Mitsubishi Electric QD70D4 Manuals

Table of Contents

• • 3

    Safety Instructions
  • 6

    Revisions
  • 7

    Table of Contents
  • 11

    Compliance with the EMC and Low Voltage Directives
  • 11

    Using This Manual
  • 12

    Component List
  • 12

    Generic Terms and Abbreviations

• 13

  Section 1 Product Specifications and Handling

• 15

  1 Product Outline

  • 15

    Positioning Control
    • 15

      Features of QD70D
    • 17

      Mechanism of Positioning Control
    • 19

      Outline Design of Positioning Control System
    • 23

      Communicating Signals Between QD70D and Each Module
  • 25

    Positioning Control
    • 25

      Outline of Starting
    • 27

      Outline of Stopping

• 30

  2 System Configuration

  • 30

    General Image of System
  • 31

    Component List
  • 32

    Applicable Systems
  • 35

    About Use of the QD70D with the Q12PRH/Q25PRHCPU
  • 36

    About Use of the QD70D On the MELSECNET/H Remote I/O Station
  • 37

    How to Check the Function Version and the Software Version

• 39

  3 Specifications and Functions

  • 39

    Performance Specifications
  • 40

    List of Functions
  • 42

    Specifications of Input/Output Signal with Programmable Controller CPU
    • 42

      List of Input/Output Signals with Programmable Controller CPU
    • 44

      Qd70D)
  • 45

    Specifications of Input/Output Interfaces with External Device
    • 45

      Electrical Specifications of Input/Output Signals
    • 46

      Signal Layout for External Device Connection Connector
    • 48

      List of Input/Output Signal Details
    • 50

      Input/Output Interface Internal Circuit

• 53

  4 Data Used for Positioning Control(List of Buffer Memory Addresses)

  • 53

    Type of Data
    • 53

      Parameters and Data Required for Control
    • 55

      Setting Items for Parameters
    • 56

      Setting Items for OPR Data
    • 57

      Setting Items for JOG Data
    • 58

      Setting Items for Positioning Data
    • 59

      Type and Roles of Monitor Data
    • 60

      Type and Roles of Control Data
  • 61

    List of Parameters
  • 71

    List of OPR Data
  • 79

    List of JOG Data
  • 80

    List of Positioning Data
  • 86

    List of Monitor Data
    • 86

      Axis Monitor Data
    • 88

      Module Information Monitor Data
  • 89

    List of Control Data
    • 89

      Axis Control Data

• 91

  5 Setup and Procedures before Operation

  • 91

    Handling Precautions
  • 93

    Procedures before Operation
  • 94

    Part Identification Nomenclature
  • 97

    Wiring
    • 97

      Wiring Precautions
  • 102

    Confirming the Wiring
    • 102

      Confirmation Items at Completion of Wiring
  • 104

    Switch Setting for Intelligent Function Module
  • 109

    Simple Reciprocating Operation

• 112

  6 UTILITY PACKAGE (GX Configurator-Pt)

  • 112

    Utility Package Functions
  • 113

    Installing and Uninstalling the Utility Package
    • 113

      Handling Precautions
    • 115

      Operating Environment
  • 117

    Utility Package Operation
    • 117

      Common Utility Package Operations
    • 119

      Operation Overview
    • 121

      Starting the Intelligent Function Module Utility
  • 123

    Initial Setting
  • 125

    Auto Refresh Setting
  • 127

    Monitoring/Test
    • 127

      Monitoring/Test Screen

• 131

  7 Sequence Program Used for Positioning Control

  • 131

    Precautions for Creating Program
  • 133

    List of Devices Used
  • 137

    Creating a Program
    • 137

      General Configuration of Program
    • 138

      Positioning Control Operation Program
  • 140

    Positioning Control Program Examples
  • 146

    Program Details
    • 146

      Initialization Program
    • 147

      Start Method Setting Program
    • 147

      Start Program
    • 153

      Sub Program

• 157

  Section 2 Control Details and Setting

• 159

  8 Opr Control

  • 159

    Outline of OPR Control
    • 159

      Two Types of OPR Control
  • 160

    Machine OPR Control
    • 160

      Outline of the Machine OPR Operation
    • 161

      Machine OPR Method
    • 163

      OPR Method (1): Near-Point Dog Method
    • 166

      OPR Method (2): Stopper 1
    • 168

      OPR Method (3): Stopper 2
    • 170

      OPR Method (4): Stopper 3
    • 172

      OPR Method (5): Count 1
    • 174

      OPR Method (6): Count 2
  • 176

    Fast OPR Control
    • 176

      Outline of the Fast OPR Control Operation
  • 177

    OPR Retry Function

• 180

  9 Positioning Control

  • 180

    Outline of Positioning Controls
    • 180

      Data Required for Positioning Control
    • 181

      Operation Patterns of Positioning Controls
    • 187

      Designating the Positioning Address
    • 188

      Confirming the Current Value
  • 189

    Setting the Positioning Data
    • 189

      Relation Between Each Control and Positioning Data
    • 190

      1-Axis Linear Control
    • 192

      Speed-Position Switching Control
    • 195

      Current Value Changing
  • 196

    Multiple Axes Simultaneous Start Control

• 198

  10 Jog Operation

  • 198

    Outline of JOG Operation
  • 200

    JOG Operation Execution Procedure
  • 201

    JOG Operation Example

• 204

  11 Sub Functions

  • 204

    Outline of Sub Functions
  • 204

    Speed Limit Function
  • 205

    Speed Change Function
  • 208

    Software Stroke Limit Function
  • 212

    Target Position Change Function
  • 214

    Acceleration/Deceleration Processing Function
  • 218

    Restart Function

• 221

  12 Common Functions

  • 221

    Outline of Common Functions
  • 221

    External I/O Signal Switching Function
  • 222

    External I/O Signal Monitor Function

• 224

  13 Troubleshooting

  • 224

    Error and Warning Details
  • 226

    List of Errors
  • 236

    List of Warnings
  • 238

    Error Check By LED Indication
  • 239

    Confirming the Error Definitions Using System Monitor of GX Developer

• 240

  Appendix

• 240

  Appendix 1 External Dimension Drawing

• 241

  Appendix 2 Operation Timing and Processing Time in Each Control

• 245

  Appendix 3 Connection Examples with Servo Amplifiers Manufactured By MITSUBISHI Electric Corporation

• 245

  Appendix 3.1 Connection Example of QD70D and MR-J3- a

• 246

  Appendix 3.2 Connection Example of QD70D and MR-J2/J2S- a

• 247

  Appendix 3.3 Connection Example of QD70D and MR-H a

• 248

  Appendix 3.4 Connection Example of QD70D and MR-C a

• 249

  Appendix 4 Comparisons with Conventional Positioning Modules

• 249

  Appendix 4.1 Comparisons with Type QD70P Positioning Module

• 250

  Appendix 4.2 Comparisons with Type QD75 Positioning Module

• 253

  Appendix 5 List of Buffer Memory Addresses