- High- Low-...
  • Page 661 APPENDICES MELSEC-Q (2) For axis 2 Posi- Command Positioning Posi- Command Positioning Arc data Arc data speed address speed address Data tioning Dwell Data tioning Dwell identi- code time Low- High- Low- High- Low- High- identi- code time Low- High- Low- High- Low-...
  • Page 662 APPENDICES MELSEC-Q (2) For axis 2 Posi- Command Positioning Posi- Command Positioning Arc data Arc data speed address speed address Data tioning Dwell Data tioning Dwell identi- code time Low- High- Low- High- Low- High- identi- code time Low- High- Low- High- Low-...
  • Page 663 APPENDICES MELSEC-Q (2) For axis 2 Posi- Command Positioning Posi- Command Positioning Arc data Arc data speed address speed address Data tioning Dwell Data tioning Dwell identi- code time Low- High- Low- High- Low- High- identi- code time Low- High- Low- High- Low-...
  • Page 664 APPENDICES MELSEC-Q (2) For axis 2 Posi- Command Positioning Posi- Command Positioning Arc data Arc data speed address speed address Data tioning Dwell Data tioning Dwell identi- code time Low- High- Low- High- Low- High- identi- code time Low- High- Low- High- Low-...
  • Page 665 APPENDICES MELSEC-Q (2) For axis 2 Posi- Command Positioning Posi- Command Positioning Arc data Arc data speed address speed address Data tioning Dwell Data tioning Dwell identi- code time Low- High- Low- High- Low- High- identi- code time Low- High- Low- High- Low-...
  • Page 666 APPENDICES MELSEC-Q (2) For axis 2 Posi- Command Positioning Posi- Command Positioning Arc data Arc data speed address speed address Data tioning Dwell Data tioning Dwell identi- code time Low- High- Low- High- Low- High- identi- code time Low- High- Low- High- Low-...
  • Page 667 APPENDICES MELSEC-Q (3) For axis 3 Posi- Command Positioning Posi- Command Positioning Arc data Arc data speed address speed address Data tioning Dwell Data tioning Dwell identi- code time Low- High- Low- High- Low- High- identi- code time Low- High- Low- High- Low-...
  • Page 668 APPENDICES MELSEC-Q (3) For axis 3 Posi- Command Positioning Posi- Command Positioning Arc data Arc data speed address speed address Data tioning Dwell Data tioning Dwell identi- code time Low- High- Low- High- Low- High- identi- code time Low- High- Low- High- Low-...
  • Page 669 APPENDICES MELSEC-Q (3) For axis 3 Posi- Command Positioning Posi- Command Positioning Arc data Arc data speed address speed address Data tioning Dwell Data tioning Dwell identi- code time Low- High- Low- High- Low- High- identi- code time Low- High- Low- High- Low-...
  • Page 670 APPENDICES MELSEC-Q (3) For axis 3 Posi- Command Positioning Posi- Command Positioning Arc data Arc data speed address speed address Data tioning Dwell Data tioning Dwell identi- code time Low- High- Low- High- Low- High- identi- code time Low- High- Low- High- Low-...
  • Page 671 APPENDICES MELSEC-Q (3) For axis 3 Posi- Command Positioning Posi- Command Positioning Arc data Arc data speed address speed address Data tioning Dwell Data tioning Dwell identi- code time Low- High- Low- High- Low- High- identi- code time Low- High- Low- High- Low-...
  • Page 672 APPENDICES MELSEC-Q (3) For axis 3 Posi- Command Positioning Posi- Command Positioning Arc data Arc data speed address speed address Data tioning Dwell Data tioning Dwell identi- code time Low- High- Low- High- Low- High- identi- code time Low- High- Low- High- Low-...
  • Page 673 APPENDICES MELSEC-Q (4) For axis 4 Posi- Command Positioning Posi- Command Positioning Arc data Arc data speed address speed address Data tioning Dwell Data tioning Dwell identi- code time Low- High- Low- High- Low- High- identi- code time Low- High- Low- High- Low-...
  • Page 674 APPENDICES MELSEC-Q (4) For axis 4 Posi- Command Positioning Posi- Command Positioning Arc data Arc data speed address speed address Data tioning Dwell Data tioning Dwell identi- code time Low- High- Low- High- Low- High- identi- code time Low- High- Low- High- Low-...
  • Page 675 APPENDICES MELSEC-Q (4) For axis 4 Command Positioning Command Positioning Posi- Posi- Arc data Arc data Data tioning Dwell speed address Data tioning Dwell speed address identi- code time Low- identi- code time Low- High- Low- High- Low- High- High- Low- High- Low-...
  • Page 676 APPENDICES MELSEC-Q (4) For axis 4 Posi- Command Positioning Posi- Command Positioning Arc data Arc data speed address speed address Data tioning Dwell Data tioning Dwell identi- code time Low- High- Low- High- Low- High- identi- code time Low- High- Low- High- Low-...
  • Page 677 APPENDICES MELSEC-Q (4) For axis 4 Posi- Command Positioning Posi- Command Positioning Arc data Arc data speed address speed address Data tioning Dwell Data tioning Dwell identi- code time Low- High- Low- High- Low- High- identi- code time Low- High- Low- High- Low-...
  • Page 678 APPENDICES MELSEC-Q (4) For axis 4 Posi- Command Positioning Posi- Command Positioning Arc data Arc data speed address speed address Data tioning Dwell Data tioning Dwell identi- code time Low- High- Low- High- Low- High- identi- code time Low- High- Low- High- Low-...
  • Page 679 APPENDICES MELSEC-Q Appendix 4 Connection examples with servo amplifiers manufactured by MITSUBISHI Electric Corporation Appendix 4.1 Connection example of QD75D and MR-H A (Differential driver) Regeneration option Configure a sequence to turn OFF the Servomotor N C P MC at alarms and emergency stops.
  • Page 680 APPENDICES MELSEC-Q Appendix 4.2 Connection example of QD75D and MR-J2/J2S- A (Differential driver) Configure a sequence to turn OFF the HC-MF, HA-FF series motor MC at alarms and emergency stops. MR-J2/MR-J2S- A Power supply 3-phase 200VAC C TE2 24VDC Electromagnetic brake Cutoff by servo ON signal OFF alarm signal.
  • Page 681 APPENDICES MELSEC-Q Appendix 4.3 Connection example of QD75D and MR-C A (Differential driver) Regenerative resistor is an external option. Configure a sequence to turn OFF the HC-PQ series motor MC at alarms and emergency stops. Power supply Single-phase 200VAC (A type) or single-phase 100VAC (A1 type) MR-C A or MR-C A1 Electromagnetic...
  • Page 682 APPENDICES MELSEC-Q Appendix 5 Connection examples with stepping motors manufactured by ORIENTALMOTOR Co., Ltd. Appendix 5.1 Connection example of QD75P and VEXTA UPD (Open collector) 2m max 5 QD75P VEXTA UPD PULSE F PULSE COM CCW- PULSE R PULSE COM CCW+ H.OFF+ PGO24...
  • Page 683 APPENDICES MELSEC-Q Appendix 6 Connection examples with servo amplifiers manufactured by Matsushita Electric Industrial Co., Ltd. Appendix 6.1 Connection example of QD75D and MINAS-A series (Differential driver) 2m max QD75D MINAS-A PULSE2 PULSE F+ PULSE1 PULSE F- SIGN2 PULSE R+ PULSE R- SIGN1 CLEAR...
  • Page 684 APPENDICES MELSEC-Q Appendix 7 Connection examples with servo amplifiers manufactured by SANYO DENKI Co., Ltd. Appendix 7.1 Connection example of QD75D and PYO series (Differential driver) 2m max QD75D PULSE F+ PULSE F- PULSE R+ PULSE R- CLEAR CLEAR COM PGO24 PGO COM SRDY...
  • Page 685 APPENDICES MELSEC-Q Appendix 8 Connection examples with servo amplifiers manufactured by YASKAWA Electric Corporation and ∑- series (Differential driver) Appendix 8.1 Connection example of QD75D 2m max QD75D PULSE F+ PULS PULSE F- /PULS PULSE R+ SIGN PULSE R- /SIGN CLEAR /CLR CLEAR COM...
  • Page 686 APPENDICES MELSEC-Q Appendix 9 Comparisons with conventional positioning modules Appendix 9.1 Comparisons with A1SD71S2 model The following shows comparisons with the conventional positioning module A1SD71S2, centered on the QD75 specifications. Model QD75P1 QD75P2 QD75P4 A1SD71S2 Item QD75D1 QD75D2 QD75D4 No. of control axes No.
  • Page 687 APPENDICES MELSEC-Q Appendix 9.2 Comparisons with A1SD75P1-S3/ A1SD75P2-S3/ A1SD75P3-S3 models The following shows the comparisons between the QD75 and the conventional positioning modules A1SD75P1-S3/A1SD75P2-S3/A1SD75P3-S3. (1) Comparisons of performance specifications Model QD75P1 QD75P2 QD75P4 A1SD75P1 A1SD75P2 A1SD75P3 Item QD75D1 QD75D2 QD75D4 No.
  • Page 688 APPENDICES MELSEC-Q Model QD75P1 QD75P2 QD75P4 A1SD75P1 A1SD75P2 A1SD75P3 Item QD75D1 QD75D2 QD75D4 0.01 to 20000000.00 (mm/min) 0.01 to 6000000.00 (mm/min) 0.001 to 2000000.000 (inch/min) /0.01 to 375000.00 (mm/min) 0.001 to 2000000.000 (degree/min) 0.001 to 600000.000 (inch/min) 1 to 1000000 (pulse/s) /0.001 to 37500.000 (inch/min) Speed command range 0.001 to 600000.000 (degree/min)
  • Page 689 APPENDICES MELSEC-Q QD75P1 QD75P2 QD75P4 A1SD75P1 A1SD75P2 A1SD75P3 Model QD75D1 QD75D2 QD75D4 Item STRT signal (External start signal) (integrated into "CHG") External command signal (External start or CHG signal speed-position switching selectable with Speed-position switching signal I/O signal for parameters) external devices In-position (INP) (for monitor)
  • Page 690 APPENDICES MELSEC-Q Functions deleted from those of A1SD75P1-S3/A1SD75P2-S3/A1SD75P3-S3 Deleted functions Remarks Stepping motor mode – OPR operation error (Error code: 208) – Fast machine OPR – Special start (stop) – In the QD75, the start block area on the buffer memory is Indirect designation expanded to five blocks (0 to 4).
  • Page 691 APPENDICES MELSEC-Q Changed functions Descriptions 1. "Peripheral side (emergency) stop" is deleted from the stop causes of Stop group 2 sudden stop selection. "Test mode fault" in the stop causes of Stop group 3 sudden stop selection is changed to be in the stop causes of Stop group 2 sudden stop selection.
  • Page 692 APPENDICES MELSEC-Q Changed functions Descriptions No. 9004 (Multiple axes simultaneous start control) is added. Positioning start No. Nos. 7004 to 7010 (block start designation) and 8000 to 8049 (indirect designation) are deleted. With the QD75, the number of blocks is changed to 5 (7000 to 7004). (With the Block start data A1SD75, this data is called "positioning start information".) Special start data "Simultaneous start"...
  • Page 693 APPENDICES MELSEC-Q Warning code comparisons Warning type Added Deleted Fatal warning – 51, 52 Common 101, 105 to 108, 115 OPR, Absolute position restoration – – JOG operation/Inching operation – – Manual pulse generator operation – Positioning operation 516, 517, 518 –...
  • Page 694 APPENDICES MELSEC-Q (4) Buffer memory address comparisons The following table shows the buffer memory addresses of the QD75 (Axes 1 to 3) corresponding to the items of the A1SD75. The shaded area shows the differences between the A1SD75 and QD75. Buffer memory address A1SD75 QD75...
  • Page 695 APPENDICES MELSEC-Q Buffer memory address Items of A1SD75 A1SD75 QD75 Axis 1 Axis 2 Axis 3 Axis 1 Axis 2 Axis 3 Pr.28 Acceleration time 3 Pr.29 Deceleration time 1 Pr.30 Deceleration time 2 Pr.31 Deceleration time 3 Pr.32 JOG speed limit value Pr.33 JOG operation acceleration time selection Pr.34...
  • Page 696 APPENDICES MELSEC-Q Buffer memory address Items of A1SD75 A1SD75 QD75 Common for axis 1, 2, 3 Common for axis 1, 2, 3, 4 Md.1 In test mode flag 1200 Md.2 Module name – 452 453 Md.3 OS type – 454 455 Md.4 OS version –...
  • Page 697 APPENDICES MELSEC-Q Buffer memory address Items of A1SD75 A1SD75 QD75 Common for axis 1, 2, 3 Common for axis 1, 2, 3, 4 (Pointer number) (0) to (15) Md.24 Axis in which the warning occurred 689 to 749 1358 to 1418 Md.25 Axis warning No.
  • Page 698 APPENDICES MELSEC-Q Buffer memory address Items of A1SD75 A1SD75 QD75 Axis 1 Axis 2 Axis 3 Axis 1 Axis 2 Axis 3 1000 1000 Md.29 Current feed value 1001 1001 1002 1002 Md.30 Machine feed value 1003 1003 1004 1004 Md.31 Feedrate 1005...
  • Page 699 APPENDICES MELSEC-Q Buffer memory address Items of A1SD75 A1SD75 QD75 Axis 1 Axis 2 Axis 3 Axis 1 Axis 2 Axis 3 Cd.1 Clock data setting (hour) – 1100 Cd.2 Clock data setting (minute, second) – 1101 Cd.3 Clock data writing –...
  • Page 700 APPENDICES MELSEC-Q Buffer memory address Items of A1SD75 A1SD75 QD75 Axis 1 Axis 2 Axis 3 Axis 1 Axis 2 Axis 3 1510 1610 1710 1186 1236 1286 Cd.34 New deceleration time value 1187 1237 1287 1511 1611 1711 Cd.35 Acceleration/deceleration time change during 1512 1612...
  • Page 701 APPENDICES MELSEC-Q Buffer memory address Items of A1SD75 A1SD75 QD75 Axis 1 Axis 2 Axis 3 Axis 1 Axis 2 Axis 3 Da.10 Shape Da.11 Start data No. Da.12 4300 4350 4550 4600 4800 4850 Special start 26000 26050 27000 27050 28000 28050...
  • Page 702 APPENDICES MELSEC-Q (5) Data indication No. comparisons The following table shows the comparisons of numbers for each symbols (Pr., Md., Cd., and Da.) indicating parameters or positioning data items. The shaded sections indicate the added or changed items with the QD75. Parameters Item A1SD75...
  • Page 703 APPENDICES MELSEC-Q Item A1SD75 QD75 Pr.28 Pr.27 Acceleration time 3 Pr.29 Pr.28 Deceleration time 1 Pr.30 Pr.29 Deceleration time 2 Pr.31 Pr.30 Deceleration time 3 JOG speed limit value Pr.32 Pr.31 Pr.33 Pr.32 JOG operation acceleration time selection Pr.34 Pr.33 JOG operation deceleration time selection Acceleration/deceleration process selection Pr.35...
  • Page 704 APPENDICES MELSEC-Q Monitor data Item A1SD75 QD75 In test mode flag Md.1 Md.2 Module name – Md.3 OS type – Md.4 OS version – Md.5 Clock data (hour: minute) – Md.6 Clock data (second: 100 ms) – Md.7 Md.3 Start axis (QD75: Md. 3 Start information) Md.8 Md.4 Operation type (QD75: Md.
  • Page 705 APPENDICES MELSEC-Q Item A1SD75 QD75 Md.19 No. of write accesses to flash ROM – Md.29 Md.20 Current feed value Md.30 Md.21 Machine feed value Md.31 Md.22 Feedrate Md.32 Md.25 Valid M code Md.33 Md.23 Axis error No. Md.34 Md.24 Axis warning No. Axis operation status Md.35 Md.26...
  • Page 706 APPENDICES MELSEC-Q Control data Item A1SD75 QD75 Clock data setting (hour) Cd.1 – Cd.2 Clock data setting (minute, second) – Cd.3 Clock data writing – Cd.4 Target axis – Cd.5 Positioning data No. – Cd.6 Write pattern – Cd.7 Read/write request –...
  • Page 707 APPENDICES MELSEC-Q Item A1SD75 QD75 Cd.26 Cd.35 Step valid flag Cd.27 Cd.34 Step mode Cd.28 Cd.36 Step start information Cd.29 Cd.37 Skip command Cd.30 Cd.22 New torque value Cd.31 Cd.4 Positioning starting point No. Cd.32 Cd.18 Interrupt request during continuous operation Simultaneous starting axis start data No.
  • Page 708 APPENDICES MELSEC-Q Positioning data, block start data, condition data Item A1SD75 QD75 Operation pattern Da.1 Da.2 Control system Da.3 Acceleration time No. Da.4 Deceleration time No. Da.5 Axis to be interpolated – Positioning data Da.5 Da.6 Positioning address/movement amount Da.6 Da.7 Arc address Da.7...
  • Page 709 APPENDICES MELSEC-Q (6) Input/output signal comparisons Input signal comparisons A1SD75 QD75 Name Logic switch with Logic switch with Logic (initial status) Logic (initial status) parameters parameters Drive unit READY Negative logic Not possible Negative logic Possible In-position signal Negative logic Not possible –...
  • Page 710 APPENDICES MELSEC-Q Appendix 10 MELSEC Explanation of positioning terms 1-2 PHASE EXCITATION SYSTEM This is one system for exciting each stepping A phase motor coil in a determined order. In this 90° system, one phase and two phases are alternately excited. B phase Pulse input 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16...
  • Page 711 APPENDICES MELSEC-Q No.1 No.2 No.3 ABSOLUTE ENCODER This is a detector that enables the angle data within 1 motor rotation to be output to an external destination. Absolute encoders are generally able to output 360 ° in 8 to 12 bits. Incremental encoders have a disadvantage in that the axis position is lost when a power ACCELERATION TIME...
  • Page 712 APPENDICES MELSEC-Q AUTO TUNING (Automatic Tuning) BACKUP FUNCTION Properties such as responsiveness and Backup functions consist of the following. stability of machines driven with a servomotor 1) Functions for storing the sequence program are affected by changes in the inertia moment and device statuses stored in the RAM and rigidity due to changes in the machine memory of the PLC CPU, so that they are...
  • Page 713 APPENDICES MELSEC-Q BCD (Binary Coded Decimal) BIN (Binary) 1) This is the abbreviation for "binary coded 1) A binary number, more accurately called a decimal", more accurately called a BCD binary code. code. Computers, PLCs, etc., use binary All values are expressed as a binary numbers made up of 1 (ON) and 0 (OFF).
  • Page 714 APPENDICES MELSEC-Q BIPOLAR DRIVE CONSTANT-CURRENT CHANGE signal SYSTEM The CHANGE signal is an external signal used to switch the speed-position control from the This is one system for driving a stepping speed control being executed to position motor. In this method, the orientation of the control.
  • Page 715 APPENDICES MELSEC-Q CP CONTROL (Continuous Path Control) CW (Clockwise) Continuous path is a control method in which a Rotation in the clockwise direction. Rotation in path is followed without interrupting such as in the clockwise direction looking from the motor uniform speed control.
  • Page 716 APPENDICES MELSEC-Q DECELERATION TIME Command Servo amplifier device The parameter deceleration time is the same value as the acceleration time. Deceleration time refers to the time from the speed limit value to a stopped state, so it becomes proportionally shorter as the setting speed Driver Receiver decreases.
  • Page 717 APPENDICES MELSEC-Q DROOP PULSE ELECTRONIC GEAR Because of inertia (GD ) in the machine, it will This function electrically increases/decreases lag behind and not be able to track if the the command pulses from the pulse command positioning module speed commands are module by 1/50 to 50-fold.
  • Page 718 APPENDICES MELSEC-Q ERROR CORRECTION FAST OPR If a dimension error occurs in the machine, The axis returns to the machine OP at the and that error is actually smaller or larger than OPR speed without detecting the near-point 1m (3.28feet) in spite of a 1m (3.28feet) dog.
  • Page 719 APPENDICES MELSEC-Q FIXED-FEED G CODE This is the feeding of a set dimension for These are standardized (coded) 2-digit cutting sheet and bar workpieces into the numerical values (00 to 99) designating designated dimensions. Incremental system various control functions of the NC module. positioning is often used.
  • Page 720 APPENDICES MELSEC-Q INCREMENTAL ENCODER INCREMENTAL SYSTEM A device that simply outputs ON/OFF pulses The current value is 0 in this system. Positions by the rotation of the axis. 1-phase types are expressed by the designated direction and output only A pulses, and do not indicate the distance of travel.
  • Page 721 APPENDICES MELSEC-Q INPUT TERMINAL This is a pin connector wired by the user for Jog. This refers to moving the tool little by inputting data to the QD75 from an external little. Inching. source. It is connected to the motor drive unit Parameter setting is required to carry out JOG or machine side.
  • Page 722 This enables their inertia moment to be reduced up to 1/3 that of standard motors. The ideal load inertia ratio is 1 or less. Made by Mitsubishi Electric Corp. (model: MR-HDP01) MASTER AXIS When carrying out interpolation operations, this is the side on which the positioning data is executed in priority.
  • Page 723 APPENDICES MELSEC-Q MOVEMENT AMOUNT PER PULSE NEAR-POINT DOG When using mm, inch, or degree units, the This is a switch placed before the OP. When movement amount is calculated and output this switch turns ON, the feedrate is changed from the machine side showing how much the to the creep speed.
  • Page 724 APPENDICES MELSEC-Q OPR METHOD This is the reference position for positioning. The OPR methods are shown below. The Positioning cannot start without a reference method used depends on the machine point. structure, stopping accuracy, etc. The OP is normally set to the upper or lower OPR can be carried out when the OPR stroke limit.
  • Page 725 APPENDICES MELSEC-Q OPR REQUEST P RATE (Pulse Rate) This signal turns ON when there is an error A coefficient that magnifies the feedback with the QD75. It will turn ON in the following pulses per motor shaft rotation by 2-fold, 3- situations.
  • Page 726 APPENDICES MELSEC-Q POSITION LOOP MODE POSITION CONTROL This is one servo control mode used in This is mainly the control of position and positioning. It is a mode for carrying out dimension, such as in fixed-feed, positioning, position control. The other servo control numerical control, etc.
  • Page 727 APPENDICES MELSEC-Q PULSE POSITIONING CONTINUED The turning ON and OFF of the current Refer to the section of term "operation (voltage) for short periods. A pulse train is a pattern". series of pulses. The QD75 is the module that generates the pulses. POSITIONING DATA This is data for the user to carry out positioning.
  • Page 728 APPENDICES MELSEC-Q READY RLS SIGNAL (reverse limit signal) This means that preparation is complete. This is the input signal that notifies the user that the limit switch (b contact configuration, normally ON) installed at the lower limit of the REAL-TIME AUTO TUNING (Real-time positioning control enabled range is activated.
  • Page 729 APPENDICES MELSEC-Q SERVO LOCK SFC (Sequential Function Chart) In positioning using a servomotor, stepping A sequential function chart is a programming motor, etc., working power is required to hold method optimally structured for running a the machine at the stop position. machine's automatic control in sequence with (The position will be lost if the machine is the PLC.
  • Page 730 APPENDICES MELSEC-Q SPEED CONTROL SPEED-POSITION SWITCHING CONTROL Speed control is mainly carried out with the With this control, positioning is carried out to servomotor. It is an application for grindstone the end point of the movement amount while rotation, welding speed, feedrate, etc. Speed changing the speed at the speed switching control differs from position control in that the point during positioning control.
  • Page 731 APPENDICES MELSEC-Q STEP OUT STOP SIGNAL Stepping motors rotate in proportion to the No. In positioning control, this is the input signal of pulses (frequency), but the motor's rotation that directly stops the operation from an will deviate if the load is too large for the external source.
  • Page 732 APPENDICES MELSEC-Q STROKE LIMIT TORQUE CONTROL This is the range in which a positioning In this function, a limit is established for the operation is possible, or the range in which the resistance torque applied to the motor used for machine can be moved without damage positioning.
  • Page 733 APPENDICES MELSEC-Q TURNTABLE XY TABLE A rotating table, which is turned using power. This is a device that moves a table in the X The table is used divided from one 360 ° (latitudinal) and Y (longitudinal) directions so that positioning can be carried out easily. rotation into the required locations for work.
  • Page 734 APPENDICES MELSEC-Q Appendix 11 Positioning control troubleshooting Trouble type Questions/Trouble Remedy The PLC CPU power was turned OFF or the PLC CPU was reset, etc., during flash ROM writing, which deleted Display reads "FFFF " when a the data in the flash ROM. parameter is read with GX Initialize the parameters, and reset the required Configurator-QP.
  • Page 735 Are simplified absolute position Simplified absolute They are possible if the models are used in combination detection system possible in the position detection with a Mitsubishi "AC Servo". QD75P and QD75D Positional system (Refer to "AC servo User's Manual" for details.) deviation models?
  • Page 736 APPENDICES MELSEC-Q Trouble type Questions/Trouble Remedy The machine only moves to "10081230", although positioning with a command value of Pr.3 Pr.2 Reset in the following order. "10081234" carried out. How can the error be 1) Calculate "8192/8000 × 10081230/10081234". compensated? 2) Obtain the reduced value.
  • Page 737 APPENDICES MELSEC-Q Trouble type Questions/Trouble Remedy The positioning start signal [Y10] is After the BUSY signal turns ON, there is no problem with kept ON until the BUSY signal is turning [Y10] OFF before the BUSY signal turns OFF. OFF, but is there any problem with (The QD75 detects the rising edge (OFF ON) of the turning it OFF before the BUSY...
  • Page 738 A phase pulses are input? Can a manual pulse generator Other manual pulse generators can be used if they Manual pulse other than the Mitsubishi MR- conform to Section 3.4 "Specifications for input/output generator operation HDP01 be used? interfaces with external devices."...
  • Page 739 APPENDICES MELSEC-Q Trouble type Questions/Trouble Remedy Backlash compensation value 0 ≤ Movement amount per pulse Error 920 (backlash compensation Setting is not possible if the above equation is not amount error) occurs even when satisfied. the backlash compensation value Pr.4 Adjust by setting "...
  • Page 740 APPENDICES MELSEC-Q Appendix 12 List of buffer memory addresses The following shows the relation between the buffer memory addresses and the various items. (Do not use ary address other than listed below. If used, the system may not operate correctly.) Buffer memory address Item Memory area...
  • Page 741 APPENDICES MELSEC-Q Buffer memory address Item Memory area Axis 1 Axis 2 Axis 3 Axis 4 Pr.27 Acceleration time 3 Deceleration time 1 Pr.28 Pr.29 Deceleration time 2 Pr.30 Deceleration time 3 Pr.31 JOG speed limit value Pr.32 JOG operation acceleration time selection Pr.33 JOG operation deceleration time selection Pr.34...
  • Page 742 APPENDICES MELSEC-Q Buffer memory address Memory Item area Common to axes 1, 2, 3, and 4 Md.1 In test mode flag 1200 1201 1202 1203 1204 1205 1206 Not used 1207 1208 1209 1210 1211 (Pointer No.) (10) (11) (12) (13) (14) (15) Md.3 Start information 1212 1217 1222 1227 1232 1237 1242 1247 1252 1257 1262 1267 1272 1277 1282 1287...
  • Page 743 APPENDICES MELSEC-Q Buffer memory address Item Memory area Axis 1 Axis 2 Axis 3 Axis 4 1000 1100 Md.20 Current feed value 1001 1101 1002 1102 Md.21 Machine feed value 1003 1103 1004 1104 Md.22 Feedrate 1005 1105 Md.23 Axis error No. 1006 1106 Md.24...
  • Page 744 APPENDICES MELSEC-Q Buffer memory address Item Memory area Axis 1 Axis 2 Axis 3 Axis 4 Cd.3 Positioning start No. 1500 1600 1700 1800 Cd.4 Positioning starting point No. 1501 1601 1701 1801 Cd.5 Axis error reset 1502 1602 1702 1802 Cd.6 Restart command...
  • Page 745 APPENDICES MELSEC-Q Buffer memory address Item Memory area Axis 1 Axis 2 Axis 3 Axis 4 Cd.31 Simultaneous starting axis start data No. 1541 1641 1741 1841 (axis 2 start data No.) Cd.32 Simultaneous starting axis start data No. 1542 1642 1742 1842...
  • Page 746 APPENDICES MELSEC-Q Buffer memory address Item Memory area Axis 1 Axis 2 Axis 3 Axis 4 Da.1 Operation pattern Da.2 Control system Da.3 Acceleration time No. 2000 8000 14000 20000 Da.4 Deceleration time No. Da.5 Axis to be interpolated Da.10 M code/condition data No.
  • Page 747 APPENDICES MELSEC-Q Buffer memory address Item Memory area Axis 1 Axis 2 Axis 3 Axis 4 Da.11 Shape Da.12 Start data No. 26000 26050 27000 27050 28000 28050 29000 29050 Da.13 Specilal start instruction Da.14 Parameter 2nd point 26001 26051 27001 27051 28001...
  • Page 748 APPENDICES MELSEC-Q Buffer memory address Item Memory area Axis 1 Axis 2 Axis 3 Axis 4 30000 Condition judgement target data of the condition data 30099 Appendix - 106 Get other manuals https://www.bkmanuals.com...
  • Page 749 APPENDICES MELSEC-Q Appendix 13 External dimension drawing [1] QD75P1/QD75P2/QD75P4 QD75P1 QD75P2 QD75P4 27.4 (Unit : mm) Appendix - 107 Get other manuals https://www.bkmanuals.com...
  • Page 750 APPENDICES MELSEC-Q [2] QD75D1/QD75D2/QD75D4 QD75D1 QD75D2 QD75D4 27.4 (Unit: mm) Appendix - 108 Get other manuals https://www.bkmanuals.com...
  • Page 751 INDEX [Number] 4-axis linear interpolation control (INC linear 4) 1-2 phase excitation system (Explanation of ................9-41 positioning terms) ......Appendix-68 4-axis speed control........9-77 1-axis fixed-feed control ........ 9-43 1-axis linear control (ABS linear 1) ....9-27 A phase/B phase mode .........5-24 1-axis linear control (INC linear 1) ....
  • Page 752 AFTER mode..........12-63 Basic parameters 1........5-20 AFTER mode (Explanation of positioning terms) Basic parameters 2........5-26 ............Appendix-69 BCD (Explanation of positioning terms) ............Appendix-71 Allowable circular interpolation error width Pr.41 Pr.7 )............5-43 Bias speed at start ( ) ......5-26 Applicable system ........... 2-5 Bias speed at start (Explanation of positioning Applicable wire size.........
  • Page 753 Communicating signals between QD75 and each CW (Explanation of positioning terms) module ............1-12 ............Appendix-73 Composite speed .......... 5-32 CW/CCW mode ..........5-23 Composite speed (Explanation of positioning terms)..........Appendix-72 Condition data ..........10-16 D/A converter (Explanation of positioning terms) Condition operator........10-17 ............
  • Page 754 DOS/V personal computer......A-13 Cd.8 External command valid ( )....5-114 Drive unit (Explanation of positioning terms) External device connector .......4-3 ............Appendix-74 External dimension drawing ..Appendix-107 Drive unit (Servo amplifier) ......A-21 Md.30 External input/output signal ( ) ..5-100 Drive unit READY.......... 3-21 External I/O signal logic switching function...13-7 Drive unit READY (Explanation of positioning External I/O signal monitor function ....13-8...
  • Page 755 For starting "speed-position switching control" Incremental system (Explanation of positioning ............... 6-32 terms) ..........Appendix-78 For starting with external command signal... 6-36 Independent positioning control ......9-6 For using stepping motor ......1-22 Inertia (Explanation of positioning terms) For wiring ............4-8 ............
  • Page 756 M code output function ........12-62 kPPS (Explanation of positioning terms) Machine feed value........9-16 ............Appendix-79 Md.21 Machine feed value ( ) .......5-96 Machine feed value (Explanation of positioning terms) ..........Appendix-80 Md.46 Last executed positioning data No. ( Machine OPR...........8-4 Main functions ..........3-6 ..............
  • Page 757 Multiple PLC ............ 2-5 Operation pattern (Explanation of positioning Multiplying rate setting (Explanation of positioning terms) ..........Appendix-82 terms)..........Appendix-81 Operation patterns ...........9-5 Operation timing and processing time during position-speed switching control ....9-91 Names of each part......... 4-3 Operation timing and processing time during NC language (Explanation of positioning terms) speed-position switching control (ABS mode) ............Appendix-81...
  • Page 758 PULSE/SIGN mode ........5-23 Pr.46 OPR speed ( ) ........5-48 Position control (Explanation of positioning terms) Pr.54 OPR torque limit value ( ............Appendix-84 ............... 5-56 Position detection module (Explanation of Order of priority for stop process ....6-44 positioning terms)......Appendix-84 Outline design of positioning system ....
  • Page 759 Positioning start (Explanation of positioning terms) • Error reset program .........6-23 ............Appendix-85 • External command function valid setting program ...........6-17 Cd.3 Positioning start No. ( ) ..... 5-112 • Flash ROM write program .......6-23 Positioning start No. setting program ... 6-17 •...
  • Page 760 Setting the positioning data ......9-22 READY (Explanation of positioning terms) Setting the torque limit function ....12-25 ............Appendix-86 Setting unit (Explanation of positioning terms) Real-time AUTO tuning (Explanation of positioning ............Appendix-87 terms)..........Appendix-86 SFC (Explanation of positioning terms) Reference axis..........9-22 ............
  • Page 761 S-pattern acceleration/deceleration processing Speed-position switching signal ....3-21 method............12-81 Speed-position switching control mode (Explanation of positioning terms)... Appendix-88 Pr.35 S-pattern proportion ( )...... 5-38 Spiral interpolation .........9-60 Da.13 Special start instruction ( ) ....5-77 Standard speed switching mode ....9-12 Special start data instruction code setting value Md.5 Start Hour (...
  • Page 762 Stop command processing for deceleration stop Target position change value (new speed) function ............12-97 Cd.28 ) ............5-126 Stop command processing for deceleration stop Md.33 Target speed ( ) .......5-104 Cd.42 selection ( )........5-110 Md.32 Target value ( ).........5-102 Pr.37 Stop group 1 sudden stop selection ( TEACH1 ............14-12...
  • Page 763 Tracking function (Explanation of positioning terms)..........Appendix-90 Turntable (Explanation of positioning terms) ............Appendix-91 Types and roles of control data ....5-16 Types and roles of monitor data ....5-12 Types of data........... 5-2 Types of errors ..........15-2 Types of stop processes ....... 6-43 Types of warnings .........
  • Page 764 MEMO Index - 14 Get other manuals https://www.bkmanuals.com...
  • Page 765 6. Failure caused by reasons unpredictable by scientific technology standards at time of shipment from Mitsubishi. 7. Any other failure found not to be the responsibility of Mitsubishi or that admitted not to be so by the user. 2. Onerous repair term after discontinuation of production (1) Mitsubishi shall accept onerous product repairs for seven (7) years after production of the product is discontinued.
  • Page 766 Microsoft Windows, Windows NT are registered trademarks of Microsoft Corporation in the United States and other countries. Other company and product names herein may be either trademarks or registered trademarks of their respective owners. Get other manuals https://www.bkmanuals.com...
  • Page 767 Get other manuals https://www.bkmanuals.com...
  • Page 768 Type QD75P/QD75D Positioning Module User's Manual QD75-U-S-E MODEL MODEL 13JR09 CODE SH(NA)-080058-H(0506)MEE HEAD OFFICE : 1-8-12, OFFICE TOWER Z 14F HARUMI CHUO-KU 104-6212,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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